The R12-500, Firefly is a complete self-contained five (optional six) axis vertically articulated robot arm system designed as a cost effective solution for bench top automation. Applications include testing, sample handling, machine feeding. The hand terminates in a mounting plate for grippers, vacuum cups etc.
R12 Firefly is a very low cost entry to robotics, fast, accurate and reliable and easy to program with a useful 500mm reach.
Firefly is a technological breakthrough in bench top robotics. Like the R17 it is a 5 axis articulated robot arm but with a 500mm reach. It employs new light weight, high efficiency digital motors driving through steel reinforced polyurethane timing belts. Optional incremental optical encoders provide exceptional integrity (see below).
The K11 robot controller uses a partnership of CPU and DSP processors and compact high voltage micro-stepping drives providing both speed and precise control and is provided with a simple intuitive teach pad. The controller can also interface with or even control other equipment at the same time as the robot. Software is ROBOFORTH II which makes this robot really easy to get started with yet capable of the most complex tasks, assisted by RobWin project manager which brings everything together on one Windows screen.
Do not let the low cost mislead you - this is not a hobby robot. It is a professional tool made to industrial standards of quality, reliability and performance, machined from solid alloy and finished with aesthetic acrylic covers. The system is supplied complete with all cables, connectors, software, comprehensive manuals, ready to unpack and use immediately.
|Drives:||High power micro-stepped hybrid stepping motors,
optional encoder watchdogs
|Reach:||500mm/20ins in any direction; 360 degree waist rotation|
|Repeatability:||0.1mm (see note)|
|Payload:||nominal 500g, max 1Kg (2.2lbs) at flange
(repeatability and speed degrade with increasing payload and reach).
droop at 250mm at nominal payload:
droop at max reach with max payload:
|Maximum speed:||Shoulder 180 deg/sec, Elbow 270deg/sec, Waist 180 deg/sec.|
|Standard cycle time:||2 secs.|
|Max torque for hand pitch or roll:||2 Nm (repeatability figures degrade).|
|Weight||Robot 12.8Kg/28lbs Controller 11kg/25lbs|
|Power:||110/240v ac 420VA (standard controller)|
|Temperature range:||0 - 30C (wider range optional)|
|Safety:||Class 2 stop circuit, stall detect, risk assessment guide.
Optional high intensity red LEDs along the arm serve as awareness barrier.
|Noise:||Approx 40-50dB at 1m.|
note: repeatability measured as a standard deviation of all 3 dimensions at 100% speed and zero payload over 24 hours after a 1 hour|
warming up period. Figures for ISO 9283 available on request.
|Searching for edges
|6-axis version||Moving glass tubes
The role of the encoders in the R17 and as an R12 level 1 option is as watchdogs. The loop is closed after completion of each individual motion which is not the same as servo control. The R12 encoder option comprises miniature optical incremental encoders fitted to each axis.
This is a simple solution that makes the 6th axis entirely optional as opposed to being an integral part of the design. Using a small motor and gearbox it is accurate and tough. Programming is an extension to the Cartesian functions of RoboForth. In this way the system can ensure the end effector points in the same direction (same orientation to X Y Z axes) as the robot moves around, or indeed in any direction you choose. see video
up to 3m length, using a powerful motor and two recirculating crossed roller bearings.
High resolution or high speed options.
comprising 2 R12 robots on a programmableacousel. Two robot controllers are interlinked to synchronize the two robots. The maximum number of axes in total is 13.
High resolution or high speed options.
Optional glove for hazardous environments.
|Arm comprises 2 limbs 250mm each plus 360 degrees base rotation.
Therefore the workspace is a sphere 1000mm (40ins) in diameter (not including the hand).
Base fixings to bench
Wrist flange (not to scale)