ACR series flexible collaborative robots are built on the force-position hybrid control framework and xCore, a new self-developed high-performance control system for industrial robots. Designed for industrial applications, the robots deliver improved motion performance, force control, safety, ease of use, and reliability.
The ACR series includes the ACR-7, ACR-12, ACR-18 and ACR-20, with different payload capacities and working ranges. Highly dynamic force control integrated into the joints increases the payload by 20% compared with competitors. Besides, the ACR series is lighter, easier to use, and safer. more precise, and more reliable. This makes it an ideal choice for various applications in various industries, helping enterprises quickly implement flexible production.
1. Extreme Safety
1- Sensitivity improved by 10 times thanks to the collision detection by torque sensors
2- > 20 adjustable safety features, up to ISO 13849-1, Cat.3, PL d safety certification
3- Dual-channel redundant monitoring of sensor information and an independently certified safety controller
4- Position holding accuracy of ±0.1 mm powered by suction contracting brake and dynamic feedforward compensation
2. Superior Performance
1- Cutting-edge motion control technologies for industrial robots: OptiMotion, TrueMotion, and SyncMotion
2- First-class robot path accuracy supported by dynamic feedforward compensation and dynamic modeling based on over 100 parameters
3- Payload capacity increased by 20% thanks to the customized motor drive control system
3. Compliant Flexibility
1- Powerful yet flexible robot control based on patented unified force-position hybrid control framework
2- Force control task efficiency improved by over 3 times through highly dynamic force control
3- Fine grinding and precision assembly with no extension required thanks to built-in joint sensors and complete force control process kit
4. Ease of Use
1- Cabinet-free design reduces system weight by 50% and allows for fast installation and flexible deployment
2- Direct teaching control with IN based on point position and continuous trajectory
| ACR-7 | ACR-12 | ACR-18 | ACR-20 | |||||
| Specifications | ||||||||
| Payload | 7kg | 12kg | 18kg | 20kg | ||||
| Reach | 988mm | 1434mm | 1062mm | 1798mm | ||||
| Weight | about 27kg | about 43kg | about 40kg | about 75kg | ||||
| Degree | 6 revolute joints | 6 revolute joints | 6 revolute joints | 6 revolute joints | ||||
| MTBF | ＞50000h | ＞50000h | ＞50000h | ＞50000h | ||||
| Power supply | 90-264VAC, 47-63Hz/48VDC | |||||||
| Programming | Direct teaching control and graphical interface | |||||||
| Performance | ||||||||
| Power consumption | Average | Peak | Average | Peak | Average | Peak | Average | Peak |
| 500w | 1500w | 600w | 2000w | 600w | 2000w | 1000w | 3000w | |
| Safety | Over 20 adjustable safety features including collision detection, virtual walls, and collaboration mode | |||||||
| Certification | EN ISO 13849-1 Cat.3 PL d, EN ISO 10218-1, EU CE Marking requirements | |||||||
| Force sensing(tool flange) | Force, x-y-z | Torque, x-y-z | Force, x-y-z | Torque, x-y-z | Force, x-y-z | Torque, x-y-z | Force, x-y-z | Torque, x-y-z |
| Force measurement resolution | 0.1N | 0.02Nm | 0.1N | 0.02Nm | 0.1N | 0.02Nm | 0.1N | 0.02Nm |
| Relatiove accuracy of force control | 0.5N | 0.1Nm | 0.5N | 0.1Nm | 0.5N | 0.1Nm | 0.5N | 0.1Nm |
| Adjustable range of Cartesian stiffness | 0~3000N/m, 0~300Nm/rad | 0~3000N/m, 0~300Nm/rad | 0~3000N/m, 0~300Nm/rad | 0~3000N/m, 0~300Nm/rad | ||||
| Operating temperature | 0℃~45°C | 0℃~45°C | 0℃~45°C | 0℃~45°C | ||||
| Humidity | ≤90% RH (non-condensing) | ≤90% RH (non-condensing) | ≤90% RH (non-condensing) | ≤90% RH (non-condensing) | ||||
| Motion | ||||||||
| Repeatability | ±0.03 mm | ±0.03 mm | ±0.03 mm | ±0.05 mm | ||||
| Motion Joint | Working Range | Maximum Speed | Working Range | Maximum Speed | Working Range | Maximum Speed | Working Range | Maximum Speed |
| Axis 1 | ±175° | 180°/s | ±175° | 120°/s | ±175° | 120°/s | ±175° | 120°/s |
| Axis 2 | ±175° | 180°/s | ±170° | 120°/s | ±170° | 120°/s | ±175° | 120°/s |
| Axis 3 | ±175° | 234°/s | ±175° | 180°/s | ±165° | 180°/s | ±170° | 120°/s |
| Axis 4 | ±175° | 240°/s | ±175° | 234°/s | ±175° | 180°/s | ±175° | 180°/s |
| Axis 5 | ±175° | 240°/s | ±175° | 240°/s | ±175° | 180°/s | ±175° | 234°/s |
| Axis 6 | ±175° | 300°/s | ±175° | 240°/s | ±175° | 180°/s | ±175° | 234°/s |
| Maximum speed at tool end | ≤3.2m/s | ≤3.0m/s | ≤3.0m/s | ≤3.5m/s | ||||
| Features | ||||||||
| IP rating | IP54/IP67 | |||||||
| ISO cleanroom class | 5 | |||||||
| Noise | ≤70dB(A) | |||||||
| Robot installation | At any angle | |||||||
| Tool I/O ports | 2 Digital outputs, 2 Digital inputs, 2 Analog inputs | |||||||
| Tool communication interface | RS485 | |||||||
| Tool I/O power supply | 12V/24V 1A | |||||||
| Pedestal common I/O ports | 4 Digital outputs, 4 Digital inputs, 4 safety I/O | |||||||
| Pedestal communication interface | 1 Channels Ethernet | |||||||
| Pedestal output power supply | 24V 1.5A | |||||||
| Control System | ||||||||
| Controller | Built-in controller | |||||||
| Operator interface | Notebook/PAD/aPad/Interactive Panel | |||||||
| Safety protection device | 1 handheld enable / 1 handheld emergency stop | |||||||
| Direct teaching control | Drag mode: Cartesian space/joint space;teaching mode: point position/continuous trajectory | |||||||
| Highly dynamic force control | Impedance control of Cartesian/joint space;motion planning for force control search | |||||||
| Communication protocols | TCP/IP 1000Mbit, Modbus TCP, Profinet, Ethernet/IP, DeviceNet, CC-Link, CC-Link IE Field Basic | |||||||
| External control interface | Highly dynamic external control; low-level force/positioncontrol; robot model library and API | |||||||
