Elephant Robotics Catbot Series Manuale utente
Shenzhen Elephant Robotics Technology Co., Ltd.
Elephant Robotics
User Manual
Catbot Series Collaborative Robot
Language: English
Version: CR0919001
Shenzhen Elephant Robotics Technology Co., Ltd.
Copyright Declaration
No unit or individual may extract, compose, translate or reproduce any of the
contents of this manual without the written permission of Shenzhen Elephant
Robotics Technology Co., Ltd. (the rest of the article is referred to as “Elephant
Robotics”), and shall not in any form (including But not limited to information and
publications).
In addition, the product information and related resources mentioned in this
manual are for reference only and the contents are subject to change without
notice.
Except as expressly stated in this manual, nothing in this manual should be
construed as any warranty or guarantee by the Elephant Robotics of personal
loss, damage to property, or fitness for a particular purpose.
All rights reserved!
© Copyright 2017-2019 Shenzhen Elephant Robotics Technology Co., Ltd.
All rights reserved.
Shenzhen Elephant Robotics Technology Co., Ltd.
Catalog
Overview to the manual ...........................................................................................................1
About the manual ............................................................................................................1
Reading objects of the manual ........................................................................................1
How to use.......................................................................................................................1
Main contents of the manual ...........................................................................................1
Before the official reading of the manual .........................................................................2
1 Safety....................................................................................................................................3
1.1 Introduction.................................................................................................................3
1.2 Safety alert symbol description...................................................................................3
1.3 Hazard identification ...................................................................................................4
1.4 Safety Precautions .....................................................................................................6
1.5 Nameplate introduction...............................................................................................8
1.6 Avoid misuse ..............................................................................................................8
1.7 Risk assessment guidance.........................................................................................9
1.8 Robot stop function.....................................................................................................9
1.8.1 Emergency stop ...............................................................................................9
1.8.2 Collision detection ..........................................................................................10
1.9 Urgent handling ........................................................................................................11
2 Product description .............................................................................................................12
2.1 Robot system overview ............................................................................................12
2.2 The robot body .........................................................................................................13
2.2.1 Feature ...........................................................................................................13
2.2.2 Joint introduction ............................................................................................14
2.2.3 Dimensions.....................................................................................................14
2.2.4 Working range ................................................................................................15
2.2.5 Payload ..........................................................................................................16
2.3 The power box..........................................................................................................16
2.3.1 Power box composition ..................................................................................16
2.3.2 Power box function.........................................................................................16
2.3.3 Power box size ...............................................................................................17
2.4 Technical parameter table ........................................................................................17
3 Environment and installation...............................................................................................20
3.1 Transportation and storage ......................................................................................20
3.2 Unpacking inspection ...............................................................................................20
3.3 Working environment and conditions .......................................................................22
3.4 Mechanical connection .............................................................................................23
3.4.1 Installation requirements ................................................................................23
3.4.2 Mechanical connection step ...........................................................................23
3.5 Electrical connections...............................................................................................26
3.5.1 Electrical interface introduction ......................................................................26
3.5.2 Cable connection............................................................................................34
3.6 System startup debugging........................................................................................35
4 Maintenance .......................................................................................................................37
4.1 About the safety of maintenance ..............................................................................37
4.2 Maintenance plan .....................................................................................................38
4.3 People who can be contacted ..................................................................................38
5 Repair .................................................................................................................................40
Shenzhen Elephant Robotics Technology Co., Ltd.
1
Overview to the manual
About the manual
Welcome to use Catbot series collaborative robot and thanks for your
purchase.
This manual describes how to properly install and use the Catbot series
collaborative robot, as well as matters needing attention.
Please read this manual and other related manuals carefully before installing
this robot system. After reading, please keep it in a safe place so that you can
access it at any time.
Reading objects of the manual
This manual is targeted to:
l Installer.
l Debugger.
l Maintenance staff.
Those who perform installation/debug/repair work on the Catbot
series collaborative robot must be trained in Elephant Robotics and
have the mechanical and electrical knowledge required for the above
work.
How to use
This manual should be used when doing the followings:
l Installation work: Move the robot to the working position and fix it to the
base according to the installation instructions, place the other parts in
the proper position and complete the electrical connection.
l Debugging work: Debug the robot to work.
l Maintenance work: Regularly maintain the robot system to ensure its
can function properly; when the robot malfunctions due to
environmental influences or improper operation of the user, or a certain
component of the robot system exceeds the normal service life, etc. The
robot needs to be repaired.
Main contents of the manual
l Precautions for safe use of the robot.
l Mechanical, electrical installation and commissioning of the robot.
l Maintenance and repair of the robot.
Shenzhen Elephant Robotics Technology Co., Ltd.
2
Before the official reading of the manual
Before you officially read the manual, you need to know:
1， About robots
The Catbot series collaborative robot is different from the traditional
industrial robot, which completes the perfect slimming of the robot and realizes
the cabinet integration. It can work safely with workers and independently
complete the processes of loading, unloading, testing, checking and packaging in
industrial manufacturing.
2， About product warranty
During the warranty period of the delivered product, the company only
repairs the faults that occur when the robot is used normally. However, in the
following cases, the customer will be charged for repairs (even during the
warranty period):
1) Damage or malfunction caused by incorrect use of the contents of the
manual and improper use.
2) Failure caused by unauthorized removal by the customer.
3) Damage caused by improper adjustment or unauthorized repair.
4) Damage caused by natural disasters such as earthquakes and floods.
Therefore, please operate the robot in strict accordance with the
instructions in this manual and related manuals.
3， About help
For any questions or suggestions on the contents of the manual, you can
query on the official website of the Elephant Robotics to submit the relevant
information: https://www.elephantrobotics.com.
4， Contact information
1) Full name of company: Shenzhen Elephant Robotics Technology Co.,
Ltd.
2) Address: R208, B7, Yungu Innovative Industrial Park 2, Nanshan,
Shenzhen, China 518057
3) Mail:
l [Business Cooperation] [email protected]
l [Promotional Cooperation] [email protected]
l [Customer Service] [email protected]
l [Technical Support] [email protected]
4) Tel: +86 755 8696 8565
Shenzhen Elephant Robotics Technology Co., Ltd.
3
1 Safety
1.1 Introduction
1， Introduction to this chapter
This chapter details general safety information for those who perform
installation, maintenance, and repair work on the robot. Please read and
understand the contents and precautions of this chapter before handling,
installation and use.
According to ISO 10218, both robot manufacturers, system integrators, and
individual users must perform hazard identification and risk assessment before
using the robot. Conducting a hazard analysis can predict any hazards that may
arise; and for hazards predicted in hazard identification, a risk assessment
should be conducted to maximize personal safety and property safety.
This chapter provides a basic guide to safe use by introducing different
safety alert symbols and precautions.
2， Interpretation of related terms
1) Collaborative operation
A specially designed robot that works directly with people in a defined
workspace.
2) Collaborative workspace
In the safety protection space of the robot work unit, the robot and the
person can complete the task at the same time in the production activity.
1.2 Safety alert symbol description
As shown in Table 1-1, this section describes the safety alert symbols used
in this manual. You can find the corresponding symbols described in this chapter
in other chapters, please note the meanings of these symbols.
Table1- 1 Safety Warning Symbol Table
Danger: Refers to a situation that is about to cause danger.
Failure to avoid this can result in death or serious injury.
Shenzhen Elephant Robotics Technology Co., Ltd.
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Warning: Refers to situations that may cause danger. Failure to
do so can result in personal injury or serious damage to the
equipment.
Caution Electricity: Refers to the use of electricity that may
cause danger. If this situation is not avoided, it may result in
personal injury or serious damage to the equipment.
Prohibited: Refers to things that are not allowed to do.
Attention: Refers to important matters that need attention.
1.3 Hazard identification
The safety of collaborative robots is based on the premise of proper
configuration and use of robots. Also, even if all safety instructions are observed,
injury or damage caused by the operator may still occur. Therefore, it is
important to understand the safety hazards of the use of robots, which is
beneficial to prevent problems.
Tables 1-2~4 belowed are common safety hazards that may exist in the
context of using robots:
Table1- 2 Dangerous safety hazards
1
Personal injury or robot damage caused by incorrect operation during robot
handling.
2
The robot was not fixed as required. For example, if the screw is not
screwed or tightened, and the base is insufficient to stably support the
robot for high-speed movement, etc., the robot may be dumped, etc.,
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resulting in personal injury or damage to the robot.
3
The correct safety function configuration of the robot is not performed, or
the safety protection tools are not installed, which causes the robot to fail
to function safely, thus causing danger.
Table1- 3 Warning level security risks
1
Do not stay within the robot's range of motion when debugging the
program. Unsuitable safety configurations may not avoid collisions that
could cause personal injury.
2
Connecting robots to other equipment can create new risks and require a
full risk assessment.
3
Scratches and stabs caused by sharp surfaces such as other equipment in
the work environment or robot end effectors.
4
The robot is a precise machine, and pedaling may cause damage to the
robot.
5
It is dangerous to hold the clamped object without clamping it in place or
turning off the power and air supply to the robot (not sure if the end
effector is firmly holding the object without falling off due to loss of power).
It is dangerous to hold the clamped object without clamping it in place or
turning off the power and air supply to the robot (not sure if the end
effector is firmly holding the object without falling off due to loss of power).
6
There is a risk that the robot will move unexpectedly. Under no
circumstances should you stand under any axis of the robot!
7
The robot is a precise machine. If it is not placed smoothly during handling,
it may cause vibration and may cause damage to the internal components
of the robot.
8
Compared with ordinary mechanical equipment, robots have more freedom
and more range of motion. A narrow space that does not meet the range of
motion may cause an unexpected collision.
Table1- 4 Potential safety hazards that may result in electric shock
1
Using a non-original cable may pose an unknown hazard.
Shenzhen Elephant Robotics Technology Co., Ltd.
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2
Exposure to liquids with electrical equipment can result in a risk of
electrical leakage.
3
There may be an electric shock hazard when the electrical connection is
incorrect.
4
Be sure to replace it after turning off the power to the controller and
related equipment and unplugging the power cord. If the work is performed
while the power is on, it may cause electric shock or malfunction.
1.4 Safety Precautions
In general, compared with ordinary machinery, robots have the
characteristics of larger working range and faster speed, which is accompanied
by the danger that ordinary machinery does not have. When installing, using, and
maintaining the robot, pay attention to the following items listed in Tables 1-5~6
(the followings are some of the common precautions listed):
Table1- 5 Safety precautions that need to be banned
1
It is forbidden to modify the robot or use non-original accessories.
2
Untrained non-professionals are prohibited from entering the robot work
area at will, pressing any button or doing other operations at will.
3
The relevant personnel shall not maintain, repair or use the robot after
being affected by drinking, taking drugs or stimulating drugs.
Table1- 6 General safety precautions
1
Anyone responsible for installing and maintaining the robot must read and
follow these safety instructions. Only those who are familiar with robots
and trained in robots are allowed to install and maintain the robot.
2
To protect the programmer, the operator, and the bystander, ensure that
the safety measures have been established as defined in the risk
assessment and that the robot safety parameters are properly configured.
3
Production operators should not loosen long hair (long hair must be picked
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up) and wear a work cap, not wearing a variety of jewelry.
4
Operators who work with the robot must be familiar with the content and
exact location of the various warning signs and symbols on the device and
ensure their integrity and clarity. Before turning the device on and off,
make sure that all safety devices and related accessories are working
properly and that no one is in a dangerous location where the device is
activated. When the robot runs abnormally, it should stop immediately and
report in time.
5
The operator must clarify the scope of responsibility for operation,
commissioning, maintenance and repair. The operator is not allowed to
change the operating procedures and teaching at will. No other personnel
may enter the collaborative operation space and the danger zone.
6
During maintenance work, the warning sign must be hung to enter the
collaborative operation space.
7
When the operator is in production, it should be ensured that each starting
device is normal and is not allowed to start at will.
8
When the maintenance and operation personnel perform maintenance on
the equipment, the main power switch must be turned off before
maintenance work can be performed.
9
No objects should be stacked in the robot working area, and no debris
should be stacked in the control box.
10
After the operation is completed, the gas and electricity switches should
be closed according to the process, and the work site should be cleaned
up.
11
It is forbidden to shake the robot hard and hang heavy objects on the
robot.
12
All dangerous behaviors or games are prohibited around the robot.
13
After installing the robot, make sure the robot is fixed on a stable surface
for subsequent operations.
14
It is important to ensure that the robot does not collide with itself or other
objects during exercise.
15
If the robot is damaged, do not continue to use it and contact the relevant
personnel for processing.
16
Please use the robot within the robot's parameter range and service life,
otherwise it may cause serious safety problems.
17
After the emergency stop state is cancelled, the servo power must be
turned on before the servo power supply is turned on again.
18
Please pay attention to the rotating shaft of the robot to prevent the cable
and the air tube from being entangled. Keep a distance from the moving
shaft to prevent hair or clothings from getting entangled.
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