ER4U Robot User`s Manual
Contents
1. 283 23 27 a S E STANDARD COMPONENT XXX I ESHED ROBOTEC MANUFACTURED COMPONENT Figure 22 Anti Backlash Assembly 31 SCORBOT ER 4u 0109 7 A s 9007 AD NS VAN 25 VES II IN DD x oD a a S gt STANDARD COMPONENT ESHED ROBOTEC MANUFACTURED COMPONENT Doe DOED d amp Figure 23 Base and Motors Assembly 32 User Manual SCORBOT ER 4u 0109 CHAPTER 8 Wiring Robot Wiring The robot is connected to the controller by means of a cable which runs from the robot base to the D50 connector marked ROBOT on the rear panel of the controller The leads from the five motors on the robot body and their encoders are connected directly to the D50 connector on the robot cable The leads from the gripper motor and the microswitches on the arm reach the D50 connector via a square 12 pin Molex connector in the base of the robot these leads are particularly flexible and resistant to breakage even after extensive movement of the robot arm e oe ee ee ooo oe oe oo eo e e e e The following table details the wiring for the various electrical components in the SCORBOT ER du robot Figure 24 indicates two wires on same pin Robot D50 Connector SCORBOT ER 4u W2. Check the encoder To display encoder readings select ViewlEncoders Enter the command Control Off to disable servo control and then physically move the axis in question in both directions The encoder reading should rise for rotation in one direction and fall for rotation in the opposite direction If the encoder readings do not change the problem is caused by a faulty encoder a break in the encoder wiring or a faulty connection on a PCB within the robot SCORBOT ER 4u 18 User Manual 0109 5 Errors in the accuracy of the robot Controller does not read the encoder or fails to show changes in encoder readings Qualified Technician Only Using an oscilloscope check the signals Po and P1 received from the encoder s two phototransistors Figure 15 shows the wave diagrams which emanate from the two channels of the encoder Pg and P with respect to the time axis The top two signals should be clean square waves VL low value should be 0 4V or less VH high value should exceed 4 V In addition check the third wave which shows the sum of the two waves The diagram reflects a time shift of a quarter cycle between the two waves If the waves are distorted with an incorrect shift between them the encoder is faulty and should be adjusted or replaced 6 Errors in the repeatability of the robot Qualified Technician Only VL1 VL2 Figure 15 Encoder Signals Try to identify the faulty
3. Download provided by eLABZ com the information source for CNC Robotics Microcontroller and other electronics projects http elabz com SCORBOT ER du User Manual Catalog 100343 Rev B intelitek Copyright 2001 Intelitek Inc September 2001 Catalog 100343 Rev B 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 and manual without prior notice Read this manual thoroughly before attempting to install or operate the equipment If you have any problems during installation or operation call your agent for assistance website www intelitek com email info intelitek com Table of Contents CHAPTER General Information About SCORBOT ER4u 2 KEKE SS kn ran 1 Acceptance Inspection 2 2 222r 2 Repacking for Shipment EE KK KK 3 Handling Instructions arr kr vr ee ra 3 CHAPTER 2 Specifications 4 SIUCIUIG OO Ek NE ER NE EE FAK 5 Work Envelope 2 va va akkar ranks 6 Motors 5 25525 Le ML de AA Mak kr Ge EE ER A 7 ze EE SN
4. Figure 17 Tightening Belts in Upper Arm Figure 18 Tightening Belts in Robot Base User Manual 21 SCORBOT ER 4u 0109 Adjusting Base Anti Backlash Qualified Technician Only Refer to the exploded views of the robot in Figures 22 and 23 1 Refer to Figure 19 Remove the shoulder cover Remove the top three screws on each side of the shoulder cover Loosen or remove the bottom screw on each side 2 Refer to Figure 23 Remove the base lock nut S286 3 Refer to Figure 22 Remove the two socket head cap screws S19 and detach the base motor from the base plate 12 ia SHE Figure 19 Shoulder Check the set screw S151 that holds the spur gear S25 to Cover Screws the base motor gear S309 If it is loose tighten it Reattach the base motor to the base plate 4 Refer to Figure 22 The anti backlash unit has four gears Two gears 22 and 27 are on top of one other with a spring 23 fitted in between Stretch the anti backlash spring in the base transmission Make sure the robot is bolted in place Remove the outermost gear 20 The gear 22 is now free Note the small unused hole on the base plate near the gears 22 and 27 It will enable you to lock the gear 22 in the next step To prevent the gear 22 from moving during the following steps lock the gear by inserting a short pin through this hole and into a groove in this gear Make sure the pin does not touch the gear 27 and t
5. axes 7 and 8 which operate peripheral devices These additional motors are connected to the controller by means of D9 connector ports on the front of the controller The following table details the wiring for a motor encoder and optional microswitch when connected to the controller Refer to Figures 25 and 26 Function iussa dara 0 D9 von Motor Power 1 Motor Power 9 Encoder Phototransistor Po 3 8 Encoder Phototransistor P1 4 6 Encoder LED voltage VLED 2 3 Encoder Ground GND 1 5 Shield Microswitch Signal MS Microswitch GND 5 Figure 25 Motor Wiring Figure 26 Motor with D9 Connector User Manual 35 SCORBOT ER 4u 0109
6. Peak Torque stall 70 W Power for Peak Torque Motors 1 2 3 127 1 1 Gear Ratios Motors 4 5 65 5 1 Motor 6 gripper 19 5 1 Transmission Gears timing belts lead screw Maximum Payload 1 kg 2 2 Ib including gripper Position Repeatability 0 18 mm 0 007 at TCP tip of gripper Weight 10 8 kg 23 8 Ib Maximum Path Velocity 600 mm sec 23 6 sec Ambient Operating Temperature 2 40 C 36 104 F User Manual 0109 Structure The SCORBOT ER du 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 within a large work space Figures 3 and 4 identify the joints and links of the mechanical arm The movements of the joints are described in the following table Axis No Joint Name Motion Motor No 1 Base Rotates the body 1 2 Shoulder Raises and lowers the upper arm 2 3 Elbow Raises and lowers the forearm 3 4 Wrist Pitch Raises and lowers the end effector gripper 4 5 5 Wrist Roll Rotates the end effector gripper 4 5 Figure 2 3 Robot Arm Links Figure 2 4 Robot Arm Joints User Manual 5 SCORBOT ER 4u 0109 Work Envelope The length of the links and the degree of rotation of the joints determine the robot s work envelope Figures 5 and 6 show the di
7. backlash in the base axis Qualified Technician Only Refer to the section Adjustments and Repairs later in this chapter 9 Unusual noise Qualified Technician Only Loose screws Poor lubrication Worn motor brushes Worn timing belt SCORBOT ER 4u 20 User Manual 0109 Adjustments and Repairs IS These procedures are to be performed only by a qualified technician who has received proper training and certification from the manufacturer Adjusting the Timing Belts Qualified Technician Only When you check the tension of robot arm belts as indicated in Figure 8 1 at the beginning of this chapter the slack should be no greater than 2mm 0 08 Tighten the belts only if you are absolutely certain they are slipping or retarding the motors Figure 16 shows how to tighten the belts in the forearm which move the wrist axes pitch and roll Loosen the two screws 1 which hold the tension shaft Press down on the shaft and retighten the screws Figure 17 shows how to tighten the belts in the upper arm which move the wrist axes 2 and the belt which moves the elbow axis 3 Figure 18 shows how to tighten the two belts in the robot base which move the wrist axes First loosen the screw 5 and then loosen either one or both screws 4 Then to tighten the belts simultaneously pull the appropriate motor and retighten screw s 4 Finally retighten screw 5 Figure 16 Tightening Belts in Forearm
8. le A ob Ee ie OR 7 Microswitches ls 8 Transmissions ce mmi EUER ea Qira wee er el al ra 8 Gripper e ald uis iod eo e s EG s m be ea to dib aer s 9 CHAPTER 3 Safety 10 dee xe dob gogo Xo ode ds OR Reed ET 4 10 Warnlngs oos op EUR k HETT Satt sak sed ed 11 CHAPTER 4 Installation 12 CHAPTER 5 Operating Methods 14 SCORBASE Software aaa nr nn eee 14 Teach Pendant A 2 WA ADA vakrere ee d 14 CHAPTER 6 Maintenance 15 Maintenance lt ua XW kel ka llle 15 Daily Operation kK KEK K K K K KEK K K K K KK 15 Periodic Inspection canr ea xa al kn bu k ln a w ara rk 16 Troubleshooting kK vrak rv kr rn ka 17 Adjustments and Repairs llle 21 Adjusting the Timing Belts cll 21 Adjusting Base Anti Backlash 22 Tightening the Oldham Coupling in Gripper 23 Gripper Disassembly 222004 23 Gripper Reassembly KI K K K K K K K K K K 23 CHAPTER 7 Parts Lists 24 CHAPTER 8 Wiring 33 Robot Wiririg i c eG Meg d Ah ek aat 33 Single Axis Wiring ee 35 SCORBOT ER 4u v User Manual 0109 CHAPTER 1 General Information This chapter contains instructions for unpacking and handling the SCORBOT ER 4u robot About SCORBOT ER 4u The SCORBOT ER 4u was designed and developed to emulate an industrial robot The open structure of the robot arm allows students to observe and learn
9. screw 10 32 x 5 8 Washer Socket head cap screw 10 32 x 11 2 Ball bearing motor 1 gear Socket head cap screw 1 4 20 x 1 Anti backlash spur gear base Socket head cap screw 1 4 20 x 5 8 Spur gear base motor Socket head cap screw 10 32 x 3 4 x 1 4 shoulder Spur gear motors 2 3 Motor support motor 2 Motor support motor 3 Motor support motors 4 5 Timing belt pulley motors 4 5 Rear cross bar not used in ER 4u Main shoulder shaft Timing belt pulley Timing belt pulley 25 SCORBOT ER 4u Dwg ft 49 52 53 55 56 57 58 60 61 63 64 67 70 S 70 72 74 76 TI S81 82 S 82 84 86 87 S 87 88 91 S91 94 96 97 98 99 100 101 102 103 105 107 108 109 112 113 S115 SCORBOT ER 4u Cat 4 111905 111405 113013 111406 113014 112406 110215 111904 110220 112407 111403 107001 111910 306007 111407 111404 112439 110705 306201 113008 306211 110228 111912 112114 306410 110223 112408 306412 113801 112117 112118 112119 112120 112113 110703 113201 111409 111408 113802 112115 112116 110229 45008 Description Spur gear 72 teeth First tension shaft Tension wheel Second tension shaft Tension pulley Clamp lower arm left side plate Upper arm right side plate spur gear right 72 teeth Upper arm left side plate Clamp lower arm left side plate Middle shaft Aluminum spacer Timing belt pulley Flat head socket screw 4 40 x 1 4 Third tension
10. shaft Gripper axis Stopper motors 44 5 Base plate limit switch Flat head socket screw 8 32 x 3 8 Timing belt pulley miter gear Flat head socket screw 8 32 x 1 2 Forearm left side plate Timing belt pulley Flange Flat head socket screw 10 32 x 1 2 Forearm right side plate Gripper gear motor support Flat head socket screw 10 32 x 1 4 Lead screw Gripper bridge Gripper finger inner Gripper finger outer Gripper finger short Gripper clamp Mounting plate gripper Rubber pad gripper Pivot pin Main shaft gripper Lead nut gripper Bearing housing Bearing housing cover Gripper motor base plate Spring not used in ER 4u Encoder circuitry 20 slots 26 User Manual 0109 Dwg 116 S 116 127 S 139 S 145 S 151 S 153 S 187 S 188 S 189 S 206 S 207 S 208 S 209 S 212 S 215 S 216 S217 S 218 S 219 S 225 S 227 S 232 S 233 S 234 S 240 S 253 S 254 S 255 S 257 S 260 S 261 S 262 S 263 S 268 S 269 S 270 S 270 S 275 S 276 S 277 S 278 S 279 S 283 User Manual 0109 Cat 113009 45008 107009 306008 306213 306413 306214 302002 302001 302006 313001 107012 313004 313005 314508 314002 314003 314004 314005 314006 314503 313003 107008 107007 113016 310001 316006 316003 316004 316302 320005 320004 320006 320203 320701 320702 320704 320705 320501 320502 320503 320504 320505 314501 Description Miter gear bottom Encoder circuitr
11. 293 S 294 S 295 S 300 S 301 S 308 S 309 S 310 S 311 S 312 S 313 S 315 S 316 S 317 S 318 S 319 S 320 S 322 S 324 S 325 S 350 S 351 414 427 429 SCORBOT ER 4u Cat 310401 310402 100706 100705 319201 319202 319203 315202 315201 317501 430901 430901 430902 430903 319001 410802 310802 300006 113006 300007 314007 113203 113202 113204 317801 317502 105003 113005 105003 Description Lock nut gripper Lock nut base KM 5 Washer 10 5 x 20 x 0 5 Washer 12 5 x 22 x 0 5 Timing belt Timing belt Timing belt Flange timing belt pulley Flange timing belt pulley Pivot pin 1 8 x 3 8 Motor Gear base 127 7 1 Motor Gear shoulder elbow 127 7 1 Motor Gear pitch wrist 65 5 1 Motor Gear gripper Coupling Limit switch Nut for harness Harness clamp Rubber plug base Harness clamp Conical washer Rubber grommet O ring rubber Rubber stopper Roll pin 1 8 x 1 1 4 Ball bearing 2 3 5 mm Encoder disk 20 slots gripper Encoder housing plastic Encoder disk 20 slots 28 User Manual 0109 STANDARD COMPONENT MANUFACTURED COMPONENT ESHED ROBOTEC 3 Figure 20 Gripper Assembly User Manual 29 SCORBOT ER 4u 0109 ANINOdWOO GIUNLOVINNYVN 231040 13H93 A1N3JNOdWOO OUYONY1S e 0109 User Manual Figure 21 Robot Arm Assembly 30 SCORBOT ER 4u
12. FETY SCREEN ROBOT WORKING AREA 2 Fasten the base of the robot arm to the work surface with at least 3 bolts 120 apart as shown in Figure 13 Robot Base 2 240 mm 9 49 Pitch Circle 207mm 8 15 Hole 6 off 28 5 mm 0 33 Make sure the robot is securely bolted in place Otherwise the robot could become unbalanced and topple over while in motion 3 Set up a guardrail rope or safety screen around the robot s operating area to protect both the operator and bystanders Figure 13 Robot Base Plate Layout SCORBOT ER 4u 12 User Manual 0109 4 Place the controller and computer on a sturdy surface at a safe distance from the robot well outside the robot s safety range 5 Connect the robot cable D50 connector to the controller 6 Make sure all other connections have been made in accordance with the instructions in the Controller USB User Manual 7 Turn on the computer and the controller User Manual 13 SCORBOT ER 4u 0109 CHAPTER 5 Operating Methods The SCORBOT ER 4u can be programmed and operated by means of SCORBASE software and by a teach pendant Software and teach pendant operation is described fully in the other manuals supplied with the system SCORBASE Software SCORBASE is a Windows based robotic control software package which has been designed for use with the SCORBOT ER 4u Its menu driven structure and off line capabilities facilitate robotic programming and operation SCORBA
13. SE communicates with the robot controller by means of an USB channel SCORBASE can be operated in three levels SCORBASE Level 1 and Level 2 are recommended for those who wish to learn robotic programming from the most basic stages Level Pro contains programming commands and options for advanced users SCORBASE is described fully in the SCORBASE User Manual Teach Pendant The teach pendant is an optional device The teach pendant is a hand held terminal which is used for controlling the robot and peripheral equipment connected to the same robot controller The teach pendant is most practical for moving the axes recording positions and sending the axes to recorded positions Other functions can also be executed from the teach pendant The teach pendant s user manual fully describes the various elements and functions of the teach pendant SCORBOT ER 4u 14 User Manual 0109 CHAPTER 6 Maintenance Maintenance The maintenance and inspection procedures detailed below will ensure continued optimum performance of the SCORBOT ER du system Daily Operation Perform a routine inspection of your system at the start of every working session in the following order 1 Before you power on the system check the following items The installation meets all safety standards The robot is properly bolted to the work surface All cables are properly and securely connected Cable connector screws are fastened No output is connect
14. about its internal mechanisms Figure 1 SCORBOT ER 4u Robot Arm User Manual 1 SCORBOT ER 4u 0109 Acceptance Inspection The robot arm and its controller are packed in two separate cartons Save the original packing materials and shipping carton You may need them later for shipment or storage After removing the robot arm from its shipping cartons examine it for signs of shipping damage If any damage is evident do not install or operate the system Notify your freight carrier and begin appropriate claims procedures The standard SCORBOT ER 4u package includes the following items SCORBOT ER du Robot arm Power cable 100 110 220V AC 3 bolts for mounting robot set of hex wrenches SCORBOT ER 4u User Manual Refer to the Controller USB User Manual for information about the control unit s standard and optional components Make sure you have received all the items listed on the shipment s packing list If anything is missing contact your supplier SCORBOT ER 4u 2 User Manual 0109 Repacking for Shipment Be sure all parts are back in place before packing the robot I 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 robot with resilient packing material shred
15. 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 Do not overload the robot arm The combined weight of the workload and gripper may not exceed 1kg 2 2 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 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 Since the SCORBOT ER 4u motors are rated 12VDC nominal while the controller motor drivers supply 24VDC do not drive axes continuously in one direction at maximum speeds User Manual 11 SCORBOT ER 4u 0109 CHAPTER 4 Installation Before installing the SCORBOT ER du be sure you have read and understood the safety instructions and warnings detailed in Chapter 1 Be sure you have ample space to set up the robotic system as shown in Figure 12 1 Set up the SCORBOT ER 4u on a sturdy surface with a minimum 700mm of free space all around the robot SA
16. axis If many or all axes are faulty look for an electrical noise source in your environment Check the encoder Follow the procedures in Item 3 and Item 4 If no problem found by means of Items 8 and 9 do the following Bring the robot to a starting position Using a pencil draw a fine continuous line on the robot which crosses from one link to the adjacent link at the joint in question Select ViewlEncoders to display the encoder readings Enter the command Control Off to disable servo control 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 several counts of the first reading Repeat this step a number of times If the error in the encoder reading accumulates the encoder needs to be replaced Check the transmission for loose points or damage Check for continuity of movement in all the relevant transmission components gears and belts moving together with the drive shaft of the motor User Manual 19 0109 SCORBOT ER 4u 7 Gripper opens and closes too freely weak gripping force or the gripper motor rotates endlessly Qualified Technician Only The Oldham coupling in the gripper assembly is loose Follow the instructions in the section Adjustments and Repairs later in this chapter Alternately the gripper gear is broken and must be replaced 8 Too much freedom
17. d around the shoulder to increase strength and stability SCORBOT ER 4u 24 User Manual 0109 Dwg ft 1 2 S2 S3 4 5 S6 S8 11 S11 12 S 12 S 13 S 14 15 16 17 18 S 18 S19 20 S 20 S21 22 S 22 23 S 23 24 S 24 S25 S26 27 S27 28 S31 32 34 35 37 38 40 46 47 48 User Manual 0109 Cat 113012 111401 306003 306004 113004 113001 306201 306002 111906 306204 112103 301205 306206 306207 112401 112403 110205 110210 306401 306402 111901 306404 306405 111902 306407 113501 306403 107003 306408 321001 306602 111903 306602 111907 306414 319404 112412 112412 112402 319406 111402 111909 111911 Description Bearing housing cover plastic Main shaft base Socket head cap screw 4 40 X 1 4 Socket head cap screw 4 40 X 3 8 Base plate Base Socket head cap screw 6 32 X 1 4 Socket head cap screw 2 56 x 3 8 Spur gear 120 teeth Socket head cap screw 8 32 x 1 4 Bottom Plate shoulder Socket head cap screw 8 32 x 3 8 Socket head cap screw 8 32 x 1 2 Socket head cap screw 8 32 x 5 8 Support base motors 4 5 Support clamp motors 4 5 Right side plate shoulder Left side plate shoulder Socket head cap screw 10 32 x 3 8 Socket head cap screw 10 32 x 1 2 Anti backlash spur gear transfer Socket head cap screw 10 32 x 3 4 Socket head cap screw 10 32 x 7 8 Anti backlash spur gear upper Socket head cap screw 10 32 x 1 4 Anti backlash spring Socket head cap
18. ded paper bubble pack expanded foam chunks Seal the carton with sealing or strapping tape Do not use cellophane or masking tape Handling Instructions Lift and carry the robot arm only by grasping the body or the base See Figure 2 Do not lift and or carry the robot arm by its gripper upper arm or forearm Do not touch the microswitches cams or encoders FOREARM UPPER ARM Figure 2 Robot Arm Parts User Manual 3 SCORBOT ER 4u 0109 CHAPTER 2 Specifications This chapter includes the specifications the SCORBOT ER 4u robot arm and descriptions of its components SCORBOT ER 4u SCORBOT ER 4u Specifications Mechanical Structure Vertical articulated Number of Axes 5 axes plus servo gripper Axis Movement Axis 1 Base rotation Axis 2 Shoulder rotation Axis 3 Elbow rotation Axis 4 Wrist pitch Axis 5 Wrist roll 310 130 35 130 130 Unlimited mechanically 570 electrically Maximum Operating Radius 610 mm 24 4 End Effector DC servo gripper with optical encoder parallel finger motion Measurement of object s size by means of gripper sensor and software Maximum Gripper Opening 75 mm 3 without rubber pads 65 mm 2 6 with rubber pads Fixed position on each axis Homme found by means of microswitches Feedback Optical encoder on each axis Actuators 12 VDC servo motors Motor Capacity axes 1 6 15 oz in
19. e coupling is 1 5mm to 2mm away from the plate 112 Gripper Reassembly 1 Make sure the coupling s plastic piece is attached to the metal piece attached to the lead screw 94 Keep the gripper fingers closed Screw the lead screw 94 with the coupling piece attached clockwise into the shaft 105 as tightly as possible Now release the gripper fingers Refit the motor by aligning the coupling fitted to the motor output shaft together with the plastic coupling piece attached to the metal piece attached to the lead screw 94 When all the coupling sections are aligned and attached turn the motor body until the holes in the plate 112 align with those in the gear motor support 91 Reinsert and tighten the three bolts which you removed at the beginning of the procedure User Manual 23 SCORBOT ER 4u 0109 CHAPTER 7 Parts Lists This chapter contains isometric drawings of the robot arm Note that the SCORBOT ER 4u robot arm has several enhanced features which do not appear in these drawings They are Improved encoders on all motors provide greater accuracy The encoder disk has 20 slots the encoder housing and circuitry have also been upgraded Motor supports items 34 and 35 for the shoulder and elbow axes have been improved their dimensions have changed and counter bearings have been added to increase strength and stability Plates have been added to the robot arm frame across the forearm and upper arm an
20. ed directly to a power supply No people are within the robot s working range 2 After you have switched on the PC and the controller check the following items The power and motor LEDs on the controller light up 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 homing 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 Manual 15 SCORBOT ER 4u 0109 Periodic Inspection The following inspections should be performed regularly 1 Visually check leads cables and rubber components Replace any cables which show signs of abrasion or wear 2 Check all bolts and screws in the robot arm using a wrench and screwdriver Retighten as needed 3 Check all the tension of robot arm belts When you press on a belt the slack should be no greater than 2mm 0 08 Refer to Figure 14 Figure 14 Belt Tension Qualified Technician Only Tighten the belts only if you are absolutely certain they are slipping or retarding the motors For complete information refer to the section Adjustments and Repairs later in this chapter 4 Qualified Technician Only Check for excessive backlash in the base axis For complete information refer to the section Adjustment
21. hat the gear 27 is free to rotate Mark the two teeth which are directly above one another on the gears 22 and 27 one on the upper gear and one on the lower gear Manually turn the robot counterclockwise a distance of six teeth between the marked teeth The spring should now be correctly stretched Return the gear 20 to its position and fasten the screw Remove the locking pin 5 Replace the base lock nut S286 6 Replace the shoulder cover SCORBOT ER 4u 22 User Manual 0109 Tightening the Oldham Coupling in Gripper Qualified Technician Only Refer to the exploded view of the gripper assembly in Figure 20 Gripper Disassembly 1 Remove the gripper motor S312 from the plate 112 by unscrewing the three bolts 2 bolts S12 and one bolt S14 The Oldham coupling S313 has three parts two metal parts fitted with bolts and an intermediate plastic part When you remove the motor one metal piece of the coupling stays attached to the shaft The second metal piece of the coupling stays attached to the lead screw 94 The plastic piece remains attached to either one of the two metal pieces Remove the lead screw 94 from within the shaft 105 by turning it counterclockwise Fasten both metal pieces to their respective shafts by firmly tightening the Allen screws one piece to the motor output shaft the other to the lead screw Note When tightening the coupling piece to the motor output shaft make sure th
22. iring Robot Arm Signal oon ware sa os Axis Motor Encoder Pad Microsw Color Pins Color Pin white 50 _ gray green 17 j white 49 white green 16 white 48 orange brown 15 white 47 3 orange green 14 white 46 gt orange gray 13 gray 8 white 45 Gripper yellow 7 orange blue 12 User Manual 33 SCORBOT ER 4u 0109 SCORBOT ER 4u Wiring Robot Arm Signal ere esle GI B yan kuran Axis Motor Encoder Pad Microsw Color Pins Color Pin GND 1 white 33 Pi 4 white gray 5 VLED 2 yellow 11 Po 3 brown 2 GND 1 white 32 T Pi 4 white orange 21 VLED 2 yellow 27 Po 3 gray 1 GND 1 white 31 Pi 4 brown blue 4 VLED 2 yellow 10 Po 3 green 36 GND 1 white 30 j Pi 4 green brown 20 VLED 2 yellow 26 Po 3 orange 35 GND 1 white 29 Pi 4 green blue 3 VLED 2 yellow 9 Po 3 blue 18 GND 1 black 12 white 28 Pi 3 green 11 gray blue 19 Gripper VLED 2 yellow 10 white 25 Po 4 brown 9 white blue 34 GND white 33 MS brown 23 GND white 32 MS gray 7 GND white 1 white 31 a MS white 2 J orange 24 GND blue 3 white 30 i MS blue 4 green 8 GND orange 5 white 29 MS orange 6 blue 6 l no white 28 Gripper connection brown gray 22 SCORBOT ER 4u 34 User Manual 0109 Single Axis Wiring In addition to the robot s six motors the controller can control two additional motors
23. mensions and reach of the SCORBOT ER 4u The base of the robot is normally fixed to a stationary work surface It may however be attached to a slidebase resulting in an extended working range ETA lt r e et E E o Figure 5 Operating Range Top View io m E E e O gt o Figure 6 Operating Range Side View User Manual SCORBOT ER 4u 6 0109 Motors The robot s five axes and gripper are operated by DC servo motors The direction of motor revolution is determined by the polarity of the operating voltage positive DC voltage turns the motor in one direction while negative DC voltage turns it in the opposite direction Each motor is fitted with an encoder for closed loop control Figure 8 Motor Encoders The location and movement of each axis is measured by an electro optical encoder attached to the shaft of the motor which drives the axis When the robot axis moves the encoder generates a series of alternating high and low electrical signals The number of signals is proportional to the amount of axis motion The sequence of the signals indicates the direction of movement The controller reads these signals and determines the extent and direction of axis movement Figure 7 Encoder User Manual 7 SCORBOT ER 4u 0109 Microswitches The SCORBOT ER 4u has five microswitches one on each axis which serve to identify the robot s home position During the homing pr
24. ocedure the robot joints are moved one at a time Each axis is moved until the its home switch is activated The axis is then moved slightly until the the switch shuts off at that point the joint is at home When all joints are at home the robot is at home This is the point of reference for robot operation Whenever the system is turned on the robot should be sent to this position by means of a software homing routine Figure 9 Microswitch Transmissions Several kinds of transmissions are used to move the links of the robot arm Spur gears move the base and shoulder axes Pulleys and timing belts move the elbow axis Pulleys and timing belts and a bevel gear differential unit at the end of the arm move the wrist pitch and roll axes A lead screw transmission opens and closes the gripper Figure 10 Transmissions SCORBOT ER 4u 8 User Manual 0109 Gripper The SCORBOT ER du has a servo jaw gripper fitted with rubber pads These pads can be removed to allow the attachment of other end effector devices such as suction pads Three bevel gears form a differential gear train which moves the wrist joint When motors 4 and 5 are driven in opposite directions the wrist pitch moves up and down When motors 4 and 5 are driven in the same direction the wrist rolls clockwise and counterclockwise A leadscrew coupled directly to motor 6 causes the gripper to open and close Figure 11 Gripper User Man
25. rly issued Make sure the robot cable is properly connected to the controller Make sure system homing parameters are properly set Make sure system homing parameters have not been erased Check the home microswitches as follows From the View menu select Movement Information While moving the robot manually observe the status of the home microswitches in the Movement Information dialog box Qualified Technician Only If the above procedures show an error check the microswitch itself Use a small screwdriver to press down on the microswitch You should hear it click and see it pop back up If this does not happen the microswitch should be fixed or replaced If the microswitch has clicked depress it again and with an ohmmeter check whether the microswitch shorts its two poles User Manual 17 SCORBOT ER 4u 0109 If there is a short depress the switch again and check the wires between the microswitch and D50 connector If there is a short depress the switch and check the two microswitch pins in the D50 connector Refer to Chapter 8 for wiring and pin information 3 One axis turns constantly in one direction Press and release the controller Emergency button to reset the controller Then give the command to home the robot 4 One of the axes or gripper does not respond or does not function properly Make sure you have performed all steps in Item 1 and Item 2 Turn the controller off then on again
26. s and Repairs later in this chapter SCORBOT ER 4u 16 User Manual 0109 Troubleshooting IS The procedures in the section are intended only for technicians who have received 1 proper training and certification from the manufacturer Do not attempt to perform procedures for which you are not qualified Whenever you encounter a malfunction try to pinpoint its source by exchanging the suspected faulty component for example servo control card controller robot arm PC cables with an identical component from a working system Do not open the controller There are no user serviceable parts inside Do not attempt repairs for which you are not qualified Contact your agent or an authorized technician for repairs The following chart provides guidelines for identifying and rectifying problems which you may encounter Refer also to the Controller USB User Manual for additional troubleshooting instructions and information Controller functioning but the robot cannot be activated Make sure an obstacle is not blocking the robot Make sure none of the axes has reached its mechanical limits Make sure the controller s green MOTORS LED is lit Make sure the controller is in the Control Off state Then activate the Control On state from the PC or TP Make sure the robot cable is properly connected to the controller 2 Robot does not find Home position in one or all of the axes Make sure the homing command was prope
27. ual 9 SCORBOT ER 4u 0109 CHAPTER 3 Safety This chapter contains important safety guidelines and warnings IR Read this chapter carefully before you attempt to install or use the robot system Precautions This manual provides complete details for proper installation and operation of the SCORBOT ER 4u Do not install or operate the robot until you have thoroughly studied this User s Manual Be sure you heed the safety guidelines for both the robot and the controller 1 Make sure the robot base is properly and securely bolted in place 2 Make sure the robot arm has ample space in which to operate freely 3 Make sure a guardrail rope or safety screen has been set up around the SCORBOT ER 4u 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 Before approaching the robot make sure the motor switch on the controller front panel has been shut off 5 Make sure loose hair and clothing is tied back when you work with the robot IS To immediately abort all running programs and stop all axes of motion press the EMERGENCY STOP button on either the teach pendant or the controller SCORBOT ER 4u 10 User Manual 0109 Warnings Do not install or operate the SCORBOT ER 4u under any of the following conditions Where the ambient temperature or humidity drops below or exceeds the specified limits Where exposed to large
28. y 20 slots Spacer washer for base bearing Socket head set screw 4 40 x 1 8 Socket head set screw 8 32 x 3 16 Socket head set screw 10 32 x 3 16 Socket head set screw 8 32 x 1 4 without head Socket binding head screw M2 x 10 limit switch Slotted binding head screw M2 x 8 limit switch Slotted binding head screw M2x20 encoder housing Washer for screw 4 40 Washer black internal for plastic cover 2 12 5 x 5 5 x 0 6 Washer for screw 10 32 Washer for screw 21 4 Washer lock black external 5 Spring washer for screw 44 40 Spring washer for screw 116 32 Spring washer for screw 48 32 Spring washer for screw 10 32 Spring washer for screw 2 1 4 Lock washer M2 Washer for screw 48 32 Teflon washer 2 1 4 x 3 8 x 0 6mm Teflon washer 2 1 4 x 1 2 x 0 6mm Nylon washer 11 x 4 not used in ER 4u Hexagonal nut M2 E Ring 1 8 DIN 6799 Retaining ring 10 DIN 471 Retaining ring 12 DIN 471 Retaining ring 25 DIN 471 Ball bearing 8 x 222x 7 Ball bearing 2 10x 19x 5 Ball bearing 2 10x 26 x 8 Ball bearing 225x 247x 8 Needle bearing 2 12 x 16 x 10 Needle bearing 12 x 2 19 x 16 Needle bearing 2 15 x 21 x 12 Bushing for 320704 Thrust bearing 2 10 x 224 x2 Thrust washer 2 10x 224 x 1 Thrust washer 2 10 x 24 x 2 5 Thrust bearing 12 x 26 x 2 Thrust washer 2 12x 26 x I Lock washer 27 SCORBOT ER 4u Dwg ft S 285 S 286 S 288 S 289 S
Download Pdf Manuals
Related Search