SCORA-ER 14

The SCARA Solution

A four-axis, table-top mounted SCARA robot, the SCORA-ER 14 is designed for work
in industrial training facilities. This rugged and reliable robot performs light-payload
assembly, handling and packaging applications with impressive speed and accuracy.
SCORA-ER 14 is controlled by a continuous path, real-time, multi-tasking controller
with PID control and PMW drive. The controller's internal programming language is
accessed by a software interface while an optional hand-held teach pendant enables direct
operator manipulation of robot axes and position recording as well as other functions.
With its ability to simultaneously control and synchronize up to 12 axes, 16 inputs and
16 outputs, the SCORA-ER 14 controller provides superior real-time control of both the
robot and its application environment.
Easily integrated with peripheral equipment, the SCORA-ER 14 system provides the
foundation for both stand-alone applications as well as robotic workstations within CIM
systems.
Intelitek offers a number of components that combine with the SCORA-ER 14 to create
automated workcells that allow students to observe and study the theory and practice of
robotics and automation technologies:
● Handling and packaging operations with palletizing and storage devices
● Assembly operations with automatic screwdriving and gluing devices
● Quality control operations with machine vision and high-precision measurement
devices

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 SCORA-ER 14 Specifications

Mechanical Arm
Mechanical structure Horizontally articulated (SCARA), enclosed frame,
3 rotational axes and 1 translational axis
Payload capacity 2 kg (4.4 lb) at high speeds; 3 kg (6.6 lb) at low speeds
Reach Min. 230 mm (9.06"); Max. 500 mm (19.69")
Axis Movement Range Effective Speed Maximum Speed
Axis 1: Rotation 288º 117º/sec 158º/sec
Axis 2: Rotation 218º 114º/sec 157º/sec
Axis 3: Translation 182 mm 211 mm/sec 333 mm/sec
Axis 4: Roll ±527º 370º/sec 475º/sec
Assembly and quality control CIM station:
Speed 2.8 m/sec (horizontal); 0.33 m/sec (vertical) SCORA-ER 14 with ball feeder, automatic
Operating radius Minimum 230 mm (9.06"); Maximum 500 mm (19.69") gluing system, palletizing racks, pneumatic
Repeatability ±0.05 mm (±0.002") vise and machine vision system. Robot also
tends CIM conveyor.
Position feedback Incremental optical encoder with index pulse on each axis
Homing Optical switch plus encoder index pulse on each axis
Actuators 24Vdc servo motor on all axes
Transmission Harmonic drives
Weight 30 kg (66 lb)
Controller
Communication 2 RS232 channels (expandable to 10); bi-directional parallel
port
Inputs/Outputs 16 inputs (TTL, 12V or 24V logic); 16 outputs (4 relay,
12 open collector); NPN/PNP switchable
Microcontroller Motorola 68020, Motorola FPU-MC68881
Servo Axes 6; expandable to 12
Axis Servo Control DC servo, PWM H-bridge drivers, 33 KHz, 7A, 40-50V
with tacho feedback Assembly and quality control stand-alone
Acceleration Paraboloid and trapezoid profiles workstation: SCORA-ER 14 with ball feeder,
automatic gluing system, palletizing racks,
User Memory Standard: 400 programs; 7000 program lines; XY positioning table, and laser scan
3500 variables; 8800 positions; 800 comments. Configurable. micrometer (LSM)
Programming ACL (Advanced Control Language); 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
Control Parameters 500 user-accessible parameters: proportional, integral,
differential, and offset constants; servo control; speed,
velocity profile; smoothing; position error; thermal, impact,
Specifications are subject to change without prior notice.

limit protection; homing; encoder interface, Cartesian

calculations
Safety Features Emergency and motor power switches; current limit;
automatic fuses; thermic, impact and limit software
protection. Supports connections of external emergency
devices
Weight 36 kg (79.4 lb)
AC Power Input 100/120/220/240 VAC 60/50 Hz (1500 W max.)
Internal power supplies Servo 40-50V, 22A; user 12V/24V 2A each (floating)
OpenCIM software's 3D graphic setup and
Gripper (not included in robot package) display modules provide accurate simulation
Standard options: DC electric or pneumatic and real-time tracking of SCORA-ER 14
Max. opening: electric: 70 mm (2.8"); pneumatic: 64 mm (2.5") workstations.
cat#100522 rev.A

444 East Industrial Park Drive, Manchester, NH 03109-5317, USA

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