| Spesification | ||||||
|---|---|---|---|---|---|---|
| Robot variant | GoFa 5 | GoFa 12 | GoFa 10 | |||
| Reach (mm) | 950 (wrist) 1050 (flange) |
1270 (wrist) 1370 (flange) |
1520 (wrist) 1620 (flange) |
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| Payload (kg) | 5 | up to 14kg* | up to 12kg* | |||
| Arm load (kg) | 1 (mounted on axis 4) | 1 (mounted on axis 2, 3, or 4) | 1 (mounted on axis 2, 3 or 4) | |||
| Number of axes | 6 | 6 | 6 | |||
| Protection | IP54 | IP67 | IP67 | |||
| ISO 14644-1 Cleanroom | ISO cleanroom 4 | ISO cleanroom 4 | ISO cleanroom 4 | |||
| Mounting | Any angle, including table mounting, wall mounting, and ceiling mounting | |||||
| Controller | OmniCore C30 | |||||
| Controller power needed to run the GoFa arm | 100 ? 230 VAC 50 ? 60 Hz | |||||
| Customer power supply | M8, 3 pins connector, 24V/3A | |||||
| Customer signals | M8, 4 pins connector, CAT 5 cable, up to 4 digital signals availble for digital IOs,Analog IOs, Fieldbuses and Ethernet based protocols | |||||
| Tool flange | Standard ISO 9409-1-50 | |||||
| Ambient Temperature | 5?C to 40?C | |||||
| Humidity | <75% relative humidity For limited period (<1 month): <95% relative humidity | |||||
| Average Power Consumption | 250W | |||||
| Additional Options | Force control, integrated vision, conveyor tracking | |||||
| Functional safety | SafeMove Collaborative included all safety functions certified to Category 3, PL d. It includes upto 16 safety zones | |||||
| Certifications | ||||||
| SGS Functional safety | ISO 10218-1:2011 and the applicable portions of ISO/TS 15066, ISO 13849-1:2015, IEC 60204-1:2016 The product is compliant with ISO 10218-1:2011 | |||||
| Additional Certifications (Standards) | UL1740 (for USA), CSA Z434 (for Canada) | |||||
| * wrist down configuration | ||||||
| OmniCore ? | ||||||
| GoFa 5 | GoFa 12 | GoFa 10 | ||||
| Physical Controller Dimensions | C30 | 449x443x170 (WxDxH) mm | Weight 24kg | |||||
| Available Connections | Expandable Digital I/Os, Analog I/Os, Safety I/Os | |||||
| Power requirements | 100 – 230 VAC 50 – 60 Hz single phase | |||||
| Available Communication Protocol | TCP/UDP IP, RTU, Fieldbuses: PROFINET Controller, PROFINET Device, PROFenergy, PROFIsafe Controller PROFIsafe Device, EtherNet/IP Scanner, EtherNet/IP Adapter, CC-Link IE FB Master, CC-Link IE FB Device DeviceNet c/d |
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| Mounting Options | Standing, Rack mount, Vertical mount, Desktop Design | |||||
| IP Level | IP20 | |||||
| FlexPendant | ||||||
| GoFa 5 | GoFa 12 | GoFa 10 | ||||
| Screen | 8?? color touch screen | |||||
| Resolution | 1024×768 | |||||
| Protection | IP54 | |||||
| Available Cable Length | 3m, 10m + extensions | |||||
| Additional Features | 3D Joystick, Adaptable for left-handed users | |||||
| Performance | ||||||
| GoFa 5 | GoFa 12 | GoFa 10 | ||||
| Max TCP Velocity | 2,2 m/s | 2 m/s | 2 m/s | |||
| Max TCP acceleration (Controlled motion for nominal load) | 36,9 m/s? | 27 m/s? | 28 m/s? | |||
| Max TCP acceleration (e-stop for nominal load) | 61,6 m/s? | 27 m/s? | 94 m/s? | |||
| Pose repeatability | 0.02 mm | 0.02 mm | 0.02 mm | |||
| Ultra Accuracy ( Feature) | ||||||
| GoFa 5 | GoFa 12 | GoFa 10 | ||||
| Absolute Position Accuracy | 0.1mm | 0.1mm | 0.1mm | |||
| Path Accuracy | Down to 0.03mm | Down to 0.03mm | Down to 0.03mm | |||
| Ultra Accuracy Test Performance ( Error measurement) | ||||||
| GoFa 5 | GoFa 12 | GoFa 10 | ||||
| Average Error | 0.04mm | 0.04mm | 0.04mm | |||
| Max Error | 0.16mm | 0.15mm | 0.18mm | |||
| Physical | ||||||
| GoFa 5 | GoFa 12 | GoFa 10 | ||||
| Dimensions robot base | 165 x 165 mm | 200 x 200 mm | 200 x 200 mm | |||
| Weight | 28 kg | 48 kg | 51 kg | |||
| Movement | ||||||
| GoFa 5 | GoFa 12 | GoFa 10 | ||||
| Axis movement | Working range | Axis max. speed | Working range | Axis max. speed | Working range | Axis max. speed |
| Axis 1 rotation | -180? to 180? | 125 ?/s | -270? to 270? | 120 ?/s | -270? to 270? | 120 ?/s |
| Axis 2 arm | -180? to 180? | 125 ?/s | -180? to 180? | 120 ?/s | -180? to 180? | 120 ?/s |
| Axis 3 arm | -225? to 85? | 140 ?/s | -225? to 85? | 125 ?/s | -225? to 85? | 125 ?/s |
| Axis 4 wrist | -180? to 180? | 200 ?/s | -180? to 180? | 200 ?/s | -180? to 180? | 200 ?/s |
| Axis 5 bend | -180? to 180? | 200 ?/s | -180? to 180? | 200 ?/s | -180? to 180? | 200 ?/s |
| Axis 6 turn | -270? to 270? | 200 ?/s | -270? to 270? | 200 ?/s | -270? to 270? | 200 ?/s |
GoFa-(CRB-15000)
Go faster. Go further than ever.
GoFa?s class-leading speed, safety, and ease of use will take your business to the next level.
GoFa incorporates a range of features that allow it to be used safely, directly alongside human workers and without the need to design and build bulky barriers or fencing. GoFa can continuously share workspace with people, giving it maximum flexibility and efficiency. Robot and human cooperate on the same tasks, without jeopardizing productivity or safety.
GoFa Ultra Accuracy feature ensures exceptional precision with path accuracy down to 0.03 mm and absolute position accuracy of 0.1 mm, perfect for high-stakes applications like gluing, sealing, laser welding, and precision cutting, delivering over 10 times greater path accuracy than other cobots.
Applications: Machine tending, welding, palletizing, assembly, screwdriving
GoFa is available in three variants of 5 kg, 10 kg and 12 kg
