QuickSTOP Collisions Sensors

Transcription

1 QU ICKSTOP ORDERING INFORMATION QuickSTOP Collisions Sensors Product Line You will need to order two components The QuickSTOP base unit (which consists of the basic unit, switch assembly and electrical cable assembly) and the Product Adapter Kit which allows you to attach the QuickSTOP to the equipment. APPLIED ROBOTICS STANDS FOR THE BESTE IN AUTOMATION DEVICES If you like to learn more about how our products can meet your particular needs, please get into contact with us at the addresses below, or call us at +49(0) PTM Praezisionstechnik +49(0) PTM Office NorthWest. OUR FAMILY OF PRODUCTS The PTM Praezisionstechnik produces and supports a wide range of peripheral products to enhance productivity and provide protection for automated equipment. We offer: XChange tool change systems Customer specific systems solutions Customized conveyor technique Collision sensors Laboratory automation QuickConnect systems Grippers pneumatic Servoelectric grippers Rotary aactuators Weld robot accessories Applied Robotics Distributor German Language Countries PTM Praezisionstechnik GmbH PTM Praezisionstechnik Office North West Olchinger Strasse 109 Hauptstrasse 51 D Gröbenzell, Germany D Hattgenstein Tel: +49 (0) Fax: +40 (0) Tel.: +49 (0) Fax.: +49 (0) info@ptm-automation.de WEB: u.laube@ptm-automation.de

2 THE LEADER IN COLLISION SENSORS SINCE 1984, APPLIED ROBOTICS HAS BEEN BUILDING A REPUTATION FOR QUALITY AND RELIABILITY IN THE DESIGN AND MANUFACTURE OF AUTOMATION ACCESSORIES. AN INTERNATIONAL COMPANY COMPETING IN THE WORLDWIDE MARKET, OUR PRODUCTS ARE WIDELY USED IN THE AUTOMOTIVE, ELECTRONICS AND AEROSPACE INDUSTRIES. QuickSTOP is a dynamically variable collision sensor that operates on an air pressure system. A regulated air supply provides positive, variable pressure to hold the QuickSTOP rigid during normal operation. At impact, the air chamber seal is opened, while the shutdown signal is immediately sent to the system controller. Production and assembly lines run longer, expensive robots and tooling are protected and costly system repairs are drastically reduced. Advantages Dynamically Variable Trip Points Being able to program your collision sensor offers protection at all speeds of an operation. The breakaway threshold adjusts to match the working force ranges of your robot/application. Permanent Repeatability All QuickSTOP models feature a noncompressive, metal-to-metal seal which ensures reliable and consistent operation, giving you the permanent repeatability you need and expect. Senses Angular, Rotational and Compressive Forces QuickSTOP s unique design, offers protection in the X,Y and Z axes. Quick Reaction Time At the moment of impact, QuickSTOP s air chamber seal is opened and a shutdown signal is instantly sent to the system controller. No reaction time is lost waiting for a deflection to occur, another advantage of an air pressure system. Monitors Performance Readiness The QuickSTOP can only be pressurized when it is reset in one unique position. The pressure switch monitor confirms that air pressure is present before resuming operation. The ready-toperform signal from the pressure switch lets you know the QuickSTOP is reset in the proper position and is pressurized. You will never receive a false readiness signal with QuickSTOP. QuickSTOP Becomes Compliant Non-resistive compliancy upon impact offers better tool protection. QuickSTOP removes the force from your tool and robot wrist. Low Mass and Profile The compact size of QuickSTOP makes it easy to fit into any workcell. The QuickSTOP product line is the most complete line of collision sensors for automated machinery. Eleven models are available, including the QS-AW for arc welding applications.

3 QuickSTOP SENSES ANGULAR, ROTATIONAL AND COMPRESSIVE FORCES Electrical Cable A flexible and durable signal cable is supplied with each QuickSTOP. KEY FEATURES Robot Adaptor Plate Supplied blank, ready for customer drilling to meet the specifications for mounting QuickSTOP to any automated equipment. Angular M X & M Y Pressure Switch Senses pressure loss in QuickSTOP s air chamber providing a signal for system shutdown immediately upon impact. Tool Mounting Holes Provided with counterbored holes for socket head cap screws to accommodate mounting end-of-arm tooling to QuickSTOP. Foam Collar Prevents dust and debris from entering QuickSTOP s air chamber when metal-to-metal seal is opened during impact. Pre-Drilled Pneumatic Connections QuickSTOP is supplied with two threaded holes to accommodate English or metric pneumatic fittings. Plug supplied for unused port. Compressive Z Air Chamber Regulated air supply provides positive, variable pressure to hold QuickSTOP rigid during normal operation. Metal-to-Metal Seal (Not Visible) Non-deforming seal keeps positive air pressure inside QuickSTOP s air chamber during normal operation. QUICKSTOP FOR SPECIAL SITUATIONS Rotational M Z If your workcell involves coolants, mists or welding, we offer specific QuickSTOPs to accommodate those situations. Coolant Resistant Option If you work with cutting fluids, waterjet cutting, and shot peening or blasting operations, the coolant resistant QuickSTOP offers the additional environmental protection you need. It includes a protective boot, a coolant resistant switch assembly and a coolant resistant signal connector. QS-AW Specifically designed for arc welding, laser cutting or plasma cutting applications, it features a heat resistant cable, metal screen for cavity protection, insulator plate and an inverted design to avoid build-up of debris. Heavy Payloads QuickSTOP 4500 and 7500 operate on an adjustable air pressure system, which lets you adjust the breakaway threshold to overcome unyielding stiffness. And with our exclusive pre-load system, resetting heavy equipment and tools is easy. Robot-Specific Product Adaptor Kits are available to connect your QuickSTOP to your equipment. They include adaptor plates, clamp rings and all mounting hardware. Coolant Resistant QS-AW Heavy Payloads Robot Specific

4 HOW TO CHOOSE A QUICKSTOP MODEL In order to get the most protection from your QuickSTOP, it is important to choose the most appropriate model for your application s moment/torque requirements. QuickSTOP s moment resistance is designed to change by varying the input pressure. If you need assistance, please call your sales representative at (518) QUICKSTOP C L Robot Wrist Yy Floor Step #1 Determine Your Static Moment X Cg In-lb M= V ( x 2 + y 2 ) (W) x= Offset in inches y= Offset in inches Cg=Center of gravity for tooling and parts C L =Centerline W=Total payload (lb) of tooling and parts M=Moment (in-lb) Floor N-m M= ( V x 2 + y 2 ) (W) 1000 QUICKSTOP x= Offset in millimeters y= Offset in millimeters Cg=Center of gravity for tooling and parts C L =Centerline Mass=Total payload (kg) of tooling and parts M=Moment (N-m) QS Model Cg C L Robot Wrist X Target Static Moment y Y Full Range of Performance QS-7 QS-25 QS-50 QS-100 QS-200 MOMENT In-lb Nm See moment graphs for each model on following pages

5 HOW TO CHOOSE A QUICKSTOP MODEL MOUNTING Step #2 See graphs below to select the proper QuickSTOP model for your moment load Your static moment calculation may fall on the black section of two of the QuickSTOP bars below. Use the following guidelines to help choose between the two overlapping QuickSTOP models. IF ANY OF THE FOLLOWING CONDITIONS EXIST IN YOUR APPLICATION, CHOOSE THE LARGER QuickSTOP MODEL. 1. Extremely fast accelerations. 2. Extreme wrist articulations. 3. Excessive reaction forces. Examples: The force of heavy cabling, force of working end effector on robot, forces from part insertion, etc. 4. Your robot s rated payload is considerably higher than your application payload. IF ANY OF THE FOLLOWING CONDITIONS EXIST IN YOUR APPLICATION, (AND NONE OF THE PREVIOUS CONDITIONS) CHOOSE THE SMALLER QuickSTOP MODEL. 1. Cartesian type application (gantry, cylindrical, scara, XY), with little offset moment load. Example: Cg of your tool is directly in line with centerline of the robot faceplate in the vertical plane. 2. Application where sensing of compressive forces is the priority. 3. Slow accelerations with little reaction forces. QuickSTOP mounts between your equipment and your tooling. Target Static Moment Full Range of Performance QS Model QS-400 QS-800 QS-1500 QS-3000 QS-4500 QS-7500 MOMENT In-lb Nm See moment graphs for each model on following pages

6 SPECIFICATIONS Model No. QS-7 QS-25 QS-50 QS-100 QS-200 QS-400 QS-800 QS-1500 QS-3000 QS-4500 QS-7500 Compliance angle ±5 ±5 ±5 ±5 ±5 ±5 ±5 ±5 ±5 ±4 ±4 Axial Compliance (z+) mm in Rotary Compliance no limit no limit no limit no limit no limit no limit ±25 ±25 ±25 ±25 ±25 Operating Pressure bar ( psig) bar (20-87 psig) Torque trip point M Z : N-m continuously variable In-lb Moment trip point M X & M Y : N-m continuously variable In-lb Repeatability: mm ±0.013 ±0.025 ±0.038 Tool mounting surf. X and Y in ± ±0.001 ± Repeatability: mm ±0.013 Tool mounting surf. Z in ± Repeatability: rad.(10-3 ) ±0.489 ±0.419 ±0.500 Rotational deg. ±0.028 ±0.024 ±0.029 Mass kg lb Center of mass mm (from robot adaptor plate) in Average response time ms (varies with air pressure, speed of impact) Operating temperature Min. 0 C (32 F) Max. 70 C (158 F) Min. 0 C (32 F) Max. 100 C (212 F) Switch Description High reliability aircraft snap acting type. UL/CSA Approved. Average mechanical life - 7 million cycles. UL recognized rating 42.4 VDC max. 3 amps max. Dust collar supplied Standard foam Screen Welding Flash Protection Optional high-temperature skirt kit available MODEL QS-7

7 MODEL QS-25 MODEL QS-50

8 MODEL QS-100 MODEL QS-200

9 MODEL QS-400 MODEL QS-800

10 MODEL QS-1500 MODEL QS-3000

11 MODEL QS-4500 MODEL QS-7500