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The extremely compact designed milling robot CL50 is mainly suitable for milling in house connection ducts DN 55-125. The retraction of the robot is done by pulling simultaneously on the supply line and on a rope which is attached to the milling arm.The milling arm can be raised, lowered and rotated within a wide range of 610 °. A clamping bubble centers the robot in larger pipe diameters so that the pneumatically driven motor is stabilized during milling. In addition, the system is equipped with a color camera and adjustable LED lighting. The camera cleaning takes place via the exhaust air of the milling motor. The robot can be operated via a portable control unit with joystick and non-reflective video monitor.