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ROZUM ROBOTICS

PULSE robotic arm

Rev. 6, in effect from Q2 2019

Page

3 | 32

3.5

Enabling control via API

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3.6

Switching off a PULSE robotic arm

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ANNEX I. KINEMATICS OF THE PULSE ARM

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Содержание PULSE 75

Страница 1: ......

Страница 2: ...gency stop button 12 1 8 Wrist 14 1 9 Control buttons 15 2 INSTALLATION 15 2 1 General requirements 15 2 1 1 Continuous power supply requirement 16 2 2 Mechanical integration 16 2 2 1 Mounting the robotic arm 16 2 2 2 Installing the control box 18 2 3 Electrical integration 18 2 3 1 Power connection 18 2 3 2 Digital I O connectors 18 2 4 Mounting an end effector 20 2 5 Integrating the arm into an ...

Страница 3: ...ROZUM ROBOTICS PULSE robotic arm Rev 6 in effect from Q2 2019 Page 3 32 3 5 Enabling control via API 30 3 6 Switching off a PULSE robotic arm 31 ANNEX I KINEMATICS OF THE PULSE ARM 32 ...

Страница 4: ...ation about the system basic features and components operating conditions and use restrictions dimensions and specifications requirements and instructions on mechanical and electrical integration pre commissioning checks and the commissioning procedure WARNING SIGNS AND THEIR MEANINGS Below are the warning symbols used throughout the manual and explanations of their meanings The sign denotes impor...

Страница 5: ...ts listed in Table 1 1 Table 1 1 Hardware and software components supplied with the PULSE arm Component Intended use For details refer to Hardware Control box To control operation of the PULSE robotic arm Section 1 6 Emergency stop button To ensure Category 1 stop of the robotic arm in an emergency Section 1 7 Software PULSE DESK The software is pre installed on the PC module integrated into the c...

Страница 6: ...e restrictions shall constitute a misuse making our warranty void Never install or operate the PULSE robotic arm in an explosive or flammable environment The atmosphere at the operating location of the robotic arm should not contain corrosive gases or liquids salt radioactive substances oil mist dust or metal powders Always conduct a risk assessment of the operating environment before installing a...

Страница 7: ... PULSE robotic arm Specification PULSE 75 PULSE 90 Weight1 12 6 kg 17 4 kg Payload1 4 kg 3 kg Degrees of freedom1 6 6 Reach1 750 mm 900 mm Repeatability 0 1 mm 0 1 mm Non stop lifetime cycle 20 000 hours 20 000 hours Protection class IP40 IP40 Noise level less than 60 dB less than 60 dB Rated voltage 100 VAC 100 VAC Average power 150 W 250 W Maximum power 300 W 450 W Maximum joint speed 30 RPM 30 ...

Страница 8: ...e 8 32 Figure 1 3 and Table 1 3 illustrate the dimensions of the arm s six axes for PULSE 75 and PULSE 90 models Figure 1 3 Lengths of the robotic arm axes Table 1 3 Variations of a1 and a2 lengths for PULSE models Model a1 mm a2 mm PULSE 75 375 295 PULSE 90 450 370 ...

Страница 9: ...0 180 s Axis 3 160 to 160 180 s Axis 4 360 to 360 180 s Axis 5 360 to 360 180 s Axis 6 360 to 360 180 s Figure 1 4 illustrates the workspace of the PULSE robotic arm Figure 1 4 Workspace of the PULSE robotic arm The cylinder shape area of 0 12 m in diameter around the robot base is the infinite solutions area It is advisable to avoid programming any arm or work tool moves within the area Table 1 5...

Страница 10: ...PC module with pre installed control software PULSE DESK as well as other modules that perform communication safety and other essential functions Table 1 6 Specifications of the control box Specification Value Weight 9 kg Dimensions D x W x H 283 x 483 x 91 mm Noise level Less than 60 dB Protection rating IP21 Interfaces 4 digital inputs 2 digital outputs 1 USB port 1 Ethernet port RJ 45 100 BASE ...

Страница 11: ... the front panel of the control box Purpose State event in the robotic arm system LED color Mode Signals system states System switched off Green LED off Bootup blinking Ready constantly ON Work constantly ON System shutting down constantly ON LED state by default constantly ON Error blinking Signals errors System switched off Red LED off LED state by default LED off Error constantly ON 1 6 2 The b...

Страница 12: ...unting holes 1 6 3 Sound signals Apart from the light indication on the front panel the control box produces beeping signals to indicate certain system events as described in Table 1 8 Table 1 8 Sound signals of the control box System event Signal At initialization to signal successful bootup of the operating system on the PC module One beep To signal that initialization of the motors in the arm j...

Страница 13: ...op the robotic arm in an emergency when other protective measures have proved to be impracticable or inefficient To resume operation of the robotic arm after an emergency shutdown reset the system as described below 1 Wait for the arm to come to a full stop The LED on the arm s wrist should go off 2 Unpress the emergency stop button 3 Flip the power switch on the back panel of the control box to t...

Страница 14: ...the PULSE robotic arm features a standard ISO 9409 1 50 4 M6 mechanical interface 1 a cable output 2 for connecting an end effector electrically a LED indicator 3 When an installation requires a mechanical interface different from the standard ISO 9409 1 50 4 M6 one the user integrator has to provide a proper adaptor for integrating an end effector The states of the wrist LED are as described in T...

Страница 15: ...1 10 Functions of the control buttons Name Function Free Drive mode To enable disable Free Drive mode in the mode the user can teach an arm different trajectories by moving its axes by hand Point To add points to a program running in the PULSE DESK software Open gripper To open the gripper attached to the wrist Close gripper To close the gripper attached to the wrist 2 INSTALLATION 2 1 General req...

Страница 16: ...wing two steps 1 Mechanical integration 2 Electrical integration 2 1 1 Continuous power supply requirement For safety reasons the integrator shall be obliged to provide continuous power supply to the robotic arm e g installing an uninterruptible power supply a redundancy circuit etc Otherwise we cannot guarantee that the robotic arm maintains its position during a power outage which may result in ...

Страница 17: ...dia holes on the transition plate see Figure 2 1 and tighten the bolts up as appropriate Figure 2 1 Mounting the arm by Method 1 Method 2 Since the arm is supplied pre assembled with a transition plate your first step is to dismantle the plate To do this unscrew the 2 pins and 11 bolts holding the arm base and the transition plate together Use the 2 pins and 11 bolts see Figure 2 2 to screw the ar...

Страница 18: ...o the robotic arm or the control box All major connections required to provide electrical integration of the robotic arm into your application are located on the back panel of the control box see Figure 1 6 2 3 1 Power connection The power connection of the control box is in accordance with the IEC 60320 1 C14 standard The electrical specifications are as indicated in Table 2 1 Table 2 1 Electrica...

Страница 19: ...tions of relay outputs Relay output 1 Relay output 2 Description Specifications COM1 COM2 Common Contact capacity 48 V 0 5 A NC1 NC2 Normally closed NO1 NO2 Normally open Table 2 3 Specifications of digital inputs Digital input Description Specifications 12 V DC Power for an external device Max current load 1 A Warning Connecting inductive load can cause damage to equipment GND Ground 0 V DI1 DI2 ...

Страница 20: ...e the mechanical and electrical interfaces on its wrist see Figure 1 8 In its basic design the wrist of the PULSE robotic arm has the standard ISO 9409 1 50 4 M6 mechanical interface as shown in Figure 2 4 For more details refer to the dimensional drawing which is available for downloading at the web page https rozum com pulse documentation Figure 2 4 Basic mechanical interface on the arm wrist In...

Страница 21: ...ers when selecting and connecting an end effector Figure 2 6 Electrical diagram for the digital outputs of the end effector socket 2 5 Integrating the arm into an application To integrate the PULSE robotic arm system into your application it is recommended to follow the sequence of steps as below The sequence of Steps 2 to 5 is for reference only You can re arrange the steps at your convenience bu...

Страница 22: ...tor at the bottom of the robotic arm to the 48V connector on the back panel of the control box A specific robotic arm is compatible only with the control box from the same supply package Step 4 Plug the emergency stop button cable into the appropriate connector on the back panel of the control box Step 5 Optional Connect any required additional equipment e g a sensor a safeguard a PLC to the contr...

Страница 23: ...r enable controlling the arm via the Application Programming Interface REST API Apart from PULSE DESK and API you can also control the arm running user designed in the sandbox virtual environment For details refer to the User Manual 3 1 Pre commissioning checks Once you have integrated the PULSE robotic arm system into your application as described in Section 2 5 you can proceed commissioning the ...

Страница 24: ...m To start the PULSE robot follow the sequence as below 1 Plug the power cord of the control box into the mains socket 2 Flip the external mains switch if any of your system to the ON position 3 Flip the power switch on the back panel of the control box to the ON position The control box starts receiving power and initializing The green LED on the control box is blinking while the LED on the arm w...

Страница 25: ...atic IP By default the PULSE robotic arm uses the 10 10 10 20 static IP Follow the instructions below to configure your control device to work with the static IP address accounting for the operating system in use Windows OS 1 Switch on your PC 2 In the right hand corner of the Taskbar left click the network connection indicator 3 Among the displayed connection options select Npcap Loopback Adapter...

Страница 26: ...ffect from Q2 2019 Page 26 32 5 In the displayed Network Connections window right click the Ethernet icon and select Properties 6 On the Networking tab in the displayed Ethernet properties window double click Internet Protocol Version 4 TCP IPv4 ...

Страница 27: ...and the Subnet Mask fields to the value as shown below To specify the last IP address digit in the IP address field you can use any value from 1 to 255 except for 20 since 10 10 10 20 is the default static IP address of the arm 8 Click OK to confirm the settings Linux OS 1 Switch on your PC 2 Open Network Connections and double click Ethernet to open the editing window as shown below ...

Страница 28: ...ROZUM ROBOTICS PULSE robotic arm Rev 6 in effect from Q2 2019 Page 28 32 3 In the displayed window select the IPv4 Settings tab 4 In the Method dropdown box on the IPv4 Settings tab select Manual ...

Страница 29: ... of the network If you fail to find out the dynamic IP address of the arm check the network connection settings The arm may not have received the IP address from the DHCP server within the period as preset for the network resulting in a fallback to the static IP 10 10 10 20 After you have set up communication with the robotic arm you can proceed to working with the PULSE DESK interface see Section...

Страница 30: ...displays the PULSE DESK starting screen Now you can start programming the PULSE arm using the interface For details refer to the User Manual 3 5 Enabling control via API To be able to program the arm via API follow the instructions below 1 Start the PULSE DESK user interface in accordance with Section 3 4 2 Click the Main Menu button and select Configure 3 On the displayed Configure screen switch ...

Страница 31: ... Once you enable remote API access programming via PULSE DESK becomes impossible If you try access the user interface UI functionality the screen displays an appropriate message 3 6 Switching off a PULSE robotic arm To switch a PULSE robotic arm off follow the instructions below 1 Set the arm into a safe position where it can remain stable when power supply is disconnected 2 Switch the power suppl...

Страница 32: ...two non intersecting joint axes is a line perpendicular to both axes a length of the common normal alpha angle of rotation about the common normal from the previous z axis to the new one Figure I 1 Denavit Hartenberg convention applied to the PULSE robotic arm The origin point is the intersection of Motor 1 and Motor 2 rotation axes Table I 1 Denavit Hartenberg parameters and their values Joint PU...

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