The PreciseFlex 1300 Robot (Figure 62-81) is a 3-axis SCARA robot composed of a J1-Axis with a rotation of +/-176°, a Z-axis with a stroke ranging from a standard travel of 300 mm to a maximum of 600 mm, and a J3-Axis with a rotation of +/-162°.
Figure 62-81: PreciseFlex 1300 Robot
The PreciseFlex 1400 is a 4-axis version of this robot. It is configured at the factory by adding a Theta rotational axis to the PreciseFlex 1300 and a 4th motor driver to the robot’s embedded controller. The PreciseFlex 1400 is visually nearly identical to the 1300 except that the tool mounting flange extends 10 mm lower. The Theta axis is beneficial in applications where the orientation of manipulated objects about the vertical axis (the World Z-axis direction) is important. The Theta axis has a range-of-travel of +/- 270 degrees.
Both robots have a 20 mm hole in the top of the outer link that extends through the center of the tool flange. This "through hole" facilitates the development of visual serving procedures. For example, in a visual servoing application, this clear passage way permits a camera that is mounted above the outer link to look through the tool mounting flange to view parts held in the end-effector with respect to key alignment features. Alternately, this hole can be used to route cables to tooling and instrumentation attached to the end-effector.
The outer link of both robots also contains a PCB (ZIO) and connectors that route digital IO and Ethernet signals between the end-effector and the controller in the base. This DIO is available via a DB25 connector that is mounted on the bottom of the outer link.