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Robot Specifications
9.2 Robot Specifications
Table 9-1. <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot Specifications a
Description <strong>i600</strong> Robot i800 Robot
Reach 600 mm (23.6 in) 800 mm (31.5 in)
Payload - rated 2.0 kg (4.4 lb) 2.0 kg (4.4 lb)
Payload - maximum 5.5 kg (12.1 lb) 5.5 kg (12.1 lb)
Moment of Inertia
Joint 4 - 450 kg-cm²
(150 lb-in²) - max
Joint 4 - 450 kg-cm²
(150 lb-in²) - max
Downward Push Force - Burst 343 N (77 lb) - maximum 298 N (67 lb) - maximum
(no load)
Lateral/Side Push Force - 178 N (40 lb) - maximum 133 N (30 lb) - maximum
Burst
<strong>Adept</strong> Cycle - Burst (no J4 rotation) b
0 kg 0.42 sec 0.48
2 kg 0.42 sec 0.54
5.5 kg 0.53 sec 0.64
<strong>Adept</strong> Cycle - Burst (180° J4 rotation)
0 kg 0.42 sec 0.48
2 kg 0.42 sec 0.54
5.5 kg 0.59 sec 0.76
<strong>Adept</strong> Cycle - Sustained (no J4 rotation) b
0 kg 0.42 sec at 20°C
0.48 sec at 40°C
2 kg 0.45 sec at 20°C
0.51 sec at 40°C
5.5 kg 0.58 sec at 20°C
0.64 sec at 40°C
<strong>Adept</strong> Cycle - Sustained (180° J4 rotation)
0 kg 0.42 sec at 20°C
0.48 sec at 40°C
2 kg 0.45 sec at 20°C
0.51 sec at 40°C
5.5 kg 0.80 sec at 20°C
0.86 sec at 40°C
Repeatability
0.48 sec at 20°C
0.51 sec at 40°C
0.54 sec at 20°C
0.54 sec at 40°C
0.70 sec at 20°C
0.70 sec at 40°C
0.48 sec at 20°C
0.48 sec at 40°C
0.54 sec at 20°C
0.61 sec at 40°C
0.77 sec at 20°C
0.91 sec at 40°C
x, y ±0.017 mm (±0.00067") ±0.017 mm (±0.00067")
z ±0.003 mm (±0.00012") ±0.003 mm (±0.00012")
Theta ±0.019° ±0.019°
<strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B 119