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SCARA Robot

 

This video demonstartes how a 5-axis pick-and-place SCARA robot can be built with 2 of our hollow rotary actuators, a harmonic geared stepper motor, a compact cylinder and a compact gripper from the same product family.

To shorten the learning curve, all of these products use the same battery-free mechanical absolute encoder technology and use the same drivers.

1. A Custom-built SCARA Robot (Demo)
This custom-built SCARA robot (demo) was made using motors from Oriental Motor. Although Oriental Motor does not build or sell robots, we built this demo to show that our motors are suitable for articulated driving.

2. Specifications of the Custom-built SCARA Robot (Demo)

 

SCARA Robot Demo

Number of Axes

5-axis (3-link + Raising/lowering + Electric gripper)

Control Method

EtherNet/IP (From the MRC01 to the driver is controlled via RS-

485 communication)

Transportable Mass

0.7 kg

Motion Radius

Radius 454.4 mm (Tool tip)

Speed

Maximum Speed of Demo:
500 mm/s (Maximum speed at tip of gripper)

Reference: Maximum Speed of Each Axis:

Axis J1: DGM85R-AZAK 500 [mm/s]
Axis J2: DGM60-AZAK 500 [mm/s] 
Axis J3: AZM24AK-HS50 500 [mm/s] 
Axis J4: DR28T1A03-AZAKD-F 40 [mm/s]
Axis J5: EH3-AZAKH 556 [mm/s] (Both sides)

 

Repetitive Positioning Accuracy

Repetitive Positioning Accuracy:

Within ±0.002 mm (Repetitive positioning accuracy near hand)

Repetitive Positioning Accuracy of Each Motor

Axis J1: DGM85R-AZAK ±0.004°
Axis J2: DGM60-AZAK ±0.004° 
Axis J3: AZM24AK-HS50 0.034°
Axis J4: DR28T1A03-AZAKD-F ±0.003 mm
Axis J5: EH3-AZAKH ±0.02 mm

 

Angular transmission accuracy is shown for the axis J3 harmonic geared type under no-load conditions.

Main Power Supply

100 VAC
The power supply for driving and controlling the motor, driver, and
robot controller is 24 VDC (7.02 A max.)

Mass

4 kg (Custom-built SCARA robot)

3. Main Dimensions of Demo (Reference)

Dimensions

Dimensions

4. Products Used

Parts

The following products were used in the demo unit.

 

Axis

Product Name

Product Name

1

Axis 1

DGM85R-AZAK

Hollow Rotary Actuators

2

Axis 2

DGM60-AZAK

Hollow Rotary Actuators

3

Axis 3

AZM24AK-HS50

AZ Series Harmonic Geared Type

4

Axis 4

DR28T1A03-AZAKD-F

Compact Electric Cylinders

5

Axis 5

EH3-AZAKH

Electric Grippers

 

Modular Automation
αSTEP AZ Series Product Family


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