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Nitta NITTAOMEGA L, Инструкция по эксплуатации

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６

.Operations and Programming 

39 

 

Interlocking around ATC 

 

For safe and smooth operations of ATC, it is recommended to configure the following signals. 

 

1)

 

Signal of detection of decreased air pressure for ATC driving     
This signal notifies a robot of reduction of ATC driving air pressure for any reason, and robot 
operations will be halted when this signal is turned OFF. 

 

2)

 

Tool side presence signal   
This signal detects the tool side unit of ATC (material handling equipment, etc.) is on the tool 
stand. This is an interlock signal to provide unchuck valve ON output, check that the ATC is 
securely located on the tool stand, and proceed with next robot step while checking that the 
entire tool side unit of the ATC is on the tool stand. This prevents the tool from falling in any 
unexpected situation. 

 

 

The tool presence signal is a very important interlock signal to tell the ATC 
can be detached safely. 
Failure to use the tool presence signal as an interlock signal may cause the 
tool fall off during manual operations, leading to an unexpected accident. 

 

3)

 

Tool No. check signal 
This  signal  is  used  by  the  ATC  to  check  consistency  between  a  coupled  tool  and  running 
program No. when, for example, multiple robots are coupled with a tool from the same tool 
stand. 

 

4)

 

ATC operation check signal indicators   
It  is  recommended  to  install  indicators  that  constantly  shows  ON/OFF  states  of  the 
aforementioned  three  signals  (chuck  end,  unchuck  end,  and  coupling  check  end  signals) 
indicating the ATC operation status, and user signals used with the ATC (e.g. tool clamp end 
work presence).   
This allows to readily comprehend any signal-related trouble and interlock waiting status. 

 
 

 

 

WARNING

Содержание NITTAOMEGA L

Страница 1: ...ya Branch 1 17 23 Meieki Minami Nakamura ku Nagoya 450 0003 Tel 81 52 589 1310 FAX 81 52 586 5707 Nabari Plant 1300 45 Yabata Nabari Mie 518 0494 Tel 81 595 64 2916 FAX 81 595 63 9527 Issued April 2021 Revised Ver No rev 0 Printed in Japan type L ENOUG 00 NOTICE For use of this document Please keep this document always readily available to those who use the product If you need an additional copy p...

Страница 2: ...C 6 ATC Specifications 6 Internal Power Wire for ATC 7 Coupling Check End Sensor 7 Chuck and Unchuck Sensor 8 LED ASSY Specifications 8 Precautions for Allowable Load and Installation 9 Allowable Electric Load 9 Spot Welding Module Seal Connector Specifications 10 Spot Welding Module Specifications 10 Power Wire for Spot Welding Module Power 11 Internal Power Wire for Spot Welding Module Earth 11 ...

Страница 3: ... to ATC 28 Module Mounting Bolts 28 Wiring for Spot Welding Module of Direct Cabling Specifications 29 When a Servo Motor Module is used 33 When a hydraulic module is used 34 When a pneumatic module is used 35 When a Signal Module is used 35 When a Fall Prevention System Is Used 35 ６ Operations and Programming 36 Checking before Teaching Robot Operations 36 Operations and Programming 37 Basic Flow...

Страница 4: ...bject to change without any prior notice The delivered product may not be the same as figures and photos contained herein due to any later change in specifications Product Warranty Warranty period 1 year from the delivery date of this product or 3 000 hours of operation whichever comes first Warranty subject Any genuine part of the product exhibiting defect in material or manufacturing will be fix...

Страница 5: ...ictly observe the instructions 1 We assume no responsibilities for any damage arising out of any failure caused by intention or negligence of customer including software malfunction or any reason not attributable to Nitta such as an accident or natural disaster 2 We assume no responsibilities for any damage caused by any use not described or prescribed in our catalogs including the instruction man...

Страница 6: ...flammable substances Environment with explosive atmosphere e g combustible gas and chemical spattering Environment exposed to water water drops or highly humid environment Environment with corrosive atmosphere Environment with high degree of radiation When the product is used under any of the above environment we assume no responsibility for any failure or damage Also malfunction may occur in an e...

Страница 7: ...ng pin cannot be used Perform daily inspections checking misalignment scratches or abnormalities on each part such as taper pin bush cam lock parts grease application Slow down the chucking unchucking operation as much as possible Reliably capture the interlock signal Especially for the presence sensor of the stand move to the next step after confirming that the presence sensor of the tool is in t...

Страница 8: ...om the ATC are correct Operating without doing this may cause tool falling product damage or unexpected accident For chuck unchuck switch air supply for chuck unchuck with the coupling planes of robot side and tool side adaptors are horizontally coherent on the tool stand Otherwise an unexpected accident may occur due to tool falling in addition to damage to the ATC and its functional modules due ...

Страница 9: ... a spring return pneumatic cylinder as a fail safe mechanism to prevent falling of the tool adaptor even in the event of sharp reduction of the air pressure The failsafe mechanism serves to prevent falling Do not continue using the product when the air pressure is decreased Otherwise the gap between contact surfaces of robot and tool adaptor is increased and unexpected accident may occur When the ...

Страница 10: ...nput device with which ON determination is possible Example of NPN 0V common spec When input current value is 6 mA When chuck unchuck are ON Residual voltage V1 680 Ω x 6 mA 0 9 0 8 5 78 V When the coupling check end is ON Residual voltage V2 680 Ω x 6 mA 1 8 0 8 7 58 V Therefore select an input device with which ON determination is possible with 8 V or higher voltage relative to 0V common CAUTION...

Страница 11: ...ent of the ATC to which a tool is attached A tool adaptor is equipped with lock parts to be engaged with robot adaptor s locking cams Tool Adaptor Plate Optional Conforming to the ISO flange P C D 200 M12 6 pattern the adaptor is mountable to a tool flange They can also be mounted to various tools not compatible with the P C D 200 M12 6 pattern with a tool adaptor plate No drilling and threading f...

Страница 12: ...t Adaptor and Tool Adaptor and additional functional modules assembled thereto The signal pin ASSY is a spring type electric contact Fig 1 System diagram Robot Robot Side Tool Side Robot Adaptor Mounting bolt ASSY Mounting bolt ASSY Tool Adaptor Tool Tool stand Module Module ...

Страница 13: ...nt humidity 95 RH or below no condensation Ambient atmosphere Free of corrosive gas Altitude 1000m or less Vibration resistance 10 500 Hz Acceleration 50 m s2 for 110 minutes compliant with IEC60068 2 6 Transport conditions Ambient temperature 25 60 C maximum instantaneous temperature 70 C Ambient humidity 95 RH or below no condensation ...

Страница 14: ...ee the drawing Rated voltage 50VDC or below Max allowed current 3A Overvoltage category Overvoltage category III Allowable pollution level Pollution level 3 Weight Robot Adaptor 9 77kg Tool Adaptor 7 94kg Body material Aluminum alloy Dimensions Robot Adaptor See below Tool Adaptor See below R side adaptor Refer to the delivery specifications and drawing for details T side adaptor Refer to the deli...

Страница 15: ...ation No of wires wire dia 6 11 0 08 wires mm Outer diameter 0 9mm Insulation material Material Flame retardant polyester Withstand voltage Under water 1000V min Sparking 5000V 0 15 sec Coupling Check End Sensor Name Anti spatter proximity switch Type DC 2 wire shield type Detection method High frequency oscillation Rated power supply voltage 12 24VDC common Operating voltage range 10 30VDC Leak c...

Страница 16: ...ut withstand voltage 30VDC Response frequency 900Hz or above 1 In proximity of detection object load operating LED ASSY Specifications This section describes specifications of photo couplers used in the LED ASSY equipped on the robot adaptor For details please refer to the specifications etc Model TLP187 Toshiba Type Red LED Photodarlington transistor Dielectric voltage 3750Vrms minimum Collector ...

Страница 17: ...R 0 5 x 4600 x 1 5 4000Nm Allowable twisting torque T Lt x W x GR 0 5 x 4600 x 1 5 4000Nm Note GR is the acceleration factor of constant acceleration deceleration in automatic robot operations For specific values of robot performance please contact the robot manufacturer for further consideration Use 1 5 2 0G as a standard Fig 2 An example of rated load definition GR 1 5 2 0 Allowable Electric Loa...

Страница 18: ...d 1 piece Signal 2 pieces max Rated voltage Single phase 600VAC Max allowed current 130A Rated frequency 1000Hz Overvoltage category Overvoltage category III Allowable pollution level Pollution level 3 R side spot welding module Refer to the delivery specifications and drawing for details T side spot welding module Refer to the delivery specifications and drawing for details Electrode Electrode Ca...

Страница 19: ...erial Heat resistant flexible vinyl Withstand voltage under water 2000V min Allowable current 30 Usage 100 130A Internal Power Wire for Spot Welding Module Earth Name Electric wires for internal wiring and for power supply Nominal sectional area 6AWG 13 3mm2 Conductor AC Material Soft copper stranded wire Configuration No of wires wire dia 7 84 0 18 wires mm Outer diameter 5 7mm Insulation materia...

Страница 20: ...ltage proof resin Number of electrodes Welding power 2 pieces Ground 1 piece Signal 2 pieces max Rated voltage Single phase 600VAC Max allowed current 200A Depending on cable specifications Rated frequency 1000Hz Overvoltage category Overvoltage category III Allowable pollution level Pollution level 3 R side spot welding module T side spot welding module Electrode Cable clamp Electrode Cable clamp...

Страница 21: ...200VAC Signal 50VDC or below Max allowed current Motor power 20A Signal 3A Overvoltage category Overvoltage category III Allowable pollution level Pollution level 3 R side Servo motor module Refer to the delivery specifications and drawing for details T side Servo motor module Refer to the delivery specifications and drawing for details Power supply conenector Power supply pins Signal pins Signal ...

Страница 22: ...or Material Tinned annealed copper wire Configuration no of wires wire dia 30 0 18 wires mm 45 0 32 wires mm Signal Name Large diameter multipair cable Model UL2464 SB Nominal sectional area 24AWG Conductor Material Tinned soft copper stranded wire Configuration no of wires wire dia 7 0 203 wires mm Insulation material Material Lead free heat resistant PVC Final diameter About 7 5mm Withstand volt...

Страница 23: ...ity 95 RH or less Normal pressure 0 86MPa Cv value 3 3 PORT Connecting screw size Rc1 2 R side hydraulic module Refer to the delivery specifications and drawing for details T side hydraulic module Refer to the delivery specifications and drawing for details Recommended grease Module parts No １ Grease type CTRH 0 Silicone grease SH44M manufactured by Dow Corning Toray Co Ltd CTRH NS CTRH N0 Mineral...

Страница 24: ...er of ports 4 Fluid used Air Fluid temperature 0 80 no condensation Ambient temperature 0 60 C Ambient humidity 95 RH or less Normal pressure 0 86MPa Effective sectional area 19 0mm2 PORT Cv value 0 72 PORT Connecting screw size Rc1 4 R side Pneumatic module Refer to the delivery specifications and drawing for details T side Pneumatic module Refer to the delivery specifications and drawing for det...

Страница 25: ...ts 8 Fluid used Air Fluid temperature 0 80 no condensation Ambient temperature 0 60 C Ambient humidity 95 RH or less Normal pressure 0 86MPa Effective sectional area 19 0mm2 PORT Cv value 0 72 PORT Connecting screw size Rc1 4 R side Pneumatic module Refer to the delivery specifications and drawing for details T side Pneumatic module Refer to the delivery specifications and drawing for details O ri...

Страница 26: ...sin Number of electrodes 35 Rated voltage 50VDC or below Max allowed current 3A Overvoltage category Overvoltage category III Allowable pollution level Pollution level 3 R side Signal module Refer to the delivery specifications and drawing for details T side Signal module Refer to the delivery specifications and drawing for details Signal pins Signal pins Signal connector Signal connector ...

Страница 27: ...hickness 60 4 x 80 x 62 3mm Main unit material Aluminum alloy Weight 0 52kg Flow characteristics C dm3 s bar 0 6 b 0 15 Fluid used Air Working pressure 0 1 0MPa Ambient temperature and working air temperature 0 60 C no freezing Joint diameter nominal Rc1 4 Grease up Not required Refer to the delivery specifications for details ...

Страница 28: ...４ Part Names 20 ４ Part Names Fig 3 Part names ...

Страница 29: ... ISO flange pattern P C D 200 M12 x6 Refer to Fig 1 Mounting bolt ASSY M12 6 pcs Torque 80Nm Used with M12 disc spring washers insulation washers and insulation collars Dowel pins customer supplied or option parts Refer to the delivery specifications and drawing for details To use the robot adaptor plate optional drill the plate to make appropriate mounting holes or threads for the robot Mount the...

Страница 30: ...ified torque level may damage screw threads on the robot side or tool side and ATC itself Further tightening bolts with torque below the specified torque level or failure to use the locking agent may cause bolts to be loosened leading to ATC fall off CAUTION CAUTION Be sure to use locking agent low strength for mounting bolts when tightening them CAUTION Tighten bolts bolt in the order of the numb...

Страница 31: ... need to do so Standard Solenoid valve spec Leave the UNCHUCK port opened without plugging even when chuck unchuck is not to be performed in a coupled state only Also be sure to pressurize the CHUCK port when using it Otherwise it may fall off About air piping for ATC driving ATC has a fail safe mechanism to prevent the tool side from falling even when air pressure is unexpectedly decreased Howeve...

Страница 32: ...exhaust port of the solenoid valve used for switching pressure on the chuck unchuck port Otherwise it may fall off As a solenoid valve used for switching pressure on the chuck unchuck port select a double solenoid type valve Then effects of any noise malfunction are mitigated Make sure there is no chips of sealing tape or other dusts getting into the ATC chuck unchuck port Otherwise not only the p...

Страница 33: ...ctric shock and noise may occur leading any malfunctions Fig 4 Connection of cable connector Cable Fixing Robot side cables must be securely tied together with other cables and tubes and fixed around the robot adaptor s connector part by using a spiral tube or banding band etc Also ensure that cables and tubes are free of any excessive force while the robot s wrist axis is rotating Excessive force...

Страница 34: ...een already applied in plant Recommended grease SUMIPLEX BN NO 1 manufactured by Sumico Lubricant Do not use molybdenum grease As Nitta uses mineral lithium composite grease be sure to use the same type of grease Recommended NLGI No JIS consistency number is No 1 and No 2 Fig 6 ATC greasing points Without greasing prying and early wear will be generated on each part CAUTION CAUTION Positioning tap...

Страница 35: ...in the figure below Fig 7 ATC orientation Precautions for using a servo motor for a tool If you use a tool with a servo motor servo gun servo material handling equipment etc install a battery for memory storage on the tool side or use an encoder with no need for powered memory storage in preparation for power failure to the encoder for separation In addition functionality to electrically disconnec...

Страница 36: ...35SM 2 Torque 5Nm Signal R side T side Screw shape M5 30 SUS Spring water Flat washer Nitta model No GSSH05030S GWSP05S GWFH0510 Torque 5Nm Fall Prevention System R side T side Screw shape M5 30 SUS M5 10 SCM Nitta model No GSSH05030S GSSH05010M Torque 5Nm 5Nm 1 Apply screw locking agent low strength to each bolt 2 Locking agent application is not needed for the supplied bolts to which locking age...

Страница 37: ...mpatible cable dia mm2 SQ AWG GLUGR38 6S 26 66 42 42 2 GLUGR22 6S 16 78 26 66 4 GLUGR14 6S 10 52 16 78 6 Wrong positioning of the earth may cause electric shock or device damage For wiring arrangement follow the module drawing 2 Cabling 1 Let a cable through the interface housing Fig 8 Spot welding cable assembly Use rubber bush of an appropriate size for the cable diameter Otherwise water drops o...

Страница 38: ...terminal further Fig 10 Crimp terminal tightening 3 Cabling Wrong positioning of the earth may cause electric shock or device damage For wiring arrangement follow the module drawing 1 Make sure you set the crimp terminal with the right side up tighten the brass screws M5 x 8 with a cross tip torque wrench and mark the position Torque level 3 5Nm Fig 11 Crimp terminal fixing WARNING Spot welding ca...

Страница 39: ...lamp 3 Let the signal cable through the cable gland and adjust the length with reference to the power supply cable Then cut the cable 50mm from the housing Fig 13 Signal cable length arrangement 4 Peel the coating 6mm from the tip and crimp the crimp terminal Fig 14 Signal cable crimping Signal cable cut length 50mm Crimp terminal plug PC 2005M ...

Страница 40: ...being pulled by robot motions Tension on the cables may cause connector breakage and electrode failure resulting in sparking Precautions for cable connection in case of seal connector spec An electrode on a robot side power module can move up and down by approx 1 4mm If the cable is pulled during robot operations the electrode may not work properly resulting in improper power supply and burnout CA...

Страница 41: ...and tubes may break a connector of the joint part and an electric module etc or cause open circuit It may also cause any electric shock hazard and sparking An example of cable fixing by a bracket is shown in lower illustration Fig 16 Example of cable fixing When a Servo Motor Module is used Perform wiring as per the delivery specification drawings Improper wiring may cause failure or electric leak...

Страница 42: ...licone oil based grease of NLGI No JIS consistency number 1 and 2 Hydraulic coolant ASSY greasing Use Nitta s recommended grease or an equivalent item for hydraulic coolant ASSY greasing which should be thinly and evenly applied onto the robot side O ring Application points are indicated in Fig 17 Chart 4 Recommended grease Module parts No １ Grease type CTRH 0 Silicone grease SH44M manufactured by...

Страница 43: ...ons When a Fall Prevention System Is Used Ensure that there is no problem with piping Ensure that the lever and DOG positions are as per the delivery specifications Perform installation carefully not to bend the tube connected with the chuck unchuck port during robot motions Otherwise it may fall off Make sure there is no chips of sealing tape or other dusts getting into the fall prevention system...

Страница 44: ...See ５ ８ ４ When a hydraulic module is used 1 Ensure that air supply is not shut off by bending twisting of the unchuck tube and excessive tightening of the banding bands When the air supply is inhibited the cam may not work properly resulting in tool side module falling 2 Check that the unchuck port air is discharged before coupling no residual pressure Any residual pressure may prevent normal cam ...

Страница 45: ...r errors or malfunction posing a risk of tool falling 1 Chuck signal Indicates that cam is opened 2 Unchuck signal Indicates that cam is closed 3 Face signal Indicates that coupling planes of the robot adaptor and tool adaptor are closely mated together 4 LED lamps Light up in different patterns to indicate the above signal output patterns Fig 18 An example of interlock setting WARNING 1 Tool pres...

Страница 46: ...on Moving Waiting UNCHUCKING CHUCKING Input Robot Output LED Output Chucking Sensor Controlling LED ASSY Robot motion represents process stepping conditions ATC coupling check end ON should be active during robot operations during production Continuous signaling is recommended for solenoid valves for chuck unchuck Please do not use one shot signaling because it may not maintain the chuck status du...

Страница 47: ...his prevents the tool from falling in any unexpected situation The tool presence signal is a very important interlock signal to tell the ATC can be detached safely Failure to use the tool presence signal as an interlock signal may cause the tool fall off during manual operations leading to an unexpected accident 3 Tool No check signal This signal is used by the ATC to check consistency between a c...

Страница 48: ...tion force of ATC s electric contact and pneumatic port preventing unchuck In such cases the robot adaptor must be pressed against the tool adaptor as in the coupling process to prevent the tool adaptor from moving deviating and leaning right after unchuck At this point the tool must remain on the tool stand Then perform teaching so that the built in sensors can detect unchuck and ensure smooth ev...

Страница 49: ...so that no cutting chips and cutting oil are adhered to the tool adaptor If the stand position is exposed to adverse environment with spatters water drops and dust particles install an automatic cover or the like to protect the tool adaptor Further in oily atmosphere ensure good conduction by for example air blow on the signal pin section We offer standardized peripheral devices for the ATC such a...

Страница 50: ... unchuck port regardless of air supply pressure presence No residual pressure allowed If the unchuck port is not released the cam may be operated due to air wraparound resulting in tool side module falling Position the tool appropriately to prevent falling and turn the power and air supply OFF before stopping the equipment There may be residual air pressure when see ６ １ air supply is shut off by b...

Страница 51: ...irection Visual Tapered pin breakage bush damage and loose bolts Replacement of damaged parts 7 Check for damage in electric signal pins and connector cables etc Visual and I O panel signal check ATC replacement and replacement of damaged parts Response Action to Water Exposure If the equipment is exposed with water immediately stop using it and check if water enters into the product Using the equ...

Страница 52: ...cautions for Transportation To move the system with the modules coupled together without air supply use rope or the like to bind them and prevent tool side module from falling Fig 22 Precautions for transportation WARNING Fix by rope etc ...

Страница 53: ......

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