INFORMATION. Circuit configuration examples (SR1) 616 Circuit configuration examples (RCX240) 617 INFORMATION

Transcription

1 Articulated single-axis ALL TYPES OF INFORMATION INFORMATION Single-axis single-axis CONTENTS CABLE Robot cable table 596 Single-axis robot cable 596 Multi-robot cable 6 robot cable 62 robot cable 63 Gripper cable 63 Cable terminal table 64 relay cable 64 Connector converter cable 65 Programming box converter cable 65 I/O control converter cable 65 TECHNICAL RF type model selection 66 Selecting a model 66 List of moment of inertia calculation formulas (Calculation of moment of inertia I) 67 Kinds of loads 67 R-axis tolerable moment of inertia and acceleration coefficient 68 Acceleration coefficients for inertia moment in each robot series model 68 How to find the inertia moment 613 Example of moment of inertia calculation 614 External safety circuit examples 615 Circuit configuration examples (TS-X/TS-P) 615 Circuit configuration examples (SR1) 616 Circuit configuration examples (RCX24) 617 INFORMATION Cautions regarding CE specifications 618 CE marking 618 Cautions regarding compliance with EC Directives 618 Applicable directives and their related standards 618 Installation of external safety circuits 618 Compliance with EMC Directives 618 Cautions regarding official language of EU countries 618 Cautions on KCs (Korean Certificate Safety) specifications 619 About KCs 619 About measures for KCs 619 List of subject to KCs 619 Cautions on Korean EMC specifications 621 About Korean KC 621 About Korean KC compliance 621 List of KC compliant 621 About non-compliant models 621 Warranty 622 This warranty does not cover any failure caused by: 622 The following cases are not covered under the warranty: 622 Repeatability positioning accuracy 623 Factors involving absolute accuracy 623 Operating pattern factors 623 Temperature factors 623 Fluctuating load factors

2 Articulated single-axis Single-axis Robot cable table The robot cable is a cable joining the robot to the controller. Single-axis robot cable TS-S/TS-S2/TS-SD cable - Composite wire KCK-M m 3 3m (16) (21) (15) (ф7.5) (ф6.3) Cable length selection (1m / 3m / 5m / 1m) Composite wire: KCK-M4751- (6) (29) (13) (14) single-axis TS-S2S cable TS-X cable [Standard cable] KBY-M471- (RF Type Sensor specification) - Composite wire KCK-M m 3 3m Signal wire KBY-M4751- Motor wire KX7-M4752- (16) (21) (3) (13) (39) (ϕ9.2) Signal wire: KBY-M4751- Motor wire: KX7-M4752- (6) (29) (14) (15) (ф7.5) (ф6.3) Ferrite core (ϕ3 x 34) (ϕ7.6) 22 Cable length selection (1m / 3m / 5m / 1m) Composite wire: KCK-M4752- (13) (29) (14) KBY-M472- Signal wire KBY-M4755- Motor wire KX7-M4752- (3) (13) (39) ( 9.7) Signal wire: KBY-M4755- (6) (29) (14) (ϕ7.6) Ferrite core (ϕ3 x 34) Motor wire: KX7-M

3 TS-P cable Robot cable table Articulated [Standard cable] KBS-M471- KBS-M472- Signal wire KBS-M Motor wire KAU-M Signal wire KBS-M Motor wire KAU-M [Signal wire] (3) (13) (39) Standard: KBS-M (3) (13) (39) Flexible: KBS-M [Motor wire] (ϕ9.2) (ϕ9.7) (15) (15) single-axis Single-axis single-axis 15 (29) (14) (ϕ7.6) RDV-X cable (No-brake specifications) [Standard cable] KEF-M471- KEF-M473- Signal wire KBH-M4751- Motor wire KEF-M4752- I/O connector KBH-M442- Signal wire KBH-M4756- Motor wire KEF-M4752- I/O connector KBH-M442- Within Cable length [Signal wire] (11) (4) [Motor wire] (44.4) (29) ( 7.8) Standard: KBH-M4751- (11) (4) Ferrite core (ϕ3 x 34) Motor wire: KAU-M ( 8.2) Flexible: KBH-M4756- Ferrite core (ϕ3 x 34) (29) (ϕ7.7) (14) (2) Standard: KEF-M

4 Articulated Robot cable table RDV-X cable (models with brake and sensor) single-axis Single-axis single-axis [Standard cable] KEF-M472- KEF-M474- [ORG, BK wires] Signal wire KBH-M4753- Motor wire KEF-M4752- ORG, BK wires KBH-M4421- Signal wire KBH-M4757- Motor wire KEF-M4752- ORG, BK wires KBH-M4421- [Signal wire] (11) (11) (4) (16) (4) (16) [Motor wire] Ferrite core (ϕ21 x 32) Ferrite core (ϕ21 x 32) Standard: KBH-M4753- Flexible: KBH-M4757- (6) (6) (39) 8 (52) (13) (44.4) (29) Ferrite core (ϕ3 x 34) (29) (14) ORG, BK wires: KBH-M4421- RDV-P cable [Standard cable] KEF-M4711- KEF-M4712- Signal wire KBH-M Motor wire KEF-M4755- I/O connector KBH-M442- Signal wire KBH-M4758- Motor wire KEF-M4755- I/O connector KBH-M442- [Signal wire] (11) (11) (4) molex [Motor wire] (4) molex (44.4) (29) (2) (ϕ7.7) Standard: KEF-M (ϕ6) Standard: KBH-M (ϕ8.2) Flexible: KBH-M (29) (14) Ferrite core (ϕ3 x 34) (ϕ7.7) (2) Standard: KEF-M

5 SR1-X cable Robot cable table Articulated [Standard cable] KX7-M471- KX7-M472- Signal wire KX7-M Motor wire KX7-M4752- Signal wire KX7-M4755- Motor wire KX7-M4752- [Signal wire] (28) (16) (19) Standard: KX7-M (16) (28) (19) Flexible cable Flexible: KX7-M4755- [Motor wire] (ϕ9.2) (ϕ9.7) (6) (11.7) (6) single-axis Single-axis single-axis (29) (14) (ϕ7.6) SR1-P cable [Standard cable] KAU-M471- KAU-M472- Signal wire KAU-M Motor wire KAU-M Signal wire KAU-M4755- Motor wire KAU-M Ferrite core (ϕ3 x 34) [Signal wire] (19) (19) (28) (28) (19) (19) [Motor wire] Motor wire: KX7-M4752- (ϕ7.8) Standard: KAU-M (ϕ8.2) Flexible: KAU-M (29) (ϕ7.6) (15) (15) (14) Ferrite core (ϕ3 x 34) Motor wire: KAU-M

6 Articulated Robot cable table ERCD / ERCX cable single-axis [Standard cable] - Composite wire KX1-M m (16) (19) Cable length selection (1m / 3.5m / 5m / 1m) Ferrite core (ϕ21 x 32) Composite cable (8.2 x 16.7) Composite wire: KX1-M4751- (24) (6) (11) Single-axis single-axis - Composite wire KX1-M m (16) (19) Cable length selection (1m / 3.5m / 5m / 1m) (ϕ7.6) (ϕ9.7) Composite wire: KX1-M4752- (6) (24) (11) Multi-robot cable Single axis multi-robot cable Connected controller RCX24 Robot Cable type KX7-M4754- KAU-M4757- (44) (39) KX7-M4754- (44) (39) KAU-M4757- (ϕ9.7) (ϕ7.6) (ϕ9.7) (ϕ7.6) (6) (29) (14) (15) (29) (14) 6

7 2-axes multi-robot cable Robot cable table Articulated Connected controller RCX221/RCX222 RCX24/RCX34 DRCX Robot combinations Cable type First axis Second axis KX7-M (44) (39) (ϕ9.7) (ϕ7.6) (6) (29) (14) single-axis Single-axis Connected controller RCX221 / RCX24 Robot combinations Cable type First axis Second axis KAU-M (39) (44) KX7-M (15) (ϕ9.7) (ϕ7.6) (29) (14) single-axis Connected controller RCX221 / RCX24 Robot combinations Cable type First axis Second axis KAU-M (39) (44) KAU-M (15) KAU-M (ϕ9.7) (ϕ7.6) (29) (6) (14) [First axis: ] [Second axis: ] Connected controller RCX221 / RCX24 Robot combinations Cable type First axis Second axis KAU-M (39) (44) (15) KAU-M (ϕ9.7) (ϕ7.6) (6) (29) (14) [First axis: ] [Second axis: ] 61

8 Articulated Robot cable table robot cable single-axis Single-axis single-axis 2-axes cable [Standard cable] Connected controller Type KT6-M axes cable DRCX / RCX222 / RCX34 (39) (44) KT6-M [Within wiring box on robot side] [Standard cable] (39) Connected controller Type KT6-M4755- RCX142 / RCX24 / RCX34 (44) 4-axes cable [Standard cable] Connected controller Type KT6-M RCX142 / RCX24 / RCX34 (39) (44) KT6-M4755- [Within wiring box on robot side] KT6-M [Within wiring box on robot side] 62

9 robot cable Robot cable table Note. robot cables all use the same size connectors but different models use different cables. Articulated [Standard cable] Cable length Type 3.5m KBF-M6211-5m KBF-M m KBF-M G (No including YK12XG / YK15XG / YK18XG) GS YK-TW YK4XR YK12XG YK15XG YK18XG Cable length Type 2m KCB-M m KCB-M m KCB-M m KCB-M (39) (44) [Robot unit installation] (Tiny uses several cable clamps.) single-axis Single-axis single-axis GP GC Cable length Type 3.5m KDP-M6211-5m KDP-M m KDP-M C (Large type) S P Cable length Type 3.5m KN3-M6211-5m KN3-M m KN3-M Gripper cable Robot cable Cable length Type 3.5m KCF-M m KCF-M m KCF-M4751-A1 Relay cable Type KCF-M Within Length (mm) YK12X Cable length Type 3.5m KN6-M6211-5m KN6-M m KN6-M YK18X YK22X YK18XC YK22XC Cable length Type 3.5m KBE-M6211-5m KBE-M m KBE-M Note. Be sure to adjust the total length of the robot (for gripper) cable and relay cable to 14m or less. JST J22DF-1V-KX DDK DK-21D-12R (3) L KCF-M L KCF-M [Gripper side] DDK DK-21D-12F [Gripper side] DDK DK-21D-12F 63

10 Articulated single-axis Cable terminal table This is a relay cable used between the robot body and the robot cable such cable carrier wiring, etc. relay cable Motor wire (35mm to 145mm) Note. Common to MR types and MF types Type KAU-M4813- Within A B C Length (mm) Single-axis single-axis (14) (19) (115) (L+7) L (Cable length) (ϕ5.6) (29) (14) Motor wire (15mm to 26mm) Note. Not usable on MR type Type KBD-M4813- Within A B C D E F G M Length (mm) (14) (19) (L+7) L (Cable length) (29) (14) (15) Signal cable (35mm to 145mm) Note. Common to MR types and MF types Type KAU-M Within A B C Length (mm) (26) (L+7) (ϕ7.7) L (Cable length) (ϕ7.5) Signal cable (15mm to 26mm) Note. Common to MR types and MF types Type KBD-M Within A B C D E F G J Length (mm) (26) (L+7) L (Cable length) (ϕ7.5) 64

11 Connector converter cable Programming box converter cable 8 Articulated RCX4 RCX141 RCX MAX single-axis I/O control converter cable SRCX SR1-X Converter cable KAS-M Converter cable for operating the RCX4, RCX141, RCX142 by RPB. Type KAS-M Converter cable KBG-M533G-B KBG-M533G-C External control External control Converter cable allows connecting to the SRCX connector when system using the SRCX was changed to the SR1-X. SRCX I/O connector relay KBG-M533G-C 3 SRCX/SRCH I/O connector relay 3 44 External power supply is used for the I/O power supply (Only sheath is removed.) White 24V 2 3 STD.NPN SAFETY To SR1-X STD.NPN To SR1-X SAFETY Internal power supply of the SRCX is used for the I/O power supply. Note. It is necessary to input the 24V-power supply from the outside. Type Type KBG-M533G-B To SR1-X STD.NPN To SR1-X SAFETY KBG-M533G-C Single-axis single-axis SRCP SR1-P Converter cable KBG-M533G-A External control External control Converter cable allows connecting to the SRCP connector when system using the SRCP was changed to the SR1-P. SRCP I/O connector relay SRCP EXT.CN relay 3 To SR1-P monitor I/O To SR1-P STD.NPN To SR1-P SAFETY Type KBG-M533G-A 65

12 Articulated single-axis Single-axis single-axis RF type model selection Selecting a model Operating conditions Step 1 Moment of inertia Acceleration/deceleration Step 2 b H Calculating the moment of inertia. Checking the moment of inertia vs. acceleration/deceleration. Select an appropriate model from the moment of inertia vs. acceleration/deceleration while referring to the moment of inertia vs. acceleration/deceleration graph. Selecting a torque a Rotary type: RF3 Installation posture: Horizontal Kind of load: Inertial load Ta Shape of load: 15 mm x 8 mm (rectangular plate) Oscillating angle θ: 18 Calculation formula Ι =m (a 2 +b 2 )/12+m H 2 Selection example Ι =2. ( )/ =.82kg m 2 Acceleration/deceleration ω : 1, /sec 2 Speed ω: 42 /sec Load mass m: 2. kg Distance between shaft and center of gravity H: 4 mm RF3.3 Moment of inertia: Ι (kg m 2 ) High torque Standard Acceleration/deceleration: ω ( /s 2 ) Step 3 Kinds of loads Static load: Ts Resistance load: Tf Inertial load: Ta Checking the effective torque Check that the speed can be controlled by the effective torque by the speed while referring to the effective torque vs. speed graph. Allowable load Checking the allowable load Radial load Thrust load Moment Calculation formula Effective torque Ts Effective torque Tf x 1.5 Effective torque Ta x 1.5 Selection example Inertial load: Ta Ta 1.5=Ι ω 2π/ =.82 1, =.21N m Calculation formula Allowable thrust load m 9.8 Allowable moment m 9.8 H RF3 1.4 Effective torque: T (N m) High torque Standard Speed: ω ( /s) Selection example Thrust load =19.6N<Allowable load OK Allowable moment =.784N m<allowable moment OK 66

13 RF type model selection List of moment of inertia calculation formulas (Calculation of moment of inertia I) Thin rod Position of rotation axis: Passes through one end perpendicularly to the rod. a2 a1 a1 Ι =m1 2 a2 +m2 2 a a 3 3 Ι =m 2 a 12 Ι =m 2 12 Ι =m1 Thin rectangular plate (rectangular parallelepiped) Position of rotation axis: Passes through one end perpendicularly to the plate. (Same position for the rectangular parallelepiped with the plate thickened.) Thin rod Position of rotation axis: Passes through the center of gravity of the rod. Cylinder (including thin disc) Position of rotation axis: Central axis Thin rectangular plate (rectangular parallelepiped) Position of rotation axis: Passes through the center of gravity of the rod. a Solid ball Position of rotation axis: Diameter Ι: Moment of inertia m: Load mass Thin rectangular plate (rectangular parallelepiped) Position of rotation axis: Passes through one end perpendicularly to the plate. (Same position for the rectangular parallelepiped with the plate thickened.) a2 a1 b +m2 4a1 2 + b a2 2 + b 2 12 Thin disc Position of rotation axis: Diameter Articulated single-axis Single-axis single-axis a b r r r a Ι =m 2 + b 2 r 12 Ι =m 2 2r 2 Ι =m 2 r 5 Ι =m 2 4 Load at lever tip Gear transmission a2 a1 m1 m2 r Ι =m1 +m2 a2 2 +K 3 (Example) When the shape of m2 is a ball, refer to [7] to obtain the following. 2r K=m2 2 5 a1 2 Kinds of loads Static load: Ts Only push force is needed (clamp, etc.). L Ts = F L Ts : Static load (N m) F : Clamp force (N) L : Distance from oscillating center to clamp position (m) Required torque F T = Ts mg Number of teeth = b Number of teeth = a Kinds of loads Resistance load: Tf Gravity or friction force applies in the rotation direction. mg µ 1. Calculate the moment of inertia IB around the (B) axis. 2. Next, substitute IB for the moment of inertia around the (A) axis to calculate IA as follows. a ΙA=( ) 2 ΙB b Inertial load: Ta Load with inertia needs to be rotated. <Gravity applies.> <Friction force applies.> <Rotation center matches <Rotation axis is in to the gravity of the load.> the vertical direction.> L ω L Gravity applies in the rotation direction. Tf = m g L Load becomes the resistance load. Gravity or friction force applies in the rotation direction. Example 1) The rotation center of the rotation axis does not match to the center of gravity of the load in the horizontal direction. Example 2) The load slips on the floor to move it. The required torque is the total of the resistance load and inertial load. T = (Tf + Ta) 1.5 Friction force applies in the rotation direction. Tf = µ m g L Tf : Resistance load (N m) m : Mass of load (kg) g : Gravity acceleration 9.8 (m/s 2 ) L : Distance from oscillating center to gravity or friction force action point (m) µ : Friction coefficient Required torque T = Tf 1.5 Note 1) Ta = Ι ω 2 π / 36 (Ta = Ι ω.175) Ta : Inertial load (N m) Ι : Moment of inertia (kg m 2 ) ω : Acceleration/deceleration ( /sec 2 ) ω : Speed ( /sec) Required torque T = Ta 1.5 Note 1) Load does not become the resistance load. Gravity or friction force does not apply in the rotation direction. Example 1) The rotation axis is vertical. Example 2) The rotation center of the rotation axis does not match to the center of gravity of the load in the horizontal direction. The required torque is only the inertial load. T = Ta 1.5 Note 1) An allowance is required for Tf and Ta to make the speed adjustment. ω 67

14 Articulated single-axis Single-axis single-axis When using the RCX24 R-axis tolerable moment of inertia and acceleration coefficient The RCX34 automatically specifies the acceleration coefficient according to the parameter settings. The moment of inertia of a load (end effector and workpiece) that can be attached to the R-axis is limited by the strength of the robot drive unit and residual vibration during positioning. It is therefore necessary to reduce the acceleration coefficient in accordance with the moment of inertia. [Example: YK5XG] If there is a payload of 1.5kg installed on the R axis then the inertia moment in the R axis vicinity is.1kgm 2 (1.kgfcmsec 2 ). The tip payload set at this time is 2kg. As shown on the graph, the robot can be operated with the X axis, Y axis and R axis acceleration coefficients reduced to 62%. Always select a tip payload and acceleration coefficient parameter that matches the payload and inertia moment before operating the robot. See your MAHA Robot Controller Instruction Manual when setting the tip payload and acceleration coefficient. Note. The method for calculating the inertia moment load is shown on P.613. However, making an accurate calculation is difficult. If the actual inertia moment is larger than the calculated value and the robot is set for that calculated value then residual vibrations might occur. If this happens, reduce the acceleration coefficient parameter more. CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and moment of inertia. If this is not observed, premature end to the life of the drive units, damage to the robot parts or residual vibration during positioning may result. Depending on the Z-axis position, vibration may occur when the X, Y or R-axis moves. If this happens, reduce the X, Y or R-axis acceleration to an appropriate level. If the moment of inertia is too large, vibration may occur on the Z-axis depending on its operation position. If this happens, reduce the Z-axis acceleration to an approriate level. Acceleration coefficients for inertia moment in each robot series model YK35TW YK5TW YK12XG AX, Y, R (%) VX, Y, R (%) 1 8 AX, Y, R (%) VX, Y, R (%) 1 8 AX, AY, AR (%).12 (.12) Ir (kgm 2 ) YK15XG AX, AY, AR (%).6 (.6).5.5 m=.1~.3kg.1 Ir (kgm 2 ).1 Jr (kgfcmsec 2 ) Ir (kgm 2 ) AX, AY, AR (%).33 (.33).5.5 m=.4~1.kg.1 Ir (kgm 2 ).1 Jr (kgfcmsec 2 ) m=.1~1.kg.1 Ir (kgm 2 ).1 Jr (kgfcmsec 2 ) YK18XG Graph notation description AX, AY, AR Ir, Jr m Acceleration coefficient for X axis, Y axis, R axis Inertia moment in R axis load vicinity Tip payload 68

15 YK18X / YK22X R-axis tolerable moment of inertia and acceleration coefficient Articulated YK25XG/YK25XGP/YK25XGC single-axis Single-axis single-axis YK25XH YK35XG/YK35XGP/YK35XGC/YK3XGS YK35XH Graph notation description AX, AY, AR Ir, Jr m Acceleration coefficient for X axis, Y axis, R axis Inertia moment in R axis load vicinity Tip payload 69

16 Articulated R-axis tolerable moment of inertia and acceleration coefficient YK4XG/YK4XGP/YK4XGC/YK4XGS single-axis Single-axis single-axis YK4XH YK5XGL/YK5XGLP/YK5XGLC YK6XGL/YK6XGLP/YK6XGLC Graph notation description AX, AY, AR Ir, Jr m Acceleration coefficient for X axis, Y axis, R axis Inertia moment in R axis load vicinity Tip payload 61

17 YK5XG/YK5XGS/YK5XGP R-axis tolerable moment of inertia and acceleration coefficient YK6XG/YK6XGS/YK6XGP Articulated AX, AY, AR (%).4 (.4) 1 8 AX, AY, AR (%).3 (.3) AX, AY, AR (%).3 (.3) m=1 to 1kg YK6XGH/YK6XGHP Ir (kgm 2 ) 3. Jr (kgfcmsec2) AX, AY, AR (%).2 (.2) m=1 to 1kg Ir (kgm 2 ) 3. Jr (kgfcmsec2) YK7XG/YK7XGS/YK7XGP/YK8XG/ YK8XGS/YK8XGP single-axis Single-axis single-axis m=1 to 2kg Ir (kgm 2 ) Jr (kgfcmsec 2 ) m=1 to 2kg Ir (kgm 2 ) Jr (kgfcmsec 2 ) YK9XG/YK9XGS/YK9XGP/YK1XG/ YK1XGS/YK1XGP AX, AY, AR (%).7 (.7) m=1 to 2kg Ir (kgm 2 ) Jr (kgfcmsec 2 ) Graph notation description AX, AY, AR Ir, Jr m Acceleration coefficient for X axis, Y axis, R axis Inertia moment in R axis load vicinity Tip payload 611

18 Articulated R-axis tolerable moment of inertia and acceleration coefficient YK12X single-axis Single-axis single-axis Graph notation description AX, AY, AR Ir, Jr m Acceleration coefficient for X axis, Y axis, R axis Inertia moment in R axis load vicinity Tip payload 612

19 How to find the inertia moment The tool and work are not usually a simple shape so calculating the inertia moment is not easy. As a method, the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated. The total of the moment of inertia for these factors is then obtained. The objects and equations often used for the calculation of the moment of inertia are shown below. Incidentally, there is the following relation: J (kgfcmsec 2 ) =I (kgm 2 ) x 1.2 [1] Moment of inertia for material particle The equation for the moment of inertia for a material particle [5] When the object's center line is offset from the rotation center that has a rotation center such as shown in Fig. The equation for the moment of inertia, when the center of the is as follows: This is used as an approximate equation when cylinder is offset by the distance "x" from the rotation center as x is larger than the object size. shown in Fig., is given as follows. [2] Moment of inertia for cylinder (part 1) The equation for the moment of inertia for a cylinder that has a rotation center such as shown in Fig. is given below. [3] Moment of inertia for cylinder (part 2) The equation for the moment of inertia for a cylinder that has a rotation center such as shown in Fig. is given below. [4] Moment of inertia for prism The equation for the moment of inertia for a prism that has a rotation center as shown in Fig. is given as follows. R-axis tolerable moment of inertia and acceleration coefficient In the same manner, the moment of inertia of a prism as shown in Fig. is given by In the same manner, the moment of inertia of a cylinder as shown in Fig. is given by Articulated single-axis Single-axis single-axis 613

20 Articulated R-axis tolerable moment of inertia and acceleration coefficient Example of moment of inertia calculation Let's discuss an example in which the chuck and workpiece are at a position offset by 1cm from the R-axis by a stay, as shown in Fig.. The moment of inertia is calculated with the following three factors, assuming that the load material is steel and its density is.78kg/cm 3. single-axis Single-axis single-axis [1] Moment of inertia of the stay From Fig. [2] Moment of inertia of the chuck Wc =.78 x 2 x 4 x 6 =.37 (kgf) The moment of inertia of the chuck (Jc) is then calculated from Eq x ( ) Jc = 12 x x =.38 (kgfcmsec 2 ), the weight of the stay (Ws) is given as follows : 6cm 2cm 4cm Fig. [3] Moment of inertia of workpiece When the chuck form resembles that shown in Fig. weight of the chuck (Wc) is 1cm When the workpiece form resembles that shown in Fig. weight of the workpiece (Ww) is, the, the R-axis [4] Total weight [5] Total moment of inertia 614

21 External safety circuit examples To ensure safe use of the robot, we request the customers make a risk assessment of their end equipment to decide what performance level is needed from safety circuits at the point. Customer should then install a safety circuit at the required performance level. Here we show examples of category 4 circuits for the TS-X/TS-P, SR1 and RCX24 controllers using a programming box with an enable switch. Safety circuits for other categories are described in the users manuals, so download them from our website if needed. n Circuit configuration examples (TS-X/TS-P) General connection diagram Emergency stop ENABLE HT1-D Articulated single-axis Single-axis SAFETY COM1 single-axis Category 4 S1 Reset Maintenance Door External emergency stop L1 AC IN N1 S3 Input 2 External emergency stop S4 Input 2 AC IN L1 N1 Reset switch Maintenance switch S2 Input 2 Door switch SAFETY HT1-D emergency stop Input 2 HT1-D ENABLE Input 2 ES1 ES2 OUT Safety output SRL4 T11 T12 T21 T22 SRL5 T11 T12 T21 T22 Safety circuit T11 T12 T21 T22 MPRDY T23 14 Maintenance 11 Maintenance Maintenance 21 Maintenance T31T32 T A B T31T32 T A B SRL T31T32 T11 T12 T21 T22 ES1 ES2 L1 7 8 Controller N1 Status Status E-STOP +5V MPRDY Connection check AC OUT SRL T31T32 33 KA1 KM1 KM2 24 A B 34 L N ES1 4 5 KA2 SRL T31T32 SRL T31T32 33 T11 Maintenance 11 T11 T12 Maintenance 12 T12 T21 Maintenance 21 T21 T22 Maintenance 22 T22 T A B T A B 34 T A B S_ES ES2 Internal 24V_ S_ES2 L N EXT ES+ EXT ES1 ES2 MPRDY1 MPRDY2 ES+ ES- ES- ES2 ES1 Output 1 Output 2 EXT AC OUT MPRDY1 MPRDY2 OUT HT1-D emergency stop Output 1 Output 2 HT1-D ENABLE 615

22 Articulated External safety circuit examples n Circuit configuration examples (SR1) General connection diagram Emergency stop Enable HPB-D single-axis Single-axis single-axis AC IN Reset Maintenance Door External emergency stop HPB-D SAFETY OUT L1 N1 Safety output Safety circuit Wiring to check whether controller is normal when using alarm to shut off main power KA1 AC OUT L1 N1 L N SAFETY _ DO.COM MPRDY 11 EMG1 12 EMG2 HPB Controller (PNP specifications) E-STOP Status DI.COM INTERLOCK SERVICE Internal Category 4 S1 AC IN L1 N1 Reset switch AUTO SERVICE Maintenance switch S2 Input 2 Input 3 Door switch S3 Input 2 External emergency stop S4 Input 2 HPB-D SAFETY HPB-D emergency stop Input 2 HPB-D enable Input 2 Service 1 SRL1 L2 L1 M1 M1 M2 M2 T11 T12 T21 T22 Y1 Enable 11 T61 Enable 12 T62 Enable 21 T71 Enable 22 T72 Y2 SRL3 T11 T12 T21 T22 Y1 SRL4 T11 T12 T21 T22 T23 A B ON OFF OFF ON A B T41 T42 OUT B A T31T32 To PLC SRL2 L2 L1 A2 T31T32 T33 T11 T12 T21 T22 Y1 T41 T42 L1 A2 T31T32 T33 T31 T32 T33 S14 S24 S44 S54 S14 S24 S34 S44 S54 S14 S I/O KM1 Enable 11 Enable 12 Enable 21 Enable 22 1 DI.+COM 14 DO.+COM 15 DO.+COM 26 DI.-COM 39 DO.-COM 4 DO.-COM G Input/output signals KM2 Service 1 L N SAFETY AC OUT EMG1 EMG2 DO.COM MPRDY *1 INTERLOCK SERVICE DI.COM OUT HPB-D emergency stop Output 1 Output 2 HPB-D enable Output 1 Output 2 *1: Wiring to check whether the controller is normal when using an alarm to shut off the main power KA1 KA4 KA2 KA5 KA3 When INTERLOCK signal is not used 616

23 n Circuit configuration examples (RCX24) General connection diagram AC IN Reset Maintenance Door External emergency stop OUT L1 N1 Safety circuit Safety output Wiring to check whether controller is normal when using alarm to shut off main power KA1 Wiring to check whether controller is normal when not using alarm to shut off main power KA1 L1 N1 Controller (PNP specifications) L AC OUT N SAFETY SERVICE(DI2) P.COMDI 11 P.COM +5V 2 MPRDY To PLC STD.DIO 12 N.COM N.COMDI 13 E-STOP24V Internal 14 E-STOPRDY _ MPRDY Status E-STOP Status COMMON CPU_OK (contact A (normally open)) P.COMDI N.COMDI Input/output signals External safety circuit examples RPB RPB-E Emergency stop Enable Articulated single-axis Single-axis single-axis Category 4 AC IN L1 N1 Reset switch KM1 KM2 L N AC OUT S1 AUTO SERVICE Maintenance switch S2 Input 2 Input 3 Door switch S3 Input 2 External emergency stop S4 Input 2 SAFETY RPB-E emergency stop Input 2 RPB-E enable Input 2 Service 1 Service 2 SRL1 L2 L1 M1 M1 M2 OUT M2 ON OFF B OFF ON A T11 T12 T21 T22 Y1 Enable 11 T61 Enable 12 T62 Enable 21 T71 Enable 22 T72 Y2 SRL2 L2 L1 A2 T31 T32 T33 T11 T12 T21 T22 Y1 T41T42 SRL3 L1 A2 T31T32 T33 T11 T12 T21 T22 Y1 SRL4 T11 T12 T21 T22 T23 A B A B T41 T42 T31T32 T31 T32 T33 S14 S24 S44 S54 S14 S24 S34 S44 S54 S14 S KA1 KA4 Enable 11 Enable 12 Enable 21 Enable 22 KA2 KA5 Service 1 Service 2 *1: Wiring to check whether the controller is normal when using an alarm to shut off the main power KA3 SAFETY E-STOP24V E-STOPRDY MPRDY *1 N.COM SERVICE(DI2) P.COM OUT RPB-E emergency stop Output 1 Output 2 RPB-E enable Output 1 Output 2 Parts Table Circuit No. Part Name Circuit No. Part Name S1 Reset switch KM1, 2 Contactor (mirror contact) S2 Key-selector switch KA1 to 5 *1 Safety relay S3 Safety door switch SRL1 to 4 Safety relay unit S4 Emergency stop switch SRL5, 6 *2 Safety relay unit *1. TS-X and TS-P are KA1 to 2. *2. Only TS-X and TS-P. 617

24 Articulated single-axis Single-axis single-axis Cautions regarding CE specifications CE marking The MAHA robot (robot and controller) is one component that is incorporated into the customer s system (built-in equipment), and we declare that the MAHA conform to the EC Directives only within the scope of built-in equipment (semi-finished product). So, no CE marks are affixed to the MAHA robot products. Cautions regarding compliance with EC Directives The MAHA robot (robot and controller) is not, in itself, a robot system. The MAHA robot-series product is one component that is incorporated into the customer s system (built-in equipment), and we declare that the MAHA conform to the EC Directives only within the scope of built-in equipment. This does not therefore guarantee that the MAHA robot-series product conforms to the EC Directives if only the robot is used independently. The customer who incorporates MAHA robot products into the customer s final system, which will be shipped to or used in the European region, should verify that the overall system conforms to the EC Directives. Applicable directives and their related standards Directives applicable to MAHA and related standards are shown below. TS-S2 / TS-X / TS-P / SR1-X / SR1-P / RCX221 / RCX222 / RDV-X / RDV-P EC Directives Machinery Directive 26/42/EC EN ISO121 EN Related Standards EMC Directive 24/18/EC EN 5511 EN RCX24 / RCX34 EC Directives Related Standards Machinery EN ISO121 Directive EN ISO /42/EC EN EMC Directive EN /18/EC EN Installation of external safety circuits To comply with EC directives, customers using MAHA must always build and install their own external safety circuits after selecting product components (safety relays, etc.) according to performance levels and safety categories required by the customer equipment. For details about examples of external safety circuits, the user s manual should be referred to. Compliance with EMC Directives In order to conform to the EMC Directives, the customer should evaluate the final system (overall system) and take necessary countermeasures. As examples of EMC countermeasures for single MAHA robot product are described in the user s manual, these descriptions should be referred to. Cautions regarding official language of EU countries Only English which is the official language of the EU is utilized in the manuals, warning labels, operating screens, and the Declaration of Incorporation for this product. If warning text appears on the warning label, then Japanese may also sometimes be listed along with the English. 618

25 Cautions on KCs (Korean Certificate Safety) specifications About KCs KCs is a system that conforms to Korean Industrial Safety and Health Act and self-regulatory safety confirmation declaration of hazardous machines and devices. For machines specified in this system, the KCs mark needs to be indicated after conducting the forced certification or self-regulatory safety confirmation declaration. Industrial that have manipulators with 3 or more axes are specified as machines needing the self-regulatory safety confirmation declaration in South Korea s Ministry of Employment and Labor Notification No Its safety standards are defined in separate table 2 of this notification. About measures for KCs For some MAHA robot models, this self-regulatory safety confirmation declaration is conducted to register these models. Additionally, the KCs mark is indicated on the that have been declared. When you investigate to purchase a robot to be used in South Korea, check whether or not this robot conforms to KCs and order it with the KCs specifications specified. The MAHA robot is a unit that is incorporated into the customer s system. Therefore, when the customer incorporates the robot into the customer s system, additional safety measures need to be taken. For details, see Safety standards application guide reference manual. List of subject to KCs Robot products may not be applicable to KCs depending on the customer s applications, operating conditions, or environments. Consult MAHA before purchasing a product. Since a self-regulatory safety declaration has not been made for inapplicable models, these models cannot be used in Korea. Specialorder are also unavailable. For details, please contact MAHA. As of October, 215 : subject to KCs : not subject to KCs Product Type Model name robot robot robot FXYx SXYx SXYBx MXYx HXYx NXY SXYxC YP Series YK18X YK22X YK12XG YK15XG YK18XG YK25XG YK35XG YK4XG YK4XR YK5XGL YK6XGL YK7XGL YK5XG YK6XG YK6XGH YK7XG YK8XG YK9XG YK1XG YK12X YK18XC YK22XC 3 axes 3 axes 4 axes 3 axes 4 axes 3 axes 4 axes 3 axes 4 axes 3 axes 4 axes 6 axes 3 axes 4 axes 3 axes 4 axes KCs registration RCX24 (S) RCX34 Articulated single-axis Single-axis single-axis Continues to the next page. 619

26 Articulated single-axis Single-axis single-axis Cautions on KCs (Korean Certificate Safety) specifications KCs registration Product Type Model name RCX24 (S) RCX34 YK25XGC YK35XGC YK4XGC YK5XGLC YK6XGLC YK3XGS YK4XGS YK5XGS YK6XGS YK7XGS YK8XGS YK9XGS YK1XGS robot YK25XGP YK35XGP YK4XGP YK5XGLP YK6XGLP YK5XGP YK6XGP YK6XGHP YK7XGP YK8XGP YK9XGP YK1XGP YK35TW YK5TW 62

27 Cautions on Korean EMC specifications About Korean KC KC is a system based on the radio regulations of Korea. Devices specified by this system must certify compliance or register compliance, and indicate compliance. Applicable devices are defined by public announcement from the Korean National Radio Research Agency (NRRA). About Korean KC compliance Some models of MAHA robot ( and controllers) are registered with the Korean National Radio Research Agency (NRRA) by selftest compliance registration. MAHA that have already been registered display the KC mark. If you are considering the purchase of to be used in Korea, please check the table below for compliance before ordering the applicable product. MAHA are devices for inclusion in a system; therefore, if you, the customer, build a complete system that includes, and ship that system as a final product to Korea or use it within Korea, you yourself must verify EMC compliance. For TS series and TS-SD units, check "Examples of EMC countermeasures" within the user's manual; for other controllers, check this section within the "Safety standards application guide reference manual". List of KC compliant * Please consult with MAHA before purchase, since compliance might not be possible depending on your application, conditions of use, and environment. * In the case of 3-axis or greater and, the robot must be compliant with both KC and KCs. In conjunction with this table, refer also to the list of KCs compliant. As of January 216 Product Model name Registration number ERCD MSIP-REM-Y3M-ERCD TS-S2 MSIP-REM-Y3M-TSS TS-SD MSIP-REM-Y3M-TSSD TS-SH MSIP-REM-Y3M-TSSH TS-X MSIP-REM-Y3M-TSX TS-P MSIP-REM-Y3M-TSP RDV-X MSIP-REM-Y3M-RDVX Controller RDV-P MSIP-REM-Y3M-RDVP SR1-X MSIP-REM-Y3M-SR1X SR1-P MSIP-REM-Y3M-SR1P RCX221 MSIP-REM-Y3M-X221 RCX222 MSIP-REM-Y3M-X222 RCX24(S) MSIP-REM-Y3M-X24 RCX34 MSIP-REM-Y3M-X34 LCC14 MSIP-REM-Y3M-C14 series MSIP-REM-Y3M-TR MSIP-REM-Y3M-FXL series MSIP-REM-Y3M-FX Robot series MSIP-REM-Y3M-PH series MSIP-REM-Y3M-XY YK series MSIP-REM-Y3M-YK Linear Conveyor Module MSIP-REM-Y3M-M1 About non-compliant models The following are subject to the KC system; however, since self-test compliance registration has not been done at the present time, they cannot be used in Korea. Additionally, special-order are also not compliant with the KC system. Even for the various series listed in the table, some new models might not have been registered. (Contact MAHA for details.) Pick and place : YP-X series General-purpose assembly base machines: YSC series Articulated single-axis Single-axis single-axis 621

28 Articulated single-axis Single-axis single-axis Warranty For information on the warranty period and terms, please contact our distributor where you purchased the product. This warranty does not cover any failure caused by: 1. Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not comply with industry standards or instructions specified in the MAHA manual; 2. Usage that exceeded the specifications or standard performance shown in the MAHA manual; 3. Product usage other than intended by MAHA; 4. Storage, operating conditions and utilities that are outside the range specified in the manual; 5. Damage due to improper shipping or shipping methods; 6. Accident or collision damage; 7. Installation of other than genuine MAHA parts and/or accessories; 8. Modification to original parts or modifications not conforming to standard specifications designated by MAHA, including customizing performed by MAHA in compliance with distributor or customer requests; 9. Pollution, salt damage, condensation; 1. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc; 11. Breakdown due to causes other than the above that are not the fault or responsibility of MAHA; The following cases are not covered under the warranty: 1. Products whose serial number or production date (month & year) cannot be verified. 2. Changes in software or internal data such as programs or points that were created or changed by the customer. 3. Products whose trouble cannot be reproduced or identified by MAHA. 4. Products utilized, for example, in radiological equipment, biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by MAHA. THE WARRANTY STATED HEREIN PROVIDED BY MAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY MAHA TO DISTRIBUTORS UNDER THIS AGREEMENT. ANY AND ALL OTHER WARRANTIES OR LIABILITIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY DISCLAIMED BY MAHA. MOREOVER, MAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT. This manual does not serve as a guarantee of any industrial property rights or any other rights and does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for any problems involving industrial property rights which may arise from the contents of this manual. Ver.1.1_

29 Repeatability positioning accuracy The repeatability positioning accuracy cannot be guaranteed for the accuracy conditions listed below. (1) Factors involving absolute accuracy Under conditions requiring accuracy between the robot controller internal coordinate position (command position) and real space position (movement position). (2) Operating pattern factors Under conditions including a motion approaching close to a teaching point (position) from different directions during repeating operation. Under conditions where power was turned off or operation was stopped, even when approaching a teaching position from same direction. Under conditions where movement to a teaching position uses a hand system (left-handed or right-handed system) different from that during teaching. ( ) Articulated single-axis Single-axis single-axis (3) Temperature factors Under conditions subject to drastic changes in ambient temperature. Under conditions where temperature of robot unit fluctuates. (4) Fluctuating load factors Under conditions where load conditions fluctuate during operation (load fluctuates due to workpiece or no workpiece). 623