LP-01-AX20

Standard specifications
LP-01-AX20
1st edition
0909, SLPEN-030-001, 001
Table of contents
1. Outline........................................................................................................................ 1
1.1 Robot .................................................................................................................... 1
1.2 AX20 controler ...................................................................................................... 1
2. Characteristics ........................................................................................................... 2
2.1 Robot .................................................................................................................... 2
2.2 AX20 controller...................................................................................................... 2
3. Basic specifications.................................................................................................... 3
3.1 Robot .................................................................................................................... 3
4. Robot dimensions and working envelope................................................................... 4
5. Detail of tool mounting plate....................................................................................... 5
6. The side of the wrist unit ............................................................................................ 6
7. Installation procedure ................................................................................................. 7
7.1 Installation location and ambient conditions.......................................................... 7
7.2 Installation procedure............................................................................................ 7
7.3 Installation space .................................................................................................. 8
7.4 Accuracy of installation surface............................................................................. 9
7.5 Maximum robot generative force......................................................................... 10
8. Allowable wrist load.................................................................................................. 11
8.1 Wrist load installation map .................................................................................. 12
8.2 How to find the moment of inertia of wrist axis.................................................... 14
9. Allowable forearm load............................................................................................. 15
10. Option specifications .............................................................................................. 16
11. Application wiring and piping diagram .................................................................... 17
11.1 Standard specification ....................................................................................... 17
11.2 Detailed diagram of the application connectors................................................. 18
12. Bypass cable.......................................................................................................... 19
12.1 Bypass cable connection outline figure (Option) ............................................... 19
13. Transport procedure............................................................................................... 20
14. Installation (specification which contains a robot) .................................................. 23
15. Consuming power .................................................................................................. 23
16. Paint color .............................................................................................................. 23
17. Warranty................................................................................................................. 23
Page-1
1. Outline
“NACHI ROBOT” has used mechatronic techniques, cultivated throughout the last few decades, to
supply robots suited for industries utilizing welding, spray painting and the material handling
techniques.
1.1 Robot
"Presto LP series" are robots specialized for palletizing application with high speed and high rigidity
and 4 axes atructure. “Presto LP130-01” is the basic model, and 2 types of robots are featured in the
"Presto LP" series.
Table 1.1 Robot types
Payload
Mounting
condition
Floor mounting
130kg
180 kg
Presto LP130-01
Presto LP180-01
1.2 AX20 controler
The AX20 controller is high performance robot control equipment based on open concept which used
the personal computer as the base.
A de facto standard OS (Windows NT embedded+RTOS) is adopted as an operating system.
Moreover, safe equipment, such as dual emergency stop circuit and 3 positions ENABLE SW, is
carried as standard.
AX20-0000
AX20-1101
AX20-2101
Japanese domestic specifications
Overseas specification (North American specifications)
Overseas specification (CE specifications)
Page-2
2. Characteristics
2.1 Robot
1. 2 types of 130kg and 180kg are available so that various hand devices can be applied.
2. The motion range is common to the respective robot. Therefore, examining applicability
becomes easier than before.
3. The improvement of the maximum speed and the high acceleration via lightweight body
realized the processing performance of 1500 packs/hour(130kg payload) in case of LP130.
4. The appropriate arm length and the large rotation range of each axis realize an enough
motion envelope and the height of 2700mm (□1100mm) for layered packs was achieved.
5. The specification of the allowable moment of inertia of wrist axes was improved for tools and
work-pieces with high performance and large size.
6. Application wirings and high-capacity piping are added for tools and work-pieces with high
performance and large size.
(NOTE) The details of the motion pattern;
Linear motion of (Vertical direction 400mm, horizontal direction 2000mm) including 60 [deg] swiveling motion
2.2 AX20 controller
1. It is compact even if it adds abundant functions.
2. Large-sized LCD of a color graphic display was adopted as the Teaching pendant. Thereby
more easy and intelligible operation is attained and large shortening of teaching time can
be aimed at.
3. It is possible to build the optimal operating environment for a robot's work system by the
customize function of menus, such as various parameter setup and a peripheral equipment
setup, or a screen.
4. It has equipped with safe equipment, such as dual emergency stop circuit limit switch and 3
positions ENABLE SW, as standard, and ANSI/RIA 15.06-1999 is supported.
Page-3
3. Basic specifications
3.1 Robot
Robot model [Presto LP130-01] [Presto LP180-01]
Item
Specification
Robot model
Presto LP130-01 Presto LP180-01
Structure
Articulated
Degree of freedom
4
Drive system
AC servo motor
Max.
working range
J1
±3.14rad
J2
+0.71~ -1.65rad
J3
+0.30 ~ -2.04rad
J4
±6.28 rad (±360°)
J1
2.27 rad/s
1.75 rad/s
J2
1.92 rad/s
1.57 rad/s
J3
1.92 rad/s
1.66 rad/s
J4
5.76 rad/s
5.23 rad/s
Max.
Wrist
130 kg
180 kg
pay load
Fore arm *1)
Max.
speed
Allowable
moment
of inertia
J4
Position repeatability *2)
25 kg
50 kgm2
69 kgm2
±0.3 mm
±0.4 mm
Rated air pressure
-101.3kPa ~ 0.69MPa
Air piping
2-φ12×8 (to the wrist portion)
Application signals
20 wires (to the wrist portion)
6 wires (to the forearm)
Ambient temperature
0 ~ 45°C
Installation type
Floor mounting
Robot mass
1150kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
The specification and externals described in this document might change without a previous notice for the improvement.
*1: This value changes by placement and load conditions of a wrist.
*2: This value conforms to "JIS B 8432".
Page-4
4. Robot dimensions and working envelope
Robot model:[Presto LP130-01] [Presto LP180-01]
Fig. 4.1 Robot dimensions and working envelope
Page-5
5. Detail of tool mounting plate
For the end effecter fixing bolts, use the mounting P.C.D. shown in the following figures.
Besides the mounting P.C.D., different P.C.D. (option) is available. For details, contact our service
division.
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.
Robot model: [Presto LP130-01] [Presto LP180-01]
Fig.5-1
Details of end effector mounting section
Page-6
6. The side of the wrist unit
Peripheral devices can be installed on the side of the wrist unit.
CAUTION
Please be sure that the total mass of ((A) hand device + (B) workpiece + (C)
additional peripheral device on the wrist unit) should keep the rated payload
condition.
CAUTION
The main material of the wrist unit is alminium. Because the thread tap is
through, the length of engagement should be 15mm or more.
Robot model: [Presto LP130-01] [Presto LP180-01]
Fig. 6.1 Details of the wrist unit side surface
Page-7
7. Installation procedure
The installation location and the installation procedure of the robot are critical factors to maintain robot
functions.
The ambient conditions of installation location not only have influence on the life of mechanical sections
of the robot, but also get involved in safety issues. Consequently, strictly observe the environmental
conditions shown below.
Furthermore, utmost care should be exerted for the installation procedure and the foundation for the
robot in order to maintain the robot performance. Strictly observe the installation procedure for the robot
provided below.
Installation
To install the robot, give it first priority to thoroughly consider safety of workers and take safety
measures. The following describes precautions for this purpose.
Safety measures against entry in the robot operating area
CAUTION
While the robot is in operation, workers are in danger of coming in contact with
the robot. To avoid that, install a Guard fence so as to keep the worker away
from the robot. Not doing so will cause the workers or other persons to
accidentally enter the operating area, thus resulting in accidents.
7.1 Installation location and ambient conditions
1.
2.
3.
4.
5.
6.
7.
Location with an ambient temperature ranging from 0°C to 45°C.
Location with an ambient humidity ranging from 20 to 85%RH and no dew condensation.
Location with the least dirt, dust, oily smoke, or water.
Location with no flammable or corrosive fluid or gas.
Location exposed to no substantial impact or vibration.
Location not close to a substantial electric noise source.
Location with a vibration value not more than 0.5G (equal to 4.9 m/s2).
7.2 Installation procedure
While the robot is accelerating or decelerating the speed, large reaction force is applied to the
swiveling base from all directions. Consequently, the robot should be installed in such a manner that
the foundation endures reaction force caused by accelerating or decelerating the speed to lock the
swiveling base, not to mention that it endures static loads.
To install the robot on the floor, if the floor concrete is not less than 160 mm in thickness, repair
uneven spots, cracks, and others on the floor, and then install the robot with the use of 8 bolts (option)
of not less than M20 X 65 (JIS: Strength class 12.9) and plain washers (option) of not less than 4.5
mm in thickness and HRC35 in hardness. At this time, apply a coating of lubricating oil to the threaded
parts of the bolts, and then torque the bolts to 560 ± 30 Nm. Furthermore, to install the robot in an
exact position, use location pins (option).
If the floor concrete is not more than 160 mm in thickness, an independent foundation should be
constructed. Inspect the foundation prior to the robot installation, and then construct the foundation, if
necessary.
Table 7.1 Allowable load of foundation bolt
Robot model
Allowable repeated tensile load per foundation bolt when the robot is installed with 8 bolts
Presto LP130-01
Approx. 35,000 N
Presto LP180-01
Approx. 42,000 N
Page-8
7.3 Installation space
To install the robot, lock the swiveling base of the robot. For the installation space, refer to Fig.7-1
CAUTION
The mechanical stopper end is located in a position exceeding the specified
working envelope (software limit) of the J1 axis by 5°. To install the guard fence,
with consideration given to the wrist configuration and the shape of end effector.
DANGER
On the J1, J2, and J3 axes, the robot working envelope can be regulated for
safety (optional function). Since optional parts should be installed to enable this
function, do not independently move the standard parts (e.g. mechanical
stopper).
Robot model: [Presto LP130-01] [Presto LP180-01]
Fig.7-1 Installation space
Page-9
7.4 Accuracy of installation surface
In order to install the robot, strictly observe precautions listed below to cause no deformation in the
swivel base.
Precautions
1. Make the deviation from the flatness of the 4 plates on the robot installation surface fall within 1.0 mm.
2.
Make the deviation in height between the 4 places of each base plate installation surface and the robot
installation surface fall in the range of 1.0 mm (±0.5 mm).
Fig. 7.1 Accuracy of robot installation surface
3. If the 2 precautions above cannot be observed, use jack bolts to bring the four places into even contact
with the installation surface.
Fig. 7.2 Jack bolt
WARNING
Protect the space (4 places of the front, back, left and right) on robot bottom
and installed side by the cover etc. as follows when you weld with the base
plate installed in the robot body by the welding spatter and the spark, etc. so
that wiring in the robot should not receive damage.
4 base plates
These 4 portions require
protection
Fig.7.3 Protection of space on robot bottom and installed side
Page-10
7.5 Maximum robot generative force
Table 7.2 Maximum robot generative force
Robot model
Maximum vertical
generative force FV
Maximum horizontal
generative force FH
Maximum vertical
generative moment MV
Maximum horizontal
generative moment MH
Presto LP130-01
40,800 N
28,700 N
80,400 N･m
69,900 N･m
Presto LP180-01
45,700 N
33,100 N
96,600 N･m
84,400 N･m
Presto LP130-01
Presto LP180-01
Fig.7.4 Maximum robot generative force
Page-11
8. Allowable wrist load
CAUTION
A load fixed to the tip of the robot wrist is regulated by the allowable payload
mass, allowable moment of inertia, and wrist axis load installation map.
Strictly keep the wrist load within each allowable value.
1. Allowable pay load mass
Table 8.1 Allowable pay load mass
Robot model
Maximum payload
Presto LP130-01
130 kg or less
Presto LP180-01
180 kg or less
2. Allowable maximum moment of inertia
Table 8.2 Allowable maximum moment of inertia
Robot model
Allowable maximum moment of inertia
Around J4 axis
Presto LP130-01
50 kg･m2 or less
Presto LP180-01
69 kg･m2 or less
Page-12
8.1 Wrist load installation map
Referring to Fig8.1.2, use the robot wrist on condition that the load gravity center falls in the range
shown in the wrist load installation map.
Robot model: [Presto LP130-01]
Fig. 8.1.1 Wrist axis load installation map
Page-13
Robot model: [Presto LP130-01]
Fig. 8.1.2 Wrist axis load installation map
Page-14
8.2 How to find the moment of inertia of wrist axis
The following section shows general methods of calculating the moment of inertia around each axis.
X
Z
Y
lx
x
lY
m
(Xm, Ym, Zm)
z
lz
X
y
Y
ly
X: X axis in the basic wrist configuration
Y: J4 rotation axis in the basic wrist configuration
Z: An axis that is vertical to the X axis and the Y axis in the basic wrist configuration
x: Axis parallel to the X axis in the load gravity center
y: Axis parallel to the Y axis in the load gravity center
z: Axis parallel to the Z axis in the load gravity center
Ix: Moment of intertia around the X axis passing through the load gravity center
Iy: Moment of intertia around the Y axis passing through the load gravity center
Iz: Moment of intertia around the Z axis passing through the load gravity center
m: Load mass
（Xm, Ym, Zm）: Gravity center coodinates of load
Fig.8.3 Schematic diagram of wrist load
1. Moment of inertia around J4 axis
The moment of inertia around the J4 axis is found by the expression shown below.
2
2
I J 4 = IY = m ⋅ ( X m + Z m ) + I y
Page-15
9. Allowable forearm load
Ancillary equipment can be mounted to the upper part of robot forearm. If the wrist load mass is
maximum, use the ancillary equipment on the load condition that the load gravity center falls in the
shaded range, referring to Fig. 9.1.
Furthermore, if the wrist load mass is small, the ancillary equipment of 25 kg at maximum can be
mounted according to the mass and gravity center position.
For details, request the technical information to our technical department.
Robot model: [Presto LP130-01] [Presto LP180-01]
Fig. 9.1 Forearm load conditions
Page-16
10. Option specifications
○: Possible to correspond／－: Impossible to correspond
1
Item
Installation parts
Specifications
Chemical anchor specification
(Base plate + chemical anchor bolt)
Ore anchor specification
(Base plate + ore anchor bolt)
Restriction of J1 axis operation range
(±0 rad from ±2.61 rad every 0.17 rad)
Presto
LP180-01
№
Presto
LP130-01
Robot model
OPJ-F1-0045
○
○
OPJ-F2-0017
○
○
OP-S5-012
○
○
Parts No.
2
J1 axis adjustable stopper
3
J2 axis adjustable stopper
Restriction of J2 axis operation range
(-0.26 and -0.52 rad from the operation edge)
OP-A5-021
○
○
4
Adjustable limit switch
For J2 and J3 axis
OP-S4-003
○
○
5
J3 axis motor protector
Protection of encoder and connectors of J3 axis
motor
○
○
6
Transfer jig
Fork bracket
OP-S2-033
○
○
7
Zeroing pin & Zeroing block
For 130kg payload / 180kg payload
OP-T2-059
○
○
8
ISO Flange adaptor
Converts into the tool installation size with ISO
OP-W2-001
○
○
9
Wrist axis positioning
marking
For 130kg payload / 180kg payload
○
○
○
○
10 Dual circuit limit switch
For J1, J2, and J3 axis
11 Encoder connector Protector
Protection of encoder connectors of J1,J2, and J3
axes
○
○
12 Application cable
Cable for additional application signals（6×0.2sq）
(From forearm to wrist unit)
○
○
13 Bypass cable unit
Temporary recovery cable for cable troubles
○
○
14 Arm fixing jig
For J2 axis motor replacement
○
○
15 Scale sticker
Stickers to check J4 axis reference position
○
○
16 Brake release switch
Motor brake release switches for all axes
○
○
OP-D7-004
KP-ZD-004
Page-17
11. Application wiring and piping diagram
11.1 Standard specification
Robot model: [Presto LP130-01] [Presto LP180-01]
Fig. 11.1 Wiring and piping system diagram (Standard specification)
Fig.11.2 Wiring and piping diagram (Standard specification)
Page-18
11.2 Detailed diagram of the application connectors
(1) BJ1side (connector)
相手側コネクタ
Wire-side shell : JFM-WSA-4-A (JST)
or JFM-WSA-4-C (JST)
Guide plate A kit : JFM-GPAK-4 (JST)
Receptacle housing : JFM2FDN-22V-K (JST)
Receptacle contact :
a : SJ2F-01GF-P1.0(JST) (0.20 ∼ 0.50sq)
b : SJ2F-21GF-P1.0(JST) (0.30 ∼ 0.75sq)
Manual crimp tool :
a : YRS-8861
b : YRF-1120
Cable diameter suitable for wire-side shell:
JFM-WSA-4-Aφ26.2～φ28.0
JFM-WSA-4-Cφ15.5～φ16.5
Application wiring specification
(This figure is drawn seeing from the backside of the
robot.)
Rated voltage Max.
Rated current rating Max.
AC/DC 115 V
1A
Fig.11.3 Details of connector for application (BJ1 side)
（2） BJ3・BJ4 side (connector)
BJ4 side connector
(本図は勘合面から見た配列です)
BJ3 side connector
(本図は勘合面から見た配列です)
Connector model (CNR10A)
N/MS3102A24-28S(JAE)
Partner connector model
N/MS3106B24-28P(JAE)
Connector model (CNR10D)
N/MS3102A24-28SX(JAE)
Partner connector model
N/MS3106B24-28PX(JAE)
Fig. 11.4 BJ3, BJ4 side application connectors
Page-19
12. Bypass cable
12.1 Bypass cable connection outline figure (Option)
CNEケーブル
ロボット（ST-F）
CNE cable
CNMB
CNMBケーブル
cable
Bypass cable
バイパスケーブル
制御装置（AX20）
Bypass cable
バイパスケーブル
box
ボックス
Standard
標準ロボットハーネス
wire-harness
Fig 12.1 Bypass cable connection outline figure
Fig. 12.2 Bypass cable box
Page-20
13. Transport procedure
Safety measures against transport
The following describes precautions for transporting the robot. Fully understand the precautions for
safe transport work.
Warning
The robot must be transported by personnel who have licenses required for slinging work, crane operation, forklift
truck operation, and others. The weight of the robot and controller is listed in the Operating Manual and the
Maintenance Manual. Check for the weight, and then handle them according to procedures suitable for the weight.
Warning
To lift the robot or the controller, follow the procedures specified in the Maintenance Manual.
Following any procedures other than those specified will cause the robot to topple over or drop during transport,
thus resulting in accidents.
Caution
During transport or installation work of the robot, pay utmost care not to cause damage to wirings.
Furthermore, after installing the robot, take protective measures such as using protective guards so that the wirings
will not be damaged by workers or other persons, or forklift trucks or else.
Robot model: [Presto LP130-01] [Presto LP180-01]
To transport the robot, make it a rule to use a crane.
First, put the robot into the configuration shown in figure below and mount the four M20 hanger bolts to the swivel base. Then,
be sure to lift the robot using four hanging wires. For this purpose, it is recommended to use hanging wires of 3 m in length and
protect areas that contact the robot, using rubber hoses to cover the wire ropes. For the areas to be covered with the rubber
hoses refer to figure below.
Fig. 13.1 Transport procedure
Page-21
Caution
If hanging wires push the encoder connectors, the connectors may be broken
when hanging the robot. When hanging a robot, please pay attention not to
make the wires touch the encoder connectors.
Fig.13.2 Positions of the encoder connectors
Hanging bolt
installation hole
（4-M20）
The screw hole of the ※ sign is not used for the hanging bolt.
Fig.13.3 Hanging bolt installation hole locations
Page-22
Robot model: [Presto LP130-01] [Presto LP180-01]
If hanging wires push the wiring and piping, the wiring and piping may be broken
when hanging the robot. When hanging a robot, please pay attention not to
make the wires touch the encoder connectors.
CAUTION
Fig.13.4 Transport procedure (A-Trac4)
Page-23
14. Installation (specification which contains a robot)
1. Delivery condition
Condition
Details
1
Delivery on the truck
Robot is delivered on the truck near the entrance of customer’s plant.
2
Delivery after installation and
test-run
Robot is installed and test-run done.
3
Delivery after installation and
test-run with work piece
After style 2, teaching with work piece is done.
Because the expense is different, which form to choose be sufficiently examined.
2. Operation and maintenance education
The special operation guide and the special preservation guide are the outside of the estimation. Also,
there is schooling system in the Toyama factory, too.
Consult with each NACHI-FUJIKOSHI office for the details.
3. The type D grounding (the grounding resistance is 100Ω or less) is necessary.
15. Consuming power
1. Consuming power
6.2 kVA
(This value varies from the application type and the motion pattern.)
2. Consuming power of the AX20 controller
Condition
1
Waiting power
Power saving mode (FAN is rotating)
0.30kVA
2
Power saving mode (FAN is not rotating)
0.22kVA
“Power saving mode” is a mode in which the power supply for the servo motor is temporally
stopped and the robot posture is locked via brake lock.
16. Paint color
Standard color
Controller cabinet
Robot
Munsell 10GY9/1
Munsell 2.5YR-5.5/14
17. Warranty
Elapse of 1 year after delivery.
The specification and externals described in this specifications might change without a previous
notice for the improvement.