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4 Modules

4.2

Modules

In this subsection, the main modules of the robot system are presented. The most important components
are listed and some are explained in more detail.

4.2.1

Robot

Fig. 4-1:

Robot HORST 600

1 Base

–

fixed part with floor flange

2 Base

–

moving part

3  Swivel arm
4  Support arm 1
5  Support arm 2
6  Support arm 3
7  Tool flange

Содержание HORST600

Страница 1: ...1 Robot System HORST600 Assembly Instructions For installation operating and maintenance personnel Always keep with the product Version 3 1 09 02 2022 ...

Страница 2: ...ocumentation must not be altered expanded reproduced or passed on to third parties without the previous written consent of fruitcore robotics GmbH fruitcore robotics GmbH Macairestr 3 78467 Konstanz Germany Telephone 49 0 7531 945 99 20 Email info fruitcore de Website www fruitcore robotics com Date of issue February 2022 Subject to design and machine alterations ...

Страница 3: ...3 ...

Страница 4: ...ment by the Operator 7 2 4 3 Operations Manager 8 2 5 Operating Personnel 9 2 5 1 Obligation of the Operating Personnel 9 2 5 2 Training of the Operating Personnel 9 2 6 Working Area Danger Zone and Safe Area 9 2 7 Safety Functions 10 2 8 Safety Information for Assembly and Commissioning 11 2 9 Safety Information on Operation 12 2 9 1 Emergency Situations 12 2 9 2 Emergency Operation Moving the Ro...

Страница 5: ...r Connection 32 6 4 horstCONTROL I O 33 6 4 1 Overview of All Interfaces 34 6 4 2 Safety critical Inputs Outputs 35 6 4 3 Test Signals A B 39 6 4 4 General Digital Inputs 40 6 4 5 General Digital Outputs 41 6 4 6 24 V Power Supply 42 6 4 7 Common Features of All Digital Interfaces 43 6 4 8 Wiring Examples of Safety critical Inputs Outputs 45 6 4 9 Wiring Examples of Digital Inputs Outputs 48 6 5 T...

Страница 6: ...isposal 69 12 1 Disassembly 69 12 2 Disposal 69 13 Annex 70 13 1 Technical Data 70 13 2 Stopping Distances and Stopping Times 73 13 3 Optional Accessories 75 13 4 Spare Parts 77 13 5 Type Plates 78 13 6 Overview of Connectors 79 13 7 Terminal Assignment 80 13 8 Functional Wiring Diagrams of the Electrical Interfaces 82 13 8 1 horstCONTROL I O 82 13 8 2 Tool I O 83 14 Glossary 84 ...

Страница 7: ...nfigurable functions for general digital outputs 41 Table 6 8 Characteristic values of the 24 V power supply 42 Table 6 9 Characteristic values of digital I O horstIO 43 Table 6 10 Characteristic values of tool inputs outputs 50 Table 12 1 Materials used 69 Table 13 1 Stopping distances and times with horstFX performance 73 Table 13 2 Optional accessories 75 Table 13 3 Spare Parts 77 Table 13 4 Di...

Страница 8: ...nds HI High Logical 1 HORST Highly Optimized Robotic Systems Technology I O Input Output kV Kilovolt kΩ Kilo ohm LO Low Logical 0 mA Milliampere ms milliseconds mΩ Milli ohm OSSD Output Switching Signal Device TCP Tool Center Point Ω Ohm ...

Страница 9: ...elivered may include options that deviate from the text and images shown in these Assembly Instructions This is due to the individual adaptation and further develop ment of the robot system on the basis of the requests and orders of the individual customers These deviations do not constitute a basis for claims of any kind The robot system must be used only for the permissible purposes listed in th...

Страница 10: ...obligated to allow the operating personnel time for work and safety instruction on the basis of the these Assembly Instruc tions Malfunctions must be reported to the operations manager immediately In addition the operator must observe and provide instruction on generally applicable legal and other binding regulations on accident prevention and environmental protection 1 6 Applied Standards and Reg...

Страница 11: ...the safety signs to other users DANGER The sign with the addition DANGER refers to an immediate danger The danger will lead to serious injury or death of persons The description of the danger is followed by instructions for action that serve to avoid or remove the danger WARNING The sign with the addition WARNING refers to possible danger The danger can lead to serious injury or death of a person ...

Страница 12: ...r of damage to robot or property This sign indicates information that if disregarded presents a danger to the robot system individual modules or the operating environment There is no risk of injury Wear protective clothing Wear your personal protective equipment Safety shoes protective helmet safety goggles and work gloves Danger of environmental damage This sign indicates information that if disr...

Страница 13: ...ns and robotics applications in the area of education After being programmed by the operator the robot system is able to execute move ments independently Add on parts such as grippers or testing instruments can be attached to the robot These can be controlled by the robot system The robot system must be operated only in dry level interior spaces on a firm surface The robot must be used only within...

Страница 14: ...d the appropriate instruction train ing or authorization Operation of the robot system outside of the specified technical limits Use of components that have not been approved by the manufacturer Repairs to components performed by unauthorized personnel Manipulation of power settings Attachment of accessories or add on parts that are not expressly approved for use by the man ufacturer Removal or ma...

Страница 15: ...ioning of the partly completed machinery re mains impermissible until the partly completed machinery is installed in a piece of machinery or assem bled together with other parts into a piece of machinery that corresponds to the provisions of the EC Machinery Directive and the EC declaration of conformity in accordance with Annex II A is present This includes in particular that corresponding protec...

Страница 16: ...sonal injuries caused by unsafe condition of the system The operator of the robot system is obligated to designate an operations manager at the installation location The operations manager is obligated to operate the robot system only in perfect and safe condition In addition the operations manager is obligated to only let persons work on the robot system who are familiar with the fundamental regu...

Страница 17: ...ystem if supervision by a trained person with technical or electrotechnical training teaching personnel is ensured The operating personnel must be trained on the work with and dangers of the robot system by fruitcore robotics GmbH or authorized personnel commissioned by fruitcore robotics GmbH The operating personnel must be at least 18 years old and both physically and mentally fit to operate the...

Страница 18: ...top devices are connected to the emergency stop inputs of the switch cabinet hereinafter referred to as the horstCONTROL This safety function must be used in emergency situations exclusively in order to bring the robot into a safe condition The emergency stop must not be used for process related stops Safety Stop Bringing about a safe condition of the robot for process related and safety critical ...

Страница 19: ...R Danger due to missing protection devices and safety equipment as well as defective damaged modules or accessories Only commission the robot system with functional protection devices and safety equipment as well as functional modules or accessories WARNING Danger of impact and crushing due to robot movement Close off the installation area and protect it against access by unauthorized persons Secu...

Страница 20: ... the other machinery cannot damage the robot Do not expose the robot system to permanent magnetic fields Very strong magnetic fields can damage the robot system Ensure that suitable protection devices e g separating protection device light curtain or safety laser scanner were installed The protection devices must stop the robot s movement within the danger zone Check the protection devices for pro...

Страница 21: ...eration Moving the Robot without Drive Power The axes of the robot must be moved without drive power only in emergencies in particular for the pur pose of freeing persons The personnel performing the rescue operation must have undergone basic technical training and observe the following warnings and instructions Specialist personnel from fruitcore robotics GmbH must be called for recommissioning t...

Страница 22: ...er sons Hold the robot arm by the swivel arm exactly between axis 2 and axis 3 see arrow in figure below Ensure that no body parts can come between the moving axes of the robot Now move the robot arm with a powerful movement in the desired direction Then secure the robot arm again against unintended movements Attention The warranty expires when this action is performed and the robot system must on...

Страница 23: ...ing signs to prevent the system from being started up while work is being per formed Secure the horstPANEL and horstCONTROL against operation by unauthorized per sons WARNING Danger due to missing protection devices as well as defective damaged modules or accesso ries Assemble all protection devices after completing the work Check all modules and accesso ries After completing the maintenance work ...

Страница 24: ...electrical equipment must be performed only by specialist personnel with appro priate training and in accordance with the electrotechnical rules Make sure that the horstCONTROL or the cables do not come into direct contact with liquids This may result in electric shocks with a significant health risk or even death Prior to performing any work on the electrical equipment disconnect the robot system...

Страница 25: ...he axes of the robot system DANGER OF EJECTION OF PARTS Possible personal injuries due to unexpected ejection or dropping of parts during maintenance work Ensure that tools or components are attached securely to the robot Only move workpieces if they are gripped safely If possible perform commissioning maintenance and cleaning work only when no workpiece is in the gripper The operator must perform...

Страница 26: ...w Fig 3 1 Transport position To transport the robot system again after use follow the steps below ATTENTION For transport the robot system must be in the original packaging from fruitcore robotics GmbH Before disconnecting the robot system from the power supply start the Shipping position program in horstFX and leave it to run in full This brings the robot to the correct position for shipping tran...

Страница 27: ...e of Delivery The robot system is delivered with HORST robot horstCONTROL switch cabinet horstPANEL portable operating panel Connection cable robot horstCONTROL 3 m Power cable 1 8 m DVI cable 5 m 4 mounting screws DIN 7984 M8x20 Mount for control panel Assembly Instructions Surfstick incl SIM card not included with the HORST600light ...

Страница 28: ...obot system are presented The most important components are listed and some are explained in more detail 4 2 1 Robot Fig 4 1 Robot HORST 600 1 Base fixed part with floor flange 2 Base moving part 3 Swivel arm 4 Support arm 1 5 Support arm 2 6 Support arm 3 7 Tool flange ...

Страница 29: ...stPANEL operating panel 1 Touch display user interface 2 Connection to horstCONTROL 3 Emergency stop button The horstPANEL features a portable operating panel equipped with a touchscreen display It is connected to the horstCONTROL by a DVI cable As standard a 5 m long DVI cable is supplied Up to 15 m are possible after consultation with fruitcore robotics GmbH Fig 4 3 horstPANEL operating panel 3 ...

Страница 30: ...always be kept in the center position WARNING Never connect a standard monitor to the DVI cable As the wiring does not correspond to the standard this could damage the end device or the horstCONTROL Never plug in or unplug the horstPANEL during operation Switch the horstCONTROL off first The USB ports on the horstPANEL are only provided for input devices For storage media use the interfaces of the...

Страница 31: ...l sensors and actuators The left hand image shows the front side of the horstCONTROL and the right hand image shows the rear side Fig 4 6 horstCONTROL switch cabinet 1 Cable duct for inputs outputs interfaces 2 PROFINET connection modular plug RJ45 optional 3 Robot connection 4 horstPANEL connection 5 PC ON OFF button 6 Operating modes selector switch 7 Main switch 8 Connection 2x USB 3 1 port 9 E...

Страница 32: ...on is on the top right hand side of the horstPANEL Fig 4 8 Emergency stop button 4 4 Add on Parts Tools Option Add on parts can be additional mechanical attachments such as flange plates e g for mounting pneu matic accessories or tools such as grippers To mount tools on the mechanical interface a standard tool flange is installed in accordance with DIN EN ISO 9409 1 for dimensions see Assembling A...

Страница 33: ...orking Area of the Robot 25 5 Assembly 5 1 Working Area of the Robot The following figures display the size and shape of the working area Fig 5 1 Side view of working area Fig 5 2 Plan view of working area ...

Страница 34: ...ast five times the weight of the robot and nine times the maximum tilting moment of the robot with load capacity 320 Nm The maximum load capacity is taken into account in these values The robot is not designed for movement on a linear axis or a moving platform Permissible acceleration torques must be requested from the manufacturer fruitcore GmbH The robot must be assembled on a level surface with...

Страница 35: ...is limited by the software and never drive into the mechan ical end stops of the robot If the robot is intended for operating mode Manual with high speed T2 the integrator must provide a limited space to reduce the size of the danger zone The movement space must also be limited by the software see horstFX user manual subsection Axis restriction Prepare the mounting surface according to the drillin...

Страница 36: ...grippers or testing instruments can be attached to the robot WARNING Change of the danger zone due to add on parts Note that the range of the robot and thus the danger zone change with add on parts WARNING Danger due to the add on parts and workpieces being ejected during operation Before commissioning ensure that the add on part is securely attached Avoid eccentric loads to prevent upswing Adhere...

Страница 37: ...c connection values can be found in the documentation from the manufacturer of the add on parts 5 4 Setting Up horstCONTROL The connection cable can be routed to the robot It is protected against damaged and falling down There is 100 mm of free space on all sides the ventilation slots must be free Accessibility of the switches and connections only from outside the protected area is ensured ELECTRI...

Страница 38: ... only the included power cable to connect to the power grid Do not use damaged cables ELECTRICAL VOLTAGE Possible personal injuries caused by applied electricity Make sure that the power supply is switched off while working on the robot and that it cannot be switched on again by accident DANGER Danger due to incorrectly connected emergency stop devices Only use the interface for emergency stop I O...

Страница 39: ... system Do not use the robot for applications that expose the cables to bending 6 2 Robot Connection Connect the robot to the horstCON TROL using the connection cable Fig 6 1 Interface on the robot 1 Robot connection to horstCONTROL Fig 6 2 Robot connection to horstCONTROL ATTENTION The robot connection cable must be plugged into the horstCONTROL before the power is switched on It must only be plu...

Страница 40: ...NTROL to the power supply with the supplied power cable Lay the power cable such that it is protected against damage Fig 6 3 Power connection to horstCONTROL Parameter min typ max Unit Input voltage 90 260 VAC Input frequency 47 63 Hz Current consumption 4 4 A Rated power draw 1 210 W Table 6 1 Mains connection characteristic values 1 Power draw measuring conditions horstCONTROL PCA Robot H600 all...

Страница 41: ...onnectors and their terminal assignments in the Annex 13 7 from page 79 Undo the four external M4 countersunk head screws Remove the cable duct cover 1 The horstIO connections are now accessible If relevant connect peripherals to the inter faces Secure the cable duct cover 1 again Fig 6 4 horstCONTROL cable duct The connections are designed as pluggable screw terminal connectors The supplied screw...

Страница 42: ...or safety critical inputs Up to 28 general digital inputs blue area o 20 digital inputs o A further 8 digital inputs if the 4 configurable safety critical inputs are configured as normal inputs Up to 30 general outputs green area o 18 digital outputs Push Pull High Side o A further 8 digital outputs push pull if the 4 configurable safety critical outputs are config ured as normal outputs o A furth...

Страница 43: ...ment stops Yes Yes Energization of drives Off On Program execution Paused Paused Acknowledgement Manually at the horstPANEL Manually at the horstPANEL Further operation after acknowledgement Program continues running at interrupted position Program continues running at interrupted position Requires reinitialization No No Stop category IEC 60204 1 2 Power level ISO 13849 1 PL d PL d Only if the pow...

Страница 44: ...emergency stop on the horstPANEL In the delivery state bridges connect these to the safe emergency stop inputs X6 2 and X6 4 An external emergency stop button can be series connected to the emer gency stop on the horstPANEL between X6 1 X6 2 and X6 3 X6 4 X6 6 and X6 8 are the respective inputs for a safety stop Safety Stop In At these connections either potential free contacts and the internal cr...

Страница 45: ...nfiguration Options for Digital Interfaces page 44 6 4 2 3 Configurable Safe Inputs There are 4 further configurable safe inputs SI4 to SI7 Safety In on terminal block X5 These are also designed redundantly with Performance Level d Category 3 in accord ance with EN ISO 13849 1 They meet the same electrical specifications as the general digital inputs They can be used both as safety critical inputs...

Страница 46: ...gical 0 e g robot has a low signal at the external emergency stop input 6 4 2 4 Safe Outputs There are 6 configurable safe outputs These are also designed re dundantly with Performance Level d Category 3 in accordance with EN ISO 13849 1 although outputs SR5 and SR6 Safety Relay Out are each implemented as potential free contacts by means of positively controlled relays With these outputs it is po...

Страница 47: ...switch actuated center position LO Enabling switch not actuated or pressed Safety stop Output can be used to forward the guaranteed operator protection to other devices within the same protection area Two digital outputs Safe output is configured as two general digital outputs Table 6 5 Configurable functions for safe outputs 6 4 3 Test Signals A B The internally generated OSSD signals hereinafter...

Страница 48: ...tion Not assigned Start program Starts a program from outside flank LO HI Pause program Pauses a running program flank LO HI Continue program Continues a paused program flank LO HI Pause continue program Pauses a running program flank LO HI or continues it flank HI LO Acknowledge internal error Acknowledges an internal error flank LO HI Acknowledge emergency stop Acknowledges an internal emergency...

Страница 49: ...e loads The following functions can be configured for the general digital outputs see Software Configuration Options for Digital Interfaces page 44 Function Description Not assigned Emergency stop button Exact image of the emergency stop button signal for diagnostics OR function with several emergency stop buttons For larger sys tems the actuated emergency stop button is easier to identify ATTENTI...

Страница 50: ...rain is limited to this 7 A and if it is exceeded for a longer period of time e g due to short circuit the 24 V power supply is switched off The safety critical outputs as well as the digital outputs DO17 DO18 are not affected by this In the event of a deactivation the power supply attempts to switch back on again after about 500 ms If unsuccessful a new attempt will be started every 500 ms Likewi...

Страница 51: ...cal high low Switching threshold LO HIGH 8 5 10 V Logical low high Current consumption 2 4 2 6 mA Input voltage 18 30 V Input resistance 3 kΩ ESD strength 15 kV Human Body Model IEC 61131 2 Type 1 3 Outputs Function Type PNP High Side or Push Pull semi con ductor Voltage 23 5 24 24 5 V Output voltage Current HI_PP 0 0 64 1 2 A Per output logically high Push Pull Current LOW_PP 0 0 44 0 81 A Per ou...

Страница 52: ... when the corre sponding output is switched The I Os configured in this way are then no longer available as normal digital inputs outputs as they have a fixed link with the functions The exclusively safe inputs emergency stop safety stop and enabling switch Safety In 1 3 cannot be assigned functions More on this in the horstFX manual Filters For all digital inputs safety critical and general a low...

Страница 53: ...2 Additional Emergency Stop Buttons One or more additional emergency stop buttons should be used which cause the robot to stop in an emergency The adjacent figures clarify the connection of further two channel emergency stop buttons which are series connected to the button on the horstPANEL 6 4 8 3 Safety Relay A safety relay should be safely actuated and contactor monitoring should be set up The ...

Страница 54: ...top input of the main control In this configu ration the cross circuit recognition must be deactivated in horstFX and the filter time set greater than the test impulse of the protection device see Safety critical Inputs Outputs page 35 In both cases the safety stop must be acknowledged manually after exiting the area The adjacent example shows the op tions for connecting a safety stop with auto ma...

Страница 55: ... safe output is con nected to a 2 channel input of the safety PLC here and a configurable safe input is connected to a 2 channel output of the PLC 6 4 8 7 Safe Deactivation of the Digital Outputs General digital outputs DO01 16 should be de activated in a safety critical manner To this end the bridge between X17 7 and X17 8 is re moved and routed via the potential free safe output SR5 together wit...

Страница 56: ...ow the use of the general digital inputs and outputs An inductive proximity switch in the configuration as a PNP normally closed contact should be con nected to a digital input Fig 6 26 Consumer at the digital output Fig 6 27 Button at the digital input Fig 6 28 Inductive sensor at digital input ...

Страница 57: ... be configured in horstFX as inputs or outputs Configuration of inputs outputs Spe cial I O menu As standard the two I Os of the User 1 interface are configured as outputs and the two I Os of the User 2 interface are configured as inputs Configured as outputs these act as Push Pull switches and can be loaded with a maximum of 600 mA each if connected to the positive power supply and a maximum of 2...

Страница 58: ...mp tion 2 3 2 6 mA IEC 61131 2 Type 3 Outputs Function Type Push Pull semiconductor Voltage 24 V Output voltage Current HI_PP 0 0 6 A Per output logically high Current LO_PP 0 0 2 A Per output logically low Internal resistance HI 120 240 mΩ Logically high Leakage current 150 150 µA Total current 2 5 A All 4 digital outputs and 24 V ESD strength 7 kV Contact Table 6 10 Characteristic values of tool...

Страница 59: ...xchanged The connection is made via a RJ45 modular connector and a category 5 network cable CAT5 on the front of the horstCONTROL see subsection horstCONTROL switch cabinet page 23 6 6 2 Ethernet The Ethernet interface enables optional remote access and remote control of the robot This is also used for connection to horstCOSMOS which enables e g program synchronization and the transmission of tele...

Страница 60: ...ted Familiarize yourself with the work environment of the robot system prior to commissioning Ensure that suitable protection devices e g separating protection device light curtain or safety laser scanner were installed The protection devices must stop the robot s movement within the danger zone Check the protection devices for proper function In case of damage to the robot horstCONTROL or mechani...

Страница 61: ... was logged in when the software horstFX was last used the pop up window for switching the user role appears For information on the user roles see the User Roles subsection of the horstFX software user manual Fig 7 2 Switching user roles In the next step the robot must be initialized Switch the main switch on the horstCONTROL to ON In the main menu select connect to robot Wait until the display sh...

Страница 62: ...ck the enabling switch for proper function by deliberately letting it go and pressing it down every so often The Automatic initialization menu appears Fig 7 3 Automatic initialization menu The menu at the top right displays the initialization status of the six axes of the robot in the form of dots The axes that have not yet been initialized are shown as black dots After the initialization the colo...

Страница 63: ...tion menu This allows the axes to be moved manually in the case that automatic initialization is not possible If the initialization was successful the dot initialization status for the respective axis is shown in turquoise It may be necessary to open a gripper to perform the initialization In this case switch to the initialize robot outputs menu via the outputs button Select the Manuell manual but...

Страница 64: ... The automatic manual initialization of the axes was successful if all six dots initialization status for the axes are shown in turquoise The complete initialization button is activated The initialization of the robot is completed The main menu is shown again The robot is ready Switch the desired output via the corresponding changeover button Press the complete initialization button ...

Страница 65: ... and protect it against access by unauthorized persons There must be no persons in the danger zone of the robot While the robot is in teaching mode secure the horstPANEL and horstCONTROL against op eration by unauthorized persons WARNING The robot arm may be moved by applying external force only in emergencies Modules of the robot system may be damaged if the robot arm was moved manually in an eme...

Страница 66: ...rogram only starts up again once it is continued manually Fig 8 3 Emergency stop confirmation 8 2 Operating Modes The robot can be operated in three operating modes Change the operating modes using the operating mode selector switch on the horstCONTROL which is designed as a key switch The following operating modes are provided for Teaching mode T1 manual operation with reduced speed Teaching mode...

Страница 67: ...oper ating mode selector switch to prevent unauthorized switching of the operating mode The robot can only be moved manually in two handed operation To move the robot the enabling switch must always be kept pressed in the center position in operating modes T1 and T2 In addition the desired control element must be kept pressed on the display As soon as one of the two conditions is no longer fulfill...

Страница 68: ...the robot system on at least 60 minutes before the programming process and leave the motors to warm up in energized mode e g Free Movement T2 program verification mode The speed of the TCP tool center point can exceed 250 mm s The robot can be moved only with the enabling switch Confirm the change of operating mode Create edit or execute a program see user manual Switch the operating modes selecto...

Страница 69: ...igurations in the software Ensure that the program to be executed has been programmed and tested correctly before staring automatic mode ATTENTION Risk of collision due to program changes during automatic mode Do not make any changes to the program during automatic mode Ensure that no unauthorized persons have access to the horstPANEL If the power supply was interrupted previously the robot must b...

Страница 70: ...horstCONTROL to automatic Pull out the key to prevent unauthorized persons from changing the operating mode Confirm the change of operating mode the enabling switch must be released to do this see horstFX user manual Create edit or execute a program see horstFX user manual ...

Страница 71: ...for the software horstFX that is integrated in the horstCONTROL is shut down properly Fig 8 6 Shutting down the computer for the software horstFX Check whether the robot is in a safe position e g there is no workpiece in the gripper If necessary move the robot to a safe position manually via the free movement menu see horstFX user manual section Free movement Navigate to the main menu Tap on the E...

Страница 72: ...orstFX that is integrated in the horstCONTROL as follows Press the PC ON OFF button see subsection horstCONTROL switch cabinet page 23 on the horstCONTROL A pop up window appears In this pop up window press the Shut Down button 1 to shut down the computer for the software horstFX Switch the main switch on the horstCONTROL to ON Secure the main switch with a lock 1 ...

Страница 73: ... 250 step losses or brake activations the warranty of the brakes expires DANGER Danger due to faulty maintenance and brake failure Regularly check the load changes of the brakes via Settings Info Robot data Robot system data After the permissible load changes of the brake have expired contact the service department of fruitcore robotics GmbH to have the brakes replaced professionally Follow the in...

Страница 74: ...is being per formed Secure the horstPANEL and horstCONTROL against operation by unauthorized per sons WARNING Danger due to missing protection devices as well as defective damaged modules or accesso ries Assemble all protection devices after completing the work Check all modules and accesso ries After completing the maintenance work perform a test run of the entire system and check it for proper f...

Страница 75: ... of the waste and used cleaning cloths in an environmentally responsible way 10 2 Maintenance and Repair The operating personnel must check the robot system for external damage every day If there is a service contract with fruitcore robotics GmbH care must be taken that the robot system data is continuously sent to horstCOSMOS see the horstFX user manual The drive belts must be checked by the frui...

Страница 76: ...tected with suitable packaging The robot system must be stored in a dry frost protected place that is not exposed to rainfall or heavy temperature fluctuations Shut the robot down and disassemble it see subsections Shutdown after End of Operation page 63 and Disassembly page 69 Securely package the robot horstPANEL and horstCONTROL ...

Страница 77: ... fan rotary pulse generator Table 12 1 Materials used Disassemble or secure any add on parts Move the robot to transport position see subsection Transport page 18 Shut the robot down see subsection Shutdown after End of Operation page 63 Disconnect and remove any electrical and pneumatic lines from the power supply Disconnect the connection cable between the robot and the horstCONTROL Disassemble ...

Страница 78: ...the load that an industrial robot can handle as the vectorial sum of tool load and payload without restriction of the kinematic and geometric parameters specified for the axes Measured at nominal distance Rn from the tool flange 76 5 mm eccentricity e 38 3 mm offset Z 66 3 mm Permissible load capacity Max 3 kg After consultation with fruitcore robotics GmbH The permissible load capacity is reduced...

Страница 79: ...s 2 100 s 200 s 3 810 s 1620 s 4 4410 s 8820 s 5 3140 s 6280 s 6 2750 s 5490 s horstPANEL Dimensions L x W x H 340 x 245 x 85 mm Weight 2 4 kg Display 13 3 inch touchscreen Full HD monitor 1920 x 1080 Software horstFX graphical user interface Mount Fixture for mounting on the wall table or cell horstCONTROL Dimensions L x W x H 460 x 315 x 175 mm Weight 9 kg Protection classification IP20 Wiring o...

Страница 80: ...nections on horstCONTROL 20 inputs 8 configurable 18 outputs 8 configurable 4 relay contacts I O connections for attachments on support arm 2x 2 inputs outputs Ambient conditions Ambient temperature 5 40 C Relative humidity 10 75 The horstCONTROL must not be used in dusty or humid environments that exceed protection classification IP54 Conductive dust in particular must be avoided Height above sea...

Страница 81: ...ndstill The stopping distances and stopping times have been determined for the three main axes Axis 1 Axis 2 and Axis 3 The table shows the stopping distances and stopping times when triggered by an emergency stop signal at speed 100 with horstFX performance Without horstFX performance the stopping time is the same and the stopping distances are correspondingly shorter Average stopping distance Av...

Страница 82: ...been determined by trial and are intended as guide values The actual stopping distances and stopping times may differ depending on operating mode use case and number of braking processes It is therefore recommended that stopping distances and stopping times be determined under real conditions in the respective use case and the values checked at least once a year ...

Страница 83: ...t Base On request Safety laser scanner 270 Monitoring of the danger zone On request Mechanical stop axis 2 Free of charge On request Mechanical stop axis 3 Free of charge Table 13 2 Optional accessories Fig 13 3 Mechanical stop axis 2 Handling of Mechanical Stop Axis 2 1 Set the stop in the software 2 Loosen 1x cover screw 3 Assemble the stop assembly tightening torque 2 Nm 4 Attach the stop screw...

Страница 84: ...anical Stop Axis 3 1 In the software set the stop to 10 or 20 2 Loosen 2x cover screw 3 Assemble the stop assembly tightening torque 2 Nm 4 Position the stop screw in accordance with the configured stop Attaching External Energy Chains Fig 13 5 Attaching external energy chains ...

Страница 85: ...ased from fruitcore robotics GmbH Order no Component Comment On request Support arm 1 On request Support arm 2 On request Support arm 3 On request horstCONTROL On request horstPANEL On request Cable horstCONTROL Robot On request Cardboard for packaging Table 13 3 Spare Parts ...

Страница 86: ...ate is located on the base of the rear side of the robot The horstCONTROL type plate is located on its rear side Fig 13 6 Robot type plate Fig 13 7 horstCONTROL type plate The horstPANEL type plate is located on its rear side Fig 13 8 horstPANEL type plate ...

Страница 87: ...7 20 Enable enabling switch X4 Test signals A B X5 Safe inputs 4 7 X6 Emergency stop safety stop X7 Safe outputs 1 4 X8 Safe outputs 5 6 pot free X9 Digital outputs 1 8 X10 Digital outputs 9 16 X11 Digital outputs 17 18 24 V X12 24 V X13 24 V X14 Ground X15 Ground X16 Ground X17 RS 485 bridge 24 V Table 13 4 Digital I O horstCONTROL connectors ...

Страница 88: ...igurable safe input 5 Channel A X5 4 SI5B I Configurable safe input 5 Channel B X5 5 SI6A I Configurable safe input 6 Channel A X5 6 SI6B I Configurable safe input 7 Channel B X5 7 SI7A I Configurable safe input 8 Channel A X5 8 SI7B I Configurable safe input 8 Channel B X6 1 EIA out A Test signal for emergency stop channel A X6 2 EIA in I Emergency stop input SI1A channel A Standard Bridge to X6 ...

Страница 89: ...act A2 X8 7 SR6B1 A Conf safe output 6 potential free contact B1 X8 8 SR6B2 A Conf safe output 6 potential free contact B2 X9 1 X9 8 DO01 DO08 A General digital outputs 1 8 X10 1 X10 8 DO09 DO16 A General digital outputs 9 16 X11 1 X11 2 DO17 DO18 A General digital outputs 17 18 X11 3 X11 8 24V A Power supply 24 V X12 1 X12 8 24V A Power supply 24 V X13 1 X13 8 24V A Power supply 24 V X14 1 X14 8 ...

Страница 90: ...iagrams of the Electrical Interfaces 82 13 8 Functional Wiring Diagrams of the Electrical Interfaces 13 8 1 horstCONTROL I O Safe input Safe Output General digital input Potential free output General digital output High Side ...

Страница 91: ...13 Functional Wiring Diagrams of the Electrical Interfaces 83 General digital output Push Pull 13 8 2 Tool I O Digital input output ...

Страница 92: ...his see EN ISO 13850 or DIN EN 60204 1 Stop category 2 Stopping is achieved through active braking controlled stopping and after the stop the energy supply to the drive components is maintained The safe control system monitors the stop For more information on this see DIN EN 60204 1 Performance Level The Performance Level PL describes the capacity of safety related parts of a control system to exe...

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fruitcore robotics HORST600, Руководство по сборке

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