R17 robot manual, pdf
Contents
1. 14 15 motor 4 winding 1 16 17 motor 4 winding 2 L hand 18 19 motor 5 winding 1 20 21 motor 5 winding 2 R hand wrist twist 23 24 electric gripper fe 6 axis version 22 23 motor 6 winding 1 24 25 motor 6 winding 2 6 axis rotate If track fitted there is an MS connector to the track see track pin out and wiring from the cable chain to the robot remain as above apart from 22 25 SENSORS ENCODERS 25 way D type male Waist 12v supply brown Ov return blue Signal black J goes to PB 5 Electric gripper A goes to 25Dm 22 Electric gripper K goes to 25Dm 25 Phase A1 R17 Robot Manual page 27 FCC declaration please see certificate contained in the transit case The equipment conforms to Part 15 sub part B class A CE declaration please see certificate contained in the transit case The equipment conforms to 2006 95 EC The Low Voltage Directive 2004 108 EEC The Electromagnetic Compatibility Directive CE technical file please see appendix on the CD R17 Robot Manual page 28 RISK ASSESSMENT This form must be completed by a competent Assessor for any procedure using the robot system before an attempt is made at the procedure by any worker or visitor For further information on hazards and risks please refer to the section SAFETY IS YOUR RESPONSIBILITY on page 4 of this manual Name and Status of the Assessor Activity being assessed Known or expected hazards2. R17 Robot Manual page 5 SAFETY IS YOUR RESPONSIBILITY Risks Because stepping motors raise more torque at low speeds a substantial low speed force can be brought to bear especially on fingers which may become trapped under or between axes Robot end effectors typically have sharp edges or fingers made of thin metal which can cause injury at the low speed high forces or at the higher speeds The biggest risk comes from the element of surprise If the system is active and receives a command from a supervising scheduler or a signal from an associated machine the robot will appear to move unpredictably A human being caught in the way can receive injury especially if the end effector has sharp edges However because the robot is stepper motor driven once stalled the system raises an error and does not attempt further motion Safety measures e Where possible a robot system should be guarded Any gate in the guarding can be fitted with a switch which is connected to the controller stop circuit e f physical guards cannot be provided then light curtains are easily connected to the robot controller e Where guarding is not appropriate and bench top robots work closely with human workers interlocks should be provided For example if the user has access to the workspace then he she should be required to press a switch or keyboard key after clearing the area e A good rule is that the robot should not be allowed to move outside an area design
3. D 27 Venturi from comprerssor TT 6 4mm adaptor Robot Connections for vacuum pick up with confirmation sensor Programming the vacuum sensor The vacuum switch is connected to PB 5 You can quickly check this with GRIPCHECK Insert this word at a suitable place for the robot to check it has a valid pick e g JIG GRIP WITHDRAW GRIPCHECK If there is no vacuum object not picked you will get Grip fail error Adjusting the vacuum sensor It has already been set at the factory but should it require further adjustment proceed as follows 1 type GRIP remember that this consumes a great deal of air and you may need to UNGRIP then allow the compressor to recharge before trying again 2 Type PP to display the input port You should see 11111111 3 Adjust the sensor using the 1 5mm Allen key supplied until you see 11011111 then back off again until you see 11111111 4 Cover the vacuum cups and the display should change back to 11011111 R17 Robot Manual page 18 Quick stop sensor This is the device fitted between the robot flange and the end effector to protect it from collision It works with compressed air requiring a separate airline and its own pressure regulator to control the sensitivity Therefore there is another airline emerging from the forearm as well as an electrical cable and connector The device is held rigid by air pressure but in the event of a collision the device opens releasing the pressure An int
4. Double click robwin exe to run RobWin defaults to COM1 If you have a computer with a regular serial port and have been supplied with a 25 9 modem cable then COM 1 is correct But for a USB COM port change to the active com port see 6 above Click comm at the top then configure and make that the same number Baud rate should be 19200 11 Click Settings Open file then enter R12R17 cfg For the 6 axis versions enter R12R17 6 cfg R17 Robot Manual page 9 5 POWERING UP THE CONTROLLER To power up the controller connect the power cord at the rear and operate the power switch which is integral with the power connector You may have all other cables disconnected if you wish However be sure to turn off the power before you connect any rear cable especially the motor cable When power is switched on the front TX light should flash which means it has sent the opening message to the computer which you should see in the communications window of ROBWIN If the light flashes but nothing appears on the screen then this indicates a problem with the computer Try clicking comms and select another COM port If you have a USB serial converter make sure the COM port selected matches the port shown in the device manager Also make sure the baud rate is 19200 The Mk5 controller CPU has Flash ROM and static RAM on the same PCB Cold warm start selection is a front panel key switch The memory image is in flash ROM which is loaded to RAM when you power up
5. WRIST Constant B RATIO S RATIO E RATIO W RATIO T RATIO for 6 axis versions Joint WAIST SHOULDER ELBOW L HAND R HAND WRIST Constant B RATIO S RATIO E RATIO W RATIO T RATIO R RATIO To print the current value enter e g B RATIO R17 Robot Manual page 22 11 CALIBRATION When the robot calibrates it seeks out proximity detectors on each axis and corrects the counts to values seen in the array LIMITS which you can view with VIEW LIMITS The accuracy of these figures affects the home position and is particularly important in Cartesian transformations i e calculations of joint positions from Cartesian coordinates Gripper end effector calibration If you fit your own gripper or end effector you will need to set up the preferred wrist angle for your home position First of all do START CALIBRATE HOME so that other axes are not affected TELL ELBOW E RATIO MOVE to get the hand horizontal TELL WRIST DATUM to find the sensor See fig1 Fit the end effector It will probably be at some random angle as in fig2 i fig1 fig2 fig4 Using a spirit level with the teach box drive J5 in a negative direction until you have the hand in the orientation you prefer as in fig3 Try to keep within the first 90 degrees of the datum position If necessary remove and refit the end effector as in fig4 so it is within 90 degrees of your desired position Then type TELL ELBOW REVERSE E RATIO MOVE back to upright To find the new value for the w
6. associated with the activity The risk of injury and its severity likely to arise from these hazards Who is at risk Measure to be taken to reduce the level of risk Training prerequisites Level of risk remaining Emergency action References if any Signature of Assessor
7. commands into the communications window for example START Rear Fuses Viewed from the rear of the controller from right to left Power connector has 2 fuses These should be 6 5A anti surge for 110v power and 3 5A ant surge for 220 240 power 12v unregulated DC fuse This should be 3 amp quick blow The 5v logic and lower all comes from the 12v regulated supply so if this fuse blows the whole controller is dead This supply emerges from the 9 way input and 15 way output connectors for users sensors etc so if you are blowing 12v fuses the fault would be there 24v unregulated DC fuse 24v is an alternative for users external circuitry as most industrial contactors etc are all 24v DC Pneumatic valves can be 12v or 24v Stop Jack Also on the rear panel is a jack plug This is for the external stop circuit and has it s terminals linked inside the plug If the jack plug is removed the robot will not run R17 Robot Manual page 11 6 PREPARING FOR USE A WARNING Before trying any of the following commands be sure to KEEP OUT OF THE ROBOT ENVELOPE Note ALL FORTH and ROBOFORTH COMMANDS ARE IN UPPER CASE With power off first visually set the robot up approximately in the HOME position This is with the robot vertical For a 5 axis R17 the hand or gripper will be pointing straight up For a 6 axis R17 the hand or gripper point backwards as in the picture below AXIS 6 ROLL AXIS 5 YAW AXIS 4 PITCH AXIS 3 ELBOW AXIS 2
8. L WAIST B RATIO 2 MOVE waist is now at mid point of its available travel 6 Enter START 7 Enter TELL SHOULDER S RATIO MOVE shoulder moves so arm is horizontal 8 Click the T teach button select a low speed e g 2 9 Place a spirit level on the upper arm and use J2 to make it level 10 Place the spirit level on the forearm and use J3 to make it level 11 Place the spirit level on the hand flange and use J4 to make it vertical 12 Place the spirit level on the gripper or tool and use J5 to make it level 13 Use J1 to center the waist The peg which stops the robot exceeding 360 degrees should be exactly opposite the stop toggle 14 Enter TELL SHOULDER REVERSE S RATIO MOVE robot is now in HOME position 15 Enter SETHOME 16 Enter CHECK the robot seeks out the sensors 17 Enter SETLIMITS which over writes the old parameters 18 Continue with the 6 axis as follows 19 Enter READY 20 Using a spirit level and the teach pad J6 in a negative direction to level the gripper as in the pictures above 21 Enter TRANSFORM ASSUME 22 TELL WRIST DATUM the robot seeks out the sensor 23 WHERE look for the value under wrist and write it down 24 Save parameters as in section 10 e g R17C123 SIG actual filename will be R170123 SIG ram 25 Enter USAVE to save to the flash ROM R17 Robot Manual page 26 12 CONNECTIONS Connections to the rear panel are as follows MOTORS 25 way D type female 5 axis version
9. R17 Robot Manual page 1 2014 09 21 Welcome to the R17 robot arm R17 DEUCALEON ROBOT SYSTEM User Manual We hope you enjoy your experience Any problems at all just contact us support strobotics com 1 609 584 7522 44 1223 420 288 R17 Robot Manual page 2 System Components A basic R17 robot system comprises the following 1 R17 Robot arm Fitted with any options Pneumatic or electric gripper Vacuum pickup Pneumatic Tool Changer 1 Controller K11R Fitted with any options I O expansion Gripper drive module 1 Teach box 1 Cable 9 way D type each end M M K11R to teach box 1 Motor cable K11R MS connector to robot 25 way D type 1 Sensor and encoder cable 25 way each end M F 1 Cable D type 25 way male to 9 way female K11R to PC RS232 1 Power cable to K11R 1 Pack of CONNECTORS 1 output connector 1 input connector 1 Disk with software and manuals 1 optional USB serial adaptor 1 optional Android teach console 1 Gripper pneumatics kit 1 Quickstop pneumatics kit R17 Robot Manual page 3 1 INTRODUCTION The R17 DEUCALION is a robot arm of the vertically articulated format This is the format which most closely resembles the human arm and so its parts are named after the human arm It is more versatile than other formats but the drawback is that backlash and compliance in each joint are added together joint by joint DEUCALION has a nominal reach of 750mm i e it is 750 mm from the shoulder joint to
10. SHOULDER 5 axis home 6 axis home hand points backwards R17 Robot Manual page 12 Check that sensors and encoders are working optional For assurance before you calibrate you can check the sensors or encoders as follows Check sensors if you suspect any transit damage 1 Switch off the controller and wait 10 seconds Connect up the sensor encoder cable to the robot this is the cable with a 25w D each end Do not connect the screened braided sheath cable at this time Switch on the controller 2 Enter PP lt enter gt A row of 1s appears e g 11111111 These represent the calibration sensors on the robot Set the robot up in an approximate home position which is with the arms bolt upright Look under the waist and you will see a peg and a toggle in the base The peg should be 180 degrees from the toggle so that the waist has 180 degrees travel 3 Now move the joints in the directions indicated in figure 3 and each 1 will change to 0 with a beep From right to left the digits are waist shoulder elbow left hand wrist You might not be able to find the hand sensors The left most 3 digits should stay 1s For example if you move the shoulder backward to its sensor you will see 11111101 If you then move the elbow forwards to its sensor you will see 11111001 To check the waist sensor it might be easier to place a knife or steel rule under the waist sensor which can be seen under the skirt Assuming the shoulder an
11. a c below Note that you have CALIBRATEd the arm from a position which is close to the HOME position You may CALIBRATE from other positions provided each joint is within its search range In the diagrams that follow the search range is marked YES and the forbidden R17 Robot Manual page 14 range is marked NO If you start a calibration with an axis in the NO range then that joint will fold in and collide with a physical stop or another axis 6 Axis version Note there is a difference between the calibrate routines of 5 and 6 axis versions In the 5 axis version all axes calibrate at once but in the 6 axis version they calibrate one at a time to prevent collision of the 6 axis gripper with the fore arm 7 Enter gt HOME which drives the whole arm to the HOME 0 0 0 0 0 0 position Note you can go direct from CALIBRATE to some other position in case of lack of headroom Diagram 3a R17 robot shown in calibrate position S R17 Robot Manual page 15 Diagram 3b Calibration range of waist i ijn an ie a Diagram 3c Shoulder elbow hand calibration ranges 1235 OO P 190 2 ee R17 Robot Manual page 16 8 ACCESSORIES Pneumatic Gripper connections ROBOT CONTROLLER 15w D 8 11 comprerssor Robot If the gripper opens when it should close and vice versa simply swap over the two 4mm tubes at one end Programming the confirmation sensor The confirmation sensor is normally connected to PB 5 There i
12. ated by the edge of the bench on which it is mounted e As an additional precaution the working area should be marked out with painted lines or black yellow striped tape e Statistically the highest incidence of contention between human and robot is when both are accessing the same object End effectors often have sharp edges which can cause injury Fitting a collision sensor can minimize this hazard e Atthe end of this manual you will find a form with which to do your own risk assessment of the robot in your application There are two concepts to consider hazard which is the robot or robot fingers or the product etc and risk which is the probability of someone being harmed by the hazard The form enables you to identify the hazards the risks and ways of minimizing the risks After completing the form and carrying out any safety measures that the form has helped you identify do the assessment all over again R17 Robot Manual page 6 3 SETTING UP Set the robot up in the desired location Connect up all cables their positions should be self evident Cables to the robot connect to the rear of the controller There are 5 basic cables Motor power the metalized cable from rear of controller to robot base 26wMS to 25wD Sensor cable from rear of controller to robot base 25wD male to 25wD female Gripper cable if supplied from rear of controller to gripper valve 9wD to DIN Serial cable from front of controller to computer u
13. below FLASH ROM Cold start mode When power is switched on or the reset button is pressed all RAM contents are refreshed from flash ROM All the user programming whether entered in immediate mode or using ROBWIN will be lost After you see the herald and the words cold start enter ROBOFORTH Warm start mode If power goes off on or the reset button is pressed all RAM contents are refreshed from flash ROM including the user program area Therefore your user program will be over written with any older program previously saved To ensure that the new program is reloaded after a power up or reset type the command USAVE Or click USAVE in ROBWIN If you forget to do this and accidentally lose power or press reset or are forced to press reset because of a bug then in ROBWIN save the project and re open it The very core of the system is Forth and this is in a protected sector so can not be changed in Flash You can however make temporary changes while it is in RAM but after the next reset or power up it will revert to original R17 Robot Manual page 20 10 ROBOT PARAMETERS A warnine there should be no reason to alter these constants unless some change has been made to the robot for example a repair These parameters are particular to your robot sometimes called a signature They are stored in flash memory RAM memory is loaded from flash ROM on each power up or reset If you change something you will need t
14. d elbow are not at their sensors you would see 11111110 You can not check the 6th axis because of its high gear ratio But if it is in the sensing position you will see 11011111 Press escape to exit the PP command Check encoders 4 Enter the following ROBOFORTH lt enter gt This invokes the RoboForth dictionary This is only necessary after a cold start and you need to type it every time you switch on if the key is set to cold START lt enter gt ENCTEST lt enter gt A row of numbers appears As you move each joint by hand the numbers will change This shows the encoders are working Press escape key to exit this mode The 6th axis does not have an encoder 5 You are now ready to connect the motors SWITCH OFF THE POWER FIRST and wait 10 seconds before connecting the motor cable from controller to robot R17 Robot Manual page 13 7 GETTING STARTED WARNING Before trying any of the following commands be sure to KEEP OUT OF THE ROBOT ENVELOPE Note ALL FORTH and ROBOFORTH COMMANDS ARE IN UPPER CASE Assuming ROBWIN is loaded and running 1 Switch on the controller 2 Press caps lock and you should now be able to type ROBOFORTH commands into the communications window 3 Type ROBOFORTH lt enter gt if the key was set to cold 4 In the communications window type START lt enter gt or click the button A herald will appear announcing ROBOFORTH and it s version Even though you have not yet ca
15. ernal pressure sensor then breaks the stop circuit and the robot stops Connect using a push fit Y junction provided One air line goes to the gripper valve and the other to the quickstop via the flow reducer The flow reducer serves to reduce wasted air when the quickstop is open Quick stop pneumatic connections For initial setting up you may prefer to leave this pressure off Replace the stop jack from the quick stop with the dummy provided When you are ready to use the sensor connect the airline turn on pressure and manipulate the end effector until the sensor locks Then replace the stop jack To test the sensor enter STOPCHECK lt enter gt The result when the sensor is locked will be OK Enter STOPCHECK but before you press enter force the sensor open then press lt enter gt The result will be STOP BUTTON PRESSED Don t do this test until you have performed the initial setup in sections 3 and 6 R17 Robot Manual page 19 9 CONTROLLER SETTINGS Changing default values All the robot parameters revert to their original values when the controller is powered up or the reset is pressed If you want to change these values and make the changes permanent you need to write them to flash ROM with the command USAVE Changes to any variable in the RoboForth itself are saved with PSAVE Be very sure you have not made a mistake before you use this command because if the flash ROM is corrupted it is very difficult to recover see
16. he controller switch on the terminal or computer and proceed as follows 2 3 4 Create a directory folder ROBOT on C drive Copy all the files to your ROBOT directory If you have a USB serial converter first install its software It should install itself as most versions of Windows have the FTDI driver already included Plug in the USB converter and use either the serial cable or the adaptor to connect to the controller Windows 7 will probably want to go online for the drivers select skip for both drivers USB serial converter and USB serial port Once installed it should tell you what port number it has selected If less than 10 then skip step 5 If you are not told what the COM number is you will need to find out Go to control panel system hardware device manager ports You will see USB serial port note the port COM number RobWin will only work up to com9 so if your converter has been mapped to higher than com9 then double click that port then go to settings advanced You will see COM Port Number click the drop down You might see a lot of COM ports marked in use It s usually incorrect unless in use by bluetooth Pick com3 anyway or next available after bluetooth up to 9 as indicated in the device manager It will say it s in use do you want to continue click Yes Whatever com number you choose make a note Find robwin7 1 14 msi or later and install RobWin 7 You may also use earlier versions robwin6x exe on the CD
17. it stalls Depending on the speed damage may result At lower speeds the motors generate higher torques so can do more damage DON T drive the waist against the stop 3 For the above reason DON T use CALIBRATE unless you are sure the robot will not crash into something in the workspace 4 DON T use CALIBRATE unless you are sure the robot is in the valid position for calibration including taking into account any complex end effector fitted 5 DON T back drive the 6 axis damage can result ever disconnect or connect the robot while the controller is switched on This will result in 6 DO have your hand poised over the emergency stop button whenever testing a program Remember that because of its geometry a revolute arm will describe wide arcs from far apart points and may collide with objects within its reach 7 DO take appropriate measures to assess the risks and protect personnel from injury see next section 8 DON T continuously rotate an electric gripper it will break the internal wiring 9 DON T leave the robot switched on but not moving for very long periods of time say more than a week as motor heat can damage the belts 10 DON T try to save a project if the controller is switched off 11 DO make a back up of the computer disk supplied as soon as possible 12 DO warm up the robot for best repeatability After switching on from cold run the robot some simple routine for 10 20 minutes See note 2
18. librated the arm you can check out the axes with the teach pad 5 To start moving the arm click the T button or type TEACH then press lt enter gt two times Ignore any FN message The red TEACH and green ON lights should be on With this method pressing a key on the teach box moves the arm Since you might let go of the key at any time and expect the robot to stop it is not possible to accelerate to high speed Moreover a slow speed is more desirable to achieve precision and the teach speed is requested after you enter TEACH At this stage just hit the return key for the default value After entering TEACH you are now in TEACH mode To move the arm first select the joint to move J1 for waist J2 for shoulder J3 for elbow J4 for hand J5 for wrist roll On a 6 axis robot J5 is yaw and J6 is wrist roll On selecting a joint the terminal computer will beep Then press either or for motion in a positive or negative direction To test the gripper press the key marked GRIP then to close the gripper press the key and to open the gripper press the key Do not try other keys for the moment Use TEACH mode to test all the joints and finally drive the robot to an approximate home position Exit TEACH mode by pressing the escape ESC key on the computer terminal 6 Next the robot should be calibrated Enter gt CALIBRATE The robot begins to fold up as it searches for internal sensors See diagrams 3
19. o update the flash ROM so test thoroughly before you do this If you are supplied with a new version of ROBOFORTH you will need to transfer the parameters to a disk file load the new ROBOFORTH as described above then overlay the parameters file To save the parameters signature 1 Click file save binary bank 0 start address A200 length 200 2 Save as R17Cnnn SIG where nnn is the serial number of the robot The actual filename will be R17Cnnn SIG ram It s best to use a different filename and preserve the original file If you corrupt the sig file in flash ROM and need to reload it from the CD To reload overlay the parameters 1 Click file load binary bank 0 start address A200 length 200 Choose file name you used to save above 2 When loaded enter USAVE to save the the parameters to flash ROM Reload ROBOFORTH If you corrupt ROBOFORTH and have done a PSAVE thereby saving the error to flash ROM you can reload ROBOFORTH as follows 1 Select cold start and press reset 2 Select file load binary Change parameters to start 4000 length 6000 bank should be 0 3 Choose the backup file supplied with your robot e g R17C123 RAM You will see a blue progress bar 4 When finished downloading enter ROBOFORTH 5 Enter PSAVE to reload the flash ROM R17 Robot Manual page 21 Micro stepping Each motor is micro stepped and the micro step setting depends on the type of drive module fitted in the con
20. onstants of the motors In other words high speed torque is not affected by reducing the quiescent current For the HPL version larger motors are employed and these are powered at full rated current Although the HPL is rated at 5Kg care should be taken to avoid collisions that can raise anything up to 200N force Driver currents are set by choosing resistor values from the following tables IDEAL GECKO MOTOR DRIVE CURRENT SETTINGS STD RESISTOR VALS AXIS JOINT NAME LOGIC AMPS RESISTOR MICRO VALUE NO CHAN VALUE STEP OF SETTINGS MICROS Le ee i 3 WAIST SHOULDER ELBOW L HAND WRIST or R HAND w o woa e a a e IDEAL GECKO MOTOR DRIVE CURRENT SETTINGS HPL RESISTOR VALS AXIS JOINT NAME LOGIC AMPS RESISTOR MICRO VALUE NO CHAN VALUE STEP OF SETTINGS MICROS m K ae a es T WAIST z SHOULDER p p a e o pew p p fx o p a pom p fo f p oo E eee R17 Robot Manual page 25 11 FULL CALIBRATION Setting up from scratch If you change the robot calibration for example because of a repair you can set the robot up from scratch as follows 1 Make sure you have a copy of the memory image on disk see reloading ROBOFORTH 2 Robot must be bolted down to a level bench Set the robot up to as near a HOME position as you can visually 3 Set waist mid point With power off rotate the waist counter clockwise until the peg under the waist knocks over the toggle 4 Switch on power and type START 5 Enter TEL
21. or press reset When powering up for the first time select COLD start before you switch on You will see a herald on screen that should include the words COLD START Front panel designations Fail indicates power supply problem e g low mains voltage When power is turned on it stays lit until power supply is secure Also lights when reset is pressed OK opposite of fail indicates good power supply TX lights when serial data is passing from controller to computer RX lights when serial data is passing from computer to controller STOP stops robot motion provided CPU is in control see software manual RESET resets CPU DSP and other logic TEACH teach pad input COLD WARM AUTO switch selects start up mode when power is turned on or reset is pressed see section 7 RS232 connects to computer Note if neither FAIL nor OK are alight then the rear 12v fuse may be blown R17 Robot Manual page 10 If there is no message on screen press the reset button on the front panel and watch the lights The red led should light as you press the button As you release the button the red led goes out the green light comes on and the yellow TX light should flash If it flashes the controller has sent characters up to the computer Check the screen If there is nothing there check com port and baud rate Assuming you have the herald press the enter key and you should see gt OK Press caps lock and you should now be able to type
22. r with a computer you need to run the utility ROBWIN EXE When ROBWIN is executed it immediately opens a communications window Once communication is established all your commands go to the controller not to the computer you are typing on Programming the controller involves programming the robot and the interaction with other equipment The robot and interfacing are programmed using ROBOFORTH II and FORTH There are two manuals ROBOFORTH covering robot programming and the system manual which describes the controller and interfacing The software manuals are on disk and written in HTML so you can use dynamic links to see connected concepts There is also a glossary on disk which gives a brief description of every command Some commands are used only by ROBWIN or are not very useful and these are in the glossary but not in the ROBOFORTH manual All FORTH and ROBOFORTH commands are in UPPER CASE press caps lock You can add commands written in lower case but these would be different commands from those spelled in upper case RoboForth is copyright David N Sands 1983 2014 R17 Robot Manual page 4 2 IMPORTANT DOS AND DON TS 1 DON T ever disconnect or connect the robot while the controller is switched on This will result in damage to the electronics and the connectors themselves Warranty claims will not be accepted for damage resulting from this 2 DO be very careful not to crash i e drive any joint against a solid object so that
23. rist enter the following in order 1 START zeros all counts 2 TELL WRIST DATUM the robot seeks out the sensor 3 WHERE look for the value under wrist and write it down 4 value LIMITS 8 which over writes the old parameter 5 Enter USAVE to save to the flash ROM Now you can save the new parameters to the PC as in section 11 6 axis calibration To perform a similar action on the 6 axis 1 START and CALIBRATE in the usual way 2 Enter READY 3 Using the simple teach pad in joint mode Band a spirit level move J6 in a negative direction to level the gripper as in the picture on right 4 Enter TRANSFORM ASSUME 5 TELL WRIST DATUM the robot seeks out the sensor 6 WHERE look for the value under wrist and write it down 7 value LIMITS 10 which over writes the old parameter 8 Enter USAVE to save to the flash ROM R17 Robot Manual page 23 R17 Robot Manual page 24 Energizing current Standard motors are energized at less than rated current for two reasons 1 at low speeds the torque at the final drive can be very high so the reduced current reduces this torque for safety 2 At a certain low speeds the rotor of a stepping motor can resonate resulting in vibration This effect is eliminated by reducing the current This also reduces low speed torque which can be damaging when mistakes are made Note that at high speeds the current is not limited by the drive circuits but by the time c
24. s a RoboForth word GRIPCHECK which checks to see that the gripper has closed on a part This is best used after the robot has withdrawn from the active area for example insert this word at a suitable place for the robot to check it has a valid pick e g JIG GRIP WITHDRAW GRIPCHECK If the gripper is not closed on an object you will get the Grip Fail error Adjusting the optional grip sensor It has already been set at the factory but should it require further adjustment proceed as follows Disconnect the air supply so you can move the gripper jaws by hand 1 Type PP to display the input port You should see 11111111 2 As you close the jaws you should see the sensor go from 11111111 to 11011111 and back to 11111111 again 3 Put the object to be handled in the jaws and close the jaws by hand The screen should show 11011111 4 Adjust the sensor by slackening the small screw on the side and sliding it up and down the slot as necessary until you see the 11011111 The objective is that you only see the zero on the object but with no object jaws fully closed or with the jaws fully open the screen should show 11111111 If you wish to move the grip sensor to another port for example to PB 7 then you can patch the definition of GRIPSENSE Check the existing value with GRIPSENSE 2 answer should be 5 Patch with 7 GRIPSENSE 2 R17 Robot Manual page 17 Vacuum pick up connections ROBOT CONTROLLER Sw
25. sually 25wD male to 9wD fem Teach pad cable from front of controller to teach pad 9wD to 9wD male to male There is also a Stop Jack for connecting an external stop circuit Even if there is no external stop circuit the jackplug must be plugged in at the rear of the controller The plug has a shorting link which is removed when connecting an external circuit The serial RS232 null modem cable from a computer to the controller should plug into the 25 way D connector on the front of the controller The other end usually 9wD connects to the rear COM1 serial connector of the computer If COM1 is already in use you can use any COM port or the USB serial adapter usually COM5 The serial speed is 19200 Baud 8 bits 1 stop bit DOS utilities only work with COM1 You can still use the DOS utilities if you have a legacy computer or are running a DOS simulator such as DOSBOX R17 Robot Manual page 7 Pneumatic connections Connect the air line by pushing it into the push fit connectors on the air valve and two from the valve to the rear of the robot If there is no compressor supplied then connect the shop air supply to the air valve The air supply must have a bowl filter and a pressure regulator Pneumatic gripper If a pneumatic gripper is fitted the robot will have two airlines fitted through it emerging on the forearm on two push fit connectors Two external lines loop to the gripper The control valve is usually external The valve is opera
26. ted from output port PA bit 0 Electric gripper If the electric gripper is fitted this is wired through the robot and requires no installation by the customer It is operated by a drive module in the controller It is controlled from output port PA bits 0 and 1 Only use the commands GRIP and UNGRIP The software switches the motor on off very fast to control the speed of closing and opening PWM When closed PA 0 is set to a 1 and left on to continuously energize the motor and maintain gripping force After UNGRIP the motor is left non energized A red LED shows when the gripper is powered see diagram below Note the electric gripper is hard wired through the wrist mechanism Make sure you limit rotation to 360 degrees If you go past the wrist rotate sensor and do another CALIBRATE this may result in another 360 degrees Eventually the wires will twist and break It should be enough to send UNTWIST before each CALIBRATE If in doubt remove the wrist cover 1 screw and 2 plastic rivets and use the teach pad to untwist the gripper R17 Robot Manual page 8 4 COMPUTER Note Commands to computer or controller are in the form of a string of characters followed by the enter key In all my examples of dialog between man and machine will underline text typed in by the user won t keep mentioning the need for the enter key A machine response will be in upper case but not underlined My comments will be in lower case Before switching on t
27. the wrist plus another 100 mm or so for the hand depending on the end effector fitted DEUCALION is driven by stepping motors micro steps of 0 18 degrees per step resulting after gearing in a nominal resolution of 0 1mm or better at the end effector If fitted the pneumatic gripper is operated by compressed air from 3 to 7 bar This may be supplied by a compressor supplied with the set or from another air supply The R17 robot system comprises 3 main units the robot the controller the computer or terminal The computer is used to program the controller Once programmed the controller will run the robot independently without the need for the terminal or computer but it is a good idea to leave a low cost terminal connected while the robot is in use OVERVIEW The controller controls all movement of the robot As the controller may be both reading sensors and signals from and controlling associated equipment it follows that all decisions about robot activity are usually made by the controller which is capable of running without any host computer The function of the computer is to a program the controller b to copy back up the contents of controller RAM to disk and optionally c to perform a supervisory role sending commands to the controller through the RS232 interface The function of a terminal is to display information or questions and for the operator to enter answers or commands e g part type selection To program the controlle
28. troller Geckos are set to 10 while IM805s are set to 5 but may changed to 10 or any value There is an array MICROS which has values of 2 for 5 microsteps and 4 for 10 microsteps Encoders The encoders are fitted as watch dogs not as feedback devices as such After a move the encoders are checked to see if the motor did what it is told If the error is small a correction may be made see software manual or if it is big then clearly some collision must have occurred and the robot stops with ENCODER STEPPER MISMATCH and the axis number These are the conversion factors determined by the encoder resolution and the gear ratio between motor and encoder They are a group of 6 16 bit values located at ENCRATIOS Motors gearing The waist rotate shoulder and elbow joints are driven by 2 stack stepping motors driving through two reductions by toothed belts and a final chain drive The R17 elbow has a final T5 steel reinforced polyurethane toothed belt The ratios chosen are to obtain the desired resolution and the correct load matching for the motors at high speeds The R17 hand is driven by two motors If both run together then the hand will pitch but if motor 5 only runs then the hand will roll Gear ratios WARNING there should be no reason to alter these constants unless some change has been made to the robot The following constants are the numbers of motor half steps for 90 degrees of joint movement Joint WAIST SHOULDER ELBOW L HAND
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