100082-a PerformerMK2
Contents
1. Figure 4 8 DC Servo Gripper Cable Connection top view 4 8 PERFORMER MK2 User s Manual 9411 Activating the Gripper User s Manual 9411 After you have installed either the electric or pneumatic gripper open and close it in order to verify that it is functioning From the keyboard type open lt Enter gt The gripper opens close lt Enter gt The gripper closes From the teach pendant key in Open Close The Open Close key toggles the gripper between its open and closed states PERFORMER MK2 4 9 PERFORMER MK2 User s Manual 9411 CHAPTER 5 Operation This chapter will introduce you to the basic commands for operating the PERFORMER MK2 robot by means of both the ACL software and the teach pendant Figure 5 1 shows the components of the robotic system and indicates how they interact Teach Pendant Figure 5 1 Robotic System User s Manual PERFORMER MK2 5 1 9411 Robot Operating Software ACL ATS ACL Advanced Control Language is an advanced multi tasking robotic programming language developed by Eshed Robotec ACL is programmed onto a set of EPROMs within Controller B and can be accessed from any standard terminal or PC computer by means of an RS232 communication channel ACL features include the following Direct user control of robotic axes User p2. 1 1 Acceptance Inspection 1 2 Repacking for Shipment 1 3 CHAPTER 2 Specifications Slr ctUre sag Rare eedem a e ee a o 2 2 WorkEnvelope 2 4 3 Safety Precautions 44 yd Bow a Pe E CREE Y Ee Ned 3 1 Wamings er 3 2 CHAPTER 4 Installation Preparations clle 4 1 Controller and Computer Terminal Setup 4 1 RobotSetup ee eee 4 1 PERFORMER Mk2 Installation 4 2 Controller Installation 4 2 Robot Installation len 4 2 Homing the Robot 4 3 5 4 5 Pneumatic 4 5 DC 4 7 Activating the Gripper 4 9 CHAPTER 5 Operation Robot Operating Software 5 2 ACE wt ne eis ee ee ash we tyes a E Et 5 2 Da Machete P T TT 5 2 Teach Pendant 0 0 5 3 Homing the Robot 5 4 Coordinate Systems 5 5 Cartesian XYZ Coordinates 5 5 JOINT Coordinates 5 5 Defining the Coordinate System 5 6 User s Manual PERFORMER MK2 9411 vii Moving the Servo Control 2 ee eee Axis Contr
3. d 2 3 4 5 6 Q Horn oW B Oz Move axis 1 base Move axis 2 shoulder Move axis 3 elbow Move axis 4 wrist pitch Move axis 5 wrist roll Open Close electrical servo gripper axis 6 The axes will move as long as the activating key is depressed until a fixed stop is reached The gripper will either open completely or close completely If peripheral axes are connected the following keys are also used Type 7 8 9 0 U c UO H XYZ Movements Move axis 7 Move axis 8 Move axis 9 Move axis 10 Move axis 11 Move axis 12 In XYZ mode the following changes in manual movement occur Type 1 2 3 4 Q W R TCP moves along X and X axes TCP moves along Y and Y axes TCP moves along Z and Z axes Pitch moves TCP maintains position other movements are the same as in JOINT mode PERFORMER MK2 User s Manual 9411 Setting the Speed When Manual mode is active you can set the speed of manual movement Type s SPEED You are prompted for a speed value a percentage of the maximum speed Type a number between 1 100 and press Enter When Manual mode is not active the ACL commands SPEED and SPEEDL are used to define the speed at which joint movements and linear movements are executed For example speed 50 Sets speed of joint movements of Group axes to 5096 of maximum speed speedb 20 Sets s
4. 19 P480144 A photosensor switch 1 20 P375291 1 axis 4 forearm cover 1 21 P480049 1 pulley 1 22 P480050 1 pulley 1 23 B132MXL6 4 timing belt 1 24 P480030 1 motor bracket 1 25 P170749 1 forearm casing 1 26 P480025 1 gear case 1 27 P480097 A photosensor switch 3 28 626ZZ bearing 1 29 P480026 1 stopper 1 30 480028 1 bearing cover 1 31 P480088 A servo motor 1 32 P480020 1 gear case 1 33 480021 1 1 PERFORMER MK2 User s Manual 9411 Axis 4 Axis 5 Forearm and Wrist User s Manual 9411 Item Catalog No Description Qty 34 K1A0087 harmonic drive 1 35 480016 1 holding plate 1 36 P480018 1 gear case 1 37 P480012 1 crossroller bearing 1 38 P480017 1 sensor bracket 1 39 P480015 1 output flange 1 40 3X 16 spring pin 1 PERFORMER MK2 Replacement Parts PERFORMER Mk2 Replacement Parts Part Name Catalog No Part Location Qty P480084 A Base 1 P480085 A Shoulder 1 DC Servo Motor P480086 A Elbow 1 480087 Wrist Pitch 1 P480088 A Wrist Roll 1 DP8453368 Base 4 DP8453368 Shoulder 4 Motor Brush DP8453368 Elbow 4 DP8453640 Wrist Pitch 4 DP8453640 Wrist Roll 4 K1A0066 Base 1 K1A0065 Shoulder 1 Harmonic Drive K1A0086 Elbow 1 K1A0088 Wrist Pitch 1 K1A0087 Wrist Roll 1 Timing Belt B116XL6 4 Elbow 1
5. 29 479931 4 key 1 30 P480034 1 shaft 1 31 P479931 1 key 1 32 P479931 3 key 1 33 479931 1 1 PERFORMER MK2 7 6 Axis 2 Axis 3 and Upper Arm Item Catalog No Description Qty 34 60977 bearing 1 35 P479807 1 end plate 1 36 K1A0086 harmonic drive 1 37 P480093 1 flexspline holder 1 38 479883 1 crossroller bearing 1 39 P479900 2 limit switch bracket 1 40 P480037 1 bracket 1 41 P480096 A photosensor switch 3 42 P375318 1 output flange 1 43 P480039 1 axis 3 cover 1 44 480056 1 stopper 1 45 P480052 1 plate 1 PERFORMER MK2 User s Manual 9411 Axis 4 Axis 5 Forearm and Wrist Assembly Figure 7 3 Axis 4 Axis 5 Forearm and Wrist Assembly User s Manual PERFORMER MK2 7 7 9411 Axis 4 Axis 5 Forearm and Wrist Item Catalog No Description Qty 1 K1A0088 harmonic drive 1 2 P480029 1 shaft 1 3 P480027 1 sensor bracket 1 4 6900ZZ bearing 1 5 P480092 1 bearing housing 1 6 480013 1 crossroller bearing 1 7 P480091 1 output flange 1 8 P480051 1 plate 1 9 P375168 1 wrist casing 1 10 P480022 1 axis 5 wrist cover 1 11 P480090 1 cable joint 1 12 P480087 A servo motor 1 13 M 5AU 4 air joint 2 14 M 5E air inlet fittings 2 15 GM 9F female connector 1 16 GMM 25JV bolt 2 17 M 5HL 4 air hose elbow 2 18 P375294 1 axis 4 motor cover 1
6. B132MXK6 4 Wrist Pitch 1 V Ring V 8A Elbow 1 V 14A Base Shoulder 2 P480094 A Base limits home 1 set P480095 A Shoulder limit home 1 set Photosensor Switch P480096 A Elbow limit home 1 set P480097 A Wrist pitch limit home 1 set P480144 A Wrist roll limit home 1 Magnetic Brake P480145 A Elbow 1 RB84 240296 Base 1 RB98 240297 Shoulder 1 Crossroller Bearing RB74 240295 Elbow 1 RB55 340150 Wrist Pitch 1 32 340149 Wrist Roll 1 Intermediate PC Board 280 nae H320499 Shoulder 1 PERFORMER MK2 User s Manual 9411 PERFORMER Mk2 Replacement Parts Part Name Catalog No Part Location Qty Fuse 8A SB 4A SB Servo Driver Card 2A SB 0 1A SB 1 25A SB 0 6A SB 4A 2 5A 0 4A SB Controller Power Supply Unit e fe amp fuses are located in the controller For more information on fuses and other controller components refer to the Controller B User s Manual User s Manual 9411 PERFORMER MK2 7 11
7. Errors in the repeatability of the robot Try to identify the faulty axis If many or all axes are faulty look for an electrical noise source in your environment Check the controller s ground and the robot s ground connection to the safety ground terminal at the back of the controller Check the encoder Bring the robot to a starting position Using a pencil draw a fine continuous line on the robot which crosses from the cover of one link to the cover of the adjacent link at the joint in question Enter the command SHOW ENCO to display the encoder readings Enter the command COFF to disable servo control and then physically move the axis to another position Then return to the starting position marked by the line you drew Check the encoder reading for the axis again It should be within 5 counts of the previous reading if not the encoder needs to be replaced User s Manual PERFORMER MK2 6 5 9411 Unusual noise Loose screws Poor lubrication Ratcheting Worn motor brushes Worn timing belt Damaged harmonic drive Unusual smell A motor has burnt out and needs to be replaced Axis axes vibrating too weak to carry load motion not smooth or jerks during or at end of motion System parameters are not properly adjusted Refer to the ACL Reference Guide Problem in axis driver card s in the controller Refer to the Controller B User s Manual Pneumatic gripper does not respond Check that all air hoses a
8. For electrical servo gripper only or axis 6 Close OPEN CLOSE Pneumatic gripper is activated by output commands sol HERE Records current position of axes in JOINT coordinates and others May require preceding DEFP command M MOVE Sends axes to a recorded position and others Erases entry which has been typed or keyed in but not yet lt backspace gt Entered TP Selects the active axis group A robot B peripheral or C independent axis ACL Command formats determine the controlled axis or axis group lt Enter gt Accepts and activates command entry RUN Executes a program A lt Enter gt lt Ctrl gt A Aborts all currently running programs and stops movement of all axes PERFORMER MK2 User s Manual 9411 CHAPTER 6 Maintenance The maintenance and inspection procedures recommended below will ensure the best possible performance of the robot over an extended period Daily Operation At the start of each working session check the robot and controller in the following order 1 Before you power on the system check the following items The installation meets all safety standards cables are properly and securely connected Cable connector screws are fastened The gripper is properly connected The air supply for a pneumatic gripper is functioning properly Any peripheral devices or accesssories which will be used such as the teach pendant or a remote emergency
9. User s Manual PERFORMER MK2 3 1 9411 Warnings 1 Do not operate the PERFORMER MK2 until you have thoroughly studied both this User s Manual and the Controller B User s Manual Be sure you follow the safety guidelines outlined for both the robot and the controller 2 Do not install or operate the PERFORMER MK2 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 Do not overload the robot arm The combined weight of the workload and gripper may not exceed 2kg 4 4 Ib 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 CHAPTER 4 Installation Preparations Before you make any cable connections set up the system components according to the following Preparation instructions Controller and Computer Terminal Setup Place the controller and computer at a safe distance from the robot well outside the
10. button are properly connected to the controller 2 After you have powered on the system check the following items No unusual noises are heard No unusual vibrations are observed in any of the robot axes There are no obstacles in the robot s working range 3 Bring the robot to a position near home and activate the Home procedure Check the following items Robot movement is normal No unusual noise is heard when robot arm moves Robot reaches home position in every axis User s Manual PERFORMER MK2 6 1 9411 Periodic Inspection 6 2 The following inspections should be performed regularly Check robot mounting bolts for looseness using a wrench Retighten as needed Check all visible bolts and screws for looseness using a wrench and screwdriver Retighten as needed Check cables Replace if any damage is evident The following robot components may require replacing after prolonged use of the robotic arm causes them to wear or fail DC Servo Motors Motor Brushes Timing Belts V Rings Harmonic Drives Cross Roller Bearings PERFORMER MK2 User s Manual 9411 Troubleshooting User s Manual 9411 Whenever you encounter a problem with your system try to pinpoint its source by exchanging the suspected faulty component for example robot controller teach pendant cable with one from a functioning system In general when trying to determine the source of a malfunction first check the power source and ex
11. number at the top of the card the lower LED and fuse correspond to the axis number at the bottom of the card Both LEDs on each card in use should be lit indicating that power is being PERFORMER MK2 6 3 supplied to the axis driver If one of the LEDs is not lit remove the fuse for the corresponding axis and examine it To remove the fuse press it in and rotate counter clockwise Robot does not find Home position in one or all of the axes Make sure the homing command was properly issued Make sure all robot and encoder cables are properly connected If the robot has just undergone maintenance or repair use the command ZSET Then issue the home command Make sure system homing parameters have not been erased Make sure system homing parameters are properly set Refer to the ACL Reference Guide Check whether the optical home switch for this axis is functioning Manually move the faulty axis from teach pendant or keyboard and check the value of system variable HS n where n is the index of the axis The value of HS will change to either 1 or 0 defined by parameter 560 axis when the home switch is detected To help you perform this test prepare and continuously run a simple ACL program as follows LABEL 1 PRINTLN HS n DELAY 20 GOTO 1 If the value of HS does not change possible causes Faulty arm circuitry Faulty optical switch optical switch not properly mounted Faulty driver circuitry P
12. the ground nut and washer from the Safety Ground stud Place the ground wire terminal onto the stud then replace and tighten the washer and nut Plug the the D37 connector into the Robot Encoders port Tighten the retaining screws on the connector Plug the 19 pin round connector into the Robot Power port AIR HOSES for pneumatic gripper only eee oe ee ee e e e a e a o 0 e 9 o Figure 4 1 Robot Controller Cable Connections PERFORMER MK2 User s Manual 9411 Homing the Robot User s Manual 9411 After you have completed the robot installation including the ATS procedure for controller configuration execute the robot s Home routine as described below The robot should be homed before the gripper is mounted in order to verify the orientation of the flange when the robot is at home Before you begin the homing procedure make sure the robot has ample space in which to move freely and extend its arm Turn on the controller power and motor switches Turn on the computer From the ATS diskette or directory type go lt Enter gt Or term acl Enter If the controller is connected to computer port COMO type go c2 Enter term acl c2 Enter When the ATS main screen and prompt appear on the monitor you may proceed Give the command to home the robot You may do so from either they keyboa
13. 1 4 key 1 23 P480084 A servo motor 1 24 GM 25JV screw 2 25 GM 37BMDA4 male connector 1 26 GMM 25JV screw 2 27 GM 9M male connector 1 28 UTG016 19S connector 1 29 P480048 1 connector panel 1 30 KJE04 00 air inlet fittings 2 31 H320500 PC board 1 32 P170746 1 base casing 1 33 P479893 1 axis 1 bottom cover 1 PERFORMER MK2 Axis 2 Axis 3 and Upper Arm Assembly Figure 7 2 Axis 2 Axis 3 and Upper Arm Assembly 7 4 PERFORMER MK2 User s Manual 9411 Axis 2 Axis 3 and Upper Arm User s Manual 9411 Item Catalog No Description Qty 1 P375317 2 axis 2 outer cover 1 2 P480099 1 axis 2 inner cover 1 3 P170748 1 upper arm casing 1 4 P479889 3 output flange 1 5 P479885 1 crossroller bearing 1 6 P480044 1 sensor bracket 1 7 480042 1 collar 1 8 V 14A V ring 1 9 479931 4 key 1 10 P480085 A servo motor 1 11 P479903 1 holding plate 1 12 P479807 1 end plate 1 13 608ZZ bearing 1 14 480041 1 motor bracket 1 15 P480040 1 axis 3 motor cover 1 16 P480043 1 stopper 2 17 K1A0065 harmonic drive 1 18 P480095 A photosensor switch 3 19 P375 166 1 bracket 1 20 P479984 1 pulley 1 21 B116XL6 4 timing belt 1 22 P479920 1 pulley 1 23 P375292 1 upper arm axis 3 cover 1 24 P480033 1 brake cover 1 25 P480145 A magnetic brake 1 26 P480032 1 bracket 1 27 P480035 1 bearing cover 1 28 P480086 A servo motor 1
14. C providing the positions are defined by numerical names PERFORMER MK2 User s Manual 9411 Summary of Commands Quick Reference The tables below summarize the basic commands and functions which were described in this chapter Note Bolded keys are available only in ACL s Manual mode Teach ACL ACTION ACTION Pendant XYZ Mode JOINT Mode X J Toggles between JOINT and XYZ mode X Base All some axes move in order to Moves BASE axis 1 X 1 0 move TCP along X axis counterclockwise and clockwise Base gt Y shda 2 All some axes move in order to Moves SHOULDER axis 2 up m ie move TCP along Y axis and down Shoulder Y 2 ir All some axes move in order to Moves ELBOW axis 3 7 3 E move TCP along Z axis up and down Elbow v A Pitch Shoulder elbow and pitch axes 4 move causing the pitch angle to Moves wrist PITCH axis 4 up F change while maintaining the and down position of the TCP v Moves wrist ROLL axis 5 5 T clockwise and counterclockwise as seen from above when flange pointed down User s Manual 9411 PERFORMER MK2 ACL Function Pendant m HOME Executes the robot homing routine C E Enables and disables servo control of axes CON COFF x n Sets speed of axes as a percentage of maximum speed pen 6 Y
15. Gri the controller Activate ATS OS neumatic Gripper Press lt Ctrl gt F1 to activate the controller configuration procedure or press lt Ctrl gt F4 to immediately call up the Extended Definition menu In the Extended Definition menu define the relay output which will drive the pneumatic gripper Also define the output state 0 or 1 for a closed gripper and the time required to complete execution of an open close command For more complete instructions refer to the configuration procedures in the ATS software documentation Home the robot Using four M5x10 socket screws and a 4mm Allen key hex wrench attach the gripper adapter plate to the flange at the end of the robot arm as shown in Figure 4 3 FLANGE ADAPTER Using four M4x10 socket screws and a 3mm Allen key attach the gripper to the adapter plate CA Connect the two hoses from the gripper to the nipples on the robot s forearm refer to Figure 4 8 Figure 4 3 Attaching Gripper Adapter Plate to Flange PERFORMER MK2 4 5 7 Refer to Figure 4 4 Connect the two transparent 1 4 O D hoses from the robot cable to the CYL ports on the pneumatic valve Connect 5 bar 90 PSI air supply to the IN port on the valve 8 Refer to Figure 4 5 Connect the valve to the controller s User Power Supply as follows Connect one wire to a ground terminal Connect the other wire to the normall
16. PERFORMER MK2 User s Manual This publication is valid for use with ACL version 2 27 and ATS version 1 82 Catalog 100082 ESLEI MmOlsoT cc WARNING PERFORMER MK2 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 Copyright 1994 1999 by Eshed Robotec 1982 Limited Catalog 100082 Rev A November 1994 May 1999 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 Eshed Robotec 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 Eshed Robotec 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 ACL is a trademark of Eshed Robotec 1982 Ltd Read this manual thoroughly before attempting to install or operate the robot If you have any problems during installation or operation call your agent for assistance Save the original carton and all packing material You may need them later for shipment Table of Contents CHAPTER 1 Unpacking and Handling Unpacking the Robot 1 1 Handling
17. aterial shredded paper bubble pack expanded foam chunks Seal the carton with sealing or strapping tape Do not use cellophane or masking tape PERFORMER MK2 1 3 User s Manual 9411 CHAPTER 2 Specifications The following table gives the specifications of the PERFORMER MK2 robot arm Robot Arm Specifications Mechanical Structure Vertical articulated Number of Axes 5 plus gripper Axis Movement Axis Range Effective Speed Axis 1 Base rotation 305 150 sec Axis 2 Shoulder rotation 185 90 sec Axis 3 Elbow rotation 235 140 sec Axis 4 Wrist pitch 225 180 sec Axis 5 Wrist roll 250 sec Maximum Operating Radius 700 mm 27 45 at flange Pneumatic Gripper End Effector Electrical DC servo Gripper Maximum Opening 75mm 3 Hard Home Fixed position on all axes Feedback Incremental optical encoders with index pulse Actuators DC servo motors Transmission Harmonic drive Maximum Payload 2 kg 4 4 Ib including gripper Position Repeatability 0 05mm 0 002 Weight 27 7 kilo 61 Ibs Ambient Operating Temperature 2 40 C 36 104 F User s Manual PERFORMER MK2 2 1 Structure The PERFORMER M K2 is a vertical articulated robot with five revolute joints With gripper attached the robot has six degrees of freedom This design permits the end effector to be positioned and oriented arbitrarily w
18. c C3 10 Enter Records position C3 for axis 10 Recording Positions Type Type The HERE command records the position in joint coordinates of the actual location of the axes Remember to activate Manual mode before starting motion and to exit Manual mode when the motion is completed Move the robot to any position and record its coordinates here 31 Enter defines and records robot position 31 Move the robot to another position and record its coordinates here 32 Enter If you attempt to record a alphanumerically named position which has not been defined for example HERE C4 the system will display an error message If you attempt to record coordinates using a previously used position name for example HERE 31 the new coordinates for the position will overwrite the existing coordinates Moving to Recorded Positions Type Type Use the ACL command MOVE to send the robot to a position move 31 Enter The robot moves at the current speed setting move 32 1000 Enter The MOVE command may contain a duration parameter which is defined in hundredths of a second Thus in this example the robot moves to position 32 in 10 seconds If the duration parameter is not specified the axes move according to a duration calculated from the current speed setting You can use the PC to move to positions recorded by the TP Alternately you can use the TP to move to positions recorded by means of the P
19. coordinate system Moving the Axes Servo Control Key in Key in again The controller must be in the servo control CON state for the robot to execute movement commands Activating the Home routine will abort all other programs and activate CON Certain events such as impact overheating thermic error or activation of the EMERGENCY switch will automatically switch off the servo control state COFF CON must be activated to resume motion and servo control To toggle servo control on and off Control On Off CONTROL ENABLED Control On Off CONTROL DISABLED When Control On Off is activated from the teach pendant the CONTROL ENABLED DISABLED messages also appear on the computer screen PERFORMER MK2 User s Manual 9411 Axis Control Group By default the controller assumes the five robot axes Group A are under servo control The Group Select key allows you to switch control to peripheral axes Group B or to an independent axis C To select the axis control group Key in Group Select B JOINTS Key in again Group Select AXIS When selecting an independent AXIS you must also key in the axis number followed by Enter Continue pressing this key until the desired axis group is displayed XYZ and JOINT Movements When the coordinate system is set to the XYZ mode movement commands cause linear motion of the tool center point TCP along the X Y and Z axes while keeping the tool
20. h define the trajectory UPPER LIMIT AXIS n During keyboard or TP manual movement of the specified axis its encoder attained its maximum allowed value Move the axis in the opposite direction User s Manual PERFORMER MK2 6 9 9411 PERFORMER MK2 User s Manual 9411 User s Manual 9411 CHAPTER F Components This chapter contains exploded views and component lists of the PERFORMER MK2 At the end of this chapter you will find a table of replacement parts for the robot PERFORMER MK2 7 1 Axis 1 and Shoulder Assembly SS ea NN RS V SR Figure 7 1 Axis 1 and Shoulder Assembly 7 2 PERFORMER MK2 User s Manual 9411 Axis 1 and Shoulder User s Manual 9411 Item Catalog No Description Qty 1 P375169 A axis 1 top cover 1 2 NC 410 collar 4 3 H320499 PC board 1 4 NP 400 bush 4 5 P480098 1 collar 1 6 P480046 1 axis 2 motor cover 1 7 170747 1 shoulder casing 1 8 P479892 1 bracket 2 9 P479891 1 axis 1 cover 2 10 P480055 1 fittings washer 1 11 480111 1 output flange 1 12 P480109 1 crossroller bearing 1 13 P480110 1 sensor bracket 1 14 P480054 1 flexspline holder 1 15 K1A0066 harmonic drive 1 16 P479807 1 end plate 1 17 P480113 1 stopper 1 18 P480042 1 collar 1 19 14 1 20 480094 photosensor switch 3 21 P375165 1 bracket 1 22 P47993
21. imultaneously record a position s identifying number and its coordinates To record a position use the movement keys to bring the robot to any position First be sure the Group Select mode is set to A For example Record Position 1 2 Enter This records the JOINT coordinates of position 12 Move the robot to another position and record it as position 13 The Record Position key records the position of the currently active axis group A B or an independent axis in JOINT coordinates If you want to define the location of both the robot and the peripheral axes you must record two positions one for each group PERFORMER MK2 User s Manual 9411 Moving to Recorded Position Key in User s Manual 9411 Once a position has been recorded you can easily send the robot or other devices connected to the controller to that position Depending on the currently active coordinate system the movement of the robot Group A will be either point to point in JOINT mode or along a linear curve in XYZ mode Assuming the robot is at position 13 send the robot back to position 12 Go Position 1 2 Enter DONE The command Go Position 0 sends all the axes of group A to their home position If you accidently record another position as 0 execute the Home program At the completion of the homing routine the system records the proper home positions as 0 PERFORMER MK2 5 9 ACL Commands The previous section described the teach pe
22. iskette Restore PARAMETERS and RESTORE from disk 5 Make sure ATS s Working Directory is the directory or drive in which the GRPMK file is located Press lt 1 gt 1 to activate the controller configuration procedure or press lt Ctrl gt F4 to immediately call up the Extended Definition menu In the Extended Definition menu select Gripper Type Servo followed by F10 4 the robot 5 Using four M5x10 socket screws a 4mm Allen key hex wrench attach the gripper adapter plate to the flange at the end of the robot arm as shown in Figure 4 3 6 Using four M4x10 socket screws and a 3mm Allen key attach the gripper to the adapter plate as shown in Figure 4 7 7 Gently connect the gripper cable to the D9 connector on the robot arm as indicated in Figure 4 8 Make sure the gripper cable is positioned as shown in Figure 4 8 8 Carefully execute the robot HOME command Stay close to the teach pendant or controller If the gripper cable becomes entangled or excessively stretched during the homing abort the procedure immediately User s Manual PERFORMER MK2 4 7 9411 9 The gripper has a rotation of 270 Do not attempt to move the gripper beyond this limit 10 At the end of each work session before turning off the controller or before homing the robot make sure the gripper s position is as shown in Figure 4 8
23. ithin a large work space Figures 2 1 and 2 2 identify the joints and links of the mechanical arm Each joint is driven by a permanent magnet DC motor via a harmonic drive gear transmission The movements of the joints are described in the following table Axis No Joint Name Motion Motor No 1 Base Waist Rotates the body 1 Shoulder Raises and lowers the upper arm Elbow Raises and lowers the forearm 2 2 3 3 4 Wrist Pitch Raises and lowers the end effector 4 5 Wrist Roll Rotates the end effector 5 AXIS 2 SHOULDER AXIS 4 PITCH AXIS 3 ELBOW Figure 2 1 Joints Top View E gt LA FOREARM k FOREARM FLANGE User s Manual 9411 Figure 2 2 Links Side View PERFORMER MK2 2 3 Work Envelope The length of the links and the degree of rotation of the joints determine the robot s work envelope Figure 2 3 shows the dimensions and reach of the PERFORMER MK2 while Figure 2 4 gives a top view of the robot s work envelope The base of the robot is normally fixed to a stationary work
24. ndant commands for homing the robot selecting coordinate systems and axis control groups moving the robot at different speeds and recording positions This section presents the equivalent ACL commands Homing the Robot and Peripheral Axes Type Type Type Type or The Home routine must be executed at the beginning of each working session Otherwise the controller will not execute the commands for recording positions and moving to recorded positions To home the robot axes Group A home lt Enter gt WAIT HOMING If all axes reach their Home postion a message is displayed HOMING COMPLETE ROBOT If the HOME process is not completed an error message identifying the failure is displayed HOME FAILURE AXIS 4 If the home switch is found but not the encoder s index pulse the following message is displayed INDEX PULSE NOT FOUND AXIS 2 To home peripheral axes each axis must be homed individually for example home 7 Enter home 9 Enter home 11 Enter home 12 Enter To home an axis such as a slidebase which uses a hard stop rather than a microswitch the HHOME command is used hhome 8 Enter To stop the homing while the operation is in progress use the Abort commands A Enter lt Ctr1l gt A PERFORMER MK2 User s Manual 9411 Manual Mode If a teach pendant is not available you can use your te
25. neumatic Gripper includes Pneumatic solenoid valve Hardware for mounting gripper flange adapter 6 screws Electrical DC Servo Gripper with encoder includes Hardware for mounting gripper flange adapter 4 screws Controller B Includes Power Cable 100 110 220 240VAC RS232 Cable 4 driver cards for 8 axes Optional 3 driver cards for 6 axes Optional Additional driver cards for control of up to 12 axes Auxiliary multiport RS232 board cable and connectors Teach Pendant optional ATS Advanced Terminal Software 2 diskettes one is write protected PERFORMER MK User s Manual Documentation Controller B User s Manual ACL and ATS Reference Guide with update for Controller B 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 anchor 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 m
26. npacking the Robot The robot is packed in expanded foam To protect the robot during shipment the gripper mounting flange and the robot base are bolted to a metal anchor plate Use a hex socket wrench to detach these bolts Save these bolts and the anchor 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 Handling Instructions The robot arm weighs 27 7 kilos 61 Ibs 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 Axis 2 and axis 3 have braking mechanisms Do not forcibly move these axes doing so will damage these axes User s Manual PERFORMER MK2 1 1 9411 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 PERFORMER MK2 Notify your freight carrier and begin appropriate claims procedures The following items are standard components in the PERFORMER MK2 package Make sure you have received all the items listed on the shipment s packing list If anything is missing contact your supplier Description PERFORMER MK2 Robot Arm Includes Cabling with air hoses Hardware for mounting robot 4 sets of bolt washer nut Gripper optional 2 options P
27. oder attained its minimum allowed value Move the axis in the opposite direction Motor power switch is OFF Be sure the controller s MOTORS switch is on Activate CON Then repeat the motor or movement command No hard homing axis n The specified axis has not been configured for hard homing Use the HOME command instead of HHOME OR Check the type of homing suitable for that axis If necessary change the system parameters to allow hard homing of the axis No homing The homing parameters for the axis PAR 460 axis and PAR 600 are set to 0 as a result the homing procedure will not be performed on the axis OUT OF RANGE axis n An attempt was made to record a position HERE HEREC etc while the robot arm was out of its working envelope Manually move the arm to a location within its working envelope Then repeat the command THERMIC OVERLOAD axis n Through a software simulation of motor temperature the system has detected a dangerous condition for that motor The system aborted all movements of that axis group and disabled all axes of that group The user routine CRASH 1f it exists has been executed Possible causes PERFORMER MK2 User s Manual 9411 1 The arm attempted to reach a position which could not be reached due to an obstacle for example a position defined as being above a table but actually slightly below the table s surface The impact protection is not activated because the obstacle i
28. ol Group XYZ and JOINT Movements Setting the Speed Recording Positions Moving to Recorded Position ACL Commands Homing the Robot and Peripheral Axes Manual Mode Coordinate Moving the Axes 0 0 Servo Control 2 dice eun od we dope Rn JOINT Movements lr XYZ Setting the Speed Recording Positions Defining Positions Recording Positions Moving to Recorded Positions Summary of Commands Quick Reference CHAPTER 6 Maintenance Daily Periodic lt Troubleshooting eee CHAPTER 7 Components Axis 1 and Shoulder Assembly Axis 2 Axis and Upper Arm Assembly Axis 4 Axis 5 Forearm and Wrist Assembly viii PERFORMER MK2 User s Manual 9411 CHAPTER 1 Unpacking and Handling This chapter contains important instructions for unpacking and inspecting the PERFORMER M K2 robot arm Read this chapter carefully before you unpack the PERFORMER MK2 robot and controller U
29. origin the center bottom of its base along three linear axes as illustrated in y 4 PITCH Figure 5 3 To complete the position NS definition the pitch and AM roll are specified in angular units ROLL When robot motion is executed in XYZ mode all or some of the axes move in order to move the TCP along an X Y and or Z axis Point of Origin Figure 5 3 Cartesian Coordinates JOINT Coordinates Joint coordinates specify the location of each axis in encoder pulses When the axes move the optical encoders generate a series of alternating high and low electrical signals The number of pulses generated is proportional to the amount of axis motion The controller counts the pulses and determines how far an axis has moved Similarly a robot movement or position can be defined as a specific number of counts for each axis relative to the home position or another coordinate When robot motion is executed in JOINT mode individual axes move according to the command If any peripheral devices are connected to the robotic system the position of their axes is always stated in encoder counts User s Manual PERFORMER MK2 5 5 9411 Defining the Coordinate System Key in Key in again To toggle between the two coordinate systems XYZ Joints A JOINTS XYZ Joints A XYZ The display reflects the currently active coordinate system Manual movement of the axes will be executed according to the currently active
30. peed of joint movements of peripheral axes Group B to 2096 of maximum speed speedl 20 Sets speed of linear circular robot movements to 20 mm sec For more complete information refer to the ACL update for Controller B Recording Positions Be sure you have homed the axes before you attempt to record positions or send the axes to recorded positions Defining Positions Two types of position names are possible Numerical names such as 3 22 101 of up to five digits Robot group A positions with this type of name do not need to be defined before they are recorded the position recording commands automatically define and record robot positions with numerical names Alphanumeric names such as P POSIO A2 The name may be a combination of up to five characters and should begin with a letter Before you can record coordinates for an alphanumerically named position the position must first be defined that is assigned a name To define robot positions you must first exit Manual mode Use the ACL command DEFP to define a position For example Type defp A1 Enter User s Manual PERFORMER MK2 5 13 9411 When a position is defined it is assigned to a specific axis control group By default it is assigned to Group A the robot axes To define a position for Group B or an independent axis a parameter must be added to the command for example defpb B24 lt Enter gt Record position B24 for Group B defp
31. rd or the teach pendant as described below During the homing procedure the robot joints move and search for their home positions in the following sequence shoulder elbow pitch roll base From the keyboard type home Enter The monitor will display WAIT HOMING If home is found a message is displayed HOMING COMPLETE ROBOT If the homing procedure is not completed an error message identifying the failure is displayed For example HOME FAILURE AXIS 3 If the home switch is found but not the encoder s index pulse the following message is displayed INDEX PULSE NOT FOUND AXIS 2 PERFORMER MK2 4 3 From the teach pendant key in the command to execute the homing program Run 0 Enter The display panel on the teach pendant will show HOMING A JOINTS When the Home search is successfully completed the display panel will show HOMING COMPLETE A JOINTS PERFORMER MK2 User s Manual 9411 Gripper Installation The robot must be homed before you mount the gripper Pneumatic Gripper User s Manual 9411 The pneumatic gripper shown in Figure 4 2 is controlled by 5 2 solenoid pneumatic valve which is activated by one of the controller s relay outputs The valve may be 12VDC or 24VDC and can draw its power from the controller s User Power Supply Turn on the computer and Figure 4 2 Pneumatic
32. re connected properly Make sure the gripper is connected to the proper controller output Check the relay output to which the gripper is connected Check whether the relays have been switched LED is lit In output OFF NC is shorted to COM NO is disconnected from COM In output ON NO is shorted to COM NC is disconnected from COM If outputs have not been switched check the flat cable in the controller connecting the main board J17 and the I O card 6 6 PERFORMER MK2 User s Manual 9411 User s Manual 9411 Messages Following is a alphabetical listing of system messages which indicate a problem or error in the operation of the robot arm Refer to the ACL Reference Guide for additional error messages Axis disabled 1 A movement command could not be executed because servo control of the arm has been disabled COFF 2 A previous movement of the arm resulted in an Impact or Trajectory error thereby activating COFF and disabling the arm Check the movements of the robot and correct the command s CONTROL DISABLED Motors have been disconnected from servo control Possible causes 1 COFF control off command was issued 2 CON control on has not been issued the motors have not been activated 3 A previous error such as Impact Protection Thermic Overload or Trajectory Error activated COFF thereby disabling the arm HOME FAILURE AXIS n The homing procedure failed for the specified axis Possible ca
33. rminal computer keyboard to control the robot s movements To enable robot movement by means of the keyboard you must first activate Manual mode Type Alt m MANUAL MODE gt JOINTS MOD The system s response indicates the currently active or XYZ MODE coordinate system To exit Manual mode the same command is used Type lt Alt gt m EXIT MANUAL MODI gt GI Coordinate Systems When Manual mode is active you can set the coordinate system To activate the JOINT coordinate system Type 3 JOINT MODE To activate the XYZ coordinate system Type X XYZ MODE Moving the Axes Servo Control When Manual mode is active you can switch servo control on and off Type c CONTROL ENABLED Or f CONTROL DISABLED The commands C and F enable and disable control of all axes which are connected to the controller User s Manual PERFORMER MK2 5 11 9411 If Manual mode is not active you can use the ACL commands CON and COFF for more specific activation of the axes For example coff coffb cona con 10 JOINT Movements Disables control of all connected axes Disables control of peripheral axes Group B Enables control of robot axes Group A Enables control of axis 10 To directly control movement of the robot axes Manual mode must first be activated The following keys can then be used to move the robot Type
34. roblem in controller power supply unit 5V1 One of the axes does not function Check the driver card LED for this axis at the back of the controller If the LED is not lit check the corresponding fuse Check the motor drive circuitry Check the encoder Enter the command SHOW ENCO to display the encoder readings Enter the command COFF to disable servo control and then physically move the axis in question in both directions 6 4 PERFORMER MK2 User s Manual 9411 The encoder reading should rise for rotation in one direction and fall for rotation in the opposite direction If this does not occur there is a problem in the encoder or its circuitry If the encoder readings do not change check whether the encoder connector is properly connected to the rear controller panel The problem may be caused by faulty encoder connectors on the robot s internal PCB s Motors suddenly stop No message on screen No response to keyboard entries Check the power source Make sure the MOTORS power switch is on make sure the Emergency button is not depressed Turn off the controller and open up the cover Turn on the controller Check the yellow watchdog LED on the main board If it is lit it indicates that that one of the following fuses on the power supply unit has blown out 12VA 12VA 12VDR 12VDR Turn off the controller and diisconnect it from the power source Check each of these four fuses Replace the blown fuse
35. robot s safety range Make sure the setup complies with the guidelines defined in the Controller B User s Manual Robot Setup 1 Set up PERFORMER MK on a sturdy surface with at least one meter of free space all around the robot 2 Fasten the base of the robot to the work surface with four sets of M8 bolt washer and nut Make sure the robot is securely bolted in place Otherwise the robot could become unbalanced and topple over while in motion 3 Setup a guardrail or rope around the PERFORMER MK2 operating area to User s Manual 9411 protect both the operator and bystanders PERFORMER MK2 4 1 PERFORMER MK Installation Controller Installation Be sure the controller and computer are properly installed before you install the robot Perform the installation procedures detailed in the following sections of Chapter 2 Installation in the Controller B User s Manual Computer Terminal Controller Installation Power On Controller Configuration After you have installed the computer terminal and controller and verified that the system is functioning you may proceed with the robot installation Robot Installation ty Before you begin make sure the controller POWER switch is turned off The robot cable has a number of connectors Connect them to the controller according to following three steps Refer to Figure 4 1 Connect the green yellow wire to the Safety Ground Unscrew and remove
36. rogramming of robotic system Input output data control Simultaneous and synchronized program execution full multi tasking support Simple file management The ACL Reference Guide provides detailed descriptions and examples of the ACL commands ATS Advanced Terminal Software is the user interface to the ACL controller ATS is supplied on diskette and operates on any PC host computer The software is a terminal emulator which enables access to ACL from a PC computer ATS features include the following Short form controller configuration Definition of peripheral devices Short cut keys for command entry Backup manager Print manager More information on ATS can be found in the ACL Reference Guide and its update for Controller B PERFORMER MK2 User s Manual 9411 Teach Pendant The teach pendant TP shown in Figure 5 2 is a hand held terminal used for controlling the PERFORMER MKz2 robot and peripheral equipment The teach pendant is most practical for moving the axes recording positions sending the axes to recorded positions and activating programs Other functions can also be executed from the teach pendant Make sure the teach pendant is connected to the controller before you power the system The teach pendant s display panel is a 2 line 32 character liquid crystal display LCD It shows the current status of the controller the current user command and keys are multi functional for e
37. s close to the target position However integral feedback will increase the motor current and the motor will overheat subsequently causing the Thermic Protection to be activated 2 An axis driver is faulty or its fuse has blown 3 The robot arm is near to the target position but does not succeed in reaching it due to a driver fault The software will then detect an abnormal situation 4 The Thermic Protection parameters are improperly set or have been corrupted by improper loading of parameters Check the positions the axis driver card and parameters Reenable servo control of the motors CON TOO LARGE SPEED axis n Possible causes 1 The controller has detected a movement which is too fast that is the required displacement of the encoder as calculated from the speed limit parameter PAR 180 axis is too great 2 Since the trajectory is not calculated prior to a linear or circular movement the linear or circular movement may cause one of the joints to move too fast Lower the value of speed for that movement TRAJECTORY ERROR During movement the robot arm reached its envelope limits and the system aborted the movement This may occur when executing the following types of movements linear MOVEL circular MOVEC MOVES and SPLINE Since the trajectory is not computed prior to motion the movement may exceed the limits of the working envelope Modify the coordinate values of the positions whic
38. s pitch and roll angles constant in relation to the robot s point of origin When in XYZ mode the controller recognizes the XYZ pitch and roll functions of the teach pendant keys When in JOINT mode the controller recognizes the joint functions shaded in diagram of the teach pendant keys When the coordinate system is set to the JOINT mode the robot responds to movement commands by moving from one defined point to another Peripheral axes always move according to JOINT coordinates User s Manual PERFORMER MK2 5 7 9411 Setting the Speed Key in The speed of the robot during Go Position movements controlled from the teach pendant is defined as a percentage of maximum speed Speed defined as 100 gives the robot maximum speed while a speed of 1 is the minimum When the system is first turned on the default speed is set at 50 approximately half the robot s maximum speed The speed of the robot during manual movements controlled from the teach pendant is relative to the speed setting and much slower than Go Position movements Use the teach pendant to set the robot s speed to a speed of 30 for example Speed 3 0 Enter All Go Position movement commands will be executed at a speed of 30 until a different speed is entered Recording Positions Key in Be sure you have homed the axes before you attempt to record positions or send the axes to recorded positions The teach pendant allows you to s
39. surface It may however be attached to a slidebase resulting in an extended working range Figure 2 4 Operating Range Top View CHAPTER 3 Safety The PERFORMER MK2 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 PERFORMER MK2 The list below summarizes the most important safety measures 1 sure the robot base is properly and securely bolted in place 2 sure the robot arm has ample space in which to operate freely 3 Make sure a guardrail or rope has been set up around the PERFORMER MK2 operating area to protect both the operator and bystanders 4 Do not enter the robot s safety range or touch the robot when the system is in operation 5 Press the controllers EMERGENCY switch before you enter the robot s operating area 6 Turn off the controller s POWER switch before you connect any inputs or outputs to the controller 7 sure you know how to immediately abort running pograms and movements immediately abort all running programs and stop all axes of motion press the Abort key on the teach pendant or use the ACL command A lt Enter gt or press the controller s red EMERGENCY button
40. t that point the axis is at home When the homing is completed the robot assumes a position in which the upper arm and forearm are nearly vertical and the pitch is nearly horizontal Before you begin the homing procedure make sure the robot has ample space in which to move freely and extend its arm Run 0 Enter This instructs the controller to execute Program 0 the robot homing routine The display panel on the teach pendant will show HOMING When the Home search is successfully completed the display panel will show HOMING COMPLETE If the robot is unable to find a home position in one or more of the axes you will see a message such as To stop the homing while the operation is in progress press the Abort key The Home routine must be executed at the beginning of each working session Otherwise the controller will not execute the commands for recording positions and moving to recorded positions The peripheral axes must be homed by means of the ACL commands HOME and HHOME as described later in this chapter PERFORMER MK2 User s Manual 9411 Coordinate Systems The PERFORMER M K2 can be operated and programmed in two different coordinate systems JOINTS and Cartesian XYZ coordinates Cartesian XYZ Coordinates The Cartesian or XYZ coordinate system is a geometric system used to specify the position of the robot s TCP tool center point by defining its distance in linear units from the point of
41. ternal hardware such as controller switches LEDs and cable connections Then check fuses you may also open the controller to check components according to the procedures and instructions detailed in the Controller B User s Manual In addition make sure the controller is properly configured for the robot and gripper the software commands have been correctly issued and system parameters are properly set All troubleshooting procedures described in the section can be performed by the user If you are unable to determine and or correct the problem contact your service representative Only qualified technicians should remove and or replace robot components Controller s MOTORS switch does not turn on the green LED does not light Make sure the Emergency button is released Turn off the controller disconnect it from the power source and open the cover Check the 0 5A SB fuse marked FAN POWER RELAYS Controller functioning but the robot cannot be activated Make sure an obstacle is not blocking the robot Make sure the controller s MOTORS switch is on and the green LED is lit Make sure the controller is in the control off COFF state Then activate the control on CON state from PC or TP Make sure all robot and encoder cables are properly connected Check driver card fuses Each driver card has a pair of LEDs and a pair of fuses accessible from controller back panel The upper LED and fuse correspond to the axis
42. uses 1 The home microswitch was not found 2 The motor power supply is switched off 3 Hardware fault on this axis Home on group axis not done You attempted to move the arm to a recorded positions or to record a position before homing was performed on the group or axis IMPACT PROTECTION axis n The controller has detected a position error which is too large The system aborted all movements of that axis group and disabled all axes of that group The user routine CRASH if it exists has been executed Possible causes 1 An obstacle prevented the movement of the arm 2 An axis driver fuse has blown 3 The motor power switch is turned off 4 An encoder fault 5 A mechanical fault 6 The axis is not connected Determine and correct the cause of the position error Then reenable servo control of the motors CON and restart the program PERFORMER MK2 6 7 INDEX pulse not found axis The index pulse of the encoder was not found during the homing of the specified axis Possible causes 1 The distance between the index pulse and the home switch transition position has changed due to a mechanical fault on the axis or a maintenance procedure such as replacement of the motor motor belt encoder or gear Enter the command ZSET Then retry homing 2 Index pulse faulty Check the encoder and wiring LOWER LIMIT AXIS During keyboard or TP manual movement of the specified axis its enc
43. xample some keys include both a JOINTS The teach pendant s keypad has an axis drive command and a f peed On Off Abort numeric function The controller Y 30 color coded keys Most of the recognizes the keys from the 2 A order in which they are pressed Base Jo 1 Pitch X Y Pitch Base gt Shoulder v 1 3 4 5 Axis 7 H Axis 9 d f Axis 1010 Axis 1114 6 7 8 9 0 Axis 7 H 58 H f Axis 9 C1 f Axis 101 1 Axis 11 41 Open Record Go Close Position Position Group Enter Select Figure 5 2 Teach Pendant Layout User s Manual PERFORMER MK2 5 3 9411 Homing the Robot Key in The location of the robot axes is monitored by encoders which track the amount of movement relative to an initial position To obtain repeatable robot performance this initial position home must be identical each time the robot is used Thus whenever the system is activated the homing program which is internally programmed into the controller must be executed During the homing procedure the robot joints move and search for their home positions one at a time in the following sequence shoulder axis 2 pitch axis 4 elbow axis 3 roll axis 5 base axis 1 To find its home position the axis is moved until the optical detector which is mounted on the joint sends a specific signal to the controller The axis motor continues to rotate until its encoder produces an index pulse A
44. y open NO terminal of the relay output which you specified in the Extended Definition 7 Connect 12VDC or 24VDC in accordance with your valve s specification to the common C terminal of the same relay output as shown in Figure 4 5 8 Attach the valve to the controller or any other metalic surface by means of the valve s magnetic base 4 6 PERFORMER MK2 WIRES TO CONTROLLER m FROM SUPPLY yid WES so wn Figure 4 4 Pneumatic Solenoid Valve AIR HOSES TO ROBOT USER POWER SUPPLY RELAY OUTPUTS 49696099 000 0 to Solenoid Valve Figure 4 5 Valve Controller Connections User s Manual 9411 DC Servo Gripper The DC servo gripper shown in Figure 4 6 is controlled in the same manner as the robot s five servo axes The default controller configuration reserves axis 6 for a servo gripper however the proper parameters for the gripper must be loaded 1 Before you install the DC servo gripper make sure the ACL EPROMs in your Controller B are Version 2 26 or later Upgrade EPROMs if necessary Figure 4 6 DC Servo Gripper 2 Turn on the computer and the controller Activate ATS 3 Load the gripper parameters in either one of the following ways Insert the diskette provided with the gripper into your computer disk drive Press lt Shift gt F10 to activate the Backup Manager Use the following options to load the parameter file GRPMK2 from the d
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