Titan 2 Manipulator System Technical Manual

Transcription

Schilling Robotics
TITAN 2 Manipulator System
With Unilateral Control
Document No. 011-9190
Copyright © 2012 by Schilling Robo
tics, LLC. All rights reserved.
Schilling Robotics, the FMC Technologies logo, and their frameworks are trademarks and service trademark
applications of FMC Technologies. No part of this document may be reproduced or used in any form without
the express written permission of FMC Technologies. Descriptions and specifications are subject to change
without notice.
FMC Technologies Schilling Robotics
260 Cousteau Place, Suite 200, Davis, CA 95618 • Ph: (530) 753-6718 • Fax: (530) 753-8092
E-mail: [email protected] • [email protected] • [email protected]
Web Site: http://www.schilling.com
TECHNICAL MANUAL REVISION LOG
Product: Titan II Unilateral Control System
Technical Manual: 011–9190
Description
Date
Rev.
Manual Release
11/13/06
A
Replaced Teflon® with polytetrafluoroethylene
(PTFE)
11/04/13
B
Table of Contents
Chapter 1
GENERAL INFORMATION
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 System Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Chapter 2
FUNCTIONAL DESCRIPTION
2.1 System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Force and Position Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.1 Slave Arm Position Sensing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.2 Master Arm Position Sensing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.3 Force/Torque Sensing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3 Manipulator System Control Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Master Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.4.1 Master Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.4.2 Faceplate Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4.3 Master Controller Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5 Slave Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.5.1 Junction Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.6 Slave Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Chapter 3
INSTALLATION
3.1 Unpacking the Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Installation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2.1 Slave Controller Mounting—Terrestrial Model . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2.2 Slave Controller Mounting—Submersible Model . . . . . . . . . . . . . . . . . . . . . 3-2
3.2.3 Master Controller Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3 Connecting System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.4 Connecting to Electrical Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.5 Connecting to Hydraulic Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.6 Installation Checkout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
011-0060, Version 6
iii
3.6.1 Pre-start Checkout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.6.2 Initial Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.6.3 Setting Preliminary Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Chapter 4
OPERATION
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Controls and Display Menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2.1 Master Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.2 Screen and Key Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Software Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.4 Main System Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.5 Normal Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.5.1 Pre-Start Checkouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.5.2 Startup Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.6 Normal Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.7 Freezing the Slave Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.7.1 Freezing the Entire Slave Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.7.2 Freezing Individual Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.7.3 Changing Slave Arm and Master Arm Position Correspondence . . . . . . . . 4-10
4.8 Controlling Wrist Rotation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.9 Jaw Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.9.1 Controlling Jaw Opening and Closing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.9.2 Controlling Jaw Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.10 Controlling Slave Arm Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.11 Scaling Slave Arm Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.12 Setup Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.13 Security Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.13.1 Setting Security Levels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.13.2 Setting Passwords. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.14 Setting Slave Arm Movement Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4.15 Setting the Stow Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4.16 Setting Display Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.17 Setting Servo Valve Voltage Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
iv
011-0060, Version 6
4.18 Setting Memory Edit Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.19 System Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.19.1 Startup with System Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.19.2 Startup with System Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.19.3 Setting Error Checks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.19.4 Displaying Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.19.5 Diagnosing Master/Slave Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.19.6 Fatal Telemetry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
4.20 Enabling/Disabling Slave Arm Hydraulics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
4.21 Robotic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.22 System Shutdown. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
Chapter 5
TROUBLESHOOTING
5.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Fault Isolation Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.3 Fault Isolation Aids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.3.1 Isolating Joint Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.3.2 Diagnosing Master Arm Joint Failures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.3.3 Diagnosing Master Controller Key and Freeze Button Failures . . . . . . . . . . 5-3
5.3.4 Diagnosing Slave Arm Joint Failures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.4 Troubleshooting Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.4.1 Screen Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.4.2 Master Arm Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.4.3 Slave Arm Symptoms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.4.4 Slave Arm Joint Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.4.5 Jaw Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.4.6 System Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.4.7 Fatal Telemetry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
Chapter 6
MAINTENANCE
6.1 General Maintenance Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Master Controller Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2.1 Master Controller PC Board Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2.1.1 Removing Master Controller PC Boards . . . . . . . . . . . . . . . . . . . . . . . 6-2
011-0060, Version 6
v
6.2.1.2 Installing Master Controller PC Boards . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2.2 Master Controller Faceplate Component Replacement . . . . . . . . . . . . . . . . . 6-3
6.2.2.1 Disassembling the Faceplate Assembly . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2.2.2 Assembling the Faceplate Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2.3 Master Controller PROM Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2.4 Master Arm Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.2.4.1 Removing the Master Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.2.4.2 Installing the Master Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.2.5 Master Controller Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3 Terrestrial Slave Controller Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.3.1 Terrestrial Slave Controller PC Board Replacement . . . . . . . . . . . . . . . . . . . 6-7
6.3.1.1 Removing the Terrestrial Slave Controller PC Boards . . . . . . . . . . . . 6-7
6.3.1.2 Installing the Terrestrial Slave Controller PC Boards . . . . . . . . . . . . . 6-7
6.3.2 Terrestrial Slave Controller Power Supply Replacement . . . . . . . . . . . . . . . 6-7
6.3.2.1 Removing the Terrestrial Slave Controller Power Supply. . . . . . . . . . 6-7
6.3.2.2 Installing the Terrestrial Slave Controller Power Supply . . . . . . . . . . 6-8
6.3.3 Replacing the Terrestrial Slave Controller PROM . . . . . . . . . . . . . . . . . . . . 6-8
6.3.3.1 Removing the Terrestrial Slave Controller PROM . . . . . . . . . . . . . . . 6-8
6.3.3.2 Installing the Terrestrial Slave Controller PROM . . . . . . . . . . . . . . . . 6-8
6.4 Submersible Slave Controller Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.4.1 Submersible Slave Controller PC Board Replacement . . . . . . . . . . . . . . . . . 6-9
6.4.1.1 Removing the Submersible Slave Controller PC Boards. . . . . . . . . . . 6-9
6.4.1.2 Installing the Submersible Slave Controller PC Boards . . . . . . . . . . 6-10
6.4.2 Replacing the Submersible Slave Controller Power Supply . . . . . . . . . . . . 6-10
6.4.2.1 Removing the Submersible Slave Controller Power Supply . . . . . . . 6-10
6.4.2.2 Installing the Submersible Slave Controller Power Supply. . . . . . . . 6-10
6.4.3 Replacing the Submersible Slave Controller PROM. . . . . . . . . . . . . . . . . . 6-11
6.4.3.1 Removing the Submersible Slave Controller PROM. . . . . . . . . . . . . 6-11
6.4.3.2 Installing the Submersible Slave Controller PROM . . . . . . . . . . . . . 6-11
6.4.4 Performing the Submersible Slave Controller Vacuum Test . . . . . . . . . . . 6-12
6.5 Part Lists and Illustrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
vi
011-0060, Version 6
LIST OF FIGURES
1-1
Titan II System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
3-1
Terrestrial Slave Controller Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3-2
Submersible Slave Controller Mounting. . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-3
Terrestrial Slave Controller Connectors . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-4
Submersible Slave Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-5
Junction Box Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
4-1
Master Controller Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4-2
Master Arm Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-3
Menu Structure Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-4
MAIN Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-5
Normal Startup Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4-6
Startup with Warnings Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4-7
Startup with System Errors Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4-8
STOW OUT Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4-9
OPERATE Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4-10
FREEZE Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-11
OPTIONS Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4-12
SETUP Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4-13
SECURITY Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4-14
SET LEVEL Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4-15
SET PASSWORD Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4-16
Range of Motion Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4-17
SET LIMITS Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4-18
SET STOW Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4-19
DISPLAY Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4-20
SET SERVO VALVE OFFSET Menu . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4-21
MEMORY EDIT Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4-22
SET ERROR CHECKS Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4-23
DIAGNOSTICS Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
011-0060, Version 6
vii
viii
4-24
SHOW ERRORS Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4-25
Master Values Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
4-26
Slave Values Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
4-27
DRIVERS Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
4-28
SHUTDOWN Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
5-1
Function Key Map, Master Controller Screen . . . . . . . . . . . . . . . . . . . 5-3
6-1
Master Controller Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6-2
Master Controller Faceplate Disassembly. . . . . . . . . . . . . . . . . . . . . . . 6-17
6-3
Terrestrial Slave Controller Disassembly (Page 1 of 2) . . . . . . . . . . . . 6-19
6-3
Terrestrial Slave Controller Disassembly (Page 2 of 2) . . . . . . . . . . . . 6-20
6-4
Submersible Slave Controller Disassembly (Page 1 of 2) . . . . . . . . . . 6-23
6-4
Submersible Slave Controller Disassembly (Page 2 of 2) . . . . . . . . . . 6-24
011-0060, Version 6
LIST OF TABLES
4-1
Slave Arm Joint Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4-2
Memory Segment Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4-3
System Error Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
5-1
Slave Arm Joint Hardware Limit Values . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5-2
Screen Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-3
Master Arm Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4
Slave Arm Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5-5
Slave Arm Joint Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5-6
Jaw Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5-7
System Error Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5-8
System Error Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5-9
Fatal Telemetry Error Causes and Remedies . . . . . . . . . . . . . . . . . . . 5-16
011-0060, Version 6
ix
SAFETY SUMMARY
BASIC ASSUMPTIONS
This manual assumes that service personnel know how to properly use the tools that are necessary to perform service operations on Schilling Development manipulator systems. This manual also assumes that
service personnel generally understand electrical, mechanical, and hydraulic systems, and basic service
and repair procedures.
SAFETY RISK
This manual does not contain detailed descriptions of standard workshop practices, safety principles, and
service operations. It does contain specific warnings and cautions about using specific service methods
that could cause injury to service personnel or damage to the manipulator or associated equipment. The
warnings and cautions in the text of the manual have the following format and significance:
WARNING
INDICATES THAT PERSONAL INJURY
MAY OCCUR IF INSTRUCTIONS ARE NOT
FOLLOWED.
CAUTION
INDICATES THAT DAMAGE TO THE MANIPULATOR SYSTEM OR TO OTHER
EQUIPMENT MAY OCCUR IF INSTRUCTIONS ARE NOT FOLLOWED.
The fact that no warnings or cautions are given for any specific service method does not mean that no
safety risk is involved.
x
011-0060, Version 6
Chapter 1
General Information
1.1 Introduction
This manual describes the Titan II control system and its interaction with the Titan II slave arm. For information about the Titan II slave arm specifications,
functions, installation, and maintenance, see the Titan II Slave Arm Supplement
at the end of this manual.
The manual contains the following chapters:
Chapter 1 - General information
Chapter 2 - Functional description of major assemblies
Chapter 3 - Installation
Chapter 4 - Operation
Chapter 5 - Troubleshooting
Chapter 6 - Maintenance and part lists
Chapter 7 - Auxiliary systems and custom features (optional)
1.2 System Description
The Titan II is a high-velocity, spatially correspondent manipulator system designed for remote manipulation tasks. The slave arm has six degrees of freedom
plus jaw open/close. When the operator moves the master arm, the slave arm duplicates the master arm movements, thus maintaining spatial correspondence between the master arm and slave arm.
The Titan II manipulator system is composed of the following parts (shown in
Figure 1-1):
•
The hydraulically powered slave arm, which uses a jaw tool to manipulate
objects.
•
The slave controller, which distributes power to slave arm electrical assemblies, and processes signals going to and from the master controller and
slave arm.
•
The master controller. This assembly contains:
-
The master arm, which the operator uses to interactively position the slave
arm.
-
An LCD screen flanked by function keys. The operator uses the keys to
select operating options, and the screen to view system information.
011-0060, Version 2
1-1
General Information
Figure 1-1 Titan II System Overview
1-2
011-0060, Version 2
General Information
-
Electronics assemblies that process signals going to and from the master arm
and slave controller.
•
A junction box that connects to the the user’s electrical power source. The
connection between the master controller and slave controller is also made
through the junction box.
•
Cables and hoses that connect system components.
The operator can move the slave arm interactively by moving the master arm; the
slave arm duplicates the master arm movements.
The operator can actuate some slave arm movements through software by selecting options on the master controller screen. The operator also uses master controller function keys to select operating modes.
The slave arm can perform seven movements/functions:
•
Yaw (horizontal rotation) at the azimuth
•
Pitch (vertical movement) at the shoulder
•
Pitch at the elbow
•
Pitch at the wrist
•
Yaw at the wrist
•
Wrist rotation
•
Jaw open/close
See the Titan II Slave Arm Supplement for a diagram of the slave arm range of
motion.
See the system specification sheet for specifications for your Titan II system.
011-0060, Version 2
1-3
General Information
1-4
011-0060, Version 2
Chapter 2
Functional Description
This chapter contains the following information:
•
Overview of the Titan II system.
•
Description of the manipulator system control loop and interactions between
major system units.
•
Functional descriptions of the master controller, slave controller, and junction box.
For descriptions of major slave arm assemblies and an overview of slave arm hydraulic and electrical systems, see the Titan II Slave Arm Supplement.
2.1 System Overview
The Titan II is a high-velocity, spatially correspondent remote manipulator system. The system is composed of the following parts (illustrated in Chapter 1):
•
The hydraulically powered slave arm, which uses a jaw tool to manipulate
objects.
•
The slave controller, which distributes power to the slave arm, and processes signals going to and from the master controller and slave arm.
•
The master controller. This assembly contains:
-
The master arm, which the operator uses to interactively position the slave
arm.
-
An LCD screen flanked by function keys. The operator uses the keys to
select operating options, and the screen to view system information.
-
Electronics assemblies that process signals going to and from the master arm
•
A junction box that connects to the user’s electrical power source. The connection between the master controller and slave controller is also made
through the junction box .
•
Cables and hoses that connect system components.
Sensors in the Titan II slave arm and master arm provide information on the position of all slave arm and master arm segments. The slave arm may be optionally
equipped with force transducers whose signals can be processed by a user-supplied host computer to provide data on forces and torques in the slave arm.
To move or otherwise affect the slave arm, the operator moves the master arm or
enters commands on the master controller keyboard. Operator inputs to the mas-
011-0060, Version 1
2-1
2.2 Force and Position Sensing
ter arm and the keyboard are processed by the master controller into signals that
are sent to the slave controller. The slave controller processes the signals into
commands that are transmitted to the slave arm. These signals either (1) activate
servo valves in the slave arm to actuate slave arm movement, or (2) drive a solenoid valve that enables and disables slave arm hydraulics.
2.2 Force and Position Sensing
In the Titan II manipulator system, telemetry data (consisting primarily of data
on the position of slave arm and master arm joints) must be passed rapidly between system components. Telemetry serial data links connect the master controller and slave controller. These links use the RS-422 transmission protocol,
with transmissions taking place at 19.2 Kbaud.
Telemetry information is gathered from sensors in the slave arm and master arm
as described in Section 2.2.1 and 2.2.2.
2.2.1 Slave Arm Position Sensing
Each slave arm joint (except the jaws) contains a resolver that senses joint position.
Each resolver is made up of an outer stationary ring (the stator) and an inner rotating ring (the rotor). As the joint moves, the angle of the rotor changes relative to
the stator. The resolver has two electrical outputs that change as a function of the
sine and cosine of the rotor angle.
Slave arm resolver outputs are communicated to the slave controller, where they
are converted into digital position data for the joint. All resolver outputs are used
in the system control loop.
Slave arm jaw position is sensed by an LVDT in the wrist/jaw assembly.
2.2.2 Master Arm Position Sensing
Each master arm joint contains a potentiometer assembly that senses joint position.
Each potentiometer assembly contains a variable resistor (the potentiometer element) and a sliding contact (the potentiometer wiper). As the joint rotates, the
wiper moves along the element. Since voltage of the wiper output signal is a
function of the wiper’s position along the element, this signal can be used to determine how far and in what direction the joint has moved.
Potentiometer outputs are communicated to the master controller, where they are
converted into digital position data for each joint. All potentiometer outputs are
used to input position commands to the system control loop.
The jaw bands do not contain any position-sensing mechanism.
2.2.3 Force/Torque Sensing
The slave arm may be optionally equipped with a force/torque sensor and two
jaw force pressure transducers.
2-2
011-0060, Version 1
2.3 Manipulator System Control Loop
The force/torque sensor is located in the wrist. It is composed of four rings, each
containing two strain gauge bridges. These strain gauges allow the system to
sense forces in the x, y, and z directions (referenced to the wrist), and to sense
torque about the x, y, and z axes. A preamplifier board in the center of the
force/torque sensor converts the microvolt-level outputs of the strain gauge
bridges to volt-level signals. These signals can be processed by a user-provided
computer into data on the force and torque being applied to individual slave arm
joints.
Two optional pressure transducers in the slave upper arm measure pressure in the
two jaw hydraulic hoses. Signals from these pressure transducers can be processed by a user-supplied computer into data on the force being applied to jaw surfaces.
Signals from the force/torque sensor and the jaw pressure transducers are carried
through the slave arm by the wiring harness. The signals exit from the slave arm
at the shoulder through the bilateral electronics cable. The user can then access
and process the force signals with user-supplied equipment.
Slave arm force/torque data is not used in the Titan II system control loop.
2.3 Manipulator System Control Loop
The Titan II control system operates by simultaneously receiving operator inputs
through the keyboard, gathering data from sensors in the slave arm and master
arm, processing system data, and outputting information required to make all system components function.
The manipulator system responds to operator input made either through the master arm or through software.
The operator makes inputs through the master arm by moving master arm joints,
pressing the master arm freeze button (to freeze the slave arm in its current position), and squeezing the master arm jaw bands (to open and close the jaws).
When the operator moves the master arm, potentiometers in the master arm send
signals to the master controller. The master controller processes these signals
into digital position data for master arm joints, which it then sends to the slave
controller. At the same time, the slave controller is gathering data from slave
arm resolvers, and processing this information into digital slave arm joint position data. The slave controller then compares master arm and slave arm position
data. If the master arm and slave arm positions are not the same, the slave controller sends current to appropriate servo valves in the slave forearm, resulting in
the release of hydraulic fluid to selected slave arm actuators. This drives the
slave arm into correspondence with the master arm.
The operator also affects the slave arm by issuing software commands (that is,
pressing master controller keys). For example, a preprogrammed slave arm
movement such as the stow sequence is performed when the control system commands the slave arm to move based on position information stored in the master
controller’s memory.
011-0060, Version 1
2-3
2.4 Master Controller
The master controller and slave controller are programmed to detect certain system error conditions. These error conditions may prevent the enabling of hydraulics upon system startup, or automatically disable slave arm hydraulics during
operation.
Information generated by the master controller and slave controller is used to update the user interface. For example, a master values screen displays the current
position of each master arm joint and the current state of master controller function keys. The slave values screen shows the commanded and actual positions of
each slave arm joint.
The master controller is composed of the master arm, the faceplate assembly, and
controller electronics. An electrical on/off switch on the faceplate assembly controls power to the master controller.
The master controller is connected to the user’s electrical power and the slave
controller through the junction box, as shown in Figure 1-1.
See Chapter 6 for exploded drawings of the master controller and the faceplate assembly.
2.4.1 Master Arm
The master arm is mounted on the master controller faceplate. The master arm is
a small kinematic replica of the slave arm, and has the same relative range of motion. The operator moves the master arm with the wrist and fingers.
Potentiometers in master arm joints are used as position transducers. Potentiometer signals are routed through the master arm base to master controller electronics
assemblies, where the signals are converted, processed, and used in the system
control loop.
The master arm has the following functional controls (shown in Figure 4-2):
•
Master arm joints. The operator moves these joints to actuate movement of
the corresponding slave arm joints.
•
Freeze button. Pressing the freeze button freezes the slave arm in its current
position.
•
Wrist collar. The operator rotates the wrist collar to rotate the slave arm
wrist.
•
Jaw bands. The operator presses the forward jaw band to close the slave
arm jaws, and the aft jaw band to open them.
See Chapter 4, Operations, for detailed information on using these master arm
controls.
See Section 2.3 for information on how master arm position information is used
in the system control loop.
2-4
011-0060, Version 1
2.4.2 Faceplate Assembly
The faceplate assembly contains the following components:
•
Master controller power switch
•
LCD display screen
•
Display electronics
•
Function keys
The faceplate assembly captures and processes the operator’s function key inputs, and also displays system information.
2.4.3 Master Controller Electronics
The master controller contains electronics assemblies that regulate and distribute
power to the master arm and faceplate. These electronic assemblies also transfer,
convert, and process signals going to and from the master arm, faceplate, and
slave controller.
The master controller contains the following electronic assemblies:
•
Motherboard.
-
Interconnects other master controller PC boards.
-
Contains an RS-232 transmit/receive integrated circuit that can be used in
optional communications between the master controller CPU and an external
computer.
•
Display controller. This board plugs into the motherboard, and serves as an
interface between the display screen and the master controller CPU.
•
Analog board. Converts potentiometer output analog signals to digital signals that can be processed by the master controller CPU.
•
Master 8088 CPU board.
•
-
Accepts digital master arm joint position data from the master controller
analog board.
-
Accepts function key input from the faceplate assembly.
-
In response to function key inputs and master arm inputs, writes information
to the display screen.
-
Sends and receives digital data to and from the master controller opto/iso
board.
Opto/iso board.
-
Translates incoming and outgoing signals between CPU levels and the
RS-422 format used for transmission between the master controller and slave
controller.
-
Protects the master controller CPU from power anomalies by optically
isolating master controller electronics from the transmission wires.
011-0060, Version 1
2-5
2.5 Slave Controller
2.5 Slave Controller
The slave controller contains electronics assemblies for processing information
going between the master controller and slave arm. The slave controller performs the following functions:
•
Closes the slave arm control loop by driving slave arm joints to correspond
with the commanded positions.
•
Processes data from slave arm sensors for transmission to the master controller screen for display.
•
Controls data transfer to and from the slave arm.
•
Regulates and distributes power to electrical components in the slave controller and slave arm.
Your slave controller is either a submersible model or a terrestrial model. Wiring
diagrams for both models are in pockets at the back of this manual.
The slave controller connects to the following system components (as shown in
Figure 1-1):
•
Connects to the user’s electrical power through the junction box. This connection powers electrical components in the slave controller and the slave
arm.
•
Connects to the master controller RS-422 telemetry cable through the junction box.
•
Connects to the slave arm through the unilateral electronics cable. Transmits signals to and from slave arm servo valves, the solenoid valve, the hydraulics supply pressure transducer, resolvers, and the jaw LVDT.
Slave controller functions are carried out by the following electronics assemblies:
•
Power supply board. Inputs AC voltage and converts it to several unregulated DC voltages. (When power regulation is required, it is performed on
individual PC boards.)
•
Slave 8088 CPU board.
•
2-6
-
Accepts digital joint position data from the slave controller analog board,
and accepts position command data from the master controller. After
comparing these two data sets, the CPU board generates digital signals which
control servo valve output.
-
Sends and receives digital data to and from the slave controller opto/iso
board.
-
Generates six outputs for the auxiliary driver board. (One is assigned to the
slave arm hydraulic isolation valve, and the remaining five can be assigned
by the operator.)
Slave controller opto/iso board.
011-0060, Version 1
-
Translates incoming and outgoing signals between CPU levels and the
RS-422 format used for transmission between the master controller and slave
controller.
-
Protects the slave controller CPU from power anomalies by optically isolating slave controller electronics from the transmission wires.
•
Auxiliary driver board. This board, which is attached to the slave controller
CPU, receives CPU control signals that operate the slave arm hydraulic isolation valve.
•
Resolver reference generator board.
•
-
Sends excitation signals to slave arm resolvers.
-
Sends the same signal to the analog board, where it is used as a reference
and compared to the signals output by slave arm resolvers.
2.6 Slave Arm
Resolver/analog board.
-
Converts resolver output signals to digital signals that can be processed by
the slave controller CPU.
-
Converts digital slave controller CPU signals into current that drives slave
arm servo valves.
-
For the azimuth, shoulder, and elbow joints, performs processing for an
on-board velocity feedback loop.
-
Generates a dither signal that allows servo valves to function smoothly
without “stiction.”
2.5.1 Junction Box
The junction box has the following functions:
•
Connects the manipulator system to the user’s electrical power source.
•
Connects the master controller to the slave controller.
•
Contains a power on/off switch that controls electrical power to all system
components.
•
Contains an RS-232 port that can optionally be used to connect the master
controller CPU to an external computer.
2.6 Slave Arm
For information on the Titan II slave arm, see the Titan II Slave Arm Supplement.
011-0060, Version 1
2-7
2.6 Slave Arm
2-8
011-0060, Version 1
Chapter 3
Installation
This chapter explains how to install and interconnect the Titan II master controller, junction box, and slave controller.
For information on installing and connecting the Titan II slave arm, see the Titan
II Slave Arm Supplement.
3.1 Unpacking the Equipment
CAUTION
When you handle the master controller, take care not to harm the master
arm. Always lift or carry the master controller by the base rather than by
the master arm. Always support the master arm when you carry the master controller. Do not apply excessive torque to master arm joints.
CAUTION
When you handle the slave controller, take care not to harm the external
electrical connectors.
The Titan II manipulator control system is shipped in a locker with protective
foam padding. To unpack the control system components, lift off the foam padding, carefully remove the control system components from the locker, and put
them in a safe place.
3.2 Installation Procedures
3.2.1 Slave Controller Mounting—Terrestrial Model
The terrestrial slave controller model has four screw holes in the base that allow
it to be attached to a mounting platform. Create a mounting platform that will accommodate the slave controller mounting surface shown in Figure 3-1.
011-0060, Version 4
3-1
3.2 Installation Procedures
Installation
Figure 3-1 Terrestrial Slave Controller Mounting
The data transmission cable from the slave controller to the slave arm must be
long enough to easily reach the slave upper arm, and must not snag on other
equipment as the slave arm moves.
The attaching hardware for the slave controller consists of four 1/4-inch stainless
steel socket-head cap screws. The screws are inserted from inside the slave controller through a .75-inch channel and into the mounting platform. The screws
must be long enough to go through the channel and engage adequately into the
mounting platform.
To attach the slave controller to its mounting platform, follow these steps:
1.
To gain access to the mounting screw holes, detach the housing lid by loosening the four captive screws in the corners of the lid.
2.
Carefully lift off the lid. The o-ring that sits under the lid may come off with it.
3.
Insert screws into the four screw holes at the bottom of the housing (see Figure
3-1). Be sure that the screws engage adequately into the mounting platform.
Torque to 5 ft-lb.
4.
Be sure that the o-ring is properly seated on the housing, and then replace the
housing lid.
5.
Torque the four lid screws to 25 inch-lb.
3.2.2 Slave Controller Mounting—Submersible Model
The submersible slave controller model can be mounted by inserting screws in
the mounting brackets on the lid and back of the slave controller housing.
There is no orientation requirement for the controller assembly. However, the
data transmission cables from the slave controller must be able to reach the slave
upper arm, and must not snag on other equipment as the slave arm moves.
3-2
011-0060, Version 4
Installation
3.3 Connecting System Components
If the system is mounted on a vehicle, attach the slave controller in a safe location within the vehicle’s protective framework.
You can mount the slave controller using four threaded holes drilled into the
front and back mounting brackets. Create a mounting surface that can accommodate the bolt-hole pattern shown in Figure 3-2. Working from below the mounting platform, screw four 7/16-inch stainless steel threaded fasteners through the
mounting platform and into the brackets. The fasteners must be long enough to
engage adequately into the brackets.
Figure 3-2 Submersible Slave Controller Mounting
3.2.3 Master Controller Installation
The master controller does not have mounting hardware, and can be placed on
any flat, dry surface.
For wiring information on all primary system interconnections, see the appropriate wiring diagrams (located in pockets at the back of this manual).
1.
To connect the slave controller and the slave arm , connect the unilateral electronics cable to the slave controller at the location shown in Figure 3-3 (for
a terrestrial slave controller) or Figure 3-4 (for a submersible slave controller).
011-0060, Version 4
3-3
Installation
Figure 3-4 Terrestrial Slave Controller Connectors
Figure 3-3 Submersible Slave Controller
3-4
011-0060, Version 4
Installation
2.
3.4 Connecting to Electrical Power
To connect the slave controller to the junction box, connect both ends of the
slave telemetry cable as shown in Figure 3-3 or Figure 3-4 and Figure 3-5.
Figure 3-5 Junction Box Connections
3.
To connect the master controller to the junction box, connect the master controller cable as shown in Figure 3-5.
3.4 Connecting to Electrical Power
The junction box connects the master controller and slave controller to the user’s
electrical power source. (Slave arm electrical assemblies then receive power
through the slave controller.) Before you connect the junction box to a power
source, see the system specification sheet for information on electrical input requirements.
WARNING
Activating electrical power when the manipulator system has loose
or reversed electrical connections can cause injury to personnel
and/or damage to equipment.
CAUTION
Be sure that the master controller power switch is off before you connect
the junction box to the user’s electrical power.
Plug the user’s power connector into the junction box as shown in Figure 3-5.
3.5 Connecting to Hydraulic Power
See the Titan II Slave Arm Supplement for information on connecting the slave
arm to the user’s hydraulic power unit.
011-0060, Version 4
3-5
3.6 Installation Checkout
Installation
3.6 Installation Checkout
This paragraph describes procedures for initially starting up and testing the Titan
II manipulator system.
3.6.1 Pre-start Checkout
Before you start up the manipulator system, be sure that the following checks
have been performed.
•
Slave arm hydraulic supply and return connections are not loose or reversed.
•
Hydraulic return is unobstructed and does not exceed 1000 psi.
•
The user’s electrical power source meets power requirements (see the system specification sheet).
•
All system interconnections are secure.
•
No people or objects are within the slave arm’s operational range.
•
Installation supports have been removed from the slave arm.
3.6.2 Initial Startup
WARNING
Use extreme caution when you initially start up the manipulator
system. If slave arm assemblies or hydraulic passages contain air,
the slave arm may behave erratically upon startup. Be sure that no
personnel or equipment are within the hardware-limited operating
range of the manipulator system before turning on electric or hydraulic power.
To start up the manipulator system, follow the steps in Chapter 4, Operations, for
starting up the system after maintenance has been performed.
3.6.3 Setting Preliminary Limits
Before you test slave arm functions, set preliminary slave arm operating limits
that will allow you to operate the slave arm safely in the test environment.
1.
2.
To set slave arm movement limits:
a.
Change the operator privilege level to 5 (see Chapter 4).
b.
Set movement limits (see Chapter 4) that will allow safe operation of the
slave arm in the test environment.
Set a stow sequence (see Chapter 4) that will allow the slave arm to be safely
stowed in the test environment.
Operate the system to test system functions.
3-6
011-0060, Version 4
Chapter 4
Operation
4.1 Introduction
For operational purposes, the TITAN system can be viewed as two components:
the master controller with the master arm, and the slave controller with the slave
arm.
The master controller contains a master arm, function keys, and display screen.
The operator controls all system functions from the master controller.
The operator controls electrical power to the master controller by an on/off
switch on the front panel, and performs system functions by pressing keys to select menu options displayed on the screen. The screen also displays system
status information.
The operator observes the slave arm directly or through a video system, and controls the slave arm by moving the master arm and observing the slave arm’s response. The slave arm mimics the movement of the master arm.
4.2 Controls and Display Menus
The operator controls the slave arm from the master controller. The master controller, shown in Figure 4-1, contains the following components:
•
Master arm
•
Display screen
•
Function keys
Figure 4-1 Master Controller Front Panel
011-0060, Version 5
4-1
4.2 Controls and Display Menus
•
Operation
Electrical power switch
4.2.1 Master Arm
The master arm (Figure 4-2) is a miniature replica of the slave arm, with the
same relative range of motion. Each slave arm joint or function has a kinematic
analog in the master arm.
Figure 4-2 Master Arm Controls
The small size of the master arm allows the operator to easily control all functions with the wrist and fingers. These functions include:
•
Slave arm joint movement. The operator moves a master arm joint to move
the corresponding slave arm joint.
•
Slave arm freeze. Pressing the button on the end of the master arm freezes
the slave arm in its current position.
•
Wrist rotate. The operator rotates the wrist by rotating the master arm wrist
collar.
•
Jaw grip. The operator activates the grip function by squeezing the textured
bands on the master arm wrist. Squeezing the forward band closes the jaws
at a predetermined rate, while squeezing the aft band opens the jaws.
4.2.2 Screen and Key Characteristics
An LCD screen in the center of the master controller provides the operator with
information on system status and on available operating options.
Function Keys. A column of four function keys flanks each side of the screen.
The left keys are, from the top down, keys 1, 2, 3, and 4. Keys on the right of
the display are, from the top down, keys 5, 6, 7, and 8. The operator uses these
4-2
011-0060, Version 5
Operation
4.3 Software Structure
keys to select menus or to activate/deactivate functions. The function of each
key is displayed on the screen beside the key.
Control Keys. The four keys in the diamond pattern on the right side of the display are called control keys. In this manual, the top key is called UP, the bottom
key is DN, the left key is LF, and the right key is RT. The UP key is used to disable slave arm hydraulics during operation, as described in Section 4.20. The
other keys have various uses in special applications.
4.3 Software Structure
The TITAN II control system uses multiple display menus to let the operator select system functions. The menu structure is shown in Figure 4-3.
Figure 4-3 Menu Structure Block Diagram
All menus have the following common features:
•
The slave arm state is shown in the upper right corner of each menu by
status flags:
-
REIN. Indicates that the slave arm is not frozen and can operate normally.
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4-3
4.4 Main System Functions
•
Operation
-
FRZ. Indicates that the slave arm is frozen and can be unfrozen using the
freeze button.
-
LOCK. Indicates that arm is frozen and cannot be unfrozen by the freeze
button.
Hydraulic power to the slave arm can be turned off from any menu at any
time by pressing the UP control key.
Other sections in this chapter describe how to perform pre- and post-operation
checkouts, equipment startup and shutdown, and basic system operation.
4.4 Main System Functions
The MAIN menu (Figure 4-4) lets the operator select other menus used to operate the system, set operating parameters, and perform various other functions.
Options on the MAIN menu are:
Figure 4-4 MAIN Menu
4-4
•
Robotics: This optional software is used to record and “play back” slave
arm movement sequences.
•
Options: Used to control slave arm speed and jaw speed, and to scale the degree of slave arm movement relative to master arm movement.
•
Operate: Used to freeze the slave arm, enable slave arm hydraulics, and select wrist and jaw operation modes.
•
Setup: Used to set slave arm movement limits, program the stow sequence,
change screen display characteristics, set security levels and new passwords,
enable/disable error checking functions, adjust servo valve voltages, and set
memory edit functions.
•
Diagnose: Used to view position information for each slave arm or master
arm joint, and to display currently detected system errors.
•
Shutdown: Used to stow the slave arm and turn off hydraulic power to the
system.
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Operation
4.5 Normal Startup
4.5 Normal Startup
4.5.1 Pre-Start Checkouts
WARNING
Activating hydraulic power with loose or reversed connections can
cause injury to personnel and/or damage to equipment. Do not activate hydraulic power until master/slave communications have been
established.
WARNING
Activating electrical power outside of tolerance voltage or with
loose or reversed connections can cause injury to personnel and/or
damage to equipment.
Before starting up the manipulator system, make the following checks:
1.
Check all fasteners and fittings to ensure that they are properly tightened and in
good condition.
2.
Check all hoses for proper routing and absence of kinks. Route and secure
hoses to reduce the risk of snagging.
3.
Check the slave arm for hydraulic fluid leaks, and remedy any leaks.
4.
Purge air from the hydraulic system.
5.
Check hydraulic supply and return connections for soundness and polarity.
6.
Check electrical supply for proper voltage.
7.
Check slave controller and master controller electrical connectors for soundness and correct polarity.
4.5.2 Startup Procedures
To start up the system, follow these steps:
1.
Perform the pre-start checks.
2.
Turn on electrical power to the system with the switch on the junction box.
3.
Turn on power to the master controller with the switch on the left side of the
controller front panel. One of the following screens will appear.
a.
The screen should briefly display the message “Establishing communications with slave unit,” and should then display one of the screens described in step 4.
b.
If the message “Establishing communications with slave unit” appears on
the screen but is followed by the message “Fatal telemetry error,” the
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4.5 Normal Startup
Operation
master controller failed to establish communication with the slave controller. See the troubleshooting chapter for more information.
c.
4.
If no readable text appears on the display, the master controller has failed
to start up correctly. Turn electrical power to the master controller off
and on again. If the screen remains blank, see the troubleshooting
chapter.
Once the master controller has established communication with the slave controller, one of the following screens will appear.
a.
The Normal Startup screen (Figure 4-5) appears if no errors are detected
upon startup. Continue with step 5.
Figure 4-5 Normal Startup Screen
b.
The Startup with System Warnings screen (Figure 4-6) appears if the
slave arm is not near its stow point or if master controller keys or the
freeze button are not operating properly. Skip to Section 4.19.1 for
startup procedures.
Figure 4-6 Startup with Warnings Screen
c.
4-6
The Startup with System Errors screen (Figure 4-7) appears if system errors are present upon startup. Skip to Section 4.19.2 for startup procedures.
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Operation
4.5 Normal Startup
Figure 4-7 Startup with System Errors Screen
5.
Turn on hydraulic power at the user’s hydraulic power unit. Watch the slave
arm carefully for motion as hydraulic power is turned on. If you detect any
slave arm motion, turn off hydraulic power immediately.
WARNING
Activating hydraulic power without having completed all steps in
the prestart checks and startup sequence can cause injury to personnel and damage to equipment. If the system return pressure exceeds 1000 psi, injury to personnel can result and damage to
equipment will occur.
6.
From the Normal Startup screen, enable slave arm hydraulics by pressing
8>HYDR:. (This action opens the hydraulic isolation valve in the slave upper arm.) The flag “ON” will appear next to the option. Watch the arm
carefully as you enable slave arm hydraulics. If the arm moves, turn off hydraulic power immediately by pressing the 8>HYDR: key again.
7.
Press the DOWN key to exit to the STOW OUT menu (Figure 4-8).
8.
Ensure that no objects that could harm or be harmed by the slave arm are inside
the stow out path.
9.
Stow out the slave arm by pressing 5>STOW OUT. As the slave arm moves
toward the STOW OUT point, the PNT indication displays each point
number in the stow sequence as the slave arm passes through it.
10. At any time, you can stop the stow out sequence by pressing 7>STOP. (The
slave arm will stop when it reaches the next point in the sequence.) You
can also reverse the stow out sequence by pressing 6>STOW IN.
11. Press 8>EXIT to go to the MAIN menu.
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4.6 Normal Operation
Operation
Figure 4-8 STOW OUT Menu
4.6 Normal Operation
Selecting item 3 from the MAIN menu calls up the OPERATE menu (Figure 49). The OPERATE menu contains the following items:
•
FREEZE - calls up the freeze submenu
•
DRIVERS - controls slave arm hydraulics through the pressure isolation
valve
•
WRIST MODE - lets the operator select modes of wrist operation
•
JAW MODE - lets the operator select modes of jaw operation
•
EXIT
Figure 4-9 OPERATE Menu
4.7 Freezing the Slave Arm
4.7.1 Freezing the Entire Slave Arm
The operator can freeze the entire slave arm by pressing the freeze button at the
end of the master arm. Also, changing from one menu to another automatically
freezes the slave arm.
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Operation
4.7 Freezing the Slave Arm
A flag in the upper right corner of each menu shows one of the following flags:
•
REIN - indicates normal unfrozen operation.
•
FRZ - indicates that the slave arm is frozen and can be unfrozen using the
freeze button.
•
LOCK - indicates that the arm is frozen and cannot be unfrozen with the
freeze button from the current menu.
4.7.2 Freezing Individual Joints
The operator can freeze individual slave arm joints by using the FREEZE menu.
From the OPERATE menu, select 1>FREEZE to call up the FREEZE menu (Figure 4-10). The FREEZE menu lets the operator freeze individual joints shown
on the menu (azimuth, shoulder, elbow, pitch, yaw, and wrist). Freezing individual joints is useful for tasks where only some joints are required to move. The
operator can provide a stable platform for the task by freezing the remaining
joints.
Figure 4-10 FREEZE Menu
On the FREEZE menu, current status of each joint is indicated by FRZ (frozen)
or REIN (reindexed, or unfrozen). The key next to each joint toggles that joint
between FRZ and REIN. The slave arm must be frozen before the operator can
use the FREEZE menu to freeze or unfreeze individual joints.
To unfreeze all joints, select 7>REIN ALL.
To exit from the menu, select 8>EXIT.
After the operator selects the FREEZE/REINDEX functions for each joint, and
unfreezes the slave arm, the operator can move only those joints in the REINDEX mode.
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4-9
4.8 Controlling Wrist Rotation
Operation
WARNING
If the slave arm is frozen and unfrozen while slave arm hydraulics
are disabled, the commanded slave arm position may change while
hydraulics are disabled. When hydraulics are re-enabled, the slave
arm may suddenly move to the new commanded position.
4.7.3 Changing Slave Arm and Master Arm Position Correspondence
Transparent reindexing allows the master arm to be repositioned without producing corresponding movements in the slave arm. This function is useful when a
manipulative task results in an awkward position for the master arm. The slave
arm can be frozen while the operator repositions the master arm for more comfortable operation. When it is unfrozen, the slave arm will not return to correspondence with the master arm. Instead, it will respond normally to master
inputs, but with the offsets introduced while the slave arm was frozen.
4.8 Controlling Wrist Rotation
The wrist has the following two modes of operation:
POSITION MODE. In position mode, the operator rotates the wrist collar in the
direction and to the degree of desired slave arm wrist rotation.
RATE MODE. Rate mode allows the slave arm wrist to rotate continuously. Rotating the master collar in either direction from a null position starts the manipulator wrist rotating in the corresponding direction. The rate of rotation is
proportional to the degree of rotation of the master collar from null position.
The operator can change the current wrist mode from the OPERATE menu by
pressing 5>WRIST MD. The slave arm must be unfrozen to change wrist mode.
When you switch between rate and position modes, a feature of the control system prevents sudden rotation of the slave arm wrist. When the operator switches
from position to rate mode, the wrist freezes in its current position. The operator
must move the master arm collar to the null position before the wrist will begin
to rotate under rate control. When switching from rate to position mode, the
wrist slowly returns to correspondence with the master arm collar. When it
reaches correspondence, the wrist is again slaved to the master arm wrist collar
position.
4.9 Jaw Operation
4.9.1 Controlling Jaw Opening and Closing
The jaws can operate in the following modes:
POSITION. In position mode, the jaws open and close incrementally as the operator squeezes the forward and aft jaw bands. Squeezing the forward jaw band
causes the jaw to close until the band is released. Squeezing the aft jaw band
causes the jaw to open until the band is released.
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Operation
4.10 Controlling Slave Arm Speed
TOGGLE. In toggle mode, the only possible jaw positions are completely open
or completely closed. Squeezing the forward jaw band toggles the jaw state between fully closed and fully opened.
LOCK. In lock mode, the jaw freezes in its current position until the operator selects another mode.
The operator changes the current jaw mode from the OPERATE menu by pressing 6>JAW MD. This key toggles between position, toggle, and lock modes.
The slave arm must be unfrozen to change jaw mode.
4.9.2 Controlling Jaw Speed
When the jaw is in position mode, the operator can control the speed of jaw
movement with the Jaw Speed function. To use this function, follow these steps:
1.
From the MAIN menu, select 2>OPTIONS.
2.
On the OPTIONS menu (Figure 4-11), a number next to 2>JAW SPEED
shows the current jaw speed. Press 2>JAW SPEED to increment this
number by 4. The higher the number, the greater the jaw speed.
Possible jaw speeds range from 04 to 32. Each time that you start up the manipulator system, the jaw speed value defaults to 16.
Figure 4-11 OPTIONS Menu
4.10
Controlling Slave Arm Speed
In general, the speed of master arm movement controls the speed of slave arm
movement. However, you can also select a fast mode or slow mode to regulate
slave arm speed.
Fast mode is the full-speed mode at which the slave arm normally operates.
Slow mode is intended for use when personnel are near the slave arm and could
inadvertently enter its operating envelope.
To use the DYNAMICS function to change slave arm speed, follow these steps:
1.
From the MAIN menu, select 2>OPTIONS.
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4.11 Scaling Slave Arm Movement
2.
Operation
From the OPTIONS menu (Figure 4-11), select 1>DYNAMICS. This key toggles the slave arm between fast and slow modes.
4.11
Scaling Slave Arm Movement
The Titan manipulator system lets you alter the scale of master arm movement to
slave arm movement to produce different degrees of slave arm control. Joints affected by scaling are the azimuth, shoulder, elbow, pitch, and yaw.
The default setting for this scale is 100%, which produces a one-to-one correspondence between master arm and slave arm movement. (For example, moving
the master arm elbow joint through 50 degrees of its range causes the slave arm
elbow joint to move through 50 degrees of its range.) Changing the scale to a
percentage less than 100% reduces slave arm movement to that percentage of
master arm movement, allowing finer slave arm control. The Titan system offers
position scaling in increments of 10% from 10% to 100%.
The operator can view the current scaling value in the OPTIONS menu (Figure 411), and can change that value using 3>SCALE SEL.
To change the position scaling value, follow these steps:
1.
Display the OPTIONS menu.
2.
A number next to the 3>SCALE SEL option shows the current position scaling
value. To change to another value, press 3>SCALE SEL; the number will
be incremented by 10%. (When the number reaches 100%, pressing
3>SCALE SEL again returns the value to 10%.)
3.
When the displayed percentage is correct, press 8>EXIT to return to the OPERATE menu.
Upon system startup, the Scale Sel number defaults to the most recent value.
Once you have set the desired scaling percentage, you can use an option on the
OPERATE menu to switch back and forth between that percentage and 100%.
To toggle between the two percentages, follow these steps:
1.
Display the OPERATE menu (Figure 4-9).
2.
A number next to the 3>SCALE TOG option shows either 100% or the current
position scaling value (previously set in the OPTIONS menu). To toggle to
the other percentage, press 3>SCALE TOG. (For example, if the operator
previously set the scaling percentage to 60%, pressing the 3>SCALE TOG
key will toggle scaling between 60% and 100%.)
The Scale Tog value defaults to 100% upon system startup.
4.12
Setup Functions
The SETUP menu (Figure 4-12) is used to set slave arm movement limits, program the stow sequence, change screen display characteristics, set security levels
and new passwords, enable/disable error checking functions, adjust servo valve
voltages, and set memory edit functions.
4-12
011-0060, Version 5
Operation
4.13 Security Functions
To access the SETUP menu, select 5>SETUP from the MAIN menu.
Figure 4-12 SETUP Menu
4.13
Security Functions
4.13.1 Setting Security Levels
The SECURITY menu lets the operator set six definable privilege levels, each of
which limits the operator to specific functions.
Privilege levels 0-4 allow all basic manipulator operating functions, while privilege level 5 is required for access to SET STOW, SET LIMITS, SET PASSWORD, MEMORY EDIT, and SET ERR CHECKS functions. A privilege level
may be selected only by a user with access to the password for that privilege
level.
To change the privilege level for the current operating session, follow these steps:
1.
From the MAIN menu, select 5>SETUP.
2.
From the SETUP menu, select the 6>SECURITY (Figure 4-13) to call up the
SECURITY menu.
3.
Select 1>SET LEVEL. The SET LEVEL menu (Figure 4-14) will appear.
4.
Increment or decrement the privilege level by pressing function 5>INC or
6>DEC as necessary until the correct privilege level is displayed.
5.
When the correct privilege level is displayed, press 7>SELECT to select it.
The cursor will drop to the line labeled Password:****.
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4.13 Security Functions
Operation
Figure 4-13 SECURITY Menu
Figure 4-14 SET LEVEL Menu
6.
Enter the correct password for the selected privilege level. Select each digit of
the password by incrementing or decrementing the number with 5>INC or
6>DEC, and then selecting it with 7>SELECT. Selecting a number moves
the cursor to the next number. When the limit and password have been entered correctly, the message DONE appears at the bottom of the screen.
7.
Exit from the SET LEVEL menu by selecting 8>EXIT.
4.13.2 Setting Passwords
The SET PASSWORD function allows the operator with a privilege level of 5 to
set passwords for operators with a privilege level of 0-4. The password for privilege level 5 cannot be changed.
The SET PASSWORD function is only accessible to operators in privilege level
5. If this function is selected in privilege level 4 or below, the message “INSUFFICIENT PRIVILEGE LEVEL” appears below the menu.
To set a password, follow these steps:
4-14
1.
2.
From the SETUP menu, select 6>SECURITY.
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Operation
3.
4.14 Setting Slave Arm Movement Limits
In the SECURITY menu, select 2>SET PASSWORD. The SET PASSWORD
menu (Figure 4-15) will appear.
Figure 4-15 SET PASSWORD Menu
4.
Increment or decrement the privilege level by pressing 5>INC or 6>DEC as
necessary until the privilege level you wish to change is displayed.
5.
When the correct privilege level is displayed, press 7>SELECT to select it.
The cursor will drop to the display line labeled Password:****.
6.
Enter the new password for the privilege level selected. Select each digit of the
new password by incrementing or decrementing the number with 5>INC or
6>DEC, and then selecting the number with 7>SELECT. Selecting a
number moves the cursor to the next number.
7.
Exit from the SET PASSWORD menu by selecting 8>EXIT.
4.14
Setting Slave Arm Movement Limits
This function lets the user limit the range of motion of each slave arm joint by
specifying a left and right or up and down position limit. The limit positions are
illustrated in Figure 4-16.
Figure 4-16 Range of Motion Limits
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4-15
4.14 Setting Slave Arm Movement Limits
Operation
To set movement limits for individual slave arm joints, follow these steps:
1.
2.
From the SETUP menu, select the 1>SET LIMITS. The SET LIMITS menu
(Figure 4-17) will appear. Previous limits will be rendered inactive while
this menu is on the screen.
Figure 4-17 SET LIMITS Menu
3.
Unfreeze the arm by pressing the freeze button.
4.
The menu will display AZIMUTH LEFT as the first function to be limited.
The counter (which now displays 01) indicates which function is being set.
5.
Move the slave arm to the leftmost desired position limit for the azimuth
6.
Press 7>TEACH to set that position as the limit. The counter will automatically increment to the next position number. The sequence of limits and
their corresponding limit numbers are shown in Table 4-1.
Table 4-1 Slave Arm Joint Limits
Joint
Azimuth
Shoulder
Elbow
Pitch
Yaw
4-16
Direction
Limit
No.
Left
01
Right
02
Down
03
Up
04
Down
05
Up
06
Down
07
Up
08
Left
09
Right
10
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Operation
4.15 Setting the Stow Sequence
7.
Repeat steps 5 and 6 to set each limit. You may return to and reteach a previous limit by pressing 5>LAST until the desired limit appears on the
screen. You may skip limits by pressing 6>NEXT instead of 7>TEACH.
8.
When all limits have been set, move the arm clear of the limits just set and
press 8>EXIT. If any joints remain outside the limits just set, the arm will
move to a position within the limits when the arm is unfrozen.
If you exit from the menu any other way than using 8>EXIT key, the limits will
not be saved. If you use 8> EXIT, the limits will be stored for future operating
sessions.
4.15
Setting the Stow Sequence
The Stow Sequence function allows the operator to alter the stow sequence. The
stow sequence consists of between 2 and 16 points or slave arm positions.
To set a new stow sequence, follow these steps:
1.
2.
From the SETUP menu, select 2>SET STOW to display the SET STOW menu
(Figure 4-18).
Figure 4-18 SET STOW Menu
3.
Determine the number of points that the slave arm will travel through as it is
stowed and unstowed. Then press 4>POINT until that number shows on the
screen. You can select any number between 2 and 16.
4.
Unfreeze the arm by pressing the freeze button.
5.
The point counter will display 01, corresponding to the first point in the stow
path. Point 01 is defined as the final STOW IN position.
6.
Move the arm to the desired position.
7.
Press 7>TEACH to set that position as the first point in the stow path. The
counter will automatically increment to the next point.
8.
Repeat steps 6 and 7 to set each successive point in the stow path. You may return to and reteach previous points by pressing function key 5>LAST. You
may skip previously taught points by pressing 6>NEXT instead of
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4.16 Setting Display Attributes
Operation
7>TEACH. The last point taught will be the STOW OUT point. When this
point is taught, the counter will not increment, so it is important to teach the
last point before exiting from the SET STOW menu.
9.
Exit from the SET STOW menu by pressing 8>EXIT.
The system automatically saves the stow sequence for future operating sessions.
You select the STOW OUT option during startup, the slave arm will proceed
from the IN position (Point 01) through the remaining points of the path to the
OUT position. STOW IN proceeds in the reverse direction from the last point
set back to the STOW IN position.
4.16
Setting Display Attributes
The Display function lets the operator change the screen viewing angle and/or reverse the dark and light portions of the screen.
To use the display functions, follow these steps:
1.
From the MAIN menu, select the 5>SETUP.
2.
From the SETUP menu, select the 3>DISPLAY to call up the DISPLAY menu
(Figure 4-19).
Figure 4-19 DISPLAY Menu
3.
To rotate the viewing angle up, press 1>VIEW ANGLE-UP. Press the key
multiple times until the desired angle is obtained.
4.
To rotate the viewing angle down, press 2>VIEW ANGLE-DOWN. Press the
key multiple times until the desired angle is obtained.
5.
To reverse the light and dark portions of the screen, press 3>INVERT BACKGROUND.
6.
Exit by pressing 8>EXIT.
4.17
Setting Servo Valve Voltage Offsets
Slave arm actuators move in response to changes in the voltage sent by the slave
controller to the servo valves that provide hydraulic fluid to the actuators. Since
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Operation
4.17 Setting Servo Valve Voltage Offsets
individual servo valves vary in their responses to a given voltage, and since environmental operating conditions can affect servo valve response, you may need to
provide voltage offsets so that voltages sent to the servo valves elicit the proper
slave arm responses.
Once voltage offsets have been set for the servo valves, you normally do not
need to change the offsets unless you replace a servo valve.
To set servo valve offsets, follow these steps:
1.
Start up the manipulator system.
2.
Be sure that hydraulic power is turned on at the hydraulic power unit.
3.
Go to the OPERATE menu, and press 6>JAW MD until the jaw mode indicator reads “POS” (for POSITION mode). Press 5>WRS MD until the wrist
mode indicator also reads “POS.”
4.
Move each slave arm joint to a position near the center of its movement range.
5.
Go to the SETUP menu, and press 7>SET SV OFFSET. The SET SV OFFSET menu (Figure 4-20) then appears.
Figure 4-20 SET SERVO VALVE OFFSET Menu
WARNING
Pressing 5>SET or 6>CLEAR on the SET SV OFFSET menu will
cause slave arm joints to move from a slight to a moderate amount.
Be sure that the slave arm operating envelope is clear before you
press 5>SET or 6>CLEAR. Be prepared to immediately disable
slave arm hydraulics if the slave arm moves in a way that endangers equipment or personnel.
6.
Ensure that the slave arm operating envelope is clear of objects that could harm
or be harmed by slave arm movement.
7.
From the SET SV OFFSET menu, press 6>CLEAR to zero all servo valve offsets. The numbers next to each joint should change to zero. Be prepared
for the slave arm to move slightly.
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4.18 Setting Memory Edit Functions
Operation
8.
Press 5>SET, and the system will calculate the appropriate servo valve offsets
for the slave arm. Be prepared for the slave arm to move slightly. After the
slave arm has finished moving, wait five seconds.
9.
Press 5>SET again and wait five seconds. The arm should move only slightly
(one or two degrees per joint). If the slave arm moves more than this, contact the manufacturer.
10. Press 8>EXIT to exit from the SET SV OFFSET menu.
The system automatically saves the new servo valve offset values for future operating sessions.
4.18
Setting Memory Edit Functions
The Memory Edit function allows the operator to directly access master controller memory locations. The operator can view any memory location and set values in RAM or EEPROM that test or change the manipulator system operation.
WARNING
Do not use the Memory Edit function without specific instructions
from the manufacturer. Do not use this menu while slave arm hydraulics are enabled, since system operation could be affected.
To display the MEMORY EDIT menu, follow these steps:
1.
2.
From the SETUP menu, select 5>MEMORY to display the MEMORY EDIT
menu (Figure 4-21).
The text [0:0000-FFFF] displays in hexadecimal notation the address and word
of data at that address.
The numerals 0:0000 represent the segment and offset of the address. The segment (the character before the colon) indicates which block of memory is being
viewed. The segment values are given in Table 4-2 for the various memory
types. (For example, to access EEPROM memory, set the segment value to 5.)
The RAM, EEPROM, and EPROM memory blocks can all be viewed, but the
values in EPROM cannot be changed. The 8255, 8256_main, and 8256_aux
blocks represent interface integrated circuits mapped as memory, and should generally not be viewed.
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Operation
4.18 Setting Memory Edit Functions
Figure 4-21 MEMORY EDIT Menu
Table 4-2 Memory Segment Values
Memory Type
Segment
Type
Offset Range
RAM
0
0000-1FFF (8K)
8255 (Analog)
1
—
—
2
—
—
3
—
8256_aux
4
—
EEPROM
5
0000-07FF (2K)
8256_main
6
—
EPROM (ROM)
7
0000-3FFF/7FFF (16/32K)
The four characters following the segment digit and the colon represent a memory address for the current segment or memory type. This address is valid only if
it is within the actual range of the given memory type. These ranges are listed in
Table 4-2.
The last four characters represent the value currently stored at the displayed
memory location. The value shown is a two-byte (16-bit) number. If the operator desires to view a one-byte (8-bit) number, only the rightmost half of the word
will represent the desired byte value.
While in the MEMORY EDIT menu, the operator can edit the address shown on
the screen. The cursor (^) indicates which numeral is currently selected for editing. Move the cursor to the right or left using the RT or LF key until the cursor
appears below the desired number. Increment or decrement the numeral at the
cursor location by using the UP or DN keys respectively. As the address is altered, the actual memory value for the new location is displayed. Remember that
the address offset for each memory block must remain within its legal range to
be valid.
The memory word at the displayed address can be edited and saved using the
Edit function. This function is normally OFF, but can be enabled by pressing
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4-21
4.19 System Errors
Operation
1>EDIT. When the Edit function is enabled, the text beside 1>EDIT will change
to display the current memory word with the cursor located beneath the first byte.
The memory word is edited in the same way as the address value. The word can
be edited in either hexadecimal or decimal notation. To edit in hexadecimal notation, enter changes to the four-digit memory word immediately to the right of the
1>EDIT notation. To edit in decimal notation, use the RT key to bypass the fourdigit hexadecimal entry location, and edit the five-digit decimal entry location in
parentheses ( - 0 0 0 0 0 ). The cursor indicates which numeral is currently selected for editing. Move the cursor to the right or left using the RT or LF key until the cursor appears below the desired number. Increment or decrement the
numeral at the cursor location by using the UP or DN keys respectively.
Save the edited word by pressing 1>EDIT again. The changed word will appear
next to the displayed address, and the cursor will move back to the first numeral
of the memory address.
The displayed memory word is normally read and displayed only when the operator enters the MEMORY EDIT menu, when the address is changed, or when a
memory word is changed. This word can be continuously displayed (and updated as it changes) if the 2>VIEW function is set to ON. (Press 2>VIEW to toggle the View function between ON and OFF.) If the View function is ON, the
memory address and data word will appear in all menus at the same screen location. The operator can remove the address and word display by entering the
MEMORY EDIT menu and setting 2>VIEW to OFF.
4.19
System Errors
4.19.1 Startup with System Warnings
If certain conditions are present upon system startup, the Startup with Warnings
screen (Figure 4-6) appears instead of the Normal Startup screen. The screen
lists the condition or conditions that caused the Warnings screen to appear.
These conditions are:
•
The arm is not in the stowed position.
•
Consolette keys and/or the master arm freeze button are either currently being depressed or need maintenance.
If the slave arm is not in the stowed positions, follow these steps:
1.
Press 8>EXIT to go to the Normal Startup screen.
2.
Ensure that no objects that could harm or be harmed by the slave arm are
within reach of the arm.
3.
Follow the instructions on the startup screen for activating hydraulics.
4.
Press the DOWN key to exit. The system will automatically bypass the STOW
OUT menu and proceed to the MAIN menu.
If the “keys” error appears, follow the steps below to continue with startup:
1.
4-22
If a key or the freeze button is actually being pressed:
011-0060, Version 5
Operation
2.
a.
Remove the pressure from the key. (For example, if the master arm is resting against a surface so that the freeze button is depressed, move the
master arm.)
b.
Press 8>EXIT to go to the Normal Startup screen.
c.
Proceed with instructions for normal startup in Section 4.5.2, beginning
with step 5.
4.19 System Errors
If a key or the freeze button is not being pressed:
a.
Press 8>EXIT to go to the Normal Startup screen, but do not follow the instructions on that screen to enable slave arm hydraulics.
b.
Press the Down key to exit to the MAIN menu.
c.
Follow the instructions in Section 4.19.5 for diagnosing a master controller problem.
d.
Complete the required corrective maintenance to remedy the problem.
You can now operate the slave arm normally.
4.19.2 Startup with System Errors
If certain conditions are present upon system startup, the Startup with System Errors screen (Figure 4-7) appears instead of the Normal Startup screen. When the
error screen appears, follow these steps:
1.
Press 8>EXIT to go to the MAIN menu.
2.
From the MAIN menu, select 6>DIAGNOSE.
3.
See Section 4.19.5 and Chapter 5, Troubleshooting, for information on using
the Diagnose function to diagnose system errors.
4.19.3 Setting Error Checks
The Set Error Checks function lets the operator enable or disable the error checking functions listed in Table 4-3.
For information on how to use these error checks to diagnose problems, see
Chapter 5, Troubleshooting.
WARNING
When an error check is disabled, system software will ignore that
error condition. The normal safety features that result from error
checking (such as automatic slave arm hydraulic disabling) will no
longer be in effect. For this reason, disable error checks with extreme caution.
011-0060, Version 5
4-23
4.19 System Errors
Operation
Table 4-3 System Error Checks
Error
No.
Error Name
01
Slave range
02
Slave continuity
03
Slave control
04
Slave telemetry
05
Slave CPU reset
06
Master range
07
Master telemetry
Description
Feedback information from the slave arm indicates that the
slave arm is outside of its factory set movement limits.
This means that the system is reporting that the arm is in a
position that it cannot actually attain.
Feedback information from the slave arm indicates that the
slave arm position is changing at a faster rate than is
actually possible.
Feedback information from the slave arm indicates that a
control problem may exist for one or more joints.
Indicates that communications from the master controller to
the slave controller have been halted, interrupted, or fatally
corrupted.
Indicates that the slave controller has reset. This occurs if
the slave controller loses power or the slave controller CPU
board fails.
Feedback information from the master arm indicates that
the master arm is in a position that it cannot actually attain.
Indicates that communications from the slave controller to
the master controller have been halted, interrupted, or
fatally corrupted.
To enable/disable error checks, follow these steps:
1.
2.
From the SETUP menu, select the 4>SET ERR CHECKS to display the SET
ERR CHECKS menu (Figure 4-22). The screen will display a count of 01
and the error name SLAVE RANGE. The screen displays the error check
setting (enabled or disabled) and the state of the error or warning flag
(ON/OFF).
Figure 4-22 SET ERROR CHECKS Menu
4-24
011-0060, Version 5
Operation
4.19 System Errors
WARNING
When an error check is disabled, system software will ignore that
error condition. The normal safety features that result from error
checking (such as automatic slave arm hydraulic disabling) will no
longer be in effect. For this reason, disable error checks with extreme caution.
3.
Display the specific error check you wish to enable or disable by pressing the
3>NEXT and 2>LAST key until the correct error check number is displayed. The state of each error flag may be viewed at this time.
4.
Press 5>CHANGE to toggle the error check setting between ENABLE and
DISABLE.
5.
Repeat steps 3 and 4 for each error check that requires changing.
6.
To disable all error checks, press 6>DISABLE ALL.
7.
To enable all error checks, press 7>ENABLE ALL.
8.
If you wish to save the current settings as the defaults, press 4>SAVE AS DEFAULT. Otherwise, skip this step.
9.
To exit from the menu, press 8>EXIT.
4.19.4 Displaying Errors
The SHOW ERRORS menu allows the operator to view a list of errors detected
by the system. The operator also uses this menu to reset error conditions and enable slave arm hydraulics that were disabled by the error detection.
See Chapter 5, Troubleshooting, for a description of each error type and a list of
possible causes and remedies.
When errors occur upon system startup, the operator is alerted to the error by the
Startup with Errors screen. When errors occur during an operating session, the
operator is alerted by the ERR flag at the top of the screen.
To view and then reset system errors, follow these steps:
1.
From the MAIN menu, select 6>DIAGNOSE. The DIAGNOSTICS menu
(Figure 4-23) will appear.
2.
From the DIAGNOSTICS menu, select 3>SHOW ERRORS to display the
SHOW ERRORS menu (Figure 4-24). Any detected errors or warnings will
appear on the left side of the display. A list of possible errors appears in Table 4-3.
3.
Correct the error condition by following instructions in Chapter 5, Troubleshooting. Then reset the error flags by pressing 5>CLR ERRS. The error list is updated whenever you press 5>CLR ERRS. Any error conditions
that have not been corrected will continue to be displayed.
011-0060, Version 5
4-25
4.19 System Errors
Operation
ror condition by following instructions in Chapter 5, Troubleshooting. Then
reset the error flags by pressing 5>CLR ERRS. The error list is updated
whenever you press 5>CLR ERRS. Any error conditions that have not been
corrected will continue to be displayed.
Figure 4-23 DIAGNOSTICS Menu
Figure 4-24 SHOW ERRORS Menu
4.
If an error has caused slave arm hydraulics to shut down, the error condition is
shown in the WARNINGS listing. Before hydraulic power can be enabled,
the condition that caused the shutdown must be corrected and cleared.
5.
After correcting and clearing errors, re-enable hydraulics by pressing 6>HYDR
ON.
4.19.5 Diagnosing Master/Slave Problems
The DIAGNOSTICS menu (Figure 4-23) is used to display joint position values
for the master arm and slave arm, and to display system errors.
Menu item 1 displays master arm position values and master controller key values. Menu item 2 displays slave arm commanded and actual position values. To
view data on the master arm or slave arm, follow these steps:
1.
4-26
From the MAIN menu, select 6>DIAGNOSTICS.
011-0060, Version 5
Operation
2.
4.19 System Errors
From the DIAGNOSTICS menu, select the master values screen or slave values screen by pressing 1>MASTER or 2>SLAVE respectively.
The master values screen (Figure 4-25) displays position values for each joint
and for the jaw bands. This screen also contains information on the status of
function key switches and the freeze button switch. See Chapter 5, Troubleshooting, for information on how to use this information to diagnose master arm problems.
Figure 4-25 Master Values Screen
The slave values screen (Figure 4-26) displays slave arm position values. The
command values are the commanded position values that are transmitted to the
slave from the master. The position values are the actual joint position values
sensed at each slave arm joint.
Figure 4-26 Slave Values Screen
A value of 0 indicates that the joint is at the approximate midpoint of its range of
motion. Positive values indicate movement either up or to the right; negative
numbers indicate movement down or to the left.
4.19.6 Fatal Telemetry Errors
A fatal telemetry error occurs when communication between the master controller and slave controller is severed or is interrupted for more than several seconds.
011-0060, Version 5
4-27
4.20 Enabling/Disabling Slave Arm Hydraulics
Operation
See the troubleshooting chapter for information about possible specific causes of
fatal errors.
4.20
Enabling/Disabling Slave Arm Hydraulics
The hydraulic isolation valve in the slave upper arm is either open (enabling hydraulic fluid to flow to slave arm actuators), or closed (preventing slave arm
movement). In this manual, opening the hydraulic isolation valve is called enabling slave arm hydraulics, while closing the valve is called disabling slave arm
hydraulics.
As described in Section 4.5, you must enable slave arm hydraulics as part of the
startup process before you can operate the slave arm. Once you have enabled
slave arm hydraulics, you can disable them at any time by pressing the UP control key. Also, some system errors automatically disable hydraulics.
Once slave arm hydraulics have been disabled, you must use the DRIVERS
menu to enable them. To re-enable slave arm hydraulics, follow these steps:
1.
From the OPERATE menu, select 2>DRIVERS to display the DRIVERS
menu (Figure 4-27).
Figure 4-27 DRIVERS Menu
2.
The current state of the hydraulic isolation valve is displayed next to 6>HYDR.
“On” means that slave arm hydraulics are enabled, and “off” means that
they are disabled. To switch between enabled and disabled states, press
6>HYDR.
If you need to disable slave arm hydraulics, be sure to freeze the slave arm first.
Then be sure to re-enable slave arm hydraulics before you unfreeze the slave arm.
The DRIVERS menu also contains access for up to five additional solenoid valve
channels that can be accessed through the slave controller.
4-28
011-0060, Version 5
Operation
4.21 Robotic Operation
WARNING
If the slave arm is frozen and unfrozen while slave arm hydraulics
are disabled, the commanded slave arm position may change while
hydraulics are disabled. When hydraulics are re-enabled, the slave
arm may suddenly move to the new commanded position.
4.21
Robotic Operation
Some Titan II systems have optional robotics software for recording and “playing back” slave arm movement sequences. If your system includes robotics software, you can select the robotics option from the MAIN menu. If your system
does not include robotics software, the message “NOT AVAILABLE” will appear if you select the MAIN menu robotics option.
4.22
System Shutdown
From the MAIN menu, select 7>SHUTDOWN to call up the system SHUTDOWN menu (Figure 4-28). This menu allows the operator to stow in the slave
arm and disable slave arm hydraulics.
Figure 4-28 SHUTDOWN Menu
To shut down the system, follow these steps:
1.
From the MAIN menu, Select 7>SHUTDOWN.
2.
Move the slave arm to a position that approximates the STOW OUT position.
3.
Press 6>STOW IN to begin the stow in sequence. If the arm is not near the
STOW OUT point, the message “Arm not near STOW point” will appear at
the bottom of the display.
4.
As the arm stows in, the counter displays each point in the STOW sequence.
Note that point 01 is displayed as IN and the final point as OUT.
5.
The stow sequence can be stopped at the next stow point by pressing 7>STOP,
or can be reversed by pressing 5>STOW OUT.
011-0060, Version 5
4-29
4.22 System Shutdown
Operation
6.
Select 4>ALL HYDR> OFF to turn off hydraulic power to the system.
7.
Turn off power to the master controller.
8.
Turn off power at the junction box.
Be sure to perform the post-operation steps below to ensure the continued performance and longevity of the manipulator system.
1.
Place the master controller in a safe location. The master arm is fragile and
cannot withstand impact or abuse.
2.
Inspect the slave arm for damage, loose or missing fasteners, and entrapped debris.
3.
Inspect hydraulic hoses for abrasions or cuts.
4.
Inspect the slave arm for hydraulic leaks.
For submersible systems, perform the following additional steps:
4-30
1.
Examine a sample of hydraulic fluid for water contamination. If water has intruded, flush the system and refill it with clean hydraulic fluid.
2.
Thoroughly flush the slave arm and slave controller with fresh water.
3.
Apply a spray lubricant to the slave arm jaw assembly and joint pivots to displace any salt water.
011-0060, Version 5
Troubleshooting
5.1 Definitions
Chapter 5
Troubleshooting
This chapter provides troubleshooting procedures for equipment faults on the Titan II manipulator system.
5.1 Definitions
The following terms are used in this chapter to describe system conditions or
components.
Unresponsive: does not respond to commands.
Sluggish: responds predictably but slowly to commands.
Erratic: responds unpredictably to commands.
Sagging: a joint that should be rigid droops instead.
Hard over: a slave arm joint or segment moves abruptly to its hardware limit.
System error: occurs when the system detects communication errors or apparent
anomalies in the position or speed of the master arm or slave arm. See Table 5-8
for a list of system errors.
Fatal telemetry error: occurs when communication between the master controller and slave controller is severed or is interrupted for more than several seconds.
See Section 5.4.7 for information about possible causes of fatal errors.
5.2 Fault Isolation Procedures
To isolate a fault, follow the steps below. Stop when the fault is corrected.
1.
If neither the master controller or slave controller is receiving electrical power,
check to be sure that:
a.
The junction box is connected to the user’s power source.
b.
The junction box power switch is on.
c.
The junction box fuse is intact.
2.
Check to see if the user’s electrical power and hydraulic power are within the
specified ranges. Correct electrical power and/or hydraulic pressure if necessary.
3.
Check to be sure that all system interconnections are secure.
4.
Isolate cable malfunctions by testing the cables for continuity and insulation resistance, or by substituting spare cables.
011-0060, Version 5
5-1
5.3 Fault Isolation Aids
Troubleshooting
If the problem remains, use the troubleshooting tables in this chapter to isolate
the fault.
This section explains how to use master controller screen displays to aid in isolating a fault or confirming a fault diagnosis. This section also explains how to use
simple diagnostic procedures to isolate a joint fault to the slave arm or master
arm.
5.3.1 Isolating Joint Faults
An erratic or unresponsive slave arm joint may be caused by a failure in the corresponding master arm joint. If a single joint on the slave arm appears to have
failed, try to stow or deploy the slave arm. If the unresponsive slave arm joint
moves properly in the stow/deploy sequence, the fault is probably in the corresponding master arm joint.
You can also use the master arm data display and the slave arm data display (described in Chapter 4, Operations) to diagnose joint problems. These displays provide information on the position of each moveable master arm and slave arm part.
For both data displays, if a joint is not moving, the position value should not
change. If the slave arm is frozen, a changing position value for a joint probably
indicates a failure in a master arm potentiometer, a slave arm resolver, electrical
cables, or a printed circuit board in the master or slave controller.
Displaying the master arm data screen automatically freezes the slave arm, but
displaying the slave arm data screen does not. If you are diagnosing a slave arm
joint problem, first freeze the slave arm and display the slave arm screen. After
you have observed whether any position values are changing, you can unfreeze
and operate the slave arm to observe the effect of operation on slave arm position
values.
If you use the master arm or slave arm data display to diagnose a joint problem,
use Table 5-2, Screen Symptoms, to determine possible causes.
5.3.2 Diagnosing Master Arm Joint Failures
The master screen (Figure 4-24) displays position values for each joint and for
the jaw bands. A value of “0” indicates that the joint is at the approximate midpoint of its range of motion. Positive values indicate movement either up or to
the right; negative numbers indicate movement down or to the left.
If a joint is not moving, the position value should not change. A changing position value for an immobile joint probably indicates a failure in a master arm potentiometer or a master controller printed circuit board.
You can operate the master arm while the master data screen is displayed to test
master arm sensors. Displaying the master data screen automatically freezes the
slave arm, so moving the master arm will not move the slave arm.
5-2
011-0060, Version 5
Troubleshooting
5.3.3 Diagnosing Master Controller Key and Freeze Button Failures
Information in the master arm data display (described in Chapter 4, Operations)
allows you to diagnose problems with master controller keys or the freeze button.
The status of each key and the freeze button is shown at the bottom of the display
(see Figure 4-24). Each character on the display corresponds to a key or to the
freeze button. If the key or button is operating correctly, the character for that
key or button will be “0” when it is not being pressed and “1” when it is pressed.
If a failure has occurred, the display will show either “0” or “1” both when the
key is pressed and when it is not. The location of each key on the display is
shown in Figure 5-1.
Figure 5-1 Function Key Map, Master Controller Screen
(Numbered from Left to Right)
5.3.4 Diagnosing Slave Arm Joint Failures
The slave values screen (Figure 4-25) displays slave arm position values. The
command values are the commanded position values that are transmitted to the
slave controller from the master controller. The position values are the actual
joint position values sensed at each slave arm joint.
A value of “0” indicates that the joint is at the approximate midpoint of its range
of motion. Positive values indicate movement either up, to the right, or clockwise; negative numbers indicate movement down, to the left, or counterclockwise.
If a joint is not moving, the position value should not change. If the slave arm is
frozen, a changing position value for a joint probably indicates a failure in a
slave arm resolver or a slave controller printed circuit board.
While the slave values screen is displayed, the operator can unfreeze and operate
the slave arm to aid the diagnosis. Slave arm operation will be less stable in this
menu than during normal operation, since the position update rate has been reduced to allow the reading of the slave arm data.
If you suspect that a slave arm joint is malfunctioning, you can also use the slave
values screen and the information in Table 5-1 to check the joint. Table 5-1
shows a range of values for each slave arm joint when the joint is at its hardware
011-0060, Version 5
5-3
5.4 Troubleshooting Tables
Troubleshooting
limit. In this table, positive numbers indicate the right, upward, or clockwise
joint limit. Negative numbers indicate the left, downward, or counterclockwise
joint limit. For the jaws, the lower value indicates the completely closed position, and the higher limit indicates the completely open position. The table does
not list values for the wrist, since the wrist rotates continuously and has no hardware limits.
If you suspect that a slave arm joint has malfunctioned, move the joint to either
its positive or negative hardware limit. Then compare the position value for that
joint on the slave values screen with the corresponding numbers in Table 5-1. If
the screen value falls outside the range of table values, check the appropriate portion of Table 5-2 for possible problem causes.
Table 5-1 Slave Arm Joint Hardware Limit Values
Azimuth
Shoulder
Elbow
Pitch
Yaw
Jaw
+6600 to
+5800
+3800 to
+3000
+6500 to
+5700
+4500 to
+3700
+4500 to
+3700
+3400 to
+2600
-6500 to
-5700
-2300 to
-1500
-6500 to
-5700
-4500 to
-3700
-4500 to
-3700
+1700 to
+0900
Troubleshooting tables are organized by major functional units. These units and
assemblies are:
Master controller screen
Master arm
Entire slave arm
Slave arm joints
Jaw
Additional tables explain how to diagnose and troubleshoot system errors and fatal telemetry errors.
Since all major manipulator system units are interactive, the unit that displays a
symptom may not be the one that requires repair. To isolate a fault, go to the table for the unit or assembly that displays the symptom or alerts you to the problem. (For example, if you are alerted to a slave arm problem by the master arm
data screen, see the screen troubleshooting table.)
The troubleshooting table will list at least one possible cause for each symptom.
If there are multiple possible causes, they are listed in the order of likelihood of
occurrence. Perform corrective maintenance to remedy each possible cause until
you have eliminated the fault.
There is no troubleshooting table for master controller or slave controller electronics, since failure of these electronics assemblies is manifested in the slave
arm, as a system error, or as a fatal telemetry error.
5-4
011-0060, Version 5
Troubleshooting
5.4.1 Screen Symptoms
The screen alerts the operator to a variety of error conditions:
•
Upon startup, the screen warns the operator about error conditions.
•
During operation, system errors cause the “ERR” flag to display on the
screen.
Also, data screens for the master arm and slave arm provide diagnostic information as described in Section 5.3.
Table 5-2 Screen Symptoms
Symptom
Possible Cause
Remedy
Transient electrical problem.
Turn master
controller power
switch off.
Loose connection to the
faceplate assembly.
Secure connection.
LCD display screen failure.
Replace display.
Master controller CPU board
failure.
Replace board.
Master controller display board
failure.
Replace board.
Contaminated key switch
contacts.
Clean key switch
contacts.
failure.
Replace board.
Keypad gasket failure.
Replace keypad
gasket.
Keypad switch board failure.
Replace board.
On master arm data display, position data for one joint
changes even though the joint
is not moving.
Master controller analog board
failure.
Replace board.
Master arm potentiometer
failure.
Replace master
arm.
On master arm data display, position data for multiple joints
changes even though the joints
are not moving.
failure.
Replace board.
failure.
Replace board.
Master controller power is on,
but the screen display is blank.
Error flag appears on the
screen (see Table 5-8).
Message “Fatal telemetry error” appears on the screen (see
Section 5.4.7).
Pressing a key does not execute the appropriate function;
master arm data screen confirms that key failure has occurred (see Section 5.3.3).
011-0060, Version 5
5-5
Troubleshooting
Symptom
Possible Cause
On slave arm data display, posi- Loose resolver connection.
tion data for one joint changes
Resolver failure.
even though the slave arm is
Slave controller analog board
frozen.
failure.
On slave arm data display, position data for multiple joints
changes even though the slave
arm is frozen.
5-6
Secure connection.
Replace resolver.
Replace board.
failure.
Replace board.
Slave controller reference
generator board failure.
Replace board.
Mechanical interference with
On slave arm data display, posi- joint.
tion data for one joint at its
hard stop is not within range of Loose resolver connection.
the corresponding value in Ta- Resolver failure.
ble 5-1 (see Section 5.3.4).
failure.
On slave arm data display, position data for multiple joints at
their hard stops are not within
ranges of the corresponding
values in Table 5-1 (see Section 5.3.4).
Remedy
Inspect joint and
remove debris.
Secure connection.
Replace resolver.
Replace board.
failure.
Replace board.
Replace board.
011-0060, Version 5
Troubleshooting
5.4.2 Master Arm Symptoms
If the problem affects one or more master arm joints, see Section 5.3.1 for information on determining whether a master arm or slave joint is at fault.
If you have identified a joint problem using the master arm data display, see Table 5-2, Screen Symptoms, for fault isolation information.
Table 5-3 Master Arm Symptoms
Symptom
Master arm freeze button
works intermittently or not at
all.
Wrist collar does not actuate
slave arm wrist.
Possible Cause
Remedy
failure.
Replace board.
Master arm wiring failure or
freeze button failure.
Replace master
arm.
failure.
Replace board.
Wrist collar failure.
Replace master
arm.
failure.
Replace board.
Slave arm wrist resolver failure. Replace resolver.
Slave arm wrist servo valve
failure.
Replace servo
valve.
failure.
Replace board.
Jaw band failure.
Replace master
arm.
Pressing jaw bands does not acSlave controller analog board
tuate slave arm jaw.
failure.
011-0060, Version 5
Replace board.
Jaw LVDT failure.
Replace jaw
LVDT assembly.
Jaw servo valve failure.
Replace servo
valve.
5-7
Troubleshooting
5.4.3 Slave Arm Symptoms
Use this table to troubleshoot problems that affect all slave arm joints. If not all
joints are affected, see Table 5-5, Slave Arm Joint Symptoms.
Table 5-4 Slave Arm Symptoms
Symptom
Slave arm is unresponsive.
Slave arm is receiving hydraulic power even though power is
disabled; immediately turn off
user’s hydraulic power.
Possible Cause
Remedy
Loose connection in any cable
section between master
controller and slave arm.
Secure connection.
Damaged cable in any section
between master controller and
slave arm.
Replace cable.
Master arm or master
controller board failure (see
Table 5-3).
failure.
Replace board.
Slave controller CPU board
failure.
Replace board.
Slave arm hydraulics solenoid
valve failure.
Replace solenoid
valve.
Slave arm hydraulics solenoid
valve failure.
Replace solenoid
valve.
failure.
Replace board.
Table 5-3).
Slave arm is erratic.
5-8
Damaged slave arm wiring
harness.
Replace wiring
harness.
failure.
Replace board.
failure.
Replace board.
011-0060, Version 5
Troubleshooting
Symptom
Possible Cause
Remedy
Repair hydraulic
power unit.
Low hydraulic pressure.
Slave arm is sluggish.
Replace slave arm
hydraulic fluid
filter.
Clear clogged
hydraulic lines.
Table 5-3).
011-0060, Version 5
5-9
Troubleshooting
5.4.4 Slave Arm Joint Symptoms
See Section 5.3.1 for information on determining whether a slave arm joint symptom is actually being caused by the master arm.
If you have identified a joint problem using the slave arm data display, see Table
5-2, Screen Symptoms, for fault isolation information.
For problems with the jaw, see Table 5-6.
Table 5-5 Slave Arm Joint Symptoms
Symptom
Possible Cause
Actuator leak.
Replace actuator
seals.
Joint slip ring leak.
Replace slip ring
seals.
failure.
Replace board.
Joint leaks hydraulic fluid.
One or more joints are hard
over.
One joint is unresponsive.
One joint is erratic.
5-10
Remedy
Master arm joint or master
controller board problem (see
Table 5-3).
Servo valve failure.
Replace servo
valve.
Joint resolver failure.
Replace resolver.
failure.
Replace board.
Table 5-3).
Replace servo
valve.
Replace resolver.
failure.
Replace board.
Table 5-3).
Replace servo
valve.
Contaminated hydraulic fluid.
Replace fluid.
Replace resolver.
011-0060, Version 5
Troubleshooting
Symptom
Possible Cause
Remedy
Replace servo
valve.
Repair hydraulic
power unit.
Low hydraulic pressure.
One joint is sluggish.
Replace slave arm
hydraulic fluid
filter.
Clear clogged
hydraulic lines.
failure.
Replace board.
Table 5-3).
Multiple joints are unresponsive.
Shoulder moves freely when
hydraulics are off.
011-0060, Version 5
failure.
Replace board.
failure.
Replace board.
Lock valve failure.
Replace lock valve.
5-11
Troubleshooting
5.4.5 Jaw Symptoms
Table 5-6 Jaw Symptoms
Symptom
Jaw is erratic.
Possible Cause
failure.
Replace board.
Replace servo
valve.
Jaw LVDT failure.
Replace LVDT.
Replace servo
valve.
Jaw is sluggish or unresponsive. failure.
failure.
Jaw LVDT failure.
5-12
Remedy
Replace board.
Replace board.
Replace LVDT
assembly.
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Troubleshooting
5.4.6 System Errors
A system error occurs when the system detects communication problems or apparent anomalies in the position or speed of the master arm or slave arm. System
errors can be caused by malfunctions in the slave arm, master arm, master controller, or slave controller. System errors can also be caused by faulty cable connections between any of these units.
The operator is alerted to system errors in two different ways. If a system error
is detected upon system startup, the Startup with System Errors screen appears.
If a system error is detected during operation, the operator is alerted by the ERR
flag at the top of the screen.
The operator can disable system error checking for any of the system errors, as
described in Chapter 4, Operations. If an error check has been disabled, errors in
that category will not be flagged on the screen.
After you have used the SHOW ERRORS menu to identify the error category,
use the table below to isolate the fault.
Table 5-7 System Error Descriptions
Error
No.
Error Name
Description
01
Slave range
Feedback information from the slave arm indicates that
the slave arm is outside of its factory set movement
limits. This means that the system is reporting that the
arm is in a position that it cannot actually attain.
02
Slave continuity
Feedback information from the slave arm indicates that
the slave arm position is changing at a faster rate than is
actually possible.
03
Slave control
Feedback information from the slave arm indicates that a
control problem may exist for one or more slave arm
joints.
04
Slave telemetry
Indicates that communications from the master
controller to the slave controller have been halted,
interrupted, or fatally corrupted.
05
Slave CPU reset
Indicates that the slave controller has reset. This occurs
if the slave controller loses power or the slave controller
CPU board fails.
06
Master range
Feedback information from the master arm indicates that
the master arm is in a position that it cannot actually
attain.
07
Master telemetry
Indicates that communications from the slave controller
to the master controller have been halted, interrupted, or
fatally corrupted.
All system errors automatically disable slave arm hydraulics by closing the slave
arm hydraulic isolation valve.
011-0060, Version 5
5-13
Troubleshooting
Table 5-8 System Error Symptoms
Listed error
Slave range
Slave continuity
Possible Cause
Remedy
Slave arm resolver failure.
Replace resolver.
Loose resolver connection.
Secure connection.
failure.
Replace board.
failure.
Replace board.
Replace board.
Slave arm resolver failure.
Replace resolver.
Loose resolver connection.
Secure connection.
failure.
Replace analog board.
failure.
Replace board.
Replace board.
During operations, pushing
hard against an immovable
object.
Slave control
Slave telemetry
5-14
During operations, lifting too
heavy an object.
Slave arm actuator failure.
Replace slave arm segment.
Replace board.
failure.
Replace board.
Loose connection at any point
between slave arm and master
controller.
Secure connection.
Damaged cable at any point
between slave arm and master
controller.
Replace cable.
011-0060, Version 5
Troubleshooting
Listed error
Slave CPU reset
Master range
Master telemetry
011-0060, Version 5
Possible Cause
Remedy
between the slave controller
and the user’s electrical power
source.
Secure connection.
Interruption of user’s electrical
power.
Restore continuous power.
Voltage outside of specified
range, or noise in the supplied
power.
Supply correct power.
Damaged cable at any point
between the slave controller
and the user’s electrical power
source.
Replace cable.
failure.
Replace board.
Master arm potentiometer
failure.
Replace master arm.
failure.
Replace board.
failure.
Replace board.
between the master controller
Secure connection.
failure.
Replace board.
5-15
Troubleshooting
5.4.7 Fatal Telemetry Errors
A fatal telemetry error occurs when communication between the master controller and slave controller is severed or is interrupted for more than several seconds.
The operator is alerted to such an error by the message “Fatal telemetry error” on
the screen message line.
A fatal telemetry error can appear upon startup or during operation. If a fatal telemetry error occurs during operation, the system automatically disables the
slave arm, master controller, and slave controller.
To resume operation after a fatal telemetry error, follow these steps:
1.
Turn off power to the master controller.
2.
Using Table 5-9, diagnose and correct the problem that caused the error.
3.
Start up the system.
Table 5-9 Fatal Telemetry Error Causes and Remedies
Possible Cause
5-16
Remedy
Loose electrical connection at any point between the
master controller and slave controller.
Secure connection.
Damaged electrical cable at any point between the
master controller and slave controller.
Replace cable.
Master controller CPU board failure.
Replace board.
Slave controller CPU board failure.
Replace board.
011-0060, Version 5
Chapter 6
Maintenance
This chapter contains instructions for performing maintenance on the master controller and the slave controller. For information on performing maintenance for
Titan II slave arm assemblies, see the Titan II Slave Arm Supplement.
6.1 General Maintenance Information
WARNING
1. Before you perform maintenance on the master controller or
slave controller, disconnect the controller from its electrical power
source.
2. For warnings about performing maintenance on the Titan II
slave arm, see the Titan II Slave Arm Supplement.
CAUTION
1. Any manipulator system component that contains PC boards is sensitive to damage from static electricity. When you work on static sensitive
equipment, wear an anti-static wrist band attached to earth ground or a
large metal object.
2. For cautions about performing maintenance on the Titan II slave arm,
see the Titan II Slave Arm Supplement.
When you perform corrective maintenance on the master controller or slave controller, observe the following general repair procedures:
•
After parts are disassembled, they must be cleaned and inspected before being reassembled.
•
Replace o-rings that are broken, damaged, or show signs of wear.
•
Observe required torques for all fasteners.
6.2 Master Controller Maintenance
This section explains how to perform the following maintenance functions for
the master controller:
•
Replacing master controller PC boards
•
Replacing master controller faceplate components
011-0060, Version 6
6-1
•
Replacing the master controller software PROM
•
Replacing the master arm
Maintenance
This chapter also explains how to completely reassemble the master controller.
Whenever you open the master controller to perform maintenance, be sure to inspect the interior of the controller for moisture, foreign substances, and loose connections.
6.2.1 Master Controller PC Board Replacement
6.2.1.1 Removing Master Controller PC Boards
For the PC board replacement procedure, item numbers in parentheses refer to
parts in Figure 6-1.
1.
Disconnect the master controller from its electrical power source.
2.
Place the master controller on a clean, flat surface, and remove the four screws
(8) fastening the faceplate (1) to the housing (16).
CAUTION
Do not lift the faceplate assembly (1) by the master arm (3).
3.
Carefully lift the faceplate assembly (1) out of the housing (16), holding the
faceplate by the two tabs on each side of the assembly.
4.
Unplug the power and signal cable connector (18, F and B) from the motherboard (2), freeing the faceplate assembly (1) from the housing (16).
5.
Carefully place the faceplate assembly (1) face down on a raised soft surface
with the master arm (3) hanging over the surface edge.
6.
Disconnect the large 40-pin DIP connector (C) from the CPU board (7).
7.
Disconnect the small 16-pin DIP connector (D) from the CPU board (7).
8.
Remove the two screws (2 ref.) and washers (2 ref.) retaining the CPU board
(7) and analog board (6).
9.
Carefully lift the CPU board (7) and analog board (6) together, and unplug the
power connectors (F and G) from each board.
10. Disconnect the three DIP connectors (E, J, and M) from the analog board (6),
freeing the boards from the rest of the assembly.
11. Disconnect the 16-pin DIP connector (H) from the optical isolation board (5),
and remove the board from the standoffs on the motherboard (2).
12. Unplug the display controller board (2 ref.) from the motherboard (2).
13. Disconnect the connector on the master arm cable (3) from the bottom side of
the motherboard (2), and feed the cable back through the hole in the board.
14. Remove the six screws (9) fastening the motherboard (2) to the faceplate (1).
6-2
011-0060, Version 6
Maintenance
15. Carefully lift the motherboard (2) straight up, unplugging it from the faceplate
(1) and the master switch board (Figure 6-2, item 8). Also unplug the power
switch connecting the faceplate to the motherboard.
6.2.1.2 Installing Master Controller PC Boards
To install a master controller PC board, reverse the removal procedure described
in Section 6.2.1.1, or see Section 6.2.5 on master controller reassembly.
6.2.2 Master Controller Faceplate Component Replacement
6.2.2.1 Disassembling the Faceplate Assembly
For the faceplate component replacement procedure, item numbers in parentheses refer to parts in Figure 6-2.
1.
Perform steps 1 through 15 in Section 6.2.1.1 for replacing master controller
PC boards.
2.
Remove the four spacers (12), and carefully lift off the display (13).
3.
Disconnect the connectors (18) from the master switch board (8).
4.
Remove the five screws (17) from the master switch board (8).
5.
Remove the four spacers (12) from the master switch board (8).
6.
Remove the two spacers (11) from the faceplate (4).
7.
Remove the master switch board (8), the lens (6), and the lens o-rings (5).
8.
Pull out the power switch assembly (3) from the faceplate (4).
9.
Remove the master buttons (14), backup plates (15), and keypads (16) from the
faceplate (4). (The backup plates and keypads may be glued together.)
6.2.2.2 Assembling the Faceplate Assembly
To assemble the faceplate assembly, reverse the disassembly procedure, Section
6.2.2.1, or follow the instructions in Section 6.2.5 on master controller reassembly.
6.2.3 Master Controller PROM Replacement
In the procedures for replacing the master controller PROM, item numbers in parentheses refer to parts in Figure 6-1.
1.
Follow steps 1 through 5 in Section 6.2.1.1 for replacing master controller PC
boards.
CAUTION
When you install the PROM chip, make sure that the small notch on the
edge of the chip is toward the edge of the CPU board. Installing the chip
in the wrong orientation will damage system electronic assemblies.
011-0060, Version 6
6-3
2.
Maintenance
Eject the PROM from its socket on the CPU board (7), and replace it with the
new PROM. When you install the PROM chip, make sure that the small
notch on the edge of the chip is towards the edge of the CPU board.
To reassemble the master controller assembly, reverse the disassembly instructions in Section 6.2.1.1, or follow the instructions in Section 6.2.5 on master controller reassembly.
6.2.4 Master Arm Replacement
6.2.4.1 Removing the Master Arm
For the master arm replacement procedure, item numbers in parentheses refer to
1.
Complete steps 1 through 15 in Section 6.2.1.1 on replacing master controller
PC boards.
2.
Remove the four screws (11) that hold the arm (3) onto the faceplate (1).
3.
Carefully remove the master arm (3) wires from the cable clamp (10).
4.
Gently lift off the master arm (3), being careful not to harm the wires and connector attached to it.
6.2.4.2 Installing the Master Arm
For information on installing the master arm, see Section 6.2.5 on master controller reassembly.
6.2.5 Master Controller Reassembly
To reassemble the master controller, you must mount the switch components,
master arm, and circuit board assemblies to the faceplate. For the master controller reassembly procedure, item numbers in parentheses refer to parts in Figures 61 and 6-2.
Refer to Figure 6-2 for the following steps:
6-4
1.
Install the power switch (3) and its boot (2) in the faceplate (4).
2.
Turn the faceplate (4) face down and install the lens (6) with its o-rings (5).
3.
Drop the twelve faceplate buttons (14) into their wells in the faceplate (4).
4.
Place the twelve backup plates (15) onto the faceplate buttons (14). (The
backup plates and key pads (16) may be glued together).
5.
If they are not glued to the backup plates (15), insert the twelve key pads (16)
into the backup plates.
6.
Clean the switch contact surfaces on the master switch board (8) with alcohol.
Carefully lay the master switch board over the faceplate buttons (14), and
fasten it to the faceplate (4) with the five screws (17).
7.
Insert the four short spacers (12) through the holes in the master switch board
(8) and screw the spacers into the faceplate (4).
011-0060, Version 6
Maintenance
8.
Screw the two long spacers (11) into the faceplate (4).
9.
Position the foam tape (20) around the rectangular opening in the master switch
board (8).
10. Place the display (13) over the master switch board (8). Screw the four spacers (12) through the display into the spacers that go through the master
switch board.
Refer to Figure 6-1 for the following steps:
11. To attach the master arm:
a.
Thread the master arm connector and cable (3) through the hole in the faceplate (1).
b.
Hold the master arm base (3) upright in one hand and rotate the master
arm azimuth joint counterclockwise to its stop.
c.
Position the master arm base (3) on the faceplate (1) with the master arm
pointing to the left and parallel to the front edge of the faceplate.
d.
With the master arm (3) in position, secure the arm to the faceplate (1)
with three screws (11). Do not overtighten the screws or you may strip
the threads. Pass the master arm wires through the cable clamp (10),
and use the fourth screw (11) to secure the cable clamp and master arm
to the faceplate.
12. Install the two connector socket strips (Figure 6-2, item 18) into the connector (Figure 6-2, item 21) on the master switch board (Figure 6-2, item 8).
13. While holding the motherboard (2) above the assembly, plug the four-pin connector from the power switch into the motherboard. Make sure that the connectors (Figure 6-2, item 18) from the master switch board (Figure 6-2, item
8) and the connector (Figure 6-2, item 21) on the display (Figure 6-2, item
13) insert properly into the corresponding motherboard connector sockets.
Thread the master arm connector and cable (3) through the hole in the motherboard (2).
14. Fasten the motherboard (2) to the assembly with the six screws (9).
15. Connect the master arm cable to the appropriate connector on the bottom of
the motherboard. The connector for the right-hand master arm is labeled
“MA-RT.”
16. Plug the display controller board (2 ref.) into the motherboard (2).
17. Plug the 16-pin DIP connector (H) from the motherboard (2) into the optical
isolation board (5), and install the optical isolation board on the nylon standoffs that are attached to the motherboard.
18. Plug the analog board (6) and the CPU board (7) together, making sure the
spacers (12) and nylon standoffs (15) are in place.
19. Hold the analog and CPU board pair (6, 7) above the motherboard (2), and
plug the three motherboard DIP connectors (E, J, and M) into the analog
board (6).
011-0060, Version 6
6-5
6.3 Terrestrial Slave Controller Maintenance
Maintenance
20. Plug the power connector (F) with the three open sockets into the analog
board (6).
21. Plug the power connector (G) with the four open sockets into the CPU board
(7).
22. Install the analog and CPU board pair (6, 7) onto the mounting posts (not
shown in this view) on the motherboard (2).
23. Secure the analog and CPU board pair (6, 7) to the mounting posts with the
two washers (2 ref.) and the two screws (2 ref.).
CAUTION
24. Install the PROM into its socket in the CPU board (7).
25. Wrap the two ribbon cables (C and D on item 2) over the edge of the board
pair (6 and 7), and connect the two DIP connectors (C and D) to the CPU
board (7).
26. Connect the master power and signal cable assembly (18, B and F) connector
to the motherboard (2) mating connector.
27. Carefully install the faceplate assembly (1) into the housing (16).
28. Fasten the faceplate (1) to the housing (16) with the four screws (8).
the terrestrial slave controller:
•
Replacing slave controller PC boards
•
Replacing the slave controller power supply
•
Replacing the slave controller software PROM
Whenever you open the slave controller to perform maintenance, be sure to inspect the interior of the controller for moisture, foreign substances, and loose connections.
6.3.1 Terrestrial Slave Controller PC Board Replacement
In the procedures for replacing the terrestrial slave controller PC boards, item
numbers in parentheses refer to parts in Figure 6-3.
6.3.1.1 Removing the Terrestrial Slave Controller PC Boards
1.
6-6
Disconnect the slave controller from its electrical power source.
011-0060, Version 6
Maintenance
2.
Loosen the four screws (not shown) at the corners of the enclosure (1), and remove the enclosure lid (not shown).
3.
Remove screws (24) from only those standoffs (19) that hold the PC boards (2,
4, 5, 6). It is not necessary to remove all of the standoffs to remove the PC
board assembly.
4.
Disconnect the ribbon cable connectors (E, F, G, H) from the PC boards (2, 4,
5), and disconnect the Molex connectors (A, B, C, D) going to the power
supply (16). Disconnect the remaining cable (K) from the auxiliary driver
board (6).
5.
Remove the PC board assembly (2, 4, 5, 6) from the enclosure (1).
6.
Remove the nut (10) and screw (21) holding the PC boards (4, 6) together.
7.
Separate the optical isolation board (5) and CPU board (4) by removing the
standoffs (15) between them.
8.
To remove the reference generator board (3), remove the four screws (11) and
disconnect the cable connectors J and M.
6.3.1.2 Installing the Terrestrial Slave Controller PC Boards
To install the slave controller PC boards, reverse the removal procedure described in Section 6.3.1.1.
6.3.2 Terrestrial Slave Controller Power Supply Replacement
In the procedures for replacing the terrestrial slave controller power supply, item
6.3.2.1 Removing the Terrestrial Slave Controller Power Supply
1.
Perform steps 1 through 5 in Section 6.3.1.1 on removing slave controller PC
boards.
2.
Remove the six screws (25) holding the power supply standoff (13) to the enclosure (1).
3.
Remove the two screws (23) from beneath the power supply standoff (13), and
remove the power supply (16).
6.3.2.2 Installing the Terrestrial Slave Controller Power Supply
To install the slave controller power supply, reverse the removal procedure described in Section 6.3.2.1.
6.3.3 Replacing the Terrestrial Slave Controller PROM
In the procedures for replacing the terrestrial slave controller PROM, item numbers in parentheses refer to parts in Figure 6-3.
6.3.3.1 Removing the Terrestrial Slave Controller PROM
1.
011-0060, Version 6
6-7
6.4 Submersible Slave Controller Maintenance
Maintenance
2.
Loosen the four screws (not shown) at the corners of the enclosure (1), and remove the enclosure lid (not shown).
3.
For the standoff (15) that is closest to the connector on top of the optical isolation board (5), lift the edge of the board over the top of the standoff until
that corner of the board is free. Rotate the optical isolation board on the
other standoff (15) until the PROM on the CPU board (4) is exposed. You
should not need to disconnect the cable from the connector on top of the optical isolation board to rotate the board.
4.
Eject the PROM from its socket on the CPU board (4).
6.3.3.2 Installing the Terrestrial Slave Controller PROM
CAUTION
1.
Install the new PROM into its socket on the CPU board (4). When you install
the PROM chip, make sure that the small notch on the edge of the chip is towards the edge of the CPU board.
2.
Continue by reversing the instructions for removing the slave controller PROM
in Section 6.3.3.1
the submersible slave controller:
•
Replacing slave controller PC boards
•
Replacing the slave controller power supply
•
Replacing the slave controller software PROM
•
Testing the slave controller for air leaks
Whenever you open the slave controller to perform maintenance, be sure to inspect the interior of the controller for moisture, foreign substances, and loose connections.
6.4.1 Submersible Slave Controller PC Board Replacement
In the procedures for replacing submersible slave controller PC boards, item numbers in parentheses refer to parts in Figure 6-4.
6.4.1.1 Removing the Submersible Slave Controller PC Boards
6-8
1.
2.
Disconnect the external cables from the three connectors (7, 44, 64).
011-0060, Version 6
Maintenance
3.
Remove the three screws (23) and their flat washers (41) securing the bottle
mount (25) to the cover plate (18).
4.
Remove the five screws (22) and their flat washers (41) holding the cover plate
(18) in place on the enclosure (1).
CAUTION
Use only the methods described below to remove the cover plate (18). If
you try to remove the cover plate by pulling on its external connectors
(7, 44, 64), you will damage them.
5.
Use either method a or b described below to loosen the cover plate (18).
a.
To loosen the cover plate (18) mechanically, insert a 3/8-16 UNC screw
fastener into the threaded center hole. Pull the fastener straight out
with even pressure to remove the cover plate.
b.
To loosen the cover plate (18) using air pressure, remove the hydraulic
plug (54) from the cover plate. Screw a hydraulic fitting (-4, straight
thread) into the threaded hole and attach an appropriate hose to the fitting. Attach the other end of the hose to an air pump and introduce air
into the enclosure to loosen the cover plate. DO NOT exceed 15 psi of
air pressure.
6.
Carefully remove the assembly containing the cover plate (18), backbone (26),
and the PC boards from the slave controller enclosure (1). Lay the assembly
on a clean, soft surface.
7.
Remove the two screws (30) that attach the connector clamp (72) to the backbone (26). When the slave controller is reassembled, the connector clamp
will hold connector J8 in place.
8.
Loosen the ten screws (30) in the five PCB mounts (27) sufficiently to allow removal of the four PC boards. It is not necessary to remove the mounts from
the backbone (26).
9.
Disconnect the four wiring harness connectors (analog, CPU1, CPU2,
AC/telem) on the PC boards that come from the power supply (16).
10. Disconnect the 30-pin connector (J8) and 16-pin DIP connector (P9) and cable assemblies from their receptacles on the analog board (2). Disconnect
both connectors (J6, J10) from the auxiliary driver board (6).
11. Separate the CPU board (4) at P5 and the analog board (2) at P4 by carefully
pulling them apart.
12. Remove the nut (10), washer (13), screw (12), and clamps (9) holding the auxiliary driver board (6) to the CPU board (4). You can then carefully separate the auxiliary driver board from the CPU board.
13. Separate the optical isolation board (5) and CPU board (4) by removing the
two standoffs (15) between them.
011-0060, Version 6
6-9
Maintenance
14. To remove the reference generator PCB assembly (3), remove the four screws
(11) securing the reference generator assembly to the backbone (26).
6.4.1.2 Installing the Submersible Slave Controller PC Boards
To install the slave controller PC boards, reverse the removal procedure described in Section 6.4.1.1 and follow the instructions below.
Lubricate the o-rings (19 and 53) with waterproof grease or Aqua LubeTM before
you install them.
Torque the screws in steps 3 and 4 to 10 ft-lb.
After you have reassembled the slave controller, perform the vacuum test described in Section 6.4.4.
CAUTION
Do not submerse the slave controller until you have tested the assembly
for air leaks by performing the vacuum test.
6.4.2 Replacing the Submersible Slave Controller Power Supply
In the procedures for replacing the submersible slave controller power supply,
item numbers in parentheses refer to parts in Figure 6-4.
6.4.2.1 Removing the Submersible Slave Controller Power Supply
1.
Perform steps 1 through 10 in Section 6.4.1.1 on removing the PC boards. Lift
the board set away to expose the screws (32) that attach the power supply
(16).
2.
Remove the two screws (32) and nuts (65) holding the power supply (16) to the
backbone (26).
6.4.2.2 Installing the Submersible Slave Controller Power Supply
To install the slave controller power supply, reverse the removal procedure described in Section 6.4.2.1. Also follow the instructions below.
you install them.
Torque the screws (23) that attach the bottle mount (25) to 10 ft-lb. Also torque
the screws (22) that attach the cover plate (18) to 10 ft-lb.
CAUTION
6-10
011-0060, Version 6
Maintenance
6.4.3 Replacing the Submersible Slave Controller PROM
In the procedures for replacing the submersible slave controller PROM, item
6.4.3.1 Removing the Submersible Slave Controller PROM
1.
Perform steps 1 through 6 in Section 6.4.1.1 on removing slave controller PC
boards.
2.
Remove the standoff (15) that is closest to the connector on top of the optical
isolation board (5). Rotate the optical isolation board on the other standoff
(15) until the PROM on the CPU board (4) is exposed. You should not need
to disconnect the cable from the connector on top of the optical isolation
board to rotate the board.
3.
Eject the PROM from its socket on the CPU board (4).
6.4.3.2 Installing the Submersible Slave Controller PROM
CAUTION
1.
Install the new PROM into its socket on the CPU board (4). When you install
the PROM chip, make sure that the small notch on the edge of the chip is towards the edge of the CPU board.
2.
Continue by reversing the instructions for removing the slave controller PROM
in Section 6.4.3.1. Also follow the instructions below.
you install them.
Torque the screws (23) that attach the bottle mount (25) to 10 ft-lb. Also torque
the screws (22) that attach the cover plate (18) to 10 ft-lb.
CAUTION
011-0060, Version 6
6-11
6.5 Part Lists and Illustrations
Maintenance
6.4.4 Performing the Submersible Slave Controller Vacuum Test
After you have reassembled the submersible slave controller, test the assembly to
ensure that all seals are air tight. Item numbers in parentheses in the test procedure refer to parts in Figure 6-4.
To perform the vacuum test, follow these steps:
1.
Remove the hydraulic plug (54) from the slave controller lid (18).
2.
Screw a fitting (-4, straight thread) into the plug hole. Attach the other end of
the fitting to the hose of a vacuum pump with a gauge.
3.
Evacuate air from the slave controller. Wait for several minutes, and then
check the vacuum gauge to see if the pressure has remained constant (indicating that the slave controller is air tight) or has changed (indicating an air
leak in the assembly).
a.
If no air leaks into the slave controller, the controller is ready for submersion. Remove the vacuum pump hose and reinstall the hydraulic plug
(54) on the slave controller lid (18).
b.
If air leaks into the slave controller, check the two lid o-rings (19, 53), the
o-rings on the electrical connectors (7, 44, 64), and the sealing surfaces
of the fitting and hose for the vacuum pump. Then reassemble the
slave controller and repeat the vacuum test.
This section contains exploded drawings and part lists that support the maintenance procedures described in this chapter.
6-12
011-0060, Version 6
Maintenance
This page is intentionally blank.
011-0060, Version 6
6-13
Maintenance
Legend for Figure 6-1
Master Controller, Part No. 101-1790
Item
Number
Part
Number
1
101-1801
FACEPLATE ASSY, TITAN MASTER
1
101-1775
PCB ASSEMBLY, MASTER CONTROLLER
MOTHER BOARD, 115 VAC
1
001-0369
WASHER, MASTER PCB
2
002-0117
BHCS, 1/4-28 X 1/2, SS
2
005-0047
PCB, LC DISPLAY CONTROLLER ASSEMBLY
1
3
101-1645
MASTER ARM, T2
1
5
101-1774
PCB ASSEMBLY, OPTO/ISO, RS-422/RS-232
1
6
101-1840
PCB ASSEMBLY, ANALOG, MASTER
GROUNDED
1
7
101-1839
PCB ASSEMBLY, CPU, MASTER GROUNDED
1
8
002-0137
SHCS, 6-32 X 3/8, SS
4
9
002-0011
BHCS, 6-32 X 1/4, 18-8, SS
6
10
002-0161
CLAMP, CABLE, 1/8
1
11
002-0082
SCHS, 10-24 X 5/8, SS
4
12
001-0205
SPACER, ELECTRONICS BOTTLE, .26
2
13
001-0405
PLUG, MCA, TITAN
1
14
001-0745
LOGO, NAMEPLATE
1
15
002-0115
STANDOFF, RICHCO MSP-4N
2
16
001-2663
HOUSING, MASTER, GRN. DEEP BOX
GROUNDED
1
17
003-0007
FEET, RUBBER
4
18
101-1782
CABLE ASSEMBLY, GROUNDED MASTER,
14-PIN, 15 FEET
1
19
002-0538
TAPE, DOUBLE-SIDED
6
23
002-0862
WASHER #8, LOCK, INTERNAL TOOTH, SS
1
24
002-0403
SHCS, 8-32 X 1/4, SS
1
2
6-14
Part Description
Qty.
011-0060, Version 6
Maintenance
Figure 6-1 Master Controller Disassembly
Drawing No. 101-1790
011-0060, Version 6
6-15
Maintenance
Master Controller Faceplate Assembly, Part No. 101-1801
6-16
Item
Number
Part
Number
2
005-0038
MASTER POWER BOOT SWITCH
1
3
101-1819
POWER SWITCH ASSEMBLY
1
4
001-2670
FACEPLATE
1
5
004-0113
O-RING, 2-047 BUNA 70
2
6
001-0367
MASTER DISPLAY LENS
1
8
015-0048
PCB, SWITCH, MASTER ASSEMBLY
1
11
002-1025
STANDOFF, 1/4 HEX X 5/8
2
12
002-3005
STANDOFF, 1/4 HEX X 1/4
8
13
005-0240
DISPLAY
1
14
001-0366
MASTER FACEPLATE BUTTON
12
15
001-0365
BACKUP PLATE
12
16
005-0185
KEYPAD
12
17
002-0124
SHFS, 6-32 X 1/4 SS
5
18
005-0136
CONNECTOR, 32 PIN SIP
1
20
004-0141
WEATHERSTRIP TAPE
21
005-0135
CONNECTOR, 32 PIN SIP
Part Description
Qty.
1.5
1
011-0060, Version 6
Maintenance
Figure 6-2 Master Controller Faceplate Disassembly
Drawing No. 101-1801
011-0060, Version 6
6-17
Maintenance
Terrestrial Slave Controller, Part No. 101-1137
Item
Number
Part
Number
Qty.
Item
Number
Part
Number
1
001-1933
ENCLOSURE, SCU
1
25
002-0017
SHCS, 6-32 X 5/8, 18-8 SS
6
2
101-1113
PCB ASSY, RESOLVER
ANALOG, UNILATERAL
1
26
005-0533
CONN, 4 CKT, .062,
RECEPT, MLX 03-06-1042
1
3
101-1586
PCB ASSY, REFERENCE
GENERATOR, 115 VAC
1
27
005-0561
CONN, PIN, FEMALE,
02-06-5103, MOLEX
4
4
101-0091
PCB ASSY, CPU, 27C256,
8088, LOW PROFILE 40
PIN SOCKET
1
28
005-0141
CONN, PIN, FOR MOLEX
CONNECTOR 22-12-2044,
08-56-0110
2
5
101-1774
PCB ASSY, OPTO/ISO,
RS422/232
1
29
005-0039
CONN, BULKHEAD EO
53E4M-1
1
6
015-0065
PCB ASSY, 6 CHANNEL
AC AUX DRIVER, 115VAC
1
30
005-0461
CONN, 3 PIN, 005-0459
MATE 1757022, PHNX
1
7
101-1136
CABLE ASSY, CONTROL,
SCU, ROSE
1
31
005-1760
WIRE, 18 AWG, BLACK
polytetrafluoroethylene (PTFE)
5
8
002-0692
SHCS, 4-40 X .375, SS
4
32
005-0218
1
9
001-1426
CLAMP
2
CONN, HOUSING, 2CKT,
22-01-3027, MOLEX
10
002-0119
NUT, 6-32, SS, NYLOCK
1
33
005-1503
1
11
002-0114
SHCS, 6-32 X 1/4, SS
4
CONN, 2 PIN, MOLEX,
RECEP., POWER, MOLEX
#015-311022
12
101-1647
PLATE ASSY, ROSE
ENCLOSURE, T2, SCU,
115V/230V
1
34
005-1504
CONN, PIN, FEMALE,
18-24GA, MOLEX
#02-06-1202
2
13
001-1427
STANDOFF, POWER
SUPPLY
1
36
005-0448
TUBING, SHRINK, 1/4
INCH SCL, INSULECTRO
.25
14
002-0115
STANDOFF, RICHCO
MSP-4N
2
65
002-0119
2
15
002-0116
STANDOFF, RICHCO
MSP-8N
2
16
015-0091
POWER SUPPLY, 110VAC,
SLAVE
1
18
101-1301
FAN ASSY, 115VAC
1
19
001-1935
STANDOFF, ANALOG &
CPU PCB
7
21
002-0137
SHCS, 6-32 X 3/8, SS
3
22
002-0460
NUT, HEX, 1/2-20, SS
1
23
002-1128
SHCS, 6-32X1 3/8, SS
2
24
002-0041
SHCS, 6-32 X 3/4, 316SS
14
6-18
Part Description
Part Description
011-0060, Version 6
Qty.
Maintenance
Figure 6-3 Terrestrial Slave Controller Disassembly
Drawing No. 101-1137, Page 1 of 2
011-0060, Version 6
6-19
Maintenance
Figure 6-3 Terrestrial Slave Controller Disassembly
6-20
011-0060, Version 6
Maintenance
This page is intentionally blank.
011-0060, Version 6
6-21
Maintenance
Submersible Slave Controller, Part No. 101-1994
Item
No.
Part
Number
1
007-0178
BOTTLE, SCU, T2, DOUBLE
SEAL
1
101-1113
PCB ASSY, RESOLVER
ANALOG, UNILATERAL
1
101-1586
PCB ASSY, REFERENCE
GENERATOR, 115 VAC
1
4
101-0091
PCB ASSY, CPU, 27C256, 8088,
LOW PROFILE 40 PIN SOCKET
1
5
101-1774
PCB ASSY, OPTO/ISO, RS422/232
1
015-0065
PCB ASSY, 6 CHANNEL AC AUX
DRIVER, 115VAC
1
101-1995
CABLE ASSY, SCU,
UNILATERAL, SUBSEA, 115V
1
004-0098
O-RING 2-030 BUNA 70
0
8
002-0692
SHCS, 4-40 X .375, SS
6
9
001-1426
CLAMP
2
10
002-0119
1
11
002-0114
SHCS, 6-32 X 1/4, SS
8
12
002-0125
SHCS, 6-32 X 1/2, SS
13
002-0407
15
2
3
6
7
16
Item
No.
Part
Number
37
002-0428
FHMS, 8-32 X 3/8, SS
2
38
002-0785
INSERT, THREAD, 4-40, SS,
K9905-04 K-SERT
4
39
002-0786
TOOL, K-SERT INSTALL., 4-40,
KT9000-04
0
41
002-0790
WASHER, 1/4 ID X .5 OD, SS .032
THK
11
42
101-2012
FAN ASSY
1
43
001-2137
MOUNT, FAN, 115 VDC, T2
1
101-1773
CABLE ASSY, GROUNDED
1
004-0135
0
004-0688
O-RING, 2-251, BUNA 90
1
006-0029
FIT, HYD, -4, ST, PLUG,
HOLLOW HEX-SS(4HP50N-SS)
1
004-0190
O-RING, BUNA 90, 2-012
0
55
005-1943
TERMINAL STRIP, SINGLE
ROW, 6 POSITION, CLOSED
BACK
2
1
56
002-0125
SHCS, 6-32 X 1/2, SS
4
WASHER, FLAT, #6, SS
1
57
101-1997
CABLE ASSY, TELEMETRY
1
002-0116
STANDOFF, RICHCO MSP-8N
2
101-2000
1
CABLE ASSY, SCU, REFERENCE
HARNESS
1
015-0091
POWER SUPPLY, 110VAC,
SLAVE
59
60
002-0524
CABLE, TIE, 3 IN. X .09
WIDE(PANDUIT #PLT-7M)
2
61
002-0385
WASHER, .125 X .012(BERG
SPACER SS1-28)
2
62
101-1999
CABLE ASSY, SCU
1
63
101-2011
CABLE ASSY, SCU, AUX
HARNESS
1
101-1996
CABLE ASSY, SCU, PWR/TELE.,
T2
1
004-0135
0
Part Description
Qty.
44
53
54
Part Description
Qty.
18
001-2930
COVER, PLATE, DOUBLE SEAL
1
19
004-0624
O-RING, 2-257 N90
1
22
002-0964
SHCS, 1/4-20 X 1.375, SS
5
23
002-0965
SHCS, 1/4-20 X 1.625, SS
3
24
002-0966
SHCS, 1/4-20 X .75, SS
3
25
001-2133
MOUNT, BOTTLE, T2
2
26
001-2134
BACKBONE, T2
1
27
001-3251
STANDOFF, PCB, T2, 3 BOARD
5
30
002-0158
SHCS, 8-32 X 1/2, 316 SS
12
65
002-0212
2
32
002-0867
SHCS, 4-40 X 1.25, SS
2
66
005-1965
0
34
002-0791
SHCS, 5/16-24, 1.75, ALLOY
STEEL
MARKER, CABLE, VINYL
CLOTH, 1/4 X 1 1/2
2
68
001-0205
1
35
002-0781
NUT, 5/16-24, MS 21043-5
2
SPACER, ELECTRONICS
BOTTLE, .26
6-22
64
011-0060, Version 6
Maintenance
Figure 6-4 Submersible Slave Controller Disassembly
011-0060, Version 6
6-23
6-24
Maintenance
Item
No.
Part
Number
Part Description
69
001-3459
SHIM, BACKBONE, SCU
1
70
001-3460
PLATE, COVER, WASHER
2
71
001-3468
BUMPER, PCB, SLAVE CONT
2
72
001-3254
CLAMP, CONNECTOR
1
Qty.
011-0060, Version 6
Maintenance
Figure 6-4 Submersible Slave Controller Disassembly
011-0060, Version 6
6-25
6-26
Maintenance
011-0060, Version 6
Titan II Slave Arm Supplement
for the Titan II Manipulator System
Technical Manual
© - ALSTOM - 2000.
ALSTOM, the ALSTOM logo, and their frameworks are trademarks and service trademark applications
of ALSTOM. Other names mentioned, registered or not, are the property of their respective companies.
Schilling Robotics
201 Cousteau Pl.
Davis, CA 95616
Telephone: (530) 753-6718
Fax: (530) 753-8092
Web Site: http://www.schilling.com
E-mail:
[email protected]
[email protected]
[email protected]
Table of Contents
Chapter 1
GENERAL INFORMATION
1.1 Slave Arm Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Unilateral Slave Arm Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.3 Unilateral Slave Arm Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.4 Bilateral Slave Arm Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.5 Bilateral Slave Arm Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Chapter 2
2.1 Slave Arm Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 Slave Arm Component Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.2 Slave Arm Hydraulic System Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.2.1 Motive Hydraulic System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.2.2 Wireway Compensation Hydraulic System . . . . . . . . . . . . . . . . . 2-5
2.1.3 Slave Arm Electrical System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2 Slave Arm Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2.1 Azimuth Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.2 Linear Actuator Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.3 Shoulder Joint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.4 Upper Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.4.1 Upper Arm Hydraulics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2.2.4.2 Upper Arm Junction Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2.2.5 Elbow Joint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.2.6 Forearm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.2.7 Pitch/Yaw Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.2.8 Wrist/Jaw Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Chapter 3
INSTALLATION
3.1 Preparing the Slave Arm Mounting Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Slave Arm Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
iii
011-0061, Version 3
3.3 Connecting the Slave Arm and Control System Components. . . . . . . . . . . . . . . . . 3-2
3.4 Connecting to Hydraulic Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.5 Wireway Compensator Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.6 Wireway Compensator Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.6.1 Checking for Wireway Air Leaks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.6.2 Filling the Wireway Compensation System . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.7 Post-Installation Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Chapter 4
OPERATION
Chapter 5
TROUBLESHOOTING
Chapter 6
MAINTENANCE
6.1 General Maintenance Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1 Required Practices and Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.2 General Repair Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2 Resolver Calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3 Azimuth Assembly Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3.1 Removing the Azimuth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3.2 Installing the Azimuth. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4 Elbow Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4.1 Removing the Elbow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4.2 Installing the Elbow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.5 Forearm Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.5.1 Removing the Forearm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.5.2 Installing the Forearm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.6 Pitch/Yaw Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.6.1 Removing the Pitch/Yaw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.6.2 Separating the Pitch and Yaw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.6.3 Installing the Pitch/Yaw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.7 Wrist/Jaw Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.7.1 Removing the Wrist/Jaw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.7.2 Installing the Wrist/Jaw. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
011-0061, Version 3
iv
6.8 Azimuth Resolver Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.8.1 Removing the Azimuth Resolver Assembly. . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.8.2 Installing the Azimuth Resolver Assembly . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.9 Shoulder Resolver Assembly Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.9.1 Removing the Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.9.2 Installing the Resolver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.10 Linear Actuator Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.10.1 Removing the Linear Actuator from the Slave Arm . . . . . . . . . . . . . . . . . 6-9
6.10.2 Reinstalling the Linear Actuator on the Slave Arm . . . . . . . . . . . . . . . . . 6-10
6.11 Linear Actuator Seal, Bearing and O-ring Replacement. . . . . . . . . . . . . . . . . . . 6-10
6.11.1 Disassembling the Linear Actuator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.11.2 Assembling the Linear Actuator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.12 Hydraulic Fluid Filter Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.12.1 Removing the Hydraulic Fluid Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.12.2 Installing the Hydraulic Fluid Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.13 Pressure Transducer Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.13.1 Removing the Pressure Transducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.13.2 Installing the Pressure Transducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.14 Solenoid Block Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.14.1 Removing the Solenoid Block Assembly . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.14.2 Installing the Solenoid Block Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.15 Elbow Resolver Assembly Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.15.1 Removing the Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.15.2 Installing the Resolver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.16 Servo Valve Assembly Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.16.1 Removing a Servo Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.16.2 Installing a Servo Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.17 Adapter Plate Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.17.1 Removing an Adapter Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.17.2 Installing an Adapter Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.18 Lock Valve Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6.18.1 Removing a Lock Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6.18.2 Installing a Lock Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
v
011-0061, Version 3
6.19 Pitch/Yaw Resolver Assembly Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6.19.1 Removing the Pitch Resolver Assembly . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6.19.2 Removing the Yaw Resolver Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.19.3 Installing the Resolver Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.20 Bilateral Wrist Force/Torque Sensor Assembly Replacement . . . . . . . . . . . . . . 6-15
6.20.1 Removing the Force/Torque Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.20.2 Installing the Force/Torque Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.21 Wrist Resolver and Jaw LVDT Assembly Replacement . . . . . . . . . . . . . . . . . . 6-16
6.21.1 Bilateral Slave Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.21.1.1 Removing the Resolver and Jaw LVDT Assembly . . . . . . . . . 6-16
6.21.1.2 Installing the Resolver and Jaw LVDT Assembly . . . . . . . . . . 6-17
6.21.2 Unilateral Slave Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.21.2.1 Removing the Resolver and Jaw LVDT Assembly . . . . . . . . . 6-17
6.21.2.2 Installing the Resolver and Jaw LVDT Assembly . . . . . . . . . . 6-17
6.22 Wireway Compensator Diaphragm Replacement . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.23 High-Pressure Filter Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6.24 Part Lists and Illustrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
011-0061, Version 3
vi
LIST OF FIGURES
1-1
Slave Arm Range of Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
2-1
Slave Arm Functions and Ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-2
Slave Arm Segments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
3-1
Slave Arm Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3-2
Slave Arm Electrical and Hydraulic Connectors . . . . . . . . . . . . . . . . . . 3-3
3-3
Hydraulic Hose Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3-4
Compensator Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3-5
Compensator Fittings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
6-1
Azimuth and Hydraulic Fluid Filter Replacements . . . . . . . . . . . . . . . 6-21
6-2
Elbow and Forearm Replacements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
6-3
Pitch/Yaw Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6-4
Wrist Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
6-5
Azimuth and Shoulder Resolver and Linear Actuator
Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29
6-6
Linear Actuator Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6-7
Forearm Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6-8
Bilateral Wrist Force/Torque Sensor and Resolver
Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6-8A Unilateral Wrist Resolver Replacement . . . . . . . . . . . . . . . . . . . . . . . . 6-37
6-9
Bilateral Upper Arm Junction Box Disassembly . . . . . . . . . . . . . . . . 6-39
6-10
Unilateral Upper Arm Junction Box Disassembly . . . . . . . . . . . . . . . . 6-41
6-11
Compensator Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
6-12
Wireway Compensator Diaphragm Nib . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6-13
High-Pressure Filter Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45
vii
011-0061, Version 3
LIST OF TABLES
1-1
Unilateral Slave Arm Function Specifications . . . . . . . . . . . . . . . . . . . 1-2
1-2
Bilateral Slave Arm Function Specifications . . . . . . . . . . . . . . . . . . . . 1-4
6-1
Maintenance Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
011-0061, Version 3
viii
SAFETY SUMMARY
BASIC ASSUMPTIONS
This manual assumes that service personnel know how to properly use the tools that are necessary to perform service operations on Schilling Development manipulator systems. This manual also assumes that
service personnel generally understand electrical, mechanical, and hydraulic systems, and basic service
and repair procedures.
SAFETY RISK
This manual does not contain detailed descriptions of standard workshop practices, safety principles, and
service operations. It does contain specific warnings and cautions about using specific service methods
that could cause injury to service personnel or damage to the manipulator or associated equipment. The
warnings and cautions in the text of the manual have the following format and significance:
WARNING
INDICATES THAT PERSONAL INJURY
MAY OCCUR IF INSTRUCTIONS ARE NOT
FOLLOWED.
CAUTION
INDICATES THAT DAMAGE TO THE MANIPULATOR SYSTEM OR TO OTHER
EQUIPMENT MAY OCCUR IF INSTRUCTIONS ARE NOT FOLLOWED.
The fact that no warnings or cautions are given for any specific service method does not mean that no
safety risk is involved.
ix
011-0061, Version 3
CHAPTER 1
GENERAL INFORMATION
This manual supplement describes the Titan II slave arm. For information on
the Titan II control system, and on how the slave arm is integrated into the manipulator control system, see the Titan II manipulator control system manual.
1.1 Slave Arm Orientation
Throughout this manual, the slave arm is described as if the operator is standing
behind the azimuth assembly looking toward the jaw with the arm straight out.
From this orientation, sides are referred to as left, right, top, and bottom. The azimuth end of the slave arm is called the base, and the jaw end is called the tip.
1.2 Unilateral Slave Arm Specifications
General
Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Degrees of freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Overall length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81.33 in.
Overall width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.49 in.
Overall height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29 in.
Weight (in air) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 lb
NP model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 lb
Displacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1100 cu in.
Lift capacity at full extension:
Azimuth vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 lb
Azimuth horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 lb
Azimuth inverted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 lb
Hydraulic Requirements
Fluid type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hydraulic oil
Viscosity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 cs to 300 cs
Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5 to 5 gpm
Pressure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3000 psi nominal
011-0061, Version 2
1-1
1.3 Unilateral Slave Arm Function Specifications
General Information
Filtration . . . . . . . . . . . . . . . . . . . . . . . . 10 microns (25 microns absolute)
Environmental
Operating temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10° F to 100° F
Storage temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -40° F to 160° F
Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 0% to 100% condensing
Ambient pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . 0 psia to 20,000 psia*
*Optional
1.3 Unilateral Slave Arm Function Specifications
Table 1-1 provides specifications for all Titan II unilateral slave arm functions.
See Figure 1-1 for an illustration of the slave arm range of motion.
Table 1-1 Unilateral Slave Arm Function Specifications
Actuator Type
Torque/Force
@3000 psi
Azimuth
Rotary vane
1600 ft-lb
270°
64°/sec
Resolver
Shoulder
Linear
6500 lb
120°
64°/sec
Resolver
Elbow
Rotary vane
890 ft-lb
270°
112°/sec
Resolver
Pitch
Rotary vane
412 ft-lb
180°
240°/sec
Resolver
Yaw
Rotary vane
412 ft-lb
180°
240°/sec
Resolver
Wrist
Gerotor
50 ft-lb
360° cont.
60 rpm
Resolver
Jaw
Linear
300 lb
4.2 in.
4.0 in./sec
LVDT
Function
Mechanical
Range
Maximum
Slew Rate
Position
Sensor
1.4 Bilateral Slave Arm Specifications
General
Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Degrees of freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Overall length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81.33 in.
Overall width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.49 in.
Overall height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.29 in.
Weight (in air) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 lb
NP model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 lb
Displacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1100 cu in.
1-2
011-0061, Version 2
General Information
1.5 Bilateral Slave Arm Function Specifications
Lift capacity at full extension:
Azimuth vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 lb
Azimuth horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 lb
Azimuth inverted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 lb
Force Feedback Specifications
Sensor type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-axis force/torque
Load rating:
FX, FY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1000 lb
FZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4000 lb
MX, MY, MZ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4500 inch-lb
Moment to jaw tip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.27 in.
Jaw sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pressure transducer
Hydraulic Requirements
Fluid type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hydraulic oil
Viscosity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 cs to 200 cs
Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5 to 5 gpm
Pressure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3000 psi nominal
Filtration . . . . . . . . . . . . . . . . . . . . . . . . 10 microns (25 microns absolute)
Environmental
Operating temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10° F to 100° F
Storage temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -40° F to 160° F
Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 0% to 100% condensing
Ambient pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . 0 psia to 20,000 psia*
*Optional
Table 1-2 provides specifications for all Titan II bilateral slave arm functions.
See Figure 1-1 for an illustration of the slave arm range of motion.
011-0061, Version 2
1-3
General Information
Table 1-2 Bilateral Slave Arm Function Specifications
Actuator Type
Torque/Force
@3000 psi
Azimuth
Rotary vane
1600 ft-lb
270°
58°/sec
Resolver
Shoulder
Linear
6500 lb
120°
42°/sec
Resolver
Elbow
Rotary vane
890 ft-lb
270°
87°/sec
Resolver
Pitch
Rotary vane
412 ft-lb
180°
173°/sec
Resolver
Yaw
Rotary vane
412 ft-lb
180°
140°/sec
Resolver
Wrist
Gerotor
50 ft-lb
360° cont.
40 rpm
Resolver
Jaw
Linear
300 lb
4.2 in.
Function
1-4
Mechanical
Range
Maximum
Slew Rate
Position
Sensor
LVDT
011-0061, Version 2
General Information
Figure 1-1 Slave Arm Range of Motion
011-0061, Version 2
1-5
General Information
1-6
011-0061, Version 2
011-0061, Version 3
x
CHAPTER 2
This chapter contains functional descriptions of major slave arm assemblies and
an overview of slave arm hydraulic and electrical systems.
2.1 Slave Arm Overview
The slave arm is a servo-hydraulic manipulator with seven functions and six degrees of freedom. The slave arm’s seven functions (see Figure 2-1) are azimuth
yaw, shoulder pitch, elbow pitch, wrist pitch, wrist yaw, wrist rotate, and jaw
open/close.
Movement of each slave arm joint is actuated by a linear or rotary hydraulic actuator. The servo valves that control actuator movement are contained in the
slave arm.
The Titan II slave arm comes in two models: the unilateral model and bilateral
model. The unilateral slave arm is the standard or basic Titan II model. The bilateral slave arm contains all features of the unilateral model, but also contains a
force/torque sensor and two jaw force pressure transducers. If your manipulator
system contains a bilateral slave arm, the Titan II manipulator control system
manual will describe how the force/torque sensor and jaw force pressure
transducers work in your system.
The upper arm segment contains a hydraulic fluid filter, a solenoid valve that is
used to enable and disable slave arm hydraulic power, a pressure transducer that
monitors hydraulic supply pressure, and electrical connections for slave arm electrical assemblies. In the bilateral slave arm, the upper arm contains two additional pressure transducers that measure force on jaw surfaces.
The forearm segment contains seven servo valves that supply slave arm hydraulic actuators, and a lock valve that prevents the shoulder joint from sagging when
hydraulic pressure to the slave arm is disabled.
The unilateral Titan II slave arm has one electrical connection to the control system (called the unilateral cable). This cable carries power and signals to and
from all standard slave arm electronics assemblies. The bilateral slave arm
model also connects to the control system through the unilateral cable, but it contains an additional cable (called the bilateral cable) that carries power and signals
to and from the force/torque sensor and jaw force pressure transducers.
Slave arm hydraulic connections consist of a supply hose and return hose that are
attached to the user’s hydraulic power unit. These hoses connect to the slave upper arm.
011-0061, Version 1
2-1
Figure 2-1 Slave Arm Functions and Ranges
2-2
011-0061, Version 1
2.1.1 Slave Arm Component Overview
The slave arm’s mechanical assemblies provide a skeleton for the hydraulic actuators that cause slave arm movement. This skeleton has the following major
components (Figure 2-2):
•
Azimuth. Attaches the slave arm to the user’s mounting platform. Contains
a hydraulic rotary vane actuator that swings the slave arm horizontally in a
partial circle.
•
Shoulder. This joint is formed by the connection of the azimuth and the upper arm. A linear actuator pinned between the azimuth and upper arm
causes the shoulder joint to pivot, moving the upper arm up and down.
•
Upper arm. Contains hydraulic and electrical connections, the hydraulic
supply fluid filter, the solenoid valve that enables and disables slave arm
movement, and the hydraulic supply fluid pressure transducer. In the bilateral slave arm model, there are two additional pressure transducers that
measure jaw pressure.
•
Elbow. Contains a rotary vane actuator that rotates the forearm up and
down relative to the upper arm.
•
Forearm. Contains servo valves that supply slave arm actuators, and a lock
valve for the shoulder actuator.
•
Pitch/yaw assembly. Made up of two assemblies, the pitch and the yaw,
containing identical hydraulic rotary vane actuators. These actuators are
mounted at 90° to each other. The pitch actuator actuates up and down
movement; the yaw actuates left and right movement.
•
Wrist/jaw assembly. Contains a hydraulic rotary vane motor, and can rotate
continuously (360°) in either direction. Parallel-acting jaws are opened and
closed by a hydraulic linear actuator. The bilateral slave arm wrist contains
a force/torque sensor which can be used to calculate the forces and torques
for all slave arm joints.
2.1.2 Slave Arm Hydraulic System Overview
The slave arm contains two hydraulic systems: the motive hydraulic system that
powers slave arm actuators, and the wireway compensation system that provides
pressure compensation for slave arm wireways.
2.1.2.1 Motive Hydraulic System
The slave arm is connected to the user’s hydraulic power unit by a supply line
and a return line. The supply line enters the slave arm at the base of the upper
arm. Fluid from the supply line passes through a filter that helps protect the arm
from contaminants that may have been introduced through the user’s hydraulic
fluid. The supply fluid then flows through a operator-controlled solenoid valve
that enables and disables slave arm hydraulics.
The supply fluid runs through an output flange on the right side of the upper arm
into the elbow slip ring. The slip ring communicates the fluid to a output flange
011-0061, Version 1
2-3
Figure 2-2 Slave Arm Segments
2-4
011-0061, Version 1
on the left side of the forearm. In the forearm, fluid is distributed to the seven
servo valves that control the following hydraulic actuators:
•
Azimuth rotary vane actuator
•
Shoulder linear actuator
•
Elbow rotary vane actuator
•
Pitch subassembly rotary vane actuator
•
Yaw subassembly rotary vane actuator
•
Wrist rotary motor
•
Jaw linear actuator
Fluid for the azimuth and shoulder actuators is routed backward through the elbow slip ring. Fluid for the elbow and pitch actuators is ported directly from the
forearm. Fluid for the yaw, wrist, and jaw actuators is routed forward from the
forearm through an output flange on the right side of the pitch subassembly. This
fluid passes through slip rings in the pitch and yaw subassemblies and through an
output flange in the top side of the yaw. From here fluid enters the wrist to
power the wrist motor and jaw linear actuator.
Hydraulic return generally reverses the path of hydraulic supply. All return fluid
is eventually collected in the junction box in the upper arm, which is connected
to the hydraulic power unit return line.
A schematic diagram of the slave arm motive hydraulic system can be found in a
plastic sleeve at the back of this manual.
2.1.2.2 Wireway Compensation Hydraulic System
The slave arm has a separate, passive hydraulic system that provides pressure
compensation for slave arm wireways when the slave arm is submerged in water.
The wireway compensation system prevents water from leaking into the wireways and also keeps wireway cables from being crushed when the slave arm is
submerged.
In terrestrial systems, wireway compensation is unnecessary and the wireway
compensation system is not filled with fluid.
In submersible systems, the wireway compensation system must be attached to a
wireway compensator. The compensator can be supplied by the factory or by the
user.
The factory-supplied wireway compensator, which is a cylinder containing a rolling diaphragm, attaches to any convenient surface near the slave arm that is no
higher than six feet above the azimuth. Ports on one end of the cylinder are open
to seawater. The other end of the compensator contains an overpressure relief
valve, a fill valve, and an input port valve.
Changes in pressure are accommodated by the diaphragm, which is held in place
with a spring-loaded piston. The relief valve provides backup pressure compensation by releasing wireway hydraulic fluid into surrounding seawater when pressure inside the wireways exceeds outside pressure by approximately 40 psi.
011-0061, Version 1
2-5
2.2 Slave Arm Assemblies
The wireway compensation system is filled by forcing high-pressure fluid
through the compensator fill valve. Fluid fills the accumulator cavity in the compensator, and flows through a hose to the wireway hydraulic port in the azimuth
base.
From the azimuth, the hydraulic fluid flows through all slave arm wireways. It
surrounds the wireways, going through the upper arm, elbow, forearm and wrist.
Its return path is through the center of the slip rings to a capped return (purge)
hose in the upper arm.
2.1.3 Slave Arm Electrical System Overview
Electrical lines in the slave arm carry power and telemetry information to individual electronics assemblies in various slave arm segments.
In the unilateral slave arm model, power and telemetry information is routed to
the slave arm from the control system through the unilateral electronics cable.
This cable carries power and signals to and from slave arm resolvers, servo
valves, the jaw LVDT, the supply line pressure transducer, and the solenoid
valve.
The bilateral slave arm model uses the unilateral electronics cable for the same
purposes as the unilateral slave arm. However, the bilateral slave arm also uses a
second cable (called the bilateral electronics cable) to carry power and signals to
and from the force/torque sensor in the wrist and the jaw pressure transducers in
the upper arm.
Both the bilateral and unilateral electronics cables enter the slave arm at the base
of the upper arm. These cables run through the upper arm and attach to connectors on the junction box at the tip of the upper arm.
The junction box serves as a junction for some slave arm electrical connections.
It also contains a pressure transducer that monitors hydraulic supply pressure. In
the bilateral system, the junction box contains two additional pressure
transducers to measure force on slave arm jaw surfaces.
The slave arm wireway has its primary electrical connection junctions in the upper arm and forearm. In the upper arm junction box, there are connections for
wires running to resolvers in the azimuth and shoulder. In the bilateral slave arm,
connections to two jaw pressure transducers are also contained in the upper arm
junction box.
The forearm contains electrical connections to the seven servo valves. It also
contains connectors for the wires that thread farther up into the arm to the pitch,
yaw, and wrist resolvers and to the jaw LVDT.
This section provides a functional description of each major slave arm assembly.
Figure 2-2 shows the location of each assembly.
2-6
011-0061, Version 1
2.2.1 Azimuth Assembly
The azimuth assembly forms the base of the slave arm. The bottom of the azimuth assembly mounts onto the user’s mounting platform.
The azimuth assembly contains a hydraulic rotary vane actuator that swings the
slave arm in a horizontal partial circle. The azimuth moves when hydraulic fluid
is directed into port C1 or C2 of the actuator from a servo valve in the forearm.
When hydraulic fluid is introduced through C1, the azimuth housing rotates
clockwise (as viewed from above). If the servo valve directs fluid into C2, the
azimuth housing moves counterclockwise. The slave arm is attached to the azimuth housing and moves with it.
Any internal fluid leakage from the azimuth is directed through a port in the azimuth lid. A hose from this port goes into the upper arm and connects to the junction box, where the fluid mingles with other system return fluid.
The azimuth position sensor is a resolver that lies directly beneath the azimuth
lid. A wire from the resolver goes from the azimuth into the upper arm, and connects to the general wireway at the upper arm junction box.
2.2.2 Linear Actuator Assembly
The upper arm segment is rotated about the shoulder by a linear actuator that is
pinned between the azimuth and upper arm.
The linear actuator moves when hydraulic fluid is directed into port C1 or C2 of
the linear actuator from a servo valve in the forearm. When hydraulic fluid is introduced through C1, the actuator piston extends. The arm pivots around the
shoulder joint, lifting the arm segment. When hydraulic fluid is directed through
C2, the piston retracts, pivoting the shoulder joint in the opposite direction and
lowering the arm segment.
2.2.3 Shoulder Joint
The shoulder joint connects the azimuth and the upper arm segment. The joint
contains a pivot assembly that allows the joint to rotate around a pivot pin. Joint
movement is driven by the linear hydraulic actuator that is pinned between the
azimuth and the upper arm.
The shoulder’s only electronic component is a resolver that senses shoulder position. A wire from the resolver goes from the shoulder into the upper arm, where
it connects to the general wireway at the upper arm junction box.
2.2.4 Upper Arm
The upper arm is the entry point into the slave arm for hydraulic supply and return lines, and for the electrical cables that connect to the slave controller. The
upper arm also contains:
•
A hydraulic fluid filter.
•
An operator-controlled solenoid valve that enables and disables slave arm
hydraulics.
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2-7
•
A pressure transducer that monitors supply pressure. (The bilateral slave
arm model contains two additional pressure transducers that measure pressure on the lines to the jaw actuator.)
•
A junction box that connects wires from slave arm electronic assemblies.
2.2.4.1 Upper Arm Hydraulics
High-pressure hydraulic fluid entering the upper arm from the user’s hydraulic
power unit goes first to a filter and then to an operator-controlled solenoid valve.
The fluid then goes through the elbow to the forearm, where it is distributed to
servo valves that supply the seven slave arm actuators. Fluid that actuates shoulder and azimuth movement is routed backward through the shoulder to the upper
arm, from which it is distributed to the azimuth rotary actuator and the shoulder
linear actuator.
Return fluid from the slave arm is channeled through the arm to the junction box
in the upper arm. This fluid mingles with return fluid from the azimuth as described in Section 2.2.1. This system return fluid is directed to a hose that exits
from the slave arm at the base of the upper arm. This hose is attached to the return line of the user’s hydraulic power unit.
The solenoid valve in the upper arm enables and disables hydraulic flow to the
slave arm. When the solenoid valve is open, it connects user-supplied hydraulic
fluid to the slave arm supply line. When the solenoid valve is closed, it connects
the arm supply circuit to the slave arm return line, and blocks the user’s supply
line (as shown in the slave arm hydraulic schematic at the back of this manual).
2.2.4.2 Upper Arm Junction Box
Power and telemetry information are routed from the control system to the slave
arm through either one or two cables. In the unilateral slave arm model, the unilateral electronics cable carries power and signals to and from slave arm resolvers, servo valves, the hydraulic supply pressure transducer, and the solenoid
valve. The bilateral slave arm model contains the unilateral cable, but also contains the bilateral electronics cable, which carries power and signals to and from
the force/torque sensor in the wrist and the jaw pressure transducers in the upper
arm.
In the unilateral slave arm model, the unilateral cable enters the slave arm at the
base of the upper arm. This cable runs through the upper arm and attaches to a
connector on the junction box at the top of the upper arm. In the bilateral slave
arm model, both the bilateral and unilateral electronics cables enter the slave arm
at the base of the upper arm. These cables run through the upper arm and attach
to connectors on the upper arm junction box.
The junction box contains connections for all slave arm electrical components:
servo valves, resolvers, the jaw LVDT, the hydraulic supply pressure transducer,
and the upper arm solenoid valve. In the bilateral slave arm, the junction box
also contains connections for the force/torque sensor and the two additional pressure transducers.
2-8
011-0061, Version 1
2.2.5 Elbow Joint
The elbow, which is attached to the upper arm and forearm, contains a hydraulic
rotary vane actuator. The actuator housing is bolted to the forearm, so that the
forearm swings up and down as the actuator rotates.
The elbow actuator moves when hydraulic fluid is directed into port C1 or C2 of
the elbow actuator from a servo valve in the forearm. When the servo valve directs hydraulic fluid through C1, the forearm moves up; when fluid is introduced
into C2, the forearm moves down.
A slip ring in the elbow accommodates the rotation of the elbow relative to the
upper arm.
The slave arm wireway passes out of the upper arm junction box into the right
side of the elbow. The wires then run through the center of the elbow to the left
side, from which they enter the forearm.
Angular position of the elbow is sensed by a resolver in that joint.
2.2.6 Forearm
The forearm serves as the system’s hydraulic manifold. Primary features are:
•
A servo valve block containing seven servo valves.
•
A lock valve for hydraulic lines leading to the shoulder actuator.
•
Connectors for the pitch, yaw, wrist, and jaw position transducers.
Hydraulic fluid enters the forearm from the elbow, and is distributed to the seven
servo valves that control hydraulic flow to all slave arm actuators (azimuth,
shoulder, elbow, pitch, yaw, wrist, and jaws). From each servo valve, two lines
(C1 and C2) are routed to each hydraulic actuator.
A lock valve is located beneath the servo valve for the shoulder actuator. When
system pressure is not being applied, the lock valves close to prevent the shoulder joint from sagging.
In the forearm, wires leave the wireway to connect with the servo valves. Remaining wires exit from the left side of the forearm to the pitch/yaw assembly.
2.2.7 Pitch/Yaw Assembly
The pitch/yaw assembly is located between the forearm and the wrist/jaw assembly.
The pitch/yaw assembly contains two identical subassemblies, each containing a
rotary vane actuator, a hydraulic slip ring, and a resolver. These subassemblies
are called either the pitch or the yaw, depending on how they are mounted on the
slave arm. The pitch subassembly is attached to the forearm, the yaw subassembly is attached to the wrist, and a hydraulic manifold is located between the pitch
and yaw. The pitch subassembly moves the wrist up and down, and the yaw subassembly moves it left and right.
011-0061, Version 1
2-9
The hydraulic manifold between the pitch and yaw carries electrical lines and hydraulic fluid between the two subassemblies.
The pitch subassembly contains a rotary vane actuator with two hydraulic ports,
designated C1 and C2. Directing fluid into C1 causes the housing of the pitch actuator to move up; directing fluid to C2 causes the housing to move down.
The yaw subassembly is identical to the pitch assembly. The yaw subassembly is
turned 90° from the pitch assembly, and thus actuates left-to-right movement. Directing fluid into C1 causes the housing of the pitch actuator to move to the right,
and directing fluid to C2 causes the housing to move to the left.
A hydraulic slip ring in the pitch subassembly allows the pitch housing to remain
stationary relative to the forearm, and a hydraulic slip ring in the yaw subassembly allows the yaw housing to rotate relative to the pitch subassembly.
Angular positions of the pitch and yaw are sensed by a resolver in each subassembly.
2.2.8 Wrist/Jaw Assembly
The wrist/jaw assembly has two functions: the entire assembly rotates, and the
jaws open and close to let the operator grasp and manipulate objects.
The wrist base is attached to the yaw side of the pitch/yaw assembly. The wrist
can rotate continuously in either direction. Wrist rotation is performed by a hydraulic motor in the wrist/jaw assembly.
Hydraulic fluid flows to and from the wrist motor through a servo valve in the
forearm. The wrist motor has two hydraulic ports, designated C1 and C2. Directing fluid into C1 causes the wrist to turn clockwise; directing fluid to C2 causes
counterclockwise rotation.
The wrist contains a resolver to sense wrist position. Because the wrist can rotate continuously, the resolver rotor must also be able to rotate continuously, and
therefore cannot be attached to a wire. Instead, the wrist brushless resolver assembly contains a rotary transformer that communicates signals to and from the
resolver rotor.
In the bilateral slave arm, the wrist contains a force/torque sensor.
The jaws are at the tip of the wrist/jaw assembly. As the jaws open and close,
the gripping surfaces remain parallel.
The jaws are actuated by a hydraulic piston. The piston is controlled by fluid
flowing from the wrist through two hydraulic lines designated C1 and C2. When
the jaw servo valve in the forearm directs fluid into C1, the piston extends, causing the jaws to open. When fluid flows into C2, the piston retracts, causing the
jaws to close.
The force on the jaw surface (that is, the resistance of the object being gripped) is
a function of the pressure on the jaw hydraulic piston. In the bilateral slave arm,
this pressure is measured by two pressure transducers in the upper arm that are attached to jaw hydraulic lines C1 and C2.
2-10
011-0061, Version 1
A linear variable differential transformer (LVDT) located inside the wrist provides information about the distance between the jaw gripping surfaces.
011-0061, Version 1
2-11
2-12
011-0061, Version 1
CHAPTER 3
INSTALLATION
This chapter explains how to install the Titan II slave arm. For information
about installing and interconnecting elements of the Titan II control system, see
the Titan II manipulator control system manual.
CAUTION
Since the slave arm may not be rigid during the installation procedure,
support the slave arm at the elbow and the tip.
3.1 Preparing the Slave Arm Mounting Platform
The primary consideration for installation is the slave arm mounting location.
Determine an appropriate location from slave arm mounting details in this section and from the slave arm range-of-motion diagrams in Chapter 1. After you
have established the mounting location, prepare a mounting platform that will accommodate the slave arm mounting surface shown in Figure 3-1.
Figure 3-1 Slave Arm Mounting Surface
011-0061, Version 1
3-1
3.2 Slave Arm Installation
Installation
The attaching hardware for the slave arm consists of six 1/2-20 threaded stainless
steel hex-head cap screws. These screws attach the slave arm azimuth spindle to
the mounting platform. The screws must be long enough to thread through the
mounting platform and engage 0.5 inches into the azimuth.
Contact Schilling Development, Inc. for information about any special slave arm
installation considerations.
3.2 Slave Arm Installation
The slave arm may not be rigid during installation, so support the arm at the elbow and tip during the entire installation procedure.
1.
Move the slave arm next to the mounting platform. Orient the slave arm so that
it points in the correct direction.
2.
Carefully lower the azimuth onto the mounting platform. The bolt holes in the
azimuth bottom must be flush against the mounting platform.
3.
Lubricate the threads of the six mounting screws.
4.
Working from beneath the mounting platform, screw the six mounting screws
through the mounting platform bolt holes into the azimuth. The screws
must engage 0.5 inches into the azimuth. Torque the screws to 80 ft-lb.
3.3 Connecting the Slave Arm and Control System Components
To connect the slave arm to the slave controller, follow these steps:
1.
If you have a bilateral slave arm, connect the bilateral electronics cable to the
slave arm at the location shown in Figure 3-2.
2.
Connect the unilateral electronics cable to the slave arm at the location shown
in Figure 3-2.
For information on connecting the other ends of these cables to the slave controller, see the Titan II manipulator control system manual.
Before you proceed, see Chapter 1 for information on hydraulic input requirements.
3-2
011-0061, Version 1
Installation
Figure 3-2 Slave Arm Electrical and Hydraulic Connectors
WARNING
1. Activating hydraulic power with loose or reversed connections
can cause injury to personnel and/or damage to equipment.
2. If system return pressure exceeds 1000 psi at any time when slave
arm hydraulic power is enabled, injury to personnel can result and
damage to equipment will occur. If the hydraulic return passes
through a filter or is manifolded with other equipment returns before returning to the tank, check the return pressure when the filter and/or other equipment is running to be sure that return
pressure never exceeds 1000 psi.
3. Any obstruction in the hydraulic return line can cause injury to
personnel and/or damage to equipment.
011-0061, Version 1
3-3
Installation
CAUTION
To prevent damage to the slave arm, the slave arm hydraulic return must
always be connected to the hydraulic power unit tank or a pressure compensator.
The slave arm is connected to the user’s hydraulic power unit with hoses and fittings. The slave arm return line fitting is a 37°, male, flared 3/8-inch tube (-6);
the supply line fitting is a 37°, male, flared 1/4-inch tube (-4).
See Figure 3-2A for the locations of ports referenced in the connection procedure.
Figure 3-2A, Port Locations
3-4
Item
Number
Part Number
1
101-1072
UPPER ARM
1
2
001-2044
JUNCTION BOX
1
3
101-0798
FILTER
1
4
001-2045
FILTER CLAMP
1
5
001-2078
HOSE GUIDE
2
6
002-0131
NAS6404U5
8
7
No part
number
HYDRAULIC POWER UNIT’S SUPPLY HOSE
1
8
No part
number
HYDRAULIC POWER UNIT’S RETURN HOSE
1
Part Description
Qty.
1.
Remove the cap on the fitting of the slave arm supply port on the filter (3).
2.
Remove the filter clamp (4) by removing the two securing bolts (6).
3.
Attach the hydraulic power unit’s supply hose (7) to the filter (3) and tighten.
It may be necessary to loosen some of the bolts (6) holding the hose guide
(5) under the filter (3).
4.
Remove the cap on the fitting of the slave arm return port on the junction box
(2).
5.
Remove the other hose guide (5) by removing the two securing bolts (6).
6.
Attach the hydraulic power unit’s return hose (8) to the junction box (2). It
may be necessary to loosen some of the bolts (6) securing the junction box
(2) to the upper arm (1).
7.
After attaching the hoses and tightening the loosened bolts, torque the bolts (6)
to 21 ft-lb.
011-0061, Version 1
Installation
Figure 3-3 Hydraulic Hose Connections
011-0061, Version 1
3-5
3.5 Wireway Compensator Mounting
Installation
3.5 Wireway Compensator Mounting
If your slave arm will be submerged in water, follow the instructions in this section to mount the factory-provided compensator. If your slave arm will not be
submerged in water, disregard this section.
The wireway compensator may be mounted anywhere the user finds convenient,
provided that it is no higher than six feet above the azimuth. The limiting factor
is the length of hose used to connect the compensator with the slave arm.
CAUTION
Be sure to mount the compensator with the relief valve at the highest
point.
Figure 3-4 Compensator Mounting Surface
The compensator bracket will accommodate 1/4-inch bolts in the pattern shown
in Figure 3-4.
The compensator will be supplied with a male quick-disconnect fitting on the fill
port, a regular hydraulic fitting on the output port (the port that goes to the azimuth wireway compensation port), and an overpressure relief valve on the relief
valve port as shown in Figure 3-5.
3.6 Wireway Compensator Installation
If your slave arm will be submerged in water, follow the instruction in this section to install the factory-provided wireway compensator. If your slave arm will
not be submerged in water, disregard this section.
3-6
011-0061, Version 1
Installation
3.6 Wireway Compensator Installation
Figure 3-5 Compensator Fittings
WARNING
The wireway compensator must be installed correctly and the wireway compensation system must be purged of all air before the slave
arm can be submerged. Severe damage may occur to the slave arm
if air is left in the system.
CAUTION
For best performance, purge the wireway compensation system monthly
or anytime the fluid is compromised.
CAUTION
The wireway compensator cannot be installed under water.
3.6.1 Checking for Wireway Air Leaks
Insure that all slave arm seals and joints are airtight before filling the wireway
compensation system with hydraulic fluid. This can be accomplished by two
methods.
The first method is to cap the wireway compensation system purge line with its
hydraulic plug, and then fill the system with air to 1 atmosphere or 15 psi. Check
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3-7
3.7 Post-Installation Startup
Installation
for leaks by spraying the joints with a mild detergent or window cleaner. If air is
escaping from the joints, the detergent or window cleaner will foam.
The second method is to install a pressure gauge on the purge line. Fill the system with air to 1 atmosphere or 15 psi, remove the air supply, leave the system to
stabilize, and monitor the gauge pressure. If the pressure drops, check for leaks
by the method described above.
3.6.2 Filling the Wireway Compensation System
The item numbers in parentheses refer to parts in Figure 6-11.
1.
Make sure there are no leaks in the seals or joints. See section 3.6.1.
2.
Remove the hydraulic plug from the wireway compensation system purge line
and put the hose end into a bucket.
3.
Position the slave arm in a vertical position with the jaws up, and disconnect it
from its electrical power source.
4.
Attach a hose from the compensator output port (fitting) to the input port on the
underside of the azimuth. This port connects to the coaxial hose that contains the azimuth resolver wires. This hose starts at the azimuth lid, runs
through the upper arm, and goes to the junction box.
5.
Schilling Development recommends using a clean, pressurized insecticide
sprayer to fill the wireway compensation system. Attach the hose from the
sprayer to the compensator input (fill) valve.
6.
Force hydraulic fluid into the compensator. The fluid will fill up the accumulator and force out the compensator piston (3). Stop pumping hydraulic fluid
when the piston is fully extended. Let the system stabilize and the fluid run
into the wireway compensation system lines. When the piston recedes back
into the compensator, force more hydraulic fluid into the accumulator. Repeat until hydraulic fluid starts to run out of the purge line.
7.
Purge all air from the wireway compensation system. One way to check for air
is to run a hose from the purge line into a bucket of fluid and watch for bubbles. When all the air has been purged, cap the purge line with a hydraulic
plug.
8.
Release any further air by pushing a thumbnail against the side of the relief
valve (11) on the compensator until first air, and then fluid is released.
9.
Fill the compensator until the piston is fully extended.
3.7 Post-Installation Startup
For information on installation checkout and initial system startup, see the Titan
II manipulator control system manual.
3-8
011-0061, Version 1
CHAPTER 4
OPERATION
For operation information on the Titan II slave arm, refer to the Titan II manipulator control system manual.
011-0061, Version 1
4-1
General Information
4-2
011-0061, Version 1
CHAPTER 5
TROUBLESHOOTING
For troubleshooting information on the Titan II slave arm, refer to the Titan II
manipulator control system manual.
011-0061, Version 1
5-1
General Information
5-2
011-0061, Version 1
CHAPTER 6
MAINTENANCE
This chapter contains instructions for performing maintenance on repairable
items on the Titan II slave arm.
Instructions for performing maintenance tasks are grouped by major assembly as
shown in Table 6-1.
See part lists and illustrations for the maintenance procedures at the end of this
chapter.
Table 6-1 Maintenance Procedures
Primary Assembly
Slave Arm
Disjointing
Azimuth
Slave Arm
Forearm
Pitch/Yaw
Paragraph
Number
Figure
Number
6.3
6-1
Azimuth Assembly Replacement
6.4
6-2
Elbow Assembly Replacement
6.5
6-2
Forearm Assembly Replacement
6.6
6-3
Pitch/Yaw Replacement
6.7
6-4
Wrist/Jaw Assembly Replacement
6.8
6-5
Azimuth Resolver Replacement
6.9
6-5
Shoulder Resolver Assembly Replacement
6.10
6-5
Linear Actuator Assembly Replacement
6.11
6-6
Linear Actuator Seal, Bearing, and O-ring Replacement
6.12
6-1
Hydraulic Fluid Filter Assembly Replacement
6.13
6-9
6-10
Pressure Transducer Assembly Replacement
6.14
6-9
6-10
Solenoid Block Assembly Replacement
6.15
6-2
Elbow Resolver Assembly Replacement
6.16
6-7
Servo Valve Assembly Replacement
6.17
6-7
Lock Valve Assembly Replacement
6.18
6-4
Pitch/Yaw Resolver Assembly Replacement
011-0061, Version 3
Task Description
6-1
Maintenance
Table 6-1 (Continued)
Primary Assembly
Paragraph
Number
Figure
Number
6.19
6-8
Bilateral Wrist Force/Torque Sensor Assembly
Replacement
6-8
Bilateral Wrist Resolver and Jaw LVDT Assembly
Replacement
6-8A
Unilateral Wrist Resolver and Jaw LVDT Assembly
Replacement
6-11
Wireway Compensator Diaphragm Replacement
Wrist
6.20
Wireway
Compensation
System
6.21
Task Description
WARNING
To prevent injury to personnel and damage to equipment, always
observe the following precautions when performing maintenance
on the manipulator system:
1. Wear safety goggles when working on or near the slave arm.
Even when the slave arm has been isolated from hydraulic pressure, residual pressure will remain in many arm components.
2. Before performing any repair procedures on the slave arm, turn
off power to the hydraulic power unit and disconnect the slave arm
from electrical power.
CAUTION
1. Any manipulator system component that contains PC boards is sensitive to damage from static electricity. While working on static- sensitive
equipment, wear an anti-static wrist band attached to earth ground or a
large metal object.
2. To avoid damage to the slave arm, do not use any lubricating compounds containing suspended particles such as molybdenum or graphite.
6.1.1 Required Practices and Procedures
Always observe the following practices and procedures when performing maintenance on the Titan II slave arm:
6-2
•
Before disjointing any slave arm components, remove power from the slave
controller.
•
Lubricate all slave arm o-rings with o-ring lubricant or petroleum jelly.
011-0061, Version 3
Maintenance
•
Lubricate all slave arm threads with a small amount of thread lubricant.
•
Avoid lubricants that contain particles such as molybdenum or graphite.
•
After every 100 operating hours, re-torque all outside fasteners.
6.2 Resolver Calibration
6.1.2 General Repair Information
•
After parts are disassembled, they need to be cleaned, degreased, and inspected before being reassembled.
•
Replace any o-ring that is broken, damaged, or shows signs of wear.
•
Observe required torques for all fasteners.
•
For some procedures, it is necessary to use a curved pick to remove o-rings.
•
For some procedures, it is necessary to use a bench vise to secure an assembly while it is being serviced.
•
For procedures where hydraulic connections are broken while the slave arm
is mounted on its base, be sure the tip of the arm is supported.
•
When reconnecting telemetry cables, make sure the identification information on the connectors matches before joining them.
6.2 Resolver Calibration
When you remove a resolver, you must carefully align it during reinstallation.
Each resolver has two 1/16-inch aligning spheres attached at the factory. These
spheres line up with notches in the corresponding parts of the assembly that the
resolver is mounted to. The resolver spheres fit only one way into their notches.
This positions the resolver correctly in the assembly, and eliminates the need for
calibration.
6.3 Azimuth Assembly Replacement
For the azimuth replacement procedure, item numbers in parentheses refer to
6.3.1 Removing the Azimuth
1.
Disconnect the slave arm from its electrical power source.
2.
Remove screws (19, 8) to free the upper arm top plate (13) and the junction box
top plate (23).
3.
Remove the four bolts (7) from the left shoulder plate (12), and pivot the shoulder plate up to remove the azimuth hydraulic line (5) on the left side of the
azimuth (1).
4.
Remove the screw (11) from the azimuth return line, and remove the return line
from the azimuth (1).
5.
Pivot the left shoulder plate (12) back down onto the azimuth (1), and replace
two bolts (7) to support the arm while you undo the right shoulder plate (6).
011-0061, Version 3
6-3
6.4 Elbow Assembly Replacement
Maintenance
6.
Remove the right shoulder plate (6) by removing the four bolts (7). Pull the
shoulder plate off of the shoulder joint.
7.
Remove the right azimuth hydraulic line (5).
8.
Remove the hose guide (16) by removing the two bolts (24) on the left side of
the upper arm (9).
9.
Remove the resolver feedback line (17) from its connection at the junction box
(18).
10. Remove the linear actuator snap rings (3) and pin (2) to free the linear actuator (4) from the azimuth.
11. Remove the two bolts (7) on the left shoulder plate (12).
12. Pull the upper arm (9) off of the azimuth (1).
6.3.2 Installing the Azimuth
To install the azimuth, reverse the removal procedure.
Torque the screws in step 2 to 21 ft-lb.
Torque the bolts in steps 3 and 11 to 75 ft-lb.
Torque the bolts in step 8 to 3 ft-lb.
6.4 Elbow Assembly Replacement
For the elbow replacement procedure, item numbers in parentheses refer to parts
in Figure 6-2.
6.4.1 Removing the Elbow
1.
2.
Remove the access cover (14) at the forearm (27) by loosening the six screws
(31) around the perimeter of the cover. This will take approximately five
turns of the wrench on each screw.
3.
Remove the upper arm top cover (1) from the upper arm (15) by removing the
screws (2, 3) from the perimeter of the cover.
4.
Remove the elbow resolver (21) (see Section 6.15).
5.
Remove the snap ring (33) and the bearing race (34).
6.
Loosen the 10 screws (32) about three turns.
7.
Remove the elbow wire cover (5) and o-ring (6) by removing the four screws
(4) around the perimeter of the cover.
8.
Thread the cable bundle from the forearm manifold through the upper arm junction box.
9.
Remove the 16 bolts (16, 19) from the elbow side plates.
10. Pull the elbow assembly (17) off of the upper arm (15).
6-4
011-0061, Version 3
Maintenance
6.5 Forearm Assembly Replacement
6.4.2 Installing the Elbow
To install the elbow, reverse the removal procedure.
6.5 Forearm Assembly Replacement
For the forearm replacement procedure, item numbers in parentheses refer to
6.5.1 Removing the Forearm
1.
To prevent the slave arm from drooping, support the slave arm before beginning this procedure.
2.
3.
Remove the elbow wire cover (5) and o-ring (6) by removing the four screws
(4) around the perimeter of the cover.
4.
Remove the cover (14) by loosening the screws five turns.
5.
Disconnect the servo valves, the pitch/yaw resolver, the wrist resolver/jaw
LVDT, and (in the bilateral slave arm only), the force/torque sensor; then
thread the wire bundle out of the forearm.
6.
Remove the six bolts (9) from the elbow flange.
7.
Remove the eight bolts (13) from the forearm/elbow interface. The elbow
block (12) will be freed with the removal of these bolts and the forearm (27).
8.
Remove the o-rings (10, 11) from the elbow block (12).
9.
Remove the coupling flange (8) and the o-rings (7).
10. Remove the pitch/yaw assembly as instructed in Section 6.6.
6.5.2 Installing the Forearm
To install the forearm, reverse the removal procedure.
6.6 Pitch/Yaw Assembly Replacement
For the pitch/yaw replacement procedure, item numbers in parentheses refer to
011-0061, Version 3
6-5
6.7 Wrist/Jaw Assembly Replacement
Maintenance
6.6.1 Removing the Pitch/Yaw
1.
2.
Remove the forearm lid (6) at the forearm (1) by loosening the six screws (13)
around the perimeter of the cover. This will take approximately five turns
of the wrench for each screw.
3.
Remove the four bolts (3) around the wire cover (4), and then remove the cover
and its o-ring (5).
4.
Disconnect the cable connectors in the forearm. These cables are for the pitch,
yaw, wrist rotate, force/torque sensor (in the bilateral slave arm only), and
jaw feedback.
5.
Thread the five cables through the back of the forearm.
6.
Remove the eight bolts (14) at the forearm plate, and then the eight bolts (2) at
the forearm (1).
7.
Pull the pitch/yaw (11) away from the forearm (1).
8.
Remove the o-rings (9, 10) from the manifold plate.
9.
Remove the coupling flanges (7) and o-rings (8) between the pitch/yaw (11)
and the forearm (1).
10. Remove the wrist assembly as instructed in Section 6.7.
6.6.2 Separating the Pitch and Yaw
1.
Remove the 11 screws from the pitch/yaw interface.
2.
Separate the pitch and yaw.
3.
Remove any exposed o-rings.
6.6.3 Installing the Pitch/Yaw
To install the pitch/yaw, reverse the separation and removal procedures.
Torque the screws in step 2 of Section 6.6.1 to 21 ft-lb.
6.7 Wrist/Jaw Assembly Replacement
For the wrist/jaw assembly replacement procedure, item numbers in parentheses
refer to parts in Figure 6-4.
6.7.1 Removing the Wrist/Jaw
6-6
1.
2.
Remove the access cover (8) at the forearm by loosening the six screws (23)
around the perimeter of the cover. This will take approximately five turns
of the wrench for each screw.
011-0061, Version 3
Maintenance
6.8 Azimuth Resolver Assembly Replacement
3.
Remove the 6 bolts (17) around each resolver cover (16), and then remove the
covers and their o-rings (15).
4.
Remove each wire cover (2) by removing the four bolts (1). Be sure to remove
the o-rings (3) under the wire covers.
5.
Disconnect the cable connectors (pitch, yaw, wrist rotate, force/torque sensor
(in the bilateral slave arm only), and jaw feedback) in the forearm.
6.
Thread the five cables (and in the bilateral slave arm, the force/torque sensor cables) through the back of the forearm, then three remaining wires through
the pitch, and then two remaining wires through the yaw. In the bilateral
slave arm, remove the connector shells from the force/torque sensor cables
by unscrewing them in order for them to fit through the pitch/yaw manifold.
7.
Remove the 16 bolts (5, 20) holding wrist/jaw assembly (21) onto the yaw.
8.
Pull the wrist/jaw assembly (21) away from the pitch/yaw (4), making sure to
thread the attached two wires through the rotor manifold.
9.
Remove the coupling flange (19) and o-rings (18) between the wrist/jaw assembly and the pitch/yaw (4).
6.7.2 Installing the Wrist/Jaw
To install the wrist/jaw assembly, reverse the removal instructions.
6.8 Azimuth Resolver Assembly Replacement
For the azimuth resolver assembly replacement procedure, item numbers in parentheses refer to parts in Figure 6-5.
6.8.1 Removing the Azimuth Resolver Assembly
1.
2.
Remove the snap ring (1) above the azimuth cover (2).
3.
Pry off the azimuth cover (2).
4.
Remove the wire protector (3) by lifting the wire protector up and threading the
wires through the center hole.
5.
Remove the small snap ring (6) holding the resolver rotor (7) in place, and remove the rotor, being careful not to pull on the wires.
6.
Remove the upper arm top plate (Figure 6-1, item 13) by first removing the
screws (Figure 6-1, items 8 and 19).
7.
Disconnect the resolver connector in the junction box.
011-0061, Version 3
6-7
6.9 Shoulder Resolver Assembly Replacement
8.
Maintenance
Unscrew the connector nut from the connector body.
NOTE
As you remove the connector housing, carefully notice how the interlocking, keyed parts fit inside. The notch on one of the keys lines up
with the red dot on the connector body. The two split collets are keyed,
also, and will fit only one way into the connector body.
9.
Feed the resolver cable back through the resolver feedback line and through the
top of the azimuth (8).
10. Remove the two screws (4) holding the clamps (5) at the resolver (7), and
then remove the resolver stator.
6.8.2 Installing the Azimuth Resolver Assembly
1.
Unscrew the resolver connector nut from the connector body. (See note above).
2.
Feed the resolver cable through the feedback line and to the junction box. Reassemble the connector and attach it to its mating connector in the junction
box.
3.
Align the ball (19) in the resolver stator with the notch in the azimuth lid. Attach the stator with two screws (4) and clamps (5).
4.
Align the ball (19) in the rotor with the notch in the azimuth spindle. Attach
the rotor with the snap ring (6).
5.
Feed the rotor wires through the slot in the wire protector (3), and push the
wire protector into the spindle.
6.
Reinstall the azimuth cover (2), being careful not to pinch the wires.
7.
Reinstall the snap ring (1).
8.
Connect the slave arm to its electrical power source.
6.9 Shoulder Resolver Assembly Replacement
For the shoulder resolver replacement procedure, item numbers in parentheses refer to parts in Figure 6-5.
The shoulder resolver can be removed from the slave arm without unbolting the
upper arm from the azimuth. However, the shoulder joint provides support for
the slave arm, so the arm should be firmly supported both at the wrist and the elbow when you perform the following procedure.
CAUTION
Never perform maintenance on the shoulder if the arm is mounted on its
base and the end of the arm is unsupported.
6-8
011-0061, Version 3
Maintenance
6.10 Linear Actuator Assembly Replacement
6.9.1 Removing the Resolver
1.
2.
Remove screws (Figure 6-1, items 19, 8) to free the upper arm top plate (Figure
6-1, item 13).
3.
Remove the shoulder sensor line at the junction box (18).
4.
Remove the three screws (14) on the inside of the right shoulder pivot.
5.
Pull the resolver assembly (15) out of the shoulder joint.
6.9.2 Installing the Resolver
To install the shoulder resolver, reverse the removal procedure.
6.10
Linear Actuator Assembly Replacement
For the linear actuator replacement procedure, item numbers in parentheses refer
to parts in Figure 6-5.
CAUTION
Tag the hydraulic fittings as you remove them in this procedure. Match
tags to reconnect the appropriate fittings.
The linear actuator can be removed from the slave arm without unbolting the arm
from its mounting. However, since linear actuators provide part of the support
skeleton for the slave arm, you should firmly support the slave arm both at the
wrist and the elbow when you perform the following procedure.
6.10.1 Removing the Linear Actuator from the Slave Arm
1.
2.
6-1, item 13).
3.
Remove the linear actuator snap rings (10) and pin (9).
4.
Remove the hydraulic fluid filter (see Section 6.12).
5.
Remove the C1 and C2 lines from the top of the actuator (16).
6.
Remove the large bolts (12) on the left and right sides of the slave arm, and
then remove the pin (17) from the actuator (16).
7.
Pull the actuator (16) out the top of the arm.
011-0061, Version 3
6-9
6.11 Linear Actuator Seal, Bearing, and O-ring Replacement
Maintenance
6.10.2 Reinstalling the Linear Actuator on the Slave Arm
To install the linear actuator, reverse the removal procedure.
6.11
Linear Actuator Seal, Bearing, and O-ring Replacement
For the linear actuator disassembly procedure, item numbers in parentheses refer
6.11.1 Disassembling the Linear Actuator
1.
After removing the linear actuator from the slave arm (see Section 6.10), drain
the fluid out of the linear actuator by pushing and pulling the actuator shaft
(2) in and out of the actuator body (13) several times.
CAUTION
When you disassemble the actuator, excess hydraulic fluid may squirt
from the assembly.
2.
Using some force, fully extend the actuator shaft (2).
3.
Secure the end of the linear actuator body (13) in a vise, and using a modified 1
5/8-inch deep socket head wrench fitted over the rod end (3), loosen and remove the nose gland (4).
4.
To separate the piston (1) from the shaft (2), insert a 1/2-inch ratchet into the
hole in the piston and unscrew the piston from the shaft.
5.
Remove and replace the seals, bearings, and o-rings (11, 10, 9) on the nose
gland (4), and the seals and bearings (8, 7) on the piston (1).
6.11.2 Assembling the Linear Actuator
To assemble the linear actuator, reverse the disassembly procedure.
Torque the nose gland to 75 ft-lb.
6.12
Hydraulic Fluid Filter Assembly Replacement
For the hydraulic fluid filter replacement procedure, item numbers in parentheses
6.12.1 Removing the Hydraulic Fluid Filter
6-10
1.
2.
Remove screws (19, 8) to free the upper arm top plate (13).
3.
Unscrew the hydraulic lines from the filter (15).
011-0061, Version 3
Maintenance
6.13 Pressure Transducer Assembly Replacement
6.12.2 Installing the Hydraulic Fluid Filter
To install the filter, reverse the removal procedure.
6.13
Pressure Transducer Assembly Replacement
For the bilateral slave arm pressure transducer assembly replacement procedure,
item numbers in parentheses refer to parts in Figure 6-9.
6.13.1 Removing the Pressure Transducer
1.
2.
Remove the screws (Figure 6-1, items 19, 8), and remove the junction box top
plate (Figure 6-1, item 23).
3.
Carefully disconnect the three cables at the pressure transducer connectors.
4.
Unscrew the pressure transducers (1) and their attached o-rings (2) and seal
rings (3).
6.13.2 Installing the Pressure Transducer
To install the pressure transducer, reverse the removal procedure.
6.14
Solenoid Block Assembly Replacement
For the solenoid block assembly replacement procedure, item numbers in parentheses refer to parts in Figure 6-9 for a bilateral slave arm, and Figure 6-10 for a
unilateral slave arm.
6.14.1 Removing the Solenoid Block Assembly
1.
2.
6-1, item 13).
3.
Remove the coil (4) nut and then remove the coil.
4.
Remove the screws (7) securing the solenoid block (8) to the junction box (10).
5.
Unscrew the cartridge (5) from the solenoid block (8).
6.14.2 Installing the Solenoid Block Assembly
To install the solenoid block, reverse the removal procedure.
011-0061, Version 3
6-11
6.15 Elbow Resolver Assembly Replacement
6.15
Maintenance
Elbow Resolver Assembly Replacement
For the resolver replacement procedure, item numbers in parentheses refer to
6.15.1 Removing the Resolver
1.
2.
Remove the forearm manifold cover (14) by removing the six securing bolts
(31).
3.
Disconnect all wireway connections in the forearm (27).
4.
Remove the elbow wire cover (5) from the back of the elbow by removing the
four securing screws (4).
5.
Remove the elbow resolver cover plate (28) by unscrewing the bolts (29)
around its perimeter. Be sure to remove the o-ring (18).
6.
Thread the wire bundle out of the forearm, through the left side of the elbow
plate, and through the center of the elbow.
7.
Remove the junction box top plate (1) by removing the securing bolts (2, 3).
Disconnect the elbow resolver connection in the upper arm junction box,
and feed the whip back through the side of the upper arm (15).
8.
Remove the two mounting screws (26) and clamps (25).
9.
Remove the stator (the larger outside ring) of the resolver (21).
10. Remove the wire guide (23). Do not pry it off by using leverage against the
resolver rotor. Damage may occur to the resolver rotor as a result.
11. Remove the snap ring (22).
12. Remove the resolver rotor (21) from the elbow.
13. Remove the spacer (20) from behind the resolver.
6.15.2 Installing the Resolver
To install the elbow resolver assembly, reverse the removal procedure. Be sure
to align the two balls (39) in the resolver with the notch in the elbow.
Torque the mounting screws in step 8 to 35 inch-lb.
6.16
Servo Valve Assembly Replacement
For the forearm servo valve replacement procedure, item numbers in parentheses
6-12
011-0061, Version 3
Maintenance
6.17 Adapter Plate Replacement
WARNING
Support the slave arm if you are removing the azimuth, shoulder,
or elbow servo valve. Failure to do so will result in the collapse of
the arm, and possible injury of personnel.
6.16.1 Removing a Servo Valve
1.
2.
Remove the forearm lid (1) by loosening the six screws (3) around the perimeter of the cover. This will take approximately five turns of the wrench for
each screw.
3.
Remove the connector from the servo valve (9) you will be replacing.
4.
Remove the four screws (23) from the corners of the servo valve (9) you are replacing.
5.
Remove the servo valve (9) and its four o-rings (27) from its adapter plate (24).
6.16.2 Installing a Servo Valve
To install the servo valve, reverse the removal procedure.
6.17
Adapter Plate Replacement
For the adapter plate replacement procedure, item numbers in parentheses refer
6.17.1 Removing an Adapter Plate
1.
Perform steps 1 through 5 in Section 6.16.1, Removing a Servo Valve.
2.
Remove the four screws (4 or 11) securing the adapter plate (24) to the forearm
(8) or the lock valve (10), and remove the adapter plate.
6.17.2 Installing an Adapter Plate
To install an adapter plate, reverse the removal procedure.
6.18
Lock Valve Assembly Replacement
WARNING
Before you replace the lock valve, bleed residual hydraulic pressure from the lock valve by slightly loosening its hydraulic line connector.
011-0061, Version 3
6-13
6.19 Pitch/Yaw Resolver Assembly Replacement
Maintenance
For the lock valve replacement procedure, item numbers in parentheses refer to
6.18.1 Removing a Lock Valve
1.
Perform steps 1-5 in Section 6.16.1, Removing a Servo Valve, to remove the
servo valve (9) that is over the adapter plate (24) and the lock valve (10).
2.
Remove the four screws (11) securing the adapter plate (24) and the lock valve
(10) to the forearm (8). Remove the adapter plate and its four o-rings (22).
3.
As the adapter plate (24) is lifted, the lock valve (10) will be exposed.
4.
Remove the lock valve (10) and its four o-rings (5, 13).
6.18.2 Installing a Lock Valve
To install the lock valve, reverse the removal procedure, making sure the lock
valve is oriented correctly under the servo valve.
6.19
Pitch/Yaw Resolver Assembly Replacement
For the pitch/yaw resolver assembly replacement procedure, item numbers in parentheses refer to parts in Figure 6-4.
6.19.1 Removing the Pitch Resolver Assembly
1.
2.
Remove the forearm lid (8) by removing the securing bolts (23).
3.
Disconnect the cables from the pitch/yaw resolver, the wrist resolver/jaw
LVDT, and (in the bilateral slave arm) the force/torque sensor.
4.
Remove both cover plates (16) by removing the securing bolts (17), and feed
the wire bundle through them.
5.
Remove the six bolts (17) around the pitch resolver cover (16), and then remove the cover and its o-ring (15).
6.
Remove the mounting screws (14) and clamps (13), and remove the stator.
7.
Remove the snap ring (11) and the rotor.
8.
Remove the spacer (9) from behind the resolver (10).
6.19.2 Removing the Yaw Resolver Assembly
6-14
1.
Remove the forearm lid (8) by removing the securing bolts (23).
2.
Disconnect the cables from the pitch/yaw resolver, the wrist resolver/jaw
LVDT, and (in the bilateral slave arm), the force/torque sensor.
3.
Remove both cover plates (16) by removing the securing bolts (17), and feed
the wire bundle through them.
011-0061, Version 3
Maintenance
6.20 Bilateral Wrist Force/Torque Sensor Assembly Replacement
4.
Remove the six bolts (17) around the yaw resolver cover (16), and then remove
the cover and its o-ring (15).
5.
Remove the mounting screws (14) and clamps (13), and remove the stator.
6.
Remove the snap ring (11) and the rotor.
7.
Remove the spacer (9) from behind the resolver (10).
6.19.3 Installing the Resolver Assembly
To install either resolver assembly, reverse the removal procedure. Be sure to
align the two balls (25) in the resolver with the notch in the pitch/yaw assembly.
Torque the six bolts in step 5 of Section 6.18.1 and the bolts in step 4 of Section
6.18.2 to 21 ft-lb.
Torque the mounting screws in step 6 of Section 6.18.1 and the mounting screws
in step 5 of Section 6.18.2 to 35 inch-lb.
6.20 Bilateral Wrist Force/Torque Sensor Assembly
Replacement
For the bilateral wrist force/torque sensor assembly replacement procedure, item
6.20.1 Removing the Force/Torque Sensor
1.
Perform steps 1-10 of Section 6.7.
2.
Remove the o-rings (3, 4) on the wrist base (12).
3.
Drain hydraulic fluid from the wrist assembly by working the jaws back and
forth.
4.
Using a flat-blade screwdriver, pop off the cover (2), and remove the o-ring (1).
5.
Remove the two screws (18) from the force/torque sensor connector (14), and
disconnect the connector.
6.
Pull the wrist resolver and jaw LVDT cables through the hole in the wrist base
(12).
7.
Remove the grounding screw (19) to release the force/torque sensor connector
(14), and feed the connector through the wrist base.
8.
Remove the four screws (11) that hold the wrist base (12) to the force/torque
sensor (7).
9.
Thread the cables through the hole in the center of the wrist base (12), and remove the wrist base.
10. Pull out the eight hydraulic tubes (5), and remove their o-rings (6).
11. Unscrew the four screws (20) attaching the force/torque sensor (7) to the wrist
motor manifold (10). Thread the cables through the hole in the center of the
force/torque sensor as you lift it off the wrist.
011-0061, Version 3
6-15
6.21 Wrist Resolver and Jaw LVDT Assembly Replacement
Maintenance
6.20.2 Installing the Force/Torque Sensor
To install the force/torque sensor, reverse the removal procedure.
Torque the screws in step 5 to 5 inch-lb.
Torque the screw in step 7 to 5 ft-lb.
6.21
Wrist Resolver and Jaw LVDT Assembly Replacement
For the wrist resolver assembly replacement procedure, item numbers in parentheses refer to parts in Figure 6-8 for the bilateral slave arm, and 6-8A for the unilateral slave arm.
6.21.1 Bilateral Slave Arm
6.21.1.1 Removing the Resolver and Jaw LVDT Assembly
1.
Perform steps 1-11 of Section 6.19.1.
2.
Remove the screws (8) holding the servo clamps (9) down, and then remove
the servo clamps.
3.
Pull off the resolver stator and LVDT (15).
CAUTION
The resolver rotor is very fragile. Be extremely careful when handling
this assembly.
4.
Remove the small snap ring (16) above the resolver rotor (17), and then pull off
the rotor.
6.21.1.2 Installing the Resolver and Jaw LVDT Assembly
To install the resolver assembly, reverse the removal procedure.
6.21.2 Unilateral Slave Arm
6.21.2.1 Removing the Resolver and Jaw LVDT Assembly
6-16
1.
Perform steps 1-4 and step 9 of Section 6.19.1.
2.
Remove the screws (8) holding down the servo clamps (9), and then remove
the servo clamps.
3.
Pull off the resolver stator and LVDT (15).
011-0061, Version 3
Maintenance
6.22 Wireway Compensator Diaphragm Replacement
CAUTION
The resolver rotor is very fragile. Be extremely careful when handling
this assembly.
4.
Remove the small snap ring (16) above the resolver rotor (17), and then pull off
the rotor.
6.21.2.2 Installing the Resolver and Jaw LVDT Assembly
To install the resolver assembly, reverse the removal procedure.
6.22
Wireway Compensator Diaphragm Replacement
For the wireway compensator diaphragm replacement procedure, item numbers
in parentheses refer to parts in Figure 6-11.
1.
Place a hose clamp around the piston shaft (3) so that it is flush with the end of
the fluid housing. This will lock the piston in place.
2.
Disconnect the hydraulic fittings (12, 13) at the sides of the compensator assembly.
3.
Remove the clamp (6).
4.
Remove the clamp rings (7).
5.
Separate the spring housing (5) and the fluid housing (8). (Considerable force
may be required.)
6.
Remove the diaphragm (9) and thoroughly clean the flanges.
7.
Invert the replacement diaphragm (9) so that the nib is on the outside of the diaphragm as shown in Figure 6-12.
Figure 6-12 Wireway Compensator Diaphragm Nib
011-0061, Version 3
6-17
6.23 High-Pressure Filter Replacement
Maintenance
8.
Clean the flange portions of both the fluid housing (8) and the diaphragm (9)
with a non-residue solvent such as acetone.
9.
Slide the diaphragm (9) into the fluid housing (8) so that it seats around the
flange. Smooth out the diaphragm around the inside of the housing.
10. If the piston (3) is not locked in a semi-retracted position, lock it by placing
the assembly piston-side down on the ground. Compress the spring (4) by
applying force to the spring housing (5), and secure the piston with a hose
clamp around the piston shaft.
11. Clean the spring housing flange with a non-residue solvent.
12. Line up the fluid housing with the flange on the spring housing (5). It is very
important to align the housings so that their flange edges match.
13. Slide the clamp rings (7) into place.
14. Install the V-band clamp (6) and tighten. Be sure that the clamp rings (7) are
seated evenly in the clamp. Do not overtighten the clamp, or you will displace the outer bead on the diaphragm.
6.23
High-Pressure Filter Replacement
For the high-pressure filter replacement procedure, item numbers in parentheses
1.
Remove the outside retaining ring (4).
2.
Remove the filter housing (1) and the assembly consisting of the filter element
(3), the filter base (2), and the hydraulic fitting (6).
3.
Clean the filter element (3) portion of the assembly in a petroleum-based solvent, and inspect the filter element. If it does not need to be replaced, continue with step 5. If the filter element is torn or clogged, continue with step
4.
4.
To replace the filter element (3), unscrew the element from the filter base (2),
and screw on a new filter element. Tighten the filter element carefully; overtightening will deform the element.
5.
Inspect the o-rings (7, 8) and replace them if necessary. Lubricate the o-rings
before you install them into the filter housing (1).
6.
Install the assembly of the filter element (3), filter base (2), and the hydraulic
fitting (6) into the filter housing (1).
7.
Install the outside retaining ring (4).
6.24
Part Lists and Illustrations
This section contains part lists and illustrations for all slave arm maintenance procedures.
6-18
011-0061, Version 3
Maintenance
Legend for Fig. 6-1
Bilateral Upper Arm, Part No. 101-1072
Unilateral Upper Arm, Part No. 101-1051
Item
Number
Part Number
1
101-1083
AZIMUTH, T2
1
2
001-1863
PIN, PIVOT, 2.0, T2
1
3
002-0729
RING, RETAINING, SMALLEY #VS100-S16
2
4
101-1880
LINEAR ACTUATOR, T2
1
101-1060
or
101-2082
HOSE ASSY, AZIMUTH C1
1
101-1061
or
101-2083
HOSE ASSY, AZIMUTH C2
1
6
001-1861
PLATE, RIGHT SHOULDER, T2
1
7
002-0061
NAS 6406U6
8
8
002-0131
NAS 6404U5
29
101-1072
ARM, UPPER, T2, BILATERAL
1
101-1051
ARM, UPPER, T2, UNILATERAL
1
11
101-2262
HOSE ASSY, AZIMUTH RETURN
1
12
001-1860
PLATE, LEFT SHOULDER, T2
1
13
001-2573
PLATE, TOP, UPPER ARM, T2, SPLIT
1
14
001-2045
FILTER CLAMP
1
15
101-0798
FILTER, T2
1
16
001-2078
HOSE GUIDE
2
17
No part
number
RESOLVER FEEDBACK LINE
1
18
001-2044
JUNCTION BOX, T2
1
19
002-0038
NAS 6404U1
6
20
004-0112
1
21
001-2950
BHCS, 10-32 X 1/4, SS, SMOOTH BOTTOM OF
HEAD
1
22
004-0627
O-RING, .189 X .039, BUNA 90
1
23
001-2574
PLATE, TOP, JUNCTION BOX
1
24
002-0131
NAS 6404U5
4
25
001-2472
CLEVIS, SHOULDER T2/SP
1
26
001-3110
CABLE GUIDE
2
27
002-0177
BHCS, 8-32 X 1/4, SS
4
28
002-0424
SHCS, 10-32 X 7/8, SS
2
5
9
6-20
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-1 Azimuth and Hydraulic Fluid Filter Replacement
011-0061, Version 3
6-21
Maintenance
Elbow, Part No. 101-2075
Forearm, Part No. 101-1055
Item
No.
Part No.
1
001-2574
PLATE, TOP, JUNCTION
BOX
1
2
002-0131
NAS 6404U5
33
3
002-0038
NAS 6404U1
6
4
002-0038
NAS 6404U1
4
001-2072
COVER, WIRE, ELBOW,
T2
1
5
Part Description
Qty.
Item
No.
Part No.
30
004-0601
O-RING, 2-275 N70
1
31
002-0052
NAS 6404U3
6
002-0727
SHCS, 1/4-28 X 1/2,
UMBRAKO
10
004-0627
O-RING, .189 X .039,
BUNA 90 (Not shown)
10
33
002-0701
RING, SNAP, SMALLEY
#WSW137
1
34
003-0068
RACE, THRUST
1
35
001-2079
COUPLING, UPPER ARM
5
32
Part Description
Qty.
6
004-0113
1
7
004-0642
O-RING, 2-010
URETHANE
4
8
001-1901
FLANGE, COUPLING, T2
2
36
004-0190
10
9
002-0317
NAS 6404U10
6
37
004-0087
4
10
004-0004
2
38
004-0003
3
11
004-0222
16
39
002-0815
1/16" SPHERE
2
12
001-2897
BLOCK, ELBOW, T2,
PORTED
1
40
001-2950
7
13
002-0038
NAS 6404U1
8
BHCS, 10-32 X 1/4, SS,
SMOOTH BOTTOM OF
HEAD
14
001-1784
LID, FOREARM, T2
1
41
004-0627
7
101-1072
UPPER ARM, T2,
BILATERAL
O-RING, .189 X .039,
BUNA 90
1
101-1051
UPPER ARM, T2,
UNILATERAL
1
16
002-0052
NAS 6404U3
8
17
101-2075
ELBOW, T2
1
18
004-0641
O-RING, 5.822 X .070,
BUNA 70, T2
1
19
002-0046
NAS 6404U8
8
20
001-1915
SPACER, RESOLVER, T2
1
21
101-1405
ELBOW, RESOLVER
1
22
002-0700
RING, RETAINING,
SMALLEY #WSM150
1
23
001-1800
WIREGUIDE, T2
1
25
001-1799
CLAMP, RESOLVER, T2
2
26
002-0095
SHCS, 10-32 X 3/8, 316SS
2
27
101-1055
FOREARM, T2
1
28
001-1802
COVER, RESOLVER,
ELBOW, T2
1
29
002-0346
NAS 6404U6
8
15
6-22
011-0061, Version 3
Maintenance
Figure 6-2 Elbow and Forearm Replacements
011-0061, Version 3
6-23
Addendum to 011-9190
Titan 2 Technical Manual (generic)
Page 1 of 6 •
• 011–9190 Addendum
ELBOW, 101-1054, Rev A
Item
No.
P/N
1
001-2051
HOUSING, ELBOW
1
2
001-2052
ROTOR, ELBOW
1
3
001-2077
DRIVE SHAFT, ELBOW
1
4
001-1795
SLIP RING, SHAFT, ELBOW
1
5
001-2053
PLATE, END, ELBOW
2
6
001-2054
RING, TORQUE, SLAVE, ELBOW
2
7
001-1798
END SEAL, ELBOW
2
8
001-1799
CLAMP, RESOLVER
2
9
001-1800
WIRE GUIDE, SLAVE ARM
1
10
001-2055
VANE, STATOR, ELBOW
1
11
001-2674
COVER, RESOLVER, SLAVE ARM ELBOW
1
12
001-2673
COVER, WIRE, ELBOW, RONS
1
13
001-1804
FLANGE, OUTPUT, ELBOW
1
14
002-0879
RING, RETAINING, INTERNAL, W/LOCKING TABS, ELBOW
2
15
002-0700
RING, RETAINING, SMALLEY #WSM150
1
16
002-0701
RING, RETAINING, SMALLEY #WSW137
1
17
002-0095
SHCS, 10-32 X 3/8, 316SS
2
18
002-0935
SHCS, 1/4-28 X 1/2, A286
10
19
002-0038
HHMS, 1/4-28 UNF-2A x .432 LONG
4
20
002-0346
NAS 6404U6
8
21
001-1371
PIN, .078 DIA x .250 LONG
4
22
003-0012
TORRINGTON, Q11406
150
23
003-0102
BEARING RACE, ELBOW
2
24
003-0067
BEARING, THRUST, TORRINGTON TRB 4860
4
25
003-0030
BEARING, THRUST, TORRINGTON, NTA-4860
2
26
003-0068
RACE, THRUST, TORRINGTON, TRA2435
1
27
003-0069
SLYD RING
2
28
004-0556
SEAL, SLIP RING
29
004-0557
SEAL, ELBOW ROTOR
1
30
004-0613
SEAL, STATOR, ELBOW
1
31
003-0111
BEARING, STRIP, THIN
4
32
004-0608
SEAL, VANE, ELBOW
2
33
004-0610
SEAL, FLUROCARBON #AR10400-348-UC
2
34
004-0561
O-RING, .228 X .040, BUNA 70
35
004-0098
36
004-0627
O-RING, .189 X .039, BUNA 90
37
004-0113
O-RING 2-047, BUNA 70
1
38
004-0641
O-RING, 5.822 X .070, BUNA 70 (THERMALLY BONDED)
1
Description
Page 2 of 6 •
Qty
11
20
1
10
Item
No.
P/N
39
004-0562
40
002-0703
SCREW, SET, 1/4-28 X .312, FLAT POINT ALLOY STEEL
40
41
006-0020
PLUG, PIN, LEE PLGA1870020A
12
42
007-0133
MANIFOLD, ROTOR, ELBOW
1
43
007-0104
MANIFOLD, STATOR, ELBOW, SLAVE ARM
1
44
101-1405
RESOLVER, ELBOW
1
45
001-1915
SPACER, RESOLVER
1
46
004-0137
O-RING, .244x.039 BUNA 90 APPLE
4
47
002-0050
NAS 6404U2
4
48
001-2174
BACK-UP RING, TITAN II, ELBOW
2
49
004-0625
O-RING, .228 X .040, BUNA 90
50
002-0789
PIN, DOWEL, 5/32 X 3/8, 416 SS, (ALT 001-3239)
4
52
001-2215
RING, ELBOW BEARING
2
53
001-2217
BACKUP, ROTOR, ELBOW
2
54
001-2197
SHIM, ELBOW, .001 THK
0
55
001-2198
0
56
001-2199
0
57
001-2200
0
58
001-2201
0
59
004-0210
11
61
001-2729
SLEEVE
62
002-0727
SHCS, 1/4-28 X 1/2, ALLOY(UNBRAKO ONLY)
63
002-1032
ADHESIVE, LOCTITE 609, RETAINING COMPOUND
0
64
002-0795
ADHESIVE, #271 RED LOCTITE 50ML
0
80
101-1054-WI
WORK INSTRUCTIONS
0
Description
Page 3 of 6 •
Qty
2
10
1
12
Page 4 of 6 •
Page 5 of 6 •
This page not used.
Page 6 of 6 •
Maintenance
Pitch/Yaw, Part No. 101-0703
Item
Number
Part Number
1
007-0116
FOREARM, T2
1
2
002-0038
NAS 6404U1
8
3
002-0038
NAS 6404U1
4
4
001-2676
COVER, WIRE, PITCH/YAW, T2, TALL
2
5
004-0139
2
6
001-1784
LID, FOREARM, T2
1
7
001-1901
2
8
004-0642
O-RING, 2-010 URETHANE
4
9
004-0080
1
10
004-0222
10
11
101-0703
PITCH/YAW ASSEMBLY
1
101-1071
BILATERAL WRIST/JAW ASSEMBLY
1
101-1056
UNILATERAL WRIST/JAW ASSEMBLY
1
13
002-0052
NAS 6404U3
6
14
002-0052
NAS 6404U3
8
15
004-0601
O-RING, 2-275, N70
1
12
6-24
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-3 Pitch/Yaw Replacement
011-0061, Version 3
6-25
Maintenance
Bilateral Wrist, Part No. 101-1071
Unilateral Wrist, Part No. 101-1056
Item
Number
Part Number
1
002-0038
NAS 6404U1
8
2
001-2676
COVER, WIRE, PITCH/YAW, T2, TALL
2
3
004-0139
2
4
101-0703
PITCH/YAW ASSEMBLY
1
5
002-0052
NAS 6404U3
8
6
004-0222
10
7
004-0080
1
8
001-1784
LID, FOREARM, T2
1
9
001-1915
SPACER, RESOLVER, T2
2
10
101-1407
RESOLVER, PITCH
1
11
002-0701
2
12
001-1800
WIREGUIDE, T2
2
13
001-1799
CLAMP, RESOLVER, T2
4
14
002-0095
SHCS, 10-32 X 3/8, 316SS
4
15
004-0049
2
16
001-2675
COVER, RESOLVER, PITCH/YAW, T2, TALL
2
17
002-0346
NAS 6404U6
12
18
004-0642
4
19
001-1901
2
20
002-0038
NAS 6404U1
8
101-1071
BILATERAL WRIST/JAW ASSEMBLY
1
101-1056
UNILATERAL WRIST/JAW ASSEMBLY
1
22
101-0943
RESOLVER, YAW (Not shown)
1
23
002-0052
NAS 6404U3
6
24
004-0601
O-RING, 2-275 N70
1
25
002-0815
1/16" SPHERE
2
21
6-26
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-4 Wrist Replacement
011-0061, Version 3
6-27
Maintenance
Azimuth, Part No. 101-1083
Item
Number
Part Number
1
002-0704
RING, RETAINING, INTERNAL, SMALLEY
VH400-S16
1
2
001-1822
COVER, AZIMUTH
1
3
001-1800
WIREGUIDE, T2
1
4
002-0095
SHCS, 10-32 X 3/8, 316SS
2
5
001-1799
CLAMP, RESOLVER, T2
2
6
002-0701
1
7
101-1410
RESOLVER, AZIMUTH
1
8
101-1083
AZIMUTH, T2
1
9
001-1863
PIN, PIVOT, 2.0, T2
1
10
002-0729
RING, RETAINING, SMALLEY #VS 100-S16
2
11
007-0132
ARM, UPPER, T2
1
12
001-1932
HHCS, MODIFIED, 3/4-16 W/1/2-13
2
13
002-0131
NAS 6404U5
1
14
002-0095
SHCS,10-32 X 3/8, 316 SS
3
15
101-0764
SHOULDER RESOLVER
1
16
101-1880
LINEAR ACTUATOR, T2
1
17
001-2440
PIN, PIVOT, 5.0, T2
1
18
001-2044
JUNCTION BOX, T2
1
19
002-0815
1/16" SPHERE
2
20
004-0612
SEAL, FLUROCARBON #AR 10400-223-VC
1
21
001-1865
SPACER, 1.4, T2
1
6-28
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-5 Azimuth and Shoulder Resolver and
Linear Actuator Replacement
011-0061, Version 3
6-29
Maintenance
Linear Actuator, Part No. 101-1880
Item
Number
Part Number
1
001-1777
PISTON
1
2
001-1778
SHAFT, LINEAR ACTUATOR,
1
3
001-1779
ROD END, LINEAR ACTUATOR,
1
4
001-2703
NOSE GLAND, L/A 8-INCH
1
6
003-0114
BEARING, PIVOT
2
7
003-0115
BEARING, PISTON
2
8
004-0649
SEAL, PISTON
1
9
004-0669
O-RING, BUNA 90, 2-031
1
10
001-0893
BEARING
2
11
004-0650
SEAL, ROD
2
12
004-0651
SCRAPER, ROD
1
13
007-0171
BODY, LINEAR ACTUATOR, 1.75 X 8
1
14
004-0123
2
15
006-0108
FIT, HYD, -4, JIC, -4, ST, ELBOW
2
6-30
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-6 Linear Actuator Disassembly
Part No. 101-1880
011-0061, Version 3
6-31
Maintenance
Ported Forearm, Part No. 101-1055
Item
Number
Part Number
1
001-1784
LID, FOREARM, T2
1
2
001-1785
CLAMP, FOREARM COVER
3
3
002-0052
NAS 6404U3
6
4
002-0271
SHCS, 10-32 X 1/2, SS
24
5
004-0022
2
6
004-0601
O-RING, 2-275 N70
1
7
004-0137
O-RING, .244 X .039 BUNA 90 APPLE
6
8
007-0116
FOREARM, T2
1
9
006-0823
VALVE, SERVO, MOOG 30-389
7
10
101-0838
LOCKVALVE ASSEMBLY
1
11
002-0424
SHCS, 10-32 X 7/8, SS
4
13
004-0114
2
14
002-0288
SCREW, SEAL-SEALING WITH O-RING,
10-32 X 1/4 PH SLOT
4
15
001-1931
LOGO PLATE
1
22
004-0665
O-RING, .326 X .039, BUNA 90
28
23
002-0933
SHCS, 6-32, 5/16 LONG, ALLOY STEEL
28
24
001-2637
PLATE, ADAPTER SERVO
7
25
004-0627
O-RING, .189 X .039
2
26
001-2950
BHCS, 10-32 X 1/4, SS SMOOTH BOTTOM OF
HEAD
2
27
004-0701
O-RING, 5-194 N75 (These o-rings are provided
with item 9.)
28
Part Description
Qty.
Servo Valve Assembly, Part No. 101-2004
Item
Number
Part Number
9
006-0823
VALVE, SERVO, MOOG 30-389
1
22
004-0665
O-RING, .326 X .039, BUNA 90
4
23
002-0933
SHCS, 6-32, 5/16 LONG, ALLOY STEEL
4
24
001-2637
PLATE, ADAPTER SERVO
1
27
004-0701
O-RING, 5-194 N75
4
6-32
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-7 Forearm Disassembly
Part No. 101-1055
011-0061, Version 3
6-33
Maintenance
Bilateral Wrist, Part No. 101-1071
Item
Number
Part Number
1
004-0570
O-RING, 2-038 N70
1
2
001-1828
COVER, WRIST BASE, T2
1
3
004-0222
10
4
004-0080
1
5
001-1829
TUBE, SUPPLY, PRESSURE BALANCED
8
6
004-0225
32
7
005-1915
FORCE TORQUE SENSOR, HI-RESOLUTION
1
8
002-0358
SHCS, 4-40 X 18, SS
2
9
002-0709
CLAMP, SERVO
2
10
001-1830
MANIFOLD, WRIST MOTOR
1
11
002-0745
SHCS, 1/4-28 X 3/4, ALLOY STEEL, GRADE 8
4
12
001-1827
BASE, WRIST, T2
1
13
004-0139
2
14
005-1580
HARNESS, FTS
1
15
101-0770
RESOLVER STATOR/JAW LVDT ASSY
WRIST
1
16
002-0710
RING, RETAINING, SMALLEY, #VS-50-S16
1
17
101-0770
RESOLVER, ROTOR
1
18
002-0392
SHCS, 2-56 X 3/16
2
19
002-0088
SHCS, 10-32 X 1/4
1
20
002-0075
SHCS, 1/4-28 X 1, ALLOY
4
21
001-1901
2
22
004-0642
4
6-34
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-8 Bilateral Wrist Force/Torque Sensor
and Resolver Replacement
011-0061, Version 3
6-35
Maintenance
Legend for Figure 6-8A
Unilateral Wrist, Part No. 101-1056
6-36
Item
Number
Part Number
1
004-0570
O-RING, 2-038 N70
1
2
001-1828
COVER, WRIST BASE, T2
1
3
004-0222
10
4
004-0080
1
8
002-0358
SHCS, 4-40 X .18
2
9
002-0709
CLAMP, SERVO
2
10
001-2058
MANIFOLD, WRIST MOTOR
1
11
002-0745
SHCS, 1/4-28 X 3/4, ALLOY
5
12
001-2057
BASE, WRIST, T2, UNILATERAL
1
13
004-0139
1
15
101-0770
RESOLVER STATOR/JAW LVDT ASSY
WRIST
1
16
002-0710
RING, RETAINING, SMALLEY, #VS-50-S16
1
17
101-0770
RESOLVER, ROTOR
1
18
001-1901
2
19
004-0642
4
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-8A Unilateral Wrist Resolver Replacement
011-0061, Version 3
6-37
Maintenance
Bilateral Upper Arm, Part No. 101-1072
Item
Number
Part Number
1
101-1403
PRESSURE TRANSDUCER, MICRON
3
2
001-2081
SEAL RING, PRESSURE TRANSDUCER
3
3
004-0571
3
101-1053
SOLENOID COIL, 120 VAC
1
101-1244
1
101-1112
SOLENOID COIL, 12 VDC
1
101-1578
1
5
006-0217
CARTRIDGE, WATERMAN 3-WAY
1
6
005-1688
HARNESS, SLAVE, T2
1
7
002-0456
NA6404U18
2
001-2046
BLOCK, SOLENOID, T2
1
004-0022
5
9
004-0112
1
10
001-2044
J-BOX, MANIFOLD
1
11
005-1579
HARNESS, FTS ENTRY
1
12
002-0288
SCREW, SELF SEALING WITH O-RING 10-32
X 1/4, PH, SLOT
1
005-1826
SLAVE ARM CABLE, 15 FT.
1
005-2109
1
14
005-1578
FTS CABLE
1
15
002-0271
SHCS, 10-32 X 1/2, SS
1
16
004-0003
1
17
004-0082
3
18
004-0123
3
19
004-0080
1
20
004-0036
1
21
004-0098
1
4
8
13
6-38
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-9 Bilateral Upper Arm Junction Box Disassembly
011-0061, Version 3
6-39
Maintenance
Unilateral Upper Arm, Part No. 101-1051
Item
Number
Part Number
Part Description
Qty.
101-1053
1
101-1244
1
101-1112
1
101-1578
1
5
006-0217
CARTRIDGE, WATERMAN 3-WAY
1
6
005-1688
HARNESS, SLAVE, T2
1
7
002-0456
NA6404U18
2
001-2046
BLOCK, SOLENOID, T2
1
004-0022
5
9
004-0112
1
10
001-2044
J-BOX, MANIFOLD
1
11
002-0288
SCREW, SELF SEALING WITH O-RING 10-32
X 1/4, PH, SLOT
4
005-1826
1
005-2109
1
002-0271
SHCS, 10-32 X 1/2, SS
1
001-2130
COVER PLATE
1
004-0036
O-RING, 2-027 BUNA 70 (Beneath plate)
1
16
004-0003
1
17
004-0082
3
18
004-0123
3
19
004-0098
1
4
8
13
14
15
6-40
011-0061, Version 3
Maintenance
Figure 6-10 Unilateral Upper Arm Junction Box Disassembly
011-0061, Version 3
6-41
Maintenance
Compensator, Part No. 101-0924
Item
Number
Part Number
1
002-0686
BHCS, 10-24 X .375
4
2
001-2004
GUIDE, COMPENSATOR SHAFT
1
3
007-0127
PISTON, COMPENSATOR
1
4
002-0753
SPRING, COMPRESSION
1
5
007-0128
HOUSING, COMPENSATOR SPRING
1
6
002-0754
CLAMP, V BAND, FIVE STAR
1
7
001-2005
RING, COMPENSATOR CLAMP
2
8
007-0129
HOUSING, COMPENSATOR FLUID
1
9
004-0605
DIAPHRAGM
1
10
006-0440
FIT, HYD, 3/8 PIPE, 1/8 PIPE, REDUCER-SS,
3/8 X 1/8 PTR-SS
1
11
006-0393
VALVE, RELIEF
1
12
006-0441
FIT, HYD, -8, JIC, 3/8, PIPE,
CONN-SS(8-FTX-SS)
2
13
006-0420
HYD FITTING 3/8 PIPE PLUG
1
15
006-0442
FIT, HYD, -8, JIC, CAP-SS(8FNTX-SS)
2
NS
006-0086
DISCONNECT, QUICK, SH2-63
1
Part Description
Qty.
NS = Not Shown
6-42
011-0061, Version 3
Maintenance
Figure 6-11 Compensator Disassembly
011-0061, Version 3
6-43
Maintenance
High-Pressure Filter Assembly, Part No. 101-0798
Item
Number
Part Number
1
001-1868
FILTER HOUSING
1
2
001-1869
FILTER BASE
1
3
006-0362
FILTER ELEMENT
1
4
002-0717
RETAINING RING
2
5
006-0015
HYDRAULIC FITTING, -4 JIC -4
1
6
006-0361
FITTING, -4 JIC -6
1
7
004-0130
1
8
004-0518
BACKUP O-RING, 8-022 N90
1
6-44
Part Description
Qty.
011-0061, Version 3
Maintenance
Figure 6-12 High-Pressure Filter Disassembly
Part No. 101-0798
011-0061, Version 3
6-45
Remote Systems Products
Technical Reference
Document No. 011–9190 Addendum
© - SCHILLING ROBOTICS - 2006
SCHILLING ROBOTICS, the SCHILLING ROBOTICS logo, and their frameworks are trademarks
and service trademark applications of SCHILLING ROBOTICS. Other names mentioned, registered or not, are the property of their respective companies.
Your comments about our products and technical manuals are invited. Please contact:
Schilling Robotics
201 Cousteau Place, Davis, CA 95616 • Telephone: (530) 753-6718 • Fax: (530) 753-8092
E-mail: [email protected] • [email protected] • Web Site: http://www.schilling.com
PRODUCT Addendum to Titan 2
MANUAL
011–9190
Doc. No.
Sec.
N/A
N/A
Description
Manual release
Date
Rev.
11/13/06
A
Item
No.
P/N
1
001-2051
HOUSING, ELBOW
1
2
001-2052
ROTOR, ELBOW
1
3
001-2077
DRIVE SHAFT, ELBOW
1
4
001-1795
1
5
001-2053
PLATE, END, ELBOW
2
6
001-2054
2
7
001-1798
END SEAL, ELBOW
2
8
001-1799
CLAMP, RESOLVER
2
9
001-1800
1
10
001-2055
VANE, STATOR, ELBOW
1
11
001-2674
1
12
001-2673
1
13
001-1804
1
14
002-0879
2
15
002-0700
1
16
002-0701
1
17
002-0095
SHCS, 10-32 X 3/8, 316SS
2
18
002-0935
SHCS, 1/4-28 X 1/2, A286
10
19
002-0038
4
20
002-0346
NAS 6404U6
8
21
001-1371
4
22
003-0012
TORRINGTON, Q11406
150
23
003-0102
BEARING RACE, ELBOW
2
24
003-0067
4
25
003-0030
2
26
003-0068
1
27
003-0069
SLYD RING
2
28
004-0556
SEAL, SLIP RING
29
004-0557
SEAL, ELBOW ROTOR
1
30
004-0613
SEAL, STATOR, ELBOW
1
31
003-0111
4
32
004-0608
SEAL, VANE, ELBOW
2
33
004-0610
2
34
004-0561
O-RING, .228 X .040, BUNA 70
35
004-0098
36
004-0627
O-RING, .189 X .039, BUNA 90
37
004-0113
1
38
004-0641
1
Description
Page 3 of 6 •
Qty
11
20
1
10
Item
No.
P/N
39
004-0562
40
002-0703
40
41
006-0020
12
42
007-0133
1
43
007-0104
1
44
101-1405
RESOLVER, ELBOW
1
45
001-1915
SPACER, RESOLVER
1
46
004-0137
4
47
002-0050
NAS 6404U2
4
48
001-2174
2
49
004-0625
O-RING, .228 X .040, BUNA 90
50
002-0789
PIN, DOWEL, 5/32 X 3/8, 416 SS, (ALT 001-3239)
4
52
001-2215
RING, ELBOW BEARING
2
53
001-2217
2
54
001-2197
0
55
001-2198
0
56
001-2199
0
57
001-2200
0
58
001-2201
0
59
004-0210
11
61
001-2729
SLEEVE
62
002-0727
63
002-1032
0
64
002-0795
0
80
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Remote Systems Products
Technical Reference
Document No. 011–9190 Addendum
© - SCHILLING ROBOTICS - 2006
SCHILLING ROBOTICS, the SCHILLING ROBOTICS logo, and their frameworks are trademarks
and service trademark applications of SCHILLING ROBOTICS. Other names mentioned, registered or not, are the property of their respective companies.
Your comments about our products and technical manuals are invited. Please contact:
Schilling Robotics
201 Cousteau Place, Davis, CA 95616 • Telephone: (530) 753-6718 • Fax: (530) 753-8092
E-mail: [email protected] • [email protected] • Web Site: http://www.schilling.com
PRODUCT Addendum to Titan 2
MANUAL
011–9190
Doc. No.
Sec.
N/A
N/A
Description
Manual release
Date
Rev.
11/13/06
A
Item
No.
P/N
1
001-2051
HOUSING, ELBOW
1
2
001-2052
ROTOR, ELBOW
1
3
001-2077
DRIVE SHAFT, ELBOW
1
4
001-1795
1
5
001-2053
PLATE, END, ELBOW
2
6
001-2054
2
7
001-1798
END SEAL, ELBOW
2
8
001-1799
CLAMP, RESOLVER
2
9
001-1800
1
10
001-2055
VANE, STATOR, ELBOW
1
11
001-2674
1
12
001-2673
1
13
001-1804
1
14
002-0879
2
15
002-0700
1
16
002-0701
1
17
002-0095
SHCS, 10-32 X 3/8, 316SS
2
18
002-0935
SHCS, 1/4-28 X 1/2, A286
10
19
002-0038
4
20
002-0346
NAS 6404U6
8
21
001-1371
4
22
003-0012
TORRINGTON, Q11406
150
23
003-0102
BEARING RACE, ELBOW
2
24
003-0067
4
25
003-0030
2
26
003-0068
1
27
003-0069
SLYD RING
2
28
004-0556
SEAL, SLIP RING
29
004-0557
SEAL, ELBOW ROTOR
1
30
004-0613
SEAL, STATOR, ELBOW
1
31
003-0111
4
32
004-0608
SEAL, VANE, ELBOW
2
33
004-0610
2
34
004-0561
O-RING, .228 X .040, BUNA 70
35
004-0098
36
004-0627
O-RING, .189 X .039, BUNA 90
37
004-0113
1
38
004-0641
1
Description
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20
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Item
No.
P/N
39
004-0562
40
002-0703
40
41
006-0020
12
42
007-0133
1
43
007-0104
1
44
101-1405
RESOLVER, ELBOW
1
45
001-1915
SPACER, RESOLVER
1
46
004-0137
4
47
002-0050
NAS 6404U2
4
48
001-2174
2
49
004-0625
O-RING, .228 X .040, BUNA 90
50
002-0789
PIN, DOWEL, 5/32 X 3/8, 416 SS, (ALT 001-3239)
4
52
001-2215
RING, ELBOW BEARING
2
53
001-2217
2
54
001-2197
0
55
001-2198
0
56
001-2199
0
57
001-2200
0
58
001-2201
0
59
004-0210
11
61
001-2729
SLEEVE
62
002-0727
63
002-1032
0
64
002-0795
0
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Titan 2 Manipulator System Technical Manual

Transcription

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