• GENERAL
• Configuration
  
• Up to 6 degrees of motion
• Drive
  
• Electric DC Servos
• Controller
  
• System Computer (LSI-11), with CRT
• Teaching Method
  
• By teach control and/or computer terminal
• Program Language
  
• VAL II
• Program Capacity
  
• 24KW CMOS user memory in VAL II
• External Program Storage
  
• Floppy Disk
• I/O Module
  
• 32 input/32 output AC/DC user selectable voltage range, plus control I/O's
• Gripper Control
  
• 4-way pneumatic solenoid
• Power Requirement
  
• 240-380/415/480 Volts, 3-phase, 4500 watts (peak)
• ENVIRONMENTAL OPERATING RANGE
• 50-120°F (10-50°C)
• 95% relative humidity (non-condensing)
• Shielded against momentary industrial line fluctuations of -15%, +200% of nominal voltage and up to 10KV electrostatic discharge. All covers and rotary seals have gaskets to protect against water spray and dust. Designed to comply with IP54 and NEMA 12 International Electrical Packaging Specifications.
• PHYSICAL CHARACTERISTICS
  

                 Model 761                    Model 762



                 -------------------------------------------



Arm Weight        1276 lbs (580 kg)        1298 lbs (590 kg)



Base Diameter     23.6 in. (0.6m)          23.6 in. (0.6m)



Control Cabinet    



     Size (both)     45.6 in.H x 23.6 in.W x 31.5 in.D



                        (1160mm x 600mm x 800mm)



     Weight                  440 lbs. (200kg)

• Performance

                                    Model 761                             Model 762



                                   ---------------------------------------------------



Repeatability (both)                            +/- 0.008 in. (0.2mm)



Maximum Payload          



  Static Load                    22 lbs. (10 kg)                    44 lbs (20 kg)



  Dynamic Load Around Joint 5    1365 lb.-in² (4000 kg-in²)         4270 lb.-in² (12500



                                 10 kg load concentrated            kg-cm²) 20 kg load     



                                 20 cm from JT5 (tool flange        concentrated 25cm from JT5



                                 is 12.5 cm from JT5)            (tool flange is 12.5cm from JT5)



  Dynamic Load Around Joint 6    340 lb.-in² (1000 kg-cm²)          683 lb.-in² (2000 kg-cm²)



                                 10 kg concentrated at 10 cm        20 kg concentrated at 10 cm



                                 from JT6                           from JT6



Straight Line Velocity (both)                  40 in./sec. (1.0m/sec) max.