EFORT ER12-4-2000 Скачать руководство пользователя страница 20 | Manualshive

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EFORT ER12-4-2000 Скачать руководство пользователя страница 20

Mechanical Operation and Maintenance Manual for Industrial Robot ER12-4-2000

15

2.6.2 Robot Workspace

Fig2-5 Robot Range of Motion

Note: The workspace shown in this figure is the maximum range of the P point in theory, which will change
under the influence of installation mode in actual operation. In practice, please consider the effect of
installation mode on the workspace.

P point

The maximum workspace

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Содержание ER12-4-2000

Страница 1: ...ER12 4 2000 Mechanical Operation and Maintenance Manual for Industrial Robot EFORT INTELLIGENT EQUIPMENT CO LTD Hotline Tel 400 0528877...

Страница 2: ......

Страница 3: ...nd you or property damage to the robot or other objects around you This announcement and manual are the latest version of this batch of products before delivery Please visit www efort com cn for updat...

Страница 4: ...2 4 Body Part Composition and Direction Identification of Each Axis 12 2 5 Robot Axis Range Limit and Home Position 13 2 6 Robot Performance Parameters 14 2 6 1 Table of Robot Performance Parameters...

Страница 5: ...y Two Years 27 4 2 Overhaul of Main Bolts 27 4 3 Inspection of Lubricant 28 4 4 Change the Lubricant 29 4 4 1 The Oil Supply Quantity of Lubricant 29 4 4 2 Space Orientation of Lubrication 29 4 4 3 Lu...

Страница 6: ...persons should work in a team at this time One person maintains a posture that can immediately press the emergency stop button while the other person is within the robot s range of motion staying vig...

Страница 7: ...m error in the peripheral equipment 10 Abnormal operation due to noise malfunction defect etc 11 Misoperation 12 Originally planned to regenerate at low speed to perform the action but it performed th...

Страница 8: ...ructure and the angle of each joint in the movement is constantly changing When you must approach the robot for teaching and other tasks be careful not to get caught by the joints Each joint action en...

Страница 9: ...bot wrist Attention The fail safe protection structure should be adopted even if the power supply or compressed air supply of the end effector is cut off the installation object will not be released o...

Страница 10: ...a large scale system multiple operators are involved in the work When it is necessary to talk at a distance the intention should be correctly conveyed by means of gestures etc Factors such as noise i...

Страница 11: ...is requirement must be thoroughly implemented Attention According to the setting place and operating content the relevant operation regulations and checklists such as starting method operation method...

Страница 12: ...or sold it is necessary to ensure that the auxiliary documents of the robot such as the mechanical operation manual electrical maintenance manual and robot programming manual are transferred to the ne...

Страница 13: ...ents of the control device before discarding it Sharp parts such as cracks or cuts wires etc may cause injury Attention After the cables and external wiring are removed from the connector and junction...

Страница 14: ...12 4 2000 9 Chapter Two Basic Description 2 1 Robot System Composition The industrial robot is composed of the following components seen in Fig 2 1 Robot body Control cabinet Teach pendant Connection...

Страница 15: ...ant cable 11500010563 one PC control cabinet body power cable 10900023245 one SET Installed on the control cabinet The standard length is 8m and it supports conventional customization of 12m 16 and 20...

Страница 16: ...Mechanical Operation and Maintenance Manual for Industrial Robot ER12 4 2000 11 Fig 2 2 Robot Body Nameplate Service hotline...

Страница 17: ...ist body part The joints of the machine body are driven by servo motors and the joints cooperate with each other to realize the adjustment of the position and posture of the robot end in space The nam...

Страница 18: ...trolled to move within the allowable range In addition in order to ensure further safety mechanical end stops are provided on some axes seen Fig 2 4 to prevent the robot from operating beyond the allo...

Страница 19: ...in 85 the action range of the J3 axis is 5 J3 100 2 when the J2 axis is in 20 the action range of the J3 axis is 70 J3 35 3 when the J2 axis is in a 0 state the action range of the J3 axis is 70 J3 1...

Страница 20: ...Fig2 5 Robot Range of Motion Note The workspace shown in this figure is the maximum range of the P point in theory which will change under the influence of installation mode in actual operation In pr...

Страница 21: ...load should be strictly controlled within each allowable value When using the robot with a wrist payload other than the allowable value normal operation cannot be guaranteed 2 7 1 Allowable Weight Rob...

Страница 22: ...When carrying out transportation and installation operations care should be taken to avoid damaging the wiring In addition after the device is assembled protective measures such as covering the protec...

Страница 23: ...J3 axis J4 axis Articular angle 0 38 62 0 Fig 3 1 Schematic Diagram of Lifting 2 Hexagon socket cap screws M6 16 2 Flat washer Grade C 6 2 Hexagon nut M12 Hexagon bolt M12 60 Lift with 4 two meter lon...

Страница 24: ...cranes and forklifts please note that the robot s arms and motors cannot be subjected to external forces After unpacking and installation be sure to remove the fixed fixture for transport and rubber...

Страница 25: ...f China GB11291 2 2013 that is Safety Requirements for Robots and Robot Equipment Industrial Robots Part 2 Robot System and Integration and see more in 5 10 Safety Device Restrictions In the automatic...

Страница 26: ...crete Structures and GB T50081 2002 Test Methods for Mechanical Properties of Ordinary Concrete Table 3 1 Parts List Required for Robot Fixation Name Specification Number bottom plate thickness 30mm o...

Страница 27: ...peration please fully fix and prevent loosening as shown in Figure 3 4 Robot Installation Example Figure 3 4 Ground Mounting 4 M16 45 Chemical bolt components Specification requires M16 and above Plat...

Страница 28: ...be able to keep normal when used transported and stored under the specified environmental conditions and its performance should meet the requirements Robot Environmental Conditions environmental condi...

Страница 29: ...on the Small Arm Robot external interface size As shown in the figure Remarks end load installation flange size Fig 3 6 end load installation size dimensions of the external component installed on th...

Страница 30: ...for Industrial Robot ER12 4 2000 25 Fig 3 8 Dimensions of External Component Installed on the Wrist Body Fig 3 9 Dimensions of External Parts on Base Peripheral IO Ground terminal Encoder aerial plug...

Страница 31: ...anism has abnormal noise 2 interference inspection check whether the transmission mechanism is running smoothly and whether there is abnormal vibration 3 air cooling inspection check whether the fan b...

Страница 32: ...ng to lubrication requirements Note 1 Regarding cleaning parts mainly at the oil seal of the mechanical wrist cleaning chips and splashes 2 Regarding the fastening parts tighten the end effector insta...

Страница 33: ...on meter Manufactured by Idemitsu Kosan 2 Filling gun The nozzle diameter should be less than 17mm and should be equipped with a counting device 3 Sealing tapes Attention In inspection please supply w...

Страница 34: ...r 3 Remove the M10 1 hexagon socket screw plugs of the lubricant filling and drain ports see Figure 4 1 4 Provide the new lubricant until the new one flows out of the oil drain port 5 Install the hexa...

Страница 35: ...pecified types of lubricants If you use other lubricant other than the specified type it may damage the decelerator or cause other problems 5 When installing the hexagon socket screw plug after the oi...

Страница 36: ...install the sealing screw plug on the oil drain port use a combination pad or wrap a sealing tape 4 5 Robot Maintenance and Use Area The maintenance area and use area of the mechanical unit are shown...

Страница 37: ...1 If the servo motor is replaced 2 If the encoder is replaced 3 If the decelerator is replaced 4 If the cable is replaced 4 6 1 Home Position Calibration Method Home position calibration is a relativ...

Страница 38: ...ot teaching box to record the coordinates of each axis For the specific home position calibration method please refer to the EFORT Industrial Robot Operation Manual provided by our company The mechani...

Страница 39: ...ry from the battery box and put the new battery into the battery box paying attention to the positive and negative polarity of the battery Reconnect the battery cable and fix the battery pack After in...

Страница 40: ...t per robot Position O ring rubber seal 103 3 55 2 Servo Motor of axis J1 2 O ring rubber seal 190 3 55 2 J1 2 axis connection part hexagon socket screw plug M10 1 7 J1 J4 axis oil filling port J1 J3...

Страница 41: ...Mechanical Operations and Maintenance Manual for Industrial Robot ER12 4 2000 36 Lubricant MOLYWHITE RENO 00 2 5 kg Flat sealant THREEBOND 1110F 1 Screw tightening agent THREEBOND 1374 1...

Страница 42: ...cifications and external dimensions of this product are subject to change without prior notice The technical data and illustrations are for reference only and we reserve the right to change them EFORT...

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