R19E bench top 4-axis cylindrical format robot arm

Ideal for laboratories as well as many industrial applications.
New design longer stroke for shorter physical axis length (less overhead)


4 axis Cylindrical format
Fully enclosed
Fast and accurate
Slim 'Ultraglide' extend arm and end effector drive for access to confined spaces
'Ultraglide' Z-axis.
narrow axis apertures for safety and cleanliness
Simple teach pad
Pneumatic or electric gripper (shown)
Extensive input/output interfacing
Non-volatile memory, dual fast processors
Easy hardware and software integration
Serial (or USB), Ethernet/Internet, ActiveX
Complete with controller, manuals, software, cables, etc. Ready to go
Cleanroom class 10; IP64
Optional track
Choice of colors



R19E (Athena Mk5) is a low cost entry to bench top robotics, fast, accurate and reliable and easy to program. It is of the cylindrical format with four axes ideally suited to working at bench level around the robot. Like our other robot arms it is excellent value fast and accurate. The mechanics are incredibly simple and phenomenally reliable; its predecessors have been running 3 shifts a day for a decade without failure, in fact we give a 2 year warranty. It is easy to apply and program yet is capable of the most intricate tasks. You'll find it a joy to use.

Like all ST robots it uses new light weight, high speed, high efficiency stepping motors with encoder feedback. The new design (R19E) has the motors mounted to the sides of the axis drives which reduces the physical lengths of the axes compared to strokes (total movement). This makes it even easier to fit in confined spaces such as fume cupboards or lead enclosures.

The package includes the Mk5 controller which is simple and reliable using a partnership of fast CPU and DSP processors and compact micro-stepping drives. Software is ROBOFORTH II which make this robot really easy to get started with yet the most complex motions, interfaces and peripherals may be programmed, assisted by ROBWIN project manager which brings everything together on one screen. ActiveX modules make it easy to integrate into larger systems. Everyone who uses this system agrees it is the most flexible robot software on the planet.

With programmable speed and acceleration, programmable gripper confirmation and intelligent error handling the R19 will carry your expensive sample quickly and safely without spilling or dropping or leaving you wresting it from the gripper in some peripheral.


Drives:High power micro-stepped hybrid stepping motors
incremental encoder watchdogs
Reach:max 549mm, min 149mm (H in diagram below)
Lift stroke:

mounting flange minimum 91mm above bench surface, maximum 591mm
(V in diagram below)

Waist rotation: 360 degrees
Wrist rotation: 445 degrees
Resolution:Standard: 0.075mm, Turbo: 0.15mm
Repeatability: +/-0.075mm (see note)
Payload:nominal 2Kg, max 4Kg at flange
Maximum speed (after acceleration 2): Waist 180 deg/sec. Lift 500mm/sec, extend 500 mm/sec, Wrist 360 deg/sec. (turbo available)
Weight 14.5Kg/33lbs, Controller 11.1kg/25lbs
Power: 110/240v ac 420VA (standard controller)
Environment:IP 54A, 0 - 40C (wider range optional)
Clean room:Class 10 (ISO 4)
MTBF: 10,000 hours
Finish:White or blue powder-coat
note: repeatability is measured as a standard deviation of the worst dimension of the 3, measured at X=0 Y=500mm Z=0 at 50% speed and zero payload over 24 hours after a 1 hour warming up period. Figures for ISO 9283 available on request.


   R19C in a simulated laboratory task, moving
   micro-titration plates from a stack to a tray
   representing a liquid handling workstation.
R19D places oil sample on PQ analyser, commands analyser, retrieves measurement, passes measurement to computer and returns sample to tray.
Designed for and sold as a product by Condition Monitoring Technology.


Linear Track

see video

R19 may optionally be mounted on a linear track. This has dual crossed-roller linear bearings providing speed and precision along with smoothness and lack of vibration and noise. Max speed 1000mm/sec. Positional repeatability 0.2mm. R19D pictured on 1m track. High speed version available. See youtube video (high speed version)


Workspace is a cylinder approx 1100mm in diameter by 500mm high. (see H and V in specifications above and diagrams below). End effector will affect reach i.e. longer fingers will increase reach. Reach is normally measured to the center-line of rotation of the gripper.