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Collaborative Robot User Manual

SIASUN Collaborative

Robot User Manual

(Hardware)

（

V3.0

）

Robot: SCR5

SIASUN Co., Ltd

Содержание SCR5

Страница 1: ...Collaborative Robot User Manual 1 SIASUN Collaborative Robot User Manual Hardware V3 0 Robot SCR5 SIASUN Co Ltd...

Страница 2: ...e owners Attention Your purchase of products services or features etc shall be subject to the commercial contract and terms and conditions of SIASUN Co Ltd All or part of the products services or feat...

Страница 3: ...ON 11 3 1 OVERVIEW 11 3 2 ROBOT 12 3 2 1 Introduction 12 3 2 2 Input panel on base 13 3 2 3 Wrist flange 14 3 3 CONTROL SYSTEM 15 3 4 ROBOT CONTROL BOX 16 3 4 1 Introduction 16 3 4 2 Tool I O introduc...

Страница 4: ...3 5 1 1 Base installation 33 5 1 2 Tools Installation 34 5 1 3 Control box Installation 34 5 2 ELECTRICAL INSTALLATION 35 5 2 1 Introduction 35 5 2 2 Electrical warnings and Cautions 35 5 2 3 Control...

Страница 5: ...r On site maintenance engineer System maintenance engineer Operators must receive basic training before robot s operation 1 2Representation of warnings and notes Warnings and notes in this document ar...

Страница 6: ...usage scenarios cover all models Due to the version upgrade and device model inconsistency the content provided in the manual may be inconsistent with the device used by the user Please take the info...

Страница 7: ...ng and maintaining the equipment must be a trained and trained professional who has proper methods of operation and all safety precautions Only trained and qualified personnel should perform equipment...

Страница 8: ...to the user 2 3Risk Assessment Risk assessment is one of the most important tasks integrators must accomplish The robot itself is a partially completed machine and the safety of the robot installation...

Страница 9: ...error of emergency stop button on different machines 2 4Safe operation 2 4 1 Emergency stop Emergency stop which takes precedence over all other robot control operations will cause all controlled haza...

Страница 10: ...the event of a robot power failure or an emergency that does not require power which can force the robot joints to move in two different ways Manually release the brake Remove the M3 screws that secu...

Страница 11: ...ersion 3 0 2019 01 SIASUN Proprietary and Confidential Information 11 54 3 Product description 3 1Overview The collaborative robot system mainly consists of the following parts Robot Robot control box...

Страница 12: ...ical Horizontal Upside down 3 2Robot 3 2 1 Introduction The SIASUN collaborative robot SCR5 consists of seven modular design joints robot length 1285mm workspace radius 800mm with traction demonstrati...

Страница 13: ...robot Joint module Robot consists of a number of aluminum joint modules with built in drive unit J2 J5 which are connected to each other In line wrist Robot equipped with J6 J7 axis as in line wrist...

Страница 14: ...connecting tools 1 Expansion I O port 1 2 Point recording button a button with a letter S 3 Traction demonstration button a button with a letter T 4 Status indicator LED Status indicator LED color des...

Страница 15: ...ion 3 0 2019 01 SIASUN Proprietary and Confidential Information 15 54 3 3Control system Control system consists of robot control box and demonstrator Control system overview is as following 1 Fan 2 Br...

Страница 16: ...des functions such as external communication and IO for the control system The main controller provides the functions of the algorithm of the robot system motion control and human computer interaction...

Страница 17: ...stem power on feedback emergency stop input emergency stop output and robot automatic running confirmation signal interface I O expansion port I O expansion port refers to common DI and DO ports provi...

Страница 18: ...2 port RJ45 2 port is a port provided on the robot for communication with other host computers Power on button Power on button is an interface provided for external system power on and system power o...

Страница 19: ...ntial Information 19 54 3 5Demonstrator Demonstrator is a hand held programmer for robotic systems that has various operating and display functions required for robot system operation and programming...

Страница 20: ...CP 5kg Degrees of freedom 7 Weight 33 8kg Reach 800mm Repeatbility 0 02mm Joint Range Max Velocity s J7 180 to 180 180 J6 110 to 110 180 J5 180 to 180 180 J4 115 to 115 180 J3 180 to 180 180 J2 105 to...

Страница 21: ...ical data Copyright SIASUN Co Ltd 2019 Document Version 3 0 2019 01 SIASUN Proprietary and Confidential Information 21 54 4 1 2 Work space The work space shape and size are as following Front view Sid...

Страница 22: ...3 0 2019 01 SIASUN Proprietary and Confidential Information 22 54 4 1 3 Robot joint coordinates Robot zero position and joint coordinates are as follows at zero position base 1 joint cable jack is rig...

Страница 23: ...rative Robot User Manual Technical data Copyright SIASUN Co Ltd 2019 Document Version 3 0 2019 01 SIASUN Proprietary and Confidential Information 23 54 4 1 4 Robot positive direction Robot positive di...

Страница 24: ...19 Document Version 3 0 2019 01 SIASUN Proprietary and Confidential Information 24 54 4 1 5 Wrist flange parameters Basic parameters Payload 5 kg EMC Resistance EN 61000 6 2 and EN 61000 6 4 Bolt leve...

Страница 25: ...nd inertial force weight included Front view Top view Figure 4 1 1 Robot base mount and installation Type of force Force moment Vertical force Fv 641 N Horizontal force Fh 347 N Tilting moment Mk 408N...

Страница 26: ...oad and the nominal offset distance of the end flange are shown in the payload curve in Figure 4 2 2 This payload curve corresponds to the maximum load capacity The load capacity varies with the momen...

Страница 27: ...dential Information 27 54 Figure 4 2 2 Load installation reference 4 3Control system technical parameters Basic parameters Color Gray Weight 22kg IP code IP 30 Cooling device Forced air cooling Power...

Страница 28: ...00 600 VGA size 10 4 IP code IP 30 Weight 1300g Cable length Demonstrator cable 3m 5m Robot cable 8m 4 4I O parameters Control Box I O parameters are as follows 8 DI 0V 24V 8 DO 0V 24V Tool I O parame...

Страница 29: ...e lapse travel and time according to DIN EN ISO 10218 1 Stop types Stop category 0 STOP 0 Stop category 1 STOP 1 According to IEC 60204 1 The values specified for Stop 0 are guide values determined by...

Страница 30: ...0 54 4 5 2 Stop time and distance for Axis 1 4 in Stop 0 The following table shows the stop distance and stop time when stop type is set to stop 0 The data applies for the following configurations Sco...

Страница 31: ...019 01 SIASUN Proprietary and Confidential Information 31 54 4 6Nameplates and labels The following nameplates and labels are attached to the robot and control system It is not allowed to remove or un...

Страница 32: ...Collaborative Robot User Manual Technical data Copyright SIASUN Co Ltd 2019 Document Version 3 0 2019 01 SIASUN Proprietary and Confidential Information 32 54 Figure 4 6 Nameplates and labels...

Страница 33: ...n The robot is fixed by four M8 bolts through four 8 5mm screw holes on the base 20N m torque is recommended to be used to fix these bolts If it is necessary to install the robot with high accuracy fi...

Страница 34: ...ol to the robot 9N m torque is recommended to be used to fix these threaded holes Considering the tool accuracy requirement and tool interchangeablity there is a 6 pin hole on the tool flange fixing t...

Страница 35: ...trical Installation 5 2 1 Introduction This section describes all the electrical interfaces of the robot and control box These interfaces are divided into five categories each type of interface has di...

Страница 36: ...t water stained remains dry If water gets in the product cut off the power and contact your supplier Only use the robot s original cable If the robot in applications where the cable needs to be bent f...

Страница 37: ...stop buttons Function expansion port 1 System power on and external expansion The system power on and external function expansion interface is provided by the robot external system power on system po...

Страница 38: ...2 3 System function expansion 1 port definition The relationship between the system power on interface and the system power on input expansion interface is shown in the following figure The two switch...

Страница 39: ...se action and outputs 24V in the emergency stop status feedback output interface I O expansion port I O expansion port refers to common DI and DO ports provided by the control box for external input a...

Страница 40: ...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 The remaining unlabeled numbers are reserved for unused pins If necessary please contact your supplier to provi...

Страница 41: ...1 2 5 Safety input 2 1 6 Safety input 2 1 7 Safety input 2 2 8 Safety input 2 2 9 Safety status feedback output 2 1 10 Safety status feedback output 2 2 11 Safety status feedback output 2 2 12 Safety...

Страница 42: ...erface The interface of the robot is the connection interface between the control box and the robot and the interface is defined as follows Port number Signal 1 EtherCAT Tx 2 EtherCAT Tx 3 EtherCAT Rx...

Страница 43: ...demonstration button a button with a letter T 4 Status indicator LED This connector provides power and control signals for grippers and sensors used on specific robotic tools including I O signals as...

Страница 44: ...ay digital input DI Provide up to 24V voltage input signal 1 way 24V power supply maximum power 15W Tool I O wiring mode is as follows If necessary please contact your supplier to provide IO interface...

Страница 45: ...vertical the transport process to avoid vibration and collision so as to avoid damage to the control system Use appropriate lifting equipment to ensure that your back and other body parts are not exc...

Страница 46: ...Proprietary and Confidential Information 46 54 The robot The control box demonstrator 8m cable Figure 5 3 2 Robot packaging diagram 5 3 3 The Packing Gesture The robot needs to be moved to the packag...

Страница 47: ...ght SIASUN Co Ltd 2019 Document Version 3 0 2019 01 SIASUN Proprietary and Confidential Information 47 54 Joints Angle J7 0 J6 100 J5 0 J4 112 J3 0 J2 103 J1 0 5 3 4 The Shipping Size The dimensions o...

Страница 48: ...r 4 Avoid direct sunlight 5 Avoid air flow 6 Choose a reasonable storage temperature range 7 Choose a location that will not damage the packaging 8 Only store the robot control system in the enclosed...

Страница 49: ...epair operations include Prerequisites for maintenance The robot must be shut down and have protective measures against accidental restart Remove the main input cable to ensure complete power down and...

Страница 50: ...onfidential Information 50 54 Replace defective parts with new parts of the same part number or with approved equivalent parts Reactivate any disabling safety measures immediately after maintenance is...

Страница 51: ...the cable harness X Check plastic parts and pads X X Check the signal light X Regular Refers to the regular implementation of the relevant maintenance the actual interval depends on the robot s operat...

Страница 52: ...ntial Information 52 54 6 3Repair Only trained users should allow for repairs on the robot controller Repairs within equipment components should only be carried out by professionally trained personnel...

Страница 53: ...essment and risk reduction 2012 GB 11291 1 Robots for industrial environments Safety requirements Part 1 Robot 2011 GB 11291 2 Robots for industrial environments Safety requirements Part 1 Robot syste...

Страница 54: ...o Ltd 257 086 021 50870608 086 021 63631363 201206 http www siasun in com Add NO 257 Jinzang Rd Pudong New District Shanghai China Tel 086 021 50870608 Fax 086 021 63631363 Zip Code 201206 http www si...

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