SAMES KREMLIN Inogun A User manual

Index revision : B - September 2020 1 7133
User manual
SAMES KREMLIN SAS - 13, Chemin de Malacher - 38240 MEYLAN - FRANCE
Tel. [phone] - www.sames-kremlin.com
Inogun A
FCC, Standard and Robotic Versions

Index revision : B - September 2020 2 7133
All communication or reproduction of this document, in any form whatsoever and all use or
communication of its contents are forbidden without express written authorisation from
SAMES KREMLIN.
The descriptions and characteristics mentioned in this document are subject to change without
prior notice.
© SAMES KREMLIN 2020
WARNING : SAMES KREMLIN SAS is registered with the Ministry of Labour as a training
institution.
Throughout the year, our company offers training courses in the operation and
maintenance of your equipment.
A catalogue is available on request. Choose from a wide range of courses to
acquire the skills or knowledge that is required to match your production
requirements and objectives.
Our training courses can be delivered at your site or in the training centre at our
Meylan head office.
Training department:
Tel. [phone]
E-mail: formation-clie[email protected]
SAMES KREMLIN SAS operating manuals are written in French and translated into English, German, Spanish, Italian
and Portuguese.
The French version is deemed the official text and Sames will not be liable for the translations into other languages.

Index revision : 3
Inogun A
FCC, Standard and Robotic Versions
1. Health and Safety Instructions- - - - - - - - - - - - - - - - - - - - - - - - - - - - 5
1.1. Configuration of the certified equipment . . . . . . . . . . . . . . 5
1.2. Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3. Marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4. Precautions for Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.5. Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.6. Regulatory tests to be carried out on the equipment
according to standard EN 50177 . . . . . . . . . . . . . . . . . . . . . . . . 11
1.7. Important recommendations . . . . . . . . . . . . . . . . . . . . . . . 13
1.7.1. Ventilation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.7.2. O-ring seals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.7.3. Safety devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.7.4. Mechanical collision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.7.5. Ambient temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.8. Guarantee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2. Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15
3. Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17
3.1. Dimensions (mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2. Dimensions (mm), gravity center for robotic versions . . . . 18
3.2.1. Robotic Single 60° Inogun A. . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.2.2. Robotic Twin Convergent 60° Inogun A . . . . . . . . . . . . . . . . . 19
3.2.3. Robotic Twin Parallel 60° Inogun A . . . . . . . . . . . . . . . . . . . . . 20
3.3. General characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4. Air compressed quality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4. Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23
4.1. Electrical connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5. Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 24
5.1. Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.2. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2.1. Inogun A FCC version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2.2. Standard Inogun A version. . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.2.3. Installation of the counter electrode for the standard
Inogun A version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.3. Robotic versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6. Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 29
6.1. Summary table of maintenance operations . . . . . . . . . . . 29
6.2. Preventive maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.2.1. Procedure A1: Projector cleaning. . . . . . . . . . . . . . . . . . . . . . 30
6.2.2. Procedure A2: Electrode support.. . . . . . . . . . . . . . . . . . . . . . 31
6.3. Corrective maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.1. Procedure B1: Replacement of air nipple . . . . . . . . . . . . . . . 32
6.3.2. Procedure B2: Holding flange . . . . . . . . . . . . . . . . . . . . . . . . . 32

Index revision : 4
6.3.3. Procedure C1: Rear body . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.3.4. Procedure D1: Powder tube . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3.5. Procedure D2: Protective cover assembly. . . . . . . . . . . . . . . 35
6.3.6. Procedure D3: Replacement of HVU . . . . . . . . . . . . . . . . . . . 36
7. Troubleshootings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 37
8. Spare part list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 38
8.1. Inogun A FCC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
8.1.1. Support tube assembly for Inogun FCC . . . . . . . . . . . . . . . . . 40
8.2. Inogun A, standard version . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.3. Robotic Single Inogun A projector . . . . . . . . . . . . . . . . . . . 43
8.4. Robotic Twin Convergent Inogun A projector . . . . . . . . . 45
8.5. Robotic Twin Parallel Inogun A projector . . . . . . . . . . . . . . 47
8.6. Barrel assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.6.1. Powder tube assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.6.2. Protective cover assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.7. Holding flange assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
8.8. Equipped counter electrode . . . . . . . . . . . . . . . . . . . . . . . 53
8.9. Electrode support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.9.1. Flat spray . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.9.2. Optional: Extended flat spray nozzle . . . . . . . . . . . . . . . . . . . 55
8.9.3. Round spray . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
8.9.4. Optional: Extended round spray nozzle . . . . . . . . . . . . . . . . . 57
8.10. Additional equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
8.10.1. Fixing nut used with Inogun A FCC . . . . . . . . . . . . . . . . . . . . 58
8.10.2. Fixing nut used with Inogun A . . . . . . . . . . . . . . . . . . . . . . . . 58
8.10.3. Common parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
8.11. Robotic adapters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9. Revision index History - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 60

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1. Health and Safety Instructions
This manual contains links to the following user manuals:
•see RT Nr 7134 for the Inocontroller control module.
•see RT Nr 7145 for the Inobox control module.
1.1. Configuration of the certified equipment
The whole of these user manuals defines the configuration of the certified equipment.
1.2. Applicable Standards
The Inogun A projector has been designed according to standards indicated below:
Applicable Requirements:
•CAN/CSA C22.2 No. 0-10 : General Requirements - Canadian Electrical Code,
Part II
•CAN/CSA-C22.2 No. 60079-0:19: Explosive Atmospheres - Part 0: Equipment - Gen-
eral requirements
•CAN/CSA-C22.2 No. 60079-7:16: Explosive Atmospheres – Part 7: Equipment pro-
tection by increased safety “e”
•CAN/CSA-C22.2 No. 60079-11:14: Explosive Atmospheres – Part 11: Equipment
protection by intrinsic safety "i"
•CAN/CSA C22.2 No. 61010-1-12: Safety Requirements for Electrical Equipment for
Measurement, Control, and Laboratory Use - Part 1: General Requirements - Third
Edition
•ANSI/ISA-61010-1 3rd Edition: Safety Requirements for Electrical Equipment for
Measurement, Control, and Laboratory Use - Part 1: General Requirements - Third
Edition
•ANSI/UL 60079-0:2019: Electrical Apparatus for Explosive Gas Atmospheres - Part 0:
General Requirements
•ANSI/UL 60079-7: 2017: Explosive atmospheres - Part 7: Equipment protection by
increased safety "e"
•ANSI/UL 60079-11:2013: Electrical apparatus for Explosive Gas Atmospheres - Part
11: Intrinsic Safety “i”
As a guide:
•FM 7260: 1996: Approval for Electrostatic Finishing Equipment
•FM3600: 2018: Electrical Equipment for use in Hazardous (Classified) Locations
General Requirements
•CSA TIL No. 320: 1991 Electrostatic Paint Sprayers
Installation:
•In Canada, the installation has to be in compliance with the Canadian Electrical Code
C22.1 part I, standard safety for electrical installations.
•In the USA, the installation has to be in compliance with the National Electrical Code NFPA
70.

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1.3. Marking
The "Inogun A" projector is classified as "A-P" according to EN50177.
The X sign placed after the EU type examination certificate number indicates that:
•this equipment is subject to a special condition of use with regard to the ambient
operating temperature, which must be between 0°C and 40°C.
•The INOBOX has only been subjected to the tests corresponding to the low mechanical
hazard risk of Group II according to EN 60079-0, and must be protected against the high
mechanical hazard risk.
WARNING : "For Electrostatic Finishing Applications using Class II, spray material when config-
ured according to 800004734", this statement may be abbreviated to read ‘For Electro. Fin.
Appl. CL. II, Spray Matl. when configured according to 800004734’.
*ATEX Inogun A configuration
Inogun A projector - P/N 910028713 Equipped barrel - P/N 910028708 Equipped rear body - P/N 910028710 Electrode support - P/N 910027640 Low voltage cable 20 m- P/N 900017990 Inogun A FCC projector - P/N 910028715 Equipped barrel - P/N 910028708 Equipped Rear body - P/N 910028710 Electrode support - P/N 910027640 Low voltage cable 30 m- P/N 900018168
P/N Inogun A
(*)
Inocontroller
P/N 910028596
X910028713 X
X910028715 X
DES07268

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Robotic versions:
Robotic Single Inogun A projector - P/N 910030100 Equipped barrel - P/N 910028708 Equipped rear body - P/N 910028710 Electrode support - P/N 910027640 Low voltage cable 18 m- P/N 900018168 Robotic support - Réf.: 900018640 Robotic Twin Convergent Inogun A projector - P/N 910030101 Equipped barrel - P/N 910028708 Equipped Rear body - P/N 910028710 Electrode support - P/N 910027640 Low voltage cable 30 m- P/N 900018168 Robotic support - Réf.: 900018581 Robotic Twin Parallel Inogun A projector - P/N 910030102 Equipped barrel - P/N 910028708 Equipped Rear body - P/N 910028710 Electrode support - P/N 910027640 Low voltage cable 30 m- P/N 900018168 Robotic support - Réf.: 900018639
P/N Inogun A
(*)
Inocontroller
P/N 910028596
X910030100 X
X910030101 X
X910030102 X

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1.4. Precautions for Use
This document contains information that all operators should be aware of and understand
before using the projector. This information highlights situations that could result in serious dam-
age and indicates the precautions that should be taken to avoid them.
WARNING : Before any use of the projector, check that all operators:
• have previously be trained by the compagny SAMES KREMLIN,or by their distributors
registered by them for this purpose.
• have read and understood the user manual and all rules for installation and operation, as
laid out below.
It is the responsibility of the operators’ workshop manager to ensure these two points and it is
also his responsibility to make sure that all operators have read and understood the user
manuals for any peripheral electrical equipment present in the powdering area.
1.5. Warnings
WARNING : This equipment is intended for spraying powder paint only.
WARNING : Safety may be jeopardized if this equipment is not operated, disassembled and
reassembled in compliance with the instructions given in this manual and in any
European Standard or national safety regulations in force.
WARNING : Equipment performance is only guaranteed if original spare parts distributed by
SAMES KREMLIN are used.
WARNING : To guarantee an optimal assembly, spare parts must be stored in a temperature
close to their temperature of use. Should the opposite occur, a sufficient waiting
time must be observed before the installation, so that all the elements are assem-
bled in the same temperature.

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WARNING :
This equipment must only be used in powdering locations according to standard EN 50177 (§
5.4 and 5.7) and EN 16985. The equipment has to be used only within ventilated in order to
reduce risks for the health of the operators, fire or explosion. The efficiency of the extraction
ventilation system has to be daily checked.
Within explosive atmospheres produced by the spraying process, only appropriate explosion-
proof electrical equipment has to be used.
1 The operator must wear shoes according to standard EN ISO 20344 and the insulation
resistance measured must not exceed 100 MΩ.
2 The protective clothes, including gloves, must conform to standard EN 1149-5 and the
insulation resistance measured must not exceed 100 MΩ.
3 Using individual protection equipment will limit the risks of contact and/or inhalation of
toxic product, gas, vapours, fog or dusts that can be produced while using the equip-
ment. The user has to follow the coating product manufacturer’s recommendations.
4 Contact or inhalation of the products used with this equipment may be dangerous for
personnel (see: safety data sheets for the products used). The pressure coating material
or compressed air must not be directed at people or animals.
5 The parts to be painted must have a resistance to earth less than or equal to 1 MΩ
(measurement voltage of at least 500V or 1000V) (§5.7.3 in standard EN 50177). This must
be checked regularly.
6 All conductive structures such as floors, powder spray station walls, ceilings, barriers, bar-
riers, parts to be painted, powder dispensing tank placed in or near the work area and the
ground terminal of the electro-pneumatic control module must be electrically connected
to the grounding system for protecting the power supply.
Finally, and for the same reasons, it will be necessary, in the spraying area, to have an
antistatic floor such as bare concrete, metal grating, etc...
7 Switch off the power supply to the Inocontroller or Inobox before connecting the Inogun
A projector. Before disconnecting the projector, disconnect the power supply to the
Inocontroller or Inobox (otherwise, a malfunction may occur).
8 IIt is essential to properly ventilate the spray booths to avoid any powder output and to
ensure a powder concentration below the lower explosive limit (LEL). The associated
equipment must be placed outside the hazardous areas and its commissioning must be
controlled by the operation of the cabin suction fan.
9 Powder spraying must be carried out in front of a ventilated station provided for this
purpose. The activation of the Inocontroller must be controlled by the operation of the
ventilation system. The correct operation of the drive must be checked once a week.
10 The ambient operating temperature must be between 0 and 40°C.
11 The electrostatic powder spraying equipment must be maintained regularly in accor-
dance with the indications and instructions given by SAMES KREMLIN.
Repairs must be carried out in strict accordance with these instructions.

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12 Before cleaning the projectors or doing any other work in the spray area, the power supply
to the high-voltage generator must be disconnected, protected against restarting and the
HV circuit protected. (projector) discharged to ground.
Cleaning must be carried out in mechanically ventilated areas.
13 Inside the booth it is forbidden to use naked flames, glowing objects or devices likely to
produce sparks.
It is also forbidden to store flammable products, or recipients that have contained them,
in the vicinity of the booth.
The surrounding area must be kept clear and clean.
A warning sign in a language understood by the operator, summarising the safety rules
described above, must be prominently displayed in the vicinity of the powder spray station.

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1.6. Regulatory tests to be carried out on the equipment according to standard EN 50177
The tests must be carried out on the spraying equipment. The tests must be carried out by com-
petent personnel and include the tests described below (see § 6.2 table 3 in standard EN
50177).
Type of test Requirements
The fixed inflammable coating powder material
electrostatic coating must be tested to ensure it is
safe for workers.
In this context, and particularly for the disconnec-
tion threshold, the overload current Iü and the
minimum voltage Umin must be defined and
documented in relation to the operational and
local conditions (see also § 5.2.2 in standard
EN50177).
Forced ventilation effectiveness (air extraction
systems) See §5.4.4 in standard EN50177
The safe high voltage disconnection must be
tested for operation under controlled voltage
and under constant voltage.
See 5.2.2 and 5.2.2.1 in standard EN50177.
The disconnection threshold Iü must be defined
and documented in relation to the operational
and local conditions.
It must be tested if the high voltage is discon-
nected and if there is an unacceptable increase
in the operating current Ib and if the disconnec-
tion threshold Iü is reached.
In this context, the disconnection threshold Iü
defined during the initial test must be checked.
A disconnection threshold Iü that may increase
the possibility of dangerous discharges or electri-
cal flashovers between the parts under high volt-
age and the grounded parts if the safe distance
falls below its permitted value is not permitted.
3D category devices See 5.2.2 and 5.2.2.1in standard EN50177
2D category devices See 5.2.2, 5.2.2.1 and 6.3 in standard EN50177

Index revision : B - September 2020 12 7133
For the operation at constant current, the safe
disconnection of the high voltage electricity sup-
ply must be tested.
See 5.2.2 and 5.2.2.2 in standard EN50177
The disconnection threshold Iü must be defined
and documented in relation to the operational
and local conditions.
Checks must be carried out to ensure that the
high voltage is disconnected if the high voltage
falls unacceptably below the disconnection
threshold Umin.
In this context, the disconnection threshold Umin
defined during the initial test must be checked.
A disconnection threshold Umin that may increase
the possibility of dangerous discharges or electri-
cal flashovers
between the parts under high voltage and the
grounded parts if the safe distance falls below its
permitted value is not permitted.
3D category devices See 5.2.2 et 5.2.2.2 in standard EN50177
2D category devices See 5.2.2, 5.2.2.2 et 6.3 in standard EN50177
Protection against discharge energy which is too
high See 5.2.3 in standard EN50177
Protection against cleaning product inflamma-
tion See 5.2.4. in standard EN50177
Effectiveness of the protection measures against
direct contact See 5.5.2 in standard EN50177
Effectiveness of the earthing measures See 5.7 in standard EN50177
Slaving / protection against inputs See 5.5.2 in standard EN50177
Effectiveness of the local fire extinguishing system
See 5.2.5. in standard EN50177
In addition to the location's protection system,
local fire extinguishing systems (fixed and dedi-
cated to the object)) must provide effective
protection for the dangerous zone located
between the output from the coating powder
and the part to be processed.
It must be proven for each individual case that
the roles of the local fire extinguishing systems
and the location's protection systems may be sat-
isfied by a single extinguishing system.
Other tests in accordance with standard EN 16985:2018.
Type of test Requirements

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These tests must be carried out periodically The following maximum intervals between tests are
recommended (see § 7.2.3 table 4 in standard EN 50177).
1.7. Important recommendations
1.7.1. Ventilation
Do not start the powder application with the Inogun A projector until the spray booth ventila-
tion system is switched on. If the ventilation is switched off, toxic substances or dust may remain
in the spray booth and cause a risk of fire, poisoning or irritation.
1.7.2. O-ring seals
Use the seals recommended in this manual.
1.7.3. Safety devices
When installing the projector, safety devices must be provided.
•Detection of control system faults.
•Detection of high voltage surges associated with the SAMES KREMLIN HV generator.
•Detection of air pressure drops.
•Detection of ventilation failure.
• Detection of variations in ventilation flow rates.
•Detection of fire.
Failure to install safety devices could result in a risk of fire, expose the personnel to serious injury
and damage the equipment.
WARNING : The electrostatic projection systems must be equipped with an automatic fire extin-
guishing system (according to § 5.2.5 in standard EN 50177).
1.7.4. Mechanical collision
The guarantee does not cover damage resulting from the operating environment (for example:
collision with the robot).
1.7.5. Ambient temperature
The atomizer is designed to normally operate at an ambient temperature comprised between
0°C and + 40°C.
The storage temperature must never exceed +60°C.
Reference Test frequency
Complete installation safety test in relation to
workers 12 months
Forced ventilation effectiveness in continuous
Disconnection in the event of an overload cur-
rent after each start-up
Low voltage disconnection after each start-up
Discharge energy weekly
Protection against cleaning product inflamma-
tion before each cleaning
Protection against direct contact weekly
Earthing measures weekly
Protection against inputs weekly
Site's fire extinguishing system 6 months
Other tests in accordance with standard EN 16985:2018

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1.8. Guarantee
Under the guarantee, which applies only to the buyer, SAMES KREMLIN agrees to repair
operating faults resulting from a design fault, materials or manufacture, under the conditions
set out below.
The guarantee claim must define the exact nature of the fault concerned, in writing.
The SAMES KREMLIN guarantee only covers equipment that has been serviced and
cleaned according to standard procedures and our own instructions, that has been fitted with
parts approved by SAMES KREMLIN or that has not been modified by the customer.
More precisely, the guarantee does not cover damage resulting from:
•the customer's negligence or inattention,
•incorrect use,
•failure to follow procedures,
•use of a control system not designed by SAMES KREMLIN or a SAMES KREMLIN con-
trol system modified by a third party without written permission from an authorized
SAMES KREMLIN technical agent,
•accidents such as: collision with external objects, or similar events,
•flooding, earthquake, fire or similar events,
•use of seals not complying with SAMES KREMLIN recommendations,
•pollution of air circuits by fluids or substances other than air.
The SAMES KREMLIN gun type Inogun A is covered by a warranty (refer to the general sales
conditions for its application).
The guarantee does not apply to wearing parts such as electrode supports, deflectors, powder
tube, seals, etc...
The guarantee will take effect from the date of the first start-up or of the provisional accept-
ance report.
Under no circumstances, either in the context of this guarantee or in other contexts, will
SAMES KREMLIN be held responsible for physical injury or intangible damage, damage to
brand image and loss of production resulting directly from its products.

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2. Introduction
The "Inogun A" projector is an automatic projector designed to project powder paint. An ioni-
zing electrode at the end of the projector is set to a high negative electrical potential. Due to
the high electric field at the end of this electrode, it creates negative gas ions. These ions allow
the powder paint to be sprayed during its transfer from the end of the projector to the part to
be painted, which is itself connected to the ground.
The Inogun A projector is connected to an Inocontroller or Inobox control module that controls
both the high voltage and the powder output of the projector connected to it. These two indis-
sociable elements constitute a powder coating equipment.
Pre-programmed voltage and current settings can be adjusted from the "Inocontroller" or
"Inobox" control module.
Inogun A projectors are of two types:
•TheFCC Inogun A projector is used in a powder coating booth with quick colour change.
•TheInogun A projector in the standard version is used in all other cases. It can be installed
either on a reciprocator robot via its support arm or on a 6-axis robot via a robotic support.
There are 3 versions of robotic support:
• 60° support for a projector.
• Twin convergent 60° support for two projectors
•60° Twin parallel 60° support for two projectors.
DES07269
DES07270
Inogun A FCC
Inogun A

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DES07484
DES07485
DES07483
Robotic Twin Convergent Inogun ARobotic Single Inogun A
Robotic Twin Parallel Inogun A

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3. Characteristics
3.1. Dimensions (mm)
1046
410
361
Ø30
DES07279
DES07280
1423
467
Ø40 Ø50

Index revision : B - September 2020 18 7133
3.2. Dimensions (mm), gravity center for robotic versions
3.2.1. Robotic Single 60° Inogun A
Weight : 1.19 kg
Gravity center (GC) in millimeters:
X = 0
Y = 89.9
Z = - 136.2
Main inertia axis and moments (kg x mm2) measured to the gravity center:
Inertia moments (kg x mm2), measured to the output C.S:
Ix = (0.00, - 0.75, -0.67) Px = 6123.60
Iy = (0.00, - 0.67, - 0.75) Py = 11078.18
Iz = (1.00, 0.00, 0.00) Pz = 16650.18
Ixx = 39039.37 Ixy = -8.31 Ixz = - 49.82
Iyx = 8.31 Iyy = 25686.81 Iyz = - 6875.53
Izx = - 49.82 Izy = - 6875.53 Izz = 13904.36
DES07480
200
429,4
321,8
329,4
148,6
136,2
89,9
60°
X
Y
Z
GC
Output C.S: Wrist Payload CG location

Index revision : B - September 2020 19 7133
3.2.2. Robotic Twin Convergent 60° Inogun A
Weight : 2.2 kg
Gravity center (GC) in millimeters:
X = 0
Y = - 90
Z = - 160.4
Main inertia axis and moments (kg x mm2) measured to the gravity center:
Inertia moments (kg x mm2), measured to the output C.S:
Ix = (-0.01, - 0.88, 0.48) Px = 14739.80
Iy = (-0.03, 0.48, 0.88) Py = 29969.01
Iz = (-1.00, -0.01, - 0.03) Pz = 30163.49
Ixx = 89717,61 Ixy = 96.04 Ixz = -92.70
Iyx = 96.04 Iyy = 63587.90 Iyz = 18975.02
Izx = -92.70 Izy = 18975.02 Izz = 40677.
198
200
DES07481
323
421,4
328,5
148,2
160,4
90
vue F1
vue F1
16,4°
198
X
Y
Z
GC
Output C.S: Wrist Payload CG location

Index revision : B - September 2020 20 7133
3.2.3. Robotic Twin Parallel 60° Inogun A
Weight : 2.16 kg
Gravity center (GC) in millimeters:
X = 0
Y = 99
Z = - 153.5
Main inertia axis and moments (kg x mm2) measured to the gravity center:
Inertia moments (kg x mm2), measured to the output C.S:
Ix = (0.00, - 0.86, -0.50) Px = 16093.73
Iy = (-1.00, - 0.02, 0.03) Py = 32002.20
Iz = (-0.04, 0.50, -0.86) Pz = 32387.88
Ixx = 89532.18 Ixy = -5.02 Ixz = - 91.02
Iyx = -5.02 Iyy = 62591.53 Iyz = -18416.00
Izx = - 91.02 Izy = - 18416.00 Izz = 43719.47
198
319,1
430,1
147,6
331,1
153,5
99
60°
150
X
Y
Z
DES07482
GC
Output C.S: Wrist Payload CG location