Technical specifications
****************************************

This section describes the technical specifications of Ned2. 

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   *  - Parameters
      - Value

   *  - Weight (kg)
      - 7 

   *  - Payload (g)
      - 300 

   *  - Reach (mm)
      - 440 

   *  - Degree of freedom
      - 6 rotating joints


   *  - Joints range (rad)
      - -2,949  ≤ Joint 1 ≤ 2,949  |br|
        -2,09  ≤ Joint 2 ≤ 0,61  |br|
        -1.34  ≤ Joint 3 ≤ 1,57  |br|
        -2,089  ≤ Joint 4 ≤ 2,089  |br|
        -1,919  ≤ Joint 5 ≤ 1.922  |br|
        -2,53  ≤ Joint 6 ≤ -2,53 

   *  - Joints speed limit (rad/s)
      - Joint 1 ≤ 0.785 |br|
        Joint 2 ≤ 0.5235  |br|
        Joint 3 ≤ 0.785  |br|
        Joint 4 ≤ 1.57 |br|
        Joint 5 ≤ 1.57  |br|
        Joint 6 ≤ 1.775 

   *  - TCP max speed (mm/s)
      -  468

   *  - Repeatability (mm)
      - +/- 0,5 

   *  - Footprint (mm)
      - 200x200 

   *  - Mounting 
      - Table
   
   *  - Temperature (°C)
      - 5 - 45

   * - Human-Machine interface
     - 3 control buttons (‘‘FreeMotion’’ button, button to save a pose and ‘‘Custom’’ button) |br|
       LED Ring |br|
       Speakers |br|
       Microphone |br|

   *  - Power supply
      -  Input: AC100-240V / 50-60Hz, 2,5A |br|
         Output: DC 12V - 7A ; 5V - 7A

   *  - I/O power supply
      - 5V 

   *  - Inputs/ Outputs Back panel                         
      - Digital inputs    x3 |br|
        Digital outputs   x3 |br|
        Analog outputs    x2 |br|
        Analog inputs     x2 |br| 


   *  - Inputs/ Outputs Control panel                         
      - Digital inputs    x1 |br|
        Digital outputs   x1  

   *  - Robot interface 
      - 2 x USB2.0 |br|
        2 x USB3.0 |br|
        1 x ETHERNET GIGABIT 

   *  - Communication 
      - Modbus TCP (master) |br|
        TCP/IP |br|
        

   *  - Materials
      - Aluminum |br|
        ABS-PC (injection moulding)


   *  - Programming Environment 
      - Niryo Studio |br|
        C++ |br|
        PyNiryoRos |br|
        PyNiryo |br|
        ROS
   
   * - Collision detection 
     - Accelerometer and gyroscope in the control panel

   * - Certification
     - CE Conformity 

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