Intelitek SCORBOT-ER 9 Manuale utente

SCORBOT-ER 9

User Manual

Catalog #100066 Rev. B

SCORBOT-ER 9

Catalog # 100066 Rev. B

March 1996

Every effort has been made to make this book as complete and accurate as possible. However, no

warranty of suitability, purpose, or fitness is made or implied. Intelitek is not liable or responsible

to any person or entity for loss or damage in connection with or stemming from the use of the

software, hardware and/or the information contained in this publication.

Intelitek bears no responsibility for errors that may appear in this publication and retains the right

to make changes to the software, hardware and manual without prior notice.

Safety Warning!

Use the SCORBOT ER-9 with extreme caution.

The SCORBOT ER-9 can be dangerous and can cause severe injury.

Setup up a protective screen or guard rail around the robot to keep people away from its

working range.

INTELITEK INC.

444 East Industrial Park Drive

Manchester NH 03109-537

Tel: (603) 625-8600

Fax: (603) 625-2137

Web site www.intelitek.com

Table of Contents

CHAPTER 1 Unpacking and Handling

Unpacking the Robot . . . . . . . . . . . . . . . . . . . . . 1-1

Handling Instructions . . . . . . . . . . . . . . . . . . . . . 1-2

Acceptance Inspection . . . . . . . . . . . . . . . . . . . . 1-2

Repacking for Shipment . . . . . . . . . . . . . . . . . . . 1-3

CHAPTER 2 Specifications

Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . 2-3

CHAPTER 3 Safety

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

CHAPTER 4 Installation

Preparations . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Controller and Computer/Terminal Setup . . . . . . . . 4-1

Robot Setup . . . . . . . . . . . . . . . . . . . . . . . 4-1

SCORBOT-ER IX Installation . . . . . . . . . . . . . . . . 4-3

Controller Installation . . . . . . . . . . . . . . . . . . 4-3

Robot Installation . . . . . . . . . . . . . . . . . . . . 4-3

Homing the Robot . . . . . . . . . . . . . . . . . . . . 4-4

Gripper Installation . . . . . . . . . . . . . . . . . . . . . . 4-5

Pneumatic Gripper . . . . . . . . . . . . . . . . . . . . 4-5

DC Servo Gripper . . . . . . . . . . . . . . . . . . . . 4-7

Activating the Gripper . . . . . . . . . . . . . . . . . . 4-8

CHAPTER 5 Operating Methods

Software . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

ACL . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

ATS . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

ACLoff-line . . . . . . . . . . . . . . . . . . . . . . . . 5-2

SCORBASE Software . . . . . . . . . . . . . . . . . . 5-2

Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . 5-2

CHAPTER 6 Drive System

Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

DC Motor Structure . . . . . . . . . . . . . . . . . . . 6-3

SCORBOT-ER IX Motors . . . . . . . . . . . . . . . . 6-4

Harmonic Drive Gears . . . . . . . . . . . . . . . . . . . . 6-5

Harmonic Drive Gear Ratios . . . . . . . . . . . . . . . 6-6

Axis Gear Ratios . . . . . . . . . . . . . . . . . . . . . . . 6-7

User’s Manual-v -SCORBOT-ER IX

9603

CHAPTER 7 Position and Limit Devices

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

Encoder Resolution . . . . . . . . . . . . . . . . . . . 7-3

End of Travel (Limit) Switches . . . . . . . . . . . . . . . . 7-4

Hard Stops . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Home Switches . . . . . . . . . . . . . . . . . . . . . . . 7-6

CHAPTER 8 Wiring

Robot (Power) Cable and Connector . . . . . . . . . . . . 8-2

Encoder Cable and Connector . . . . . . . . . . . . . . . . 8-3

CHAPTER 9 Maintenance

Daily Operation . . . . . . . . . . . . . . . . . . . . . . . . 9-1

Periodic Inspection . . . . . . . . . . . . . . . . . . . . . . 9-2

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 9-2

Messages . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6

User’s Manual-vi -SCORBOT-ER IX

9603

CHAPTER 1

Unpacking and Handling

This chapter contains important instructions for unpacking and inspecting the

SCORBOT-ER IX robot arm.

)Read this chapter carefully before you unpack the SCORBOT-ER IX robot and

controller.

Unpacking the Robot

The robot is packed in expanded foam, as shown in Figure 1-1.

To protect the robot during shipment, a metal plate holds the gripper- mounting

flange to the robot base. The plate is fixed to the flange with three bolts and to the

base with two bolts. Use a 3mm hex socket wrench to detach these bolts.

Save these bolts and the plate. You will need them should you repack the robot

for shipment.

Save the original

packing materials and

shipping carton. You

may need them later for

shipment or for storage

of the robot.

Figure 1-1: SCORBOT-ER IX in Packing

User’s Manual 1 - 1 SCORBOT-ER IX

9603

Handling Instructions

The robot arm weighs 38 kilos (83 pounds). Two people are needed to lift or

move it.

Lift and carry the robot arm by grasping its body and/or base. Do not lift or

carry the robot arm by its upper arm or forearm.

Acceptance Inspection

After removing the robot arm from the shipping carton, examine it for signs of

shipping damage. If any damage is evident, do not install or operate the robot.

Notify your freight carrier and begin appropriate claims procedures.

The following items are standard components in the SCORBOT-ER IX package.

Make sure you have received all the items listed on the shipment’s packing list. If

anything is missing, contact your supplier.

Item Description

SCORBOT-ER IX

Robot Arm Includes: Cabling with air hoses; Hardware for mounting robot: 3

M8x60 bolts; 3 M8 washers; 3 M8 nuts.

Gripper: 2 options

Pneumatic Gripper includes: pneumatic solenoid valve;

Hardware for mounting gripper: 6 4Mx8 screws.

Electric DC Servo Gripper with encoder includes: Hardware for

mounting gripper: 4 M4x10 screws.

ACL Controller-B

Includes: Power Cable 100/110/220/240VAC; RS232 Cable;

3 driver cards for 6 axes.

Optional:

Emergency By-Pass Plug (required when TP not connected)

Additional driver cards for control of up to 12 axes;

Auxiliary multiport RS232 board, cable and connectors.

Teach Pendant: optional Includes: mounting fixture; connector adapter plug;

Teach Pendant for Controller-B User’s Manual

Software ATS (Advanced Terminal Software) diskette;

includes ACLoff-line software

SCORBASE Level 5 Software diskette

Documentation

SCORBOT-ER IX User’s Manual

ACL Controller-B User’s Manual

ACL for Controller-B Reference Guide

ATS for Controller-B Reference Guide

ACLoff-line User’s Manual

SCORBASE Level 5 for Controller-B Reference Guide

SCORBOT-ER IX 1 - 2 User’s Manual

9603

Repacking for Shipment

Be sure all parts are back in place before packing the robot.

When repacking the robot for shipping, bolt the flange and base to the metal

plate. Failure to do so may result in irreversible damage to the arm, particularly

to the Harmonic Drive transmissions. Also be sure to secure the cables around the

foam spool.

The robot should be repacked in its original packaging for transport.

If the original carton is not available, wrap the robot in plastic or heavy paper. Put

the wrapped robot in a strong cardboard box at least 15 cm (about 6 inches)

longer in all three dimensions than the robot. Fill the box equally around the unit

with resilient packing material (shredded paper, bubble pack, expanded foam

chunks).

Seal the carton with sealing or strapping tape. Do not use cellophane or

masking tape.

User’s Manual 1 - 3 SCORBOT-ER IX

9603

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SCORBOT-ER IX 1 - 4 User’s Manual

9603

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