Environmental Specifications:
Main Voltage:100, 120, 220, 240 VAC �10%
Main Frequency: 48 - 62 Hz
Power Consumption: 180 VA max
Operating Temperature: +10� C to +30� C
Relative Humidity: 10 - 90%
Safety: Not to be used where explosive concentrations of flammable vapors can accumulate
Corrosive Materials: Standard XP Robot is not intended to handle corrosive materials
Mounting: Upright on flat, horizontal surface

Operating Characteristics:
Axis Displacement:
Rotary: 376� � 4
Vertical: 34.0 cm � 0.5 cm (13.4" � 0.2")
Reach: 32.0 cm � 0.5 cm (12.6" � 0.2")
Wrist: 550� � 1� (-185� to 365�)
Reach Radius (at maximum): 27.0" (68 cm) typical (with general purpose hand)
Transfer Speed (time to transfer a container from one position to a second position); includes a rotary move of 90�, four vertical moves, two grip moves, and one reach move: 3 seconds
Axis Operating Forces (typical force vs. position error):
Rotary:0.4 oz/0.1� (at 27" radius)
Vertical:UP - 3 lbs (1.3 kg)/2 mm error
DOWN - 1 lbs (0.4 kg)/1 mm error
Reach:1 lbs (0.4 kg)/1 mm error
Axis Stall Forces (typical maximum force required to stall an axis):
Rotary:3 lbs (1.4 kg) (at 27" radius)
Vertical:UP 20 lbs (9 kg)
DOWN 30 lbs (14 kg)
Reach:9 lbs (4 kg)
Wrist:10 in-lbs
Cycle Time: 1.5 sec (forming a box moving 1" (2.54 cm) up, 12" (30.5 cm) across, 1" (2.54 cm) down and back)
Dwell Time:5 ms (XP look ahead)
Finger Travel: 1 5/15" (3.33 cm)
Payload:1.36 kg continuous, 20kg transient
Maximum Speed:
Rotary:298 cm/sec rotary 0.24 sec 90�
Reach:99.5 cm/sec
Vertical:73.3 cm/sec
Work Envelope:9 m³
Cross Sectional Work Envelope:0.27 m²

General Specifications:
Degrees of Freedom (Base & Wrist):4
Degrees of Freedom (Hands): 1 or 2 additional
Axis Positioning: Servo motor driven/AccuTrak feedback
Lifting Capacity:3 lbs (1.4 kg)
Hands:Auto–changeable
Operating Weight with Core Plate:49.5 lbs (22.4 kg)
Shipping Weight: 146 lbs (66.4 kg)
Vertical Spring Holding Capacity:Standard GP Hand holding a sample container of no more than 1.5 lbs (700 grams) — When power to the robot is turned off, or when collision detection or thermal protection occurs in the vertical axis, the vertical height of the robot will seek a neutral point as long as the sample and container weight does not exceed this weight. If this weight is exceeded, the arm settles to a vertical height of zero.


Performance Specifications:
Repeatability (same direction):
Rotary @ 27 in radius: � .02 in (0.5 mm) max
Vertical: � .01 in (0.25 mm) max
Reach : � .01 in (0.25 mm) max
Wrist: � .02 in (0.5 mm) max
Repeatability (opposite direction):
Rotary @ 27 in radius: � 0.00 to 0.08 in (2.0 mm) overlap max
Vertical: � .02 in (0.5 mm) max
Reach :� .02 in (0.5 mm) max
Wrist @ 6 in radius: � .04 in (1.0 mm) max
Warm - up Error Rotary Axis @ 27 in radius:
Zero (0) degrees: < 0.02 in (0.5 mm)
Span (360) degrees : None with AccuTrak
Temperature Error:  Rotary Axis @ 27 in radius:
Zero (0) degrees: < 0.02 in (0.5 mm)
Span (360) degrees: 0.040 in (1.0 mm)/10� C typical

Material Specifications:
Drive Cables:
Material: HT SS: 7 bundles, 19 strands/bundle, nylon jacket
Rating:160 lbs (used at 15 lbs typical)
Bearings:
Type: ball or tapered roller bearing assemblies
Lubrication: permanently lubricated motors
Motors:
Type: permanent magnet, d-c, brush-type, servo motor
Gear Reduction: integral gear reduction housing
Rotary, Vertical and Reach:19.7:1
Wrist:187:1
Encoders:
Rotary: AccuTrak - optical encoder with 36 poles
Vertical and Reach: AccuTrak - magnetic encoder with 6 poles
Potentiometers:
Base Axis Position:10 turn, hybrid element, servo mount (2k or 10k)
Wrist Position: 1 turn, conductive plastic, servo mount (2k)
Arm: Stainless Steel, abrasive ground
Posts: Steel, centerless ground, oxide passivated
Lubrication (arm & posts):SAE 30 automotive–type engine oil