Technical specifications **************************************** This section describes the technical specifications of Ned. .. image:: /images/NED_SANS_CACHE.png :width: 400px :align: center .. list-table:: :header-rows: 1 :widths: auto :align: center * - Parameters - Value * - Weight - 6,5 kg * - Payload - 300 g * - Reach - 440 mm * - Degree of freedom - 6 rotating joints * - Joints range - -170 ° ≤ Joint 1 ≤ 170 ° |br| -120 ° ≤ Joint 2 ≤ 35 ° |br| -77 ° ≤ Joint 3 ≤ 90 ° |br| -120 ° ≤ Joint 4 ≤ 120 ° |br| -100 ° ≤ Joint 5 ≤ 55 ° |br| -145 ° ≤ Joint 6 ≤ 145 ° * - Joints range - -2,97 rad ≤ Joint 1 ≤ 2,97 rad |br| -2,09 rad ≤ Joint 2 ≤ 0,61 rad |br| -1.34 rad ≤ Joint 3 ≤ 1,57 rad |br| -2,09 rad ≤ Joint 4 ≤ 2,09 rad |br| -1,75 rad ≤ Joint 5 ≤ 0,96 rad |br| -2,53 rad ≤ Joint 6 ≤ -2,53 rad * - Joints speed limit - Joint 1 ≤ 150 °/s |br| Joint 2 ≤ 115 °/s |br| Joint 3 ≤ 140 °/s |br| Joint 4 ≤ 180 °/s |br| Joint 5 ≤ 180 °/s |br| Joint 6 ≤ 180 °/s * - Joints speed limit - Joint 1 ≤ 2.6 rad/s |br| Joint 2 ≤ 2.0 rad/s |br| Joint 3 ≤ 2.5 rad/s |br| Joint 4 ≤ 3.14 rad/s |br| Joint 5 ≤ 3.14 rad/s |br| Joint 6 ≤ 3.14 rad/s * - TCP max speed - 1144 mm/s * - Repeatability - 0.5 mm * - Footprint - 200x200 mm * - Mounting - Table * - I/O power supply - 5V for digital GPIO |br| 12V for Switches output * - I/O ports - Digital inputs/outputs 5V: 6 |br| Digital outputs 12V: 2 * - I/O interface - 2 x USB2.0 |br| 2 x USB3.0 |br| 1 x ETHERNET GIGABIT * - Communication - Modbus TCP (master) |br| TCP/IP |br| CAN (slave, compatible with NiryoStepper motors) * - Materials - Aluminum |br| Plastic PLA * - Temperature - 5 - 45°C * - Power supply - DC 11.1V - 6A * - Programming Environment - Niryo Studio |br| PyNiryo |br| C++ |br| Python |br| ROS .. |br| raw:: html