2 Hardware Overview
2.1 Arm
2.1.1 Overview
The Thor’s arm contains 6 joints connected by a CAN bus. Each joint has two encoders, two different methods to sense torque, and fail-safe brakes that provide emergency braking torque when power is removed from the arm
2.1.2 Reach
The Thor robot can reach 2000 mm (78.74 in) in a radius from the center of the base (A). There is a radius from the center base where the robot cannot reach due to it’s structure. Tools added to the robot end of arm will impact the reach of the robot.
2.1.3 Payload Chart
Footnotes:
The above chart assumes near ambient room temperature. Running the robots in warmer environments will reduce payload capacity.
The maximum weight limit may be reduced if the routine includes stops with the arm near full extension.
2.1.4 Tool Flange Pinout
The current limit on the 24V DC line of the flange is 3 amps. The flange is capable of PNP or NPN operation and is auto switching. The pinout at the end of the Tool Flange is laid out as shown:
Also, please not that the 4-pin connector at the tool flange is not currently supported.
2.1.5 Tool Flange Ethernet
There is a pass through ethernet connection at the end of the Thor arm labeled “ETH”. It is an X coded M12 standard pinout. It is non POE.
2.1.6 LED Colors
The robot end of arm has an LED status light for assisting in determining the robot status. The color codes are as follows:
| Robot State | Color |
|---|---|
| Idle or Paused | Solid Green |
| Bootup / Startup | Color Cycle |
| Full Speed (as defined in Safety Settings) | Yellow Ring Pattern |
| Slow Speed (as defined in Safety Settings) | Solid Yellow |
| Antigravity Mode | Solid Blue |
| Firmware Update | White Ring Pattern |
| Recoverable Error | Red Pulsing |
| Fatal Error | Braked |
2.2 Control Box
There are several features to note on the control box:
| Item | Name | Description |
|---|---|---|
| A | E-Stop | Pressing the E-stop button initiates an emergency (category 1) stop, cutting power to the arm. Twist the button to reset it. |
| B | Button Control | Turn on button |
| C | Bluetooth & Wi-Fi Antennae | The Thor ships with two antennas that can be screwed into the top to give the control box access to Bluetooth and Wi-Fi. Bluetooth is used to pair the tablet. |
| D | Lock & Key | Thor includes a key that can be used to lock the control box door. |
| E | Arm data + power connection | This links the control box to the arm. Power to the arm runs at 48V |
| F | Power | The control box accepts 120V through a power supply module already certified to IEC 62368-1 and FCC EMI limits. |
| G | Ethernet (RJ45) | This can be used to communicate with other devices in the cell, or to the tablet for programming |
| H | USB-A port | |
| I | USB-C port | This links the control box to the camera on the robot arm |
2.2.1 Front Panel
Inside the front panel are many ports that can be used to connect the robot to other equipment in the cell:
| Section | Port Labels | Description |
|---|---|---|
| I/O - 1 and 2 | DI, 24V, GND | This section includes 16 24V I/O ports which can be used to control other equipment in the cell. They are also safety-rated and can be used in pairs to activate safety functions of the robot via the Safety I/O feature. |
| Relay | RL-1, RL-2, RL3 | The relays can be closed to form a circuit and can be used to control equipment in the cell. |
| Safeguard | - | Unsupported. |
| E-Stop | - | This can be hooked up to an external E-stop button. When the input is low, it will force the robot to stop. If no external E-stop button is in use, these ports should have jumpers installed. |
| Motor: | M-1, M-2 | Unsupported. |
| Remote On/Off | ROFF, RON, GND, 24V | Unsupported. |
| Comms | PWR, GPIO 1+2, CAN H, CAN L, 485 A, 485B | Unsupported. Future software will enable communication with other equipment in cell over serial ports. |
2.3 Specs
| Performance | |
|---|---|
| Power consumption | Depends on program and payload. Please use a dedicated 15 amp 120V circuit for Thor. |
| Ambient temperature range | 0-55°C |
| Humidity | 90%RH (non-condensing) |
| Specification | |
|---|---|
| Payload capacity | 30kg (66 lbs) maximum. See chart below. |
| Reach | 2m (78.74 in) |
| Max joint speed | 435° /s |
| Degrees of freedom | 6 degrees |
| Physical | |
|---|---|
| Footprint | Ø 296 mm |
| Materials | Anodized Aluminum, Rubber |
| Tool connector type | M8 8-pin & M8 4-pin |
| Cable length, robot arm | 2m (79 in) |
| Weight, including cable | 79 kg (174 lbs) |
| Robot Features | |
|---|---|
| IP classification | IP69k |
| Noise | Depends on program; typically less than 58dB |
| Robot mounting | Floor mount |
| Flange I/O ports | Digital In: 2 (24V tolerant, 1A max open-drain), Digital Out: 2, tolerant), RS-485 / UART Max data rate: 10mbps |
| Flange Ethernet | M12, X coded, pass through, non POE, Standard Pinout |
| I/O power supply in tool | 12V/24V, 6A continuous max |
| Control Box | |
|---|---|
| IP classification | IP44 |
| Ambient temperature range | 0-55°C |
| I/O ports | Digital In: 16 (24V Tolerant), Digital Out: 16 (24V 0.7A Out continuous) |
| Internal I/O power supply | 24V, 3A max continuous. |
| External I/O power supply | 12A Maximum |
| Communication | 24V I/O, Modbus TCP, APIs over Ethernet, Ethernet IP |
| Power source | 90 ~ 264VAC, 47-63Hz |
| Humidity | 90%RH (non-condensing) |
| Control box size | 460mm x 430mm x 315mm (18.1in x 16.9in x 12.4in) |
| Weight | 14.4kg (31.7lbs) |
| Materials | Powder-coated steel |
| Movement | |
|---|---|
| Repeatability | +/- 0.025 mm |
| Shoulder 1 & 2 | Working range: ±360°, Maximum speed: ±173°/sec |
| Elbow | Working range: ±360°, Maximum speed: ±198°/sec |
| Wrist 1, 2 & 3 | Working range: ±360°, Maximum speed: ±277°/sec |
| Typical TCP speed | 1 m/sec (39.4 in/sec) |
| Maximum TCP speed | 4 m/sec (No payload) |
2.4 Hazardous Energy
WARNING – Hazardous Stored
Energy
The control box and robot store electrical energy in capacitors after power is removed. Covers and joint caps shall be opened only by trained Standard Bots personnel, and only after the controller is unplugged and stored energy has discharged (see sections 2.5 and 5.2).
A workpiece held by the end-effector can fall if the clamping force is de-energized – remove the workpiece before approaching the robot.
Vent compressed-air / pneumatic energy before service, and apply lockout/tag-out before any maintenance.
Uncontrolled release of stored energy can cause serious injury or death