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Scara Mechanical Unit Manual

Document Version: V1.1(

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Revision History

Date

Version

Revised Contents

Jan 2021

V1.0

First Draft

May 2021

V1.1

-ER3 & ER6 checks

–

RX3 & RX6

Содержание TRIO RX

Страница 1: ...RX SCARA ROBOT MECHANICAL UNIT OPERATOR MANUAL Page 68 assembly and wiring manual...

Страница 2: ...ions and information are checked on a regular basis Nevertheless discrepancies cannot be precluded for which reason we are not able to guarantee total conformity TRIO assumes no responsibility for any...

Страница 4: ...icates a hazard with a medium or low level of risk which if not avoided could result in minor or moderate injury CAUTION Indicates a potentially hazardous situation that if not avoided could cause equ...

Страница 5: ...cle of the product but also cause serious safety problems Operation Safety 1 Please carefully read the safety related requirements in the Safety chapter before operating the robot system Operating the...

Страница 6: ...degrees may result in shortage bearing oil film and shorten the service life of joint To avoid shortening the service life of joint please move the joint over 50 degrees for about 5 to 10 times per d...

Страница 7: ...of emergencies Avoid pressing the Emergency Stop switch unnecessarily while the Robot is running normally Emergency Movement without Drive Power When the system is placed in emergency mode push the a...

Страница 8: ...Scara Mechanical Unit Manual Document Version Error Unknown document property name Error Unknown document property name 2020 Error Unknown document property name All right reserved vii...

Страница 9: ...d viii Robot Labels 1 Electric Shock Warning Fig 0 1 Electric shock warning This label indicates hazardous voltage or electric shock Do not touch any electronic parts inside 2 Personal Injury Warning...

Страница 10: ...3 Hand pinch warning Never touch the robot when it is moving This is extremely hazardous and may injury your hand 4 Manual Reading Warning Fig 0 4 Manual reading warning Be sure to read and understand...

Страница 11: ...own document property name All right reserved x Preface This manual describes the following robots Robot Type Load Capacity RX3 RX3 400 SR 3kg RX6 RX6 500 SR 6kg RX6 600 SR RX6 700 SR Related manuals...

Страница 12: ...g the Cables 20 2 7 User Wires and Pneumatic Tubes 21 2 7 1 Electrical Wires 21 2 7 2 Pneumatic Tubes 22 2 8 Relocation and Storage 24 2 8 1 Precautions for Relocation and Storage 24 2 8 2 Relocation...

Страница 13: ...ame All right reserved xii 5 3 Tightening Hexagon Socket Head Cap Bolts 37 5 4 Maintenance of the Belt 39 5 4 1 Belt specifications 39 5 4 2 Failure mode of timing belt 39 6 Calibration 41 6 1 Introdu...

Страница 14: ...Scara Mechanical Unit Manual Document Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 1 1 Specifications 1 1 Model Number...

Страница 15: ...end effector While the LED lamp is on the current is being applied to the robot Performing any work with the power ON is extremely hazardous and it may result in electric shock and or improper functio...

Страница 16: ...Scara Mechanical Unit Manual Document Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 3 Fig 0 2 Dimension of RX3 robot...

Страница 17: ...al Document Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 4 Fig 0 3 Part name RX6 LED lamp Joint 3 4 brake release switch Arm 2 Arm 1 B...

Страница 18: ...Scara Mechanical Unit Manual Document Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 5 Fig 0 4 Dimension of RX6 STANDARD robot...

Страница 19: ...Scara Mechanical Unit Manual Document Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 6 Fig 0 5 Dimension of RX6 PROTECTIVE robot...

Страница 20: ...00 700 series 700 Arm 1 mm 225 500 series 225 600 series 325 700 series 425 Arm 2 mm 175 275 Max operating speed Joint 1 2 mm s 5400 500 series 6000 600 series 6650 700 series 5900 Joint 3 mm s 960 10...

Страница 21: ...214 500 series 0 244 600 series 0 248 700 series 0 246 Power consumption kW Servo ON at zero position 0 09 500 series 0 12 600 series 0 12 700 series 0 12 Power consumption kW Servo OFF at zero posit...

Страница 22: ...0 to 80 no condensation Noise level 1 LAeq 70dB A Applicable Controller ERC controller Tab 0 1 Specifications for SCARA robots 1 Conditions of Robot during measurement as follows Operating conditions...

Страница 23: ...p away from shocks or vibrations Keep away from sources of electric noise The ambient temperature conditions are for the Robots only For the Controller the Robots are connected to refer to the Control...

Страница 24: ...bot system For your reference we list some Robot table requirements here The torque and reaction force produced by the movement of the Robot are as follows Type RX3 RX6 Max Reaction torque on the hori...

Страница 25: ...s WARNING To ensure safety a safeguard must be installed for the robot system CAUTION Cable break may occur when the robot is operating on the rail or lifting platform due to factory set configuration...

Страница 26: ...on to the space required for mounting the Robot Controller and peripheral equipment Space for teaching Space for maintenance and inspection Ensure a space open covers and plates for maintenance Space...

Страница 27: ...Scara Mechanical Unit Manual Document Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 14 Fig 0 7 Motion range RX3 400 SR...

Страница 28: ...rror Unknown document property name All right reserved 15 Fig 0 8 Motion range RX6 Standard model Item Standard model RX6 500 SR RX6 600 SR RX6 700 SR a Length of Arm 1 Arm 2 mm 500 600 700 b Length o...

Страница 29: ...4 2 j Mechanical stop position range mm 121 8 142 5 214 k Mechanical stop position range of backside mm 433 5 504 574 5 m Motion range mm 240 220 220 Maximum space mm 560 660 760 2 4 Unpacking and Tr...

Страница 30: ...not to get hands or fingers caught To carry the Robot have two or more people to work on it and secure the Robot to the delivery equipment or hold the bottom of Arm 1 and bottom of the base as shown i...

Страница 31: ...installed to avoid interference with buildings structures utilities other machines and equipment that may create a trapping hazard or pinch points Vibration or sympathetic vibration may occur during...

Страница 32: ...lass 10 9 or 12 9 The tightening torque is 32 0 N m 326kgf cm CAUTION Use bolts with specifications conforming to ISO898 1 Property Class 10 9 or 12 9 The tightening torque is 73 5 N m 750kgf cm 2 Usi...

Страница 33: ...extremely hazardous and may result in electric shock and or malfunction of the robot system Be sure to connect the cables properly Do not allow unnecessary strain on the cables Do not put heavy objec...

Страница 34: ...the cabinet Precision deviation may occur due to unmatched serial numbers User electrical wires and pneumatic tubes are contained in the cable unit 2 7 1 Electrical Wires Rated Voltage Allowable Curre...

Страница 35: ...roperty name All right reserved 22 D SUB casting 09670090344 2 7 2 Pneumatic Tubes Max Usable Pneumatic Pressure Pneumatic tubes Outer Diameter Inner Diameter 0 59 MPa 6 kgf cm2 86 psi 2 6 mm 4 mm 1 4...

Страница 36: ...Scara Mechanical Unit Manual Document Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 23 Fig 0 7 Fittings for tubes RX3 RX6...

Страница 37: ...authorized personnel should perform sling work and operate a crane and a forklift When these operations are performed by unauthorized personnel it is extremely hazardous and may result in serious bodi...

Страница 38: ...the shaft and arm and the base and arm together with the wire tie Be careful not to tie them too tight Otherwise the shaft may bend 3 Hold the bottom of Arm 1 by hand to unscrew the anchor bolts Then...

Страница 39: ...dimensions and the overall dimensions of the Robot refer to 1 Specifications Use a split muff coupling with an M4 bolt or larger to attach the end effector to the shaft 3 1 2 Brake release switch Joi...

Страница 40: ...re with the Robot because of the outer diameter of the end effector the size of the work piece or the position of the arms When designing your system layout pay attention to the interference area of t...

Страница 41: ...eras and valves RX6 3 2 1 Equivalent weight When you attach a camera or valve to the arm calculate the weight as the equivalent of the shaft Then add this to the load Equivalent weight formula is show...

Страница 42: ...right reserved 29 distance from rotation center of Joint 2 to center of gravity Example A 1kg camera is attached to the end of the arm 550mm away from the rotation center of Joint 2 with a load weigh...

Страница 43: ...Mechanical Stops Mechanical stops physically limit the absolute area that the Robot can move Fig 0 11 Mechanical stops RX3 Fig 0 12 Mechanical stops RX6 Mechanical stop of Joint 3 lower limit mechani...

Страница 44: ...obot and may result in malfunction of the robot system 4 1 1 Setting the Mechanical Stops of Joints 1 and 2 Both Joints 1 and 2 have threaded holes in the positions corresponding to the angle for the...

Страница 45: ...on V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 32 Fig 0 4 Mechanical stops RX6 Type Angle for the J1 axis mechanical stop Angle for the J2 ax...

Страница 46: ...ystem 5 1 Schedule for Maintenance Inspection Inspection points are divided into five stages daily monthly quarterly biannual and annual The inspection points are added every stage If the Robot is ope...

Страница 48: ...ctors are loosening push it securely or tighten External connectors on Robot on the connector plates etc Robot cable unit Visually check for external defects Clean up if necessary External appearance...

Страница 49: ...ON Keep enough grease in the Robot Operating the Robot with insufficient grease will damage sliding parts and or result in insufficient function of the Robot Once the parts are damaged a lot of time a...

Страница 50: ...of the shaft Then clean up the remaining grease 9 Press the brake release switch Meanwhile move the shaft up and down several times to apply the grease evenly Then clean up the remaining grease CAUTIO...

Страница 51: ...elow for the set screw Set screw Tightening Torque M3 0 9 N m 9kgf cm M4 2 5 N m 26 kgf cm M5 3 9 N m 40 kgf cm The bolts aligned on a circumference should be fastened in a crisscross pattern as shown...

Страница 52: ...specification of the acoustic tension meter 5 4 1 Belt specifications Tab 0 4 Belt specifications Model Belt Mess g mm m Width mm Span mm Internal stress N Tense kgf RX3 series Belt of Joint 3 2 5 10...

Страница 53: ...distinct Check the appearance When abnormal situation occurs replace the abnormal part Abnormal item Appearance Abnormal wear on the gear tooth Wear of the tooth cloth Exposure of the rubber width of...

Страница 55: ...a may get lost when the batteries run out It is necessary to replace the batteries of control device and robot periodically The system can display an alarm message on the screen when the batteries are...

Страница 56: ...All right reserved 43 6 2 1 Battery Replacement Steps 1 Turn power off for all axis drives 2 Move J1 J2 J3 and J4 and align the mark on the different arms to the position as shown in the figures below...

Страница 57: ...e battery compartment in the robot base 4 Replace batteries of J1 J2 J3 and J4 or unplug and then plug them again so absolute encoders multi turn is set to 0 Fig 0 5 Back plate where batteries are sto...

Страница 58: ...e and all axes are all in working state no errors You can do this via Intelligent Drive window in Motion Perfect Master State of the Ethercat network and each axis should look like below in Intelligen...

Страница 59: ...ty name All right reserved 46 Fig 0 7 Motion Perfect Intelligent Drives window 4 Make sure the controller status is without errors as shown below Fig 0 8 Controller status in Motion Perfect 5 Import C...

Страница 60: ...of about 0 for each axis should now reflect the proximity of the value executed in CALIBRATION program 11 Execute CALIBRATION program one more time 12 Switch ON Master Enable and jog each axis with M...

Страница 61: ...Demand 0 Reset 0 Safety 1 Drive Enable 1 External Drive Enable 0 4 Check machine error output 0 if not toggle reset input 5 When machine error output 0 axis parameter FRAME 41 SCARA should be activat...

Страница 62: ...t property name All right reserved 49 Appendix Appendix A RX3 Maintenance Parts List RX3 Robot Parts Name Part name Code Note Maintenance AC Servo Motor Joint 1 12700000053 Joint 2 12700000049 Joint 3...

Страница 63: ...r Unknown document property name 2021 Error Unknown document property name All right reserved 50 Battery 51205A00001 Grease Ball Screw Spline A2144000012 AFB LF 400 Reduction Gear Unit Contact franchi...

Страница 64: ...erved 51 Appendix B RX6 Maintenance Parts List RX6 Robot Parts Name Part name Code Note Maintenance AC Servo Motor Joint 1 12700000057 Joint 2 12700000053 Joint 3 4 12700000048 Timing belt Joint 3 G54...

Страница 65: ...Manual Document Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 52 Reduction Gear Unit Contact franchiser or TRIO for purchasing grease...

Страница 66: ...cument Version V1 1 Error Unknown document property name 2021 Error Unknown document property name All right reserved 53 Revision History Date Version Revised Contents Jan 2021 V1 0 First Draft May 20...

Страница 68: ...RX SCARA ROBOT ASSEMBLY AND WIRING MANUAL...

Страница 69: ...follows Term Meaning Motor A Rotary Servo Motor Drive A Servo Drive which is used for controlling the motion of the Motor Servo System A Servo Control System that includes a Motor a Drive with a host...

Страница 70: ...s Be sure to read the descriptions shown with each symbol Symbol Description DANGER Indicates a hazard with a high level of risk that if not avoided may result in death or serious injury WARNING Indic...

Страница 71: ...he product has been connected to the machine and ready for the operation Never touch inside the Drive CAUTION The Drive heat sinks regenerative resistors Motor and other components can be very hot whi...

Страница 72: ...t are subject to ambient temperatures that exceed product specifications Locations that are subject to relative humidity that exceed product specifications Locations that are subject to corrosive or f...

Страница 73: ...g parts of the machine from falling If not using auto tuning make sure that an appropriate moment of inertia ratio is setup to avoid vibration If an alarm occurs reset it after troubleshooting the cau...

Страница 74: ...er 2 DX4 Servo drive 2 3 Chapter 3 Wiring and Connections 3 1 3 1 Precautions for Wiring 3 1 3 2 Power Supply X1 X2 3 3 3 3 Motor Power X3 3 5 3 4 Encoder X8 3 6 Chapter 4 STO 4 13 4 1 Terminals Arran...

Страница 75: ...1 051 Jan 2021 2021 Trio Motion Technology Ltd All right reserved 1 1 Chapter 1 System Configuration overview Example Diagram Safety Controller BK Relay 24v 24v BK Relay DC part Brake power supply Ext...

Страница 76: ...hnology Ltd All right reserved 1 2 Minimum system configuration is Scara robot body 4 DX4 Drives 4 Regen resistors Trio Controller 24v power supply Brake power supply Circuit breaker Main power noise...

Страница 77: ...or Connector Motor power c Grounding Terminal Ground terminal for motor power cable X4 EtherCAT Input Connector EtherCAT input RJ45 X5 EtherCAT Output Connector EtherCAT output RJ45 X6 Safety Connecto...

Страница 78: ...wer supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltages may still be present in the Drive Observe the precautions and instructions for wiring and tri...

Страница 79: ...the Servo System from accidents involving different power system voltages or other accidents Install an earth leakage breaker To configure a safer system install a ground fault detector against overlo...

Страница 80: ...B3 Regenerative Resistor terminal There is a factory fit short between B2 and B3 When the busbar capacitance is insufficient remove the short wiring and connect an external regenerative resistor betwe...

Страница 81: ...ology Ltd All right reserved 3 4 In case of using Single phase AC parameter Pn007 1 has to be set to 0 3 2 2 External regenerative resistor Use external regenerative resistor of 60W at 25Ohm in every...

Страница 82: ...m Terminals Arrangement Terminals Pin Layout Robot connection side Pin Def Description Pin Def Description A1 U1 J1 axis motor power line B1 U4 J4 axis motor power line A2 V1 B2 V4 A3 W1 B3 W4 A4 U2 J...

Страница 83: ...s Pin Layout Robot connection side Pin Def Description A1 GND Signal ground A2 GND A3 A4 A5 BK3 J3 axis brake line A6 BK4 J4 axis brake line A7 A8 A9 LT Body indicator A10 LT A11 SB Brake release sign...

Страница 84: ...41 0V 1 46 0V 4 6 22 12 28 1 Shield 19 Shield 11 2S J2 axis motor encoder wiring 15 5S J5 axis motor encoder wiring 27 2S 31 5S 43 5V 2 49 5V 5 45 0V 2 47 0V 5 10 26 14 30 18 Shield 34 Shield 9 3S J3...

Страница 85: ...ration position Calibrating is performed at the factory with no loads on the robot system based on the robot parameters and the special tools and software This calibration method is the most precise o...

Страница 86: ...e figures 3 Align the mark on the different arms as shown in the figures 4 Replace batteries of J1 J2 J3 and J4 or unplug and then plug them again so absolute encoders multi turn is set to 0 5 Set man...

Страница 87: ...hnology Ltd All right reserved 3 10 Fig 3 3 Home position of Joint 3 and 4 RX3 Fig 3 4 Home position of Joint 3 and 4 RX6 Fig 3 1 Back plate where batteries are stored RX3 RX6 x Zero position of J4 jo...

Страница 88: ...It is possible that some errors must be cleared after batteries are replaced To clear errors go to Intelligent Drives Configuration in Motion Perfect and open the EtherCAT device with the error like i...

Страница 89: ...ocument Version V1 051 Jan 2021 2021 Trio Motion Technology Ltd All right reserved 3 12 After do that with all error drives restart the EtherCAT network Fig 3 6 EtherCAT network restart ADD NEW HOME_P...

Страница 90: ...gnal of the STO function The external signal shall meet the Idle current principle Pin Signal Name Function 1 0 V 24 V Power Supply Do not use these pins because they are connected to internal circuit...

Страница 91: ...the X6 port and the shorting pins on the connector remain in the default state WARNING In this case the STO function will be disabled and the Drive will not be able to implement the safety function b...

Страница 92: ...Connecting a Safety Function Device Step 1 Remove the shorting pins on the Safety Connector as shown in Figure 4 1 Figure 4 1 Remove the shorting pins Step 2 Wiring the Safety Function Device Connect...

Страница 93: ...t on the drive can be assigned for brake control Any of the digital outputs on the drive can be configured as the brake control output The assignment is made by selecting from the Basic Setup page in...

Страница 94: ...al purpose digital output 2 11 DOUT2 Output 12 DOUT3 Output General purpose digital output 3 13 DOUT3 Output In the case of using DOUT0 Pn511 0 is set with value 4 as shown in the picture below IMPORT...

Страница 95: ...d to motor brake through power cable with brakes NOTE Refer to section 3 3 for pin out information Brake relay circuit example DX4 Servo Drive X7 BK 0V BK 24V BK Relay U V W X3 M ENC BK X8 AC DC Brake...

Страница 96: ...ory 5 CAT5e SF UTP Ethernet communications cables for network connections Metal shielded connectors are recommended to prevent signal interference Depending on the robot model the set of drives power...

Страница 97: ...DX4 Product Manual Revision History Chapter 7 Revision History Date Version Revised Contents May 2021 V0 01 First Draft...

Страница 98: ...Trio Motion Technology Limited www triomotion uk...

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