NEXCOBOT MiniBot Manuale utente
NEXCOBOT Co., Ltd.
www.nexcobot.com
MiniBot 7-Axis User Manual
Version: 1.0
Date: 2018-10-31
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Copyright Statement and Disclaimer
The contents contained in this document are the proprietary property of
NexCOBOT Inc. (NexCOBOT hereafter) and is subject to the protection of
intellectual property law (including, but not limited to the Copyright Act). The
use of any material in relation to this document without the prior authorization
of NexCOBOT is considered infringement. Without the written approval of
NexCOBOT in advance, this document or any part of it shall not be
photocopied, sold, distributed, modified, published, stored or otherwise used.
To keep this document and its contents correct and complete, NexCOBOT
reserves the right to change or revise the document at any time without further
notification.
Operating machine or equipment has a certain level of danger. It is the
user’s responsibility to pay special attention and have safety protection in
place before operating any machine or equipment. NexCOBOT shall not be
held for any and all direct or indirect damage or loss to the equipment
mentioned in this document due to the use for a purpose other than the
intended.
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Document Version
Version
Release
1.0
First released.
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Table of Contents
Document Version .......................................................................................... iii
Table of Contents............................................................................................iv
1. Introduction...............................................................................................1
Manipulator specifications..............................................................1
Manipulator Outer Dimension and Motion Range ..........................2
Manipulator Load diagram .............................................................4
Cabinet specifications ....................................................................5
Cabinet Outer Dimension...............................................................6
Cabinet Outer interfaces ................................................................7
2. Installation.................................................................................................8
Mounting base ...............................................................................8
The robot consists of the following components: ...........................8
I/O Description ...............................................................................9
Mounting flange ...........................................................................10
The power switch side is show below ..........................................10
3. Operation tool .........................................................................................11
NexGRC.......................................................................................11
Home Menu.......................................................................11
Status ................................................................................12
System function.................................................................15
JOG...................................................................................19
I/O .....................................................................................21
Monitor ..............................................................................22
Configuration.....................................................................24
Setting ...............................................................................31
Shutdown ..........................................................................33
NexGRC.......................................................................................33
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1. Introduction
Manipulator specifications
Degree of freedom
7
Payload
rate : 1 kg
Drive system
Servo motor
Position detection method
Absolute encoder
Joint equipment
J1
Motor
200W
Brake
Yes
J2
Motor
200W
Brake
Yes
J3
Motor
100W
Brake
Yes
J4
Motor
80W
Brake
Yes
J5
Motor
50W
Brake
Yes
J6
Motor
50W
Brake
None
J7
Motor
30W
Brake
None
Motion range
(degree)
J1
334 ﾟ(+167 ﾟ~ -167 ﾟ)
J2
220 ﾟ(+110 ﾟ~ -110 ﾟ)
J3
334 ﾟ(+167 ﾟ~ -167 ﾟ)
J4
210 ﾟ(+105 ﾟ~ -105 ﾟ)
J5
334 ﾟ(+167 ﾟ~ -167 ﾟ)
J6
170 ﾟ(+85 ﾟ~ -85 ﾟ)
J7
360 ﾟ(180 ﾟ~ -180 ﾟ)
Reduction ratio
J1
145.2
J2
120
J3
126.25
J4
106.667
J5
110.528
J6
50
J7
10
Encoder Resolution
J1
17 bit
J2
17 bit
J3
17 bit
J4
17 bit
J5
17 bit
J6
17 bit
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(*1) Cycle time：
The cycle time is the time that the robot moves forward and backward in the
vertical height 25mm and the horizontal distance 300mm with 1 kg load.
Manipulator Outer Dimension and Motion Range
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Manipulator Wrist Moment diagram
This robotic arm is designed with an effective payload of 1 kg. The figure below shows
the location of center of gravity when the 1kg payload and the distance limits and
range of motion for the tip of the arm. The horizontal axis indicates the distance in
X-direction (or Y-direction) parallel to the flange surface at the tip of the arm, whereas
the vertical axis indicates the distance in Z-direction perpendicular to the flange
surface at the tip of the arm, both in mm.
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Attention is also needed that the range of payload for the arm is related to the current
posture of the arm as well as its velocity and acceleration when it moves around. For
overloading during a motion (the driver overload alarm will occur in this case), it can
be dealt with by adjusting the arm’s posture and/or reducing acceleration or
deceleration.
Cabinet specifications
Item
Specification
Axis
7
Motion type
Point To Point
Continuous Path
Drive system
Servo Motor
Protocol
EtherCAT
I/O
Input：16
Output：15
Power Consumption
Input voltage(VAC)
Single phase 220VAC
Max. rated current
10A
Voltage frequency(Hz)
60Hz
Dimension
480W*552D*264H
Weight
32kg
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Cabinet Outer Dimension
The dimensions of the electric control box in mm are shown below:
Indice
Altri manuali NEXCOBOT Palmare
