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Intelitek SCORA-ER 14, Руководство пользователя

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CHAPTER 

5

Operating Methods

The SCORA-ER 14 robot can be programmed and operated in a number of ways.

The 

ACL

 Controller-B User’s Manual includes two chapters which guide you

through the basic commands for operating and programming the robot.

Software

ACL

ACL, Advanced Control Language, is an advanced, multi-tasking robotic
programming language developed by Eshed Robotec. ACL is programmed onto a
set of EPROMs within Controller-B, and can be accessed from any standard
terminal or PC by means of an RS232 communication channel.

ACL features include the following:

Direct user control of robotic axes.

User programming of robotic system.

Input/output data control.

Simultaneous and synchronized program execution
(full multi-tasking support).

Simple file management.

The ACL Reference Guide for Controller-B provides detailed descriptions and
examples of the ACL commands and functions.

ATS

ATS, Advanced Terminal Software, is the user interface to the ACL controller.
ATS is supplied on diskette and operates on any PC. The software is a terminal
emulator which enables access to the ACL environment from a PC host computer.

User’s Manual

5 - 1

SCORA-ER 14

9603

Содержание SCORA-ER 14

Страница 1: ...SCORA ER 14 User Manual Catalog 100067 Rev B...

Страница 2: ......

Страница 3: ...and or the information contained in this publication Intelitek bears no responsibility for errors that may appear in this publication and retains the right to make changes to the software hardware and...

Страница 4: ......

Страница 5: ...4 1 Robot Setup 4 1 SCORA ER 14 Installation 4 2 Controller Installation 4 2 Robot Installation 4 2 Homing the Robot 4 4 Gripper Installation 4 5 Pneumatic Gripper 4 5 Servo Gripper 4 7 Activating th...

Страница 6: ...er Resolution 7 3 End of Travel Limit Switches 7 4 Hard Stops 7 5 Home Switches 7 6 CHAPTER 8 Wiring Power Robot Cable and Connector 8 2 Encoder Cable and Conenctor 8 3 Warning Light Cable and Connect...

Страница 7: ...ase Do not lift or carry the robot arm by its horizontal links Repacking for Shipment Be sure all parts are back in place before packing the robot The robot should be repacked in its original packagin...

Страница 8: ...for mounting gripper Electric DC Servo Gripper with encoder includes 4 M4x10 screws for mounting gripper ACL Controller B Includes Power Cable 100 110 220 240VAC RS232 Cable 3 driver cards for 6 axes...

Страница 9: ...is 4 Roll without gripper cable or Roll with gripper cable unrestricted 370 sec 527 Links 1 and 2 combined 1 5m sec Maximum Operating Radius Minimum 230mm 9 06 Maximum 500 mm 19 69 End Effector Pneuma...

Страница 10: ...igure 2 1 identifies the joints and links of the mechanical arm Each joint is driven by a servo DC motor via a Harmonic Drive gear transmission The following table describes the movement of the axes A...

Страница 11: ...and 2 3 show the dimensions of the SCORA ER 14 while Figure 2 4 gives a top view of the robot s work envelope The base of the robot is normally fixed to a stationary work surface It may however be att...

Страница 12: ...Figure 2 3 Dimensions Top View Figure 2 4 Working Range Top View SCORA ER 14 2 4 User s Manual 9603...

Страница 13: ...the robot power cable are properly connected to the controller before it is turned on 4 Make sure a guardrail or rope has been set up around the SCORA ER 14 operating area to protect both the operator...

Страница 14: ...e corrosive or flammable gas is present Where the power line contains voltage spikes or near any equipment which generates large electrical noises 3 Do not abuse the robot arm Do not operate the robot...

Страница 15: ...Safety in the ACL Controller B User s Manual Robot Setup Refer to Figures 4 1 and 4 2 1 Set up the SCORA ER 14 on a sturdy surface with at least 70 cm of free space all around the robot 2 Set up the...

Страница 16: ...this setting after the gripper is installed Refer to the section Peripheral Devices and Equipment Robot Gripper in the ACL Controller B User s Manual Robot Installation Before you begin make sure the...

Страница 17: ...nto the Warning Light port on the robot Connect the red and black wires to any unused relay output terminal one wire to NO and one wire to C on the same output Write a routine which will turn on the o...

Страница 18: ...e ats c2 3 When the ATS screen and prompt appear you may proceed 4 Give the ACL command to home the robot Type home Enter The monitor will display WAIT HOMING During the Home procedure the robot joint...

Страница 19: ...ve may be 12VDC or 24VDC and can draw its power from the controller s User Power Supply The robot must be homed before you mount the gripper 1 Using a 3mm hex wrench and six M4x8 socket screws attach...

Страница 20: ...the black wire to a common terminal Connect the red wire to the normally open NO terminal of any unused relay output 5 Connect 12VDC or 24VDC in accordance with your valve s specification to the comm...

Страница 21: ...it the two cable clamps onto the two gripper cables Place the clamps on the flange Fit the spacer on the cable clamp screw and then tighten the screw onto the flange 4 Carefully execute the robot HOME...

Страница 22: ...have installed Refer to the section Peripheral Devices and Equipment Robot Gripper in Chapter 2 of the ACL Controller B User s Manual 3 Open and close it in order to verify that it is functioning The...

Страница 23: ...nal or PC by means of an RS232 communication channel ACL features include the following Direct user control of robotic axes User programming of robotic system Input output data control Simultaneous an...

Страница 24: ...ACLoff line is described fully in the ACLoff line User s Manual SCORBASE SCORBASE Level 5 is a robot control software package which is supplied on diskette with the controller Its menu driven structu...

Страница 25: ...he illustrations of components shown in this chapter are for descriptive purposes and may not be the actual components used in the SCORA ER 14 Axes 1 and 2 The main components of the drive system for...

Страница 26: ...hown in Figure 6 2 Axis 4 The drive system for axis 4 Z roll produces the rotation of the end effector flange Its main components are the motor a worm gear and a spline as shown in Figure 6 3 UPPER MO...

Страница 27: ...he specified speed The robot motor must allow fine speed regulation so that the robot will accelerate and decelerate as required by the application The robot motor must supply large torques throughout...

Страница 28: ...magnetic field The stator may be a permanent magnet or an electromagnet consisting of a coil wound around thin iron plates Rotor This is the component which rotates within the magnetic field The exter...

Страница 29: ...move at extremely high rates of revolution to move loads with high torques and with encoder attached to achieve a very high resolution Motor Specifications Motor Axes 1 and 2 Motor Axes 3 and 4 Peak R...

Страница 30: ...The external gear teeth on the flexspline are almost the same size as the internal gear teeth on the circular spline except there are two more teeth on the circular spline and the teeth only mesh when...

Страница 31: ...for every revolution of the input shaft the output shaft rotates by 2 Nf of a revolution that is two teeth out of Nf teeth Hence HD gear ratio 1 2 Nf Nf 2 The Harmonic Drive gear ratio for axis 1 and...

Страница 32: ...The gear ratio of the belt drive is the ratio of the output pulley to the input pulley calculated according to the number of teeth on each pulley The belt drive used in the SCORA ER 14 has a a ratio...

Страница 33: ...ball race The nut consists of a series of bearing balls circulating in a similar race The bearing balls are transferred from one end of the nut to the other by return tubes The low friction ball beari...

Страница 34: ...ll Bearing Spline The SCORA ER 14 uses a ball bearing spline shown in Figure 6 15 to transmit torque from the worm gear to the Z axis slider shaft while allowing linear motion of the axis Ball bearing...

Страница 35: ...motor 1 or 2 moves the axis 2 25 Axis 3 is driven by a belt drive with a ratio of 80 21 and a lead screw which converts each rotation of the output pulley to a linear movement of 16 mm Thus for each r...

Страница 36: ...SCORA ER 14 6 12 User s Manual 9603...

Страница 37: ...nly measured by an electro optical encoder attached to the motor which drives the axis The encoder translates the rotary motion of the motor shaft into a digital signal understood by the controller Fi...

Страница 38: ...ile others do not The photodiode outputs are then fed through the signal processing circuitry resulting in the signals A A B B I and I as shown in Figure 7 3 Comparators receive these signals and prod...

Страница 39: ...6 When the encoder resolution is divided by the overall gear ratio of the axis the resolution of the joint is obtained Since the encoder is mounted on the motor shaft and turns along with it the resol...

Страница 40: ...gure 7 6 The output shaft of the Harmonic Drive moves relative to the microswitch disk As the joint moves a cam on the Harmonic Drive output shaft reaches a point at which it forces the actuating butt...

Страница 41: ...tion As long as the axis has not reached one of its limits the relay contact remains closed and the diode has no effect on the circuit as shown in Figure 7 7B Current can flow in either direction the...

Страница 42: ...witch for axis 4 is located within the worm gear housing During the homing procedure the robot joints are moved one at a time Each axis is moved until the flag cuts the beam of light When that occurs...

Страница 43: ...and on the controller back panel The robot cable supplies power to the motors and 24VDC to the printed circuit board PCB located in link 1 The encoder cable carries information from the encoders and...

Страница 44: ...ing Robot Power Cable and Connector Pin ID Pin Description Robot Side J1 Wire Type and Color Pin Description Controller Side P1 A Motor 1 Twisted Pair black M0_A M Motor 1 brown M0_B C Motor 2 Twisted...

Страница 45: ...1 5V Twisted Pair red 5V 2 5V black 5V 5 A1 EncoderPulseA 1 Twisted Pair brown CHA 0 6 B1 EncoderPulseB black CHB 0 7 C1 EncoderIndexPulse Twisted Pair brown CHC 0 8 COMMON 1 red COMMON 0 31 H1 Home T...

Страница 46: ...Twisted Pair green CHC 4 24 COMMON 5 red COMMON4 35 H5 Home Twisted Pair green MSWITCH4 with free yellow Warning Light Cable and Connector The warning light cable which connects the controller to the...

Страница 47: ...onnected The air supply for a pneumatic gripper is functioning properly Any peripheral devices or accesssories which will be used such as the teach pendant or a remote emergency button are properly co...

Страница 48: ...h one from a functioning system In general when trying to determine the source of a malfunction first check the power source and external hardware such as controller switches LEDs and cable connection...

Страница 49: ...ard in use should be lit indicating that power is being supplied to the axis driver If one of the LEDs is not lit remove the fuse for the corresponding axis and examine it To remove the fuse press it...

Страница 50: ...ion in the opposite direction If this does not occur there is a problem in the encoder or its circuitry If the encoder readings do not change check whether the encoder connector is properly connected...

Страница 51: ...mmand COFF to disable servo control and then physically move the axis to another position Then return to the starting position marked by the line you drew Check the encoder reading for the axis again...

Страница 52: ...be executed because servo control of the arm has been disabled COFF 2 A previous movement of the arm resulted in an Impact or Trajectory error thereby activating COFF and disabling the arm Check the...

Страница 53: ...sition has changed due to a mechanical fault on the axis or a maintenance procedure such as replacement of the motor motor belt encoder or gear Enter the command ZSET Then retry homing 2 Index pulse f...

Страница 54: ...egral feedback will increase the motor current and the motor will overheat subsequently causing the Thermic Protection to be activated 2 An axis driver is faulty or its fuse has blown 3 The robot arm...

Страница 55: ...MOVES and SPLINE Since the trajectory is not computed prior to motion the movement may exceed the limits of the working envelope Modify the coordinate values of the positions which define the trajecto...

Страница 56: ......

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