The SBM has an output of one bag every 30 seconds Cycle time for the robot cell is 10 seconds per bag - bag size is 600 x 400 x 200 mm - weight per bag is between 10 kg and max. 25 kg - box measures 600 x 400 x 400 to 500 mm - pallet measurements are 1200 x 1000 x 145 mm - interlayers (protection against moisture) are roughly pallet size Example of sequence of operations: - robot in starting position, cycle time (CT) 0 - robot over feed, CT 2 sec - grip product, CT 1 sec - move above pallet, CT 4 sec - place sack on pallet, CT 1 sec - return to starting position, CT 2 sec Estimated cycle time: 10 sec Mechanical system: - robot mechanisms with 6 degrees of freedom - all axles supported at both ends - maintenance-free 3-phase servo drives - cables for all motors carried internally through the robot - brakes on all axles - 120 kg handling capacity - 2.8 m span - +/- 0.2 mm repetition accuracy - manipulator degree of protection IP55 - upper arm degree of protection IP66 - wrist degree of protection IP67 - power input operation: 6.7 kW / standby: 0.5 kW - weight of mechanical system Control system: - control cubicle HxWxD = 950 x 800 x 540 mm - weight of control cubicle about 240 kg - colour RAL 7032 - degree of protection: IP54 - basic software package RobotWare 3.0 - multiprocessor control system: - main processor Motorola M68040 (32 bits) - 10 MB semiconductor memory (expandable to 12 MB or 20 MB) - floating point calculation Robot base: - places robot at the optimal working height - heavy steel construction - inclusive of centring set for precise positioning of robot - colour: RAL 9005 black Gripper system: - bag grippers with bottom forks - forks projecting 350 mm, rounded, spaced about 80 mm apart - return stroke 430 mm, monitored - hold-down plate with integrated vacuum cleaner, stroke about 470 – 150 mm, monitored Optional suction plate: - suction plate for handling bag for filling box