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81 Range of functions
7
en
7.3 Exemplary application cases
In an example like the one shown below, the following is to be observed:
For a movement in the unlocked state, the system must never be brought to the limit stop in order to
avoid damage. The maximum travel speed for a newly setup application should therefore be
determined through repetition and while observing the internal sensors. The starting point for a
secured, collision-free setup is the stated travel speed of 100 mm/s. The parameters set for the safe
operation of an example application is provided for orientation purposes, but cannot be interpreted
explicitly as a guideline value for any and all applications.
Max. operating data for example application:
Acceleration ** [m/s^2] 2.5
Travel speed ** [mm/s] 250
Rotation velocity ** [°/s] 550
Rotation acceleration ** [°/s^2] 5000
25 Operating data for example applications
** was determined for a trial "pick and place" allocation with a nominal load: Mass 6 [kg], lever arm
load center 100 [mm], aluminum cuboid 3.1645, length 200 [mm], width/depth 103 [mm], suspended
centrally over a standard flange: ISO 9409-1 31,5-4-M5, no oscillating movement takes place.
7.3.1 Exact alignment of the robot above a component
If the robot moves over a component in a pickup, drop or joining position and is not set correctly above
the position due to various tolerances, this is expressed by a deflection of the SFE.
If the offset which can be read by the robot from the SFE is compensate by a position correction by
the robot, the robot is correctly above the joining position and the process can continue without
disruption.
7.3.2 Connecting connector contacts
Connector connections can be fitted using the SFE; the process for clicking them into place can be
detected by analyzing the position data. This allows an automatic quality check without any visual
check afterwards.
7.3.3 Determining the orientation of pallets
Pallets which are no longer in the same position as the previous ones after a change may be touched
by the SFE, allowing it to remeasure the position in by communicating the displacement to the robot.
7.3.4 Joining μ fits
Application-specific searching and joining strategies can be used to join fits with tolerances in the µ
range.