Technical specifications

This section describes the technical specifications of Ned.

Parameters	Value
Weight	6,5 kg
Payload	300 g
Reach	440 mm
Degree of freedom	6 rotating joints
Joints range	-170 ° ≤ Joint 1 ≤ 170 ° -120 ° ≤ Joint 2 ≤ 35 ° -77 ° ≤ Joint 3 ≤ 90 ° -120 ° ≤ Joint 4 ≤ 120 ° -100 ° ≤ Joint 5 ≤ 55 ° -145 ° ≤ Joint 6 ≤ 145 °
Joints range	-2,97 rad ≤ Joint 1 ≤ 2,97 rad -2,09 rad ≤ Joint 2 ≤ 0,61 rad -1.34 rad ≤ Joint 3 ≤ 1,57 rad -2,09 rad ≤ Joint 4 ≤ 2,09 rad -1,75 rad ≤ Joint 5 ≤ 0,96 rad -2,53 rad ≤ Joint 6 ≤ -2,53 rad
Joints speed limit	Joint 1 ≤ 150 °/s Joint 2 ≤ 115 °/s Joint 3 ≤ 140 °/s Joint 4 ≤ 180 °/s Joint 5 ≤ 180 °/s Joint 6 ≤ 180 °/s
Joints speed limit	Joint 1 ≤ 2.6 rad/s Joint 2 ≤ 2.0 rad/s Joint 3 ≤ 2.5 rad/s Joint 4 ≤ 3.14 rad/s Joint 5 ≤ 3.14 rad/s 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 12V for Switches output
I/O ports	Digital inputs/outputs 5V: 6 Digital outputs 12V: 2
I/O interface	2 x USB2.0 2 x USB3.0 1 x ETHERNET GIGABIT
Communication	Modbus TCP (master) TCP/IP CAN (slave, compatible with NiryoStepper motors)
Materials	Aluminum Plastic PLA
Temperature	5 - 45°C
Power supply	DC 11.1V - 6A
Programming Environment	Niryo Studio PyNiryo C++ Python ROS