PUMA 200 SPECS

• GENERAL
  • Configuration
    
    • 6 degrees of motion
  • Drive
    
    • Electric DC Servos
  • Controller
    
    • System Computer (LSI-11)
  • Teaching Method
    
    • By teach control and/or computer terminal
  • Program Language
    
    • VAL PLUS or VAL II
  • Program Capacity
    
    • 8K CMOS user memory in VAL PLUS
    • 24K CMOS user memory in VAL II
    • Options for additional user memory
  • External Program Storage
    
    • Floppy Disk
  • Gripper Control
    
    • 4-way pneumatic solenoid
  • Power Requirement
    
    • 110-130 VAC, 50-60 Hz, 500 watts
  • Optional Accessories
    
    • TTY Terminal, I/O module (8 input/8 output signals, isolated ac/dc levels) up to 32 I/O capacity, pneumatic gripper without fingers, special software packages.
• PERFORMANCE
  • Repeatability
    • +/- 0.0002 in. (0.05 mm)
  • Straight Line Velocity
    • 49 in/sec. max (1.245m/sec.)
  • Maximum Payload
    • Static Load
      • 2.2 lbs. (1.0 kg)
    • Dynamic Load Around Joint 5
      • 24 lb-in² (70.4 kg-cm²)(a 2.2 lb (1 kg) concentrated load at 3.3 in. (8.4 cm) from Joint 5)
    • Dynamic Load Around Joint 6
      • 9.0 lb-in² (70.4 kg-cm²) (a 2.2 lb (1 kg) concentrated load at 2.0 in. (5 cm) from Joint 6)
• ENVIRONMENTAL OPERATING RANGE
  • 50-120°F (10-50°C)
  • 10-80% relative humidity (non-condensing)
  • Shielded against industrial line fluctuations and human electrostatic discharge
• PHYSICAL CHARACTERISTICS
  • Arm Weight
    • 29 lbs. (13.2 kg)
  • Controller Size
    • 12.5"H x 17.5"W x 19.6"D (317.5mm H x 444.5mm W x 500.0mm D) (19" rack mountable)
  • Controller Weight
    • 80 lbs. (36.4 kg)
  • Controller Cable Length
    • 15 ft. (4.57m) standard
    • 50 ft. (15.24m) max.