ER Series Collaborative Robots
○ The xMate ER series flexible collaborative robots feature torque sensors for all joints.
○ Powered by direct force control with full state feedback, they excel in obstacle avoidance and collision detection, and ensure high precision of position control without sacrificing the highly dynamic force control and compliance control function.
○ Practical direct teaching control and RL programming language provide users with a simpler and more comprehensive programming experience.
○ Open RCI low-level control satisfies the requirements of high-end users in such fields as education, research, and automatic process development.


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Data Overview
ER7 Pro Specifications

Payload

7 kg

Weight

(built-in

control cabinet)

About 29 kg

Reach

1125 mm

DOF

7

IP Rating

IP54

Power Supply

90-264VAC,

47-63Hz/48VDC

Repeatablity

±0.03 mm

Operating

Temperature

0℃~45°C

Force Sensing

(tool flange)

Force

x-y-z

Torque

x-y-z

Maximum Speed

at Tool End

≤2.5 m/s

Adjustable Range

of Cartesian

Stiffness

0~3000 N/m

Relative 

Accuracy of

Force Control

0.5 N0.1 Nm

Mounting

Method

Mounting at any angle

0~300 Nm/rad

Motion

Parameters

Axis

Range of Motion

Maximum Speed

Axis1

±170°

90°/s

Axis2

±120°

90°/s

Axis3

±170°120°/s

Axis4

±120°120°/s

Axis5

±170°120°/s
Axis6
±120°120°/s
Axis7±360°120°/s
ControllerBuilt-in controller
Operator InterfaceNotebook/PAD/Interactive Panel
Safety Protection DeviceHandheld enable 1/handheld emergency stop 1
Direct Teaching Control

Drag mode: Cartesian space/joint space;

teaching mode: pont position/continuous trajectory

Highly Dynamic Force Control

Impedance control of Cartesian/joint space;

motion planning for force control search

Communication ProtocolsTCP/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/position control; 

robot model library and API


ER7 Specifications

Payload

7 kg

Weight

(built-in

control cabinet)

About 27 kg

Reach

1125 mm

DOF

6

IP Rating

IP54

Power Supply

90-264VAC,

47-63Hz/48VDC

Repeatablity

±0.03 mm

Operating

Temperature

0℃~45°C

Force Sensing

(tool flange)

Force

x-y-z

Torque

x-y-z

Maximum Speed

at Tool End

≤2.8 m/s

Adjustable Range

of Cartesian

Stiffness

0~3000 N/m

Relative 

Accuracy of

Force Control

0.5 N0.1 Nm

Mounting

Method

Mounting at any angle

0~300 Nm/rad

Motion

Parameters

Axis

Range of Motion

Maximum Speed

Axis 1

±170°

90°/s

Axis 2

±120°

90°/s

Axis 3

±120°

180°/s

Axis 4

±170°

180°/s

Axis 5

±120°

180°/s

Axis 6

±360°

180°/s

ControllerBuilt-in controller
Operator InterfaceNotebook/PAD/Interactive Panel
Safety Protection DeviceHandheld enable 1/handheld emergency stop 1
Direct Teaching Control

Drag mode: Cartesian space/joint space;

teaching mode: pont position/continuous trajectory

Highly Dynamic Force Control

Impedance control of Cartesian/joint space;

motion planning for force control search

Communication ProtocolsTCP/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/position control; 

robot model library and API


ER3 Pro Specifications

Payload

3 kg

Weight

(built-in

control cabinet)

About 22 kg

Reach

1010 mm

DOF

7

IP Rating

IP54

Power Supply

90-264VAC,

47-63Hz/48VDC

Repeatablity

±0.03 mm

Operating

Temperature

0℃~45°C

Force Sensing

(tool flange)

Force

x-y-z

Torque

x-y-z

Maximum Speed

at Tool End

≤3.0 m/s

Adjustable Range

of Cartesian

Stiffness

0~3000 N/m

Relative 

Accuracy of

Force Control

0.5 N0.1 Nm

Mounting

Method

Mounting at any angle

0~300 Nm/rad

Motion

Parameters

Axis

Range of Motion

Maximum Speed

Axis 1

±170°

180°/s

Axis 2

±120°

150°/s

Axis 3

±170°180°/s

Axis 4

±120°180°/s

Axis 5

±170°225°/s

Axis 6

±120°225°/s

Axis 7

±360°225°/s
ControllerBuilt-in controller
Operator InterfaceNotebook/PAD/Interactive Panel
Safety Protection DeviceHandheld enable 1/handheld emergency stop 1
Direct Teaching Control

Drag mode: Cartesian space/joint space;

teaching mode: pont position/continuous trajectory

Highly Dynamic Force Control

Impedance control of Cartesian/joint space;

motion planning for force control search

Communication ProtocolsTCP/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/position control; 

robot model library and API


ER3 Specifications

Payload

3 kg

Weight(built-in control cabinet)

About 21 kg

Reach

1010 mm

DOF

6

IP Rating

IP54

Power Supply

90-264VAC,

47-63Hz/48VDC

Repeatablity

±0.03 mm

Operating

Temperature

0℃~45°C

Force Sensing

(tool flange)

Force

x-y-z

Torque

x-y-z

Maximum Speed

at Tool End

≤3.0 m/s

Adjustable Range

of Cartesian

Stiffness

0~3000 N/m

Relative 

Accuracy of

Force Control

0.5 N0.1 Nm

Mounting

Method

Mounting at any angle

0~300 Nm/rad

Motion

Parameters

Axis

Range of Motion

Maximum Speed

Axis 1

±170°

180°/s

Axis 2

±120°

150°/s

Axis 3

±120°

180°/s

Axis 4

±170°

225°/s

Axis 5

±120°

225°/s

Axis 6

±360°

225°/s

ControllerBuilt-in controller
Operator InterfaceNotebook/PAD/Interactive Panel
Safety Protection DeviceHandheld enable 1/handheld emergency stop 1
Direct Teaching Control

Drag mode: Cartesian space/joint space;

teaching mode: pont position/continuous trajectory

Highly Dynamic Force Control

Impedance control of Cartesian/joint space;

motion planning for force control search

Communication ProtocolsTCP/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/position control; 

robot model library and API

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