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Appendix A Reference

The following listed is reference

：

Standard No.

Description

Version

GB 5226.1

Electrical safety of machinery

2008

GB/T 15706

Safety of machinery – general principles for design

Risk assessment and risk reduction

2012

GB 11291.1

Robots

for

industrial

environments-

safety

requirements

2011

GB 11291.2

Robots and robotic devices-Safety requirements for

industrial robots

2013

GB/T 17799.2

Electromagnetic compatibility – Generic standards-

Immunity for industrial environments

2003

GB 17799.4

Electromagnetic compatibility (EMC) – Generic

standards – Emission standard for industrial

environments

2012

GB 16754

Safety of machinery – Emergency stop- Principles

for design

2008

GB/T 16855.1

Safety of machinery – Safety-related parts of control

systems

2008

Содержание GCR20-1100

Страница 1: ...GCR20 1100 Collaborative Robot User Manual Hardware Model GCR20 1100 V2 0 SIASUN Co Ltd...

Страница 2: ...ect to the commercial contract and terms and conditions of SIASUN Co Ltd All or part of the products services or features described in this manual may not be within the scope of your purchase or use U...

Страница 3: ...Control System 17 3 4 Control Box 18 3 4 1 Introduction 18 3 4 2 Tool Flange I O Description 18 3 4 3 Control Box External Interface 19 3 4 4 Control Box Power Supply Cable 21 3 5 Demonstrator 22 4 Te...

Страница 4: ...ing and Cautions 38 5 2 3 Control Box I O 40 5 2 4 Tool Flange I O 47 6 Transportation and storage 49 6 1 Transportation 49 6 1 1 Preconditions 49 6 1 2 Robot Packaging 49 6 1 3 Packaging Pose 50 6 1...

Страница 5: ...use the robot more safely and conveniently Be sure to operate this robot on the basis of careful reading and full understanding of this document This document applies for the following users On site r...

Страница 6: ...h or serious personal injury Used to warn of potentially dangerous situations that if not avoided may result in moderate or minor personal injury Used to convey device or environmental security warnin...

Страница 7: ...hieves in a lab specific scenario that meets the appropriate standards For example constant temperature humidity interference free environment typical operating conditions and etc In reality working s...

Страница 8: ...r methods of operation and all safety precautions Only trained and qualified technicians are able to perform equipment installation and maintenance 2 2 Limitation of Liability This information neither...

Страница 9: ...ks that integrators must accomplish The robot itself is a partially completed machine and the safety of the robot installation depends on how the robot is integrated e g tools obstacles and other mach...

Страница 10: ...mergency Stop Emergency stop takes precedence over all the other robot control operations Pressing emergency stop will cause all controlled hazards to stop removing the motor power from the robot driv...

Страница 11: ...in the small electromagnet to release the brake Manually moving the robot arm is limited to emergency situation and may damage joints If manual release the break gravity may cause the robot arm to fal...

Страница 12: ...e the range of about 900mm from the center of the robot base if the robot moves along the direction of the red arrow in Figure 2 4 2 1 and Figure 2 4 2 2 the robot is less sensitive to external forces...

Страница 13: ...the joints 2 and joint 3 the collision detection function is difficult to detect collisions between the robot and the outside world As the red arrow shown in Figure 2 4 2 3 in Figure 2 4 2 4 if the f...

Страница 14: ...dless of the pose and state of the robot It is more prone to the risk of pinching as the arrow shown in Figure 2 4 2 5 and in Figure 2 4 2 6 when the collision point is outside the range and does not...

Страница 15: ...described scenarios if the robot moves in a direction that is insensitive to external collision detection considering the limitation of the cooperation between the robot and the outside world the run...

Страница 16: ...Demonstrator Cables Software Optional accessories Image 3 1 1 Robot system schemata System critical parameters Degree of freedom 6 Operational temperature 0 25 Load TCP 20kg IP Code Robot IP54 Contro...

Страница 17: ...can be installed in any direction The robot consists of the following components J1 J2 J3 J4 J5 J6 Figure 3 2 1 SIASUN GCR20 1100 Robot Base module Joint module Base module The base is located at the...

Страница 18: ...he robot and contains several functional ports Used to connect cables supply power to robots transmit data and connect gas lines Base input panel includes the following functional ports 1 AIR 4 2 Thre...

Страница 19: ...tandard There are mounting thread holes and pin holes for tools installation on the flange The expansion I O port on the flange can be used for connecting tools Image3 2 3Tool flange schemata Expansio...

Страница 20: ...on Color Image demo 1 Robot power on 2 Standby Constant blue Error detected Flashing red 1 Running program 2 Robot 0 position 3 Manually move to any point 4 Collection detected Constant green Traction...

Страница 21: ...Control System Control system consists of robot controller and teach pendant Control system overview is as following Fan Brake board Power supply Peripheral modules Main controller Demonstrator Extern...

Страница 22: ...hm of the robot system motion control and human computer interaction The control system is responsible for all the functions of the robot control system System interface human computer interaction Pro...

Страница 23: ...1 is a port for system power adaptor and peripheral data input such as emergency stop input and output robot automatic run feedback input and output and etc I O port I O port is a DI and DO port for c...

Страница 24: ...computer with control box It is a data transformation port between control box and robot System power port System power port is a power on button for control box ON OFF ON OFF is a knob switch for 220...

Страница 25: ...the control box uses crimped cold pressed terminals due to current limitation It is recommended to directly connect to the air switch of the power distribution box The standard 16A power supply plug o...

Страница 26: ...otic systems that has various operating and display functions required for robot system operation and programming Image3 4 45 Demonstrator Automatic manual mode switch Power on off button Emergency st...

Страница 27: ...5mm Joint Range Max Velocity s J6 180 to 180 160 J5 180 to 180 160 J4 180 to 180 160 J3 160 to 160 100 J2 180 to 180 60 J1 180 to 180 60 Robot size 1340 x 420 x 290 mm Controller size 540 x 510 x 210...

Страница 28: ...24 4 1 2 Working Space The work space shape and size are as following Top View Front View Image 4 1 2 Robot work space...

Страница 29: ...t coordinates Robot joint coordinate schemata as follow Figure 4 1 3 1 Robot joint coordinate schemata 4 1 4 Robot zero position and positive direction Robot zero position and positive direction is il...

Страница 30: ...26 Figure 4 1 4 1 Robot zero position and positive direction schemata...

Страница 31: ...27 4 1 5 Tool Flange Data Basic data Load 20 kg EMC Resistance EN 61000 6 2 and EN 61000 6 4 IP code IP 54 Bolt level 12 9 Bolt size M6 Standards GB T 14468 1 50 4 M6 ISO 9409 1 50 4 M6...

Страница 32: ...ase installation Force type Force moment Vertical force Fv 1160 N Horizontal force Fh 1212N Tilting moment Mk 875Nm Axis 1 moment Mr 915Nm The base load illustrated in the table is the maximum load th...

Страница 33: ...29 4 2 Load 4 2 1 Basic Load data Rated load 20kg Moment of inertia allowance 1 0 kgm Distance of load gravity center Lxy 71 4mm Distance of load gravity center Lz 15 4 mm...

Страница 34: ...ustrates the maximum loading capability For safety concern it requires a safety check load and moment of inertia whenever the load has been changed The load and moments of inertia obtained here are ve...

Страница 35: ...put power 3000W Environmental conditions Operating temperature 0 25 Storage temperature 40 55 Humidity 20 70 RH Demonstrator Battery voltage 24VDC Size 225 x 295 x105 mm L W H VGA resolution 800 600 V...

Страница 36: ...tests and simulation They are average values which are conform to the requirements of DIN EN ISO 10218 1 The actual stopping distances and stopping times may be different due to internal and external...

Страница 37: ...33 Axis Stop distance deg Stop time ms A1 10 7213 217 A2 11 5897 229 A3 16 4914 307...

Страница 38: ...4 6 Nameplates and Labels The following nameplates and labels are attached to the robot and control box It is not allowed to remove or unrecognized it Unrecognized nameplates and labels must be replac...

Страница 39: ...35 Image Nameplates and labels...

Страница 40: ...0 5mm screw holes on the base 80N m torque is recommended to be used to fix these bolts If it is necessary to install the robot with high accuracy fixing the robot with pins through 6 pin holes on bas...

Страница 41: ...If it is necessary to install the tool with high accuracy fixing the tool with pins through 6 pin holes that can be drilled is a feasible manner The position of drilling holes and installation screw...

Страница 42: ...ning and Cautions When designing and installing the robot system the following rules must pay fully attention Maintaining is as critical as design and installation Do NOT connect a safety signal to a...

Страница 43: ...and control box All of the GND connectors mentioned in this article apply only to powering and transmitting signals For Protective Earth PE use the M6 screw connector marked with the earth mark in the...

Страница 44: ...ergency stop status in out and etc 1 1 16 16 7 7 8 8 Label Description 1 System power input port System Power 2 System power input port System Power 3 System power output port 24V 4 System power outpu...

Страница 45: ...system power on Press teaching pendant soft power on button robot power on System power Soft power off button robot power off press the power button off or use the teach pendant software interface po...

Страница 46: ...nal 1 Robot locked DI 2 Run program DI 3 Paused DI 4 Stopped DI 5 Reserved DI 6 Reserved DI 7 DI1 8 DI2 9 DI3 10 DI4 11 DI5 12 DI6 13 DI7 14 DI8 15 Locked status DO 16 Run program status DO 17 Standby...

Страница 47: ...43 28 24V 29 24V 30 24V 31 24V 32 24V 33 24V 34 24V 35 24V 36 GND 37 GND 38 GND 39 GND 40 GND 41 GND 42 GND 44 GND 46 GND 48 GND 50 GND 52 GND 54 GND 56 GND Others reserved...

Страница 48: ...an external safety input port and safety input feedback port The port has been defined as follow 1 1 16 16 7 7 8 8 Port number Description 1 Safety input1 1 2 Safety input 1 1 3 Safety input 1 2 4 Saf...

Страница 49: ...Safety feedback output 2 2 11 Safety feedback output 2 2 12 Safety feedback output 2 1 13 Safety feedback output 1 1 14 Safety feedback output 1 2 15 Safety feedback output 1 2 16 Safety feedback out...

Страница 50: ...obot port connects control box and robot The port is defined as follow Port label Description a 1 48V a 2 GND a 3 48V a 4 GND b 1 EtherCAT Tx b 2 EtherCAT Tx b 3 EtherCAT Rx b 6 EtherCAT Rx b 7 RS485...

Страница 51: ...on labeled S Status indicator LED Traction teaching button labeled T This connector provides power and control signals for grippers and sensors used on specific robotic tools including I O signals and...

Страница 52: ...separate uses effectively by relays Basic electrical parameters 2 digital output DO drive capability 24V 0 6A It provides basic function for start and stop It provides maximum 50kHz PWM wave output I...

Страница 53: ...avoid damage to the control system Use appropriate lifting equipment to ensure that your back and other body parts are not excessively loaded when lifted Follow all regional and national guidelines T...

Страница 54: ...are oriented correctly Robot Control box demonstrator cable robot packaging 6 1 3 Packaging Pose Before packaging the robot requires to move to packaging position The packaging position is defined as...

Страница 55: ...51 Joint Angle J6 0 J5 0 J4 25 J3 155 J2 0 J1 0 6 1 4 Packaging Size The packaging box size provided is as follows Packaging box size 1050 x 550 x 725 mm...

Страница 56: ...ose a location that will not damage the packaging The robot control system requires to storage in the enclosed space 6 2 2 Procedure The procedure illustrates as below 1 Release and unplug the periphe...

Страница 57: ...n and have protective measures against accidental restart Remove the main input cable to ensure complete power down and disconnection of other energy sources Take precautionary measures to prevent the...

Страница 58: ...ystem should be considered a new system which means that all safety audits such as risk assessment must be updated Replace defective parts with new parts of the same part number or with approved equiv...

Страница 59: ...ntenance It is refers to the regular implementation of the relevant maintenance The actual interval depends on the robot s operating period work environment and sports mode In general the shorter the...

Страница 60: ...n both sides and each one is equipped with IP54 filter which is mainly used for heat dissipation inside the control box Fan filter cleaning steps 1 Press the blue snap button on the plastic cover of t...

Страница 61: ...the robot controller Repairs within equipment components should only be carried out by professionally trained personnel Maintenance must be based on the latest service manual Maintenance must be perfo...

Страница 62: ...nts safety requirements 2011 GB 11291 2 Robots and robotic devices Safety requirements for industrial robots 2013 GB T 17799 2 Electromagnetic compatibility Generic standards Immunity for industrial e...

Страница 63: ...59 SIASUN Co Ltd Add NO 257 Jinzang Rd Pudong New District Shanghai China Tel 086 021 50870608 Fax 086 021 63631363 Zip Code 201206 http www siasun com...

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