BOTTLING & PACKAGING SOLUTIONS
www.ftmcentral.com
QUIENES SOMOS FTM SA es una empresa de ingeniería con más de 30 años de experiencia que ofrece los mejores equipos y líneas disponibles en el mercado para su planta de envasado y empaque. Estamos enfocados en ofrecer soluciones de alto nivel cualitativo en máquinas y servicios para las industrias de bebidas y alimentos a cualquier nivel productivo. Desde el primer equipo automatizado para pequeñas empresas hasta las más sofisticadas líneas para altas producciones FTM SA tiene una solución ajustada a sus requerimientos.
HISTORIA FTM REPRESENTACIONES INDUSTRIALES SA (FTM SA) fue fundada a inícios de los años 80. Aprovechando la experiencia adquirida en el procesamiento y empaque en su propia industria alimenticia el fundador decidió empezar a compartir su tecnología con otras empresas interesadas. Desde el início los primeros clientes, como es el caso de Pedro Domecq Colombia, han sido empresas de primer orden que aún hoy siguen invirtiendo sabiendo que no solo adquieren lo mejor sino que siempre hay alguien pendiente de sus requerimientos. Con el tiempo FTM SA empezó a incursionar en otros mercados enfocandose principalmente en las industrias de bebidas y líquidos alímenticios. Posteriormente fue expandiendose también a otros países llegando a desarrollar importantes proyectos en Ecuador, Panamá, Venezuela, Costa Rica, República Dominicana, Cuba, Puerto Rico, Curacao, Barbados, Surinam, y otros.
REFERENCIAS Actualmente las instalaciones efectuadas por FTM superan ampliamente las 600. Todas sus referencias est谩n disponibles y muchas plantas se pueden visitar y ver en funcionamiento bajo previa autorizaci贸n.
*Solo se indica una limitada lista de referencias.
Todas los proyectos sobresalen por alg煤n adelanto tecnol贸gico ejemplar .
CALIDAD Las empresas representadas forman parte de un selecto grupo de fabricantes que durante aĂąos hemos logrado depurar. Son reconocidas mundialmente por la alta calidad de sus productos y por su impecable gestiĂłn.
*Solo se indica una limitada lista de proveedores.
Gracias a nuestras relaciones de largo plazo con estos proveedores, el conocimiento de los equipos y un personal especializado la calidad no solo se limita a los equipos sino tambiĂŠn al servicio de post venta.
LINEAS COMPLETAS Las líneas completas son diseñadas en Italia teniendo en cuenta los más avanzados conceptos sobre la materia garantizando así una integración perfecta y una eficiencia superior. El apoyo de los más reconocidos y experimentados técnicos en cada campo son el secreto del éxito.
www.ftmcentral.com
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
FTM REPRESENTACIONES INDUSTRIALES, S.A.
R O B O T I C PA L L E T I Z I N G E X P E R T S OPERATIONAL SPECIFICATIONS Motion- Multi-articulated, polar coordinate system Load Capacity - 310 lbs./140 kg. (including end effector) - 440 lbs./200 kg. (optional) Degree of Freedom- 4 axis
insist on palletizers that fit Whether you’re buying your 1st or your 51st palletizer, don’t waste your time on inflexible equipment. Insist on a palletizer that fits into your floor layout, your work flow, your products and your future production plans.
A700 A1600 A1800 X X X X
X X X
X X
X
Operating Range-
360° 91”/2300mm
69”/1750mm 440°
60”/1518mm 440°
60”/1518mm 440°
9cases/11bags
18cases/24bags
20cases/28bags
X
X
X
Note: ‘Multi-picking’ product will increase palletizing rates. Product size and pattern may affect palletizing rates.
Electrical-
200/220V ± 10%, 60Hz, 3Ph, 7 Amps 200/220V ± 10%, 60Hz, 3Ph, 18 Amps 460V ± 10%, 60Hz, 3Ph, 3.5 Amps (optional) 460V ± 10%, 60Hz, 3Ph, 9 Amps (optional) Note: Peripheral system components will require additional power consumption
Pneumatic ConsumptionNote: Pneumatic consumption may vary with system options
facturers throughout the world. Columbia/Okura is jointly owned by Columbia Machine, an industry leader in
Catagory 3 Circuit Includes 2 channel e-stop, redundant 3-phase contactors, trapped key door interlock system and light curtains, all monitored by safety relay
®
years of combined material handling experience and over 40 years of combined robotic palletizing expertise into every machine produced.
2756lbs/1250kg
X
X
2560lbs/1160kg
Certified to UL1740 Standards by a NRTL (Nationally Recognized Test Laboratory) UL1740 is the standard for Safety for Robots and Robotic Equipment UL 1740 encompasses applicable requirements of the following standards: ANSI RIA 15.06- 1999 Industrial Robots and Robot Systems- Safety Requirements
A700
X X
A1600
X
A1800
2645lbs/1200kg
SE
S•
S TRAY • BUND L
we can handle it.
B AILS • ALES •P •
Robot Weight- Without end effector & control panel
X
SERIES ROBOTIC PALLETIZERS
ES
pails, bundles, bales, trays, pallets and sheets, reducing overall labor costs and increasing profitability to manu-
S • SHEETS ... AN TE TO
conventional palletizing and Okura Yusoki, Japan’s leading supplier of robotic palletizing systems. We put over 100
X
X
6.36 SCFM/180 liter/min (ANR)
Columbia/Okura is a manufacturer and technical integrator of robotic palletizing systems to handle cases, bags,
X
A1800
ROBOTIC ARM MECHANICAL & ELECTRICAL SPECIFICATIONS
A1600
Experience you can count on
Accuracy- Repeated stop position accuracy ± 1mm
A700
Columbia/Okura, LLC headquarters, Vancouver, WA USA
Columbia/Okura's Roboshield feature reduces the risk of damage to the robot in the event of a collision. State-of-the-art software automatically triggers an emergency stop if the end effector or arm collides with peripheral equipment or stacked load.
A
CA
Maximum Speed/Minute- for a ‘single pick’
360° 91”/2300mm
G • BAGS •
Roboshield Collision Detect Function
360° 91”/2300mm
HIN YT
R axis (rotation) D axis (up/down) O axis (forward/back) T axis (wrist)
CSA Z434-03 Industrial Robots and Robot Systems- General Safety Requirements NFPA 79 2008 National Fire Protection Association Electrical Standards for Industrial Machinery NEC 2008 (NFPA 70) National Electrical Code
Common System Components
UL508A Standard for Safety for Industrial Contol Panels In addition, Columbia/Okura is a UL508A controls manufacturing facility UL508A: UL File #E216389 (U.S.- NITW.E216389, Canada- NITW.E216389) Standard for Safety for Industrial Control Panels (U.S. & Canada) Specifications are subject to change without notice A700
A1600
A1800
Dimensions in inches
301 Grove Street, Vancouver WA 98661 Phone: (360) 735-1952 Fax: (360) 905-1707 Email: pallsales@colmac.com
Note: System safety guarding has been removed for image clarity. Revised 6/07
www.columbiaokura.com Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Single Line Layout
Economical Layout 16’
A
13’
13’
26’
13’
13’ 16’
27’
16’
27’
Series
Columbia/Okura has designed a wide range of standard end effectors to handle virtually any product, including cases, bags, trays, totes, bales, bundles, crates, pails, pallets and sheets. Our parts warehouse carries service parts for immediate support on all these standard designs. The end effectors shown here are some of the most common types utilized.
PAIL Style
Clamp Style
Pails
Cases, trays, bundles, etc.
Fork Style Cases, trays, bundles, etc.
CASE/Bag Style Bags and cases
30’
30’
30’ 13’
END EFFECTORS
24’
26’
24’
26’
24’
26’ 13’
28’
28’
28’
Columbia/Okura robotic palletizers are compact and cost effective. With the ability to manage one to four production lines concurrently, and stack onto one to six pallets, the possible system layouts are practically endless. Designed to use minimal floor space and with flexibility in mind, it is easy to find the automated solution that meets your palletizing and depalletizing needs.
Multiple Line Layout
Two Line Layout
Vacuum Style Cases
16’
27’
OXPA-DIY
Controls software
“Do-it-Yourself” programming is Windows based and can be run from your laptop computer. Here's how it works...
and programming
The Columbia/Okura robotic palletizing system utilizes highly advanced software to create pattern programs. The operating screen, complete with detailed graphics and easy navigation tools, provides quick access to the 50 standard product patterns already built into the program. OXPA-DIY “Do-it-Yourself” software is designed to make adding patterns to your robot a simple process. Custom patterns are created off-line on your personal computer or laptops, and then downloaded to the robot controller. Patterns can also be added at the control panel using the operator interface. No need to interrupt your production schedule; custom patterns can be created offline while your system is running, and downloaded between production runs.
1 ENTER PRODUCT INFO.
Launch DIY from your personal computer and enter the product weight, dimensions and the desired number of layers.
2 SELECT PATTERN.
OXPA-DIY on computer
Robot palletizer
Data transfer Station conveyor
Bag Style End Effector Bag Style End Effector
700
1600 Clamp Style End Effector
Model A700
UL 1740 APPROVED
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
1800
Model A1600
UL 1740 APPROVED
Model A1800
End Effector
DIY displays possible stacking configurations based on your input. Just click on the one you want and the software automatically calculates the stacking coordinates for you.
3 DOWNLOAD. Palletize. Use the 3-D image of the pattern you have created to evaluate the complete pallet load from four different viewpoints.
Control Panel Stacking Station
Then download the pattern to the control panel and you’re ready to palletize your product.
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Single Line Layout
Economical Layout
A
16’
13’
13’
26’
13’
13’ 16’
27’
16’
27’
Series
Columbia/Okura has designed a wide range of standard end effectors to handle virtually any product, including cases, bags, trays, totes, bales, bundles, crates, pails, pallets and sheets. Our parts warehouse carries service parts for immediate support on all these standard designs. The end effectors shown here are some of the most common types utilized.
PAIL Style
Clamp Style
Pails
Cases, trays, bundles, etc.
Fork Style Cases, trays, bundles, etc.
CASE/Bag Style Bags and cases
30’
30’
30’ 13’
END EFFECTORS
24’
26’
24’
26’
24’
26’ 13’
28’
28’
28’
Columbia/Okura robotic palletizers are compact and cost effective. With the ability to manage one to four production lines concurrently, and stack onto one to six pallets, the possible system layouts are practically endless. Designed to use minimal floor space and with flexibility in mind, it is easy to find the automated solution that meets your palletizing and depalletizing needs.
Multiple Line Layout
Two Line Layout
Vacuum Style Cases
16’
27’
OXPA-DIY
Controls software
“Do-it-Yourself” programming is Windows based and can be run from your laptop computer. Here's how it works...
and programming
The Columbia/Okura robotic palletizing system utilizes highly advanced software to create pattern programs. The operating screen, complete with detailed graphics and easy navigation tools, provides quick access to the 50 standard product patterns already built into the program. OXPA-DIY “Do-it-Yourself” software is designed to make adding patterns to your robot a simple process. Custom patterns are created off-line on your personal computer or laptops, and then downloaded to the robot controller. Patterns can also be added at the control panel using the operator interface. No need to interrupt your production schedule; custom patterns can be created offline while your system is running, and downloaded between production runs.
1 ENTER PRODUCT INFO.
Launch DIY from your personal computer and enter the product weight, dimensions and the desired number of layers.
2 SELECT PATTERN.
OXPA-DIY on computer
Robot palletizer
Data transfer Station conveyor
Bag Style End Effector Bag Style End Effector
700
1600 Clamp Style End Effector
Model A700
UL 1740 APPROVED
1800
Model A1600
UL 1740 APPROVED
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
Model A1800
End Effector
DIY displays possible stacking configurations based on your input. Just click on the one you want and the software automatically calculates the stacking coordinates for you.
3 DOWNLOAD. Palletize. Use the 3-D image of the pattern you have created to evaluate the complete pallet load from four different viewpoints.
Control Panel Stacking Station
Then download the pattern to the control panel and you’re ready to palletize your product.
FTM REPRESENTACIONES INDUSTRIALES, S.A.
Single Line Layout
Economical Layout
A
16’
13’
13’
26’
13’
13’ 16’
27’
16’
27’
Series
Columbia/Okura has designed a wide range of standard end effectors to handle virtually any product, including cases, bags, trays, totes, bales, bundles, crates, pails, pallets and sheets. Our parts warehouse carries service parts for immediate support on all these standard designs. The end effectors shown here are some of the most common types utilized.
PAIL Style
Clamp Style
Pails
Cases, trays, bundles, etc.
Fork Style Cases, trays, bundles, etc.
CASE/Bag Style Bags and cases
30’
30’
30’ 13’
END EFFECTORS
24’
26’
24’
26’
24’
26’ 13’
28’
28’
28’
Columbia/Okura robotic palletizers are compact and cost effective. With the ability to manage one to four production lines concurrently, and stack onto one to six pallets, the possible system layouts are practically endless. Designed to use minimal floor space and with flexibility in mind, it is easy to find the automated solution that meets your palletizing and depalletizing needs.
Multiple Line Layout
Two Line Layout
Vacuum Style Cases
16’
27’
OXPA-DIY
Controls software
“Do-it-Yourself” programming is Windows based and can be run from your laptop computer. Here's how it works...
and programming
The Columbia/Okura robotic palletizing system utilizes highly advanced software to create pattern programs. The operating screen, complete with detailed graphics and easy navigation tools, provides quick access to the 50 standard product patterns already built into the program. OXPA-DIY “Do-it-Yourself” software is designed to make adding patterns to your robot a simple process. Custom patterns are created off-line on your personal computer or laptops, and then downloaded to the robot controller. Patterns can also be added at the control panel using the operator interface. No need to interrupt your production schedule; custom patterns can be created offline while your system is running, and downloaded between production runs.
1 ENTER PRODUCT INFO.
Launch DIY from your personal computer and enter the product weight, dimensions and the desired number of layers.
2 SELECT PATTERN.
OXPA-DIY on computer
Robot palletizer
Data transfer Station conveyor
Bag Style End Effector Bag Style End Effector
700
1600 Clamp Style End Effector
Model A700
UL 1740 APPROVED
1800
Model A1600
UL 1740 APPROVED
End Effector
DIY displays possible stacking configurations based on your input. Just click on the one you want and the software automatically calculates the stacking coordinates for you.
3 DOWNLOAD. Palletize. Use the 3-D image of the pattern you have created to evaluate the complete pallet load from four different viewpoints.
Control Panel Stacking Station
Model A1800 Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
Then download the pattern to the control panel and you’re ready to palletize your product.
FTM REPRESENTACIONES INDUSTRIALES, S.A.
R O B O T I C PA L L E T I Z I N G E X P E R T S OPERATIONAL SPECIFICATIONS Motion- Multi-articulated, polar coordinate system Load Capacity - 310 lbs./140 kg. (including end effector) - 440 lbs./200 kg. (optional) Degree of Freedom- 4 axis
insist on palletizers that fit Whether you’re buying your 1st or your 51st palletizer, don’t waste your time on inflexible equipment. Insist on a palletizer that fits into your floor layout, your work flow, your products and your future production plans.
A700 A1600 A1800 X X X X
X X X
X X
X
Operating Range-
360° 91”/2300mm
69”/1750mm 440°
60”/1518mm 440°
60”/1518mm 440°
9cases/11bags
18cases/24bags
20cases/28bags
X
X
X
Note: ‘Multi-picking’ product will increase palletizing rates. Product size and pattern may affect palletizing rates.
Electrical-
200/220V ± 10%, 60Hz, 3Ph, 7 Amps 200/220V ± 10%, 60Hz, 3Ph, 18 Amps 460V ± 10%, 60Hz, 3Ph, 3.5 Amps (optional) 460V ± 10%, 60Hz, 3Ph, 9 Amps (optional) Note: Peripheral system components will require additional power consumption
Pneumatic Consumption-
X
X
6.36 SCFM/180 liter/min (ANR)
Columbia/Okura is a manufacturer and technical integrator of robotic palletizing systems to handle cases, bags,
X
Note: Pneumatic consumption may vary with system options
facturers throughout the world. Columbia/Okura is jointly owned by Columbia Machine, an industry leader in
Catagory 3 Circuit Includes 2 channel e-stop, redundant 3-phase contactors, trapped key door interlock system and light curtains, all monitored by safety relay
®
conventional palletizing and Okura Yusoki, Japan’s leading supplier of robotic palletizing systems. We put over 100 years of combined material handling experience and over 40 years of combined robotic palletizing expertise into every machine produced.
2756lbs/1250kg
X
2560lbs/1160kg
Certified to UL1740 Standards by a NRTL (Nationally Recognized Test Laboratory) UL1740 is the standard for Safety for Robots and Robotic Equipment UL 1740 encompasses applicable requirements of the following standards: ANSI RIA 15.06- 1999 Industrial Robots and Robot Systems- Safety Requirements NFPA 79 2008 National Fire Protection Association Electrical Standards for Industrial Machinery NEC 2008 (NFPA 70) National Electrical Code
Common System Components
UL508A Standard for Safety for Industrial Contol Panels In addition, Columbia/Okura is a UL508A controls manufacturing facility UL508A: UL File #E216389 (U.S.- NITW.E216389, Canada- NITW.E216389) Standard for Safety for Industrial Control Panels (U.S. & Canada) Specifications are subject to change without notice A1600
A1800
Dimensions in inches
301 Grove Street, Vancouver WA 98661 Phone: (360) 735-1952 Fax: (360) 905-1707 Email: pallsales@colmac.com
Note: System safety guarding has been removed for image clarity. Revised 6/07
Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
X
A1600
X
A1800
2645lbs/1200kg
SE
S•
S TRAY • BUND L
we can handle it. S • SHEETS ... AN TE TO
CSA Z434-03 Industrial Robots and Robot Systems- General Safety Requirements
A700
A700
X
www.columbiaokura.com
B AILS • ALES •P •
Robot Weight- Without end effector & control panel
X
SERIES ROBOTIC PALLETIZERS
ES
pails, bundles, bales, trays, pallets and sheets, reducing overall labor costs and increasing profitability to manu-
X
A1800
ROBOTIC ARM MECHANICAL & ELECTRICAL SPECIFICATIONS
A1600
Experience you can count on
Accuracy- Repeated stop position accuracy ± 1mm
A700
Columbia/Okura, LLC headquarters, Vancouver, WA USA
Columbia/Okura's Roboshield feature reduces the risk of damage to the robot in the event of a collision. State-of-the-art software automatically triggers an emergency stop if the end effector or arm collides with peripheral equipment or stacked load.
A
CA
Maximum Speed/Minute- for a ‘single pick’
360° 91”/2300mm
G • BAGS •
Roboshield Collision Detect Function
360° 91”/2300mm
HIN YT
R axis (rotation) D axis (up/down) O axis (forward/back) T axis (wrist)
FTM REPRESENTACIONES INDUSTRIALES, S.A.
R O B O T I C PA L L E T I Z I N G E X P E R T S OPERATIONAL SPECIFICATIONS Motion- Multi-articulated, polar coordinate system Load Capacity - 310 lbs./140 kg. (including end effector) - 440 lbs./200 kg. (optional) Degree of Freedom- 4 axis
insist on palletizers that fit Whether you’re buying your 1st or your 51st palletizer, don’t waste your time on inflexible equipment. Insist on a palletizer that fits into your floor layout, your work flow, your products and your future production plans.
A700 A1600 A1800 X X X X
X X X
X X
X
Operating Range-
360° 91”/2300mm
69”/1750mm 440°
60”/1518mm 440°
60”/1518mm 440°
9cases/11bags
18cases/24bags
20cases/28bags
X
X
X
Note: ‘Multi-picking’ product will increase palletizing rates. Product size and pattern may affect palletizing rates.
Electrical-
200/220V ± 10%, 60Hz, 3Ph, 7 Amps 200/220V ± 10%, 60Hz, 3Ph, 18 Amps 460V ± 10%, 60Hz, 3Ph, 3.5 Amps (optional) 460V ± 10%, 60Hz, 3Ph, 9 Amps (optional) Note: Peripheral system components will require additional power consumption
Pneumatic ConsumptionNote: Pneumatic consumption may vary with system options
facturers throughout the world. Columbia/Okura is jointly owned by Columbia Machine, an industry leader in
Catagory 3 Circuit Includes 2 channel e-stop, redundant 3-phase contactors, trapped key door interlock system and light curtains, all monitored by safety relay
®
years of combined material handling experience and over 40 years of combined robotic palletizing expertise into every machine produced.
2756lbs/1250kg
X
X
2560lbs/1160kg
ANSI RIA 15.06- 1999 Industrial Robots and Robot Systems- Safety Requirements NFPA 79 2008 National Fire Protection Association Electrical Standards for Industrial Machinery NEC 2008 (NFPA 70) National Electrical Code
Common System Components
UL508A Standard for Safety for Industrial Contol Panels In addition, Columbia/Okura is a UL508A controls manufacturing facility UL508A: UL File #E216389 (U.S.- NITW.E216389, Canada- NITW.E216389) Standard for Safety for Industrial Control Panels (U.S. & Canada) Specifications are subject to change without notice A1800
Dimensions in inches
301 Grove Street, Vancouver WA 98661 Phone: (360) 735-1952 Fax: (360) 905-1707 Email: pallsales@colmac.com
Note: System safety guarding has been removed for image clarity. Revised 6/07
A1600
X
A1800
SE
S•
S TRAY • BUND L
we can handle it. S • SHEETS ... AN TE TO
CSA Z434-03 Industrial Robots and Robot Systems- General Safety Requirements
A1600
X
2645lbs/1200kg
Certified to UL1740 Standards by a NRTL (Nationally Recognized Test Laboratory) UL1740 is the standard for Safety for Robots and Robotic Equipment UL 1740 encompasses applicable requirements of the following standards:
A700
A700
X
www.columbiaokura.com Internacional: +1-305-3957391 Colombia: +57-1-8614041 aleon@ftmcentral.com www.ftmcentral.com
B AILS • ALES •P •
Robot Weight- Without end effector & control panel
X
SERIES ROBOTIC PALLETIZERS
ES
pails, bundles, bales, trays, pallets and sheets, reducing overall labor costs and increasing profitability to manuconventional palletizing and Okura Yusoki, Japan’s leading supplier of robotic palletizing systems. We put over 100
X
X
6.36 SCFM/180 liter/min (ANR)
Columbia/Okura is a manufacturer and technical integrator of robotic palletizing systems to handle cases, bags,
X
A1800
ROBOTIC ARM MECHANICAL & ELECTRICAL SPECIFICATIONS
A1600
Experience you can count on
Accuracy- Repeated stop position accuracy ± 1mm
A700
Columbia/Okura, LLC headquarters, Vancouver, WA USA
Columbia/Okura's Roboshield feature reduces the risk of damage to the robot in the event of a collision. State-of-the-art software automatically triggers an emergency stop if the end effector or arm collides with peripheral equipment or stacked load.
A
CA
Maximum Speed/Minute- for a ‘single pick’
360° 91”/2300mm
G • BAGS •
Roboshield Collision Detect Function
360° 91”/2300mm
HIN YT
R axis (rotation) D axis (up/down) O axis (forward/back) T axis (wrist)