MARA modular robot - Product characteristics

Electrical characteristics Description
Power input 100-230Vac, 50-60Hz
Power consumption <200W
Communication interface TSN-capable IEEE 802.3 Gigabit Ethernet
Electrical connector H-ROS® connector A
Topology Daisy-chained modules, fully distributed

Software characteristics Description
Robotics framework ROS 2 Crystal Clemmys
Information model Hardware Robot Information Model (HRIM®) version Coliza
Communication framework Data Distribution Service (DDS)
Simulation Gazebo
Operation system Embedded Real-time Linux
Communication interface 1 Gbps Ethernet
Compliant with TSN standards: 802.1 ASrev/AS, IEEE 1588, 802.1Qbv, 802.1Qci, 802.1CB, 802.1Qcc
Security Dedicated crypto chip (tamper resistance, cryptographic key storage, SHA-256 Hash Algorithm with HMAC, ECDSA sign-verify authentication
Secure communications (SROS2, IPSec, TLS).
File System encryption IEEE-1735-2014 Version 2
Secure unique ID storage in cryptochip
Hacker-powered security through continuous penetration tests.
Automatic update Over-the-Air (OTA)
Robot controller Any ROS 2.0 enabled controller. Recommended: Open Robot Controller (ORC).

Motion characteristics Description
Degrees of freedom 6 DoF, extensible
Motion range per axis ±360 degrees
Tool speed 1 m/s
Maximum speed 90 degree/s
Repeatability ±0.1mm
Rated torque 9.4/30 N·m
Payload 3Kg

Mechanical characteristics Description
Weight 21Kg
Height 871mm
Reach 656mm
Footprint $\phi$ 204 mm
Temperature Operational temperature range: 0-50 °C
Materials Aluminium, ABS and PPMA plastic
IP Classification 54