SCORBOT-ER 4pC User`s Manual - Digital
Contents
1. Do not install or operate the SCORBOT ER 4pc under any of the following conditions Where the ambient temperature or humidity 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 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 4pc motors are rated 12VDC nominal while the controller motor drivers supply 24VDC do not drive axes continuously in one direction at maximum speeds User s Manual 11 SCORBOT ER 4pc CHAPTER 1 Installation Before installing the SCORBOT ER 4pc be sure you have read and understood the safety instructions and2. 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 Referto 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 that 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 4pc N N User s Mani iJ I 8 gd HA ES Tightening the Oldham Coupling in Gripper Qualified Te
3. 205 Socket head cap screw 8 32 x 3 8 S13 306206 Socket head cap screw 8 32 x 1 2 S14 306207 Socket head cap screw 8 32 x 5 8 15 112401 Support base motors 4 5 16 112403 Support clamp motors 4 5 17 110205 Right side plate shoulder 18 110210 Left side plate shoulder 18 306401 Socket head cap screw 10 32 x 3 8 S19 306402 Socket head cap screw 10 32 x 1 2 20 111901 Anti backlash spur gear transfer S20 306404 Socket head cap screw 10 32 x 3 4 S21 306405 Socket head cap screw 10 32 x 7 8 22 111902 Anti backlash spur gear upper 22 306407 Socket head cap screw 10 32 x 1 4 23 113501 Anti backlash spring S23 306403 Socket head cap screw 10 32 x 5 8 24 107003 Washer S24 306408 Socket head cap screw 10 32 x 11 2 S25 321001 Ball bearing motor 1 gear S26 306602 Socket head cap screw 1 4 20 x 1 27 111903 Anti backlash spur gear base S27 306602 Socket head cap screw 1 4 20 x 5 8 28 111907 Spur gear base motor S31 306414 Socket head cap screw 10 32 x 3 4 x 1 4 shoulder 32 319404 Spur gear motors 2 3 2 34 112405 Motor support motor 2 differs in ER 4pc 35 112404 Motor support motor 3 differs in ER 4pc 37 112402 Motor support motors 445 38 319406 Timing belt pulley motors 4 5 40 111606 Rear cross bar not used in ER 4pc 46 111402 Main shoulder shaft 47 111909 Timing belt pulley 48 111911 Timing belt pulley User s Manual 25 SCORBOT ER 4pc 9810 Dwg Cat Description 49 111905 Sp
4. 3 316006 E Ring 1 8 DIN 6799 254 316003 Retaining ring 10 DIN 471 S255 316004 Retaining ring 12 DIN 471 257 316302 Retaining ring 25 DIN 471 S 260 320005 Ball bearing 8 x 22x 7 S 261 320004 Ball bearing 2 10 x 2 19x 5 S 262 320006 Ball bearing 10 x 26 x 8 S 263 320203 Ball bearing 2 25 x 2 47x 8 S 268 320701 Needle bearing 12 x 2 16 x 10 S 269 320702 Needle bearing 2 12 x 2 19 x 16 270 320704 Needle bearing 2 15 x 2 21 x 12 S 270 320705 Bushing for 320704 275 320501 Thrust bearing 2 10x 224x 2 5 276 320502 Thrust washer 10x 224 x 1 277 320503 Thrust washer 10 x 24 x 2 5 5 278 320504 Thrust bearing 2 12 x 2 26 x 2 279 320505 Thrust washer 12x 26 x 1 S 283 314501 Lock washer User s Manual 27 SCORBOT ER 4pc 9810 Dwg Cat Description 285 286 288 289 S 293 5 294 295 5 300 301 5 308 5 309 5 310 531 5 312 5 313 5 315 5 316 5 317 5 318 5 319 5 320 5 322 5 324 5 325 5 350 5 351 414 427 429 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 105001 113005 105002 Lock nut gripper Lock nut base KM 5 Washer 2 10 5 x 2 20 x 0 5 Washer 2 12 5 x 222 x 0 5 Timing belt Timing belt Timing belt Flange timing belt pulley Flange timing belt pulley Pivot pin Z 1 8 x 3 8
5. 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 2 1 8 x 1 1 4 Ball bearing 2 3 5 mm Encoder disk 3 slots gripper differs in ER 4pc Encoder housing plastic differs in ER 4pc Encoder disk 6 slots differs in ER 4pc SCORBOT ER 4pc 28 User s Manual 9810 100 E LOV cop ANSNOdWOD G3YNLOVINNVW 9310804 G3HS3 AN3NOdWOD QHVONYIS 5 17 en 5 a 2 E 8 2 lt 5 S N Ej amp 3 3 5 2 Ss 5 E iB Figure 21 Robot Arm Assembly SCORBOT ER 4pc 30 User s Manual 9510 Sw ey STANDARD COMPONENT TEN ESHED MANUFACTURED COMPONENT Figure 22 Anti Backlash Assembly User s Manual 31 SCORBOT ER 4pc 9810 om e js DDA STANDARD COMPONENT MANUFACTURED COMPONENT cen ESHED SE Figure 23 Base and Motors Assembly User s Manual 32 SCORBOT ER 4pc 9810 128 CHAPTER 8 Wiring Robot Wiring robot is connected to the Controller PC by means of a cable whi
6. R 4pc 5 115 45007 Encoder circuitry 3 slots differs in ER 4pc SCORBOT ER 4pc 26 User s Manual dye 1 Tek ee ie Lees ces Dwg Cat Description 116 113009 Miter gear bottom S116 45006 Encoder circuitry 6 slots differs in ER 4pc 127 107009 Spacer washer for base bearing S 139 306008 Socket head set screw 24 40 x 1 8 145 306213 Socket head set screw 78 32 x 3 16 S 151 306413 Socket head set screw 10 32 x 3 16 S 153 306214 Socket head set screw 48 32 x 1 4 without head S187 302002 Socket binding head screw M2 x 10 limit switch 188 302001 Slotted binding head screw M2 x 8 limit switch S 189 302006 Slotted binding head screw M2x20 encoder housing S 206 313001 Washer for screw 4 40 S207 107012 Washer black internal for plastic cover 2 12 5 x 25 5 x 0 6 208 313004 Washer for screw 10 32 S 209 313005 Washer for screw 21 4 S212 314508 Washer lock black external 5 215 314002 Spring washer for screw 4 40 216 314003 Spring washer for screw 6 32 217 314004 Spring washer for screw 8 32 218 314005 Spring washer for screw 10 32 S219 314006 Spring washer for screw 1 4 5225 314503 Lock washer M2 S227 313003 Washer for screw 8 32 5 232 107008 Teflon washer 2 1 4 x 2 3 8 x 0 6mm 5 233 107007 Teflon washer 1 4 x 1 2 x 0 6mm S234 113016 Nylon washer 11 x 4 not used in ER 4pc S 240 310001 Hexagonal nut M2 S 25
7. SCORBOT ER 4pc User s Manual ESED oso o Copyright 1999 by Eshed Robotec 1982 Limited February 1997 February 1999 Reprint PDF version Catalog 100118 Rev A 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 and manual without prior notice SCORBOT a registered trademark of Eshed Robotec 1982 Ltd 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 Save the original carton and all packing material You may need them later for shipment website www eshed com email info eshed com ESHED ROBOTEC 1982 LTD 13 Hamelacha St Afek Industrial Park Rosh Ha ayin 48091 Israel Tel 972 3 9004111 Fax 972 3 9030411 ESHED ROBOTEC INC 472 Amherst St Nashua NH 03063 USA Tel 1 800 777 6268 Tel 603 579 9700 Fax 603 579 9707 Table of Contents CHAPTER 1 General Information 1 About SCORBOT ER 4pc A
8. cceptance Inspection Repacking for Shipment UNUS FHandling lnst ctionsi 2252 0 EE 2 __ 4A o oe 5 Work Envelope EET Motors EE ENE 7 Encodefs 215100022 o US 7 Microswitches 8 Transmisslons 8 v Grippet sv vv era ad REL ER US 9 CHAPTER 3 Safety 10 Precautions 10 2 3 s pU ES 11 CHAPTER 4 Installation 12 5 Operating Methods 14 SCORBASE for Windows Software 2 14 iTeacbiPendart ee vn 14 i CHAPTER 6 Maintenance 15 Maintenance 15 Daily Operation zum 16 Perodiciinspection 72726 3TredblestoGthg Sun ys Adjustments and Repairs p 21 Adjusting the Timing 21 Adjusting Base Anti Backlash 22 Tightening the Oldham Coupling in Gripper TE Gripper DIsassembl wg S 23 GrippenReasseinblys 23 7 Parts Lists 24 CHAPTER 8 Wiring 33 i FRODOEW ICING reve PS EIER RES 33 Single Axis Wiring pet sere eek 35 SCORBOT ER 4pc v User s Manual 9810 CHAPTER 1 General Information This chapter contains instructions for unpacking and handling the SCORBOT ER 4pc robot About SCORBOT ER 4pc The SCORBOT ER 4pc was designed a
9. ch runs from the robot base to the D50 connector marked ROBOT on the rear panel of the SCORPOWER box 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 The following table details the wiring for the various electrical components in the SCORBOT ER 4pc robot indicates two wires on same pin SCORBOT ER 4pc Wiring PIN 18 34 Figure 24 PIN 17 PIN 33 Robot D50 Connector Robot Arm Signal Lead to Molex Lead to D50 Connector Encoder Color Pin Color Pin 12 pin Connector Pad Microsw white gray green 50 17 white white green 49 16 white orange brown 48 15 white orange green 47 white orange gray Gripper white orange blue User s Manual 33 9810 SCORBOT ER 4pc SCORBOT ER 4 Wiring Robot Arm Signal EG es men Axis Motor Encoder Pad Microsw Color Pins Color Pin GND 1 white 33 3 Pi 3 white gray 5 2 yellow 11 Po 4 brown 2 GND 1 white Pi 3 w
10. ches Feedback Optical encoder on each axis Actuators 12VDC servo motors Motor Capacity axes 1 6 150z in Peak Torque stall 70W Power for Peak Torque Gear Ratios Motors 1 2 3 Motors 4 5 Motor 6 gripper Transmission Gears timing belts lead screw Maximum Payload 1 kg 2 2 Ib including gfipper Position Repeatability 0 2 mm 0 008 at TCP tip of gripper Weight 11 5 kg 25 Ib Maximum Path Velocity 600 mm sec 23 6 sec Ambient Operating Temperature SCORBOT ER 4pc D 2 40 C 36 104 User s Manual 9810 Structure The SCORBOT ER 4pc 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 Joint Name Motor No Base Rotates the body Shoulder Raises and lowers the upper arm Elbow Raises and lowers the forearm Wrist Pitch Raises and lowers the end effector gripper Wrist Roll Figure 2 3 Robot Arm Links Rotates the end effector gripper ELBOW WRIST SHOULDER ei ric Figure 2 4 Robot Arm Joints Work Enve
11. chnician 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 12 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 2 Remove the lead screw 94 from within the shaft 105 by turning it counterclockwise 3 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 the 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 2 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 3 When all the coupli
12. coder Ground GND 1 5 Shield black Microswitch Signal MS 4 orange Microswitch GND 5 orange P1 PO MOTOR MOTOR Figure 25 Motor Wiring Figure 26 Motor with D9 Connector User s Manual 9810 35 SCORBOT ER 4pc
13. d 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 shredded 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 FOREARM _ Do not touch the microswitches cams or encoders Figure 2 Robot Arm Parts CHAPTER 2 Specifications This chapter includes the specifications the SCORBOT ER 4pc robot arm and descriptions of its components SCORBOT ER 4pc Specifications Mechanical Structure Vertical articulated Number of Axes 5 axes plus servo gripper Axis Movement Axis 1 Base rotation Axis 2 Shoulder rotation Axis3 Elbow rotation Axis 4 Wrist pitch Axis 5 Wrist roll 310 4130 35 130 130 Unlimited mechanically 570 electrically Maximum Operating Radius 610mm 24 4 End Effector DC servo gripper with optical encoder parallel finger motion Measurement of object s size gripping force by means of gripper sensor and software Maximum Gripper Opening 75 mm 3 without rubber pads 65 mm 2 6 with rubber pads Hard Home Fixed position on each axis found by means of microswit
14. e Maintenance The maintenance and inspection procedures detailed below will ensure continued optimum performance of the SCORBOT ER 4pc 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 Nooutput is connected directly to a power supply No people are within the robot s working range 2 After you have switched on the PC and the control box check the following items The power and motor LEDs on the control box 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 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 us needed E 3 Check all the tension of robot arm belts When you press on a belt the slack should be no L greate
15. en motors 4 and 5 are Aj driven in the same direction the wrist rolls clockwise and counterclockwise A leadscrew coupled directly to motor 6 causes the gripper to 4 open and close Figure 11 Gripper CHAPTER 3 Safety This chapter contains important safety guidelines and warnings 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 4pc 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 4pc 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 To immediately abort all running programs and stop all axes of motion press the EMERGENCY STOP button on either the teach pendant or the control box SCORBOT ER 4pc 10 User s Manual Warnings
16. hite orange 21 VLED 2 yellow 27 Po 4 gray 1 GND 1 white 31 Pi 3 brown blue 4 3 VLED 2 yellow 10 Po 4 green 36 GND 1 white Pr 3 green brown 20 VLED 2 yellow 26 Po 4 orange 35 GND 1 white 5 Pi 3 green blue VLED 2 yellow Po 4 blue GND 1 black 12 white Gripper Pi 3 green 11 gray blue 2 yellow 10 white Po 4 brown 9 white blue 1 GND white MS brown 5 GND white MS gray S GND white 1 white MS white 2 orange A GND blue 3 white MS blue 4 green GND orange 5 white MS orange 6 blue Gripper m 2 pue connection brown gray SCORBOT ER 4pc 34 User s Manual 9810 Single Axis Wiring In addition to the robot s six motors the Controller PC can control two additional motors 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 SCORPOWER box The following table details the wiring for a motor encoder and optional when connected to the controller Refer to Figures 25 and 26 The last column in the table shows the colors of the leads used in the Function Encoder D9 Connector microswitch tor Kit accessory Motor Kit PC510 Pad Pin Lead Color Motor Power 1 red Motor Power 9 green Encoder Phototransistor Po 4 8 brown Encoder Phototransistor P1 3 6 white Encoder LED voltage Ven 2 3 yellow En
17. lates 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 s Manual 19 SCORBOT ER 4pc 9810 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 backlash in the base axis Qualified Technician Only Refer to the section Adjustments and Repairs Tater in this chapter 9 Unusual noise Qualified Technician Only Loose screws Poor lubrication Worn motor brushes Worn timing belt SCORBOT ER 4pc 20 User s Manual 28 22 L1 i Adjustments and Repairs 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 a
18. lope r The length of the links and the degree of rotation of the joints determine the robots work envelope Figures 5 and 6 show the dimensions and reach of the SCORBOT ER 4pc 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 be Figure 5 Operating Range Top View k HS e 8 p 190mm 7 5 Figure 6 Operating Range Side View SCORBOT ER 4pc 6 User s Manual a Moiors 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 Microswitches The SCORBOT ER 4pc ha
19. nd developed to emulate an industrial robot The open structure of the robot arm allows students to observe and learn about its internal mechanisms Figure 1 SCORBOT ER 4pc Robot Arm User s Manual 1 SCORBOT ER 4pc 9810 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 4pc package includes the following items SCORBOT ER 4 Robot arm Power cable 100 110 220VAC 3 bolts for mounting robot set of hex wrenches SCORBOT ER 4pc User s Manual Refer to the Controller PC User s 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 4pc 2 User s Manual 9810 Repacking for Shipment Be sure all parts are back in place before packing the robot The robot should be repacked in its original packaging for transport If the original carton is not available wrap the robot in plastic or heavy paper Put the wrapped robot in a strong cardboar
20. ng 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 s Manual 23 SCORBOT ER 4pc 9810 CHAPTER j Parts Lists This chapter contains isometric drawings of the robot arm Note that the SCORBOT ER 4 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 and around the shoulder to increase strength and stability SCORBOT ER 4pc 24 User s Manual E Dwg Cat Description 1 113012 Bearing housing cover plastic 2 111401 Main shaft base 2 306003 Socket head cap screw 4 40 X 1 4 3 306004 Socket head cap screw 4 40 X 3 8 4 113004 Base plate 5 113001 Base 6 306201 Socket head cap screw 6 32 X 1 4 58 306002 Socket head cap screw 2 56 x 3 8 11 111906 Spur gear 120 teeth 11 306204 Socket head cap screw 8 32 x 1 4 12 112103 Bottom Plate shoulder S12 301
21. r 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 Adjustments and Repairs later in this chapter SCORBOT ER 4pc 16 User s Manual 9810 4 ES Troubleshooting 1 The procedures in the section are intended only for technicians who have received 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 control box robot arm PC cables with an identical component from a working system Do not open the control box 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 PC User s Manual for additional troubleshooting instructions and information Controller functioning but the robot cannot be acti
22. re 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 i ONG U Figure 16 Tightening Belts in Forearm Figure 17 Tightening Belts in Upper Arm Figure 18 Tightening Belts in Robot Base User s Manual 21 9810 Adjusting Base Anti Backlash Qualified Technician Only Refer to the exploded views of the robot in Figures 22 and 23 1 Referto 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 Referto Figure 23 Remove the base lock nut S286 3 Referto Figure 22 Remove the two socket head cap screws S19 and detach the base motor from the base plate 12 Figure 19 Shoulder
23. rom the two channels of the encoder and with respect to the time axis The top two signals should be clean square waves Vi low value should be 0 4V or less Vu 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 Vur If the waves are distorted with an incorrect shift between them the encoder is faulty and Figure 15 Encoder Signals should be adjusted or replaced 6 Errors in the repeatability of the robot Qualified Technician Only Try to identify the faulty 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 1 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 View Encoders to display the encoder readings Enter the command Control Off to disable servo control ically move the axis to another position Then return to the starting on 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 accumu
24. s five microswitches one on each axis which serve to identify the robot s home position During the homing procedure 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 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 9 Microswitch SCORBOT ER 4pc 8 Figure 10 Transmissions User s Man Ey g 1 7 1 1 3 Gripper The SCORBOT ER 4pc 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 1 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 7 moves up and down Wh
25. s 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 SCORPOWER 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 SCORPOWER control box off then on again Check the encoder To display encoder readings select View Encoders 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 4pc 18 User s Manual 9810 EK 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 and P4 received from the encoder s two phototransistors Figure 15 shows the wave diagrams which emanate f
26. teach pendant operation is described fully in the other manuals supplied with the system SCORBASE for Windows Software SCORBASE for Windows is a robotic control software package which has been designed for use with the SCORBOT ER 4pc Its menu driven structure and off line capabilities facilitate robotic programming and operation SCORBASE communicates with the robot controller by means of an RS232 channel SCORBASE for Windows can be operated in three levels which are comparable to Levels 1 3 and 5 of the original DOS based SCORBASE software SCORBASE for Windows Level 1 and Level 3 are recommended for those who wish to learn robotic programming from the most basic stages SCORBASEpro contains programming commands and options for advanced users SCORBASE for Windows is described fully in the SCORBASE for Windows User s 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 for Controller PC User s Manual fully describes the various elements and functions of the teach pendant SCORBOT ER 4pc 14 User s Manual I LL LJ lt __ 25 CHAPTER 6 Maintenanc
27. ur gear 72 teeth 52 111405 First tension shaft 53 113013 Tension wheel 55 111406 Second tension shaft 56 113014 Tension pulley 57 112406 Clamp lower arm left side plate 58 110215 Upper arm right side plate 60 111904 spur gear right 72 teeth 61 110220 Upper arm left side plate 63 112407 Clamp lower arm left side plate 64 111403 Middle shaft 67 107001 Aluminum spacer 70 111910 Timing belt pulley S 70 306007 Flat head socket screw 4 40 x 1 4 72 111407 Third tension shaft 74 111404 Gripper axis 76 112439 Stopper motors 445 T 110705 Base plate limit switch S81 306201 Flat head socket screw 8 32 x 3 8 82 113008 Timing belt pulley miter gear S82 306211 Flat head socket screw 8 32 x 1 2 84 110228 Forearm left side plate 86 111912 Timing belt pulley 87 112114 Flange S87 306410 Flat head socket screw 10 32 x 1 2 88 110223 Forearm right side plate 91 112408 Gripper gear motor support 91 306412 Flat head socket screw 10 32 x 1 4 94 113801 Lead screw 96 112117 Gripper bridge 97 112118 Gripper finger inner 98 112119 Gripper finger outer 98 112120 Gripper finger short 100 112113 Gripper clamp 101 110703 Mounting plate gripper 102 113201 Rubber pad gripper 103 111409 Pivot pin 105 111408 Main shaft gripper 107 113802 Lead nut gripper 108 112115 Bearing housing 109 112116 Bearing housing cover 112 110229 Gripper motor base plate 113 113505 Spring 120 g gripper motor not used in E
28. vated 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 properly 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 Checkthe microswitch for this axis Prepare and run a simple program to test the microswitch on axis 2 for example as follows Set Variable LIMIT SWITCH 2 If Limit switch LIMIT SWITCH jump to TURN ON turn off output LIMIT SWITCH Jump to END TURN ON turn on output LIMIT SWITCH END User s Manual 17 SCORBOT ER 4pc 9810 Technician Only If the output LED does not turn on as expected in the above software routine 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 If there is a short depres
29. warnings detailed in Chapter 1 Be sure you have ample space to set up the robotic system as shown in Figure 12 Set up the SCORBOT ER 4pc on a sturdy surface with a minimum 700mm of free space all around the robot zoo mm sss c ROBOT WORKING AREA S ps 27 AJ CONTROL DESK lt Figure 12 SCORBOT ER 4pc Installation 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 02 240 mm 9 49 Pitch Circle 207 mm 8 15 Hole 6 off 8 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 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 4pc 12 User s Manual ee ES Place the controller and computer a sturdy surface at safe distance from the robot vwell outside the robot s safety range Connect the robot cable D50 connector to the SCORPOWER box Make sure all other connections have been made in accordance with the instructions in the Controller PC User s Manual Turn on the computer and the SCORPOWER box CHAPTER 5 Operating Methods The SCORBOT ER 4pc can be programmed and operated by means of SCORBASE for Windows software and by a teach pendant Software and
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