Elite Robots CS616F

Elite Robots CS616F is a six-axis collaborative arm from the CSF force-control line of Elite Robots of Suzhou. It carries 16 kg over a 1100 mm radius with a repeatability of +/-0.03 mm, weighs 33 kg, stands on a 190 mm base and draws 435 W in typical use. It carries a third more than the CS612F beside it and weighs a kilogram less, because the extra payload is paid for with 204 mm of reach. What separates the CSF line from the standard CS arms is a dedicated force and torque sensor built into the wrist, rather than force estimated from motor current. The force and torque sensor in the wrist measures Fxyz up to 300 N and Mxyz up to 30 Nm, with a stated accuracy of 5 N, 0.5 Nm and a resolution of 1 N, 0.1 Nm; it tolerates 400% overload. That is what makes constant-force tasks - polishing, grinding, deburring, assembly with a defined insertion force - practical without a third-party sensor bolted to the flange. All six joints turn +/-360 degrees. Joint speeds are 120/120/150 deg/s at base, shoulder and elbow and 180 deg/s at all three wrist axes, giving a maximum tool-point speed of 3.4 m/s. The tool connector carries 4 digital outputs and 4 digital inputs, one analogue input and one analogue output, with 12/24 V at 3 A in three-pin mode, and RS485 for tool-side communication. The arm is rated IP65, works from -10 to 50 C and up to 90% relative humidity without condensation, and is built from aluminium alloy, steel, plastic and rubber on a 5.5 m standard cable. The arm runs from the ERB3C1K0 control cabinet, with the compact ERB1C600ME-Mini offered as an option, and is programmed from the ERP500 pendant. Elite Robots lists this model only on its Chinese-language site; the international site shows a narrower range. No list price is published.

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