ST Robotics DEUCALEON R17HS User Manual Download Page 1

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R17 Robot Manual

page

01.04.2017

Welcome!

to the R17 robot arm

R17 DEUCALEON ROBOT SYSTEM

User Manual

We hope you enjoy your experience.

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Summary of Contents for DEUCALEON R17HS

Page 1: ...ual page 1 01 04 2017 Welcome to the R17 robot arm R17 DEUCALEON ROBOT SYSTEM User Manual We hope you enjoy your experience Any problems at all just contact us support strobotics com 1 609 584 7522 44...

Page 2: ...e 1 Sensor and encoder cable 25 way each end M F 1 Cable D type 25 way male to 9 way female K11R to PC RS232 1 Power cable to K11R 1 Pack of CONNECTORS 1 output connector 1 input connector 1 Disk with...

Page 3: ...r may be both reading sensors and signals from and controlling associated equipment it follows that all decisions about robot activity are usually made by the controller which is capable of running wi...

Page 4: ...ure the robot is in the valid position for calibration including taking into account any complex end effector fitted 5 DON T back drive the 6th axis damage can result 6 DO have your hand poised over t...

Page 5: ...ts work closely with human workers interlocks should be provided For example if the user has access to the workspace then he she should be required to press a switch or keyboard key after clearing the...

Page 6: ...n external stop circuit Even if there is no external stop circuit the jackplug must be plugged in at the rear of the controller The plug has a shorting link which is removed when connecting an externa...

Page 7: ...installation by the customer It is operated by a drive module in the controller It is controlled from output port PA bits 0 and 1 Only use the commands GRIP and UNGRIP The software switches the motor...

Page 8: ...hen skip step 5 5 If you are not told what the COM number is you will need to find out Go to control panel system hardware device manager ports You will see USB serial port note the port COM number 6...

Page 9: ...CPU has Flash ROM and static RAM on the same PCB Cold warm start selection is a front panel key switch The memory image is in flash ROM which is loaded to RAM when you power up or press reset When po...

Page 10: ...m the rear of the controller from right to left Power connector has 2 fuses These should be 6 5A anti surge for 110v power and 3 5A ant surge for 220 240 power 12v unregulated DC fuse This should be 3...

Page 11: ...ORTH and ROBOFORTH COMMANDS ARE IN UPPER CASE With power off first visually set the robot up approximately in the HOME position This is with the robot vertical For a 5 axis R17 the hand or gripper wil...

Page 12: ...he hand sensors The left most 3 digits should stay 1s For example if you move the shoulder backward to its sensor you will see 11111101 If you then move the elbow forwards to its sensor you will see 1...

Page 13: ...rable to achieve precision and the teach speed is requested after you enter TEACH At this stage just hit the return key for the default value After entering TEACH you are now in TEACH mode To move the...

Page 14: ...n the calibrate routines of 5 and 6 axis versions In the 5 axis version all axes calibrate at once but in the 6 axis version they calibrate one at a time to prevent collision of the 6th axis gripper w...

Page 15: ...R17 Robot Manual page 15...

Page 16: ...factory but should it require further adjustment proceed as follows Disconnect the air supply so you can move the gripper jaws by hand 1 Type PP to display the input port You should see 11111111 2 As...

Page 17: ...ready been set at the factory but should it require further adjustment proceed as follows 1 type GRIP remember that this consumes a great deal of air and you may need to UNGRIP then allow the compress...

Page 18: ...gulator to control the sensitivity Therefore there is another airline emerging from the forearm as well as an electrical cable and connector The device is held rigid by air pressure but in the event o...

Page 19: ...ramming whether entered in immediate mode or using ROBWIN will be lost After you see the herald and the words cold start enter ROBOFORTH Warm start mode If power goes off on or the reset button is pre...

Page 20: ...length 200 2 Save as R17Cnnn SIG where nnn is the serial number of the robot The actual filename will be R17Cnnn SIG ram It s best to use a different filename and preserve the original file If you cor...

Page 21: ...otors at high speeds The R17 hand is driven by two motors If both run together then the hand will pitch but if motor 5 only runs then the hand will roll Gear ratios WARNING there should be no reason t...

Page 22: ...entation you prefer as in fig3 Try to keep within the first 90 degrees of the datum position If necessary remove and refit the end effector as in fig4 so it is within 90 degrees of your desired positi...

Page 23: ...ese are powered at full rated current Although the HPL is rated at 5Kg care should be taken to avoid collisions that can raise anything up to 200N force For the R17HSW version because of the higher HT...

Page 24: ...the spirit level on the forearm and use J3 to make it level 11 Place the spirit level on the hand flange and use J4 to make it vertical 12 Place the spirit level on the gripper or tool and use J5 to...

Page 25: ...o the track see track pin out and wiring from the cable chain to the robot remain as above apart from 22 25 R17HS high speed version 1 2 motor 1 signals 3 4 motor 1 signals waist 5 6 motor 2 signals 7...

Page 26: ...R ON FOREARM Sensor Motor 12v supply brown H Phase A1 B goes to 25Df 22 0v return blue G A2 C goes to 25Df 23 Signal black J goes to PB 5 B1 D goes to 25Df 24 B2 E goes to 25Df 25 Electric gripper A g...

Page 27: ...his is best dealt with by email to support strobotics com but you can call if it s urgent Email replies are clearer about what to type When requesting support if possible quote the serial number of th...

Page 28: ...ease refer to the section SAFETY IS YOUR RESPONSIBILITY on page 5 of this manual Name and Status of the Assessor Date Activity being assessed Known or expected hazards associated with the activity The...

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