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SCORBOT-ER 9

High Performance Robot for Industrial Training


The SCORBOT-ER 9 is a five-axis vertically articulated robot designed for work in
industrial training facilities. With a multi-tasking controller that provides real-time control
and synchronization of up to 12 axes, 16 inputs and 16 outputs, the SCORBOT-ER 9
supports both stand-alone applications as well as sophisticated automated workcells. This
robot system is an excellent teaching and training tool in many ways:
Physics and Mechanical Engineering students can study the robot's industrial components
and mechanical design, and master skills in the programming and control of robotic
workcells.
Industrial Management students can configure, program and operate the
SCORBOT-ER 9 in FMS workcells and CIM systems by integrating the robot
with a wide range of peripheral equipment and end effectors.
Control Technology students can manipulate controller parameters and examine the
affect of PID and other control parameters on capabilities such as accuracy, speed,
repeatability and error correction.
Information Technology students can write executable programs for the robotic system
in languages such as C, C++, C#, Visual Basic, Visual Basic.NET and Delphi.
Mechatronics students can gain experience and insight into the synergy of mechanical,
electronical and control technologies exemplified in this robot system.
Ideal for both industrial training and academic study, the rugged SCORBOT-ER 9 robotic
system gives an impressive performance.

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Specifications

SCORBOT-ER 9 Mechanical Arm


Mechanical Structure Vertically articulated; enclosed frame
Degrees of Freedom 5 rotational axes and gripper
Payload Capacity 2 kg (4.4 lb)
Axis Range
Axis 1: Base rotation 270º
Axis 2: Shoulder rotation 240º
Axis 3: Elbow rotation 210º
Axis 4: Wrist pitch 196º SCORBOT-ER 9 on linear slidebase tends
Axis 5: Wrist roll 737º CNC lathe (FMS workcell)
Reach 691 mm (27.2") with gripper
Speed 1.9 m/sec (74.8"/sec)
Repeatability ± 0.05 mm (0.002")
Position Feedback Incremental optical encoders with index pulse
Actuators 24 Vdc servo motor on all axes
Homing Optical switch and encoder index pulse
Transmission Harmonic drives
Weight 10.8 kg (23.8 lb)

ACL Controller-B
Communication 2 RS232 channels (expandable to 10); bi-directional parallel
port
SCORBOT-ER 9 on linear slidebase tends
Inputs/Outputs 16 inputs (TTL, 12V or 24V logic); 16 outputs (4 relay, CNC mill (FMS workcell).
12 open collector); NPN/PNP switchable
Microcontroller Motorola 68020, Motorola FPU-MC68881
Servo Axes 6; expandable to 12
Axis Servo Control Real time, PID, PWM H-bridge drivers, 33 KHz, 7A, 40-
50V with tacho feedback
Acceleration Paraboloid and trapezoid profiles
Programming ACL (Advanced Control Language); SCORBASE;
RoboCell (optional); teach pendant (optional)
Position Definition Absolute, relative, Cartesian, joint, tool
Multitasking Up to 40 concurrent tasks
Trajectory Control Point to point; continuous path; joint; linear; circular; 10
ms response time
Speed Definition Linear (mm/sec); Joint (percentage of max.); travel time SCORBOT-ER 9 performs assembly and
Control Parameters 500 user-accessible parameters: proportional, integral, quality control operations
differential, and offset constants; servo control; speed,
velocity profile; smoothing; position error; thermal, impact,
limit protection; homing; encoder interface, Cartesian
calculations
Safety Features Emergency and motor power switches; current limit;
Specifications are subject to change without prior notice.

automatic fuses; thermic, impact and limit software


protection. Supports connections of external emergency
devices
Weight 36 kg (79.4 lb)
AC Power Input 100/120/220/240 VAC 60/50 Hz (1500 W max.)
Internal power supplies Servo 40-50V, 22A; user 12V/24V 2A each (floating)
RoboCell 3D graphic simulation software
Gripper (not included in robot package) enables offline design and simulation of
Standard options: virtual robotic workcell and online graphic
Pneumatic: Max. opening 64 mm (2.5") tracking of actual cell
DC servo: Max. opening 70 mm (2.8")
cat#100526 rev.B

444 East Industrial Park Drive, Manchester, NH 03109-5317, USA


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