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Author

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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.ENantel

Content

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35	35
36	36	**General**
37	37
38		-* Horizontral Reach: 900mm
39		-* Vertical Reach: 1007mm
40	40	* Degrees of Freedom (DoF): 5
41	41	* Payload: 3Kg (no gripper)
	40	+* Max speed (cartesian): Coming soon
42	42	* Collision detection: No
	42	+* ROS 2: Coming soon
43	43
44	44	**Mechanical**
45	45
46		-* Motors: Stepper (NEMA 34, 23, 17)
47		-* Gearing: 100:1 Steel strain wave (aka "Harmonic Drive")
	46	+* Horizontal reach: 900mm
	47	+* Vertical reach:
	48	+* Tubing material: carbon fiber
	49	+* Joint material: machined aluminum
48	48
49		-(% style="width:600px" %)
50		-|(% style="text-align:center" %)**Location**|(% style="text-align:center" %)**Type**|(% style="text-align:center" %)**Torque**|(% style="text-align:center" %)
51		-|Joint 1 / Base|(% style="text-align:center" %)LSS-P-M1|(% style="text-align:center" %)Up to 220Nm|(% style="text-align:center" %)±180°
52		-|Joint 2 / Shoulder|(% style="text-align:center" %)LSS-P-M1|(% style="text-align:center" %)Up to 220Nm|(% style="text-align:center" %)±180°
53		-|Joint 3 / Elbow|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %)Up to 80Nm|(% style="text-align:center" %)±180°
54		-|Joint 4 / Wrist Roll (fixed)|(% style="text-align:center" %)LSS-P-TC|(% style="text-align:center" %)-|(% style="text-align:center" %)-
55		-|Joint 5 / Wrist Pitch|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %)Up to 18Nm|(% style="text-align:center" %)±180°
56		-|Joint 6 / Wrist Yaw|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %)Up to 18Nm|(% style="text-align:center" %)±180°
57		-
58	58	**Electrical**
59	59
60		-* Power Supply: 110V to 220V AC to 36V DC
61		-* Emergency Stop Button & Protection Fuse
62		-* Type B (USA) Plug (Standard Power Cable)
63		-* Battery power alternative: 8 cell (8S) or 9 cell (9S)
	53	+* Input voltage: 30V (nominal)
	54	+* Max current: Coming soon
	55	+* Wall adapter: 120V - 220V
	56	+* Battery power alternative: 8 cell (8S)
64	64	* Wiring: external
65	65
66	66	**Communication**
67	67
68		-* Communication method between servos: CAN Bus (custom)
69		-* Communication method to first servo: USB (USB 3 suggested)
	61	+* Communication method: CAN Bus
70	70	* Communication protocol: LSS-P (human readable)
	63	+* Motor: NEMA 17 & 24
	64	+* Gearing: Strain wave (aka “Harmonic drive”)
	65	+* Safety: Emergency stop button & software stop
	66	+* Joint angle: 360 (restricted by external cables)
	67	+
71	71
72	72	= User Guides =
73	73