Intelitek SCORA-ER 14Pro Manuale utente

SCORA-ER 14Pro

User Manual

Catalog # 200035 Rev. C

User Manual i SCORA-ER 14Pro

SCORA-ER 14Pro

Catalog # 200035 Rev. C

March 2011 Reprinted/PDF version

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 which may appear in this publication and retains the right

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

INTELITEK INC.

444 East Industrial Park Drive

Manchester NH 03109-537

Tel: (603) 625-8600

Fax: (603) 625-2137

website: www.Intelitek.com

Safety

The SCORA-ER 14Pro is a potentially dangerous machine. Safety during operation is

of the utmost importance. Use extreme caution when working with the robot.

Precautions

The following chapters of this manual provide complete details for proper installation

and operation of the SCORA-ER 14Pro. The list below summarizes the most

important safety measures.

1. Define a safety area as detailed on Figure 3-1.

2. Make sure the robot base is properly and securely bolted in place.

3. Make sure the cable from the body to the base can move freely during all movements

of the robot's base axis.

4. Make sure both the encoder cable and the robot power cable are properly connected to

the controller before it is turned on.

5. Make sure the robot arm has ample space in which to operate freely.

6. Make sure a guardrail or rope has been set up around the SCORA-ER 14Pro operating

area to protect both the operator and bystanders.

7. If the distance between the robot and the Controller is greater than 1.5m, ensure that

an EMERGENCY button is easily accessible, either with an external

EMERGENCY button, or from the Teach Pendant.

8. Do not enter the robot's safety range or touch the robot when the system is in

operation.

9. Press the controller's EMERGENCY button before you enter the robot's operating

area.

10. Turn off the controller's POWER switch before you connect any inputs or outputs to

the controller.0.

To immediately abort all running programs and stop all axes of motion, do one of the

following:

•Press the red EMERGENCY button on the controller.

•Press the EMERGENCY button on the Teach Pendant.

User Manual iii SCORA-ER 14Pro

Warnings

SCORA-ER 14Pro iv User Manual

1. Do not operate the SCORA-ER 14Pro until you have thoroughly studied this User

Manual and the Controller USB-Pro and Scorbase for ER 9Pro/ER 14Pro User

Manuals. Be sure you follow the safety guidelines outlined for both the robot and the

controller.

2. Do not install or operate the SCORA-ER 14Pro under any of the following conditions:

•Where the ambient temperature drops below or exceeds the specified limits.

•Where exposed to large amounts of dust, dirt, salt, iron powder, or similar

substances.

•Where subject to vibrations or shocks.

•Where exposed to direct sunlight.

•Where subject to chemical, oil or water splashes.

•Where corrosive or flammable gas is present.

•Where the power line contains voltage spikes, or near any equipment which

generates large electrical noises.

3. Do not abuse the robot arm:0.

•Do not operate the robot arm if the encoder cable is not connected to the

controller.

•Do not overload the robot arm. The combined weight of the workload and gripper

may not exceed 2kg (4.4 lb). It is recommended that the workload be grasped at its

center of gravity.

•Do not use physical force to move or stop any part of the robot arm.

•Do not drive the robot arm into any object or physical obstacle.

•Do not leave a loaded arm extended for more than a few minutes.

•Do not leave any of the axes under mechanical strain for any length of time.

Especially, do not leave the gripper grasping an object indefinitely.

The robot is dangerous and can cause severe injury. Use with extreme caution.

Set up a protective screen or guardrail around the robot to keep people away from

its working range.

Table of Contents

Safety.............................................................................................................................................iii

Precautions.................................................................................................................................iii

Warnings.................................................................................................................................... iv

1 .......................................................................................................................................................1-1

Unpacking and Handling.............................................................................................................1-1

Unpacking and Handling the Robot ........................................................................................1-1

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

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

2 .......................................................................................................................................................2-1

Specifications...............................................................................................................................2-1

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

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

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

Installation ...................................................................................................................................3-1

Preparations .............................................................................................................................3-1

SCORA-ER 14Pro Installation................................................................................................ 3-2

Peripheral installation..............................................................................................................3-6

Gripper Installation.................................................................................................................. 3-6

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

Operating Methods ...................................................................................................................... 4-1

Software...................................................................................................................................4-1

Teach Pendant..........................................................................................................................4-1

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

Drive System ...............................................................................................................................5-1

Axes 1 and 2 ............................................................................................................................5-2

Axis 3.......................................................................................................................................5-3

Axis 4.......................................................................................................................................5-3

Motors......................................................................................................................................5-4

Harmonic Drive Gear ..............................................................................................................5-7

Pulleys and Timing Belt ..........................................................................................................5-9

Ball Bearing Screw.................................................................................................................. 5-9

Worm Gear ............................................................................................................................5-11

Ball Bearing Spline................................................................................................................5-12

Axis Gear Ratios....................................................................................................................5-12

6 .......................................................................................................................................................6-1

Position and Limit Devices.......................................................................................................... 6-1

Encoders ..................................................................................................................................6-1

End of Travel (Limit) Switches............................................................................................... 6-4

Hard Stops ...............................................................................................................................6-6

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

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

Wiring..........................................................................................................................................7-1

Robot Interface Cable.............................................................................................................. 7-2

8 .......................................................................................................................................................8-1

Maintenance................................................................................................................................. 8-1

User Manual v SCORA-ER 14Pro

SCORA-ER 14Pro vi User Manual

Daily Operation .......................................................................................................................8-1

Periodic Inspection ..................................................................................................................8-1

Troubleshooting.......................................................................................................................8-2

Unpacking and Handling

This chapter contains important instructions for unpacking and inspecting the

SCORA-ER 14Pro robot arm.

Read this chapter carefully before you unpack the SCORA-ER 14Pro robot and

controller.

Unpacking and Handling the Robot

The robot is packed in expanded foam.

Save the original packing materials and shipping carton. You may need them later

for shipment or for storage of the robot.

The robot arm weighs 45 kilos (100 pounds). Two people are needed in order to lift or

move it.

Lift and carry the robot arm by grasping its column and/or base.

Do not lift or carry the robot arm by its horizontal links.

Repacking for Shipment

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

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 15cm (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 Manual 1-1 SCORA-ER 14Pro

SCORA-ER 14Pro 1-2 User Manual

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 SCORA-ER 14Pro package.

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

anything is missing, contact your supplier.

Table 1: SCORA-ER 14Pro Items

Item Description

SCORA-ER 14Pro Robot Arm Includes: Cabling with air hoses;

Hardware for mounting robot: 4 M8x60 bolts;

4 M8 washers; 4 M8 nuts.

Pneumatic Gripper includes:

Pneumatic solenoid valve;

Hardware for mounting gripper: 4 4M4x10 screws.Gripper (Optional): 2 options Electric DC Servo Gripper with encoder includes:

Hardware for mounting gripper: 4 4Mx10 screws.

Controller USB-Pro

Includes:

Power Cable;

USB Cable;

Teach Pedant (TP) By-Pass Plug (required when

TP not connected) (Preinstalled on the Controller);

External Emergency By-Pass Plug (Preinstalled on

the Controller.

Teach Pendant (Optional):

Includes:

Mounting fixture;

Teach Pedant – USB-Pro controller cable;

Teach Pendant for Controller USB and USB-Pro

User Manual

Software Robotic software for Controller USB-Pro

Controller USB-Pro User Manual

Robocell for ER 9Pro/ER 14Pro User Manual

Scorbase for ER 9Pro/ER 14Pro User Manual

Documentation

SCORA-ER 14Pro User Manual

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