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CHAPTER

Specifications

The following table gives the specifications of the

SCORBOT-ER IX

robot arm.

Robot Arm Specifications

Mechanical Structure

Vertical articulated, enclosed casting

Number of Axes

5 plus gripper

Axis Movement
Axis 1:  Base rotation
Axis 2:  Shoulder rotation
Axis 3:  Elbow rotation
Axis 4:  Wrist pitch
Axis 5:  Wrist roll

Axis Range

Effective Speed

270°

79°/sec 112°/sec

145°

68°/sec 99°/sec

210°

76°/sec 112°/sec

196°

87°/sec 133°/sec

737°

166°/sec

Maximum Operating Radius

691mm (27.2") without gripper

End Effector: options:

Pneumatic Gripper

Electric DC Servo Gripper

Hard Home

Fixed position on all axes

Feedback

Incremental optical encoders with index pulse

Actuators

DC servo motors

Transmission

Harmonic Drive gears and timing belts

Maximum Payload

2 kg (4.4 lb.), including gripper

Position Repeatability

0.09mm (0.0035")

Weight

38 kg (83 lb.)

Ambient Operating Temperature

2°–40°C (36°–104°F)

User’s Manual

2 - 1

SCORBOT-ER IX

9603

Содержание SCORBOT-ER 9

Страница 1: ...SCORBOT ER 9 User Manual Catalog 100066 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: ...Setup 4 1 Robot Setup 4 1 SCORBOT ER IX Installation 4 3 Controller Installation 4 3 Robot Installation 4 3 Homing the Robot 4 4 Gripper Installation 4 5 Pneumatic Gripper 4 5 DC Servo Gripper 4 7 Act...

Страница 6: ...Travel Limit Switches 7 4 Hard Stops 7 5 Home Switches 7 6 CHAPTER 8 Wiring Robot Power Cable and Connector 8 2 Encoder Cable and Connector 8 3 CHAPTER 9 Maintenance Daily Operation 9 1 Periodic Insp...

Страница 7: ...t the robot during shipment a metal plate holds the gripper mounting flange to the robot base The plate is fixed to the flange with three bolts and to the base with two bolts Use a 3mm hex socket wren...

Страница 8: ...3 M8 washers 3 M8 nuts Gripper 2 options Pneumatic Gripper includes pneumatic solenoid valve Hardware for mounting gripper 6 4Mx8 screws Electric DC Servo Gripper with encoder includes Hardware for m...

Страница 9: ...oam spool The robot should be repacked in its original packaging for transport If the original carton is not available wrap the robot in plastic or heavy paper Put the wrapped robot in a strong cardbo...

Страница 10: ...This page intentionally left blank SCORBOT ER IX 1 4 User s Manual 9603...

Страница 11: ...d 270 79 sec 112 sec 145 68 sec 99 sec 210 76 sec 112 sec 196 87 sec 133 sec 737 166 sec Maximum Operating Radius 691mm 27 2 without gripper End Effector options Pneumatic Gripper Electric DC Servo Gr...

Страница 12: ...al arm Each joint is driven by a permanent magnet DC motor via a Harmonic Drive gear transmission and timing belt The movements of the joints are described in the following table Axis No Joint Name Mo...

Страница 13: ...the dimensions and reach of the SCORBOT ER IX 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 atta...

Страница 14: ...Figure 2 4 Operating Range Top View SCORBOT ER IX 2 4 User s Manual 9603...

Страница 15: ...r cable are properly connected to the controller before it is turned on 4 Make sure the robot arm has ample space in which to operate freely 5 Make sure a guardrail or rope has been set up around the...

Страница 16: ...e 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 arm if th...

Страница 17: ...the ACL Controller B User s Manual Robot Setup Refer to Figures 4 1 4 2 and 4 3 1 Set up the SCORBOT ER IX on a sturdy surface with at least one meter of free space all around the robot 2 Note that t...

Страница 18: ...and or cannot become caught under a corner of the robot s platform or work surface during all movements of the base axis Make sure the robot is mounted on a surface large enough to provide support fo...

Страница 19: ...Manual Robot Installation Before you begin make sure the controller POWER switch is turned off The robot cable has a number of connectors Connect them to the controller according to following three st...

Страница 20: ...tte or directory activate the ATS software Type ats Enter If the controller is connected to computer port COM2 type ats c2 3 When the ATS screen and prompt appear you may proceed 4 Give the ACL comman...

Страница 21: ...ouble hose from the gripper to the quick coupling on the robot s forearm as indicated in Figure 4 7 3 Refer to Figure 4 8 Connect the two transparent 1 4 O D hoses from the robot cable to the CYL port...

Страница 22: ...he controller or any other metalic surface by means of the valve s magnetic base Figure 4 8 Pneumatic Solenoid Valve Figure 4 9 Valve Controller Connections Figure 4 7 Gripper Connectors SCORBOT ER IX...

Страница 23: ...y execute the robot HOME command Stay close to the teach pendant or controller If the gripper cable becomes entangled or excessively stretched during the homing abort the procedure immediately 5 The g...

Страница 24: ...the ACL Controller B User s Manual 3 Open and close it in order to verify that it is functioning The following commands work for both the electric and the pneumatic gripper PC Type open Enter The gri...

Страница 25: ...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 26: ...f line is described fully in the ACLoff line User s Manual SCORBASE Software SCORBASE Level 5 is a robot control software package which is supplied on diskette with the controller Its menu driven stru...

Страница 27: ...e system for axes 1 through 4 of the SCORBOT ER IX The roll axis axis 5 transmission does not contain the pulleys and timing belt only a Harmonic Drive is used Note that the illustrations of component...

Страница 28: ...bot 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 its speed range and also...

Страница 29: ...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 30: ...e to 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 2 3 Motor Axes 4 5 Peak Ra...

Страница 31: ...h 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 wh...

Страница 32: ...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 ratios for each of the SCORBOT ER IX axes...

Страница 33: ...dii ratio Pulley B Pulley A NHD is the Harmonic drive ratio as described above NAXIS is the overall gear ratio of the axis SCORBOT ER IX Gear Ratios NT NHD NAXIS Axis 1 1 33 1 161 1 214 13 1 Axis 2 1...

Страница 34: ...This page intentionally left blank SCORBOT ER IX 6 8 User s Manual 9603...

Страница 35: ...s the axis The encoder translates the rotary motion of the motor shaft into a digital signal understood by the controller Figure 7 1 shows the encoder mounted on a SCORBOT ER IX motor The encoder used...

Страница 36: ...le 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 produ...

Страница 37: ...en 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 resolutio...

Страница 38: ...avel limit switches it can rotate endlessly When a gripper is attached to axis 5 its movements are controlled and limited by means of software only encoder The limit switches are mounted on a disk whi...

Страница 39: ...the impact condition 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 eithe...

Страница 40: ...one at a time Each axis is moved until the flag cuts the beam of light When that occurs the optical detector on each joint sends a specific signal to the controller Once the home switch location has...

Страница 41: ...transfers power to the motors to which it is directly connected and receives signals from the corresponding limit and home switches When a limit switch is triggered the PCB automatically cuts off powe...

Страница 42: ...bot Power Cable Wiring and Connector Pin ID Pin Description Robot Side J1 Beldan Color Pin Description Controller Side P1 A Motor 1 black M0_A M Motor 1 red M0_B C Motor 2 brown M1_A L Motor 2 orange...

Страница 43: ...escription Controller Side J2 1 5V 1 red 5V 8 COMMON yellow COMMON 0 5 CHA1 EncoderPulseA green CHA 0 6 CHB1 EncoderPulseB white CHB 0 7 CHC1 EncoderIndexPulse black CHC 0 31 MSWITCH Home Switch blue...

Страница 44: ...exPulse black CHC 3 34 MSWITCH Home Switch blue MSWITCH 2 5V 5 red 5V 24 COMMON yellow COMMON 4 21 CHA5 EncoderPulseA green CHA 4 22 CHB5 EncoderPulseB white CHB 4 23 CHC5 EncoderIndexPulse black CHC...

Страница 45: ...nnected 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 con...

Страница 46: ...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 connections...

Страница 47: ...rd 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 i...

Страница 48: ...on 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 t...

Страница 49: ...mand 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 I...

Страница 50: ...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 m...

Страница 51: ...ition 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 fa...

Страница 52: ...gral 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 i...

Страница 53: ...OVES 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 trajector...

Страница 54: ......

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