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Chapter

 1 – 

Introduction

D28045104F - 02/2008

15

© 

Stä

ubli

 F

averg

es 2

008

1.5.

SAFETY DIRECTIVES CONCERNING TO STAFF PROTECTION

Stäubli

 robots work with computer controlled mechanisms, capable of moving at high speed and exerting

considerable force. Like all robots and most industrial equipment, they must be controlled with great care
by the user of the robot cell. All staff using 

Stäubli

 robots must be familiar with the warnings and

recommendations given in this manual. 

1.5.1.

MECHANICAL AND ELECTRICAL DANGERS. 

To turn of power, set the 

CS8C

 main switch to the 

"0"

 position.

To prevent inadvertent during the service operation, the main switch must be locked in 

0

 position using a

padlock whose key is to be kept by the person carrying out the service operation. The locked status must
be shown by a sign. For example, put a "Do not operate" sign in place.

Before powering up the system, make sure that all the electrical protection systems have been fitted and
that there is no risk of electric shocks.

Note:

When the main switch is set to 

0

, voltage remains present between the input terminals

(mains supply filter) and the main switch input.

•

Do not connect or disconnect components while the unit is under power. The connection between the
controller and the robot arm can only be made if the controller has been switched off. 

•

The arm must not be loaded during maintenance operations.

•

If unusual sounds or vibrations are noted on the robot arm, especially following a shock or some other
incident, it is necessary to inspect the tool and gripper fastenings carefully and make diagnoses at low
speed.

Note:

If a crash of the arm occurs, all safety components involved in the safety have to be
checked carefully to verify they are still operating and not damaged: hard stop devices on
the arm, electrical limit switches, calibration of the robot. Don't hesitate to call 

Stäubli

service for any doubt.
Each time a calibration, adjustment or recovery procedure is done, the calibration of the
arm has to be controlled carefully to verify that the robot is able to move in its expected
angular range and not more. This verification has to be done at slow speed.

DANGER: 

Disconnect all the electrical and pneumatic power supplies before carrying out
any work on the controller or the arm. 

DANGER: 

Each time the arm is powered on, keep one hand close to the "Emergency stop"
button in order to be able to press it as quickly as possible in the event of a
problem. 

DANGER: 

All persons are prohibited from remaining in the isolation area in which the robot
arm operates. Certain robot working modes such as the "brake release" mode
can lead to unforeseeable arm movements. 

Содержание RX Series

Страница 1: ...buy your excess underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of th...

Страница 2: ... Stäubli Faverges 2008 Arm RX series 90B family Instruction manual D28045104F 02 2008 ...

Страница 3: ...2 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 4: ...rning to protection of the equipment 17 2 DESCRIPTION 21 2 1 IDENTIFICATION 23 2 2 GENERAL PRESENTATION 25 2 3 DESIGNATION OF ROBOTS OF THE RX SERIES 90B FAMILY 27 2 4 GENERAL CHARACTERISTICS 27 2 4 1 Overall dimensions 27 2 4 2 Work environment 27 2 4 3 Weight 29 2 5 PERFORMANCE 29 2 5 1 Torque limits 29 2 5 2 Amplitude speed and resolution 29 2 5 3 Modification of amplitudes 31 2 6 LOAD CAPACITY...

Страница 5: ...4 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 6: ...4 4 1 Installation of arm on floor 57 4 4 2 Installation of arm on ceiling 57 4 4 3 Mounting floor quality 57 4 5 SPRING TENSION 59 5 INTERNAL VARIATIONS BETWEEN VARIOUS TYPES OF ARMS 61 5 1 PURPOSE OF THIS CHAPTER 63 5 2 JOINTS 1 AND 2 63 5 3 JOINTS 3 AND 4 65 6 TRANSMISSION CASING OIL CHANGE 67 6 1 JOINT 1 TRANSMISSION CASING 69 6 2 JOINT 2 TRANSMISSION CASING 69 6 3 JOINT 3 TRANSMISSION CASING ...

Страница 7: ...6 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 8: ...nd 6 77 7 2 REPLACEMENT OF A MOTOR 79 7 2 1 Joint 1 79 7 2 2 Joint 2 81 7 2 3 Joint 3 83 7 2 4 Joint 4 85 7 2 5 Joints 5 and 6 87 8 PREVENTIVE MAINTENANCE 89 8 1 MAINTENANCE FREQUENCY 91 8 2 CHECKING OIL LEVELS 93 8 2 1 Arm in floor mounted position 93 8 2 2 Arm in ceiling mounted position 95 8 3 GREASING OF THE BALANCE SYSTEM ECCENTRIC BEARINGS 97 9 RECOMMENDED SPARE PARTS 101 ...

Страница 9: ...8 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 10: ...Chapter 1 Introduction D28045104F 02 2008 9 Stäubli Faverges 2008 CHAPTER 1 INTRODUCTION ...

Страница 11: ...10 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 12: ... robots It provides help for the persons working on the equipment for reference purposes only Indeed in order to understand the present document and the use of STÄUBLI robots it is necessary for staff to acquire the corresponding knowledge by following a robots training course as provided by STÄUBLI 1 1 2 SPECIAL MESSAGES CONCERNING WARNINGS ALERTS AND INFORMATION In this document there are two fo...

Страница 13: ...r to apply and ensure correct sequencing of the operations described 1 2 DEFINITION OF THE ELEMENTS AROUND THE ROBOT CELL Person general term identifying all individuals likely to come close to the STÄUBLI robot cell Staff identifies the persons specifically employed and trained to install operate and service the STÄUBLI robot cell User refers to the persons or the company responsible for operatin...

Страница 14: ...nals must comply with the manufacturers specifications The robot and its controller are designed to meet a Category III safety level Standards applicable Installation of the robot must be planned in accordance with the standard instructions DANGER The robot is a fast moving machine These movements can be dangerous Always comply with the safety standards recommended for robot use and inform operato...

Страница 15: ...bot cell Select the protective methods use of protective devices installation of signalling means compliance with safe working procedures These points are taken from the standards applicable to robots Note This list is not exhaustive Above all it is necessary to comply with the standards in force in your country 1 4 2 RULES CONCERNING THE ROBOT S WORK AREA The controlled area or isolation area in ...

Страница 16: ...etween the controller and the robot arm can only be made if the controller has been switched off The arm must not be loaded during maintenance operations If unusual sounds or vibrations are noted on the robot arm especially following a shock or some other incident it is necessary to inspect the tool and gripper fastenings carefully and make diagnoses at low speed Note If a crash of the arm occurs ...

Страница 17: ... 2 ROBOT CELL SAFETY DEVICES The safety devices must form an integral part of the design and installation of the robot cell Operator training and compliance with the operating procedures constitute a major element in setting up the safety devices and systems Stäubli robots are equipped with various communication functions helping the user to develop safety devices for the robot cell These function...

Страница 18: ...t being aware of the damage that can be done to electronic components by static electricity Our desire to integrate the notions of quality and reliability in our products makes it necessary to prevent electrostatic discharges from causing damage to them This means that all the staff and login users must be informed Storage of a charge An electric charge is created simply by combining a conductor a...

Страница 19: ...nge in their operating characteristics Initial tests are successfully passed but an intermittent error occurs under vibration or temperature constraints The same components will pass the on off test successfully as carried out during repairs but the problem will reappear again once on site Typical ESD voltages SOURCE LOW RELATIVE HUMIDITY 10 20 AVERAGERELATIVE HUMIDITY 40 HIGH RELATIVE HUMIDITY 65...

Страница 20: ... non conducting equipment static charge generators away from components and boards Use tools providing protection from ESD STÄUBLI workstation To handle electronic cards STÄUBLI workstations are given a grounded coating that dissipates static electricity An anti static bracelet is required to handle boards or electronic components Work zones Remove objects that generate static electricity charges ...

Страница 21: ...20 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 22: ...Chapter 2 Description D28045104F 02 2008 21 Stäubli Faverges 2008 CHAPTER 2 DESCRIPTION ...

Страница 23: ...22 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 24: ...s plate on each robot There is a plate riveted on the controller and arm see figure 2 1 Figure 2 1 For all requests concerning information replacement part orders or requests for intervention please state the type and the serial number of the machine concerned as set out on the manufacturer s plate ...

Страница 25: ...24 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 2 B A C D E F 3 4 5 2 1 6 RX 90 RX 90 R ...

Страница 26: ... check and clean room applications This list is not exhaustive for further information please consult us The various elements of the robot s arm are the base A the shoulder B the arm C the elbow D the forearm E and the wrist F figure 2 2 The robot arm assembly thus contains the motorization brakes motion transmission mechanisms cable bundles pneumatic and electric circuits for the user and the cou...

Страница 27: ...26 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 3 Figure 2 4 ...

Страница 28: ...ressed in decimeters dimension dimension 3 Number of active axes 0 6 active axes 5 5 active axis geometry being conserved 4 RX family changed to B 5 Upper case letters to indicate an option L extended forearm dimension dimension figure 2 4 CR clean room application These letters can be combined Example LCR extended forearm clean room application In the manual the following terminology is used Stan...

Страница 29: ...28 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 5 ...

Страница 30: ... s 12 6 m s Repeatability at constant temperature 0 02 mm 0 025 mm REFERENCE AXIS AXIS 5 Z6 AXIS 6 Z7 Static torque Nm 24 1 14 2 10 1 If axis 6 torque 0 2 For maximum torque on axis 6 Peak torque Nm 100 1 57 2 43 Axis 1 2 3 4 1 5 6 1 For 5 axis arms axis 4 is fixed Joint 5 corresponds to joint 4 and joint 6 to joint 5 of the software 2 Can be configured by software up to 18 000 See the Software co...

Страница 31: ...30 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 32: ...mum angular amplitudes The amplitude of the joints can be voluntarily limited by the software see chapter on programming Also the position of the mechanical travel limiters on axis 1 2 and 3 and of the electrical travel limiters on joints 1 and 2 can be modified in a certain number of positions for modification please consult STÄUBLI ...

Страница 33: ...32 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 6 ...

Страница 34: ...APACITY figure 2 6 Load characteristics Load center of gravity position z 150 mm from centerline of joint 5 and x 75 mm from centerline of joint 6 figure 2 6 1 In all configurations and taking maximum inertias into account See table below 2 Under reduced speed and acceleration conditions For CS7B SP60 ACC 8 50 50 For CS8 VEL 60 ACC 30 DEC 30 CAUTION Length of end effector attaching screws is limit...

Страница 35: ...34 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 7 Effective tapped depth 8 mm ...

Страница 36: ... An additional load can be attached to the forearm using 4 M5 screws maximum torque is 7 Nm Position of 4 M5 tapped holes See figure 2 7 DIMENSIONS STANDARD ARM LONG ARM A 167 5 1 mm 272 1 mm B 6 4 5 CAUTION The additional load depends on nominal load see next page In all cases do not exceed load characteristics ...

Страница 37: ...36 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 8 Figure 2 9 Figure 2 10 Figure 2 11 ...

Страница 38: ... SP60 ACC 8 50 50 For CS8 VEL 60 ACC 30 DEC 30 Additional load kg Additional load center of gravity position m from centerline of joint 3 The additional load center of gravity position is at 0 25 m max from the centerline of joint 4 Load attached to the mechanical interface of the wrist 150 mm from centerline of joint 5 and 75 mm from centerline of joint 6 Figure 2 8 For standard RX90B Figure 2 9 ...

Страница 39: ...38 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 12 Figure 2 13 R RX 90 R E10 B1 A1 B2 A2 P2 P1 P2 JOC 2 1 3 EV1 EV2 4 5 R R E10 B1 A1 B2 A2 P2 EV2 P1 P2 JOC 2 1 3 EV1 5 4 ...

Страница 40: ...ncludes several electrical and pneumatic components such as Figures 2 12 and 2 13 Arm 1 controller interconnection socket R23 connector intended for the user for possible electrical connection of grip JOC Brake release selector 3 Brake release pushbutton 2 Compressed air network pneumatic or vacuum connections P1 and P2 Pneumatic or vacuum exhaust muffler Arm ground connection 4 2 8 RELEASING JOIN...

Страница 41: ...40 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 14 shielded ...

Страница 42: ...al circuit consists of A male 19 contact socket at the bottom of the arm A female 19 contact socket on the forearm These 19 contacts include 3 power contacts and 16 signal contacts The 3 power contacts in each socket are connected by a 3 wire conductor with cross section AWG18 contacts 6 12 19 The 16 signal contacts in each socket are connected in the following way 2 shielded twisted pairs cross s...

Страница 43: ...42 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 15 shielded VACUUM VACUUM ...

Страница 44: ...contact socket at the bottom of the arm A female 19 contact socket on the forearm These 19 contacts include 3 power contacts and 16 signal contacts The 3 power contacts in each socket are connected by a 3 wire conductor with cross section AWG18 contacts 6 12 19 The 16 signal contacts in each socket are connected in the following way 2 shielded twisted pairs cross section AWG24 connecting contacts ...

Страница 45: ...44 D28045104F 02 2008 Stäubli Faverges 2008 Figure 2 16 Figure 2 17 11 1 ...

Страница 46: ...ke sure that the arm is correctly connected and correctly sealed covers closed plugs in hoisting ring tapped hole pipe connected at 6 and at 9 etc Install a pipe with an outside Ø 8 between the unit output 6 and the arm input P2 Provide a male G1 4 union for the pipe with an outside Ø 8 At P2 the hole is a G1 4 tapped hole for the complete RX range Pressurize the arm 1 Slowly screw in the regulato...

Страница 47: ...ing brakes of joints 3 4 5 and 6 standard arm or joints 3 4 and 5 5 axis arm causes arm to move down whether loaded or not Joints 3 and 5 standard arm Joints 3 and 4 5 axis arm Joints 4 and 6 standard arm Joint 5 5 axis arm Joints 3 and 5 standard arm Joints 3 and 4 5 axis arm Joints 4 and 6 standard arm Joint 5 5 axis arm 4 Before all operations on arm especially for removal springs must be relea...

Страница 48: ...accumulated by the springs Indeed joint 2 is equipped with a spring balance system Releasing joint 2 discharges the accumulated energy This energy label is attached on the arm and must remain in place The brake release movements are described on the opposite page according to arm configuration floor or ceiling ...

Страница 49: ...48 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 50: ...Chapter 3 On site preparation D28045104F 02 2008 49 Stäubli Faverges 2008 CHAPTER 3 ON SITE PREPARATION ...

Страница 51: ...50 D28045104F 02 2008 Stäubli Faverges 2008 Figure 3 1 ...

Страница 52: ...rews Attachment surface shall be flat and metallic A deformable support will greatly reduce robot s performance in speed and accuracy To dimension the support take into account the maximum loads generated by the arm in motion at point 0 which are FV 2232 N FG 1635 N CB 1700 Nm CP 747 Nm Under following load conditions The user can accurately position the robot by means of two 10h8 diameter centeri...

Страница 53: ...52 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 54: ...Chapter 4 Installation D28045104F 02 2008 53 Stäubli Faverges 2008 CHAPTER 4 INSTALLATION ...

Страница 55: ...54 D28045104F 02 2008 Stäubli Faverges 2008 Figure 4 1 Figure 4 2 Figure 4 3 1 5 X L Y 2 P 7 H 6 3 4 ...

Страница 56: ...ING AND INSTALLATION OF THE ARM Move the packing case as near as possible to the installation site Remove the cardboard packaging 1 remove the packing material 5 and the plastic cover 7 figure 4 1 Pass the hook 4 of the hoist through the hoisting ring 6 and hold slightly tensioned to stop the arm from tipping figure 4 3 Remove the 3 M12 3 bolts from the arm Slowly raise the arm using the hoist Att...

Страница 57: ...56 D28045104F 02 2008 Stäubli Faverges 2008 Figure 4 4 Figure 4 5 Figure 4 6 Figure 4 7 6 3 5 7 3 ...

Страница 58: ...pplied with the robot see chapter 4 5 4 4 3 MOUNTING FLOOR QUALITY figure 4 7 The user has to make sure that the mechanical caracteristics of the floor and the means of fixture allow to hold up the maximum forces caused by the moving arm see chapter 3 CAUTION The arm can be attached with the base downwards floor mounted version or with base upwards ceiling mounted version Caution the balance syste...

Страница 59: ...58 D28045104F 02 2008 Stäubli Faverges 2008 ceiling floor Figure 4 8 Figure 4 10 Figure 4 9 Figure 4 11 Figure 4 12 90 90 6 N3 H7 8 3 7 5 x 7 A3 3 1 9 2 4 1 11 F3 4 5 6 8 7 4 3 2 10 1 3 1 ...

Страница 60: ...crew nut 5 onto threaded rod 6 Screw the end of threaded rod 6 into beam 7 Grip length X 15 mm 1 mm Tighten nut 5 against beam 7 Using an 18 mm ring spanner not supplied tighten nut 8 until the pin holes of beam 7 coincide and pass beyond 1 mm those on the arm Figure 4 11 When beam 7 is in position insert the pins 4 in arm 3 pin threads on outside The pins must be inside face F3 of arm 3 Unscrew n...

Страница 61: ...60 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 62: ...Chapter 5 Internal variations between various types of arms D28045104F 02 2008 61 Stäubli Faverges 2008 CHAPTER 5 INTERNAL VARIATIONS BETWEEN VARIOUS TYPES OF ARMS ...

Страница 63: ...62 D28045104F 02 2008 Stäubli Faverges 2008 Figure 5 1 Figure 5 2 1 R 1 2 R ...

Страница 64: ...rsion are shown in the following paragraphs Clean room arm These variations concern the type of solenoid valves and their locations Two solenoid valves are placed at joints 3 and 4 in the standard arms For space reasons one solenoid valve is attached to joints 3 and 4 and the other to joint 1 on the clean room arms 5 2 JOINTS 1 AND 2 On the clean room arm solenoid valve 2 is visible bottom left wh...

Страница 65: ...64 D28045104F 02 2008 Stäubli Faverges 2008 Figure 5 3 Figure 5 4 1 2 1 2 ...

Страница 66: ...04F 02 2008 65 Stäubli Faverges 2008 5 3 JOINTS 3 AND 4 After removing cover 1 the two solenoid valves 2 of the standard arm are replaced by a single solenoid valve 2 on the clean room arm Figure 5 3 Joints 3 and 4 standard arm Figure 5 4 Joints 3 and 4 clean room arm ...

Страница 67: ...66 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 68: ...Chapter 6 Transmission casing oil change D28045104F 02 2008 67 Stäubli Faverges 2008 CHAPTER 6 TRANSMISSION CASING OIL CHANGE ...

Страница 69: ...68 D28045104F 02 2008 Stäubli Faverges 2008 Figure 6 1 1 1 2 3 4 6 5 7 8 9 M 2 M1 R ...

Страница 70: ...ver 2 to 5 7 Nm 0 4 Nm 6 2 JOINT 2 TRANSMISSION CASING figure 6 1 Unscrew the 4 M5 screws 1 attaching cover 2 Remove shoulder cover 2 Install a 6 8 pneumatic hose on drain screw 7 drain screw 8 for ceiling mounted version Unscrew drain screws 7 8 by approximately 2 turns Using a pumping device remove the oil from the casing via the hose Top up with oil via the hose indicative quantity 170 cm3 see ...

Страница 71: ...70 D28045104F 02 2008 Stäubli Faverges 2008 Figure 6 2 M4 1 2 4 3 4 5 6 M3 ...

Страница 72: ...e 4 M5 screws 4 to 5 7 Nm 0 4 Nm 6 4 JOINT 4 TRANSMISSION CASING figure 6 2 Set the arm in horizontal position Set the forearm perpendicular to the arm wrist on top Unscrew the 4 M5 screws 4 attaching cover 3 Remove elbow cover 3 Install a 6 8 pneumatic hose on drain screw 6 Unscrew drain screws 6 then 5 by approximately 2 turns Using a pumping device remove the oil from the casing via the hose Tu...

Страница 73: ...72 D28045104F 02 2008 Stäubli Faverges 2008 Figure 6 3 2 1 ...

Страница 74: ...eel off a corner of the seal and pull it towards you If the adhesive section 2 remains stuck to the cover use C fluid ethyl acetate to remove it Clean the surface remove all paint and all other particles present on the surface without scratching it Clean the whole surface using C fluid ethyl acetate 6 6 2 FITTING A NEW SEAL The new seal is made up of 3 sections A section made of foam 1 An adhesive...

Страница 75: ...74 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 76: ...Chapter 7 Operations on motors D28045104F 02 2008 75 Stäubli Faverges 2008 CHAPTER 7 OPERATIONS ON MOTORS ...

Страница 77: ...76 D28045104F 02 2008 Stäubli Faverges 2008 Figure 7 1 1 1 2 2 ...

Страница 78: ...tor screws working diagonally Check adjustment by conducting the following motor play check procedure To check for play in a join Release the brake of the joint concerned Move the joint to both sides in movement direction If there is play in the joint a characteristic noise will be heard when direction of movement is reversed For the robot to work under the best conditions transmission play must t...

Страница 79: ...78 D28045104F 02 2008 Stäubli Faverges 2008 Figure 7 2 M 2 M 2 M1 M1 1 1 2 3 A 5 7 6 4 R ...

Страница 80: ...n down Connect connectors 3 to motor M1 Perform the motor play adjustment procedure Tighten the 4 M6 screws 4 attaching motor M2 to 16 7 Nm 1 2 Nm Replace the joint on the cover 2 See chapter 6 6 Install shoulder cover 2 Tighten the 4 M5 screws 1 attaching the cover 2 to 5 7 Nm 0 4 Nm DANGER Follow the safety rules See chapter 1 3 Before carrying out any work on the motors the DAPS board backup su...

Страница 81: ...80 D28045104F 02 2008 Stäubli Faverges 2008 Figure 7 3 M 2 M 2 M1 M1 1 1 2 3 4 A 5 7 6 R ...

Страница 82: ...nstall motor M2 on joint 2 casing Install the 4 M6 screws 3 attaching motor M2 do not tighten down Connect connectors 4 to motor M2 Perform the motor play adjustment procedure Tighten the 4 M6 screws 3 attaching motor M2 to 16 7 Nm 1 2 Nm Replace the joint on the cover 2 See chapter 6 6 Install shoulder cover 2 Tighten the 4 M5 screws 1 attaching the cover 2 to 5 7 Nm 0 4 Nm DANGER Follow the safe...

Страница 83: ...82 D28045104F 02 2008 Stäubli Faverges 2008 Figure 7 4 M4 M4 1 3 3 4 4 2 A 5 7 6 M3 M3 ...

Страница 84: ...Install motor M3 on joint 3 casing Install the 4 M5 screws 1 attaching motor M3 do not tighten down Connect connectors 2 to motor M3 Perform the motor play adjustment procedure Tighten the 4 M5 screws 1 attaching motor M3 to 9 5 Nm 0 7 Nm Replace the joint on the cover 3 See chapter 6 6 Install elbow cover 3 Tighten the 4 M5 screws 4 attaching the cover 3 to 5 7 Nm 0 4 Nm DANGER Follow the safety ...

Страница 85: ...84 D28045104F 02 2008 Stäubli Faverges 2008 Figure 7 5 M 4 1 1 2 3 4 A 5 7 6 M3 ...

Страница 86: ...rew of bushing 6 to 16 7 Nm 1 2 Nm Install motor M4 on joint 4 casing Install the 4 M5 screws 4 attaching motor M4 do not tighten down Connect connectors 3 to motor M4 Perform the motor play adjustment procedure Tighten the 4 M5 screws 4 attaching motor M4 to 9 5 Nm 0 7 Nm Replace the joint on the cover 2 See chapter 6 6 Install elbow cover 2 Tighten the 4 M5 screws 1 attaching the cover 2 to 5 7 ...

Страница 87: ...86 D28045104F 02 2008 Stäubli Faverges 2008 Figure 7 6 M 6 4 5 6 4 9 10 2 M 5 1 3 x 4 J5 J6 8 7 ...

Страница 88: ...he 4 M4 screws 3 attaching the motor Untighten the M5 screw 9 of bushing 10 Install the new motor Tighten the 4 M4 screws 3 attaching the motor to 4 8 Nm 0 30 Nm Tighten the M5 screw 9 of bushing 10 to 9 5 Nm 0 7 Nm Reinstall the wrist motor assembly working back through procedure shown on figure 7 6 Tighten the 4 M5 screws 4 attaching the wrist to 5 7 Nm 0 4 Nm Install connectors 7 and 8 on motor...

Страница 89: ...88 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 90: ...Chapter 8 Preventive maintenance D28045104F 02 2008 89 Stäubli Faverges 2008 CHAPTER 8 PREVENTIVE MAINTENANCE ...

Страница 91: ...90 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 92: ... see chapter 8 2 Check the condition of the harness visible parts Grease the balance system eccentric bearings see chapter 8 3 After 20 000 hours Change the oil in joints 5 and 6 see chapter 6 After 40 000 hours Change the oil in all the joints Recommended oil see spare parts CAUTION To ensure a correct seal the joint must be replaced each time a cover is removed see chapter 6 6 CAUTION Consult ST...

Страница 93: ...92 D28045104F 02 2008 Stäubli Faverges 2008 Figure 8 1 ...

Страница 94: ...served are as follows Joint 1 Oil level flush with lower edge of toothed wheel visible via indicator 1 Joint 2 Oil level in center of indicator 2 2 mm Joints 3 and 4 Oil level with the bottom of the Ø 5 5 hole after removing the plugs 3 and 4 Joints 5 and 6 The oil level must touch the thread root of the worm screws plugs removed 5 and 6 POSITION Check Joint 1 Joint 2 Joint 3 Joint 4 Joints 5 6 CS...

Страница 95: ...94 D28045104F 02 2008 Stäubli Faverges 2008 Figure 8 2 ...

Страница 96: ...to be observed are as follows Joint 1 The indicator is filled with oil 1 Joint 2 Oil level in center of indicator 2 2 mm Joints 3 and 4 Oil level with the bottom of the Ø 5 5 hole after removing the plugs 3 and 4 Joints 5 and 6 The oil level must touch the thread root of the worm screws plugs removed 5 and 6 POSITION Check Joint 1 Joint 2 Joint 3 Joint 4 Joints 5 6 CS7 CS8 CS7 CS8 Joint 1 0 90 0 9...

Страница 97: ...96 D28045104F 02 2008 Stäubli Faverges 2008 Figure 8 3 Figure 8 4 1 2 3 4 5 ...

Страница 98: ...3 If the arm is attached to the ground place the beam item 5 fig 8 9 on the 2 pins item 7 fig 8 9 Screw the M10 grease nipple 5 onto the eccentric axle Grease with a grease gun Shell Nerita HD2 Wipe off surplus grease Remove the grease nipple 5 Remove the 2 pins item 7 fig 8 9 in order to release the beam item 5 fig 8 9 Install the set of springs on the joint 3 with the M10 screw 2 and the washers...

Страница 99: ...98 D28045104F 02 2008 Stäubli Faverges 2008 ceiling floor Figure 8 5 Figure 8 6 Figure 8 7 Figure 8 8 Figure 8 9 90 A B 2 4 1 3 1 7 6 5 7 3 5 6 3 A B A B 7 6 5 7 3 8 ...

Страница 100: ...d to the beam 5 Insert the tool threaded rod 6 into arm 3 polyamide washer in contact with arm Screw and fasten the end of threaded rod 6 into beam 5 Tighten the 6 tool lever nut until the 5 beam pin bearing surfaces protrude beyond the 3 arm holes by 1 mm Figure 8 9 When beam 5 is in position insert the 2 pins 7 in arm 3 pin threads on outside The pins must be inside face 8 of arm 3 Unscrew the t...

Страница 101: ...100 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 102: ...Chapter 9 Recommended spare parts D28045104F 02 2008 101 Stäubli Faverges 2008 CHAPTER 9 RECOMMENDED SPARE PARTS ...

Страница 103: ...102 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 104: ...obil SHC 639 oil for wrist Consult STÄUBLI Mobil SHC 626 oil Solenoid valve Pneumatic harness Motor of axis 1 2 3 4 5 and 6 O ring for motors of axis1 2 3 and 4 Electrical harness Brake selection board Cover seal kit Maximum oil quantity SHC 634 SHC 639 Wrist Wrist 180 cm3 180 cm3 SHC 626 Axis 1 2 3 4 610 cm3 ...

Страница 105: ...104 D28045104F 02 2008 Stäubli Faverges 2008 ...

Страница 106: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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