100088-c ER_I
Contents
1. Programming Languages SCORBASE for ER I Level 3 Teach Pendant Number of Programming Lines Up to 10 000 Number of Positions Up to 7 000 On rear panel RS232 channel D25 connector Robot D50 connector Connectors Teach Pendant D9 connector On front panel Inputs Outputs D15 connector Power Requirements 110 220VAC 48 66Hz 150W maximum Weight 6 kg 13 2 lbs 11 4mm 4 H Dimensions 28 5mm 114 W 30 0mm 11 W Ambient Operating Temperature 2 40 C 36 104 F LED Indicator Power On front panel Safety Features Impact Protection motors stop automatically upon impact condition with no loss of data from memory User Abort User can stop robot immediately with no loss of data from memory All electrical and mechanical components are enclosed within robot casing SCORTEC ER I 2 6 User s Manual 9603 Controller Functions The main controller circuit controls the robot s six motors and checks the state of the five encoders In addition it operates four outputs and checks the state of four inputs The controller circuit is a slave of the computer communicating by means of the RS232 serial port INPUTS OUTPUTS TIL 5V mox CONTROTHER ESHED mosorec Figure 2 9 Controller Front Panel2. SCORTEC ER I 2 4 User s Manual 9603 Motors The robot s five axes and gripper are operated by DC 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 except for gripper motor has closed loop control that is an encoder circuit provides the controller with feedback on the extent and direction of the movement of the 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 User s Manual 9603 2 5 RK SSS SAKS RO ES RSE EK SE BERRE POL ON ScORTEC ERI Figure 2 8 Encoder SCORTEC ER I The Controller The following table details the controller specifications SCORTEC ER I Controller CPU INTEL 8031 Number of Servo Axes 5 robot axes Inputs Outputs 4 Inputs TTL type 4 Outputs TTL type Communication Interface RS232C serial port
3. Overview aooaa a a a a a a 4 1 Operating Keys aaa aaa a 4 2 Coordinate Systems Lava a a 4 3 Home Men ske sat o sed Seat G dat asa f 4 3 User s Manual V SCORTEC ER I 9603 CHAPTER 5 CHAPTER 6 SCORTEC ER I Teach Positions Menu 4 6 Coordinates Display L 2 2 vr rv o 4 9 List Delete Positions Screen 4 9 Edit Program Menu o rv 0222 ee eae 4 11 Additional Editing Commands 4 14 Editing Functions 0 vrak kr kran 4 15 List Delete Program Screen o 4 16 Program Handling Menu 2 22 ra kar rn kran 4 17 Run Program Menu 2 kv narr o 4 19 Command Line Options rv kr kr karen 4 21 SIZE OPtlons 2 ras ea ra e da 4 21 Device Options vxsadaka da Dra Far Pad ad 4 21 Automatic Run Options 2 220004 4 22 The Teach Pendant Teach Pendant Functions rv 2 eee 5 2 Brakes iia Na g te ir A kristnes 5 3 Teach isr Ala SE AGA bre LE br ET EE Gere aoe 5 3 Edit 2 Sa el SUGAR Ge RA STAAR de 5 5 RUN 4 222 Set Ad SPR Ger de Gti Site s 5 8 Home harselas see ao ae Ge gee kratre ot 5 9 Save t t vic wets Su S rie Ve Be Gi Seed ten 5 10 LO As aa re Bod RE ee SE NASA 5 11 Maintenance Daily Operation 22 a arr kr kr kr e 6 1 Periodic Inspection 2 aar rv 000222 eee eee 6 2 Troubleshooting
4. rakner kn 6 2 vi User s Manual 9603 CHAPTER 1 General Information Read this chapter carefully before you unpack the robot and controller This chapter contains instructions for handling the SCORTEC controller and the SCORTEC ER I robot This chapter also includes important safety guidelines and warnings Handling Instructions Lift and carry the robot arm only by grasping the body or the base See Figure 1 1 Do not lift and or carry the robot arm by its gripper upper arm or forearm Do not handle the motors or encoders Lift and carry the controller by grasping it on and under the left and right side panels Do not handle the front or back panel of the controller GRIPPER Figure 1 1 Robot Arm Parts User s Manual 1 1 SCORTEC ER I 9603 Acceptance Inspection Save the original packing materials and shipping carton You may need them later for shipment or storage After removing the robot arm and controller from their shipping carton examine them 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 following table lists the components in the SCORTEC package Make sure you have received all the items listed on the shipment s packing list If anything is missing contact your supplier SCORTEC Standard Package Item Description SCORTEC
5. 20 maA Be sure you do not drive more than a total of 80 mA through the outputs You may connect a SCORTEC output to a SCORTEC input without an external power supply and load Figure 2 14 shows the activation of a source type output Figure 2 15 shows the activation of a sink type output User s Manual 2 11 SCORTEC ER I 9603 CONTROLLER ey gt OR OUTPUT ON OFF COMMANDS l outeut PIN OUTPUT GREN PASS d Ri oAp 2500 n Figure 2 14 Source Output Activation 5 VDC max CONTROLLER PROTECTIVE DIODE FOR INDUCTIVE LOAD EXTERNAL POWER a SUPPLY OUTPUT CIRCUITRY output PIN OUTPUT O ON OFF COMMANDS Si Ri oAp 2509 min l oAD 20 mA max GROUND Figure 2 15 Sink Output Activation SCORTEC ER I 2 12 User s Manual 9603 CHAPTER 3 Installation Before installing the SCORTEC ER I be sure you have read and understood the safety instructions and warnings detailed in Chapter 1 System Requirements To operate the SCORTEC ER I robot by means of SCORBASE you will need a minimum PC XT AT with hard disk or floppy drive any display adapter and monitor an RS232 communication card 512Kb RAM and DOS 3 0 or higher Preparations 1 Be sure you have ample space to set up the robotic system as shown in Figure 3 1 SAFETY SCREEN ROBOT WORKING AREA CONTROL DESK Figure 3 1 SCORTEC ER I Installation User s Manual 3 1 SCORTEC E
6. ESV Speed 10 movement These commands set the speed of robot movement when the axes are moved manually from the keyboard Press F to set the fastest speed 10 This is the default speed Press S and then enter any speed from 1 the slowest to 9 1 Q move base right left Robot base moves right and left 2 W move shoulder up down Shoulder moves up and down 3 E move elbow up down Elbow moves up and down 4 R move wrist pitch up down Wrist moves up and down 5 T move wrist roll right left Wrist rolls right and left SCORTEC ER I 4 6 User s Manual 9603 O C Open Close gripper P V These keys open and close the gripper Press O to open the gripper Press C to close the gripper record Position relative position The Record Position command records the current position of the robot axes in joint coordinates Press P At the prompt enter the position number you want to assign to the current location of the axes If you simply press Enter SCORBASE will automatically enter the next sequential position number Up to 100 positions can be recorded The Record Relative Position command records the current position of the robot arm relative to another absolute position Make sure you have first recorded the reference position Press V The format for recording a relative position is RECORD POSITION 1 100 RELATIVE TO At the Record Position and Relati
7. Y 2 0 01 OS QU Y 1 om J3J004U U NyR O pa Ez a y A GI y a E O Messages 11 through 18 include a code for sounding a beep To display any other message at run time use the Remark command Editing Functions INSERT LINE This command allows you to insert lines into a program Press I At the prompt enter the number of the line at which you wish to insert another command Then type and enter the additional command line or lines Press Enter a second time to exit the insert mode SCORBASE then displays the next available program line When program lines are inserted all line numbers and previously entered Jump commands are automatically updated X REPLACE LINE This command allows you to replace an existing command line with another command Press X At the prompt enter the number of the command line you want to replace The command line specified is displayed and you are prompted for the new command Pressing Enter without a new command leaves the original line unchanged L LIST DELETE Press L to activate the List Delete screen lt ESC gt RETURN TO MAIN MENU Press Esc to return to the Main Menu User s Manual 4 15 SCORTEC ER I 9603 List Delete Program Screen This List Delete Program scre
8. also specify the pitch and roll of the gripper in degrees You are prompted to complete the command as follows CURRENT POSITION TEACH POSITION x y z X MM E Y MM SOON ad Z MM S32422 eagle PITCH DEG 71 25 0 o ROLL DEG 0 00 veven RECORD POSITION 1 100 Pressing Enter for a coordinate accepts the displayed value which is always the current value of the coordinate For example X mm 163 42 s sters You may now enter a new X coordinate or press Enter to accept the displayed value which is 163 42 The Teach Relative Position XYZ command allows you to teach a position which is relative to another position by an XYZ offset You are prompted to complete the command as follows TEACH RELATIVE POSITION x y 2 X MM 0 00 eeeeee Y MM SQLO0 endte Fai dt Z MM 0 00 arve PITCH DEG 0 00 aan eeen ROLL DEG 0 00 ve veve RECORD POSITION 1 100 RELATIVE TO Pressing Enter for a coordinate accepts the displayed offset value which in all the instances above is 0 00 Pressing Enter without specifying a reference position creates a position which is relative to the current position A position which is relative to current means the specified offset will be computed from wherever the robot is located at the time it is sent to the relative position L List delete p
9. ground do not connect the controller Failure to connect the power cable to a grounded outlet could result in electrical shock 2 Turn off the controller s power switch before you enter the robot s operating area and especially before you make an input output connection 3 Turn off the controller s power switch and disconnect the controller power cable from the AC power outlet before you remove any fuses The power cable must be disconnected to remove possible shock hazard 4 Do not attempt to open the controller There are no user serviceable parts inside Robot 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 SCORTEC ER I operating area 4 Do not enter the robot s safety range or touch the robot when the system is in operation 5 Make sure loose hair and clothing is tied back when you work with the robot Warnings Be sure you heed the following warnings to prevent damage to the robot and controller and to ensure continued performance Be sure you know how to immediately abort running programs and stop all robot movements If using a teach pendant press the red Brake key Or turn off the controller s power switch on the controller s rear panel User s Manual 1 3 SCORTEC ER I 9603 Environmental Conditions Do not install or operate th
10. of the first position whose coordinates you want to display The display format is as follows LIST F POS 4 225 955 shoulder pitch Press Return to display the next line of coordinates Continue pressing Return to scroll the display The coordinates of the next recorded position will appear on the screen Press Backspace to return the previous line of coordinates Continue pressing the Backspace key to scroll up reverse scrolling Press Brake to resume teaching positions SCORTEC ER I 5 4 User s Manual 9603 Delete This key allows you to delete any position or any range of positions from the teach pendant memory Press Delete Key in the number of the position or the first position to delete and press Return You are again prompted To delete a single position type the same position number previously entered and press Return or simply press Return without typing a position number To delete a range of positions type the number of the last position to delete and press Return Before the delete operation is executed you are prompted ARE YOU SURE Press the Yes key to delete the position s entered Press any other key to cancel the operation Output On This key turns on the controller outputs At the TURN ON OUTPUT prompt key in the number of a specific output from 1 through 4 and press Return Output Off This key turns off the controller outputs At the TURN OFF OUTPUT prompt key in the nu
11. on switch it off Connect the teach pendant s D9 connector to the port marked TEACH PENDANT on the rear of the controller Gently tighten the retaining screws on the connector Turn on the controller For more information about the teach pendant see Chapter 5 User s Manual 3 3 SCORTEC ER I 9603 Input Output Connections To facilitate use of the controller s I O s and to provide flexibility for various applications it is suggested that you use a standard interface module for the I O connection This module should contain a terminal strip and a D15 male connector together with a D15 cable This will enable pin to pin connection with the D15 female connector on the controller Make sure all connections to the terminals are in accordance with the warnings detailed in Chapter 1 and the specifications described in Chapter 2 Controller I O Connector Pinout Pin Number Function 1 GND 2 Output 4 3 GND 4 Output 3 5 GND 6 Output 2 7 GND 8 Output I 9 Input 4 10 GND 11 Input 3 12 GND 13 Input 2 14 GND 15 Input 1 SCORTEC ER I 3 4 Figure 3 4 Controller I O Connector 1234567 8 9 10 11 12 13 14 15 Figure 3 5 I O Interface Module User s Manual 9603 Software Installation SCORBASE Level 3 and SCORBASE Level 4 provided with teach pendant are each supplied on a 3 5 disk Make a backup copy
12. on the Main Menu screen until the robot has been homed ROBOT HAS NOT BEEN HOMED PLEASE SELECT HOME MENU Begin each working session by activating the Home module and performing the necessary Operations Since the robot must be in a suitable position to begin the homing procedure the Home Menu provides commands which allow you to manipulate the robot These commands are identical to those found in the Teach Positions module The following pairs of number and letter keys are used for direct manual control of the movement of the robot axes An axis will continue to move as long as the activating key 1s depressed EiSpeed 10 movement These commands set the speed of robot movement when the axes are moved manually from the keyboard Press F to set the fastest speed 10 This is the default speed Press S and then enter any speed from 1 the slowest to 9 move base right left Robot base moves right and left move shoulder up down Shoulder moves up and down move elbow up down Elbow moves up and down move wrist pitch up down Wrist moves up and down move wrist roll right left Wrist rolls right and left Open Close gripper These keys open and close the gripper Press O to open the gripper Press C to close the gripper PRESS G KEY TO HOME THE ROBOT Press G to perform the home search During the homing procedure each robot a
13. recorded positions The positions will be printed using the currently active coordinate display system RX RAJA XYZ COORDINATES This command determines the system used to display and print positions Press R to display the position coordinates in terms of encoder counts for the robot joints Press X to display the position in Cartesian or XYZ coordinates lt ESC gt RETURN TO TEACH POSITIONS MENU Press Esc to return to the Teach Positions menu SCORTEC ER I 4 10 User s Manual 9603 Edit Program Menu The Edit Program module allows you to write and edit your robotic programs To create a program line press the key which activates the command SCORBASE automatically assigns numbers to your program lines When you are prompted to enter a value or an option you may also press Enter to accept the default setting as your choice EDIT PROGRAM OPEN CLOSE GRIPPER GO TO POSITION FAST SPEED WAIT SECONDS IF INPUT JUMP TO TURN ON OFF OUTPUT JUMP TO LINE SET COUNTER TO DECREASE COUNTER IF COUNTER gt 0 JUMP TO SET RETURN CALL SUBROUTINE SET MEMORY TO IF MEMORY lt gt MEMORY JUMP REMARK PRINT ON MOTOR ERROR JUMP TO C 5 0 I X INSERT REPLACE LINE L LIST DELETE lt ESC gt RETURN TO MAIN MENU 1 O C OPEN CLOSE GRIPPER These commands open and close the gripper Press O for an open gripper command Press C for a close
14. 2 Safety Precautions o y p aar rv o ee 1 3 Gontroller actos 2052 Sa Sr SER RE E 1 3 ROBO toi hadet rd G weeks ge ode dalen em Et Ge ere 1 3 Warnings lt a sara e bar aod peg Sr OE GK ENG 1 3 Environmental Conditions o 1 4 Controller sus a ar Be 1 4 Robot lt a sca es a Ad ean SEA ke 1 4 CHAPTER 2 Components and Specifications The Robot Am Lo A A SS 2 2 Structure ec a Sunt nta ng tals 2 3 Work Envelope lt rory dronin ta 2 4 Motors 02 AA a E ee DS adr 2 5 Encoderss 1 2 Hit ser tl AN e Satt kon OA 2 5 THE Controler si Lane flue KER FEE kam MEG AASE 2 6 Controller Functions 2va arr eee 2 8 Power On Off Switch and LED 2 9 Robot Cable D50 Connector 2 9 Computer RS232 D25 Cable Connector 2 9 Teach Pendant Cable D9 Connector 2 9 FUSES fa SMN Sad Mos oh ba he eS sd 2 10 Input and Output Connector 2 11 INPUTS eee Veet gule pg a ia 2 11 QU PULS at to hk eee da m le dese ay i 2 13 CHAPTER 3 Installation System Requirements 0 o e ee eee 3 1 PISpParatiONS a a A ae e 3 1 Cable Connections 222 av rakk nrk r 3 2 Teach Pendant a 3 3 Input Output Connections aar nrk kr 3 4 Software Installation 2 20 0 aa a eee 3 5 Software Activation SCORBASE Level 3 3 5 CHAPTER 4 SCORBASE Software
15. 9603 Structure The SCORTEC ER Tis a vertical articulated robot It has five revolute joints the base joint rotates the arm in a horizontal plane the shoulder elbow and wrist pitch joints rotate the robot s links in a vertical plane and the wrist roll joint rotates the gripper With gripper 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 2 2 and 2 3 identify the joints and links of the mechanical arm Each joint is driven by a permanent magnet DC motor via a spur gear transmission The movements of the joints are described in the following table Axis No Joint Name Motion Motor No 1 Base Waist Rotates the body 1 2 Shoulder Raises and lowers the upper arm 2 3 Elbow Raises and lowers the forearm 3 4 Wrist Pitch Raises and lowers the gripper 4 5 Wrist Roll Rotates the gripper 5 6 Gripper Opens and closes 6 Figure 2 2 Robot Arm Links User s Manual 9603 Figure 2 3 Robot Arm Joints 2 3 SCORTEC ER I Work Envelope The length of the links and the degree of rotation of the joints determine the robot s work envelope Figure 2 4 shows the dimensions and reach of the robot while Figure 2 5 gives a top view of the robot s work envelope Figure 2 4 Operating Range Side View Figure 2 5 Operating Range Top View
16. ALL PRINT POSITION TO PRINTER X WEY xy2 COORDINATES lt ESC gt RETURN TO TEACH POSITIONS MENU 1 LIST POSITION This command displays the coordinates of the specified position using the currently active coordinate display system Press 1 and enter the number of a position 2 LIST FROM POSITION This command displays a list of the recorded positions starting from the specified position using the currently active coordinate display system Press 2 and enter the number of a position If there are more positions listed than can be displayed in one screen the system will pause and prompt you User s Manual 4 9 SCORTEC ER I 9603 PRESS lt ESC gt TO EXIT LISTING ANY OTHER KEY TO CONTINUE Press Enter to move the display down one line Press any other key to move the display down one screen 3 DELETE POSITION This command deletes the position specified Press 3 and enter the number of a position Note that you will be prompted to confirm whenever you give the command to delete a position ARE YOU SURE Y N N 4 DELETE FROM POSITION TO POSITION This command deletes all points from the first position specified through the second position specified Press 4 and enter two position numbers 5 DELETE ALL Press 5 to delete all recorded positions from controller memory 6 PRINT POSITION TO PRINTER Press 6 to print out a listing of all
17. ER I Robot Arm and Gripper Includes power cable 110VAC 220VAC RS232 cable 3 bolts for mounting robot set of hex wrenches SCORTEC Controller Software SCORBASE for ER I Level 3 1 diskette Documentation SCORTEC ER I User s Manual Teach Pendant optional adi SCORBASE for ER I Level 4 software Repacking for Shipment Be sure all parts are back in place before packing the robot controller The robot and controller should be repacked in their original packaging for transport If the original carton is not available wrap the robot controller in plastic or heavy paper Put the wrapped robot controller in a strong cardboard box at least 15 cm about 6 inches longer in all three dimensions than the robot Fill the box equally around the unit with resilient packing material shredded paper bubble pack expanded foam chunks Seal the carton with sealing or strapping tape Do not use cellophane or masking tape SCORTEC ER I 1 2 User s Manual 9603 Safety Precautions This manual provides complete details for proper installation and operation of the SCORTEC robot and controller Do not install or operate the robot or controller until you have thoroughly studied this User s Manual Be sure you heed the following safety precautions they will ensure the safety of the operator and bystanders Controller 1 The power cable must have a ground connection If your power outlet does not have a safety
18. OOO OC GJ 0 gt WARNING TEACH PENDANT ON FOR CONTINUED PROTECTION pe A AGAINST FIRE REPLACE ONLY AD aN AG VAN OFF wir FUSES OF THE SPECIFIED py GY OVE JD RATING 4 gt lee Ne AN V MOTOR V MOTOR 5Y LOGIC FUSE 110V 220V 48 66Hz 1104 2204 gt LW max RORO COMPUTER 1 6A 0 8A K i Ea o E y WARNING N MAINTAIN GROUND TO AVOID ELECTRIC SHOCK RS 232 4 XA SAR Figure 2 10 Controller Rear Panel User s Manual 2 7 SCORTEC ER I 9603 The main controller circuit contains the following elements Central Processing Unit CPU INTEL 8031 EPROM A fixed memory of 16Kb which contains the controller s operational software Logic Components and Buffers Transmit information to the CPU and execute instructions relating to the motors encoders inputs and outputs e Multiplexers Expand the CPU s capability for receiving input output information Drivers Activate motors and outputs These include switching components such as power transistors Drivers also interface between low power and high power components Serial Communication Components Receive and transmit information in RS232 standard 12V and exchange it with the TTL levels of the CPU Power On Off Switch and LED The controller s power switch which is located on the rear panel of the controller connects and disconnects AC power to the controller The green power LED on the controller s front panel ligh
19. R I 9603 2 Fasten the base of the robot arm to the work surface with 3 bolts as shown in Figure 3 2 Figure 3 2 Robot Base 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 for the mutual protection of both the operator and bystanders and the robot 4 Place the controller and computer on a sturdy surface outside the robot s safety range Cable Connections 1 Make sure the controller s voltage setting matches your voltage supply before you connect the controller to the AC power outlet 2 Connect the computer power cable to an AC power source It is recommended though not imperative that you connect the computer to an AC power source other than the one used by the controller WARNING on 7 Y FOR CONTINUED PROTECTION Ar AGAINST FIRE REPLACE ONLY A5 WITH FUSES OF THE SPECIFIED amp RATING O LINE A FUSE 110V 220V 48 66Hz 110V 220V gt 150W max 1 64 0 8A N ii SB 250V i WARNING N 71 MAINTAIN GROUND TO L AVOID ELECTRIC SHOCK RS 232 REZ Sy E Figure 3 3 Controller Rear Panel SCORTEC ER I 32 User s Manual 9603 8 Install and configure your computer and monitor according to the manufacturer s instructions Ma
20. RK statements available when writing a program Default 50 Maximum 1000 or memory limit Example SBER1 L2000 P400 Loads SCORBASE Level 3 and allows the use of up to 2000 lines and 400 positions Device Options C Defines the computer s RS232 port to be used for communication with the robot controller C1 COMI default C2 COM2 0 Defines the computer s parallel port to be used for printing 01 PRNI default 02 PRN2 03 PRN3 Example SBER1 C2 Loads SCORBASE Level 3 with communication on COM2 User s Manual 4 21 SCORTEC ER I 9603 Automatic Run Options name If you specify a program name this program will automatically be loaded Note that only the program lines are loaded The position table must already exist in the controller R If you add this option the program will automatically start running as soon as it is loaded When execution of the program is completed SCORBASE will return control to the DOS operating system S If you include this option together with a position number the robot will automatically be sent to the position specified when SCORBASE is loaded H Instructs the system to run the HOME program before activating the Main Menu Examples SBER1 TEST R The SCORBASE Level 3 program named TEST will automatically be loaded and executed When execution of TEST is completed SCORBASE will return control to DOS SBER1 S20 Loads SCORBASE Level 3 a
21. SCORTEC ER I Robot Controller and Teach Pendant User s Manual 2nd Edition Catalog 100088 Rev C ESI IGD zonorc Copyright O 1996 1998 by Eshed Robotec 1982 Limited Second Edition 3 45 67 8 9 Reprinted December 1998 PDF Catalog 100088 Rev C All rights reserved This book is designed to provide information about the SCORTEC system 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 1982 Ltd is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the SCORTEC robot the SCORBASE software and or the information contained in this publication Eshed Robotec 1982 Ltd bears no responsibility for errors which may appear in this publication and retains the right to make changes to the hardware software and manual without prior notice Read this manual thoroughly before attempting to install or operate the robot If you have any problems during installation or operation call your agent for assistance Save the original carton and all packing material You may need them later for shipment User s Manual 111 SCORTEC ER I 9603 Table of Contents CHAPTER 1 General Information Handling Instructions a k a aos aua ee o rn 1 1 Acceptance Inspection 22 2 arr vr rakk 1 2 Repacking for Shipment 2200 000004 1
22. alues for XYZ Y N prompt enter the Cartesian values for the new home position You must update these values according to the actual distance of the tool center point from the robot s point of origin in order to obtain correct XYZ coordinates during subsequent work You can also change the following BASE HEIGHT MM Used when the robot base is not at table level TOOL LENGTH MM Used when you want to program XYZ positions for the tip of a tool held by the gripper lt Esc gt RETURN TO MAIN MENU Press Esc to return to the Main Menu User s Manual 4 5 SCORTEC ER I 9603 Teach Positions Menu The Teach Positions module lets you manually control the robot s movements and the outputs and to record positions TEACH POSITIONS 1 0 move base 2 W move shoulder 3 E move elbow 4 R move wrist pitch 5 T move wrist roll right left up down up down up 7 down right left O C Open Close gripper F S Speed 10 movement J K turn on off output G H Go to position PU record Position 90 Home L List delete positions X 2 teach position relative by XYZ coordinates relative position lt ESC gt RETURN TO MAIN MENU X Y Z 154 43 0 00 322 15 PITCH ROLL 71 25 0 00 The following pairs of number and letter keys are used to directly control the movement of the axes An axis will continue to move as long as the activating key is depressed F S
23. any PC system communicating with the controller by means of an RS232 channel The software s menu driven structure and off line capabilities facilitate robotic programming and operation This chapter is a reference guide to the five SCORBASE modules which are accessed from the software s Main Menu Overview Activate the software according to the instructions at the end of Chapter 3 The teach pendant must be disconnected from the controller when SCORBASE Level 3 is in use Once SCORBASE Level 3 has been loaded the Main Menu screen is displayed SCORBASE for ER I Level 3 v2 3 Copyright C ESHED ROBOTEC 1995 MAIN MENU Teach positions Edit program Program handling Run program Home eXit to DOS To select an option in the Main Menu press the number key the function key or the capitalized letter of the function you want to activate For example press 1 F1 or T to activate the Teach Positions menu press 9 F9 or X to exit to DOS User s Manual 4 SCORTEC ER I 9603 Teach positions This module allows you to control the robot movements directly and teach the robot positions Note that movement instructions and the recording of positions are performed in the PC RAM Edit program This module lets you write and edit your robot programs The programs are created by SCORBASE and maintained in the PC RAM Program handling This module lets you save and load programs to and from disk and to delete them Run p
24. d to computer port COM1 default type SCOR4 Enter Tf the controller is connected to computer port COM2 type SCOR4 C2 Enter Once the software is loaded the SCORBASE Level 4 Main Menu appears on the screen Teach Pendant Functions The teach pendant has a 2 line 32 character liquid crystal display LCD panel and a keypad with 30 function keys The teach pendant s main keys are the mode keys at the top left of the keypad Teach blue Edit yellow and Mode green The Mode key allows you to select four other modes Run Home Save Load Most teach pendant keys have several functions After a mode key is pressed all functions indicated by the same color will be active Numbers beige and the general functions gray listed below are active in all modes Return Accepts and or executes the command which has been entered lt backspace Erases numbers which have been entered gu before Return has been pressed Yes No N Return Allow you to respond to prompts which appear on the teach pendant display panel Figure 5 2 Teach Pendant Keypad Layout Reset Clears the teach pendant memory Press Reset You are prompted ARE YOU SURE Press Yes to delete all data in the teach pendant memory Press No or any other key to cancel the command Note Reset also deletes the home position You must home the robot after a Reset Brake In the Run and Home modes th
25. e Gripper key The gripper will close to its smallest opening This key causes the robot to move at maximum speed Once you have pressed Fast pressing an axis movement key will move the corresponding axis at the motor s fastest speed User s Manual 5 3 SCORTEC ER I 9603 Slow This key allows you to set a slower speed for axis movement At the SPEED prompt press a number from 1 slowest to 9 and press Return Note If the robot continues to move slowly after you have pressed the Fast key select a slow speed and then attempt to return to a fast speed Record This key lets you teach record the present robot location After you have moved the robot to the desired location press Record Key in the number for the position from 1 through 100 and press Return Pressing Return without typing in a position number will record the next available position number Entering 0 or a number greater than 100 will cancel the command and display the error message VALUE OUT OF RANGE Go Position This key allows you to move the robot to a recorded position Press Go Position Key in a position number and press Return Pressing Return without typing in a position number cancels the Go Position command If the position number has not been recorded the robot will not move and an error message will be displayed POSITION EMPTY List This key displays the coordinates of a position in encoder counts Press List then key in the number
26. e SCORTEC robot or controller 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 Controller Before you plug the controller into the AC outlet make sure its voltage setting matches your voltage supply If the voltage setting does not match your supply do not connect the controller contact your agent Do not connect any voltage exceeding 5 VDC to an input Never connect voltage from a power supply directly to an output The outputs must always be connected to a load Never connect a load to voltage exceeding 5 VDC Never drive a current of more than 20 mA through the outputs Robot Do not abuse the robot arm Do not overload the robot arm The payload may not exceed 350 grams 0 77 Ibs It is recommended that the payload 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
27. e red Brake key is used as an abort key SCORTEC ER I 5 2 User s Manual 9603 Press the Brake key The robot stops immediately and the following is displayed e Press 1 The program resumes running from the line it failed to execute Press 2 The program is aborted and you are prompted to select another function In Edit mode the red Brake key is used to delete the currently displayed command line Teach Base The Teach mode allows you to move the robot and teach positions The Teach mode commands are identical to the commands in the Teach Positions Menu in SCORBASE Level 3 By default the Teach mode is activated when you turn on the controller To activate the Teach mode when another mode is active press the Teach key If a submenu of a different mode is active you may need to press the Teach key more than once When you press the blue Teach key the display panel shows TEACH POSITIONS T The letter T flashes until you select a Teach function or another mode The following functions are available in the Teach mode Shoulder Elbow Pitch Roll These keys move the joints of the robot Each joint has two keys The direction of joint motion is shown by the arrow on each key The joint will move as long as you press the key Axis 6 Axis 7 Not in use Open Close Fast These keys open and close the robot gripper Press the Open Gripper key The gripper will open to its widest opening Press the Clos
28. eate a Return from Subroutine command line The Call Subroutine command activates calls the specified subroutine Press P At the prompt enter any number from 1 though 64 M SET MEMORY TO This command allows you to enter an arbitrary value and store it in one of 64 memory cells Press M At the prompt enter a number from 1 through 64 At the next prompt enter a value 32767 This command is most valuable for storing values which you will want to compare V IF MEMORY lt gt MEMORY JUMP This command is a conditional jump command It allows you to compare the values of two memory cells and to use that comparison to make a real time decision regarding the continued course of action Press V At the prompt enter a recorded memory number Then enter a comparison operator and enter the number of another recorded memory The comparison operations can be as follows equal to lt less than gt greater than lt less than or equal to gt greater than or equal to lt gt not equal At the Jump prompt type the line number to jump to if the result of the comparison is true D Y REMARK PRINT The Remark command lets you insert a comment line into the program for explanation and documentation Type in any text of up to 48 characters The Print command prints text on the screen at run time A maximum of 48 characters can be printed in one command line By default a program can contain a maxi
29. ed the new line the point returns to the end of the program User s Manual 5 7 SCORTEC ER I 9603 Run The Run key enables the execution of one or more lines of the program currently in the teach pendant memory Press Run Your options are displayed These operations are identical to the Run Program options in SCORBASE Level 3 1 SINGLE Press 1 A single line of the program will be executed each time you press Return 2 CONTINUOUSLY Press 2 The program will run continuously 3 JUMP Press 3 You are prompted for the line number to jump to Key in the number and press Return The program jumps to the line specified and the Run options are again displayed 4 CYCLE Press 4 The program will run one complete cycle Interrupting Program Execution You can abort a running program from the teach pendant in one of two ways Emergency Stop Press the Brake key The robot will stop immediately and the following is displayed Press 1 The program resumes running from the line it failed to execute Press 2 The program is aborted Press Brake to return to mode selection Halt Press any other key The robot completes the command it is currently executing and then stops Press Return The program resumes running from the point where it was halted in SINGLE LINE mode Press Brake to abort the program and return to mode selection During program execution if the robot encounters an obstacle or some par
30. en allows you to display delete and print the program currently in memory It is similar to the List Delete Position screen called from the Teach Positions screen To activate this screen press L from the Edit Program screen LIST DELETE PROGRAM LIST LINE LIST FROM LINE DELETE LINE DELETE FROM LINE TO LINE DELETE ALL PRINT PROGRAM TO PRINTER lt ESC gt RETURN TO EDIT PROGRAM MENU 1 LIST LINE This command displays the specified program line Press 1 and enter the number of a program line 2 LIST FROM LINE This command displays all program lines beginning with the line specified If there are more lines than can be displayed in one screen the system will pause and prompt you PRESS lt ESC gt TO EXIT LISTING ANY OTHER KEY TO CONTINUE Press Enter to move the display down one line Press any other key to move the display down one screen 3 DELETE LINE This command deletes the specified line from the program Press 3 and enter the number of a program line Note that whenever you give the command to delete a line or lines SCORBASE displays the line s and prompts you to confirm ARE YOU SURE Y N N Press Y to delete Press any other key to cancel 4 DELETE FROM LINE TOLINE This command deletes all program lines from the first line specified through the second line specified Press 4 and enter tw
31. 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 SCORTEC ER I 1 4 User s Manual 9603 CHAPTER 2 Components and Specifications The SCORTEC system consists of the SCORTEC ER I robot arm and the SCORTEC controller Figure 2 1 SCORTEC ER I Robot and Controller User s Manual 2 1 SCORTEC ER I 9603 The Robot Arm The following table details the robot arm specifications SCORTEC ER I Robot Arm Mechanical Structure Vertical articulated fully enclosed arm Number of Axes 5 axes plus gripper Maximum Operating Radius 517mm 20 35 at end of gripper Axis Movement Axis 1 base rotation Axis 2 shoulder rotation Axis 3 elbow rotation Axis 4 wrist pitch Axis 5 wrist roll Axis Range Effective Speed 320 23 sec 30 120 23 sec 80 107 28 sec 120 120 28 sec 630 50 sec Speed 10 selectable speeds Maximum Gripper Opening 55mm 2 16 Maximum Payload 350g 0 77 lb Position Repeatability 1mm 0 04 Hard Home Fixed position on all axes a eek DC servo motors for axes DC motor for gripper Transmission Spur gears Feedback Incremental optical encoders Arm Weight 7 6kg 16 5 lb Ambient Operating Temperature 2 40 C 36 104 F SCORTEC ER I 2 2 User s Manual
32. gripper command GO TO POSITION FAST SPEED This command sends the robot to a recorded position at the specified speed Press 1 At the Go Position prompt enter a position number If you press Enter instead of specifying a position SCORBASE automatically enters the next sequential position number You are then prompted for a speed Press Enter or F to enter the fastest speed If you press S you must also enter a number from 1 slowest through 9 for the speed value WAIT SECONDS This command halts program execution for the specified time Press 2 At the Wait prompt type a number and press Enter IF INPUT JUMP TO This command causes the program to jump to the specified line if the tested input is on User s Manual 4 11 SCORTEC ER I Press 3 At the Input prompt type a number from I through 8 At the Jump prompt enter the line number to jump to 4 R TURN ON OFF OUTPUT These commands activate and deactivate the controller outputs Press 4 to turn on an output Press R to turn off an output At the prompt enter the number of the output 5 JUMP TO LINE This command causes the program to jump to the specified line Press 5 At the prompt enter the line number to jump to 6 SET COUNTER TO Together with the other counter commands this command is used to produce loops in the program The Set Counter command sets the value of a counter Press 6 At the prompt enter the number of
33. ke sure the computer s power switch is off before you continue For the following steps refer to Figure 3 3 Connect the RS232 cable from the port marked COMPUTER on the rear of the controller to the RS232 port on the computer You may use either COM1 or COM2 on the computer If your computers COM power requires a D9 connector use a standard D25 D9 adapter to connect the RS232 cable to your computer Connect the D50 connector on the robot cable to the port marked ROBOT on the rear panel of the controller When you have completed all cable connections gently tighten all retaining screws on all the connectors Make sure the controller s power switch is off Then plug the power cable first into the controller power port and then into the power outlet Note The power cable is a standard cable Controllers with 220V operating voltage have a cable with a European plug Controllers with 110V operating voltage have an American plug If you need to alter the plug provided make sure your connections are correct Note that the colors of the leads in the cables are in accordance with international standards You may now turn on the controller and the computer and install the software Teach Pendant The teach pendant and computer cannot be connected to the controller at the same time except when SCORBASE Level 4 software is loaded The correct procedure for connecting and using the teach pendant is as follows If the controller is
34. key writes a command to activate a specific controller output Press Output On key in the number of the output and press Return Output Off This key writes a command to deactivate a specific controller output Press Output Off key in the number of the output and press Return Wait This key writes a command which causes a delay of the specified number of seconds each time the program is run Press Wait key in the number of seconds from 1 through 250 and press Return Sensor Not in use Jump This key writes an unconditional jump command which causes the program to jump to the specified line each time the program is run Press Jump key in the desired line number and press Return SCORTEC ER I 5 6 User s Manual 9603 Input List Delete Insert This key writes a conditional jump command which causes the program to jump to the specified line if the specified input is on If the input is off the program simply continues at the line immediately following the Jump command line Press Input You are prompted to type the desired input number Key in a number from 1 through 4 and press Return You are now prompted to type the desired line number Key in a number from 1 through 250 and press Return This key lets you review the lines in a program Press List Then key in number of the line or first line you want to display and press Return Press Return to display the next line Continue pressing Return to scroll dow
35. mber of a specific output from 1 though 4 and press Return Edit The Edit mode allows you to write and edit programs The Edit commands are identical to the commands in the Edit Program Menu in SCORBASE Level 3 To activate the Edit mode press the yellow Edit key The display panel shows EDIT PROGRAM 1 E The letter E flashes until you select an Edit yellow function or another mode The number of the line currently being written or edited is displayed at the left The following functions are available in the Edit mode Go Position This key creates the command which sends the robot to a previously recorded position whenever the program is run Press Go Position Key in a position number and press Return You are prompted to press Slow or Fast to enter the rate of motion User s Manual 5 5 SCORTEC ER I 9603 Slow Fast The Slow and Fast keys determine the speed at which the robot moves to the specified position You are prompted to select a speed after you have entered a Go Position command EDIT PROGRAM 1 POS 2 S F Press Fast to enter the fastest speed Press Slow and a number from 1 through 9 for a slower speed Open This key writes a command to open the gripper The gripper will open each time this line is encountered during program execution Close This key writes a command to close the gripper The gripper will close each time this line is encountered during program execution Output On This
36. mum of 50 remark print commands A ON MOTOR ERROR JUMP TO C S O This command allows you to receive information about motor errors and to respond with a jump to another command line At the prompt enter a number from 1 through 8 Or press Enter to accept any motor error Note that the command line will show Motor ALL Error At the Jump prompt enter a line number If you simply press Enter without specifying a line number the following will be displayed ON MOTOR 1 ERROR JUMP TO NEXT Continuously Single Off User s Manual 4 13 SCORTEC ER I 9603 This defines a jump to the next line of the program Should a motor error occur on the specified motor during its execution of any movement the movement will be aborted The program will jump to the next line and continue running You now have the following options Press C For example ON MOTOR 1 ERROR JUMP TO 24 CONT Any motor error on axis I which occurs subsequent to this command causes the program to jump to line 24 This jump occurs in the form of an interrupt Press S For example ON MOTOR 1 ERROR JUMP TO 37 SING Only the first occurrence of a motor error on axis 1 subsequent to this command causes a jump to line 24 The second occurrence will cause the program to halt and display a motor error message Press O For example ON MOTOR 1 ERROR JUMP TO 24 OFF This command cancels the effect of any preceding motor error instructi
37. n the display Press Backspace to return to the previous line Continue pressing Backspace to scroll up reverse scrolling Press Brake to resume editing This key lets you delete one or more command lines from the program you are editing Press Delete You are prompted to enter the number of the line or the first line you want to delete Key in the number and press Return You are then prompted to type the number of the last line to delete To delete a single line type the same line number or simply press Return To delete a range of lines key in the number of the last line to delete and press Return Before the deletion is executed you are prompted to confirm ARE YOU SURE Press Yes to delete the line entered Press any other key to cancel the operation This key allows you to insert additional lines into the program you are editing Press Insert You are prompted to enter the number of the line at which you want to insert new line s Key in the command line s you want to insert All lines and jump commands following the inserted line s are automatically updated Press Return again to bring the cursor to the end of the program Replace This key allows you to replace a line in the program you are editing Press Replace You are prompted to enter the number of the line you want to replace Key in the number and press Return The specified line is displayed and you are prompted to replace it with another After you have enter
38. name with the number 4 For example 4PROG will load PROG L4 3 Delete Program This option allows you to delete a program stored on disk Press 3 or D and enter the program name A program with the extension L3 can only be deleted from SCORBASE Level 3 A program with the extension L4 can only be deleted from SCORBASE Level 4 Note that whenever you give the command to delete a program SCORBASE prompts you to confirm ARE YOU SURE Y N N User s Manual 4 17 SCORTEC ER I 9603 Important Note The HOME program included in the SCORBASE diskette is required for operation of the robot and for finding the home position Do not delete the HOME program 4 Catalog Press 4 or C to display a listing of all the programs which have been saved on the disk lt ESC gt RETURN TO MAIN MENU Press Esc to return to the Main Menu SCORTEC ER I 4 18 User s Manual 9603 Run Program Menu The Run Program module lets you run the programs you have created RUN PROGRAM RUN SINGLE LINE RUN SINGLE CYCLE RUN CONTINUOUSLY JUMP TO LINE DISPLAY ON TOFF LINE PRESS G KEY TO LET THE ROBOT RUN PRESS B FOR IMMEDIATE BRAKE ANY OTHER KEY FOR REGULAR STOP lt ESC gt RETURN TO MAIN MENU RUN SINGLE LINE gt NEXT LINE gt PROGRAM IS EMPTY 1 RUN SINGLE LINE Press 1 and press G One program line the current line is executed each time you press G 2 RUN SINGLE CYCLE Press 2 and pre
39. nd sends the robot to position 20 SCORTEC ER I 4 22 User s Manual 9603 CHAPTER 5 The Teach Pendant The SCORTEC ER I teach pendant is a hand held computer which allows you to operate and program the robot The teach pendant is most practical for moving the robot axes recording positions and writing short programs LCD DISPLAY The teach pendant is connected to the controller by an RS232 cable and connector and turns on automatically whenever the controller is switched on SCORBASE Level 4 software enables communication between the teach pendant and the computer It provides the interface for transferring programs between the teach pendant D25 FEMALE and the computer and for listing programs and CONNECTOR positions These operations are discussed later in this chapter The teach pendant and the computer cannot be Fumes connected to the controller at the same time SCORTEC ER I Teach Pendant except when SCORBASE Level 4 is loaded To use the teach pendant with SCORBASE do the following 1 Ifthe controller is on switch it off 2 Connect the teach pendant to the controller 3 Turn on the controller Several messages appear on the teach pendant display panel NO OF LINES 250 NO OF POS 100 TEACH POSITIONS T 4 Activate SCORBASE Level 4 from the SCORBASE directory or disk drive User s Manual 5 1 SCORTEC ER I 9603 If the controller is connecte
40. ng three linear axes To complete the position definition the pitch and roll are specified in angular units Joint coordinates specify the location of each axis in encoder counts When the axes move the optical encoders generate a series of alternating high and low electrical signals The number of signals is proportional to the amount of axis motion the controller counts the signals and determines how far an axis has moved Similarly a robot movement or position can be defined as a specific number of encoder counts for each axis relative to the home position or another coordinate Home Menu The Home module enables you to manipulate and home the robot HOME move base right left move shoulder up down move elbou up down move wrist pitch up down move wrist roll right left Open Close gripper EN Speed 10 movement turn on off output set present position as Home PRESS G KEY TO HOME THE ROBOT ANY OTHER KEY WILL STOP THE ROBOT lt ESC gt RETURN TO MAIN MENU The location of the robot axes is monitored by encoders which track the amount of movement relative to an initial home position To obtain repeatable robot performance this reference position must be identical each time the robot is used Thus whenever the system is activated the homing routine must be executed User s Manual 4 3 SCORTEC ER I 9603 F S 1 Q 2 W 3 E 4 R 5 T O C The following message will appear
41. nstration program and positions which are programmed onto an EPROM within the teach pendant The program and positions can be edited and saved to disk User s Manual 5 9 SCORTEC ER I 9603 Save Transferring a Program from the Teach Pendant to Computer Disk The Main Menu of SCORBASE Level 4 must be displayed in order execute the Save operation Make sure the SCORBASE Level 4 Main Menu is displayed Activate the Mode menu on the teach pendant Press the green Save key on the teach pendant This key transfers the program and positions currently in the teach pendant memory to the computer memory During the save operation an arrow on the screen shows the direction in which the data is flowing When the Save operation is completed the following message is displayed on the computer screen PROGRAM RECEIVED The teach pendant display shows DONE lt Return gt Press Return to return to the teach pendant s mode selection menu Make sure the program was transferred to the computer Activate the List Delete Positions and the List Delete Program screens Examine the computer s programs and positions and compare them with those in the teach pendant Activate the SCORBASE Program Handling menu Press 1 to save the program Assign the program a name of up to 8 characters beginning with a letter and do not use an extension Select Catalog Check that the program just saved appears in the catalog N
42. o program line numbers 5 DELETE ALL Press 5 to delete the entire program from the controller memory 6 PRINT PROGRAM TO PRINTER Press 6 to print out a listing of all program lines SCORTEC ER I 4 16 User s Manual 9603 Program Handling Menu The Program Handling module allows you to delete programs and to transfer load and save programs between the computer memory and disk PROGRAM HANDLING Save program Load program Delete program Catalog lt ESC gt RETURN TO MAIN MENU 1 Save Program This option lets you save on disk the program you have created Press 1 or S At the prompt type the name you want to assign to the program and press Enter The program is now saved on disk When you type a program name do not use more than 8 characters and do not use a number for the first character of the file name Do not use an extension All programs saved by SCORBASE Level 3 are automatically assigned the extension L3 Programs saved from the teach pendant when SCORBASE Level 4 is in use are automatically assigned the extension L4 2 Load Program This option lets you call up a program from the disk to the computer memory Press 2 or L and enter the program name To load a program which was saved in SCORBASE Level 3 you need only to type the program name For example PICK will load PICK L3 To load a program which was saved from the teach pendant when SCORBASE Level 4 was in use you must prefix the
43. of the SCORBASE disk s Make a directory for SCORBASE on your computer s hard drive If your computer does not have a hard drive use the backup copy of the disk for Operation Copy all the files from the SCORBASE disk s to the SCORBASE directory When you have completed the installation store the original disk s in a safe place Software Activation SCORBASE Level 3 1 Be sure you have made all the required hardware connections as described in this chapter If your system includes a teach pendant it must be disconnected from the controller when SCORBASE Level 3 is in use Turn on the controller Turn on the computer SCORBASE is a DOS based program Do not run the software in the Windows environment Activate the software from the SCORBASE directory or disk drive If the controller is connected to computer port COM1 default type SBER1 Enter If the controller is connected to computer port COM2 type SBER1 C2 Enter Other command line parameters are available Refer to the section Command Line Options at the end of Chapter 4 Once the program has loaded the SCORBASE Level 3 Main Menu is displayed on the screen User s Manual 3 5 SCORTEC ER I 9603 This page intentionally left blank SCORTEC ER I 3 6 User s Manual 9603 CHAPTER 4 SCORBASE Software The SCORTEC ER I robot is programmed and operated by means of SCORBASE Level 3 software SCORBASE operates on
44. ons in the program relating to motor I Additional Editing Commands The following commands are also available in the Edit Program module even though they are not displayed on the screen Ctrl J SET PRESENT POSITION AS HOME When executed at run time this command sets the current position of the axes to 0 thereby creating a new home position of the robot Warning This command automatically alters the physical location of all recorded positions Changing the home position may therefore invalidate other recorded positions Ctrl HO SET AXIS TO ZERO This command resets the position of the axis specified by setting its value to 0 Press Ctrl 0 At the prompt enter the number of an axis This command can also be entered by pressing Ctrl 0 Ctrl K MESSAGE This command is used to display any one of 17 pre recorded messages during program execution Press Ctrl K At the prompt enter the number of the message you want displayed Your options are as follows 1 BASE IS AT HOME 2 SHOULDER IS AT HOME SCORTEC ER I 4 14 User s Manual 9603 ELBOW IS AT HOME IST PITCH IS AT HOME RIST ROLL IS AT HOME AXIS 6 IS AT HOME ROBOT STARTS PROGRAM ROBOT FINISHES PROGRAM BASE IS NOT AT HOME SHOULDER IS NOT AT HOME ELBOW IS NOT AT HOME IST PITCH IS NOT AT HOMI IST ROLL IS NOT AT HOME AXIS 6 IS NOT AT HOMI AXIS 7 IS NOT AT HOMI GRIPPER IS NOT AT HOMI ROBOT IS RESTING
45. operation Activate the Mode menu on the teach pendant Press the green Load key on the teach pendant This key loads the program currently in the computer memory into the teach pendant memory During the transfer an arrow on the screen shows the direction in which the data is flowing When the Load operation is completed the following message is displayed on the computer screen PROGRAM TRANSMITTED The teach pendant display shows DONE lt Return gt Press Return You can now use the teach pendant to edit and execute the program Note If you load a program which contains SCORBASE commands unknown to the teach pendant the display will show LIST ERROR during List operations and LINE UNDEF during Run operations when it reaches the lines containing these unknown commands User s Manual 5 11 SCORTEC ER I 9603 This page intentionally left blank SCORTEC ER I 5 12 User s Manual 9603 CHAPTER 6 Maintenance The maintenance and inspection procedures detailed below will ensure continued optimum performance of the SCORTEC system Daily Operation At the start of each working session check the robot and controller in the following order 1 Before you power on the system check the following items The installation meets all safety standards The robot is properly bolted to the work surface All cables are properly and securely connected Cable connector screws are fastened No
46. ositions Press L to active the List Delete Positions screen G H Go to position go Home The Go to Position command sends the robot to a previously recorded position Press G At the prompt enter the number of the position to which you want to send the robot Press H to send the robot to its home position SCORTEC ER I 4 8 User s Manual 9603 J K turn on off Output These commands activate and deactivate the controller outputs Press J to turn on an output Press K to turn off an output At the prompt enter a specific output number lt Esc gt RETURN TO MAIN MENU Press Esc to return to the Main menu Coordinates Display The coordinates display at the bottom of the Teach Positions menu shows the current location of the robot arm in Cartesian coordinates Z PITCH ROLL 154 43 0 00 322 15 71 25 0 00 To display the axes location in robot joint coordinates encoder counts activate the List Delete Position screen and use the R Robot command List Delete Positions Screen The List Delete Positions screen lets you display delete and print the positions you have recorded To activate this screen press L in the Teach Positions menu Note that the listing operations require extensive communication with the controller and may result in a delay in response time LIST DELETE POSITIONS LIST POSITION LIST FROM POSITION DELETE POSITION DELETE FROM POSITION TO POSITION DELETE
47. ot turn on The LED on the controller POWER switch does not light up Make sure the AC power supply matches the controller s voltage requirement as seen on the tag at the back of the controller If the voltage supply and controller voltage setting do not match disconnect immediately and contact your agent Make sure AC power is being supplied to the power outlet Make sure the power cable is connected to both the proper power source and the controller If RS232 cable is connected disconnect it and and retry power on If successful reconnect the RS232 cable Check the SV 1A SB fuse Check the 220V 110V 1 6A 0 8A fuse 2 No communication between the controller and computer Communication Error message while operating robot from computer e Make sure the controller POWER switch is on Make sure the RS232 cable is properly connected to the controller and to the computer Make sure you have loaded SCORBASE with the proper C switch If problem persists it is probably due to a faulty RS232 cable SCORTEC ER I 6 2 User s Manual 9603 3 Controller functioning but robot arm cannot be activated or one axes fails to respond and Motor Error appears on screen Make sure an obstacle is not blocking the robot Make sure none of the axes has reached its mechanical limit Make sure the robot cable is properly connected to the controller If no fault is detected and problem persists check the t
48. ote that the extension L4 is automatically added to the program name indicating the program was saved in SCORBASE Level 4 Editing a Program Saved from the Teach Pendant 1 2 From SCORBASE Level 4 exit to DOS Turn off the controller Disconnect the teach pendant Turn on the controller You must perform this step before you activate SCORBASE Level 3 Activate SCORBASE Level 3 Activate the Program Handling menu Check the Catalog The program written on the teach pendant is identified by the extension L4 SCORTEC ER I 5 10 User s Manual 9603 Press 2 to load the program Add the prefix 4 to the name and do not use the extension For example type 4PROG 6 Activate the Edit Program menu You can now edit the program which was transferred from the teach pendant Load Transferring a Program from Computer Disk to the Teach Pendant 1 2 From SCORBASE Level 3 exit to DOS Turn off the controller Connect the teach pendant Turn on the controller You must perform this step before you activate SCORBASE Level 4 Activate SCORBASE Level 4 Activate the Program Handling menu Check the Catalog The program edited in SCORBASE Level 3 is identified by the extension L3 To load the program to the teach pendant add the prefix 3 to the name and do not use the extension For example type 3PROG Return to the SCORBASE Level 4 Main Menu The Main Menu of SCORBASE Level 4 must be displayed in order execute the Load
49. output is connected directly to a power supply No people are within the robot s working range 2 After you have switched on the controller check the following items The power LED 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 s Manual 6 1 SCORTEC ER I 9603 Periodic Inspection The following inspections should be performed regularly 1 Visually check leads and cables If any damage is evident they must be replaced 2 Check all bolts and screws in the robot arm using a wrench and screwdriver Retighten as needed Troubleshooting Whenever you encounter a malfunction try to pinpoint its source by exchanging the suspected faulty component for example controller arm computer cables with an identical component from a working system Do not open the controller housing 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 1 Controller power does n
50. rogram This module lets you run the program currently loaded in the PC RAM Home This module allows you to manipulate and home the robot Since the robot should be homed each time the controller is turned on activate the Home screen and home the robot at the start of every work session eXit to DOS This option allows you to exit to DOS SCORBASE will prompt you to confirm ARE YOU SURE Y N N If changes to the program have been made but not yet saved to disk the following message will also flash on the screen WARNING CHANGES NOT SAVED To exit to DOS press Y Press any other key to cancel Operating Keys Throughout SCORBASE the following keys are used to activate screens and enter commands and options PgUp or Esc Recalls the screen previously displayed Esc Cancels a command line which has been activated Enter Accepts commands options and field entries Backspace Erases field entries which have been typed but not yet accepted SCORTEC ER I 4 2 User s Manual 9603 Coordinate Systems SCORBASE Level 3 can define and display the positions of SCORTEC ER I in two different coordinate systems Joint and Cartesian X YZ coordinates The Cartesian or XYZ coordinate system is a geometric system used to specify the position of the robot s TCP tool center point tip of gripper by defining its distance in linear units from the point of origin the center bottom of its base alo
51. roller s front panel enables I O connections The pinout of the connector is printed on the controller s front panel as shown in Figure 2 11 The connector has a common ground any ground pin can be used for any input or output Figure 2 11 VO Connector Inputs You can activate controller inputs in one of the following ways Connect a microswitch to an input pin and to any ground pin Connect an external voltage signal to an input pin and connect the external ground to any ground pin Voltage and input states are as follows 25 V 5 VDC Input OFF gt 0V 0 8 VDC Input ON Figure 2 12 shows the activation of an input by an external source type output Figure 2 13 shows the activation of an input by an external sink type output User s Manual 2 9 SCORTEC ER I 9603 1 CONTROLLER Er TERNAL SOURCE DEVICE EXTERNAL OPTO COUPLER OUTPUT TERMINAL EXTERNAL SINK DEVICE 5V OUTPUT TERMINAL Figure 2 13 Input Activation by External Sink Output SCORTEC ER I 2 10 User s Manual 9603 Outputs The SCORTEC outputs are activated by SCORBASE software commands The command to turn ON an output results in a low TTL voltage level on the output The command to turn OFF an output results in a high TTL voltage level on the output Warning Never connect an output directly to a power supply or ground The output must be connected to a load Maximum Voltage Supply V 5 VDC e Maximum Current
52. ss G The program is executed from the NEXT LINE command to the end of the program 3 RUN CONTINUOUSLY Press 3 and press G The entire program is executed repeatedly When it reaches the last line it automatically jumps to the first line and continues 4 JUMP TO LINE Press 4 and enter the number of a program line The pointer goes to the specified line Press G to start the program from that line 5 T DISPLAY ON Press 5 to display program lines during program execution This is the default mode Press T to turn off the display during program execution 6 Y N OFF LINE This option lets you choose between running your programs off line or on line User s Manual 4 19 SCORTEC ER I 9603 Press 6 to run programs on line When a program runs on line the robot and I Os execute all program commands This is the default mode Press Y to run programs off line When a program runs off line all commands for executing actions are suppressed The robot arm is not moved and the outputs are not switched The robot can even be disconnected when this mode is active When a program runs off line it will halt at the commands which test the state of the inputs or limit switches and will prompt you for a simulated status Example When the program reaches this line IF INPUT 1 ON JUMP TO LINE 25 It will stop and prompt IS INPUT 1 ON Y N You can thus simulate the actual execution of the program Note tha
53. t of itself or if any robot motor has difficulty moving the emergency brake is automatically applied and the following is displayed SCORTEC ER I 5 8 User s Manual 9603 e Press 1 The program resumes running from the line it failed to execute e Press 2 The program is aborted and you are prompted to select another function Home The Home key enables homing operations of the robot and the execution of a DEMO program Press Home Your options are displayed 1 SET Note Before selecting this option make sure the gripper is closed Press 1 The current robot axis coordinates will be reset to zero SET PRESENT POSITION AS HOME if you press Yes in response to the prompt Press any other key to cancel the command 2 SEARCH Press 2 You are prompted to press Return which will cause the robot to search for its hard home Press any other key to cancel the command Warning The home search erases the contents of the teach pendant memory If a valuable program or positions are in the teach pendant be sure to save to disk before homing Note For more accurate repeatability perform the homing twice at the beginning of each working session or whenever you select this option 3 GO Press 3 If you press Yes in response to the prompt ARE YOU SURE the robot will immediately move to its home position Press any other key to cancel the command 4 DEMO Press 4 This will load the demo
54. t the off line option in this screen can also be used when SCORBASE is connected to a controller and is in the on line mode PRESS G TO LET ROBOT RUN You must press G to begin or restart the running of a program PRESS B FOR IMMEDIATE BRAKE Press B to apply an emergency brake at any time No loss of information will occur and the following message is displayed PRESS C TO CONTINUE PRESS M TO RETURN O MENU Press C to resume program execution from the line at which it was stopped Press M to allow the activation of any other command You can now go to another menu or continue running the program ANY OTHER KEY FOR REGULAR STOP Press any key other than B to halt the robot as son as it completes execution of the current command lt ESC gt RETURN TO MAIN MENU Press Esc to return to the Main Menu SCORTEC ER I 4 20 User s Manual 9603 Command Line Options When loading SCORBASE Level 3 you can enter several command line options which will override the default values normally used by the software The complete syntax for loading the software is as follows SBER1 L P T C 0 progname R S H Size Options IL Defines the maximum number of available program lines Default 400 Maximum 10000 or memory limit P Defines the maximum number of positions Default 100 Maximum 7000 or memory limit T Defines the maximum number of text lines PRINT and REMA
55. the counter You can set up to 64 counters At the next prompt enter a value from I through 9999 This value equals the maximum number of times a program loop can be executed 7 DECREASE COUNTER This command decreases the value of a counter by 1 Press 7 At the prompt enter the number of a counter 8 IF COUNTER gt 0 JUMP TO This command produces a conditional jump It is used to determine if the value of a counter has decreased to 0 Press 8 At the prompt enter the number of the counter At the Jump prompt enter the number of the line to jump to if the counter value is greater than 0 At run time if the counter value is greater than 0 the jump will occur If the counter value is 0 the program will continue at the following line 9 0 P SET RETURN CALL SUBROUTINE The Set Subroutine command marks the beginning of the specified subroutine You can program up to 64 subroutines Press 9 At the prompt enter any number from 1 through 64 During normal program flow the program will skip over without executing the lines containing a subroutine definition The only way to execute a subroutine is to use the Call Subroutine command The Return from Subroutine command marks the end of a subroutine At run time it terminates the execution of the subroutine and the program resumes execution at the line which follows the Call Subroutine command SCORTEC ER I 4 12 User s Manual 9603 Press 0 zero to cr
56. ts up when the power switch is turned on indicating that power is being supplied to the controller Robot Cable D50 Connector The robot is connected to the controller by means of a ribbon cable which runs from the base of the robot to the D50 connector marked ROBOT on the rear panel of the controller Computer RS232 D25 Cable Connector The computer and the controller communicate on the RS232 channel at 9600 baud with 8 data bits 1 stop bit and no parity Teach Pendant Cable D9 Connector The optional teach pendant is connected to the controller by means of a cable which runs from the teach pendant to the D9 connector marked TEACH PENDANT on the rear panel of the controller SCORTEC ER I 2 8 User s Manual 9603 Fuses The controller has four fuses which are accessible from the controller s rear panel e Power transformer fuse 110V requires 1 6A SB fuse 220V requires 0 8A SB fuse 1A 5V 110 220V logic power supply fuse AA V motor power supply fuse 4A V motor power supply fuse Input and Output Connector The controller s inputs allow the robotic system to receive INPUTS OUTPUTS signals from external devices in the robot s environmnet The TTL 5V max controller has 4 source type inputs The controller s outputs allow the robotic system to transmit signals to external devices in the robot s environment The controller has 4 sink source type outputs The D15 socket connector on the cont
57. ve To prompts type in valid position numbers and press Enter If you simply press Enter without specifying a number for the reference position the position you record will be relative to the current position of the axis For example RECORD POSITION 1 100 12 RELATIVE TO CURRENT If your position is relative to current you are prompted to define values for the relative movement of each axis The format is as follows RECORD POSITION 1 100 RELATIVE TO CURRENT AXIS 1 0 veve AXIS 2 0 veve AXIS 3 0 v re AXIS 4 0 veve AXIS 5 0 v re Pressing Enter without specifying a value for a particular axis accepts the displayed offset value which in all the instances above is 0 A position which is relative to current means the specified offset will be computed from wherever the robot is located at the time it is sent to the relative position If the reference position changes the relative position also moves X Z teach position relative by XYZ coordinates User s Manual 4 7 SCORTEC ER I 9603 The Teach Position XYZ command enables you to teach record a position according to its Cartesian X YZ coordinates To define a position in Cartesian coordinates you specify the distance in millimeters of the robot s gripper tip from the point of origin the bottom center of the robot s base along three linear axes To complete the definition you must
58. wo 4A fuses 4 The gripper does not respond to open or close commands or responds incorrectly Make sure the robot cable is properly connected to the controller Turn the controller off then on again If problem persists contact your agent 5 Motor turns constantly in one direction or responds incorrectly e Make sure the robot cable is properly connected to the controller Turn the controller off then on again If problem persists contact your agent 6 Errors in the accuracy of the robot Position deviations in one or more of the axes during the running of a program may be caused by a faulty encoder Contact your agent 7 The controller does not receive an input signal e Check the input wiring 8 The controller does not give output signals e Check the output wiring Check whether a load has been correctly connected as described in Chapter 2 9 The Home position suddenly changes and the robot continues operation in relation to the new Home This fault may occur continually or occasionally due to a noisy electrical system which disturbs the communication between the robot and the computer Execute the Home routine and reload the program you want to run If the fault occurs frequently use filtering equipment on your power line If problem persists contact your agent User s Manual 6 3 SCORTEC ER I 9603
59. xis in succession moves until it reaches a hard mechanical stop The axis then reverses movement for a predefined number of encoder counts which places it at its fixed home position SCORTEC ER I 4 4 User s Manual 9603 SCORBASE displays messages stating whether each of the joints has reached its fixed home position If an axis does not reach its home location the program will automatically execute the home search once more for that particular axis If the homing is not fully successful the following message is displayed ROBOT IS NOT AT HOME When the robot reaches its home position the following message is displayed HOMING COMPLETED Press any key to stop the homing while the operation is in progress Press G again to restart the homing procedure J K turn on off Output These commands activate and deactivate the controller outputs Press J to turn on an output Press K to turn off an output At the prompt enter a specific output number from 1 through 4 H set present position as Home If you want to start the robot from a position other than its fixed home use the manual control keys to move the robot to the desired position Press H to set the current position of the axes as the new home position Warning This command automatically alters the physical location of all recorded positions Changing the home position may therefore invalidate other recorded positions At the Change V
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