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Specifications
ACL Controller-B
Communication 2 RS232 channels (expandable to 10); bi-directional parallel
port
SCORBOT-ER 9 on linear slidebase tends
Inputs/Outputs 16 inputs (TTL, 12V or 24V logic); 16 outputs (4 relay, CNC mill (FMS workcell).
12 open collector); NPN/PNP switchable
Microcontroller Motorola 68020, Motorola FPU-MC68881
Servo Axes 6; expandable to 12
Axis Servo Control Real time, PID, PWM H-bridge drivers, 33 KHz, 7A, 40-
50V with tacho feedback
Acceleration Paraboloid and trapezoid profiles
Programming ACL (Advanced Control Language); SCORBASE;
RoboCell (optional); teach pendant (optional)
Position Definition Absolute, relative, Cartesian, joint, tool
Multitasking Up to 40 concurrent tasks
Trajectory Control Point to point; continuous path; joint; linear; circular; 10
ms response time
Speed Definition Linear (mm/sec); Joint (percentage of max.); travel time SCORBOT-ER 9 performs assembly and
Control Parameters 500 user-accessible parameters: proportional, integral, quality control operations
differential, and offset constants; servo control; speed,
velocity profile; smoothing; position error; thermal, impact,
limit protection; homing; encoder interface, Cartesian
calculations
Safety Features Emergency and motor power switches; current limit;
Specifications are subject to change without prior notice.