INSTRUCTION MANUAL MANIPULATOR On
Transcription
INSTRUCTION MANUAL MANIPULATOR On
1201, MSRAEN-245-002, 001 INSTRUCTION MANUAL MANIPULATOR On-arm cable support A-Trac4 [FD11] 2nd edition ・Before attempting to operate the robot, please read through this operating manual carefully, and comply with all the safety-related items and instructions in the text. ・The installation, operation and maintenance of this robot should be undertaken only by those individuals who have attended one of our robot course. ・When using this robot, observe the low related with industrial robot and with safety issues in each country. ・This operating manual must be given without fail to the individual who will be actually operating the robot. ・Please direct any queries about parts of this operating manual which may not be completely clear or any inquiries concerning the after-sale service of this robot to any of the service centers listed on the back cover. This manual explains the specifications, structure of each part and the basic handling precautions for inspection and maintenance to maintain function of the utility written on the cover page for a long period. It is recommended that this manual is read by robot utilization planners and installation staff as well as inspectors and maintenance staff for robot operation and the robot is handled only after understanding this manual completely. Prior to utilize these utilities, please read the instruction manual “MANIPULATOR” of corresponding robot and understand clearly the basic cautions to handle robot. Chapter 1 1.1 1.2 1.3 1.4 1.5 Basic specifications ............................................................................................................. 1-1 Applicable robot type ........................................................................................................... 1-1 List of basic specifications................................................................................................... 1-1 Outline dimensions and operating area of robot ................................................................. 1-4 Details of load mounting face .............................................................................................. 1-8 Wiring and piping diagram for application ......................................................................... 1-11 Chapter 2 2.1 2.2 Setting.................................................................................................................................. 2-1 Conforming the mechanism type......................................................................................... 2-1 Registering the mechanism type ......................................................................................... 2-1 Chapter 3 Inspection ............................................................................................................................ 3-1 3.1 Inspection items and periods............................................................................................... 3-1 3.2 Replacement of cable and tube........................................................................................... 3-3 3.2.1 Removing cable and tube sub-assembly..................................................................... 3-4 3.2.2 Mounting cable and tube sub-assembly ...................................................................... 3-7 Chapter 4 4.1 4.2 Appendix.............................................................................................................................. 4-1 Reference position of wrist axes ......................................................................................... 4-1 Recommended spare parts ................................................................................................. 4-1 Chapter 1 Basic specifications 1.1 Applicable robot type A-Trac4 is an on-arm cable support used for spot welding application. Applicable robots on which A-Trac4 can be mounted are listed below. Models on which A-Trac4 can be mounted SRA166-01 SRA210-01 SRA166T-01 SRA210T-01 Floor mounting SRA series Shelf mounting Model name for the robot on which A-trac4 is mounted has “A” at the last of it. For example, SRA166-01 is changed to SRA166-01A. 1.2 List of basic specifications Following list shows the basic specifications which has been changed, by mounting A-Trac4, from standard specifications. Changed specifications by mounting A-Trac4 Item Specifications Robot model Max. working envelope SRA166-01A SRA210-01A Axis 4 ±3.67 rad (±210°) Axis 5 ±2.09 rad (±120°) Axis 6 ±3.58 rad (±205°) Max. pay load on forearm 15Kg (Maximum 60 kg) *1 Robot mass 1,060 kg 1,090 kg Item Specifications Robot model Max. working envelope SRA166T-01A SRA210T-01A Axis 4 ±3.67 rad (±210°) Axis 5 ±2.09 rad (±120°) Axis 6 ±3.58 rad (±205°) Max. pay load on forearm 15Kg (Maximum 60 kg) *1 Robot mass 1,310 kg 1[rad] = 180/π[°], 1[N・m] = 1/9.8[kgf・m] *1: This value changes by placement and load conditions of a wrist. 1-1 1,350 kg ■ Torque map for wrist load [SRA166-01A] [SRA166T-01A] [SRA210-01A] [SRA210T-01A] 1-2 ■ Load on the forearm [SRA166-01A] When wrist load is 166kg or 145kg Load on the forearm 15kg (And wrist load is 166kg) Load on the forearm 60kg (And wrist load is 145kg) Load on the forearm 15kg (And wrist load is 210kg) Load on the forearm 60kg (And wrist load is 180kg) [SRA210-01A] When wrist load is 210kg or 180Kg [SRA166T-01A] When wrist load is 166kg or 145kg Load on the forearm 15kg (And wrist load is 166kg) Load on the forearm 60kg (And wrist load is 145kg) Load on the forearm 15kg (And wrist load is 210kg) Load on the forearm 60kg (And wrist load is 180kg) [SRA210T-01A] When wrist load is 210kg or 180Kg 1-3 1.3 Outline dimensions and operating area of robot [SRA166-01A] Name of each part Axis 4 Movable cover Axis 4 Fixed cover Axis 6 spring Axis 5 guide Axis 6 movable portion Axis 6 fixed portion Axis 4 movable portion 1-4 Axis 4 fixed portion [SRA210-01A] 1-5 [SRA166T-01A] 1-6 [SRA210T-01A] 1-7 1.4 Details of load mounting face ■ Wrist Be sure to use the bolts of adequate length and P.C.D. to mount the tool. CAUTION Be sure to screw the M10 end effecter fixing bolts in the wrist not deeper than the screw depth in the mounting face. Screwing the bolts deeper than the screw depth may damage the wrist. [SRA166-01A] [SRA166T-01A] Oblique line area is working envelope of A-Trac4 spring. Working envelope of tool should be outside of this area, otherwise tool may be broken by the interference with A-Trac4 spring. Moreover, this interference will cause the damage to the cables inside of A-Trac4 spring. Mesh area is where the tool (end effector) can be mounted. 1-8 [SRA210-01A] [SRA210T-01A] Oblique line area is working envelope of A-Trac4 spring. Working envelope of tool should be outside of this area, otherwise tool may be broken by the interference with A-Trac4 spring. Moreover, this interference will cause the damage to the cables inside of A-Trac4 spring. Mesh area is where the tool (end effector) can be mounted. 1-9 ■ Upper part of forearm [SRA166-01A] [SRA210-01A] [SRA166T-01A] [SRA210T-01A] 1-10 1.5 Wiring and piping diagram for application [SRA166-01A] [SRA210-01A] [SRA166T-01A] [SRA210T-01A] ■ Wiring and piping for application № 1 Name Item Specifications Welding cable, 22 mm2 (solid wire) × 3 Signal cable, 0.3 mm2 × 20 conductors Servo gun cable (power), × 1 Servo gun cable (signal), × 1 Cable - Utilities - Water supply tube: green (*2), 8 mm inside diameter × 2 - Waste water tube: red (*2), 8 mm inside diameter ×2 - Air tube: white (*2), 8 mm inside diameter × 2 Servo gun specifications 1 Interface Round terminal (M8) Processed Power side connector: MS3106A20-17S Signal side connector: MS3106A20-29S Tube: TE-12-AF Snap-action joint (*1) for 12 mm diameter *1: The joint is not included with A-Trac. *2: Water pressure for the tube should be 0.3 MPa or less. *3: Air pressure for the tube should be 0.8 MPa or less. ■ Wiring and piping system diagram Servo gun specification 1 Welding cable A Welding cable B Application signal cable Application cable Cut Servo gun control cable (motor) Servo gun control cable (encoder) Red 1: Red 2: Green 1: Green 2: White 1: White 2: 1-11 NOTE 1-12 Chapter 2 Setting Normally software setting is completed before shipment, so no additional setting is required to customer. But if A-Trac4 is mounted after shipment, mechanism type needs to be registered. 2.1 Conforming the mechanism type At first, please confirm the mechanism type. 1 Press f key <Service Utilities> -> [13 System Version]. ≫ Following screen will appear. If “+A” is displayed at the last of mechanism name, proper mechanism type on which ATrac4 is mounted is selected. (Best software limit and servo parameters are already registered.) If “+A” is not displayed, mechanism type needs to be registered (changed). Please proceed with “2.2 Registering the mechanism type”. 2.2 Registering the mechanism type For this operation, the operator needs to have the SPECIALIST or above qualification. This operation must be done at the beginning of robot usage, because all of application parameters such as servo gun parameters are initialized when formatted. 1 Pres f key <Constant Setting> -> [12 Format and Configuration] -> [1 Format]. ≫ Following dialog will appear. 2 Align cursor to [OK] and press [Enter]. ≫ Following screen will appear. 3 Press [1] and [Enter]. ≫ Following screen will appear. 2-1 4 Choose the mechanism whose last character is “+A” from the list displayed on the right side of screen, as the manipulator mechanism (mechanism 1 in following sample), and press [Enter]. Sample when “SRA166-01+A” is selected as mechanism 1; 5 Continue other mechanism setting such as servo gun and travel unit, and then finally press f12 <Complete>. ≫ Following procedure is same as that of normal robot. 2-2 Chapter 3 WARNING Inspection To perform daily inspection, repair, or part replacement of the robot, be sure to turn OFF the power supply. Furthermore, in order to prevent other workers from improperly turning ON the power supply, post the warning signs such as “DON’T POWER ON” at the primary power supply switch and others. 3.1 Inspection items and periods Inspection items and periods of A-Trac4 Yearly Quarterly Daily Period ○ ○ ○ Inspection Item Appearance Cleaning Major bolts and ○ Tool fixing bolts ○ Backlash and play ○ Cable and tube ○ Inspection Method Visual checking of damage for cover and spring. Wiping of dirt, removing of accumulated spatter, dust, cutting chips. Visual checking of paint lock. Retightening and coating of paint lock to the bolts. (refer to figure) Do not retighten the bolt that are not loosened. Confirming of no backlash by pushing the tool in forward/backward, right/left, and upward/downward with hand. Visual checking of damage for cable and tube. Removing of accumulated spatter on cable and tube. (refer to figure) Visual checking of paint lock for cable and tube fixing bolts. Retightening and coating of paint lock to the bolts. ■ Inspection of major bolts [SRA166-01A] [SRA210-01A] [SRA166T-01A] [SRA210T-01A] A-Trac4 fixing bolts (Cable Sub assembly of axis 6 fixed portion) A-Trac4 fixing bolts (Cable Sub assembly of axis 5 fixed portion) Tool fixing bolts A-Trac4 fixing bolts (Axis 4 reduction gear portion) Bolts for Axis 4 reduction gear In case of SRA210-01, SRA210T-01 4-M12X45 (torque: 116N・m) In case of SRA210-01, SRA210T-01 12-M12X35 (Torque: 116N・m) 3-1 ■ Inspection of cable and tube [SRA166-01A] [SRA210-01A] [SRA166T-01A] [SRA210T-01A] 3-2 3.2 Replacement of cable and tube When abnormalities have found in the cables or tubes of A-Trac4, replace the cable or tube subassemblies concerned. Overview of cable and tube sub-assembly replacement Tools and parts required • • • • • • • • • Hexagonal wrench for M8 bolts Torque wrench, extension for M8 bolts Hexagonal wrench for M6 bolts Torque wrench, extension for M6 bolts Tube cutter Pliers Wrench Grease MULTEMP PS No.2 A-Trac4 cable and tube sub-assemblies Torque wrench Cable and tube sub-assembly 3-3 3.2.1 Removing cable and tube sub-assembly Preparation for disassembly (1) (2) (3) In teach mode, set the angles of axis 4, 5 and 6 to zero degrees, and manipulate the robot to the posture which will facilitate the work with the forearm extended horizontally. Turn the motor power off and then the controller power OFF. Turn the welding power off. Close the cooling water valve and the air valve to the welding gun. Removing axis 4 cover parts (1) Remove the bracket and cover. Bracket AT4-341 Cover AT3ー034 2-M6X10 2-M6X10 3-M6X12 3-M6 Flat washer Cover AT4ー329 Cover AT3ー030 1-M6X15 1-M6 Flat washer 1-M6X10 1-M6 Flat washer 3-M6X10 3-M6 Flat washer Removing axis 4 cover parts 3-4 Removing cable and tube sub-assembly <1> (1) Remove the saddle of the flange area. (Do not lose or misplace the rubber sheet wrapped around AT4-023 since it will be re-used.) 4-M6X15 FCD-51 Saddle AT4-023 Removing cable and tube sub-assembly <1> (2) Draw out the cable and tube sub-assembly from the flange, and then draw it out from axis 5 support. Pull the parts out following the flow indicated by the arrows. How to draw out cable and tube sub-assembly Removing cable and tube sub-assembly <2> (1) Remove the plate. 2-M8X15 Plate AT4-022 Removing cable and tube sub-assembly <2> 3-5 Removing cable and tube sub-assembly <3> (1) Remove the bracket and plate. 4-M6X12 4-M6X12 Bracket AT3-021 Plate AT3-035 Removing cable and tube sub-assembly <3> (2) Take out the cable and tube sub-assembly from axis 4 cover. AT3-021 AT3-035 Wrist side Axis 5 cover AT4-022 Exterior of cable and tube sub-assembly This completes the removal of the cable and tube sub-assembly. 3-6 3.2.2 Mounting cable and tube sub-assembly Mounting cable and tube sub-assembly <1> (1) Apply 10 to 13 cc of Multemp PS No.2 grease to the spring inside axis 4 cover. Apply the grease evenly over the entire spring. Applying grease to the spring (2) Insert the cable and tube sub-assembly into axis 4 cover. (3) Fix the bracket and plate. Bracket AT3-021 Plate AT3-035 4-M6X12 4-M6X12 Mounting the cable and tube sub-assemblies <1> 3-7 Mounting cable and tube sub-assembly <2> (1) Pass the cable and tube sub-assembly through the axis 5 support, and then pass the tubes followed by the cables through the flange (AT4-001) at the tip of the wrist. When passing the cables and tubes through the parts, take care not to twist them Flow of passing the cable and tube sub-assembly through the parts (2) Fix the saddle of the flange area. When securing the spring, do not forget to wrap the rubber sheet around it. Also pay attention to the phase of the spring protrusion. 4-M6X15 Pay attention to the phase of the spring protrusion FCD-51 Saddle AT4-023 Mounting the cable and tube sub-assemblies <2> 3-8 Mounting cable and tube sub-assembly <3> (1) Fix the plate. Plate AT4-022 2-M8X15 Mounting the cable and tube sub-assemblies <3> (2) Apply 10 to 13 cc of Multemp PS No.2 grease. Apply the grease evenly over the entire spring. Applying of grease to the spring 3-9 Fixing axis 4 cover parts (1) Fix the bracket and cover. Bracket AT4-341 Cover AT3ー034 2-M6X10 2-M6X10 3-M6X12 3-M6 Flat washer Cover AT3ー030 Cover AT4ー329 1-M6X15 1-M6 Flat washer 3-M6X10 3-M6 Flat washer 1-M6X10 1-M6 Flat washer Mounting completed Axis 4 cover parts This now completes the mounting of cable and tube sub-assembly. 3-10 Chapter 4 Appendix 4.1 Reference position of wrist axes Even when A-Trac4 is mounted on the robot arm, reference position can be aligned by using same tool and by same method as the robot without A-Trac4. Sample of SRA166-01A Axis 4 zeroing block Axis 4 zeroing pin Axis 5 zeroing block Axis 5 zeroing pin Axis 6 zeroing block Axis 6 zeroing pin 4.2 Recommended spare parts It is recommended to keep the cable and tube assemblies as spare parts. To purchase it, check the manufacturing No. and date of the robot, and then contact our Service Department. 4-1 http://www.nachi-fujikoshi.co.jp/ JAPAN MAIN OFFICE Phone: +81-3-5568-5245 http://www.nachirobotics.com/ NACHI NORTH AMERICA North America Headquarters Shiodome Sumitomo Bldg. 17F, 1-9-2 Higashi-Shinbashi Minato-ku, TOKYO, 105-0021 JAPAN Fax: +81-3-5568-5236 Phone: 248-305-6545 Fax: 248-305-6542 22285 Roethel Drive, Novi, Michigan 48375 U.S.A. Use 248-305-6545 Use 248-305-6542 South Carolina, U.S.A. Greenville Service Office San Antonio Service Office Use 248-305-6545 Use 248-305-6542 Texas, U.S.A. Kentucky Branch Office Phone: 502-695-4816 Fax: 502-695-4818 116 Collision Center Drive, Suite A, Frankfort, KY 40601 U.S.A Training Office Phone: 248-334-8250 Fax: 248-334-8270 22213 Roethel Drive, Novi, Michigan 48375 U.S.A. Toronto Branch Office Phone: 905-760-9542 Fax: 905-760-9477 89 Courtland Avenue, Unit 2, Vaughan, Ontario L4K3T4 CANADA Mexico Branch Office Saltillo Service Office Phone : +52-555312-6556 Phone : +52-844416-8053 Fax: +52-55-5312-7248 Fax: +52-844416-8053 Urbina # 54, Parque Industrial Naucalpan, Naucalpan de Juarez, 53370, Estado de México, MEXICO Canada 544 Privada Luxemburgo C. P. 25230, Saltillo, Coahuila, MEXICO NACHI ROBOTIC EUROPE Germany Nachi Europe GmbH http://www.nachi.de/ Phone: Fax: +49-(0)2151-65046-0 +49-(0)2151-65046-90 Bischofstrasse 99, 47809, Krefeld,GERMANY United Kingdom Nachi U.K. LTD. http://www.nachi.co.uk/ Phone: +44-(0)121-250-1895 Fax: +44-(0)121-250-1899 Unit 7, Junction Six Industrial Estate, Electric Avenue, Birmingham B6 7JJ, U.K. Czech Republic Nachi Europe Phone: Fax: + 420-255-734-000 +420-255-734-001 Prague 9, VGP Park, Czech republic NACHI ROBOTIC ASIA Korea Korea http://www.nachi-korea.co.kr/ Phone: Fax: 2F Dongsan Bldg. +82-(0)2-469-2254 +82-(0)2-469-2264 276-4, Sungsu 2GA-3DONG, Sungdong-ku, Seoul 133-123, KOREA Copyright NACHI-FUJIKOSHI CORP. Robot Division 1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511 Phone +81-76-423-5137 Fax +81-76-493-5252 NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document may be modified without notice. Any missing page or erratic pagination in this document will be replaced. In case that an end user uses this product for military purpose or production of weapon, this product may be liable for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go through careful investigation and necessary formalities for export. ©