Battenfeld UNIROB R8 Manuale utente
Operating Manual
UNIROB R8 – UNILOG B2
Version R82GBV00 04/03
Read before using the robot and
keep it near the robot for reference purposes.
Robot - Type R8 / B2 6-10-20
Controller type UNILOG B2
Robot No.: 26358
Model: 2003
Battenfeld GmbH
Scherl 10 • D-58527 Meinerzhagen
Tel. ++49 2354/72-0 • Fax ++49 2354/72-234
Battenfeld Kunststoffmaschinen Ges.m.b.H.
Wr.Neustädter Straße 81• A - 2542 Kottingbrunn
Tel. ++43 2252/404-0 • Fax ++43 2252/404-261
www.battenfeld.com
DIN EN ISO 9001
Injection moulding
R82GBD1A.PMD
Index
A:PB2GBI1A.P65
B: PB2DEI1A.P65
E: 180202 / Ruder
G: 190202 / G. Krajnik
Section - IN1
Page - 1
Chapter 1 General information
Chapter 2 Safety
Chapter 3 Technical Data
Chapter 4 Transport - Installation
Chapter 5 Structure and function
Chapter 6 Comissioning
Chapter 7 Maintenance
Chapter 8 Spares / Plans
Chapter 9 Customer service
Chapter 10 Extra chapter for special modules
?
0
A:PB2GBI1A.P65
B: PB2DEI1A.P65
E: 180202 / Ruder
G: 190202 / G. Krajnik
Section - IN1
Page - 2
Index
Table of contents
A: R82GBI2A.PDM
B: R82DEI2A.PDM
E: 080403 / T. Wenger
G: 020403 / TCS
Section - TC
Page 1
1.0 General
1.1 Introduction
1.2 Use
1.3 Symbols
1.4 Copyright
1.5 Confirmation of receipt
1.6 Declaration of Conformity
2.0 Safety
2.1 Safety regulations
2.1.1 General
2.1.2 Installation
2.1.3 Operation and maintenance
2.1.4 Safety - Personnel
2.1.5 Safety regulations –
Pneumatic systems
2.1.6 Safety regulations –
Electrical systems
3.0 Specifications
3.1 Machine description
UNIROB B2 industrial robot
3.1.1 Kinematics
3.1.2 Handling loads
3.1.3 Mechanical interface
3.1.4 Delivery side selection
3.2 Robot axles
3.2.1 Linear axles
3.2.2 Auxiliary axes
3.3 Performance data /
Mechanical interfaces /
Technical features
3.3.1 Linear axes (main axes)
Main axis paths – Axis
lengths
3.3.2 Drives / Repeat accuracy
3.3.3 Maximum speeds of main
and linear axes
3.3.4 Maximum speeds of rotating
and auxiliary axes
3.4 Pneumatic system
3.4.1 Compressed air connection
3.4.2 Creating a vacuum
3.4.3 Pneumatic valves
3.4.4 Pressure monitoring
3.4.5 Central configuration
3.5 Guideways on main axes
3.6 Motors / Gearing
3.6.1 Maintenance-free servo
three-phase a.c. motors for
main linear axes
3.6.2 Planetary gearing for the X
(Z) and Y and Z axis drive
A: R82GBI2A.PDM
B: R82DEI2A.PDM
E: 080403 / T. Wenger
G: 020403 / TCS
Section - TC
Page 2
Table of contents
3.7 Drive elements on main axes
3.7.1 X + Z-axis
3.7.2 Y-axis immersion pipe
3.8 Mechanical interface
3.8.1 Gripper interfaces
3.8.2 Manual gripper quick change
3.9 R8/B2 robot options
3.10 EUROMAP 12
3.10.1 Robot / Injection moulding
machine interface
3.10.2 Injection moulding machine
signals
3.10.3 Handling device signals
4 Transport - Installation
4.1 General
4.1.1 Storage
4.1.2 Unloading
4.1.3 Securing devices
4.1.4 Crane transportation
4.1.5 Transport weight
4.1.6 Injection moulding machine
assembly
4.1.7 Installation layout
4.1.8 External stand
4.1.9 Removing protective
coatings
4.2 Connecting to the power
supply
4.3 Commissioning
4.3.1 Connecting to the power
supply
4.3.2 Harting connector
4.3.3 Lubrication points
4.3.4 Compressed air supply
4.3.5 Activating the main switch
4.3.6 EMERGENCY STOP test
4.3.7 Power ON
5 Assembly and Operation
5.1 Modules
5.2 Pneumatic system
5.2.1 Directional control valves
5.2.2 Vacuum suction nozzle
5.2.3 Cleaner
5.3 Electrical systems
5.3.1 Electric motors
5.3.2 Control cabinet
5.3.3 Terminal box 1
5.3.4 Terminal box 2
?
Table of contents
A: R82GBI2A.PDM
B: R82DEI2A.PDM
E: 080403 / T. Wenger
G: 020403 / TCS
Section - TC
Page 3
5.4 Unirob B2 controller
5.4.1 Manual Control Device
(MCD)
5.4.2 PCS General
5.4.3 CP476 status display
5.4.4 CAN CP476 node number
switch
5.4.5 Digital inputs and outputs
5.5 B2 Control System
Handbook
5.5.1 Manual Control Device
(MCD) – Key functions
5.5.2 Start-up display
5.5.3 Status pages
5.5.4 Teach, Edit, Save, Load,
Delete, Print programs
5.5.5 Creating token programs
5.5.5.1 Token commands: Gripper
(GRP), Robot (ROB),
Injection Moulding Device
(IMD)
5.5.5.2 PCS token commands
5.5.5.3 Token commands for additio-
nal devices
5.5.5.4 Palletising program
5.5.6 Examples of programs
5.5.7 Lock areas
5.5.8 Error messages
6 Operation
6.1 Start-up
6.2 Referencing
6.3 Manual operation
6.4 Single step mode
6.5 Automatic operation
6.6 Stopping the program
6.7 Automatic mode STOP
6.8 EMERGENCY STOP
0
A: R82GBI2A.PDM
B: R82DEI2A.PDM
E: 080403 / T. Wenger
G: 020403 / TCS
Section - TC
Page 4
Table of contents
7 Maintenance
7.1 General
7.2 Transport, Storage and
Waste Disposal
7.2.1 Lubricants
7.2.2 Electrical components
7.3 Electrical systems
7.3.1 Electromechanical limit
switch
7.3.2 Proximity switches
7.3.3 Indicator lights
7.3.4 Control cabinet
7.3.5 Battery change
7.4 Pneumatic system
7.4.1 Compressed air servicing
unit
7.4.2 Pneumatic connections
7.4.3 Pneumatic C-axes
7.4.3.1 Settings C – axis (tilting)
7.4.4 Pneumatic B-axes
7.4.4.1 Settings: B - axis (swivel)
7.4.5 Pneumatic installation
components
7.4.6 Sound absorbers
7.5 Linear axis guideways
7.5.1 X, Y and Z axis greasing
points
7.6 Drive units
7.6.1 Belt
7.6.1.1 Belt tension - X, Y, Z axes
7.6.1.2 X and Z axis belt drive
7.6.1.3 Toothed belt replacement
7.6.1.4 Noise
7.6.2 Gears
7.7 Power guide chains
7.8 Maintenance catalogue
8 Spare parts / Diagrams
9 Customer Services
10 Additional section for
special models
Attention! Attention! Attention! Attention!
Important notes for initial operation!
A factory password is required for robot operation.
It enables the user to switch to Password level 1.
PASSWORD: 2002
Further details of the various password levels can be found in Section 5.5.2
Start-up display.
R82GBPAA.PMD
Questo manuale è adatto per i seguenti modelli
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