PowerDelta Robot. Operating manual. Document Asyril_ROBOT-POW-01_Operating_Manual_E Version v1.3 Date Articles ROBOT-POW-01--XX-XX-XX-XX

Transcription

1 PowerDelta Robot Document Asyril_ROBOT-POW-01_Operating_Manual_E Version v1.3 Date Articles ROBOT-POW-01--XX-XX-XX-XX

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3 Introduction v1.3 FO Table of Contents 1. INTRODUCTION GENERALITIES SAFETY PRECAUTIONS General safety precaution Specific warnings WARRANTY INFORMATION CE INFORMATION RELATED MANUALS DESCRIPTION FIRST GLIMPSE AT THE PRODUCT GENERAL CHARACTERISTICS Technical features Overall dimensions (in mm) Visual signals PERFORMANCE Workspace Cycle time Repeatability Force capability ELECTRIC INTERFACES Overview Power connection (A) Main stop switch (B) Input/Output connector (C) RJ 45 connector (D) MECHANICAL INTERFACES Attachment of the robot Mechanical Interface for robot tool ACCESSORIES AND OPTIONAL MODULES Rotation axis (Rz) Embedded vertical compliance module PowerDelta Robot - Asyril SA 3/35

4 Introduction v1.3 FO TRANSPORTATION, HANDLING AND INSTALLATION PACKAGING OF THE PRODUCT, TRANSPORTATION AND HANDLING BEFORE UNPACKING UNPACKING INSTRUCTIONS INSTALLATION AND STORAGE ENVIRONMENT Installation environment Storage environment MAINTENANCE AND REPARATION SAFETY PRECAUTIONS General safety precautions Specific warnings PERSONNEL RESPONSIBLE FOR MAINTENANCE OR REPARATION MAINTENANCE Periodic maintenance schedule Cleaning robot Controlling the parallel structure Controlling the engine group Inspection of the control box REPARATION TECHNICAL SUPPORT For better service Contact PowerDelta Robot - Asyril SA 4/35

5 Introduction v1.3 FO Introduction 1.1. Generalities The following document is the property of Asyril S.A. and may not be copied or circulated without permission. The information contained in this document is subject to change without notice for the purpose of product improvement. Before operating your product, please read this document in order to ensure a correct use of the product. Nevertheless, if you meet difficulties during the operation or the maintenance, please, feel free to contact Asyril customer service. In this manual, the safety precautions that you must respect are classified as: Danger, Warning and Note ; the following symbols are used : DANGER! Failure to observe the instruction may result in death or serious injury. DANGER! Failure to observe the instruction may result in electrocution or serious injury due to electric shock WARNING! Failure to observe the instruction may result in injury or property damage. NOTE : The user should read carefully this information to ensure the correct use of the product, although failure to do so would not result in injury. REFER TO For more information on a specific subject, the reader should read other manual, or refer to other paragraph. WARNING! Asyril shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in Safety Precautions. The customer is responsible to provide the necessary instruction to the persons concerned. NOTE : All dimensions in this document are expressed in millimeters PowerDelta Robot - Asyril SA 5/35

6 Introduction v1.3 FO Safety precautions General safety precaution Transport DANGER! Be aware of the weight and take care when transporting the system. For more information, please refer to chapter 3 Transportation, handling and installation General DANGER! Be sure that all power sources and other cables to the unit are disconnected before working on the product. DANGER! Only qualified personnel (trained by Asyril and with professional experience) are authorized to work on this device. DANGER! Do not unscrew the housing of the system controls. Serious injury or death could result from electric shock. Only authorized personnel from Asyril SA are allowed to access this part of the system for maintenance or for repair. DANGER! Do not plug or unplug cables of the system unless it is switched off. DANGER! Never modify the product. Unauthorized modification may cause the product to malfunction, resulting in injury, electric shock, fire, etc. DANGER! Turn off the power to the product in the event of power failure. Failure to do so may cause the product to suddenly start moving when the power is restored. DANGER! Do not use the product in a place where the main unit or controller may come in contact with water or oil droplets. PowerDelta Robot - Asyril SA 6/35

7 Introduction v1.3 FO Disposal When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. WARNING! Observe the valid legal regulation for appropriate disposal protecting environment Specific warnings Safety Equipment for Operators No safety equipment is required to use the PowerDelta robot NOTE : It is the customer s responsibility to evaluate the dangers of its specific process and install the appropriated signs Intervention groups The following table defines the roles affected to each professional involved on the machine at any time during its life cycle. Operator Fitter Engineer Support Carrier agent Dismantler Construction X Transportation X Installation X X Commissioning X Use X Setting & Programming X Operation X Cleaning X X Defects tracking X Maintenance X Decommissioning X Dismantling Table 1-1: Intervention groups PowerDelta Robot - Asyril SA 7/35

8 Introduction v1.3 FO Specific warnings concerning this product (A) mechanical hazard risk of scratches, cuts, shock, due to the displacement of moving parts WARNING! Is the customer s responsibility to install a specific protective equipment prohibiting access to the dangerous zone! WARNING! Is the customer s responsibility to install an emergency stop on the robot. (B) Service There are no user serviceable parts inside the PowerDelta unit. Contact a supplier to effect a service. In cases of non respectation, the product guarentee will expire. Figure 1-1 :Specific warnings concerning the PowerDelta robot PowerDelta Robot - Asyril SA 8/35

9 Introduction v1.3 FO Warranty information You will find all the Asyril warranty information (duration, scope of warranty ) on the general conditions of sale CE information The original CE certificate for your product is supplied at the time of product delivery. Figure 1-2 : Specimen of a CE certificate provides an example of what your CE certificate should look like. Figure 1-2 : Specimen of a CE certificate 1.5. Related manuals As described in the Table 1-2, this manual is an integral part of the Asyfeed documentation set. This manual covers the installation, a technical description, the maintenance, and the reparation of your system. Information on the transport and safety precautions are also included in this manual. Manual Title Manual reference Description of the content PowerDelta Operating manual PowerDelta Programming guide ROBOT-POW-01_Operating_Manual_E ARL -XXX-XX_Programming_Guide_F Table 1-2 : related manuals THIS MANUAL Describes in detail the way of programming a PowerDelta robot. PowerDelta Robot - Asyril SA 9/35

10 Description v1.3 FO Description 2.1. First glimpse at the product The PowerDelta is a miniature robot ideally suited for applications requiring a middle sized workspace and higher force capabilities. It has a parallel kinematics giving 3 degrees of freedom in translation. A rotation axis can be mounting on the platform of the robot in order to change the orientation of the tool about the vertical axis. The controller of the robot is fully integrated in a control box above the robot s mechanics. The robot PowerDelta consists in : (A) (B) (C) Control box Electrical interfaces 3 motors (A) (D) (E) (F) (G) NOTE : Each motor is equipped with a parking brake and a high resolution incremental position sensor. An additional sensor is used for finding the zero reference of the robot during initialization. Arms Harmonic drive Forearms Platform (B) (D) (E) (F) (C) (G) Figure 2-1 : PowerDelta Robot overview NOTE : The communication with the robot is realized through an Ethernet interface. The robot has also some 24V input/output available for interfacing with its periphery. For more information on the electrical interfaces to the robot, please refer to «0. Electric Interfaces» on page 19. PowerDelta Robot - Asyril SA 10/35

11 Description v1.3 FO General Characteristics WARNING! Do not use the product outside the specifications. In particular, observe the maximum loading capacity. In cases of non-respectation, the product guarantee will expire Technical features Robot PowerDelta 100 Degrees of freedom Multi-directional repeatability Workspace (refer to 2.3.1) Typical Cycle-time : (path: 20 x 200 x 20 mm) Force in vertical direction (z) Digital I/O ød H X 3 (x,y,z) 4 th axe optional (Rz) + 10µm (3σ) 250mm 60mm 250mm 500g : 0.65s 50N 5 inputs (24 V) 5 outputs (24 V) Intuitive HMI Configurable workspace objects (frames, points, tools) Program-editor (text format IEC 61131) Server HTTP, TCP/IP Embedded GUI Table 2-1 : technical features PowerDelta Robot - Asyril SA 11/35

12 Description v1.3 FO Overall dimensions (in mm) With foot (in mm) Figure 2-2 : overall dimensions Characteristic Robot PowerDelta Footprint 454 x 454 Height on foot Weight with foot 467mm 11.2kg PowerDelta Robot - Asyril SA 12/35

13 Description v1.3 FO Without foot (in mm) Figure 2-3 : overall dimensions PowerDelta Robot - Asyril SA 13/35

14 Description v1.3 FO Visual signals The leds give important information on the state of the PowerDelta robot : Led State Meaning 1 Red Drive 1 on 2 Red Drive 2 on 3 Red Drive 3 on 4 X Not wired 5 X Not wired 6 Green Power on Figure 2-4 : PowerDelta Indicator LED s PowerDelta Robot - Asyril SA 14/35

15 Description v1.3 FO Performance Workspace The accessible workspace of the robot is represented in Figure 2-5. Robot PowerDelta ød H X 250mm 60mm 250mm ØD IMORTANT NOTE : The robot workspace is defined by the space accessible by the midplane of the robot platform. When a tool (or compliance) is mounted on the robot, the workspace will be translated down as much as the length of the tool (or compliance). X H ØD Figure 2-5 : Workspace of the PowerDelta Robot PowerDelta Robot - Asyril SA 15/35

16 Description v1.3 FO Cycle time The cycle time is defined as an a/b/c pick and place motion with an elevation of a, an horizontal motion of b and a down motion on a distance c and then back by the same way as defined on the figure below : ød a Back and forth c h b Figure 2-6 : Trajectory used for the cycle time measurement NOTE The cycle time depends not only on the distance travelled by the robot s platform but also on the load carried by the robot. The table below summarizes the result of these measures: a/b/c cycle [mm] Payload [gram] Cycle time [s] /125/ IMPORTANT NOTE: stabilization time required to reach the PowerDelta robot repeatability is not counted in this time cycle. PowerDelta Robot - Asyril SA 16/35

17 Description v1.3 FO Repeatability The pose repeatability and the multi-directional pose accuracy variation have been measured as presented in the International Standard (ISO 9283) Pose repeatability Pose repeatability expresses the closeness of agreement between the attained poses after n repeat visits to the same command pose in the same direction. This pose parameter has been measured on five different points: P1 to P5 : Data PowerDelta Data PowerDelta ød 250 mm a 60 mm h 60 mm b 48 mm Figure 2-7 : Disposition of the command poses in the robot workspace PowerDelta robot s pose repeatability is of + 16 µm at 3σ. NOTE The 3σ mention means that in 99.73% of the cases, the robot repeatability at the point Pi will be at least equal to the value in the table above. PowerDelta Robot - Asyril SA 17/35

18 Description v1.3 FO Multi-directional pose accuracy variation Multi-directional pose accuracy variation expresses the deviation between the different mean attained poses achieved when visiting the same command pose n times from different directions. Pose Repeatability (3σ) [µm] P1 70 µm Figure 2-8 : Direction of the paths for the multidirectional pose accuracy variation Force capability The PowerDelta force capability in Z direction centred in the middle of the workspace is 50N. NOTE The robot PowerDelta force capability depends on the point of application. PowerDelta Robot - Asyril SA 18/35

19 Description v1.3 FO Electric Interfaces Overview (A) (B) All electrical interfaces are located in the back side of the robot. The function of the connectors and indicators are explained on the figure below. Power supply IO connector (A) (B) (C) NOTE : One of the inputs is dedicated to an emergency stop connection. DANGER! Is the customer s responsibility to install an emergency stop button on the robot. Figure 2-9 : Electrical interfaces to the PowerDelta Robot (C) Ethernet connection All these interfaces are described in detail during the following sections. PowerDelta Robot - Asyril SA 19/35

20 Description v1.3 FO Power connection (A) WARNING! - Before supplying power to the product, check that your distribution voltage is the same as the nominal voltage of the robot. - Never disconnect the power cables. Always turn the machine off and then cut the power The connector plug device is not wired when delivered. Its specifications must be : A1 1 A2 Pin A1 A2 Description Power supply (24VDC) GND 1 Logical power supply (24VDC) The PowerDelta robot is powered with 24VDC/10A. These characteristics are summarized below : Characteristic Voltage Current Value 24V DC 10 A Figure 2-10 : power supply connector to the PowerDelta robot (on robot side) PowerDelta Robot - Asyril SA 20/35

21 Description v1.3 FO Main stop switch (B) Input/Output connector (C) A few inputs/outputs are available on the robot to pilot local sensors or actuators. The connector s pecification (on PowerDelta robot s side) are : (13) (1) Characteristic Description Model on robot side Output max current Specification D-sub connector DIN Female 25 pins 1A (24V DC) (25) (14) The pin-out is given in the table below Figure 2-11 : I/O connector on robot side Pins Signal description Pins 1 OUT 4 Vcc (24V) OUT 4 (0V) 14 2 OUT 3 Vcc (24V) OUT 3 (0V) 15 3 OUT 2 Vcc (24V) OUT 2 (0V) 16 4 OUT 1 Vcc (24V) OUT 1 (0V) 17 5 OUT 0 Vcc(24V) OUT 0 (0V) 18 6 GND 7 GND 8 GND GND 19 GND 20 9 IN 4 IN 4 Vcc (24V) IN 3 IN 3 Vcc (24V) IN 2 IN 2 Vcc (24V) IN 1 IN 1 Vcc (24V) IN 0 IN 0 Vcc (24V) 25 Table 2-2: Sub-D for the IO connector PowerDelta Robot - Asyril SA 21/35

22 Description v1.3 FO Below is a picture explaining the wiring of an input (represented by a lamp) and an output (represented by switch) IN 0 (0V) OUT 4 Vcc (24V) IN 0 Vcc (24V) OUT 4 (0V) Figure 2-12 : example of an I/O connection RJ 45 connector (D) The three RJ 45 connector (A) enables to communicate with the PowerDelta robot. NOTE : The robot must be wired to a computer with a category 5 quality ethernet cable Figure 2-13 : RJ 45 connection (A) For more information on the way to connect to the robot web page, please refer to the HMI guide. PowerDelta Robot - Asyril SA 22/35

23 Description v1.3 FO Mechanical Interfaces Attachment of the robot The robot can be used on its original legs or integrated in a mechanical setup using the base plate to attach it mechanically. Two types of fixture are available depending the configuration of the mechanical setup and are shown in the figure below. Figure 2-14 : Mechanical interface available to fix the robot in a mechanical setup. PowerDelta Robot - Asyril SA 23/35

24 Description v1.3 FO Mechanical Interface for robot tool Tools and grippers are not supplied with the robot. Their design depends on the application and has to be adapted specifically. Tools and grippers can be attached to the robot s platform: Figure 4.2: Tools and grippers interface PowerDelta Robot - Asyril SA 24/35

25 Description v1.3 FO Accessories and optional modules Rotation axis (Rz) If the option was purchased a specific electrical box (A) is mounted on the original PowerDelta robot control box. The fourth axis (B) is wired to this box and has the following characteristics : (A) 4Th axis Article nb Resolution Weight g (B) Figure 2-15 : PowerDelta robot with Rz axis Embedded vertical compliance module The compliance module mechanically detect when the platform has encountered an obstruction. It allows absorbing the crash energy and quickly stopping the robot to prevent damage to the robot arms and tool. If the option was purchased, the compliance is supplied with the unit, mounted and ready to be used. PowerDelta Robot - Asyril SA 25/35

26 Transportation, handling and installation v1.3 FO Transportation, handling and installation 3.1. Packaging of the product, transportation and handling The transportation of the product must be done in accordance with the specific terms indicated on the package (top, bottom and fragile ). In addition, pay particular attention to the following points : WARNING! - Be aware of the weight and take care when transporting the system. - Always hold the system firmly with two hands on the side bars. - The operator should not carry heavy shipping boxes by himself. - If the shipping box is to be left standing, it should be in a horizontal position. - Do not climb on the shipping box. - Do not place heavy objects, on top of the shipping box Before unpacking Before unpacking, look at the ShockWatch Label. As to promote zero-defect shipping, all Asyril products are shipped with a ShockWatch Label. If this is red, or if any evidence of damage during transit was to be indicated please : (A) (B) (C) (D) request that the carrier s agent be present at the time of unpacking. pay special attention to any damage on the exteriors of the product If any damage has occurred, do not sign the delivery recipit and contact Asyril In every cases, make a notation on the delivery recipit Figure 3-1 : ShockWatch NOTE : If the items received do not match to your order, or are damaged, do not sign the receipt, and contact Asyril as soon as possible. PowerDelta Robot - Asyril SA 26/35

27 Transportation, handling and installation v1.3 FO Unpacking instructions NOTE : Do not remove the PowerDelta robot from its packaging until you are ready to install it. When the PowerDelta robot is unpacked, please keep the packaging material and the shipment box in case of return. Locate the identification plate at the back of the product and ensure that the product you have received is the appropriate one. Important information is on this plate; such as the power consumption or the serial number that you will need for any kind of correspondence with Asyril. ASYRIL SA - Switzerland Article n : X xxx xxx xxx Type : PRODU-TYP-VE--AA-BB-CC-DD Input Voltage : 24VDC Serial n : xxxxxxx Figure 3-2 : Product key sticker The product key gives the product designation as follows: PRODU - TYP - VE - - AA - BB - CC - DD Product ROBOT Robot Delta Type POC - Pocket POW - Power DES - Desktop Version 01 - Version number AA - Customized Workspace ø 25 - ø250mm Axes 03-3 axes (x,y,z) 04-4 axes (x,y,z,rz) Mount 01- floor with legs 02 - Roof without legs Option 01- Standard 02 - Speed safety Figure 3-3 : product key PowerDelta Robot - Asyril SA 27/35

28 Transportation, handling and installation v1.3 FO Installation and storage environment WARNING! The Asycube must be mounted on a smooth, flat and strong surface. Ensure yourself that the Asycube is not submitted to excessive vibration or mounting flexure. Failure to do so would degrade feeder performance Installation environment The PowerDelta robot can be used under following conditions: - Working temperature: +5 C to +40 C WARNING! note that variations of temperature might affect the precision of the robot, especially if precisions below 10 microns are necessary - Humidity: 30% to 80% max. non-condensing WARNING! In the case of extreme humidity, note that it might affect the global performances of the cell. - Avoid extreme electromagnetic waves, ultraviolet rays and radiation. - Avoid using the product in a place where the main unit or controller may be exposed to water or oil droplets. - Clean room application: cleanliness class ISO7 and ISO8 WARNING! Do not use the product in an atmosphere of corrosive gases. Rust may form and reduce the structural strength of the product Storage environment The storage environment should be similar to the operating environment. In addition, you should protect the PowerDelta robot against dust PowerDelta Robot - Asyril SA 28/35

29 Maintenance and reparation v1.3 FO Maintenance and reparation 4.1. Safety precautions General safety precautions WARNING! There are no user serviceable parts inside the product. Contact a supplier to effect maintenance. In cases of non respectation, the product guarantee will expire. DANGER! Do not operate the system when it is damaged. Please ensure yourself before use that now defects are to be noticed. DANGER! Power down the system and unplug it from the mains before any kind of maintenance. DANGER! Do not pour water onto the product. Spraying water over the product, washing it with water or using it in water may cause the product to malfunction, resulting in injury, electric shock, fire, etc Specific warnings WARNING! Be sure that the robot s platform is unloaded before any kind of maintenance Personnel responsible for maintenance or reparation Maintenance operation must be done by personnel who has a working knowlage of the system, nevertheless, we can define three kind of staff : (A) (B) (C) Maintenance technician without any specific formation from Asyril Maintenance technician with a specific formation from Asyril Technician from Asyril s customer service Make sure that the person who will be working on the maintenance has received and read this manual, and will be able to work in the manner specified in the following sections. All personnel must observe the safety precautions listed in this manual. PowerDelta Robot - Asyril SA 29/35

30 Maintenance and reparation v1.3 FO Maintenance WARNING! For any kind of maintenance, always use Asyril products Periodic maintenance schedule Our robots are largely maintenance-free, however, simple inspections should be done at regular intervals to ensure optimum performances, and safety operating of your product. Robot Item Period Personal Reference Cleaning the robot Year B Inspection of the control box Contact Year C Asyril Controlling the engine group Contact Year C Asyril Controlling the parallel structure Contact Year C Asyril Visual check, clean and lubricate the Contact articulations of the parallel structure (including Year C Asyril moving platform and compliance) Table 4-1 : periodic maintenance schedule NOTE : The information given in the Table 4-1 : periodic maintenance schedule is only informative, maintenance and times must be modified by the operator in accordance with your particular system, its operating environment and the amount of usage. PowerDelta Robot - Asyril SA 30/35

31 Maintenance and reparation v1.3 FO Cleaning robot Material needed : - Lint-free cloth - isopropanol alcohol - Vaccum-cleaner (A) Step 1 Step 2 Clean all exterior surfaces of the robot with a lint-free cloth. And pay specific attention to the front arms (B) Use the vacuum cleaner to remove dust accumulated in the filters (A) (B) Figure 4-1 : cleaning the robot PowerDelta Controlling the parallel structure - Clean and lubricate the joints of the parallel structure - Control the front arms wear - Control the clearance of the robot nacelle NOTE : This maintenance operation can only be performed by a Asyril technician. For more information on this operation, please contact Asyril customer s service Controlling the engine group - Control the engine - Control the brakes NOTE : This maintenance operation can only be performed by a Asyril technician. For more information on this operation, please contact Asyril customer s service Inspection of the control box - Clean the air breather NOTE : This maintenance operation can only be performed by a Asyril technician. For more information on this operation, please contact Asyril customer s service. PowerDelta Robot - Asyril SA 31/35

32 Maintenance and reparation v1.3 FO Reparation WARNING! For any kind of reparation, always use Asyril products. For any kind of reparation, the product must be returned to the manufacturer. For exceptional cases, and after acceptation of Asyril S.A. this work can be performed on the costumer s site by trained personnel as defined in section 4.2. (A) (B) Two kind of parts are defined : Part way that may be changed every year (wear part) Part way that may be changed every 5 years Name of the part Type Product key Article number Parallel structure B PARST-POW Y Foam filter plate A - Y Proximity detector B - Y NOTE : For more information on the spare parts and delivery time, please contact Asyril costumer s service. PowerDelta Robot - Asyril SA 32/35

33 Maintenance and reparation v1.3 FO Technical support For better service You have read the check list and the related manuals without finding answers to your questions? Before calling the support service, note the following information for your system: - serial number and product key of your material - software version - alarm or error message displayed on the screen Contact You can find lot of information on our website : You can also contact us by mail or call our support service : support@asyril.ch PowerDelta Robot - Asyril SA 33/35

34 Maintenance and reparation v1.3 FO Review history Rev. Date Author Comments DaM Initial version BuB Add safety notice SiA Update to new model Change performances information Add transport, maintenance, reparation and support information SiA Update replaceable parts list PowerDelta Robot - Asyril SA 34/35

35 This document is the property of Asyril S.A. and may not be copied or circulated without permission. The information contained in this document is subject to change without notice for the purpose of product improvement. asyril sa z.i. le vivier ch-1690 villaz-st-pierre switzerland tel fax