SCORBOT -ER 4pC User's Manual. Catalog # Rev.A

Transcription

1 SCORBOT ER 4pC Use's Manual Catalog # Rev.A ESIIEI:=> RO.aO.EC:

2 by Eshed Robotec (1982) Limited. (Febuay 1997) Febuay 1999 Repint/PDF vesion Catalog # Rev.A Evey effot has been made to make this book as complete and accuate as possible. Howeve, no waanty of suitability, pupose, o fitness is made o implied. Eshed Robotec is not liable o esponsible to any peson o entity fo loss o damage in connection with o stemming fom the use of the softwae, hadwae and/o the infomation contained in this publication. Eshed Robotec beas no esponsibility fo eos which may appea in this publication and etains the ight to make changes to the softwae and manual without pio notice. SCORBOT a egisteed tademak of Eshed Robotec (1982) Ltd. Read this manual thooughly befoe attempting to install o opeate the equipment. If you have any poblems duing installation o ope~ation,call you agent fo assistance. Save the oiginal caton and all packing mateial. You may need them late fo shipment. website: info@eshed.com ESHED ROBOTEC (1982) LTD. 13 Hamelacha St. Afek Industial Pak Rosh Ha'ayin 48091, Isael Tel: (972) Fax: (972) ESHED ROBOTEC INC. 472 Amhest St. Nashua, NH 03063, USA. Tel: Tel: (603) Fax: (603)

3 Table of Contents CHAPTER 1 Geneal Infomation About SCORBOTER4pc Acceptance Inspection. Repacking fo Shipment HandlingInstuctions CHAPTER 2 Specifications Stuctue... WokEnvelope. Motos.... Encodes... Micoswitches Tansmissions Gippe CHAPTER 3 Safety Pecautions Wanings CHAPTER 4 Installation 12 CHAPTER 5 Opeating Methods SCORBASE fo Windows Softwae TeachPendant CHAPTER 6 Maintenance Maintenance DailyOpeation.. Peiodic Inspection Toubleshooting.... Adjustments and Repais Adjustingthe Timing Belts. AdjustingBase AntiBacklash Tighteningthe Oldham Coupling in Gippe. Gippe Disassembly Gippe Reassembly... # CHAPTER 7 Pats Lists 24 CHAPTER 8 Wiing Robot Wiing Single Axis Wiing SCORBOTER 4pc v Use's Mf1Ulll1

4 CHAPTER 1 Geneal Infomation This chapte contains instuctions fo unpacking and handling the SCORBOTER 4pc obot. About SCORBOTER 4pc The SCORBOTER 4pc was designed and developed to emulate an industial obot. The open stuctue of the obot am allows students to obseve and lean about its intenal mechanisms., Figue 1: SCORBOTER 4pc Robot Am. l Use's Manual SCORBOTER 4pc

5 IL Acceptance Inspection The obot am and its contolle ae packed in two sepaate catons. Save the oiginal packing mateials and shipping caton. You may need them late fo shipment o stoage. Afte emoving the obot am fom its shipping catons, examine it fo signs of shipping damage. If any damage is evident, do not install o opeate the system. Notify you feight caie and begin appopiate claims pocedues. The standad SCORBOTER 4pc package includes the following items: SCORBOTER 4pc Robot am Powe cable loo/llo/220vac 3 bolts fo mounting obot; set of hex wenches SCORBOTER 4pc Use's Manual Refe to the ContollePC Use's Manual fo infomation about the contol unit's standad and optional components. Make sue you have eceived all the items listed on the shipment's packing list. If anything is missing, contact you supplie.,. I I.. L SCORBOTER 4pc 2 Use's Manual 9810

6 Repacking fo Shipment Be sue all pats ae back in place befoe packing the obot. The obot should be epacked in its oiginalpackaging fo tanspot. If the oiginal caton is not available, wap the obot in plastic o heavy pape. Put the wapped obot in a stong cadboad box at least 15 cm (about 6 inches) longe in all thee dimensions than the obot. Fill the box equally aound the obot with esilient packing mateial (shedded pape, bubble pack, expanded foam chunks). Seal the caton with sealing o stapping tape. Do not use cellophane o masking tape. Handling Instuctions Lift and cay the obot am only by gasping the body o the base. See Figue 2. Do not lift and/o cay the obot am by its gippe, uppe am o foeam. Do not touch the micoswitches, cams o encodes. BODY Figue 2: Robot Am Pats

7 CHAPTER2 Specifications This chapte includes the specifications the SCORBOTER 4pc obot am and desciptions of its components. SCORBOTER4pc Specifications Mechanical Stuctue Vetical aticulated Numbe of Axes 5 axes plus sevo gippe Axis Movement Axis 1: Base otation.310 Axis 2: Shoulde otation +130 / 35 Axis 3: Elbow otation :t130 Axis 4: Wist pitch :t130 Axis 5: Wist oll Unlimited (mechanically); :t570 (electically) Maximum Opeating Radius 610mm (24.4") End Effecto Maximum Gippe Opening Had Home Feedback Actuatos DC sevo gippe, with optical encode, paallel finge motion; Measuement of object's size/gipping foce by means of gippe senso and softwae. 75 mm (3") without ubbe pads 65 mm (2.6") with ubbe pads Fixed position on each axis, found by means of micoswitches Optical encode on each axis 12VDC sevo motos Moto Capacity (axes 16) 15 oz. in Peak Toque (stall) 70W Powe fo Peak Toque Motos 1, 2, 3: 127.1:1 Gea Ratios Motos 4, 5: 65.5:1 Moto 6 (gippe) 19.5:1 Tansmission Geas, timing belts, lead scew Maximum Payload 1 kg (2.2 lb.), including gfippe Position Repeatability Weight Maximum Path Velocity Ambient Opeating Tempeatue :to.2 mm (0.008") at TCP (tip of gippe) 11.5 kg (25lb) 600 mm/sec (23.6"/sec) 2 40 C ( F) SCORBOTER 4pc 4 Use's Manual 9810

8 Stuctue, The SCORBOTER 4pc is a vetical aticulated obot, with five evolute joints. With gippe attached, the obot has six degees of feedom. This design pemits the end effecto to be positioned and oiented abitaily within a lage wok space. Figues 3 and 4 identify the joints and links of the mechanical am. The movements of the joints ae descibed in the following table: Axis No. oint Name Motion Moto No. 1 Base Rotates the body. 1 2 Shoulde Raises and lowes the uppe am. 2 3 Elbow Raises and lowes the foeann. 3 4 Wist Pitch Raises and lowes the end effecto (gippe) Wist Roll Rotates the end effecto (gippe). 4+5 Figue 23: Robot Am Links Figue 24: RobotAmoints

9 Wok Envelope Thelengthof the linksandthe degeeof otationof thejoints deteminethe obot'swok envelope. Figues 5 and 6 show the dimensions and each of the SCORBOTER 4pc. The base of the obot is nomally fixed to a stationay wok suface. It may, howeve, be attached to a slidebase, esulting in an extended woking ange. L L L Figue 5: Opeating Range (Top View).',... E E. o v 0... Figue 6: Opeating Range (Side l'iek,'j SCORBOTER 4pc 6

10 Motos The obot's five axes and gippe ae opeated by DC sevo motos. The diection of moto evolution is detemined by the polaity of the opeating voltage: positive DC voltage tuns the moto in one diection, while negative DC voltage tuns it in the opposite diection. Each moto is fitted with an encode fo closedloop contol. Encodes The location and movement of each axis is measued by an electooptical encode attached to the shaft of the moto which dives the axis. When the obot axis moves, the encode geneates a seies of altenating high and low electical signals. The numbe of signals is popotional to the amount of axis motion. The sequence of the signals indicates the diection of movement. The contolle eads these signals and detemines the extent and diection of axis movement. Figue 8: Moto

11 Micoswitches The SCORBOTER 4pc has five micoswitches one on each axiswhich seve to identify the obot's home position. Duing the homing pocedue, the obot joints ae moved one at a time. Each axis is moved until the its home switch is activated. The axis is then moved slightly until the the switch shuts offat that point the joint is at home. When all joints ae at home, the obot is at home. This is the point of efeence fo obot opeation. Wheneve the system is tuned on, the obot should be sent to this position, by means of a softwae homing outine. Figue 9: Micoswitch L L L L Tansmissions Seveal kinds of tansmissions ae used to move the links of the obot am. Spu geas move the base and shoulde axes. Pulleys and timing belts movethe elbow axis. Pulleys and timing belts, and a bevel gea diffeential unit at the end of the am move the wist pitch and oll axes. A lead scew tansmission opens and closes the gippe. SCORBOTER 4pc 8 Figue 10: Tansmissions i Moto2 Use's fawa:!;is'

12 Gippe The SCORBOTER 4pc has a sevo jaw gippe fitted with ubbe pads. These pads can be emoved to allow the attachment of othe end effecto devices, such as suction pads. Thee bevel geas fom a diffeential gea tain which moves the wist joint. When motos 4 and 5 ae diven in opposite diections, the wist pitch moves up and down. When motos 4 and 5 ae diven in the same diection, the wist olls clockwise and counteclockwise. A leadscew coupled diectly to moto 6 causes the gippe to open and close. Figue 11: Gippe I I I

13 CHAPTER3 " Safety This chapte contains impotant safety guidelines and wanings. Read this chapte caefully befoe you attempt to install o use the obot system. Pecautions This manual povides complete details fo pope'installation and opeation of the SCORBOT ER 4pc. Do not install o opeate the obot until you have thooughly studied this Use's Manual. Be sue you heed the safety guidelines fo both the obot and the contolle. 1. Make sue the obot base is popely and secuely bolted in place. 2. Make sue the obot am has ample space in which to opeate feely. 3. Make sue a guadail, ope o safety sceen has been set up aound the SCORBOT ER 4pc opeating aea to potect both the opeato and bystandes. 4. Do not ente the obot's safety ange o touch the obot when the system is in opeation. Befoe appoaching the obot, make sue the moto switch on the contolle font panel has been shut off. 5. Make sue loose hai and clothing is tied back when you wok with the obot. To immediately abot all unning pogams and stop all axes of motion, pess the EMERGENCY STOP button on eithe the teachpendant o the contol box. II'.'.. l L l, SCORBOTER 4pc 10 Use's Manual 98!()

14 l..., I I I 8', O I I, Wanings Use's Manual 9810 Do not install o opeate the SCORBOTER 4pc unde any of the followingconditions: Whee the ambient tempeatue o humidity dops below o exceeds the specified limits. Whee exposed to lage amounts of dust, dit, salt, ion powde, o simila substances. Whee subject to vibations o shocks. Whee exposed to diect sunlight. Whee subject to chemical, oil o wate splashes. Whee coosive o flammable gas is pesent. Whee the powe line contains voltage spikes, o nea any equipment which geneates lage electical noises. Do not oveload the obot am. The combined"weightof the wokload and gippe may not exceed lkg (2.2 lb). It is ecommended that the wokload be gasped at its cente of gavity. Do not use physical foce to move o stop any pat of the obot am. Do not dive the obot am into any object o physical obstacle. Do not leave a loaded am extended fo moe than a few minutes. Do not leave any of the axes unde mechanical stain fo any length of time. Especially, do not leave the gippe gasping an object indefinitely. Since the SCORBOTER 4pc motos ae ated 12VDC nominal, while the contolle moto dives supply 24VDC, do not dive axes continuously in one diection at maximum speeds. 11 SCORBOTER 4pc

15 CHAPTER4 Installation Befoe installing the SCORBOTER 4pc, be sue you have ead and undestood the safety instuctions and wanings detailed in Chapte 1. Be sue you have ample space to set up the obotic system, as shown in Figue Set up the SCORBOTER 4pc on a study suface with a minimum 700mm of fee space all aound the obot. SAFETY SCREEN, f ROBOT WORKING AREA Figue 12: SCORBOTER 2. Fasten the base of the obot am to the wok suface with at least 3 bolts 1200apat, as shown in Figue 13. Robot Base 0240 mm (9.49") Pitch Cicle mm (8.15") Hole (6 oft) 0 85mm (0.33") Make sue the obot is secuely bolted in place. Othewise the obot could become unbalanced and topple ove while in motion. 3. Set up a guadail, ope o safety sceen aound the obot's opeating aea to potect both the opeato and bystandes. 4pc Installation,X''~ I \ I,. I!!>.'!~' \ + _:.~'~ "'"". ' ''i. X',". \ Figue 13: Robot Base Plate LayoUl SCORBOTER 4pc 12

16 4. Place the contolle and compute on a study suface at a safe distance fom the obotwell outside the obot's safety ange. 5. Connect the obot cable (DSOconnecto) to the SCORPOWER box. 6. Make sue all othe connections have been made in accodance with the instuctions in the ContollePC Use's Manual. 7. Tun on the compute and the SCORPOWER box.

17 CHAPTER5 Opeating Methods The SCORBOT ER 4pc can be pogammed and opeated by means of SCORBASE fo Windows softwae and by a teach pendant. Softwae and teach pendant opeation is descibed fully in the othe manuals supplied with the system. SCORBASE fo Windows Softwae SCORBASE fo Windows is a obotic contol softwae package which has been designed fo use with the SCORBOT ER 4pc. Its menudiven stuctue and offline capabilities facilitate obotic pogamming and opeation. SCORBASE communicates with the obot contolle by means of an RS232 channel. SCORBASE fo Windows can be opeated in thee levels, which ae compaable to Levels 1, 3 and 5 of the oiginal DOSbased SCORBASE softwae. SCORBASE fo Windows Levell and Level 3 ae ecommended fo those who wish to lean obotic pogamming fom the most basic stages. SCORBASEpo contains pogamming commands and options fo advanced uses. SCORBASE fo Windows is descibed fully in the SCORBASEfo Manual. Teach Pendant The teachpendant is an optional device. Windows Use's The teach pendant is a handheld teminal which is used fo contolling the obot and peipheal equipment connected to the same obot contolle. The teach pendant is most pactical fo moving the axes, ecoding positions, and sending the axes to ecoded positions. Othe functions can also be executed fom the teach pendant. The Teach Pendant fo ContollePC Use's Manual fully descibes the vaious elements and functions of the teach pendant. SCORBOTER 4pc 14

18 j.! I, j Maintenance CHAPTER6 Maintenance The maintenance and inspection pocedues detailed below will ensue continued optimum pefomance of the SCORBOTER4pcsystem. Daily Opeation Pefom a outine inspection of you system at the stat of evey woking session, in the followingode:. 1. Befoe you powe on the system, check the following items: The installation meets all safety standads. The obot is popely bolted to the wok suface. All cables ae popely and secuely connected. Cable connecto scews ae fastened. No output is connected diectly to a powe supply. No people ae within the obot's woking ange. 2. Afte you have switched on the PC and the contol box, check the following items: The powe and moto LEDs on the contol box light up. No unusual noises ae head. No unusual vibations ae obseved in any of the obot axes. Thee ae no obstacles in the obot's woking ange. 3. Bing the obot to a position nea home, and activate the homing pocedue. Check the following items:. Robot movement is nomal.

19 Peiodic Inspection The following inspections should be pefomed egulaly: 1. Visually check leads, cables and ubbe components. Replace any cables which show signs of abasion o wea. 2. Check all bolts and scews in the obot am using a wench and scewdive. Retighten as needed Check all the tension of obot am belts. When you pess on a belt, the slack should be no geate than 2mm (0.08"). Refe to Figue 14. Figue 14: Belt Tension Qualified Technician Only: Tighten the belts only if you ae absolutely cetain they ae slipping o etading the motos. Fo complete infomation, efe to the section, " Adjustments and Repais," late in this chapte. 4. Qualified Technician Only: Check fo excessive backlash in the base axis. Fo complete infomation, efe to the section, "Adjustments and Repais," late in this chapte. SCORBOTER 4pc 16 Use's lanual 9810

20 l! Toubleshooting i.., The pocedues in the section ae intended only fo technicians who have eceived..,..,, pope taining and cetification fom the manufactue. Do not attempt to pefom pocedues fo which you ae not qualified. Wheneve you encounte a malfunction, ty to pinpoint its souce by exchanging the suspected faulty componentfo example, sevo contol cad, contol box, obot am, PC, cableswith an identical component fom a woking system. Do not open the contol box. Thee ae no useseviceable pats inside. Do not attempt epais fo which you ae not qualified. Contact you agent.o an authoized technician fo epais. The following chat povides guidelines fo identifying and ectifying poblems which you may encounte. Refe also to the ContollePC Use's Manual fo additional toubleshooting instuctions and infomation..., I.., 1. Contollefunctioning, but the obot cannot be activated. Make sue an obstacle is not blocking the obot. Make sue none of the axes has eached its mechanical limits. Make sue the contolle's geen MOTORSLED is lit. Make sue the contolle is in the Contol Off state. Then activate the Contol On state fom the PC o TP. Make sue the obot cable is popely connected to the contolle. \.., 2. Robot does not find Home position in one o all of the axes. Make sue the homing command was popely issued. I Make sue the obot cable is popely connected to the contolle...,.,..j ḻ t Make sue system homing paametes ae popely set. Make sue system homing paametes have not been eased. Check the micoswitch fo this axis. Pepaeand un a simplepogamto test the micoswitch(on axis 2 fo example),as follows: Set Vaiable LIMIT SWITCH = 2 If Limit switch 'LIMIT_SWITCH jump to TURN ON tun off output LIMIT SWITCH ump to END TURN ON: tun on output LIMIT SWITCH END: Use's Manual SCORBOTER ':'pc

21 Qualified Technician Only: If the output LED does not tun on as expected (in the above softwae outine), check the micoswitch itself. Use a small scewdive to pess down on the micoswitch. You should hea it click and see it pop back up. If this does not happen, the micoswitch should be fixed o eplaced. If the micoswitch has clicked, depess it again and, with an ohmmete, check whethe the micoswitch shots its two poles. If thee is a shot, depess the switch again and check the wies between the micoswitch and D50 connecto. If thee is a shot, depess the switch and check the two micoswitch pins in the D50 connecto. (Refe to Chapte 8 fo wiing and pin infomation). 3. One axis tuns constantly in one diection. Pess and elease the SCORPOWER Emegency button to eset the contolle. Then give the command to home the obot.! I t 4. One of the axes o gippe does not espond, o does not function popely. Make sue you have pefomed all steps in Item 1 and Item 2. Tun the SCORPOWER contol box off, then on again. Check the encode. To display encode eadings, select ViewlEncodes. Ente the command Contol Off (to disable sevo contol) and then physically move the axis in question in both diections. The encode eading should ise fo otation in one diection and fall fo otation in the opposite diection. If the encode eadings do not change, the poblem is caused by a faulty encode, a beak in the encode wiing,.o a faulty connection on a PCB within the obot. SCORBOTER 4pc 18 Use's Manual 9810

22 , 5. Eos in the accuacy of the obot. Contolle does not ead the encode, o fails to show changes in encode eadings. Qualified Technician Only: Using an oscilloscope, check the signals (Po and PI) eceived fom the encode's two phototansistos. Figue 15 shows the wave diagams which emanate fom the two channels of the encode (POand PI) with espect to the time axis. The top two signals should be clean squae waves: VL (low)value should be O.4Vo less. VH (high) value should exceed 4 V. In addition, check the thid wave, which shows the sum of the two waves. The diagam eflects a time shift of a quate cycle between the two waves. If the waves ae distoted with an incoect shift between them, the encode is faulty and should be adjusted o eplaced. Figue15:EncodeSigna~ v, 6. Eos in the epeatability of the obot. Qualified Technician Only: Ty to identify the faulty axis. If many'o all axes ae faulty, look fo an electical noise souce in you envionment. Check the encode. Follow the pocedues in Item 3 and Item 4. If no poblem found by means of Items 8 and 9, do the following: Bing the obot to a stating position. Using a pencil, daw a fine, continuous line on the obot which cosses fom one link to the adjacent link at the joint in question. Select View IEncodes to display the encode eadings. Ente the command Contol Off (to disable sevo contol). Physically move the axis to anothe position. Then etun to the stating position maked by the line you dew. Check the encode eading fo the axis again. It should be within seveal counts of the fist eading. Reieat this step a numbe of times. If the eo in the encode eading accumulates. the encode needs to be eplaced. Check the tansmission fo loose points o damage. Check fo continuity of movement in all the elevant tansmission components (geas and belts moving togethe with the dive shaft of the moto). Use's Manual SCORBOTER 4pc

23 7. Gippe opens and closes toofeely; weak gipping foce; o the gippe moto otates endlessly. Qualified Technician Only: The Oldham coupling in the gippe assembly is loose. Follow the instuctionsin the section,"adjustments and Repais," late in this chapte. Altenately, the gippe gea is boken, and must be eplaced. 8. Too much feedom (backlash) in the base axis. Qualified Technician Only:. Refe to the section, "Adjustments and Repais," ate in this chapte. 9. Unusual noise. Qualified Technician Only: Loose scews. Poo lubication. Won moto bushes. Won timing belt. SCORBOTER 4pc 20 L"ses.\Iv.:.::. %.

24 Adjustments and Repais! I These pocedues ae to be pefomed only by a qualified technician who has eceived,.. l.. l I pope taining and cetification fom the manufactue. Adjusting the Timing Belts Qualified Technician Only When you check the tension of obot am belts, as indicated in Figue 81 at the beginning of this chapte, the slack should be no geate than 2mm (0.08"). Tighten the belts only if you ae absolutely cetain they ae slipping o etading the motos. Figue 16 shows how to tighten the belts in the foeam which move the wist axes (pitch and oll). Loosen the two scews (1) which hold the tension shaft. Pess down on the shaft and etighten the scews. Figue 17 shows how to tighten the belts in the uppe am which move the wist axes (2), and the belt which moves the elbow axis (3). Figue 18 shows how to tighten the two belts in the obot base which move the wist axes. Fist, loosen the scew (5), and then loosen eithe one o both scews (4). Then, to tighten the belts, simultaneously pull the appopiate moto and etighten scew(s) (4). Finally, etighten scew 5. G Figue 16: Tightening Belts in Foeam = ~ Figue 17: Tightening BelIs:, :.:~.~~ Figue 18: Tightening Belts in Robot Base Use's Manual ~ ~...

25 Adjusting Base AntiBacklash Qualified Technician Only Refe to the exploded views of the obot in Figues 22 and Refe to Figue 19. Remove the shoulde cove: Remove the top thee scews on each side of the shoulde cove. Loosen (o emove) the bottom scew on each side. 2. Refe to Figue 23. Remove the base lock nut (S286). 3. Refe to Figue 22. Remove the two socket head cap scews (S19), and detach the base moto fom the base plate (12). Check the set scew (S1S1) that holds the spu gea (S2S) to the base moto gea (S309). If it is loose, tighten it. Figue 19: Shoulde Cove Scews Reattach the base moto to the base plate. 4. Refe to Figue 22. The antibacklash unit has fou geas. Two geas (22 and 27) ae on top of one othe with a sping (23) fitted in between. Stetch the antibacklash sping in the base tansmission: Make sue the obot is bolted in place. Remove the outemost gea (20). The gea (22) is now fee. Note the small unused hole on the base plate nea the geas (22 and 27). It will enable you to lock the gea (22) in the next step.. To pevent the gea (22) fom moving duing the following steps, lock the gea by inseting a shot pin though this hole and into a goove in this gea. Make sue the pin does not touch the gea (27) and that the gea (27) is fee to otate. Mak the two teeth which ae diectly above one anothe on the geas (22 and 27), oi)eon the uppe gea and one on the lowe gea. Manually tun the obot counteclockwise a distance of six teeth between the maked teeth. The sping should now be coectly stetched. Retun the gea (20) to its position and fasten the scew. Remove the locking pin. 5. Replace the base lock nut (S286). 6. Replace the shoulde cove. SCORBOTER 4pc 22 Use's '.f~.:;.a; \1.)'

26 ~ "j I. Tightening the Oldham Coupling in Gippe Qualified Technician Only Refeto the explodedviewof the gippeassemblyin Figue20. Gippe Disassembly 1. Removethe gippemoto(s312)fomthe plate(112)by unscewingthe thee bolts (2 bolts S12 and one bolt SI4). The Oldham coupling (S313) has thee patstwo metal pats fitted with bolts and an intemediate plastic pat. When you emove the moto, one metal piece of the coupling stays attached to the shaft.the secondmetalpiece of the couplingstaysattachedto the lead scew(94). The plastic piece emains attached to eithe one of the two metal pieces. 2. Remove the lead scew (94) fom within the shaft (105) by tuning it counteclockwise. 3. Fasten both metal pieces to thei espective shafts,by fimly tightening the Allen scews (one piece to the moto output shaft; the othe to the lead scew.) Note: When tightening the coupling piece to the moto output shaft, make sue the coupling is 1.5mm to 2mm away fom the plate (112). Gippe Reassembly 1. Make sue the coupling's plastic piece is attached to the metal piece attached to the lead scew (94). Keep the gippe finges closed. Scew the lead scew (94) with the coupling piece attached, clockwise into the shaft (105), as tightly as possible. Now elease the gippe finges. 2. Refit the moto by aligning the coupling fitted to the moto output shaft togethe with the plastic coupling piece attached to the metal piece attached to the lead scew (94). 3. When all the coupling sections ae aligned and attached, tun the moto body until the holes in the plate (112) align with those in the gea moto suppot (91). Reinset and tighten the thee bolts which you emoved at the beginning of the pocedue.. Use's Manual SCORIC~L'D 'pc

27 This chapte contains isometic dawings of the obot am. Note that the SCORBOTER 4pc obot am has seveal e~hanced featues which do not appea in these dawings. They ae: "" Impoved encodes on all motos povide geate accuacy. The encode disk has 20 slots; the encode housing and cicuity have also been upgaded. Moto suppots (items 34 and 35) fo the shoul~e and elbow axes have been impoved; thei dimensions have changed, and counte beaings have been added, to incease stength and stability. Plates have been added to the obot am fame, acoss the foeam and uppe am, and aound the shoulde, to incease stength and stability. ".'.. SCORBOTER 4pc 24

28 I Dwg# Cat # Desciption Beainghousingcove(plastic) Mainshaftbase S Sockethead cap scew#440x 1/4 S Socket head cap scew #440 X 3/ Base plate Base S Socket head cap scew #632 X 114 S Socket head cap scew #256 x 3/ Spu gea (120 teeth) Sl Socket head cap scew #832 X, Bottom Plate shoulde S Socket head cap scew #832 x 3/8 S Socket head cap scew #832 x 112 S Socket head cap scew #832 x 5/ Suppot base motos Suppot clamp motos Right side plate shoulde Left side plate shoulde S Socket head cap scew #1032 x 3/8 S Socket head cap scew #1032 x Antibacklash spu gea (tansfe) S Socket head cap scew #1032 x 3/4 S Socket head cap scew #1032 x 7/ Antibacklash spu gea (uppe) S Socket head cap scew #1032 x 1/ Antibacklash sping S Socket head cap scew #1032 x 5/ Washe S Socket head cap scew #1032 x 11/2 S Ball beaing (moto 1 gea) S Socket head cap scew #11420x Antibacklash spu gea (base) S Socket head cap scew #11420x 5/ Spu gea (base moto) S Socket head cap scew #1032 x 3/4 x 114shoulde Spu gea (motos 2+3) Moto suppot (moto 2) diffes in ER 4pc Moto suppot (moto 3) diffes in ER 4pc Moto suppot (motos 4+5) Timing belt pulley (motos 4+5) Rea coss ba not used in ER 4pc Main shoulde shaft Timing belt pulley Timing belt pulley Use's Manual 25 SCORBOTER ';pc 9810

29 Ow # Cat # Oesci tion Spu gea (72 teeth) fist tension shaft Tension wheel L Secondtensionshaft Tensionpulley Clamp loweam left sideplate Uppeam ight sideplate spu gea (ight 72 teeth) Uppe am left side plate Clamp lowe am left side plate ; Middleshaft L Aluminumspace Timingbelt pulley S Flat headsocketscew#440x Thid tensionshaft Gippeaxis Stoppe (motos 4+5) Base plate limit switch S Flat head socket scew #832 x 3/ Timingbelt pulley+ mitegea L S Flat head socketscew#832x 1/ Foeamleft sideplate Timingbelt pulley Flange S Flat head socket scew #1032 x 1/ Foeam ight side plate Gippe gea moto suppot S Flat head socket scew #1032 x 114 L Lead scew Gippe bidge i Gippe finge (inne) L Gippe finge (oute) Gippe finge (shot) Gippe clamp Mounting plate gippe Rubbe pad gippe. L Pivotpin Mainshaft gippe Leadnut gippe Beainghousing Beainghousingcove Gippemotobaseplate Sping120g. (gippemoto) notusediner Ipc S Encodecicuity(3 slots) diffesiner 4pc. L i SCORBOTER4pc 26 e!==.

30 .. Dwg# Cat# Desciption Mitegea(bottom) S Encodecicuity(6 slots) diffesiner 4pc ' Spacewashe(fobase beaing) S Socketheadset scew#440x 1/8 S Socketheadset scew#832x 3/16 S Socketheadset scew#1032x 3/16 S Sockethead set scew#832x 1/4(withouthead) S SlottedbindingheadscewM2x 8 (limitswitch) S SlottedbindingheadscewM2x20(encodehousing) i S Washe(foscew#440) S Washe(black);intenal;fo plasticcove0 12.5x 05.5 x 0.6 S Washe fo scew #1032 S SocketbindingheadscewM2x 10(limitswitch). S Washefo scew01/4, S Washe lock; black; extenal 0 5 S Sping washe (fo scew #440) S Sping washe (fo scew #632) S Sping washe (fo scew #832) I S Spingwashe(fo scew#1032) S Spingwashe(fo scew01/4) S LockwasheM2 S Washe (fo scew #832) S Teflon washe 0 1/4" x 03/8" x 0.6mm S Teflon washe 0 1/4" x 0 1/2" x 0.6mm S Nylonwashe011 x 114 notused in ER 4pc S Hexagonalnut M2 S ERing0 1/8DIN6799 S Retaininging 010 DIN 471 S Retaining ing 0 12 DIN 471 I S Retaining ing 0 25 DIN 471 S Ball beaing 0 8 x 0 22 x 7 S Ballbeaing010 x 0 19 x 5 S Ballbeaing010 x 0 26 x 8 S Ballbeaing025 x 047 x 8 S Needlebeaing0 12 x 0 16 x 10 S Needlebeaing012 x 0 19 x 16 S Needlebeaing0 15 x 0 21 x 12. S Bushingfo # S ThustbeaingjO10 x 0 24 x 2 S Thustwashe010 x 0 24 xl S Thustwashe010 x 0 24 x 2.5 S Thustbeaing012 x 0 26 x 2 S Thustwashe0 12 x 0 26 x 1 S Lockwashe Use's Manual 27 SCORBOTER.ijA 9810.

31 ... S Timing belt S Timing belt S Flange timing belt pulley L. S Flange timingbeltpulley S Pivotpin 01/8" x 3/8" S Moto Gea base; 127.7:1 L. S MotoGeashoulde/elbow;127.7:1 S MotoGeapitch/wist65.5:1 S MotoGeagippe S Coupling S Limitswitch S Nut fo haness S Haness clamp S Rubbe plug (base) L S Hanessclamp S Conicalwashe S Rubbegommet S Oing(ubbe) S Rubbestoppe S Rollpin 0 1/8x 1 1/4 S Ballbeaing0 3.5 mm Encodedisk(3 slots) gippediffesiner 4pc I Encodehousing(plastic) diffesiner 4pc l Encodedisk(6 slots) diffesiner 4pc... Dwg# Cat # Desciption S Lock nut gippe S Lock nut base KM 5 S Washe x 0 20 x 0.5 S Washe x 0 22 x S Timing belt i. L,... SCORBOTER 4pc 28 Use's lll11lllll

32 . j ;" \ \ \ \ \ \ \ j j, i ' j j j j j I ZU I U Z Z o Q. ~ o U Z o Q. ~ o ~o IU U 0"" o CDi::! "" u <C( "" <C( o 0'" ~ U ~ I ::::i VI ~ ~ Use's Manual 9810 Figue 20: Gippe Assembly 29 SCORBOTER ~p.;

33 (._.1 /, > \=, 'I '.N.. &. \::x;:)0m, \\\' lanl" '.....' \ \,..).;.('':::' _ i:s)'\t:ii\ \:: O. in< I... IU' ṛ... ID' I~CD Figue 21: Robot Am Assembly SCORBOTER 4pc 30 Use's Manual 98 'u ' _!

34 I. STANDARD COMPONENT 8 ESHED ROBOTEC xxx') MANUFACTURED COMPONENT Use's Manual 9810 Figue 22: AntiBacklash Assembly 5 (..," ' 31 SCORBOTER 4pc

35 Figue 23: Base and Motos Assembly SCORBOTER 4pc 32 Use's Manual 9810

36 81 I CHAPTER8 Robot Wiing I I I _ I ~ I 1 I oj Use's Manual 9810 Wiing The obotis connectedto the ContollePC by meansof a cable which uns fom the obot base to the D50 connecto maked 0 PIN18 ROBOTon the ea panel of the SCORPOWER box. II PIN1 The leadsfomthefive motoson the obotbody, and thei PIN34.. encodesae connecteddiectlyto the D50connectoon the obot cable.the leadsfomthe gippemotoand the micoswitcheson the am eachthe D50connectovia a squae12pinmolex.. connectoin thebase of the obot;theseleadsae paticulaly... flexibleandesistantto beakage,evenafteextensivemovement : : : I PIN 17 of the obot am. PIN PIN33 The followingtabledetailsthe wiingfo the vaiouselectical 0 components in the SCORBOTER4pcobot. (* indicates two wies on same pin.) Figue 24: Robot D50 Connecto SCORBOTER 4pc Wiing Lead to Molex Lead to Robot Am Signal 12pin Connecto D50 Connecto Axis Moto Encode IPad # Micosw. Colo Pint Colo Pint + white 50 1 gay/geen 17 + white 49 2 white/geen Gippe + white 48 oangelbown 15 + white 47 oange/geen 14 + white 46 oange/gay 13 + gay 8 white 45 I yellow 7 oangelblue! SCORBOTER +K

37 SCORBOTER 4pc Wiing Lead to Molex Lead to Robot Am Signal 12pin Connecto D50 Connecto Axis Moto Encode IPad # Micosw. Colo Pin# Colo Pin# Gippe Gippe GND 1 white 33* PI 3 white/gay 5 VLED 2 yellow 11 Po 4 bown 2 GND 1 white 32* PI 3 white/oange 21 VLED 2 yellow 27 Po 4 gay 1 GND 1 white 31* PI 3 bown/blue 4 VLED 2 yellow 10 Po 4 geen 36 GND 1 white 30* PI 3 geen/bown 20 VLED 2 yellow 26 Po 4 oange 35 GND 1 white 29* PI 3 geen/blue 3 VLED 2 yellow 9 Po 4 blue 18 GND 1 black 12 white 28* PI 3 geen 11 gay/blue 19 VLED 2 yellow 10 white 25 Po 4 bown 9 white/blue 34 GND white 33* MS bown 23 GND white 32* MS gay 7 GND white 1 white 31* MS white 2 oange 24 GND blue 3 white 30* MS blue 4 geen 8 GND oange 5 white 29* MS oange 6 blue 6 no white 28* connecdon bown/gay 22 i.,... I... I SCORBOTER 4pc 34 Use's Manual 9810

38 Single Axis Wiing In additionto the obot's sixmotos,the ContollePCcan contoltwoadditional I I II I I I II motos (axes 7 and 8) which opeate peipheal devices. These additional motos ae connected to the contolle by means of D9 connecto pots on the font of the SCORPOWER box. The following table details the wiing fo a moto, encode, and (optional) micoswitch when connected to the contolle. Refe to Figues 25 and 26. The last column in the table shows the colos of the leads used in the Moto Kit accessoy. Encode D9 Connecto Moto Kit Function (PC510) Pad # Pin# Lead Colo P1 PO V LED ~\ on n GND~ Moto Powe (+) 1 ed Moto Powe () 9 geen Encode Phototansisto (Po) 4 8 bown Encode Phototansisto (PI) 3 6 white Encode LED voltage (VLED) 2 3 yellow Encode Gound (GND) Shield black Micoswitch Signal (MS) * 4 oange Micoswitch (GND) * 5 oange I l Figue 25: Moto Wiing l Use's Manual 9810 Figue 26: Moto with D9 Connecto 35 SCORBOTER 4pc