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R17 Robot Manual

page

01.04.2017

Welcome!

to the R17 robot arm

R17 DEUCALEON ROBOT SYSTEM

User Manual

We hope you enjoy your experience.

Any problems at all just contact us.

[email protected]

+1 609 584 7522

+44 1223 420 288

Содержание DEUCALEON R17HS

Страница 1: ...ual page 1 01 04 2017 Welcome to the R17 robot arm R17 DEUCALEON ROBOT SYSTEM User Manual We hope you enjoy your experience Any problems at all just contact us support strobotics com 1 609 584 7522 44...

Страница 2: ...e 1 Sensor and encoder cable 25 way each end M F 1 Cable D type 25 way male to 9 way female K11R to PC RS232 1 Power cable to K11R 1 Pack of CONNECTORS 1 output connector 1 input connector 1 Disk with...

Страница 3: ...r may be both reading sensors and signals from and controlling associated equipment it follows that all decisions about robot activity are usually made by the controller which is capable of running wi...

Страница 4: ...ure the robot is in the valid position for calibration including taking into account any complex end effector fitted 5 DON T back drive the 6th axis damage can result 6 DO have your hand poised over t...

Страница 5: ...ts work closely with human workers interlocks should be provided For example if the user has access to the workspace then he she should be required to press a switch or keyboard key after clearing the...

Страница 6: ...n external stop circuit Even if there is no external stop circuit the jackplug must be plugged in at the rear of the controller The plug has a shorting link which is removed when connecting an externa...

Страница 7: ...installation by the customer It is operated by a drive module in the controller It is controlled from output port PA bits 0 and 1 Only use the commands GRIP and UNGRIP The software switches the motor...

Страница 8: ...hen skip step 5 5 If you are not told what the COM number is you will need to find out Go to control panel system hardware device manager ports You will see USB serial port note the port COM number 6...

Страница 9: ...CPU has Flash ROM and static RAM on the same PCB Cold warm start selection is a front panel key switch The memory image is in flash ROM which is loaded to RAM when you power up or press reset When po...

Страница 10: ...m the rear of the controller from right to left Power connector has 2 fuses These should be 6 5A anti surge for 110v power and 3 5A ant surge for 220 240 power 12v unregulated DC fuse This should be 3...

Страница 11: ...ORTH and ROBOFORTH COMMANDS ARE IN UPPER CASE With power off first visually set the robot up approximately in the HOME position This is with the robot vertical For a 5 axis R17 the hand or gripper wil...

Страница 12: ...he hand sensors The left most 3 digits should stay 1s For example if you move the shoulder backward to its sensor you will see 11111101 If you then move the elbow forwards to its sensor you will see 1...

Страница 13: ...rable to achieve precision and the teach speed is requested after you enter TEACH At this stage just hit the return key for the default value After entering TEACH you are now in TEACH mode To move the...

Страница 14: ...n the calibrate routines of 5 and 6 axis versions In the 5 axis version all axes calibrate at once but in the 6 axis version they calibrate one at a time to prevent collision of the 6th axis gripper w...

Страница 15: ...R17 Robot Manual page 15...

Страница 16: ...factory but should it require further adjustment proceed as follows Disconnect the air supply so you can move the gripper jaws by hand 1 Type PP to display the input port You should see 11111111 2 As...

Страница 17: ...ready been set at the factory but should it require further adjustment proceed as follows 1 type GRIP remember that this consumes a great deal of air and you may need to UNGRIP then allow the compress...

Страница 18: ...gulator to control the sensitivity Therefore there is another airline emerging from the forearm as well as an electrical cable and connector The device is held rigid by air pressure but in the event o...

Страница 19: ...ramming whether entered in immediate mode or using ROBWIN will be lost After you see the herald and the words cold start enter ROBOFORTH Warm start mode If power goes off on or the reset button is pre...

Страница 20: ...length 200 2 Save as R17Cnnn SIG where nnn is the serial number of the robot The actual filename will be R17Cnnn SIG ram It s best to use a different filename and preserve the original file If you cor...

Страница 21: ...otors at high speeds The R17 hand is driven by two motors If both run together then the hand will pitch but if motor 5 only runs then the hand will roll Gear ratios WARNING there should be no reason t...

Страница 22: ...entation you prefer as in fig3 Try to keep within the first 90 degrees of the datum position If necessary remove and refit the end effector as in fig4 so it is within 90 degrees of your desired positi...

Страница 23: ...ese are powered at full rated current Although the HPL is rated at 5Kg care should be taken to avoid collisions that can raise anything up to 200N force For the R17HSW version because of the higher HT...

Страница 24: ...the spirit level on the forearm and use J3 to make it level 11 Place the spirit level on the hand flange and use J4 to make it vertical 12 Place the spirit level on the gripper or tool and use J5 to...

Страница 25: ...o the track see track pin out and wiring from the cable chain to the robot remain as above apart from 22 25 R17HS high speed version 1 2 motor 1 signals 3 4 motor 1 signals waist 5 6 motor 2 signals 7...

Страница 26: ...R ON FOREARM Sensor Motor 12v supply brown H Phase A1 B goes to 25Df 22 0v return blue G A2 C goes to 25Df 23 Signal black J goes to PB 5 B1 D goes to 25Df 24 B2 E goes to 25Df 25 Electric gripper A g...

Страница 27: ...his is best dealt with by email to support strobotics com but you can call if it s urgent Email replies are clearer about what to type When requesting support if possible quote the serial number of th...

Страница 28: ...ease refer to the section SAFETY IS YOUR RESPONSIBILITY on page 5 of this manual Name and Status of the Assessor Date Activity being assessed Known or expected hazards associated with the activity The...

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