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
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be modified without notice. Any missing page or erratic pagination in this document will be replaced.
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the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go
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