Scorbot-ER2u User`s Manual
Contents
1. ASE SHOULDER AXIS 2 Robot Arm Joints Each joint is driven by a permanent magnet DC motor via a spur gear transmission User Manual 7 SCORBOT ER 2u Mechanical Arm 0302 The movements of the joints are described in the following table Axis No JointName Motion Motor No 1 Base Waist Rotates the body 1 2 Shoulder Raises and lowers the upper arm 2 3 Elbow Raises and lowers the forearm 3 4 Wrist Pitch Raises and lowers the gripper 4 5 Wrist Roll Rotates the gripper 5 6 Gripper Opens and closes 6 Work Envelope The length of the links and the degree of rotation of the joints determine the robot s work envelope The figures below show the dimensions and reach of the robot and a top view of the robot s work envelope 1 180 180 157 _ 734 217 3 Lj 209 Operating Range Top View User Manual 8 SCORBOT ER 2u Mechanical Arm 0302 Motors The robot s five axes and gripper are operated by DC motors The direction of motor revolution is determined by the polarity of the operating voltage positive DC voltage turns the motor in one direction while negative DC voltage turns it in the opposite direction Each motor except for gripper motor has closed loop control that is an2. Robot Base 3 Make sure the robot is securely bolted in place Otherwise the robot could become unbalanced and topple over while in motion 4 Setup a guardrail rope or safety screen around the robot s operating area for the mutual protection of both the operator and bystanders and the robot 5 Place the controller and computer on a sturdy surface outside the robot s safety range For additional installation instructions refer to the Controller USB user User Manual 11 SCORBOT ER 2 Mechanical Arm 0302 4 Maintenance The maintenance and inspection procedures detailed below will ensure continued optimum performance of the robot arm Daily Operation At the start of each working session check the robot and controller in the following order 1 Before you power on the system check the following items The installation meets all safety standards m The robot is properly bolted to the work surface All cables are properly and securely connected Cable connector screws are fastened No output is connected directly to a power supply No people are within the robot s working range 2 After you have switched on the controller check the following items The power LED on the controller light up No unusual noises are heard No unusual vibrations are observed in any of the robot axes There are no obstacles in the robot s working range 3 Bring the robot to a position near home and activate
3. Download provided by eLABZ com the information source for Robotics Microcontroller and other electronics projects http elabz com SCORBOT ER 2u Robot Arm User Manual 1 1 March 2002 Intelitek 2002 Intelitek Inc SCORBOT ER 2u Robot Arm User Manual Catalog 100361 Rev A March 2002 Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness 15 made or implied Intelitek 15 not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Intelitek bears no responsibility for errors that may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice INTELITEK INC 444 East Industrial Park Drive Manchester NH 03109 537 USA Tel 603 625 8600 Fax 603 625 2137 www intelitek com info intelitek com Table of Contents 1 General Information scsese se se se nen nh ng ng nhan nh nh nh n ng nh nh nh nh nh HH HH BH BH HN B BH BH BH 1 Handling Instructions didas 1 Acceptance IHSDEEHOTS I es 2 Repaekine TOP un Reine 2 Safety Preeautions a A 2 WALES ou 3 E yironmental Conditions 3 Robot Md 4 2 Components and SpecCifiCaf ONS se se sen se ocn 5 TERA ii 5
4. Reinstall the USB driver Refer to the section USB Driver Installation in the Controller USB user manual e The gripper does not respond to open or close commands or responds incorrectly Make sure the robot cable is properly connected to the controller Turn the controller off then on again If problem persists contact your agent 13 SCORBOT ER 2u Mechanical Arm User Manual 0302 Motor turns constantly in one direction or responds incorrectly Make sure the robot cable is properly connected to the controller Turn the controller off then on again If problem persists contact your agent Errors in the accuracy of the robot Position deviations in one or more of the axes during the running Of a program may be caused by a faulty encoder Contact your agent The Home position suddenly changes and the robot continues operation in relation to the new Home This fault may occur continually or occasionally due to a noisy electrical system which disturbs the communication between the robot and the computer a Execute the Home routine and reload the program you want to run If the fault occurs frequently use filtering equipment on your power line If problem persists contact your agent 14 SCORBOT ER 2u Mechanical Arm
5. and begin appropriate claims procedures The robot arm includes the gripper power cable 110Vac 220Vac RS232 cable 3 bolts for mounting robot and a set of hex wrenches Repacking for Shipment Be sure all parts are back in place before packing the robot arm The robot arm should be repacked in 165 original packaging for transport If the original carton is not available wrap the robot in plastic or heavy paper Put the wrapped robot in a strong cardboard box at least 15 cm about 6 inches longer in all three dimensions than the robot Fill the box equally around the unit with resilient packing material shredded paper bubble pack expanded foam chunks Seal the carton with sealing or strapping tape Do not use cellophane or masking tape Safety Precautions e Make sure the robot base is properly and securely bolted in place e Make sure the robot arm has ample space in which to operate freely e Make sure a guardrail rope or safety screen has been set up around the SCORBOT ER 2u operating area e Do not enter the robot s safety range or touch the robot when the system is in operation e Make sure loose hair and clothing is tied back when you work with the robot User Manual 2 SCORBOT ER 2u Mechanical Arm 0302 Robot Safety Range Warnings Be sure you heed the following warnings to prevent damage to the robot and controller and to ensure continued performance Be sure you know how to immediately abort runnin
6. 2 1 SCORBOT ER 2u Mechanical Arm User Manual 5 SCORBOT ER 2u Mechanical Arm 0302 The following details the robot arm specifications Mechanical Structure Construction Degrees of Freedom Payload Capacity Axis Range Axis 1 Base rotation Axis 2 Shoulder rotation Axis 3 Elbow rotation Axis 4 Wrist pitch Axis 5 Wrist roll Operating Radius Speed Definition software Standard Gripper Gripper Opening Repeatability Feedback Homing Actuators Transmission Weight Vertically articulated Enclosed 5 rotational axes gripper 0 6 kg 1 3 1b 320 30 120 80 107 120 120 400 517 mm 20 35 end of gripper 10 settings Electric parallel fingers 55 mm 2 16 0 35 mm 0 014 Incremental optical encoders Hard home on each axis 12Vdc servo motor on all axes Spur gears 7 6 kg 16 7 Ib Structure User Manual 0302 The SCORBOT ER 2u is a vertical articulated robot It has five revolute joints the base joint rotates the arm in a horizontal plane the shoulder elbow and wrist pitch joints rotate the robot s links in a vertical plane and the wrist roll joint rotates the gripper With gripper the robot has six degrees of freedom This design permits the end effector to be positioned and oriented arbitrarily within a large work space SCORBOT ER 2u Mechanical Arm The figures below identify the joints and links of the mechanical arm UPPE
7. Structure a 6 Work Eivelopes ii A en 8 Mot tS Sen ee te e a do a ee a de ee 9 PSTN C ORCI A E 9 Cable saure 10 Installation unuuununnnunnnnnnnnnnn ng ng nh nh nu n nh nh n nn nh nn nh nn nn HH nn BH nnn HH BH HH n nn nn En nh nn HH BH nun 11 4 Maintenance uusuunnunnnnnnnnnnnnnnnnnnn nn nn nn nh nh nh nh nh nh nh nh nh ni nn BH BH nun nn nh nh nh HH HH BH nun 12 Daily Operati n uussesssseitesseksn alias 12 Periodie POCO re 13 Ireubleshoatinerie nee Ka ea a ee nee le ei 13 1 General Information This chapter contains instructions for handling the SCORBOT ER 2u robot This chapter also includes important safety guidelines and warnings Handling Instructions Lift and carry the robot arm only by grasping the body or the base Do not lift and or carry the robot arm by its gripper upper arm forearm e Do not handle the motors or encoders e Do not handle the front or back panel of the controller GRIPPER SCORBOT ER 2u Mechanical Arm User Manual 1 SCORBOT ER 2u Mechanical Arm 0302 Acceptance Inspection Save the original packing materials and shipping carton You may need them later for shipment or storage After removing the robot arm from its shipping carton examine it for signs of shipping damage If any damage is evident do not install or operate the system Notify your freight carrier
8. encoder circuit provides the controller with feedback on the extent and direction of the movement of the motor Robot Arm Motors Encoders User Manual 0302 The location and movement of each axis is measured by an electro optical encoder attached to the shaft of the motor which drives the axis When the robot axis moves the encoder generates a series of alternating high and low electrical signals The number of signals is proportional to the amount of axis motion The sequence of the signals indicates the direction of movement The controller reads these signals and determines the extent and direction of axis movement 9 SCORBOT ER 2u Mechanical Arm Motor and Gear Box DISK Y MOTOR SHAFT LEDS amp PHOTOTRANSISTORS PCB CONNECTOR Encoder Cable The robot is connected to the controller by means of a ribbon cable which runs from the base of the robot to the D50 connector marked ROBOT on the rear panel of the controller User Manual 10 SCORBOT ER 2u Mechanical Arm 0302 3 Installation Before installing the SCORBOT ER 2u be sure you have read and understood the safety instructions and warnings detailed in Chapter 1 Be sure you have ample space to set up the robotic system 2 Fasten the base of the robot arm to the work surface with 3 bolts as shown in the figure below
9. g programs and stop all robot movements If using a teach pendant press the red Brake key Or turn off the controller s power switch on the controller s rear panel Environmental Conditions User Manual 0302 Do not install or operate the SCORBOT ER 2u or controller under any of the following conditions Where the ambient temperature or humidity drops below or exceeds the specified limits Where exposed to large amounts of dust dirt salt iron powder or similar substances Where subject to vibrations or shocks Where exposed to direct sunlight Where subject to chemical oil or water splashes Where corrosive or flammable gas 15 present Where the power line contains voltage spikes or near any equipment which generates large electrical noises 3 SCORBOT ER 2u Mechanical Arm Robot Arm User Manual 0302 Do not abuse the robot arm Do not overload the robot arm The payload may not exceed 600 grams 1 3 Ib It is recommended that the payload be grasped at its center of gravity Do not use physical force to move or stop any part of the robot arm Do not drive the robot arm into any object or physical obstacle Do not leave a loaded arm extended for more than a few minutes Do not leave any of the axes under mechanical strain for any length of time Especially do not leave the gripper grasping an object indefinitely 4 SCORBOT ER 2u Mechanical Arm 2 Specifications The Robot Arm Figure
10. the homing procedure Check the following items Robot movement is normal No unusual noise is heard when robot arm moves Robot reaches home position in every axis User Manual 12 SCORBOT ER 2u Mechanical Arm 0302 Periodic Inspection The following inspections should be performed regularly 1 Visually check leads and cables If any damage 15 evident they must replaced 2 Check all bolts and screws in the robot arm using a wrench and screwdriver Retighten as needed Troubleshooting Whenever you encounter a malfunction try to pinpoint its source by exchanging the suspected faulty component for example controller arm computer cables with an identical component from a working system User Manual 0302 Do not open the controller housing There are no user serviceable parts inside Do not attempt repairs for which you are not qualified Contact your agent or an authorized technician for repairs The following provides guidelines for identifying and rectifying problems which you may encounter Refer also the Controller USB user manual for additional details e Controller functioning but robot arm cannot be activated or one axis fails to respond and Motor Error appears on screen Make sure the Motors LED is lit Make sure an obstacle is not blocking the robot Make sure none of the axes has reached its mechanical limit Make sure the robot cable is properly connected to Controller USB
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