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  • SES-P-A-900-6DOF-Public.zip

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35	35
36	36	**General**
37	37
	38	+* Horizontal Reach: 900mm
	39	+* Vertical Reach: 1007mm
38	38	* Degrees of Freedom (DoF): 6
39	39	* Payload: 3Kg (no gripper)
40		-* Max speed (cartesian):
41	41	* Collision detection: No
42		-* ROS 2: Coming soon
43	43
44	44	**Mechanical**
45	45
46		-* Horizontal reach:
47		-* Vertical reach:
48		-* Tubing material: carbon fiber
49		-* Joint material: machined aluminum
	46	+* Motors: Stepper (NEMA 34, 23, 17)
	47	+* Gearing: 100:1 Steel strain wave (aka “Harmonic drive”)
50	50
	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-S1|(% style="text-align:center" %)Up to 80Nm|(% style="text-align:center" %)±180°
	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	+
51	51	**Electrical**
52	52
53		-* Input voltage: 30V (nominal)
54		-* Max current: Coming soon
55		-* Wall adapter: 120V - 220V
56		-* Battery power alternative: 8 cell (8S)
	60	+* Power Supply: 120V - 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)
57	57	* Wiring: external
58	58
59	59	**Communication**
60	60
61		-* Communication method: CAN Bus
	68	+* Communication method between servos: CAN Bus (custom)
	69	+* Communication method to first servo: USB (USB 3 suggested)
62	62	* Communication protocol: LSS-P (human readable)
63		-* Motors: NEMA 14, 17 & 23
64		-* Gearing: Strain wave (aka “Harmonic drive”)
65		-* Safety: Emergency stop button & software stop
66		-
67	67
	72	+= Media =
	73	+
	74	+{{video url="https://youtu.be/DVyN6WXXhSk?si=4_08X5fvJwUvHTl3" width="700"/}}
	75	+
68	68	= User Guides =
69	69
70	70	{{include context="NEW" reference="ses-pro.ses-pro-arms.ses-pro-900-6-dof-arm.ses-pro-900-6-dof-arm-guides.WebHome"/}}
...	...	@@ -74,7 +74,7 @@
74	74	* Simple Geometry
75	75	** [[attach:SES-P-A-900-6DOF-SG.zip]]
76	76	* Complete public version
77		-**
	85	+** [[attach:SES-P-A-900-6DOF-Public.zip]]
78	78	* Drilling template for the mounting holes
79	79	** [[SES-P-A-B-L - Drill Template v1.0.pdf>>attach:ses-pro.ses-pro-parts.ses-p-a-b-l-kt.WebHome@SES-P-A-B-L - Drill Template v1.0.pdf]]
80	80

SES-P-A-900-6DOF-Public.zip

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	1	+xwiki:XWiki.ENantel

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	1	+3.7 MB

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