Festo EXPT-120 Operating Instructions Manual Download

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Festo — EXPT-95/120 — 2021-08d

Overview

Overview

3.1

Characteristics

Key feature of the parallel
kinematic system

Code

Type

Working space

– 95

900 mm, height 100 mm

– 120

120 mm, height 100 mm

Drive

– E4

EGC-80

Attachment components

– T0

without rotary drive

– T1

Rotary drive size 8

– T2

Rotary drive size 8 with pneumatic rotary through-feed

– T3

Rotary drive size 11

– T4

Rotary drive size 11 with pneumatic rotary through-feed

Motors

EMMT

– M4

without motors

Mounting position of the
motors

Mounting position

of the motors

Axis A1

Axis A2

Axis A3

- HHH rear

rear

- HHV

rear

front

- HVH

rear

front

rear

- HVV

rear

front

- VHH

front

rear

- VHV

front

rear

front

- VVH

front

rear

- VVV

front

Protection against particles

–

Standard

– P8

protected version

Preset

–

Standard

– S

with calibration

Tab. 4: Characteristics

Summary of Contents for EXPT-120

Page 1: ...EXPT 95 120 Parallel kinematic system Operating instruc tions 8159609 2021 08d 8159611 ...

Page 2: ...Translation of the original instructions ...

Page 3: ...structions 11 4 1 1 Dimensions 11 4 1 2 Installation location 11 4 2 Rack mounting 12 4 3 Types of mounting 13 4 3 1 Direct fastening 13 4 3 2 Slot nut mounting 14 4 4 Preparations for mounting 17 4 5 Grippers and suction cups 21 4 5 1 EXPT T0 21 4 5 2 EXPT T1 to T4 21 5 Installation 22 5 1 Interfaces 22 5 2 Connections at the interface housing 23 5 2 1 Rod loss detection 23 5 2 2 Rotary drive 23 ...

Page 4: ...4 9 Technical data 35 9 1 Technical data for parallel kinematic system 35 9 1 1 General 35 9 1 2 Mechanical 35 9 1 3 Pneumatic 35 9 1 4 Operating and environmental conditions 36 9 1 5 Dynamic 37 9 2 Technical data front unit 38 9 2 1 Mechanical data of the front unit 38 9 2 2 Pneumatic data of the front unit 38 9 2 3 Electrical data of the front unit 39 ...

Page 5: ...installer and personnel responsible for commissioning the machine or system in which this product is used Make sure that the specifications in the documentation are observed at all times Also take into account all the documentation supplied and if applicable that of the associated accessories 1 2 1 Technical prerequisites Observe all warnings and instructions in this documentation for correct and ...

Page 6: ...ith maximum accessories 220 225 Tab 1 Dimensions and weights NOTICE For transport observe the identification on the upper side on the transport crate 1 Transport the pallet with the parallel kinematic system to the installation storage location 2 Place the pallet on a firm and flat base at the mounting storage location 2 2 Storage conditions The following storage conditions are essential to ensure...

Page 7: ... screws 2 Lift the cover enough to transport it away 3 Place or lay down the cover at a safe distance from the parallel kinematic system Removing the transport crate side walls 4 Remove each side wall one by one in the sequence long 1 short 2 long 3 short 4 side wall 1 2 3 4 5 Unscrew and remove all screws 6 Remove the side wall and place or lay it down at a safe distance from the parallel kinemat...

Page 8: ...umatic rotary through feed T3 Rotary drive size 11 T4 Rotary drive size 11 with pneumatic rotary through feed Motors EMMT M4 without motors Mounting position of the motors è Mounting position of the motors Axis A1 Axis A2 Axis A3 HHH rear rear rear HHV rear rear front HVH rear front rear HVV rear front front VHH front rear rear VHV front rear front VVH front front rear VVV front front front Protec...

Page 9: ... sensor Grippers and suction cups can be directly attached to the front unit A rotary drive is mounted on the front unit for variants T1 to T4 4th axis Suction cups with connectors or grippers can be attached to them either directly or using appropriate adapter kits In addition variants T2 and T4 are also equipped with a pneumatic rotary through feed which can be used as an air connection Variant ...

Page 10: ...y drive pneumatic rotary through feed and attachment position of the motors HHH 1 3 4 5 6 7 8 9 10 11 2 Fig 1 Design 1 Front unit with rotary drive and pneumatic rotary through feed 2 Rod pair 3 Joint 4 Toothed belt axis 5 Earthing screw M6 1x mounting option 6x 6 Mounting frame 7 Corner bracket 8 Motor optional 9 Interface housing 10 Manifold block P8 variant is different 11 Protective conduit 3 ...

Page 11: ...er to make full use of the range of functions There is enough room for the movements of the parallel kinematic system including space outside the working area Catalogue specifications for the interference contour è www festo com catalogue The suspension of the parallel kinematic system is torsion resistant and free of stress The bearing surface at the mounting corners is flat The mounting is suffi...

Page 12: ...that is resistant to torsion is essential in the area of the corner brackets In order for the parallel kinematic system to attain the positioning accuracy described in the technical data the following minimum requirements apply to the bearing surfaces Evenness 0 05 mm Parallelism 0 5 mm Other holes can be used only as an assembly aid or for mounting additional installation elements such as cable g...

Page 13: ... least 4 screws per corner bracket Dimensions è www festo com catalogue The 4 screws should be as far apart as possible to ensure a torsionally rigid connection If the slotted holes 1 are used the bearing surface of the screws is too small Use the accompanying washers 1 Tab 7 Direct fastening variant 1 Direct fastening variant 2 with M20 screws in accordance with DIN 912 Direct fastening to the fr...

Page 14: ... the bearing surface of the screws is too small Use the accompanying washers 1 profile column e g HMBS 80 80 2 Slot nut e g NST HMV 8 2 M8 3 Screw e g M8x35 DIN 912 1 2 3 Tab 9 Slot nut mounting variant 1 Slot nut mounting variant 2 If the slotted holes are used the bearing surface of the screws is too small Use the accompanying washers 1 profile column e g HMBS 80 80 2 Slot nut e g NST HMV 8 2 M8...

Page 15: ...bly 15 Slot nut mounting variant 3 The additional user specific brackets increase the tor sional rigidity 1 profile column e g HMBS 80 80 2 Slot nut e g NST HMV 8 2 M8 3 Screw e g M8x35 DIN 912 1 2 3 Tab 11 Slot nut mounting variant 3 ...

Page 16: ...sembly Slot nut mounting variant 4 The additional user specific brackets increase the tor sional rigidity 1 profile column e g HMBS 80 80 2 Slot nut e g NST HMV 8 2 M8 3 Screw e g M8x35 DIN 912 1 2 3 Tab 12 Slot nut mounting variant 4 ...

Page 17: ... loose The loosened front unit can result in crushing injuries and the broken sharp edged rods in cuts Grip the EXPT only in the area of the motors axes or the mounting frame Place the parallel kinematic system only on the mounting frame Lift up the parallel kinematic system in such a way that you can turn it freely NOTICE After being turned over the parallel kinematic system cannot be set down wi...

Page 18: ...s depends on the type ordered The alignment of the A1 axis determines the position of the X axis for the motor controller s coordinate system Mounting position of the motors 1 2 Fig 3 Mounting position of the motors 1 Interface housing with motor position H of axis A1 2 Interface housing with motor position V of axis A1 WARNING Crushing of body parts If incorrectly mounted the parallel kinematic s...

Page 19: ...ame 1 Use the appropriate tool to loosen the screws 2 Unscrew and remove all six transport screws 3 Grip the parallel kinematic system with a second person in the area of the motor 3 axis 2 and mounting frame 4 at positions 1 and 2 4 Lift the parallel kinematic system until the corner of the mounting frame at position 3 has a firm footing on the pallet 5 Now turn the parallel kinematic system arou...

Page 20: ... or mounting frame 4 Position a third person at corner 3 of the mounting frame where that person can grip in the area of the motor axis and mounting frame 2 The third person turns the parallel kinematic system by pulling corner 3 upwards in the area of the motor axis and mounting frame 3 Have three persons raise the parallel kinematic system into the mounting position on the frame where it can be ...

Page 21: ...front unit of the parallel kinematic system 1 Before disassembly mark the front unit so that it can be re positioned exactly the same way as before disassembly 2 Demount the front unit è 8 1 3 Demounting the front unit 3 Mount grippers or other tools to the front unit There is no special hole pattern On delivery there is only one central drilled hole Æ 4 mm on this plate which represents the centr...

Page 22: ...onnections optional 2 Earthing screw M6 1x a total of 6 mounting options 3 Interface housing with pneumatic and elec trical ports 4 Front unit with rotary drive and pneumatic rotary through feed The illustration is an example and corresponds to variant EXPT T4 HHH with rotary drive pneumatic rotary through feed and attachment position of the motors HH You can expand the installation by ordering ad...

Page 23: ... is detached Connect the compressed air supply port 1 for rod loss detection at the interface housing to the compressed air supply Mount the sensor cable for the pressure sensor SDE5 on the interface housing 4 Pin allocation for pressure sensor SDE5 Pin Port identification signal Circuit diagram 1 24 V DC operating voltage BN BK BU RL 1 4 3 24 V 0 V P PNP 4 Switching output A Out A 3 0 V Tab 13 Pi...

Page 24: ... encoder rotary drive Pin Port identification signal Colour in accordance with IEC 757 1 Signal trace A WH 2 Signal trace A BN 3 Signal trace B GN 4 Signal trace B YE 5 Signal trace Z GY 6 Signal trace Z PK 7 Signal trace U BU 8 Signal trace V RD 9 Signal trace W BK 10 Encoder GND VT 11 5 V supply GYPK 12 Shield RDBU Tab 15 Rotary drive encoder SIEN connection Pin Port identification signal Circui...

Page 25: ...rained as an electrotechnician 5 4 Earthing Use one of the earth terminals 2 on the mounting frame è 5 1 Interfaces for earthing 6 Commissioning NOTICE Commissioning should only be carried out by specially trained personnel robotics technician The following knowledge is required Specialist with knowledge of robotics and CODESYS Knowledge of the handling and operation of the parallel kinematic syst...

Page 26: ...sition NOTICE Maintenance work may only be conducted by trained personnel with corresponding qualifications in accordance with this description 7 1 Maintenance and care Lubricate ball joints Lubricate the ball joints every 2000 operating hours with lubricant LUB KC1 tube included Description of the extension è 8 1 5 Demounting a pair of rods Lubricate the toothed belt axis Lubricate the toothed be...

Page 27: ...mbling the parallel kinematic system CAUTION Lifting heavy loads can result in permanent health damage Due to its size and weight the parallel kinematic system should be held and turned over by a total of three persons è Tab 1 Dimensions and weights An additional person is required to release the attachment CAUTION Crushing of body parts In the event of stress on the joints of the parallel kinemat...

Page 28: ... when loosening the retaining screws 2 Have three people hold the parallel kinematic system while a fourth person unscrews it 3 Carefully remove the parallel kinematic system from the mounting frame and bring it to the prepared pallet 4 The third person turns the parallel kinematic system by gripping corner 3 at the motor and axis and setting it down on the supporting surface e g transport pallet ...

Page 29: ...otor 4 Mounting frame 1 Acting together lower the parallel kinematic system until it is resting on the mounting frame Make sure that the corner 3 on which the parallel kinematic system is standing is securely in place and cannot slide off the pallet For later transport 2 To secure the parallel kinematic system for transport fasten it to the base plate with 6 self tap ping screws ...

Page 30: ... or bring it into a secure end position NOTICE The removal of a motor results in a loss of homing on the corresponding axis The axis must be homed again during commissioning The motor must be removed if a concealed mounting hole is used the motor needs to be replaced due to a defect To remove motor Unscrew the screws 1 If necessary also remove the coupling housing When replacing Note that the moto...

Page 31: ... Ball joint 3 Push in fitting CAUTION Danger of crushing when disconnecting the ball cups from the balls Do not place your fingers between the balls and the ball cups NOTICE The calibration of the parallel kinematic system is lost if the original alignment of the front unit to the pairs of rods is not maintained Mark the EXPT T0 front unit so that it will be installed in exactly the same position ...

Page 32: ...s of the first pair of rods from the balls as follows Hold the front unit with one hand and then pull the first rod from the ball with the other hand The pre tension of the springs means that a relatively high force is needed to separate the articulated joints 2 è Fig 12 The spring forces between the rods can cause the partially loosened pair of rods to cross each other Continue to hold the front ...

Page 33: ...1 to EXPT T4 remove encoder cable 6 motor cable 5 sensor cable 7 and earthing cable 8 With EXPT T2 and EXPT T4 remove tubing for working air 4 3 Loosen the screws of the brackets 2 Tightening torque when reassembling 0 25 Nm 20 4 Pull the protective conduit 1 out of the retainers For installation of a new tubing holder è Assembly instructions Accessories and spare parts can be found at è www festo...

Page 34: ... è www festo com spareparts Install rod pairs NOTICE Interchanging pairs of rods causes loss of calibration and thus a reduction in absolute positioning accuracy Maintain the original arrangement of the pairs of rods and the front unit To install the rods Start by attaching the rod pairs of rods on the side of the manifold block aJ è Fig 1 1 Place the ball cup of the first rod on the ball on the b...

Page 35: ... unit ball stud coupling housing Aluminium Rod pair Plastic carbon fibre reinforced Balls Ceramic Ball cups Polyamide Screws pins washers nuts springs sleeves Steel 1 PWIS paint wetting impairment substances Tab 19 General technical data 9 1 2 Mechanical EXPT 95 120 Basic weight of the kinematics kg 61 5 66 Nominal diameter of working space mm 950 1200 Nominal height of working space mm 100 Tab 20...

Page 36: ...l conditions EXPT T0 T1 to T4 Operating medium Compressed air in accordance with ISO 8573 1 2010 5 4 1 Ambient temperature C 0 40 Storage temperature C 10 60 Humidity non condensing 5 95 20 80 Degree of protection IP40 Duty cycle 100 Tab 22 Operating and environmental conditions ...

Page 37: ...0 3 m s 2 mm 0 5 Payload sum of load mass and accessories attached to the front unit at min dynamic response kg 5 at max dynamic response kg 1 Process force in Z direction with working space Æ mm 0 0 maximum process force in Z direction N 1000 850 with working space Æ mm 237 5 300 typical process force in Z direction N 750 750 Maximum frame force horizontal N 200 215 vertical N 325 475 1 With a ma...

Page 38: ...00 Max breakdown torque static Nm 15 15 40 40 Perm mass moment of inertia of load kgm2 0 0026 0 0026 0 006 0 006 Load mass for EXPT 1 g 640 690 850 900 1 The load mass must be taken into account when calculating the effective load of the EXPT Tab 24 Mechanical data 9 2 2 Pneumatic data of the front unit EXPT T1 and T3 T2 and T4 Air through guide no yes Pneumatic port G1 8 Nominal width mm 4 Operat...

Page 39: ...trical data of the front unit EXPT T1 T2 T3 T4 Nominal voltage AC V 230 Max output speed rpm 200 Motor nominal current A 0 31 0 31 0 74 0 74 Motor peak current A 0 61 0 61 1 5 1 5 Motor nominal power W 9 2 9 2 22 1 22 1 Duty cycle 100 Tab 26 Electrical data ...

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