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AE AIR50-2230A, Operation Manual

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AIR50-2230A Operation Manual

 

Calibration  of  the  axes  of  the  AIR50-2230A  manipulator 

 

34 

 

 

Figure 10-1 AIR50-2230A zero point diagram of each axis 

 

Caution 

◼

 

The robot calibration must always be performed at the same temperature 

conditions to avoid errors due to thermal expansion and contraction. 

◼

 

The AIR50-2230A industrial robot calibration must be calibrated in 

sequence from the J1 axis to the J6 axis. 

Calibration required for high repetitive positioning accuracy 

During the operation of the manipulator, only when it is required to have higher 

repeat positioning accuracy, the positioning accuracy of the path shall not be 

required. According to the zero point calibration position shown in Figure 10-1 

AIR50-2230A zero point diagram of each axis, the naked eye shall be used to 

make the zero point position of each shaft to be aligned, as shown in Figure 

10-2. 

J6 Calibration position 

J4 Calibration position 

J5 Calibration position 

J3 Calibration position 

J2 Calibration position 

J1 Calibration position 

Summary of Contents for AIR50-2230A

Page 1: ...Peitian Robot A solution provider for intelligent Equipment manufacturing industry AIR50 2230A Operation Manual ...

Page 2: ...AIR50 2230A Operation Manual V 1 4 ...

Page 3: ...ot have to be done and are not possible we have not described it for a variety of reasons Therefore for those situations that are not described in the manual the impossible can be regarded as the case The products described in this specification are subject to the limitations of the Foreign Trade Law of the People undefined Republic of China The export of the product from China to other countries ...

Page 4: ...uctions will cause an accident cause serious or fatal injury to the person or serious damage to the item Warning Failure to follow the instructions may result in an accident causing the severe or fatal injury or the great losses of property Caution Prompt for the environmental conditions and important things or shortcuts you shall pay attention to Prompt Prompt for additional literature and instru...

Page 5: ...onsidering its security the operator should not be considered independently but should be considered in the system environment When using the operating machine it is important to take corresponding measures to the safety fence WARNING CAUTION AND PROMPTS This specification includes matters needing attention to ensure the personal safety of operators and prevent damage to operators According to the...

Page 6: ...ct on operators and peripherals but also cause casualties 1 Used in flammable environments 2 Used in explosive environments 3 Used in environments where there is a lot of radiation 4 Used in water or in high humidity environments 5 Used for the purpose of transporting people or animals 6 Use as a foot e g on or depending on the operator Warning Operators who use the operator should wear the safety...

Page 7: ...es Matters needing attention in operation Warning When using the operator be sure to make sure there are no personnel in the safety fence before carrying out the operation At the same time check to see if there is a potential danger and when it is confirmed that there is a potential danger be sure to eliminate the danger before carrying out the operation Warning When using the instruction device b...

Page 8: ...pressed at any time 3 The operating machine shall be operated at low speed 4 The operation should be carried out after confirming the state of the whole system so as to avoid the operator falling into a dangerous situation due to the remote control instructions or actions for the peripheral equipment Caution After the program is finished it is important to perform the test operation in accordance ...

Page 9: ...stop button should be pressed and then the operation should be carried out Warning Please consult our company when you need to replace the parts The replacement of parts by the client may result in unexpected accidents which may cause the operator to be damaged and the operator is injured Warning When entering the security fence check the whole system carefully and make sure it is not dangerous If...

Page 10: ...ed reducer and the like have certain weight parts so as to avoid the excessive work load for the operators At the same time it is necessary to avoid the wrong operation otherwise the operation and death of the operation may be caused Warning Be careful not to fall because of the lubricating oil that falls on the ground wipe the lubricating oil that falls on the ground as soon as possible and elimi...

Page 11: ...mportant to release the internal pressure to zero and operate again Warning After replacing the parts be sure to carry on the test operation according to the prescribed method At this point the operator must operate outside the safety fence Warning After the maintenance operation the grease debris and water sprinkled on the ground around the operator and inside the safety fence should be thoroughl...

Page 12: ...ns appropriate lighting appliances should be equipped but care should be taken not to make the lighting appliances a source of new danger Warning Be sure to refer to this specification for regular maintenance if not regular maintenance will affect the service life of the operator and may lead to accidents ...

Page 13: ...iagram of Safety Operation of Industrial Robot Definition of operating personnel Manipulator operation personnel consist of operator teacher and maintenance engineer who shall satisfy the following conditions Operator Switch on off the power supply of manipulator Start the manipulator program via the operating panel No right to operate within the safety barrier Teacher Execute the functions of ope...

Page 14: ...s in the operating state via the audible and visual alarms such as the warning lamp Be sure to set the safety barrier and safety door around the system so that the operation personnel cannot enter the safety barrier without opening the safety door The interlock switch safety pin etc shall be set on the safety door so that when the operator opens the safety door the manipulator will stop Peripheral...

Page 15: ...ecially at this time the safety should be paid attention to If you do not need to enter the operation maneuvering range be sure to operate outside the operating maneuvering range Before proceeding with the teaching verify that the manipulator or peripheral equipment is in a safe state If it is inevitable to enter the range of manipulator to conduct the teaching first confirm the positions and stat...

Page 16: ...tors are close to each other be careful not to block the escape routes of other operators When the manipulator is equipped with a tool and there are movable devices such as conveyor belts in addition to the manipulator pay attention to the operation of these devices A person who is familiar with the manipulator system and is able to detect the danger shall be assigned next to the operating panel a...

Page 17: ...ot interfere with the movement of machine For the models of which the cable is exposed do not conduct the modification that will interfere with the exposed part of cable When installing the external device on the manipulator be sure not to interfere with other parts of manipulator For the manipulator in action the frequent power off operation via the emergency stop button may lead to the fault of ...

Page 18: ...efore Use XVI difference from the issuance to the actual action and conduct the control with certain room of extension and retraction A detection unit shall be set on the end effector to monitor the status of end effector and control the action of manipulator ...

Page 19: ...1 Overview of Industrial Robot 4 2 2 Basic Composition 5 2 3 Basic Specifications 6 2 4 Environmental Requirements for Operation 7 3 The label name and meaning of AIR50 2230A 8 3 1 Safety sign of manipulator 8 3 2 Manipulator nameplate 8 3 3 Direction Sign of Each Axle 9 4 AIR50 2230A Transport and Handing 10 4 1 Handing Posture 10 4 2 Handing Dimensions 11 4 3 Handing with Forklift 12 4 4 Handing...

Page 20: ... General 33 10 2 When calibration is required 33 10 3 Calibration position of each joint 33 10 4 Calibrate the direction of motion of each axis 37 11 General principles of maintenance 39 12 Maintenance Items 41 12 1 Daily maintenance 41 12 2 First maintenance 41 12 3 regular maintenance 43 13 Project Maintenance Process 47 13 1 Cleaning of Manipulator 47 13 2 Check and Repair of Cable 47 13 3 Batt...

Page 21: ...AIR50 2230A Operation Manual Catalogue iii Appendix B Table of screw strength and tightening torque Nm 75 ...

Page 22: ......

Page 23: ...on of the product is shown in Table 1 1 Table 1 1 Product related information Product name AIR50 2230A Operation Manual Product num UM P05310000001 001 Product version V1 4 1 3 Product use objects Operator Teacher Service 1 4 Relevant documentation information The contents of this article may involve the following documents please refer to them as necessary AIR TP teaching apparatus operator Manua...

Page 24: ...lity regulations of member states 2014 2014 68 EU Pressure facility directive Electromagnetic compatibility directive 2014 68 EU directive issued by European Parliament and Council on May 15 2014 to balance the pressure facility regulations of member states It is only suitable for the robot with hydropneumatic balance weight 2014 ISO 13850 Safety of machinery Emergency stop function Principles for...

Page 25: ...lectromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environments 2011 60204 1 A1 Safety of machinery Electrical equipment of machines Part 1 General requirements 2009 IEC 60529 IP rating provided by enclosures IP Code This standard applies to the IP rating for the electrical equipment with enclosures and the rated voltage exceeding 72 5kv 2001 ...

Page 26: ...view and basic composition 2 1 Overview of Industrial Robot Figure 2 1 shows an example of Industrial robot consists of the following parts Manipulator Control cabinet Teach pendant Connecting power supply cable etc Figure 2 1 Composition of Robot System 3 AIR TP 4 Cable 1 AI R 5 0 2 2 3 0 A 2 ARCC20P 50P ...

Page 27: ...body This manipulator is the 6 DOF tandem industrial robot that consists of three swing axes and three rotating axes AIR50 2230A robot manipulator and the names of its various parts are as shown in Figure 2 2 a b Figure 2 2 AIR50 2230A Robot Body and Its Various Parts J6 flange interface J5 wrist J4 axle arm J4 servo motor J2 axle arm J3shell J1 axle J4 servo motor J2 servo motor J1 servo motor J5...

Page 28: ...d upside down mounting Range upper limit lower limit J1 185 185 J2 35 145 J3 120 170 J4 350 350 J5 120 120 J6 unlimited Max speed J1 180 s J2 180 s J3 180 s J4 260 s J5 255 s J6 370 s Transport capacity wrist 50kg elbow 20kg Drive mode Electrical servo drive with AC servo motor Repeated positioning accuracy 0 06mm Robot weight 550kg Noise 70dB IP Level IP54 wrist IP67 Mounting conditions Ambient t...

Page 29: ...tor shall not be more than 95 as specified in IEC 60721 3 3 2002 Classification of environmental conditions Altitude The altitude of normal operation environment for manipulator shall not exceed 1 000 m and the manipulator shall be derated from 1 000 m to 4 000m Resistance to vibration Robot manipulator shall be used in an environment where there is no vibration The limit frequency of ambient vibr...

Page 30: ...arm of the operator Figure 3 1 No Approaching Sign of Manipulator Danger It is so easy or may cause unnecessary personal injury and even death if you do not comply with this regulation 3 2 Manipulator nameplate The nameplate of the manipulator can be seen on the base of the manipulator The nameplate contains the corresponding model version number weight serial number production date and other info...

Page 31: ...ided at the rotating or swinging joints of axes 1 6 of manipulator as shown in Figure 3 3 to indicate the moving direction of each axle J1 in sign represents the axle 1 other axes are represented by the corresponding numbers indicates the positive direction and indicates the negative direction Figure 3 3 Direction Sign of Each Axle on Manipulator ...

Page 32: ...ng handing as shown in Figure 4 1 Figure 4 1 Precautions for manipulator during handing During handing the following points should be noted Do not pull eyebolt sideways Do not use forklift and other grippers to apply impact force to the delivery support Do not put chains on delivery support 4 1 Handing Posture AIR50 2230A manipulator during handling shall be posed as shown in Table 4 1 Table 4 1 A...

Page 33: ...nce transportation the operator shall add wood support between the forearm and the casting of J2 to reduce the impact load during the transportation A soft cushion should be used between the wood and the support point to prevent the wood from scratching the surface of the machine 4 2 Handing Dimensions Three views of manipulator during the handling process are as shown in Figure 4 3 it shall be no...

Page 34: ...or during the Handling Process 4 3 Handing with Forklift Handling with forklift is as shown in Figure 4 4 Forklift shall meet the requirement for the weight of manipulator The total weight of manipulator and handling device is about 260kg Figure 4 4 AIR50 2230A Handling with Forklift 1630 700 340 delivery support ...

Page 35: ...e requirement for the weight of manipulator The total weight of manipulator and handling device is about 260kg Figure 4 5 AIR50 2230A Manipulator Handling with Swinging Ring Caution When manipulator is handled with swinging ring insert a soft object between the sling and manipulator to avoid the scratching on the manipulator body by sling Manipulator may turn over when transported with swinging ri...

Page 36: ...ed by Chapter 2 4 Make sure that the installation site can withstand the pressure or pull from the manipulator and its load 5 2 Installation Tool and Required Connectors The following tools may be required to install the manipulator more tools may be required depending on the installation method A set of Internal hexagonal wrench Adjustable wrench Torque wrenches of different specifications etc Th...

Page 37: ...AIR50 2230A Operation Manual Preparation before Installation 15 Several round pins Ф 10 mm Please see Chapter 6 2 in this manual for details ...

Page 38: ...ulator The installation ground inclination shall be less than 5 for manipulator Dimensions of AIR50 2230A manipulator base are as shown in Figure 6 1 Figure 6 1 Dimensions of AIR50 2230A Manipulator Base Interface 6 2 Fixed mode Two ways of fixing are suitable for AIR50 2230A manipulator 1 Ground fixing mode 1 2 Bracket fixing mode 2 Prompt Specific fixing mode depends on the usage environments 8 ...

Page 39: ...less than Grade 4 8 8 pieces Fixing plate of robot 25 mm 1 piece Mounting bracket 25 mm 4 piece Prompt There shall be no insulating materials between the fixing plate and mounting bracket of robot and the manipulator and concrete Mark means that the part is in need Bracket shall be firmly installed on the ground with the strength not less than the fixing strength between the fixing plate of robot ...

Page 40: ...e shall meet certain roughness and flatness requirements as detailed in Figure 6 2 and Figure 6 3 Figure 6 2 Operator fixing mode 1 Figure 6 3 Operator fixing mode 1 700 8 M20 chemical bolt 120 45 Φ750 A A Manipulator base M20X40 screw Fixing plate of robot M20 chemical bolt Mounting bracket 0 3 6 3 ...

Page 41: ...ulator base on the bracket with eight M20x40 bolts Grade 12 9 Mounting surface of bracket shall meet certain flatness requirements as shown in Figure 6 4 Figure 6 4 Operator fixing mode 2 80 630 630 545 0 1 432 0 1 432 0 1 545 0 1 8 M20 chemical bolt 180 A A Manipulator base M20X40 screw Fixing plate of robot M20 chemical bolt Mounting bracket 0 5 ...

Page 42: ...Fixing screw M20 of manipulator shall not be shorter than 40 mm and the insufficient length will cause the poor fixing and other accidents When installing the manipulator ceiling the length of fixing screws for manipulator shall be increased to 45 mm and the thickness of mounting plate shall be not less than 30 mm ...

Page 43: ...4B module Figure7 1 AIR50 2230A operator body base interface 7 2 Definitions of Heavy duty Heavy duty interface of AIR50 2230A manipulator power line is defined as shown as below Figure 7 2 Definition of Heavy duty Interface of AIR50 2230A Manipulator HDD 042 FC male plug J1 J6 encoder line 1 36 7 42 J1power line J2 power line J3 power line J5 power and brake J6 power and brake J1 J3 brake J4 powe...

Page 44: ...ration Manual Electrical connection of AIR50 2230A manipulator 22 Caution When the robot is connected pay attention to the one to one correspondence between the heavy loads on the body and those on the control cabinet ...

Page 45: ...ry types The accessory equipment of the manipulator mainly includes mechanical grab Figure 8 1 hydraulic pressure sucker Figure 8 2 welding gun welder Figure 8 3 infrared identification equipment visual identification equipment cutting machine other special equipment etc Figure 8 1 Industrial robot grab Figure 8 2 Suction cups for industrial robots Figure 8 3 Arc welding gun for industrial robot ...

Page 46: ... the operator through the flange Connection between operator and control cabinet As described in Chapter 7 2 of this manual the heavy duty connector on the operator body is connected to the control cabinet through three cables The definition of heavy duty connector on the control cabinet of AIR50 2230A operator is shown in Figure 8 4 below For more details please refer to the corresponding manual ...

Page 47: ...ange of each axis of AIR50 2230A manipulator is shown in Table 9 1 as follows Table 9 1 Motion range of each axis of AIR50 2230A manipulator axis number motion range J1 185 185 J2 35 145 J3 120 170 J4 350 350 J5 120 120 J6 unlimited See Figure 9 1 for the motion range of the manipulator During the installation of peripheral equipment attention shall be paid to avoid interference with the main part...

Page 48: ...xle Robot is limited to the movable range except that the origin position is lost due to the servo system abnormality and system error In addition an optional mechanical brake is also available on some axle to limit the movable range in order to further ensure the safety Figure 9 2 shows the position of mechanical brake Prompt Do not modify the mechanical brake Otherwise the robot may not stop pro...

Page 49: ... maximum angular speed of each axis of the manipulator is shown in Table 9 2 Table 9 2 Maximum angular speed of each axis of the manipulator Axis number Maximum angular velocity s J1 180 J2 180 J3 180 J4 260 J5 255 J6 370 9 5 Output flange size Figure 9 3 show output flange connection size of AIR50 2230A J3 mechanical limit J2 mechanical limit J5 mechanical limit ...

Page 50: ...ocating circle diameter 40mm Diameter of graduation circle of threaded hole 100mm Screw grade 12 9 grade Screw diameter M8 Screw quantity 6 Locating pin 4mm Screw standard GB T 70 1 2000 Warning When installing the fixture the depth of the threaded hole and pin hole shall be fully considered for the screws and locating pins used It is forbidden to install the length beyond the depth of the threade...

Page 51: ...ad center of AIR50 2230A Manipulator See Table 9 4 for data of load torque and load rotational inertia of AIR50 2230A manipulator Table 9 4 Data of load torque and load rotational inertia of AIR50 2230A manipulator Model of Manipulator axis Load torque load rotational inertia Wrist load 50kg Nm kgm AIR50 2230A J4 124 10 1 J5 124 10 1 J6 50 1 6 Y Y X X Z Lxy mm Lz mm 400 300 200 100 100 200 600 300...

Page 52: ...of axis 3 of manipulator The specification and size of the installation hole of J3 axis elbow of AIR50 2230A manipulator are shown in Figure 9 5 Figure 9 5 Interface dimension diagram of elbow load of AIR50 2230A manipulator See Figure 9 6 for the specification and size of the installation hole of the manipulator jib Figure 9 6 Interface dimension drawing of AIR50 2230A manipulator jib When instal...

Page 53: ...llowed to add machining holes and screw holes to the Manipulator body When installing the equipment the screw used shall fully consider the depth of the threaded hole and the installation length shall not exceed the depth of the threaded hole 10mm otherwise the elbow of the manipulator will be damaged The mass center of elbow load shall not exceed the above value otherwise the manipulator may give...

Page 54: ...operation may lead to looseness or even fracture resulting in accidents The above parts are designed for cable fixation If the equipment needs to be installed the following should be insure The forearm load add the wrist load shall be less than 50kg The elbow load should be less than 20kg Warning When installing the equipment the screw used shall take full account of the depth of the threaded hole...

Page 55: ...s required The operator needs to be recalibrated when the following situations occur Repair such as motor replacement or belt pulley removal Replace the encoder battery The encoder wire of the motor is loose or reinstalled The manipulator has a strong collision Replace the control cabinet or control system e g industrial personal computer 10 3 Calibration position of each joint The position of eac...

Page 56: ... Calibration required for high repetitive positioning accuracy During the operation of the manipulator only when it is required to have higher repeat positioning accuracy the positioning accuracy of the path shall not be required According to the zero point calibration position shown in Figure 10 1 AIR50 2230A zero point diagram of each axis the naked eye shall be used to make the zero point posit...

Page 57: ...ero Warning In the calibration process of the manipulator the speed should be reduced as much as possible and the operator should not enter the working range of the robot After each time the robot stops moving the alignment of the zero scale on the axis position should be observed Observe the alignment of zero calibration position of each axis ...

Page 58: ... and the operator should not enter the working range of the robot After each time the robot stops moving the alignment of the zero scale on the axis position should be observed Caution When the calibration block is used for calibration of the manipulator the basic alignment of the calibration slot shall be observed with the naked eye the operating speed of the manipulator is reduced to the manual ...

Page 59: ...oning accuracy it is necessary to calibrate and compensate the angle and length of each axis accurately and to contact the company to use special equipment for calibration 10 4 Calibrate the direction of motion of each axis Figure 10 4 Direction of motion of each axis of the manipulator For a 6 degree of freedom industrial robot manipulator its movement direction is defined as shown in Figure 10 4...

Page 60: ...AIR50 2230A Operation Manual Calibration of the axes of the AIR50 2230A manipulator 38 bottom the axis 1 axis 4 axis 6 counter clockwise movement is positive clockwise is negative ...

Page 61: ... help to achieve this goal If regular maintenance cannot achieve the goal of shortening the downtime of the device it is unnecessary to maintain and cause waste Robot systems are designed to work under rather demanding conditions and require minimal maintenance Nevertheless daily inspection and regular maintenance must be carried out according to a given interval cycle The time interval in the mai...

Page 62: ... General principles of maintenance 40 In order to avoid unnecessary pollution caused by the impurities such as dust the outside shall be cleaned before opening the control cabinet door and the outer cover of the operating machine ...

Page 63: ...uctions 12 2 First maintenance The operation machine shall run for the first time 320 hours or 1 month whichever is shorter and the following items shall be inspected and maintained As shown in Table 12 2 Table 12 2 Operating Machine First Maintenance Project Ordinal Inspection item Main points of inspection 1 Whether the cable and cable sheath of the operator are damaged differently and whether t...

Page 64: ...he electrical installation board needs to be removed Big arm of manipulator and internal cable and cable sheath of J1 axle body Operator connection cable grounding terminal user cable connector Confirmation of matters Check whether the wire sheath of the circuit is cracked or worn If the sheath is damaged replace it Check the internal cable of J1 axis body whether the grease on the surface of the ...

Page 65: ...e oil can also be seen after 1 day and there may be oil leakage Note 4 About synchronous tape maintenance After the operator cover plate needs to be removed see if the synchronous belt is worn or damaged Please refer to Section 13 4 of this manual Observe whether the inner side of the synchronous belt has white hair whether the belt side is worn whether the toothed belt is crushed whether the belt...

Page 66: ...See 12 2 First Maintenance 2 Whether the synchronous belt is worn or not Check the synchronous belt for wear elongation and fracture 3840 hours 1 year regular maintenance For every 3840 hours or 1 year whichever is the shorter time the operator needs to carry out the inspection and maintenance of the following items As shown in Table 12 5 Table 12 5 Operation machine 3840 hours 1 year maintenance ...

Page 67: ... machine shall be operated for 3 years or 11520 hours whichever is less and the following items shall be inspected and repaired As shown in Table 12 7 Table 12 7 Operator 11520 hours 3 years maintenance project Ordinal Inspection item Main points of inspection 1 Replacement of synchronous tape See 12 2 First Maintenance 15360 hours 4 years periodic maintenance The operation machine shall be operat...

Page 68: ... hours whichever is the shorter time the operator needs to be overhauled and many parts need to be replaced Please contact us As shown in Table 12 9 Table 12 9 Operator 19200 hours 5 years maintenance project Ordinal Inspection item Main points of inspection 1 Overhaul of operating machine Please consult our company ...

Page 69: ...and pneumatic sources connected to the robot 3 Clean the manipulator with the vacuum cleaner or wipe it with a cloth 4 After all safety conditions are met conduct the follow up work of manipulator Warning Do not apply the water jet on the manipulator especially the joints and seals Do not clean the manipulator with compressed air Do not remove any protector of manipulator Do not clean the manipula...

Page 70: ...age please shutdown the electric power and hydraulic power and pneumatic power of the manipulator 3 Check all the external cables for wear or damage 4 Check all the cables connector for wear or damage 5 Check all the bracket and Tie down straps are fixed on the operation 6 Check the fixation between the cable and bracket for wear or damage 7 In case of crack wear or damage please contact us for re...

Page 71: ...etween the cables and fixing plate for wear or damage 4 Check the internal cables for wear or damage 5 In case of crack wear or damage please contact us for replacement timely 6 Check if the lubricating grease on the internal cable surface has disappeared 7 If so it shall be replenished timely 8 The cable in the base to keep the shape U type like the Figure 13 1 9 Install the cover plate and coat ...

Page 72: ...wear or damage 4 In case of crack wear or damage please contact us for replacement timely 5 Check if the lubricating grease on the internal cable surface has disappeared 6 If so it shall be replenished timely 7 Install the cover plate and coat the joint surface between the cover plate and forearm with sealant Figure 13 3 Inner cable of the wrist Warning Replace the manipulator cable please consult...

Page 73: ...ces connected to the robot 3 Remove the battery cover on the electrical mounting plate of manipulator as shown in Figure 13 4 4 Remove the old battery from the box and put the new battery into the box Be sure to keep the positive and negative polarities of battery same as the old one 5 Reconnect the battery pin connector 6 Install the battery cover 7 Coat the joint surface between the electrical m...

Page 74: ...g J5 axis reducer 268g J6 axis reducer 190g When replacing the grease please refer to Table 13 2 for the attitude of the operator Table 13 2 Change the posture of the operator Replace the grease part J1 J2 J3 J4 J5 J6 J1 axis reducer 0 Arbitraril y Arbitrarily Arbitrarily Arbitrarily Arbitrarily J2 axis reducer Arbitrarily 0 Arbitrarily Arbitrarily Arbitrarily Arbitrarily J3 axis reducer Arbitrari...

Page 75: ...5 5 Install grease drain tubing to ensure waste oil flows into the sump tank 6 Remove the grease injection port M10x1 plug install the grease injection nozzle and use manual grease injection gun to inject grease until the new grease is discharged from the outlet 7 Release the grease pressure inside the reducer as shown in Table 13 3 8 The amount of oil discharged by weighing shall be equal to the ...

Page 76: ...ke a rest for a while such as the oil outlet no old oil discharge to continue the oil injection When the oil filling speed is too fast the instantaneous pressure inside the reducer becomes higher and the grease may cause damage to the motor oil seal and the grease enters the motor J2 axis reducer replacement grease process Figure 13 6 Replace J2 shaft reducer grease The replacement process is as f...

Page 77: ...tlet injection lack of quantity can be 9 Remove the grease injector install the M10x1 plug on the grease outlet and grease injector and apply the sealing tape sealant Caution When injecting fat from the fat injection port into the inner part of the operation machine the fat injection speed by hand pump is less than 8g s and the fat injection pressure is less than 0 3mpa In order to ensure the smoo...

Page 78: ...to the amount of oil injected If the discharge amount is less than the injection amount the excess amount is discharged by gas at the fat injection port If the discharge volume is greater than the injection volume From the fat outlet injection lack of quantity can be 9 Remove the grease injector install the M10x1 plug on the grease outlet and grease injector and apply the sealing tape sealant Caut...

Page 79: ... manipulator as shown inTable 13 2 2 To prevent danger turn off the power 3 Remove the grease outlet plug as shown in figure 13 8 4 From grease injection to oral grease until the specified amount of new grease is added 5 Install the sealing screw and apply sealant J5 axis reducer replacement grease process Figure 13 9 remove the 13left cover Grease Injection Grease Injection Grease Outlet Grease O...

Page 80: ... From grease injection to oral grease until the specified amount of new grease is added 6 Install the sealing screw and apply sealant J6 axis reducer replacement grease process Figure13 11 Replace J6 shaft reducer grease The replacement process is as follows 1 Run the manipulator as shown in table 13 2 2 To prevent danger turn off the power 3 Remove the grease outlet and grease injection plug as s...

Page 81: ...he grease injection port and sealing screws shall not be installed at the grease injection port J2 axis reducer 90 Ten minutes J3 axis reducer 90 Ten minutes Caution Improper fat feeding operations may cause a sharp increase in the pressure in the reducer or gearbox damaging internal parts such as the sealing ring resulting in oil leakage or poor operation The following precautions must be observe...

Page 82: ...s Belt of J5 Axis Replacement as follows 1 Run the manipulator to the posture as shown in Table 13 5 2 Turn off the power of controller 3 Remove the manipulator cover plate and eight M4 screws as shown in Figure 13 12 4 Loosen the adjusting screw of the synchronous belt 5 Remove the tension screw then remove the J5 motor flange screw and the belt wheel adjusting screw and remove the M5 screw with ...

Page 83: ...libration for J5 axis of manipulator Figure 13 12Removal of Cover Plate Figure 13 13 Removal the motor flange of J5 Figure 13 14 Remove Synchronous Belt Warning After the replacement of synchronous belt the J5 axIs of manipulator shall be calibrated For details see Chapter 10 of this manual M4 screw Cover plate M5 screw M5 screw motor Synchronous belt ...

Page 84: ... not firmly fixed on the workshop pedestal 2 The base floats from the workshop pedestal and generates the vibration when the manipulator acts due to the screw looseness insufficient flatness of base and the foreign objects 1 When the screw is loose tighten it with the torque wrench according to the proper torque 2 Trim the base flatness in accordance with the tolerance 3 Check if the foreign matte...

Page 85: ...f lubricating grease for a long time 1 Mechanical transmission system is subjected to excessive external force due to collision or overload causing the damage to the gear surface or rolling surface of the gear bearing reducer or the peeling due to fatigue 2 The gear surfaces or rolling surfaces of gear bearing and reducer are damaged due to the foreign matters trapped in the gear bearing or reduce...

Page 86: ... vibrates 3 Check the cables of the manipulator body between the manipulator body and control cabinet and inside the controller for damage and if so replace the cable 4 Check whether the cable joint is in good contact In case of the poor contact or looseness re tighten or take appropriate measures to ensure the good contact 5 Check whether the action control parameters are correct and if not re en...

Page 87: ...xing bolts of end effector Turn off the power of manipulator and confirm that the screws are tightened and shake the entire head of manipulator manually 1 Large backlash is resulted from the wear or damage of internal gears of manipulator due to the overload collision etc 1 If you need to replace the internal gear please consult with us Motor overheating Ambient temperature rise for installation o...

Page 88: ...erform its functions causes the excessive current to flow through the motor 1 Please rectify the mechanical fault by reference to the instructions of vibration abnormal noise and looseness 2 Please confirm whether the brake is released when the motor is powered on 3 After the motor is replaced the overheating of motor disappears It is confirmed that the this condition is abnormal 4 Please consult ...

Page 89: ...cy keeps stable after the deviation the joint surface of pedestal surface Joint casting and reducer may slide due to the excessive load such as the collision 3 Abnormality of motor encoder 1 In case of the unstable repeated positioning accuracy please rectify the mechanical fault by reference to the instructions for the vibration abnormal noise and shaking 2 If the repeated positioning accuracy ke...

Page 90: ...uency 22 Hz amplitude 0 15 mm 15 2 Precautions for Storage of Manipulator In addition to Chapter 2 4 of this manual the following shall be paid with attention for the long term storage of manipulator 1 Before the long term storage of manipulator it shall be posed for handling and placed on the horizontal surface For details see Chapter 6 of this manual 2 When the manipulator is not in use for a lo...

Page 91: ...30A Operation Manual Conditions of Storage 69 5 When the storage period is over and the manipulator is put into the operation again the manipulator shall be checked in accordance with Chapter 5 1 of this manual ...

Page 92: ... of manipulator and control cabinet 5m standard 10m 15m 20m 25m Length of connection cable of power supply and control cabinet 5m standard 10m 15m 20m 25m Length of connecting cable of teach pendant and control cabinet 3 5m ARCCxP standard 5m inCubex standard 10m 15m 20m Options of Robot Body Color of robot body Bright yellow standard Others______ Logo of robot body AE standard Others______ Namepl...

Page 93: ...of inCube10 connecting cable of power supply and control cabinet 16A standard 10A Options of control cabinet Is it necessary to perform the absolute positioning accuracy calibration No standard Yes Is it necessary to option other functions No standard Welding function Palletizer function metal bending nonsupport ARCCxP Hand guiding function Currently supported only AIR6 6L A collision detection Cu...

Page 94: ...0 h 30 month s 9 600 h 33 month s 10 560 h 3 year 11 520 h 39 month s 12 480 h 42 month s 13 440 h 45 month s 14 400 h 4 year 15 360 h 51 month s 16 320 h 54 month s 17 280 h 57 month s 18 240 h 5 year 19 200 h 1 Cleaning of manipulat or 0 5h 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 2 Cleaning of control cabinet vent 0 1h 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 3 Is the synchrono us belt worn 0...

Page 95: ...h 3 year 11 520 h 39 month s 12 480 h 42 month s 13 440 h 45 month s 14 400 h 4 year 15 360 h 51 month s 16 320 h 54 month s 17 280 h 57 month s 18 240 h 5 year 19 200 h cabinet and manipulat or for damage 7 Check the connectors of motor etc for looseness 0 2h 〇 〇 〇 〇 〇 〇 8 Tighten the end effector screws 0 2h 〇 〇 〇 〇 〇 〇 9 Tighten the external main screws 1h 〇 〇 〇 〇 〇 〇 10 Check the end effector ...

Page 96: ...8 month s 5 760 h 21 month s 6 720 h 2 year 7 680 h 27 month s 8 640 h 30 month s 9 600 h 33 month s 10 560 h 3 year 11 520 h 39 month s 12 480 h 42 month s 13 440 h 45 month s 14 400 h 4 year 15 360 h 51 month s 16 320 h 54 month s 17 280 h 57 month s 18 240 h 5 year 19 200 h 13 Battery Replaceme nt 0 5h 〇 〇 14 Replace the internal cables of manipulat or 8h 〇 15 Manipulat or overhaul 〇 Note 〇 ind...

Page 97: ...12 5 15 M8 23 31 36 M10 45 60 70 M12 78 104 125 M14 113 165 195 M16 195 250 305 M20 370 500 600 Prompt All screws must be tightened with proper torque Except for the torque specified in the text the corresponding tightening torque shall be selected according to the screw performance level Remove foreign matters in screws and threaded holes Torque for lightly lubricated screws Screws shall be tight...

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