Table 1 System specifications of the 4-DOFs ECS
| Specification item | Unit | Joints | |
|---|---|---|---|
| Installing posture | Floor mounted | ||
| Construction | Two-parallel link structure | ||
| Degrees of freedom | 4 | ||
| Drive method | J1–J4 | Closed loop stepping system | |
| Operation range | ˚ | J1 | ±45 |
| J2 | ±60 | ||
| J4 | ±360 | ||
| mm | J3 | 160 | |
| Maximum speed | rpm | J1, J2, J4 | 3000 |
| mm/s | J3 | 50 | |
| Resolution | /rev. | J1, J2 | 10,000 |
| J4 | 4000 | ||
| /mm | J3 | 4000 | |
| Entire system’s workspace | cm3 | 20378.3 | |
| Master interface | iNMI | ||
| Sterilization | Not available |