100067-b ER_14
Contents
1. Encoder Cable and Connector E Pin Description o Porte Gal Axis Wire Type and Color Contre Side 17 A4 Encoder Pulse A Twisted yellow CHA 3 18 B4 Encoder Pulse B Pair black CHB 3 19 C4 Encoder Index Pulse 4 Twisted yellow CHC 3 20 COMMONA4 Pair red COMMON 3 34 H4 Home Twisted black MSWITCH3 Pair with J2 33 21 AS Encoder Pulse A Twisted green CHA 4 22 B5 Encoder Pulse B Pair black CHB 4 23 C5 Encoder Index Pulse 5 Twisted green CHC 4 24 COMMONS Pair red COMMON4 35 H5 Home Twisted green MSWITCH4 Pair with free yellow Warning Light Cable and Connector The warning light cable which connects the controller to the warning light contains three leads Figure 8 4 shows the Amphenol three pin female connector that joins the warning light cable to the panel at the base of the robot The following table details the warning light cable Figure 8 4 Amphenol 3 Pin and connector Connector Warning Light Cable and Connector Pin Pin Description Wire Pin Description Robot Side J3 Color Controller Side 1 NO red NO 2 COM black COM SCORA ER 14 8 4 User s Manual 9603 CHAPTER 8 Maintenance The maintenance and inspection procedures recommended below will ensure the best possible performance of the robot over an extended period Daily Operation At the start of each working session check the robot and contr2. dica FLEXSPLINE WAVE GENERATOR dd DYNAMIC SPLINE CIRCULAR SPLINE Figure 6 8 Harmonic Drive Structure 6 6 User s Manual 9603 User s Manual 9603 As in all gears the gear ratio of the Harmonic Drive is the ratio of the input speed to the output speed If the number of teeth on the flexspline is Ny then for every revolution of the input shaft the output shaft rotates by 2 N of a revolution that 1s two teeth out of Ny teeth Hence 1 Ny HD gear ratio 5 N The Harmonic Drive gear ratio for axis 1 and axis 2 of the SCORA ER 14 is 160 1 Wave Circular Generator Flexspline Figure 6 9 Operation of the Harmonic Drive Dynamic Spline Circular Spline Flexspline 4 Wave Generator Starting After several position input revolutions Figure 6 10 Operation of the Harmonic Drive 6 7 SCORA ER 14 Pulleys and Timing Belt The axis 3 transmission contains two pulleys and a timing belt as illustrated in Figure 6 11 The input pulley is mounted on the motor output shaft and the output pulley is connected to the lead screw The gear ratio of the belt drive is the ratio of the output pulley to the input pulley calculated according to the number of teeth on each pulley The belt drive used in the SCORA ER 14 has a a ratio of 80 21 Thus for each rotation 360 of the input pulley the output pulley moves 94 or approximately one q
3. iron powder or similar substances Where subject to vibrations or shocks Where exposed to direct sunlight Where subject to chemical oil or water splashes Where corrosive or flammable gas is present Where the power line contains voltage spikes or near any equipment which generates large electrical noises 3 Do not abuse the robot arm SCORA ER 14 Do not operate the robot arm 1f the encoder cable is not connected to the controller Do not overload the robot arm The weight of the payload may not exceed 2kg 4 4 1b 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 3 2 User s Manual 9603 CHAPTER 4 Installation Preparations Before you make any cable connections set up the system components according to the following Preparation instructions Controller and Computer Terminal Setup Place the controller and computer at a safe distance from the robot well outside the robots safety range Make sure the setup complies with the guidelines defined in the chapter Safety in the ACL Controller B User s Manual Robot Setup User s M
4. ACL Controller B Includes Power Cable 100 110 220 240VAC RS232 Cable 3 driver cards for 6 axes Optional Emergency By Pass Plug required when TP not connected Additional driver cards for control of up to 12 axes Auxiliary multiport RS232 board cable and connectors Teach Pendant optional Includes mounting fixture connector adapter plug Teach Pendant for Controller B User s Manual ATS Advanced Terminal Software diskette Software includes ACLoff line software SCORBASE Level 5 Software diskette SCORA ER 14 User s Manual ACL Controller B User s Manual Documentation ACL for Controller B Reference Guide ATS for Controller B Reference Guide ACLoff line User s Manual SCORBASE Level 5 for Controller B Version Reference Guide SCORA ER 14 1 2 User s Manual 9603 CHAPTER 2 Specifications The following table gives the specifications of the SCORA ER 14 robot arm Robot Arm Specifications Mechanical Structure Horizontal articulated SCARA Arm Length Link 1 270mm 10 6 Link 2 230mm 9 0 Axis Movement Axis Range Effective Speed Axis 1 Rotation 288 117 sec Axis 2 Rotation 218 114 sec Axis 3 Translation 182mm 211mm sec Axis 4 Roll without gripper cable unrestricted 370 or Roll with gripper cable 527 SEG Links 1 and 2 combined 1 5m sec Maximum Operating Radius Minimum 230mm 9 06 Maxi
5. Inspection 0 1 2 CHAPTER 2 Specifications SIFUCIUTS at an ae o A A a A E A 2 2 Work Envelope o o e 2 3 CHAPTER 3 Safety PreCautlOns oi aae a a BP E ae AD ee 3 1 Warnings sa as ama aee ra E a ee 3 2 CHAPTER 4 Installation Preparations ee 4 1 Controller and Computer Terminal Setup 4 1 Robot Setup 4 1 SCORA ER 14 Installation 4 2 Controller Installation 4 2 Robot Installation a 4 2 Homing the Robot o 4 4 Gripper Installation 4 5 Pneumatic Gripper o o 4 5 Seno Gripper saci qua e tral ea 4 7 Activating the Gripper 4 8 CHAPTER 5 Operating Methods SOMWAMC a a de aad Db ala dee a ale ek PR a Heal he 5 1 ACL Ad Wb edhe ease Pa be be he 5 1 PAS ihe a a eae E he aN A ei a Ua ds 5 1 ACLOP ING ten ea Da ea Scape DE A ok we Rh ce a 5 2 SCORBASE ana nous E a eek ER lee oe eee 5 2 Teach Pendant 0 00000 eee 5 2 CHAPTER 6 Drive System Axes Land 2 ao sd oh Gk Veet BR DAS ee 6 1 AXIS A Re ne ee Bed 6 2 AXIS Ei rr ee es ee a Bs RT ee ch a tee 6 2 MOTOFS feo tae hea eet tie o eee wad aces aia 6 3 DC Motor Structure 2 6 4 SCORA ER 14Motors 2 6 5 Harmonic Drive Gear o o 6 6 Pulleys and Timing Belt 6 8 Use
6. RELAYS Controller functioning but the robot cannot be activated Make sure an obstacle is not blocking the robot Make sure the controller s MOTORS switch is on and the green LED is lit Make sure the controller is in the control off COFF state Then activate the control on CON state from PC or TP Make sure all robot and encoder cables are properly connected Check driver card fuses Each driver card has a pair of LEDs and a pair of fuses accessible from controller back panel The upper LED and fuse correspond to the axis number at the top of the card the lower LED and fuse correspond to the axis number at the bottom of the card Both LEDs on each card in use should be lit indicating that power is being supplied to the axis driver If one of the LEDs is not lit remove the fuse for the corresponding axis and examine it To remove the fuse press it in and rotate counter clockwise Robot does not find Home position in one or all of the axes Make sure the homing command was properly issued Make sure all robot and encoder cables are properly connected If the robot has just undergone maintenance or repair use the command ZSET Then issue the home command Make sure system homing parameters have not been erased Make sure system homing parameters are properly set Refer to the ACL Reference Guide Check whether the optical home switch for this axis is functioning Manually move the faulty axis from teach pendant o
7. disabling the arm Check the movements of the robot and correct the command s CONTROL DISABLED Motors have been disconnected from servo control Possible causes 1 COFF control off command was issued 2 CON control on has not been issued the motors have not been activated 3 A previous error such as Impact Protection Thermic Overload or Trajectory Error activated COFF thereby disabling the arm HOME FAILURE AXIS n The homing procedure failed for the specified axis Possible causes 1 The home microswitch was not found 2 The motor power supply is switched off 3 Hardware fault on this axis Home on group axis not done You attempted to move the arm to a recorded positions or to record a position before homing was performed on the group or axis 9 6 User s Manual 9603 User s Manual 9603 IMPACT PROTECTION axis n The controller has detected a position error which is too large The system aborted all movements of that axis group and disabled all axes of that group The user routine CRASH 1f it exists has been executed Possible causes 1 An obstacle prevented the movement of the arm 2 An axis driver fuse has blown 3 The motor power switch is turned off 4 An encoder fault 5 A mechanical fault 6 The axis is not connected Determine and correct the cause of the position error Then reenable servo control of the motors CON and restart the program INDEX pulse not foun
8. in Figure 4 10 3 Make sure the gripper cable is positioned as shown in both Figure 4 10 and Figure 4 11 Refer to A A in Figure 4 10 Fit the two cable clamps onto the two gripper cables Place the clamps on the flange Fit the spacer on the cable clamp screw and then tighten the screw onto the flange 4 Carefully execute the robot HOME command Stay close to the teach pendant or controller If the gripper cable becomes entangled or excessively stretched during the homing abort the procedure immediately 5 The gripper has a rotation of 270 Do not attempt to move the gripper beyond this limit 6 At the end of each work session before turning off the controller or before homing the robot make sure the gripper s position is as shown in Figure 4 11 Gripper Mounting Flange Figure 4 10 Connecting Gripper to SCORA ER 14 User s Manual 4 7 SCORA ER 14 9603 Figure 4 11 Connecting Gripper to SCORA ER 14 Axis 5 is reserved by default controller configuration for a servo gripper To connect a different device as axis 5 you must change the system configuration by means of the ACL command CONFIG Activating the Gripper E 2 3 SCORA ER 14 Activate ATS Press
9. it must be able to accurately follow the defined path at the specified speed The robot motor must allow fine speed regulation so that the robot will accelerate and decelerate as required by the application The robot motor must supply large torques throughout its speed range and also when the joint is stationary The robot motor must be able to stop extremely quickly without overshooting the target position and perform rapid changes in direction Since mounting motors on the robot arm adds to the robot s weight and inertia the robot motors must be light and compact yet powerful As shown in Figure 6 4 the motors of the SCORA ER 14 are located close to the axes they drive MoToR2 MOTOR 1 Figure 6 4 Motor Locations in SCORA ER 14 User s Manual 6 3 SCORA ER 14 9603 DC Motor Structure The principles of operation of electrical motors in general and DC motors in particular are based on an electrical current flowing through a conductor situated within a magnetic field This situation creates a force which acts on the conductor Figure 6 5 shows the basic structure and components of a DC motor comparable to the structure of the motors used in the SCORA ER 14 This motor has three main components Stator This is a static component which creates the magnetic field The stator may be a permanent magnet or an electromagnet consisting of a coil wou
10. list below summarizes the most important safety measures 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 both the encoder cable and the robot power cable are properly connected to the controller before it is turned on 4 Make sure a guardrail or rope has been set up around the SCORA ER 14 operating area to protect both the operator and bystanders 5 Do not enter the robot s safety range or touch the robot when the system is in Operation 6 Press the controller s EMERGENCY switch before you enter the robot s Operating area 7 Turn off the controller s POWER switch before you connect any inputs or outputs to the controller 4 To immediately abort all running programs and stop all axes of motion do any of the following press the teach pendant s EMERGENCY button use the ACL command A lt Enter gt press the controller s red EMERGENCY button User s Manual 3 1 SCORA ER 14 9603 Warnings 1 Do not operate the SCORA ER 14 until you have thoroughly studied both this User s Manual and the ACL Controller B User s Manual Be sure you follow the safety guidelines outlined for both the robot and the controller 2 Do not install or operate the SCORA ER 14 under any of the following conditions Where the ambient temperature drops below or exceeds the specified limits Where exposed to large amounts of dust dirt salt
11. the home switches to the controller and the warning light cable controls the warning light A wire braid links the connectors on the panel to the PCB located in Link 1 A second braid connects the elements in axes 3 5 motors encoders limit and home switches brake to the PCB 8 1 SCORA ER 14 Power Robot Cable and Connector The power robot cable which connects the controller to the robot motors contains 12 leads in 6 pairs Figure 8 2 shows the Burndy 19 pin female connector that joins the power cable to the connector panel at the base of the robot The following table describes the connector pin functions and the cable wiring Figure 8 2 Burndy 19 Pin Connector Robot Power Cable and Connector E arcana Wire Type and Color conor Side A Motor 1 Twisted black MO A M Motor 1 Pair brown MO B C Motor 2 Twisted black M1 A L Motor 2 Pair red MI_B E Motor 3 Twisted black M2_A H Motor 3 Pair blue M2_B B Motor 4 Twisted black M3_A K Motor 4 Pair yellow M3_B D Motor 5 Twisted black M4_A J Motor 5 Pair green M4_B R 24V to PCB Twisted white 24V S 24VRET to PCB Pair black 24VRET SCORA ER 14 8 2 User s Manual 9603 Encoder Cable and Conenctor The encoder cable which connects the controller to the motor encoders and optical home switches contains 38 leads in 19 pairs Only 14 pairs
12. PLING are the motor the coupling and the Harmonic Drive gear D INPUT SHAFT as shown in Figure 6 1 es HARMONIC DRIVE GEAR LIMIT SWITCH DISK H D OUTPUT Figure 6 1 Drive System Axes 1 and 2 User s Manual 6 1 SCORA ER 14 9603 Axis 3 The drive system for axis 3 produces the linear motion of the Z axis Its main components are the motor pulleys and a timing belt and a ball BALL BEARING LEAD SCREW bearing lead screw with nut as shown in Figure 6 2 ENCODER Axis 4 BEARINGS The drive system for axis 4 Z roll produces the rotation of the end effector flange Its main components are the motor a worm gear and a spline as shown in Figure 6 3 Figure 6 2 Drive System Axis 3 MOTOR OUTPUT SHAFT MOTOR ENCODER BEARING BEARINGS COUPLING Figure 6 3 Drive System Axis 4 SCORA ER 14 6 2 User s Manual 9603 Motors An electric motor is an actuator a device which transforms electric power into mechanical power The motor converts signals from the controller into rotations of its shaft A robot arm such as the SCORA ER 14 imposes severe requirements on the actuators such as the following The robot motor must rotate at different speeds and with a high degree of accuracy For example if the robot is to be used for a spray painting application
13. SCORA ER 14 User s Manual ESED D Le WARNING The SCORA ER 14 ROBOT is DANGEROUS and can cause severe injury USE WITH EXTREME CAUTION Set up a protective screen or guardrail around the robot to KEEP PEOPLE AWAY from its working range Copyright O 1996 1999 Eshed Robotec 1982 Limited Catalog 100067 Rev B ISBN 965 291 069 4 March 1996 May 1999 Reprinted PDF version Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied Eshed Robotec is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Eshed Robotec bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice SCORBOT is a registered trademark and ACL is a trademark of Eshed Robotec 1982 Ltd Read this manual thoroughly before attempting to install or operate the robot If you have any problems during installation or operation call your agent for assistance Save the original carton and all packing material You may need them later for shipment Table of Contents CHAPTER 1 Unpacking and Handling Unpacking and Handling the Robot 1 1 Repacking for Shipment 1 1 Acceptance
14. a ratio of 50 1 Thus one rotation 360 of motor 4 output shaft causes the end effector flange to rotate 7 2 User s Manual 6 11 SCORA ER 14 9603 SCORA ER 14 6 12 User s Manual 9603 CHAPTER F Position and Limit Devices This chapter describes the various elements in the SCORA ER 14 which play a part in the positioning of the robot arm and the limiting of its motion Encoders End of Travel Switches Hard Stops Home Switches 4 Note that the illustrations of components shown in this chapter are for descriptive purposes and may not be the actual components used in the SCORA ER 14 Encoders The location and movement of an axis is commonly measured by an electro optical encoder attached to the motor which drives the axis The encoder translates the rotary motion of the motor shaft into a digital signal understood by the controller Figure 7 1 shows the encoder mounted on a SCORA ER 14 motor The encoder used on the SCORA ER 14 contains a single light emitting diode LED as its light source Opposite the LED is a light detector integrated circuit This IC contains several sets of photodetectors and the circuitry for producing a digital signal A perforated rotating disk is located between the emitter and detector IC Figure 7 1 SCORA ER 14 Encoder User s Manual 7 1 SCORA ER 14 9603 As the encoder disk rotates between the emitter and detectors the light beam is interrupted by the pattern of ba
15. anagement The ACL Reference Guide for Controller B provides detailed descriptions and examples of the ACL commands and functions ATS Advanced Terminal Software is the user interface to the ACL controller ATS is supplied on diskette and operates on any PC The software is a terminal emulator which enables access to the ACL environment from a PC host computer 5 1 SCORA ER 14 ATS features include the following Short form controller configuration Definition of peripheral devices Short cut keys for command entry Program editor Backup manager Print manager The ATS Reference Guide for Controller B is a complete guide to ATS ACLoff line ACLoff line is a preprocessor software utility which lets you access and use your own text editor to create and edit ACL programs even when the controller is not connected or not communicating with your computer After communication is established the Downloader utility lets you transfer your program to the controller The Downloader detects the preprocessor directives and replaces them with a string or block of ACL program code ACLoff line also enables activation of ATS Advanced Terminal Software for on line programming and system operation ACLoff line is described fully in the ACLoff line User s Manual SCORBASE SCORBASE Level 5 is a robot control software package which is supplied on diskette with the controller Its menu driven structure and off line capabilities facilitat
16. and diagram in Chapter 8 1 Connect the safety ground wires Unscrew and remove the nuts and washers from the safety ground studs on both the robot and controller connector panels Connect the green yellow wires from both the robot cable and the encoders cable to the safety ground studs on both the robot and controller connector panels SCORA ER 14 4 2 User s Manual 9603 o o o o o ot ooo vw o EO PRICE EDS he ENCODERS CONNECTOR WARNING LIGHT CONNECTOR ROBOT PNEUMATIC HOSES CONNECTOR e ce n en rc sos oo eee s o o A IDO IIA GROUND STUD ROBOT CABLE CONNECTOR Figure 4 3 Robot Connector Panel Figure 4 4 Controller Connector Panel 2 3 Note User s Manual 9603 After you have placed the ground wire terminals onto the studs replace and tighten the washers and nuts Connect the two cables which connect the robot and the controller Plug the the D37 connectors on the encoder cable into the Robot Encoders port on the controller and into the port on the robot s connector panel Tighten the retaining screws on the connector Plug the 19 pin round connectors on the robot cable into the Robot Power port on the controller and into the port on the robot s connector panel Connect the robot warning light to the controller Plug the 3 pin round connector on the warning light cable into the Warning Light port on the robot Connect the red and black wires to any unused relay o
17. anual Refer to Figures 4 1 and 4 2 Set up the SCORA ER 14 on a sturdy surface with at least 70 cm of free space all around the robot Set up the robot so that it ROPE or GUARDRAIL faces in the proper direction towards the application or machine it will serve Fasten the base of the robot to the work surface with four sets of bolt washer and nut Make sure the robot is securely bolted in place Otherwise the robot could become unstable and topple over while in motion Figure 4 1 Robot Safety Range 4 1 SCORA ER 14 9603 4 Set up a guardrail or rope around the SCORA ER 14 operating area to protect both the operator and bystanders Figure 4 2 Robot Base Layout SCORA ER 14 Installation Controller Installation Perform the installation procedures detailed in the following sections of Chapter 2 Installation in the ACL Controller B User s Manual Computer Terminal Controller Installation Power On Controller Configuration 4 When the Peripheral Setup screen appears at the end of the controller configuration select Gripper Connection None You will change this setting after the gripper is installed Refer to the section Peripheral Devices and Equipment Robot Gripper in the ACL Controller B User s Manual Robot Installation 4 Before you begin make sure the controller POWER switch is turned off Refer to Figures 4 3 and 4 4 Refer also to the wiring information
18. are used Figure 8 3 shows the D37 female connector that joins the encoder cable to the connector panel at the base of the robot The following table details the connector pin functions and the decribes the cable wiring PIN No 1 o e e e e e e o e e e o e e e e e e e e Figure 8 3 D37 Connector Encoder Cable and Connector Pin Pin Description PU aici sla ID Robot Side J4 Axis Wire Type and Color as Side 1 5V Twisted red 5V 2 5V Pair black 5V 5 Al Encoder Pulse A Twisted brown CHA 0 6 B1 Encoder Pulse B Pair black CHB 0 7 C1 Encoder Index Pulse 1 Twisted brown CHC 0 8 COMMON 1 Pair red COMMON 0 31 H1 Home Twisted white MSWITCH 0 Pair with J2 32 9 A2 Encoder Pulse A Twisted red CHA 1 10 B2 Encoder Pulse B Pair white CHB 1 11 C2 Encoder Index Pulse 2 Twisted red CHC 1 12 COMMON 2 Pair blue COMMON 1 32 H2 Home Twisted black MSWITCH 1 Pair with J2 31 13 A3 Encoder Pulse A Twisted orange CHA 2 14 B3 Encoder Pulse B Pair black CHB 2 15 C3 Encoder Index Pulse 3 Twisted orange CHC 2 16 COMMON 3 Pair red COMMON 2 33 H3 Home Twisted blue MSWITCH 2 Pair with J2 34 User s Manual 8 3 SCORA ER 14 9603
19. ated within the worm gear housing During the homing procedure the robot joints are moved one at a time Each axis is moved until the flag cuts the beam of light When that occurs the optical detector on each joint sends a specific signal to the controller Once the home switch location has been detected the axis motor continues to rotate until its encoder produces an index pulse The point at which that occurs is the axis home position HARMONIC DRIVE LIMIT SWITCH OPTICAL OPTICAL HOME FLAG HOME FLAG AXIS NOT AT HOME AXIS AT HOME Figure 7 8 Home Switch Activation 7 6 User s Manual 9603 User s Manual 9603 CHAPTER 8 Wiring Figure 8 1 is a schematic diagram of the SCORA ER 14 cable connections TOAXES 3 5 WARNING LIGHT WARNING LIGHT ENCODERS CONTROLLER B SAFETY GROUND POWER ROBOT Figure 8 1 SCORA ER 14 Cabling The power robot cable encoder cable and warning light cable connect the Controller B to the connector panel of the SCORA ER 14 robot Safety ground wires from the robot and the encoder cables are connected to safety ground studs on the connector panel and on the controller back panel The robot cable supplies power to the motors and 24VDC to the printed circuit board PCB located in link 1 The encoder cable carries information from the encoders and
20. d axis n The index pulse of the encoder was not found during the homing of the specified axis Possible causes 1 The distance between the index pulse and the home switch transition position has changed due to a mechanical fault on the axis or a maintenance procedure such as replacement of the motor motor belt encoder or gear Enter the command ZSET Then retry homing 2 Index pulse faulty Check the encoder and wiring LOWER LIMIT AXIS n During keyboard or TP manual movement of the specified axis its encoder attained its minimum allowed value Move the axis in the opposite direction Motor power switch is OFF Be sure the controller s MOTORS switch is on Activate CON Then repeat the motor or movement command No hard homing axis n The specified axis has not been configured for hard homing Use the HOME command instead of HHOME OR Check the type of homing suitable for that axis If necessary change the system parameters to allow hard homing of the axis No homing The homing parameters for the axis PAR 460 axis and PAR 600 axis are set to 0 as a result the homing procedure will not be performed on the axis 9 7 SCORA ER 14 OUT OF RANGE axis n An attempt was made to record a position HERE HEREC etc while the robot arm was out of its working envelope Manually move the arm to a location within its working envelope Then repeat the command THERMIC OVERLOAD axis n Through a s
21. e robotic programming and operation SCORBASE runs on any PC system and communicates with ACL the controller s internal language by means of an RS232 channel The SCORBASE Level 5 for Controller B Reference Guide provides detailed descriptions and examples of the SCORBASE commands Teach Pendant SCORA ER 14 The teach pendant is a hand held terminal which is used for controlling the SCORA ER 14 robot and peripheral equipment The teach pendant is most practical for moving the axes recording positions sending the axes to recorded positions and activating programs Other functions can also be executed from the teach pendant The Teach Pendant for Controller B User s Manual fully describes the various elements and functions of the teach pendant 5 2 User s Manual 9603 CHAPTER Drive System The SCORA ER 14 utilizes several different mechanical transmissions for transferring motion from the motors to the joints The structure and operation of the various components used to drive the SCORA axes are described in this chapter 4 Note that the illustrations of ENCODER components shown in this chapter are for descriptive Es purposes and may not be the actual components used in the SCORA ER 14 Axes 1 and 2 MOTOR OUTPUT SHAFT The main components of the drive system for axes 1 and 2 COU
22. ear transmission is defined as teeth on worm gear of starts on worm shaft The worm gear used in the SCORA ER 14 has 100 teeth and the shaft has two starts Thus the worm gear transmission has a ratio of 50 1 Figure 6 14 Worm Gear Transmission Ball Bearing Spline The SCORA ER 14 uses a ball bearing spline shown in Figure 6 15 to transmit torque from the worm gear to the Z axis slider shaft while allowing linear motion of the axis Ball bearing splines are similar to ball bearing screws in that they both employ the rolling contact principle of balls recirculating in a path between a shaft spline and a matching nut sleeve In a ball bearing spline however the path of the rolling balls in straight rather than helical Figure 6 15 Ball Bearing Spline SCORA ER 14 6 10 User s Manual 9603 Axis Gear Ratios The overall gear ratio of the output shaft which moves the axis is the product of the ratios of the transmissions in each drive Axes 1 and 2 are driven by Harmonic Drive gears with a gear ratio of 160 1 Thus one rotation 360 of the output shaft of motor 1 or 2 moves the axis 2 25 Axis 3 is driven by a belt drive with a ratio of 80 21 and a lead screw which converts each rotation of the output pulley to a linear movement of 16 mm Thus for each rotation 360 of motor 3 output shaft the Z axis will move a linear distance of 4 2 mm Axis 4 is driven by a worm gear with
23. ed as _ 360 n SE Where SE 1s the resolution of the encoder n is the number of counts per encoder revolution The encoders used in the SCORA ER 14 have 512 slots generating 2048 counts per motor revolution The encoder resolution is therefore gp 30 176 When the encoder resolution is divided by the overall gear ratio of the axis the resolution of the joint is obtained Since the encoder is mounted on the motor shaft and turns along with it the resolution of the joint is expressed as SE SJOINT reat Thus for example the resolution of joint 2 of the SCORA ER 14 is therefore as follows Sj ty 0011 The resolution is the smallest possible increment which the control system can identify and theoretically control The accuracy of the axis that is the precision with which it is positioned is affected by such factors as backlash mechanical flexibility and control variations User s Manual 7 3 SCORA ER 14 9603 End of Travel Limit Switches The SCORA ER 14 uses limit switches to prevent the joints from moving beyond their functional limits When a control error fails to stop the axis at the end of its working range the limit switch serves to halt its movement The switch is part of an electric circuit within the robot arm independent of the robot controller The limit switches used in the SCORA ER 14 are shown in Figure 7 5 Axes 1 and 2 each has two limit switches one at each
24. end of the axis working range Figure 7 5 The limit switches are mounted on a disk SCORA ER 14 Limit Switch which is attached to the robot s frame as shown in Figure 7 6 The output shaft of the Harmonic Drive moves relative to the microswitch disk As the joint moves a cam on the Harmonic Drive output shaft reaches a point at which it forces the actuating button of the limit switch into a position which activates the switch Axis 3 has two limit switches one at the upper limit and one at the lower limit of the axis range The switches are mounted on the bracket alongside the spline slider ACTUATING BUTTON Axis 4 roll has no travel limit switches it can rotate endlessly When a gripper is attached to axis 4 its movements are controlled and limited by means of software only encoder LIMIT SWITCH HARMONIC DRIVE DISK Figure 7 6 Limit Switch Activation SCORA ER 14 7 4 User s Manual 9603 As shown in Figure 7 7A when limit switch 1 is activated that is when the button is depressed the relay contact opens and the relay is deenergized The motor cannot move the joint beyond this point The diode allows the motor to reverse direction thus permitting the joint to move away from the limit switch When the limit switch is activated it causes a control error resulting in the activation of COFF and an impact protection message CON must be ac
25. ies Check the power source Make sure the MOTORS power switch is on make sure the Emergency button is not depressed Turn off the controller and open up the cover Turn on the controller Check the yellow watchdog LED on the main board If it is lit it indicates that that one of the following fuses on the power supply unit has blown out 12VA 12VA 12VDR 12VDR Turn off the controller and disconnect it from the power source Check each of these four fuses Replace the blown fuse SCORA ER 14 9 4 User s Manual 9603 6 Errors in the repeatability of the robot Try to identify the faulty axis If many or all axes are faulty look for an electrical noise source in your environment Check the controller s ground and the robot s ground connection to the safety ground terminal at the back of the controller Check the encoder Bring the robot to a starting position Using a pencil draw a fine continuous line on the robot which crosses from the cover of one link to the cover of the adjacent link at the joint in question Enter the command SHOW ENCO to display the encoder readings Enter the command COFF to disable servo control and then physically move the axis to another position Then return to the starting position marked by the line you drew Check the encoder reading for the axis again It should be within 5 counts of the previous reading 1f not the encoder needs to be replaced 7 Unusual noise Loose sc
26. inear or circular movement may cause one of the joints to move too fast Lower the value of speed for that movement SCORA ER 14 9 8 User s Manual 9603 User s Manual 9603 TRAJECTORY ERROR During movement the robot arm reached its envelope limits and the system aborted the movement This may occur when executing the following types of movements linear MOVEL circular MOVEC MOVES and SPLINE Since the trajectory is not computed prior to motion the movement may exceed the limits of the working envelope Modify the coordinate values of the positions which define the trajectory x UPPER LIMIT AXIS n During keyboard or TP manual movement of the specified axis its encoder attained its maximum allowed value Move the axis in the opposite direction 9 9 SCORA ER 14
27. ipper Connectors 4 5 Figure 4 6 Pneumatic Gripper SCORA ER 14 3 SCORA ER 14 Refer to Figure 4 8 Connect the two transparent 1 4 O D hoses from the robot to the CYL ports on the pneumatic valve Connect a 5 bar 90 PSI air supply to the IN port on the valve Refer to Figure 4 9 Connect the valve to the controller s User Power Supply as follows Connect the black wire to a common terminal Connect the red wire to the normally open NO terminal of any unused relay output Connect 12VDC or 24VDC in accordance with your valve s specification to the common C terminal of the same relay output as shown in Figure 4 9 Attach the valve to the controller or any other metalic surface by means of the valve s magnetic base WIRES TO CONTROLLER PES 410 12vBC 40 WATTS 0 125 PSI FROM AIR SUPPLY AIR HOSES TO ROBOT RELAY OUTPUTS 00000000000 to Solenoid Valve Figure 4 9 Valve Controller Connections 4 6 User s Manual 9603 Servo Gripper The electrical servo gripper is shown in the inset in Figure 4 10 4 The robot must be homed before you mount the gripper 1 Using a 3 mm hex wrench and four M4x10 socket screws attach the gripper to the gripper mounting flange at the end of the robot arm 2 Connect the gripper cable to the electrical connector on the robot arm Make sure the connector is oriented as shown
28. l links Repacking for Shipment User s Manual 9603 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 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 1 1 SCORA ER 14 Acceptance Inspection After removing the robot arm from the shipping carton examine it for signs of shipping damage If any damage is evident do not install or operate the SCORA Notify your freight carrier and begin appropriate claims procedures The following items are standard components in the SCORA ER 14 package Make sure you have received all the items listed on the shipment s packing list If anything is missing contact your supplier Item Description SCORA ER 14 Robot Arm Includes Cabling with air hoses Hardware for mounting robot 4 M8x60 bolts 4 M8 washers 4 M8 nuts Gripper 2 options Pneumatic Gripper includes pneumatic solenoid valve and 6 M4x8 screws for mounting gripper Electric DC Servo Gripper with encoder includes 4 M4x10 screws for mounting gripper
29. lt Ctrl gt F3 to activate the Peripheral Setup screen Change the robot gripper definition according to the gripper you have installed Refer to the section Peripheral Devices and Equipment Robot Gripper in Chapter 2 of the ACL Controller B User s Manual Open and close it in order to verify that it is functioning The following commands work for both the electric and the pneumatic gripper Type open lt Enter gt The gripper opens Type close lt Enter gt The gripper closes Key in Open Close The Open Close key toggles the gripper between its open and closed states programs you have just written 4 8 User s Manual 9603 CHAPTER 5 Operating Methods The SCORA ER 14 robot can be programmed and operated in a number of ways The ACL Controller B User s Manual includes two chapters which guide you through the basic commands for operating and programming the robot Software ACL ATS User s Manual 9603 ACL Advanced Control Language is an advanced multi tasking robotic programming language developed by Eshed Robotec ACL is programmed onto a set of EPROMs within Controller B and can be accessed from any standard terminal or PC by means of an RS232 communication channel ACL features include the following Direct user control of robotic axes User programming of robotic system Input output data control Simultaneous and synchronized program execution full multi tasking support Simple file m
30. mum 500 mm 19 69 Pneumatic Gripper End Effector Electric DC servo Gripper Hard Home Fixed position on all axes Feedback Incremental optical encoders with index pulse Actuators DC servo motors Transmission Harmonic Drive gears Maximum Payload 2 kg 4 4 1b Position Repeatability 0 05mm 0 002 Weight 30 kg 66 1b Ambient Operating Temperature 2 40 C 36 104 F User s Manual SCORA ER 14 9603 Structure The SCORA ER 14 is a horizontal articulated SCARA robot The first two joints are revolute and determine the position of the end effector in the XY plane The third joint is prismatic and determines the height Z coordinate of the end effector Figure 2 1 identifies the joints and links of the mechanical arm Each joint is driven by a servo DC motor via a Harmonic Drive gear transmission The following table describes the movement of the axes Axis No Motion 1 Rotates Link 1 in horizontal XY plane 2 Rotates Link 2 in horizontal XY plane 3 Translates raises and lowers the end effector along Z axis 4 Rotates the end effector Figure 2 1 SCORA 14 Mechanical Arm SCORA ER 14 2 2 User s Manual 9603 Work Envelope The length of the links and the degree of rotation of the joints determine the robot s work envelope Figures 2 2 and 2 3 show the dimensions of the SCORA ER 14 while Figure 2 4 give
31. n Axes 3 and 4 User s Manual 6 5 SCORA ER 14 9603 Harmonic Drive Gear SCORA ER 14 The Harmonic Drive transmission used in the SCORA ER 14 shown in Figure 6 8 offers a very high gear ratio The Harmonic Drive gears used in the SCORA ER 14 have four main components Circular spline a solid steel ring with internal gear teeth usually fixed to the robot link Wave generator a slightly elliptical rigid disk which is connected to the input shaft with a ball bearing mounted on the outer side of the disk Flexspline a flexible thin walled cylinder with external gear teeth usually connected to the output shaft Dynamic spline a solid steel cylinder with internal gear teeth The external gear teeth on the flexspline are almost the same size as the internal gear teeth on the circular spline except there are two more teeth on the circular spline and the teeth only mesh when the wave generator pushes the flexspline outwards Because the wave generator is elliptical the flexspline is pushed out in two places As the motor rotates the input shaft the wave generator rotates and the location of meshing teeth rotates with it However because there are two less teeth on the flexspline it has to rotate backwards slightly as the wave generator rotates forwards For each complete rotation of the input shaft the flexspline moves backwards by two teeth Figures 6 9 and 6 10 show the different steps in this process
32. nd around thin iron plates Rotor This is the component which rotates within the magnetic field The external load is connected to the rotor shaft The rotor is generally composed of perforated iron plates and a conducting wire is wound several times around the plates and through the perforations The two ends of the conductor are connected to the two halves of the commutator which are connected to the electric current via the brushes Brushes These connect the rotating commutator to the electric current source Electrical Connections Housing STATOR Permanent Magnet Bearing BRUSHES Commutator Shaft Winding Commutator Plate Figure 6 5 Basic Structure ofa DC Motor SCORA ER 14 6 4 User s Manual 9603 SCORA ER 14 Motors The SCORA ER 14 uses permanent magnet DC motors to drive the axes Axes 1 and 2 of the SCORA ER 14 are powered by the motor shown in Figure 6 6 Axes 3 and 4 are powered by the motor shown in Figure 6 7 These motors are able to move at extremely high rates of revolution to move loads with high torques and with encoder attached to achieve a very high resolution Motor Specifications Motor Axes 1 and2 Motor Axes 3 and 4 Peak Rated Torque 143 oz in 27 8 ozin Rated Torque 32 oz in 12 5 oz in Maximum Operating Speed 4000 rpm 4500 rpm Weight 1 29 k 2 84 lb 0 28 k 0 62 1b Figure 6 6 Motor on Axes 1 and 2 Figure 6 7 Motor o
33. oftware simulation of motor temperature the system has detected a dangerous condition for that motor The system aborted all movements of that axis group and disabled all axes of that group The user routine CRASH if it exists has been executed Possible causes 1 The arm attempted to reach a position which could not be reached due to an obstacle for example a position defined as being above a table but actually slightly below the table s surface The impact protection is not activated because the obstacle is close to the target position However integral feedback will increase the motor current and the motor will overheat subsequently causing the Thermic Protection to be activated 2 An axis driver is faulty or its fuse has blown 3 The robot arm is near to the target position but does not succeed in reaching it due to a driver fault The software will then detect an abnormal situation 4 The Thermic Protection parameters are improperly set or have been corrupted by improper loading of parameters Check the positions the axis driver card and parameters Reenable servo control of the motors CON TOO LARGE SPEED axis n Possible causes 1 The controller has detected a movement which is too fast that is the required displacement of the encoder as calculated from the speed limit parameter PAR 180 axis is too great 2 Since the trajectory is not calculated prior to a linear or circular movement the l
34. oller in the following order 1 Before you power on the system check the following items The installation meets all safety standards All cables are properly and securely connected Cable connector screws are fastened The gripper is properly connected The air supply for a pneumatic gripper is functioning properly Any peripheral devices or accesssories which will be used such as the teach pendant or a remote emergency button are properly connected to the controller 2 After you have powered on the system check the following items No unusual noises are heard No unusual vibrations are observed in any of the robot axes There are no obstacles in the robot s working range 3 Bring the robot to a position near home and activate the Home procedure Check the following items Robot movement is normal No unusual noise is heard when robot arm moves Robot reaches home position in every axis User s Manual 9 1 SCORA ER 14 9603 Periodic Inspection The following inspections should be performed regularly Check robot mounting bolts for looseness using a wrench Retighten as needed Check all visible bolts and screws for looseness using a wrench and screwdriver Retighten as needed Check cables Replace if any damage is evident The following robot components may require replacing after prolonged use of the robotic arm causes them to wear or fail DC Servo Motors Motor Brushes Timing Belts V Rings Ha
35. r keyboard and check the value of system variable HS n where n is the index of the axis The value of HS will change to either 1 or O defined by parameter 560 axis when the home switch is detected To help you perform this test prepare and continuously run a simple ACL program as follows 9 3 SCORA ER 14 LABEL 1 PRINTLN HS n DELAY 20 GOTO 1 If the value of HS does not change possible causes Faulty arm circuitry Faulty optical switch optical switch not properly mounted Faulty driver circuitry Problem in controller power supply unit 5V1 4 One of the axes does not function Check the driver card LED for this axis at the back of the controller If the LED is not lit check the corresponding fuse Check the motor drive circuitry Check the encoder Enter the command SHOW ENCO to display the encoder readings Enter the command COFF to disable servo control and then physically move the axis in question in both directions The encoder reading should rise for rotation in one direction and fall for rotation in the opposite direction If this does not occur there is a problem in the encoder or its circuitry If the encoder readings do not change check whether the encoder connector is properly connected to the rear controller panel The problem may be caused by faulty encoder connectors on the robot s internal PCB s 5 Motors suddenly stop No message on screen No response to keyboard entr
36. r s Manual vii 9603 SCORA ER 14 CHAPTER 7 CHAPTER 8 CHAPTER 8 Ball Bearing Screw o e 6 9 Worm Gear 2 a a a a a a a a 6 10 Ball Bearing Spline o 6 10 Axis Gear Ratios ooo a a a a a 6 11 Position and Limit Devices Encoders DER ee ks A he 7 1 Encoder Resolution 7 3 End of Travel Limit Switches 7 4 Hard Stops a capa ee a WP de ete od we MW ae a cv te Weds 7 5 Home Switches 0000 eee eee 7 6 Wiring Power Robot Cable and Connector 8 2 Encoder Cable and Conenctor 8 3 Warning Light Cable and Connector 8 4 Maintenance Daily Operation o e 9 1 Periodic Inspection 0 o e 9 2 Troubleshooting 0 9 2 Messages ts ld a ie da A 9 6 SCORA ER 14 viii User s Manual 9603 CHAPTER 1 Unpacking and Handling 4 Read this chapter carefully before you unpack the SCORA ER 14 robot and controller Unpacking and Handling the Robot The robot is packed in expanded foam Save the original packing materials and shipping carton You may need them later for shipment or for storage of the robot The robot arm weighs 35 kilos 77 pounds Two people are needed in order to lift or move it Lift and carry the robot arm by grasping its column and or base Do not lift or carry the robot arm by its horizonta
37. rews Poor lubrication Ratcheting Worn motor brushes Worn timing belt Damaged harmonic drive 8 Unusual smell A motor has burnt out and needs to be replaced 9 Axis axes vibrating too weak to carry load motion not smooth or jerks during or at end of motion System parameters are not properly adjusted Refer to the ACL Reference Guide Problem in axis driver card s in the controller Refer to the Controller B User s Manual User s Manual 9 5 SCORA ER 14 9603 10 Pneumatic gripper does not respond Check that all air hoses are connected properly Make sure the gripper is connected to the proper controller output Check the relay output to which the gripper is connected Check whether the relays have been switched LED is lit In output OFF NC is shorted to COM NO is disconnected from COM In output ON NO is shorted to COM NC is disconnected from COM If outputs have not been switched check the flat cable in the controller connecting the main board J17 and the I O card Messages SCORA ER 14 Following is a alphabetical listing of system messages which indicate a problem or error in the operation of the robot arm Refer to the ACL Reference Guide for additional error messages Axis disabled 1 A movement command could not be executed because servo control of the arm has been disabled COFF 2 A previous movement of the arm resulted in an Impact or Trajectory error thereby activating COFF and
38. rmonic Drives Cross Roller Bearings Troubleshooting SCORA ER 14 Whenever you encounter a problem with your system try to pinpoint its source by exchanging the suspected faulty component for example robot controller teach pendant cable with one from a functioning system In general when trying to determine the source of a malfunction first check the power source and external hardware such as controller switches LEDs and cable connections Then check fuses you may also open the controller to check components according to the procedures and instructions detailed in the Controller B User s Manual In addition make sure the controller is properly configured for the robot and gripper the software commands have been correctly issued and system parameters are properly set All troubleshooting procedures described in the section can be performed by the user Do not attempt to open the robot arm There are no user serviceable parts inside If you are unable to determine and or correct the problem contact your service representative Only qualified technicians may remove and or replace robot components 9 2 User s Manual 9603 1 Ze 3 User s Manual 9603 Controller s MOTORS switch does not turn on the green LED does not light Make sure the Emergency button is released Turn off the controller disconnect it from the power source and open the cover Check the 0 5A SB fuse marked FAN POWER
39. rs and windows on the disk resulting in a series of pulses received by the detectors The SCORA ER 14 encoders have 512 slots as shown in Figure 7 2 An additional slot on the encoder disk is used to generate an index pulse C pulse once for each full rotation of the disk This index pulse serves to determine the home position of the axis Figure 7 2 SCORA ER 14 Encoder Disk The photodetectors are arranged so that alternately some detect light while others do not The photodiode outputs are then fed through the signal processing circuitry resulting in the signals A A B B I and I as shown in Figure 7 3 Comparators receive these signals and produce the final digital outputs for channels A B and I The output of channel A is in quadrature with that of channel B 90 out of phase as shown in Figure 7 4 The final output of channel I is an index pulse When the disk rotation is counterclockwise as viewed from the encoder end of the motor channel A will lead channel B When the disk rotation is clockwise channel B will lead channel A 1 PHOTO j DIODES COMPARATORS DETECTOR Figure 7 3 Encoder Circuitry Figure 7 4 Encoder Output Signals SCORA ER 14 7 2 User s Manual 9603 Encoder Resolution From the quadrature signal the SCORA ER 14 controller measures four counts for each encoder slot thus quadrupling the effective resolution of the encoder The resolution of the encoder is express
40. s a top view of the robot s work envelope 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 960mm 38ins approx PE 109 ES nm Mm w E E NS 00 842mm 33 15ins 765mm 30 12ins 450mm 17 72ins a 230mm Sila E 9 06ins 10 63ins 290mm 11 42ins Figure 2 2 Dimensions Side View 2 3 SCORA ER 14 User s Manual 9603 4 HOLES 68 5mm 237 5mm 135mm 6 33din gt 9 35ins 5 31ins TA 45 5MM 1 71in 76 Bram 6 96ins 770mm 30 31ins Figure 2 3 Dimensions Top View R19 69ins R11 42ins R2350mm R9 06ins Figure 2 4 Working Range Top View SCORA ER 14 2 4 User s Manual 9603 CHAPTER 3 Safety The SCORA ER 14 is a potentially dangerous machine Safety during operation is of the utmost importance Use extreme caution when working with the robot Precautions The following chapters of this manual provide complete details for proper installation and operation of the SCORA ER 14 The
41. sequence axis 3 vertical stroke axis 2 axis 4 roll and axis 1 If home is found a message is displayed HOMING COMPLETE ROBOT If the HOME process is not completed an error message identifying the failure is displayed For example HOME FAILURE AXIS 3 If the home switch is found but not the encoder s index pulse the following message is displayed INDEX PULSE NOT FOUND AXIS 2 SCORA ER 14 4 4 User s Manual 9603 GRIPPER MOUNTING FLANGE User s Manual Gripper Installation The gripper is attached to the flange at the end of the robot arm whose layout is shown in Figure 4 5 Pneumatic Gripper The pneumatic gripper shown in Figure 4 6 is controlled by a 5 2 solenoid pneumatic valve which is activated by one of the controller s relay outputs The valve may be 12VDC or 24VDC and can draw its power from the controller s User Power Supply The robot must be homed before you mount the gripper Using a 3mm hex wrench and six M4x8 socket screws attach the gripper to the robot arm flange Connect the coiled double hose from the gripper to the quick coupling on the underside of Link 2 as indicated in Figure 4 7 um M4 8mm DEEP X6 Figure 4 5 Gripper Mounting Flange Layout QUICK COUPLER FOR PNEUMATIC GRIPPER CONNECTOR FOR SERVO GRIPPER Figure 4 7 Gr
42. tivated and the robot arm must be manually moved using keyboard or teach pendant away from the impact condition As long as the axis has not reached one of its limits the relay contact remains closed and the diode has no effect on the circuit as shown in Figure 7 7B Current can flow in either direction the motor is thus able to rotate in either direction DRIVER Figure 7 7 Axis Limit Circuit Hard Stops User s Manual 9603 When the software limits and or the end of travel switches fail to halt the movement of the robot arm it is possible that the momentum of the robot arm will drive it until it reaches its mechanical limit When the joint reaches this hard stop the impact protection and thermic protection processes detect an error thus activating COFF CON must be activated and the robot arm must be manually moved away from the impact condition 7 5 SCORA ER 14 Home Switches SCORA ER 14 The SCORA ER 14 uses an optical home switch on each axis to identify the fixed reference or home position For axes 1 and 2 the home switch is mounted on the same disk as the end of travel switches and a flag is attached to the Harmonic Drive output shaft as shown in Figure 7 8 The home switch for axis 3 is located near the top of the bracket alongside the spline slider just below the axis upper limit switch The home switch for axis 4 is loc
43. uarter of a rotation Figure 6 11 Pulleys and Timing Belt SCORA ER 14 6 8 User s Manual 9603 Ball Bearing Screw A ball bearing lead screw converts the rotation of the motor to the linear motion of the Z axis In lead screw transmissions the screw is rotated by the motor and the shaft is connected to the nut or sleeve as illustrated in Figure 6 12 In the SCORA ER 14 the screw rotates and the nut travels along the length of the screw As shown in Figure 6 13 a ball bearing screw thread is actually a hardened ball race The nut consists of a series of bearing balls circulating in a similar race The bearing balls are transferred from one end of the nut to the other by return tubes SZ AZ A VS The low friction ball bearing lead screw provides more accurate and enduring performance WS The lead screw used in the SCORA ER 14 has a 16mm lead That is for each rotation of the Figure 6 12 Lead Screw screw the nut travels a linear Transmission distance of 16mm DD Ex ay The lead screw of the SCORA ER 14 Valet an is fitted with a brake which halts motion of the Z axis when motor Mi ele power is cut off eT THREADED SHAFT BALLS Figure 6 13 Ball Bearing Screw User s Manual 6 9 SCORA ER 14 9603 Worm Gear A worm gear transmission shown in Figure 6 14 is used in the SCORA ER 14 to transfer the rotation of motor 4 to the rotation of the Z axis The ratio of a worm g
44. utput terminal one wire to NO and one wire to C on the same output Write a routine which will turn on the output whenever the controller is in CON state and turn off the output whenever the controller is in COFF state For automatic activation of this routine include it in the user reserved ACL program BACKG Refer to the ACL for Controller B Reference Guide for more information on BACKG When disconnecting the robot from the controller do it in the opposite order Disconnect the warning light connections Disconnect the power cable connections Disconnect the encoders cable connections Disconnect the ground wires 4 3 SCORA ER 14 Homing the Robot After you have completed the robot installation execute the robot s Home routine as described below The robot must be homed before you mount the gripper 9 Before you begin the homing procedure make sure the robot has ample space in which to move freely and extend its arm 1 Turn on the controller Turn on the computer 2 From the ATS diskette or directory activate the ATS software Type ats lt Enter gt If the controller is connected to computer port COM2 type ats c2 3 When the ATS screen and gt prompt appear you may proceed 4 Give the ACL command to home the robot Type home lt Enter gt The monitor will display WAIT HOMING During the Home procedure the robot joints move and search for their home positions in the following
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