Table Of Contents - Bluerprint Lab REACH BRAVO Integration Manual

Contents
1 SAFETY INFORMATION ............................................................................................................................. 3
1.1 CRUSH POINTS AND COLLISION HAZARDS .............................................................................................. 3
1.2 SHOCK HAZARD ....................................................................................................................................... 3
1.3 BACKDRIVABILITY WARNING .................................................................................................................. 4
1.4 LEAK DETECTION ..................................................................................................................................... 5
1.5 SERVICING SCHEDULE ............................................................................................................................. 5
1.5.1 Bravo Servicing Overview ................................................................................................................ 5
1.6 OBSTACLE SETUP..................................................................................................................................... 6
1.7 EMERGANCY STOP .................................................................................................................................. 6
1.8 ELECTRICAL INSTALLATION ..................................................................................................................... 6
1.9 PHYSICAL INSTALLATION ......................................................................................................................... 6
1.10 OPERATING ENVIRONMENT ................................................................................................................... 6
1.10.1 Operating and Storage Temperature .............................................................................................. 6
1.10.2 Pressure .......................................................................................................................................... 6
1.10.3 Explosive Environments .................................................................................................................. 6
2 PRODUCT OVERVIEW ............................................................................................................................... 7
MAIN PRODUCT FEATURES ................................................................................................................................. 7
2.1 AVAILABLE CONFIGURATIONS ................................................................................................................ 7
2.2 END-EFFECTOR OPTIONS ........................................................................................................................ 8
2.3 RELATED PRODUCTS AND ACCESSORIES ................................................................................................. 9
3 SPECIFICATIONS ..................................................................................................................................... 10
3.1 MECHANICAL ........................................................................................................................................ 10
3.2 DIMENSIONS, M
3.2.1 Bravo 7 .......................................................................................................................................... 10
3.2.2 Bravo 5 .......................................................................................................................................... 12
3.2.3 Bravo 3 .......................................................................................................................................... 13
3.2.4 Bravo 2 .......................................................................................................................................... 15
3.3 ENVIRONMENTAL ................................................................................................................................. 16
3.4 ELECTRICAL AND COMMUNICATION .................................................................................................... 16
3.4.1 Power Interface ............................................................................................................................. 16
3.4.2 Communication Interface ............................................................................................................. 16
3.5 KINEMATIC, DYNAMIC, DH PARAMETERS, AND OTHER PROPERTIES .................................................... 16
4 INTERFACING AND INTEGRATION .......................................................................................................... 17
4.1 BRAVO 5 / BRAVO 7 ............................................................................................................................... 17
4.1.1 Mechanical .................................................................................................................................... 17
4.1.2 Electrical........................................................................................................................................ 19
4.1.3 Communication Protocol .............................................................................................................. 20
4.2 BRAVO 2 / BRAVO 3 ............................................................................................................................... 20
4.2.1 Mechanical .................................................................................................................................... 20
4.2.2 Electrical........................................................................................................................................ 22
4.3 INTEGRATION ELECTRICAL DIAGRAM ................................................................................................... 23
5 CONTROL OPTIONS ................................................................................................................................ 24
5.1 REACH CONTROL ................................................................................................................................... 24
5.2 EXTERNAL INPUTS ................................................................................................................................. 24
5.2.1 Gamepad ...................................................................................................................................... 24
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