AFD User`s Manual
Contents
1. CHAM FER BIT DRILL BIT Figure 5 Sample media and tooling presentation scheme As shown above in Figure 5 many types of media and tools may be accurately located in a Tool Cradle A robot can then be taught approach paths and docking locations to reliably bring the STC0610 down over the Tool Shafts and grasp them The STC0610 Collet allows 0 015 in 0 38 mm diametral clearance around the Tool Shaft when open The Tool Shaft must have a taper that mates to a Tapered Holder mounted in the Tool Cradle The Tapered Holder requires a slot to allow the Tool Shaft to pass through 3 3 Tool and Media Specification 3 3 1 STC0610 amp SM0610 Tool Shaft Specification The STC0610 and SM0610 are designed to grasp a 1 inch 25 4 mm diameter steel shaft Figure 8 shows the Tool Shaft dimensions required for the STC0610 and SM0610 to operate properly Notice that the end of the Tool Shaft can be tailored to any needed configuration to attach to various disk back up pads drill bits router bits grinding stones etc To prevent interference between the Tool Shaft and the STC0610 Collet an 11 taper must be included Tool Shafts should be manufactured from carbon or stainless steel with a hardness less than Rc40 The surface finish on the Tool Shaft Clamping Surface should be Ra 16 32 To accurately locate the Tool Shaft axially the front flat surface of the Collet can be used This means that the Tool Shaft Clamping Surface and taper must be2. be attached to the robot mounting flange using an intermediate mounting plate For direct mounting it is recommended that a breakaway clutch is installed The breakaway clutch will help protect the motor in the event of a robot crash Loads on the motor shaft of over 2500 Ib 11200 N radially and 1260 Ib 5600 N axially will damage the bearings Es MOUNTING PLATE FASTENERS AS REQ D W MOUNTING MA 4 M8x1 25 SOCKET HEAD CAP SCREWS Figure 4 STC0610 Direct Mounting To mount the 0610 Series first attach the Intermediate Mounting Plate to the Robot Mounting Flange or to the Breakaway Clutch per the manufacturer s specifications Once the Mounting Plate is secured place the 0610 Series against the Intermediate Mounting Plate and install 4 four M8x1 25 Socket Head Cap Screws See Figure 4 Tighten the fasteners to the torque specified in Section 4 0 3 2 Media and Tool Presentation Media and tool presentation refers to how various disks drill bits router bits etc are presented so that a robot may maneuver the STC0610 into position to grasp the Tool Shaft Toolholder reliably It is ultimately the user s responsibility to provide a means to present the media and or tooling in an effective and repeatable way for a given application Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 8 TOOL SHAFT TAPERED HO LDER TOOL CRADLE DRUM CARTRIDGE
3. may receive such with payment of a PushCorp Inc predetermined expediting fee This Limited Warranty gives you specific legal rights and you may also have other rights which vary from state to state Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 3 2 0 General Overview The PushCorp 0610 Servo Motor is capiable of continuously producing 10 horsepower and spinning up to 6000 rpm The 0610 series includes three versions an SM0610 manual collet an automatic version with a collapsing collet STC0610 and another automatic version which clamps a BT40 toolholder STC0610 BT40 The 0610 series utilizes identical motor windings and power amplifiers Differing only in a few physical dimensions and how they secure the media Each of these motors provide a convenient and effective means to spin and or change any number of different media types to support a fully automated workcell The SM0610 has a manually tightened collet that is a cost effective alternative to the automatic version The SM0610 uses the same motor winding and housing as the STC0610 but without the automatic clamping mechanism The manual Collet is a standard ER 40 series collet designed to clamp a 1 inch 25 4 mm diameter Tool Shaft The user may choose different sized collets in the ER 40 series ranging from 1 8 1 inch 2 30 mm The STC0610 Series has two automatic tool changing versions each acutating pneumatical
4. shorter than the Collet depth When using the Collet face for positioning some form of compliance must be used on the Tool Cradle to prevent wedging the Collet in too tightly or damaging the motor bearings Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 9 2 400 60 96 __ m 1 732 44 00 WO COLLAPSING ED STC0610 MOTOR mr Figure 6 STC0610 Collet Drawing 2 437 61 90 II SM 0610 MOTOR SHAFT Figure 7 SM0610 Collet Drawing Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 10 2 300 58 4 1 600 40 6 Je 11 01 000 001 025 4 END TO SUIT Bez CUSTOMER S MEDIA R0 025 R0 6 MAX MACHINED FLATS FOR THREAD TO MATCH MEDIA TIGHTENING MEDIA 5 CLAMPING SURFACE TAPER TO MATCH LI TAPERED HOLDER EXAMPLE OF CUSTOMER SHAFT Figure 8 STC0610 amp SM0610 Tool Shaft Drawing 3 3 2 STC0610 BT40 Toolholder Specification The STC0610 BT40 is designed to grip a BT40 toolholder without using the shaft locking keys The motor relies on the frction in the taper to secure the Toolholder No shaft locking keys means that the shaft does not needd to be indexed to a specific position to perform a tool change The BT40 toolholder is a standard machine tool style and may be purchased from several source
5. to the Motor Shaft Never place the Collet into the Motor Shaft without first assembling the Collet into the Collet Nut NOTE Never clamp oversized or undersized Tool Shafts E g never use a 11 12mm Collet to clamp a 12 2mm Tool Shaft Always use the corresponding Collet for the Tool Shaft being used NOTE Insert the Tool Shaft the full length of the Collet for best results if possible However never insert the Tool Shaft less than 2 3 of the Collet bore length Improper tool insertion can permanently deform the Collet and will result in excessive run out 3 5 Pneumatic Connection All STC versions of the 0610 require a dry non lubricated filtered air supply with a minimum pressure of 90 psi 6 2 bar and a maximum pressure of 100 psi 6 9 bar Failure to provide supply air to these specifications can degrade performance and will void any warranty repairs concerning pneumatic components If the supply air pressure is too low then the unit will be unable to fully release the Tool Shaft Toolholder Exceeding the maximum air pressure could result in permanent damage to the STC The pneumatic supply system should be configured as shown in Figure 12 A manual or electrically operated valve may be used to energize the STC for Tool Shaft Toolholder release but the valve must exhaust ALL line pressure when unenergized An electrically operated pneumatic valve is normally used in an automated workcell PushCorp highly recommends the inst
6. 0610 High Torque Servo Motor Series Manual PUSHCORP INC Dallas Texas I CAUTION Do NOT apply air pressure to release the Collet while the servo motor is rotating The servo motor spindle must be FULLY STOPPED before actuating the Collet Do NOT overheat the servo motor Supply the motor cooling water to maintain a temperature below 176 F 80 C Do NOT start or stop the servo motor instantaneously Doing so will damage the motor and power amplifier All PushCorp Inc electrical cables are rated for high twist and flex robotic applications with a minimum cable bending radius specification of 125mm 5 in Cable damage resulting from failure to abide by this specification will not be covered under warranty PUSHCORP INC 0610 Servo Motor Series Manual Table of Contents 1 0 LIMITED WARRANT Yu GRAN dee eege 1 2 0 GENERAL OVERVIEW eege EES 3 3 0 INSTALLATION 8 OPERATION ii 4 3 1 Mounting VR al DEE 4 31 4 Mounting to an AFDTT00 00 EE 4 3 1 2 Mounting Directly to aRobot i 7 3 2 Media and Tool Presentati ariera aa aE TAE A EE reenit 7 3 3 Tool and Media Gpeclfication AAARAKEKEKKNEKGEKKGEENEEGGGNKAAAAA0kknnsnnaaaaan 8 3 3 1 STC0610 amp SM0610 Tool Shaft Specification 8 3 3 2 STC0610 BT40 Toolholder Specification anan aaaaaannnnanaaaaaaakasananaannrnnnns 10 3 4 SM0610 Collet Operation ANA AAANAKAKAKAGESEKEKEEEEE
7. ENNNAAAAAAAANAKANNKG0kknknnnnananaNG 12 3 4 1 SM0610 Collet Assembly and Removal 12 R NNEN ee EE 13 SO Lee ene EE 15 3 4 Motor Go0linguss aa orata nia ma PG DANI NG iaia ia 16 3 8 Monitoring Motor Temperature 16 3 9 Motor Acceleration Deceleration EANNA ENEA KAREENA EnEn aaan 18 4 0 TECHNICAL SPECIFICATIONS rrrnnnnvvnnnnnnnvvvnnnnnnnvvnnnnnnnnvnnnnnnnnnennnnnnnnnvevevenennnr 19 PUSHCORP INC 0610 Servo Motor Series Manual 1 1 0 Limited Warranty Duration One year from date of delivery to the original purchaser Who gives this warranty warrantor PushCorp Inc Telephone 972 840 0208 Corporate Address P O Box 181915 Dallas Texas 75218 Shipping Address 3001 W Kingsley Rd Garland Texas 75041 Who receives this warranty purchaser The original purchaser other than for purposes of resale of the PushCorp Inc product What products are covered by this warranty Any PushCorp Inc industrial equipment or accessory supplied or manufactured by the Warrantor What is covered under this warranty Defects in material and or workmanship which occur within the duration of the warranty period What is NOT covered in this warranty A IMPLIED WARRANTIES INCLUDING THOSE OF MERCHANT ABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE LIMITED TO ONE YEAR FROM THE DATE OF ORIGINAL PURCHASE Some states do not allow limitations on how long an implied warranty lasts so the above limitat
8. Tool Shaft Toolholder Finally clever mechanical design always isolates the motor bearings from the drawbar tension This greatly improves reliability by allowing the motor bearings to never be subject to any clamping forces Each member of the 0610 Series uses sealed bearings to insure a long life The 0610 bearings have additional contamination protection from a PushCorp proprietary contact shaft seal This special seal eliminates the need for constant purge air During operation the 0610 generates considerable heat due to the high torque and compact size of the motor Water cooling is required to keep the unit within the internal temperature operating range Excessive operating temperatures will significantly reduce the life of the motor The motor should never be allowed to exceed a temperature of 176 F 80 C Continuously operating the unit above 176 Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 4 F 80 C will cause the rotor to de magnetize and the bearings to fail High temperatures will also cause the O rings that seal the cooling water channels to fail possibly filling the motor with water PushCorp has provided flow through water cooling on the motor to allow high duty cycles without overheating Simple reliable construction combined with high torque and precision speed controlled servo technology make the PushCorp 0610 Servo Motors a rugged state of the art tool capab
9. allation of a Pressure Switch in the Supply Line to the STC This switch should not allow the unit to start if there is any pressure in the Supply Line Pressure in the line will cause internal components to come into contact This will either cause the motor not to spin or cause very high internal forces eventually friction welding components together 1 4 6mm UNC LAMP SUPPLY LINE IN Pa AIR REGULATOR PRESSURE G AUGE E lt 90 psi 6 2 ban MIN C 100 psi 6 9 bar MAX n DRY NON LUBRICATED pe AIR SUPPLY SHUT OFF VALVE Sum FILTER PRESSURE SWITCH MANUAL OR ELECTRIC ALLY OPERATED VALVE Figure 12 Pneumatic Connections Copyright O PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 14 The STC0610 and STC0610 BT40 are provided with inch and 6 mm diameter tubing push lock fittings for installation in the R 1 8 Metric Collet Unclamp Port located on the top of the Clamping Housing See Figure 14 Remove the shipping plug and install the desired size push lock fitting If another type of fitting is desired unscrew the existing fitting and replace it with any fitting having an R 1 8 Metric thread Be sure to use a thread seal product and do not over tighten the fitting The Unclamp Supply Line to the device should be 1 4 inch or 6 mm diameter flexible polyurethane tubing The tubing should be routed
10. et is to be removed continue rotating the Collet Nut counter clockwise and the Collet Nut and Collet will come off together The Collet is an ER Series DIN 6499 Form B Size 40 The recommended tightening torque for the Collet Nut is 128 Ib ft 175 N m CAUTION Tightening toques greater than 160 lb ft 220 N m will permanently deform the collet cavity of the toolholder NOTE A collet wrench RegoFix P N 7111 40000 or equivalent should be used to tighten the Collet Nut 3 4 1 SM0610 Collet Assembly and Removal To assemble the Collet insert the Collet Groove into the Eccentric Ring of the Collet Nut at the mark on the bottom of the Collet Nut Push the Collet in while rotating the Collet up until it clicks in See Figure 11 To remove the Collet first unscrew the Collet Nut from the Motor Shaft After the Collet Nut is unscrewed press on the face of the Collet while simultaneously pushing sideways on the back of the Collet until it disengages from the Collet Nut See Figure 11 COLLETNUT COLLETGROOVE ECCENTRIC RING MARK ON BOTTOM COLLET ASSEMBLY COLLETREMOVAL Figure 11 SM Collet Assembly and Removal Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 13 Improper assembly or removal of the Collet can permanently destroy the concentricity of the Collet and may result in a damaged Collet Nut NOTE Only attach Collet Nuts with correctly assembled Collets
11. ions may not apply to you B ANY INCIDENTAL INDIRECT OR CONSEQUENTIAL LOSS DAMAGE or EXPENSE THAT MAY RESULT FROM ANY DEFECT FAILURE MALFUNCTION OF THE PUSHCORP INC PRODUCT Some states do not allow the exclusion or limitation of incidental or consequential damages so the above limitation or exclusion may not apply to you C Any failure that results from an accident purchaser s abuse neglect unauthorized repair or failure to operate the products in accordance with the instructions provided in the owner s manual s supplied with the product Responsibilities of the Warrantor under this warranty Repair or replace at Warrantor s option products or components which have failed within the duration of the warranty period Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 2 Responsibilities of the purchaser under this warranty A Deliver or ship the PushCorp Inc product or component to PushCorp Inc Service Center Dallas TX Freight and insurance costs if any must be borne by the purchaser B Use reasonable care in the operation and maintenance of the product as described in the owner s manual s When warrantor will perform repair or replacement under this warranty Repair or replacement will be scheduled and serviced according to the normal work flow at the service center and depending on the availability of replacement parts Purchasers requiring quicker repair
12. l Torque 10 7 Ib ft 14 5 N m Minimum Speed 60 RPM Maximum Speed 6000 RPM Speed Regulation 5 Reversible Weight SM0610 52 Ib 24 kg STC0610 72 Ib 32 6 kg STC0610 BT40 82 Ib 37 2 kg Operating Temperature Optimal 122 140 F 50 60 C Maximum 176 F 80 C Thermal Cutoff 212 F 100 C Max Coolant Pressure 60 psi 4 1 Bar COLLET SPECIFICATIONS Holding Torque SM0610 22 lb ft 30 N m minimum STC0610 22 lb ft 30 N m minimum STC0610 BT40 N A Tool Shaft Diameter Toolholder SM0610 1 0 inch 25 4mm standard STC0610 1 000 001 inch 25 4mm STC0610 BT40 BT40 toolholder Clamping Supply Air Dry Non lubricated 90 psi 6 2 bar Min 100 psi 6 9 bar Max Requires power amplifier and cables For specific dimensions see www pushcorp com for detail drawings Specifications subject to change without notice mene 8 74 se 8 M8 x 1 25 348 8 4 md 000 sga ere om os Copyright O PushCorp Inc 2014 All rights reserved
13. le of providing flexible cost effective operations 3 0 Installation amp Operation 3 1 Mounting the 0610 3 1 1 Mounting to an AFD1100 80 The 0610 Series motors are designed to attach directly to the Carriage of any PushCorp AFD1100 80 or AFD1200 90 Force Device There are three standard attachment options For the Parallel Axis configuration shown in Figure 1 the 0610 attaches to the AFD Carriage with two brackets and four 4 M8x1 25x25mm Socket Head Cap Screws The 0610 is positioned on the Carriage with the Foot Bracket while the Front Bracket is attached to the forward mounting holes The Clamping Screw on the Front Bracket should be loose to allow sliding movement along the motor Attach the Foot Bracket to the Clamping Housing Mounting Plate for the SM0610 using two 2 M8x1 25 Socket Head Cap Screws When the desired position is achieved secure the brackets to the Carriage and tighten the Clamping Screw The M8x1 25 Socket Head Cap Screws must be the proper length and tightened to the torque specified in Section 4 0 Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 5 By rotating the 0610 90 degrees to the Carriage a Cross Axis configuration can be achieved as shown in Figure 2 The unit is attached using the same fasteners and methodology as the Parallel Axis configuration To attach the 0610 to an AFD in a Perpendicular Axis configuration position the Clamping Hou
14. ly to clamp the shaft or toolholder They are comprised of four primary components a high torque Servo Motor a pneumatic actuator high force Bellville springs and a component to clamp a Tool Shaft Toolholder The STC version uses a drawbar to pull the Collet Gripper in High force Bellville springs located at the back of the Servo Motor Housing tension the drawbar Energizing the large pneumatic actuator located in the Clamping Housing opens the Collet Gripper During pressurization the cylinder contacts the Bellville springs and compresses them to drive the Collet Gripper out releasing the Tool Shaft Toolholder There is no mechanism to forcibly eject the Tool Shaft Toolholder from the Collet so gravity or a capturing mechanism must be used The STC0610 version uses a PushCorp propriatary collapsing Collet to lock around a Tool Shaft The STC0610 BT40 uses a 40 taper to grip a standard BT40 toolholder This design locks the toolholder in the 40 tapered shaft and resists large pull out forces Neither shaft has locking keys so motor indexing for tool change is not required The STC0610 motors are fail safe in that no air pressure is required to clamp the Tool Shaft Toolholder Therefore the Tool Shaft Toolholder will remain held in the Collet Gripper even when the air pressure is un expectantly lost Likewise applying air pressure to a single input port via a simple manual or electrically operated valve opens the Collet Gripper and releases the
15. nal motor temperature to ensure that the maximum temperature rating is not exceeded and that the optimal temperature range is maintained To facilitate this the 0610 Series has a thermistor that is imbedded in the motor windings The thermistor connection is provided on the Motor Feedback Connector as shown in Figure 13 The thermistor temperature signal is a logarithmic function of the output resistance The graph shown in Figure 15 illustrates the internal motor temperature verses the thermistor output resistance In the graph a temperature of 176 F 80 C corresponds to a resistance of 2000 ohms If the thermistor indicates a resistance of less than 2000 ohms then the motor should be immediately shut down before thermal damage occurs The motor also contains a thermal cutoff switch If the temperature exceeds 212 F 100 C the motor will stop running until it has cooled off This feature should not be Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 17 used to control the motor temperature The thermal cutoff is designed to operate only when all other precautions have failed STC0610 Thermistor Temp vs Resistance Characteristics 160 140 120 100 De gr ee 80 s 60 40 20 0 1 1 10 100 Resistance KOhms Semitec Type 203GT Thermistor Figure 14 Thermistor Chart Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Serie
16. r wishes to use their own cables and or amplifier the pin outs for the Motor Power and Motor Feedback connectors are shown below in Figure 13 The Collet release mechanism of the STC0610 relies solely on air pressure to operate it requires no electrical connections Bo OC AO OD FEEDBACK CONNEC TOR POWER CONNECTOR FEEDBACK PIN O UTS POWER PIN OUTS PIN SIGNAL B HALL SUPPLY B MOTORB D HALB D GROUND SHIELD Figure 13 Electrical Connector Pin outs CAUTION Do not run the Motor Power Cable in close proximity to any feedback or control cables because of possible electrical noise problems Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 16 3 7 Motor Cooling The 0610 Series has a compact high torque 10 0 Hp 7 5 kW Servo Motor which requires water cooling The motor is designed to operate below a temperature of 176 F 80 C The optimal motor temperature range is 122 140 F 50 60 C The 0610 contains cooling channels in the Motor Housing surrounding the motor stator These channels allow efficient removal of the heat The coolant enters and exits the Motor Housing through two Motor Cooling Ports as shown in Figure 14 Either of these Motor Cooling Ports can be used as an input the other would then become an output A closed loop water cooling system must be used and requires a separate cooling unit that circulates water through the Mo
17. s Manual 18 The following equation can be used to calculate the motor temperature based on the measured thermistor resistance 1 T 273 15 2 656 X10 42 317 x10 In R 1 752 X10 In R R is resistance in Kohms In is the natural logarithm function Base e T is temperature in C 3 9 Motor Acceleration Deceleration Servo Motors have the ability to start and stop very quickly As long as the motor does not overheat or the amplifier exceed the allowable current input the motor will continue to operate The problem is that the motor and amplifier can experience excessive current spikes with rapid acceleration and declaration Media or tooling with a large mass or large diameter i e high moment of inertia only increases the current surge The amount of time allowed to reach the desired speed or stop will directly effect the life of the motor PushCorp recommends a smooth linear velocity ramp with a minimum period of one second be used to accelerate to full speed or to decelerate to zero speed The minimum one second acceleration period must be increased if larger higher inertia tools are used to prevent servo amplifier faults and avoid long term damage Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 19 4 0 Technical Specifications MOTOR SPECIFICATIONS Supply Bus Voltage 300 340 VDC 208 240 VAC Rectified Power 10 0 hp 7 5 KW Continuous Stal
18. s including MSC www msc com and J amp L Industrial Supply www jlindustrial com The Customer can also make their own BT40 toolholder to handle special media See Figure 9 for toolholder dimensions The toolholder must be equipped with a Parlec www parlec com retention knob part number 4020TRK or equivalent Figure 10 shows the Parlec retention knob with the required dimensions Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 11 1 062 27 01 2 575 65 41 0 079 2 01 M16x2 8 2989 8 2971 S 1 750 44 45 20 669 16 99 a O 0 354 8 99 0 827 21 01 CUSTOMER CAN DESIGN END TO SUITTHEIR APPLICATION Figure 9 BT40 Toolholder Dimensions e 2 126 lo 1141 ba SE FR FIS NN I I Wi pitak 0 746 ll UNA Figure 10 BT40 Retention Knob Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 12 3 4 SM0610 Collet Operation The Collet for the SM0610 is tightened and loosened manually The Motor Shaft must be held using the Motor Shaft Flats while the Collet Nut is turned see Figure 14 Turning the Collet Nut forces the Collet into the Motor Shaft causing it to clamp around the Tool Shaft Rotating the Collet Nut clockwise will tighten the Collet To loosen the Collet rotate the Collet Nut counter clockwise If the Coll
19. sing Mounting Plate over the Carriage as shown in Figure 3 Then secure the unit using four 4 M8x1 25 Socket Head Cap Screws Tighten the fasteners to the torque specified in Section 4 0 CAUTION Make sure that the M8x1 25 fasteners do not exceed a depth of 0 52 13 3 mm into the AFD Carriage Helicoils or damage will occur CLAMPING SCREW M8x1 25x25mm SO C KET HEAD CAP SCREW CLAMPING HOUSING 2 M8x1 25 SOCKET HEAD CAP SCREWS FD80 or AFD1100 4 M8x1 25x25mm SOCKETHEAD CAP SCREWS Figure 1 0610 Parallel Axis Configuration Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 6 FOOTBRACKET 4 2 M8x1 25 SOCKETHEAD CAP SCREWS 4 M8x1 25x25mm A SOCKETHEAD CAP SCREWS NG i 5 AFD80 or AFD1100 4 M8x1 25 SOCKET HEAD CAP SCREWS Figure 3 0610 Perpendicular Axis Configuration Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 7 3 1 2 Mounting Directly to a Robot For some processes compliance and force control are not required The 0610 can be mounted directly to the robot and the system can be operated in position mode This robotic system is equivalent to a 5 axis machining center with a very large work volume and lower positional accuracy Certain product types and processes are well suited for a Robotic Machining Center RMC The 0610 Series can
20. to the device such that there are no kinks and that there is plenty of slack to allow for manipulator motion Before inserting the tubing into the STC air fitting open the Shut Off Valve to blow out any contaminates which may be in the Unclamp Supply Line The tubing can now be pushed into the self locking fitting located on the Clamping Housing as shown in Figure 14 Charge the Unclamp Supply Line with compressed air and verify that there are no air leaks and that there is a minimum of 90 PSI 6 2 bar at the STC Ifa minimum air pressure cannot be achieved then an auxiliary air compressor or booster pump must be installed NOTE PushCorp highly recommends the use of flexible polyurethane tubing as opposed to nylon tubing This is because nylon tubing tends to crimp shut when it is bent To remove the Unclamp Supply Line for service make sure the air pressure is discharged then while pushing inward on the fitting s plastic ring simultaneously pull the tubing out Cover or plug the self locking fitting any time the Unclamp Supply Line is not connected This will keep contaminants from entering Copyright PushCorp Inc 2014 All rights reserved PUSHCORP INC 0610 Servo Motor Series Manual 15 3 6 Electrical Connections The 0610 servo motor has two electrical connections the Motor Power and Motor Feedback See Figure 14 If PushCorp supplies the cables and amplifier the tool should be easily connected to the amplifier If the custome
21. tor Housing to remove the heat All of the coolant is recirculated in the system and no continuous supply or discharge is required A mixture of pure distilled water and a corrosion inhibitor is required such as DowTherm SR 1 or equivalent Typical cooling units are comprised of a pump water to air heat exchanger and fan These units are commercially available from several manufacturers eg Miller Coolmate 3 www millerwelds com The cooling unit should be sized based on the motor power output of 10 Hp 7 5 KW with an overall motor efficiency of 90 and the motor load conditions Again it is recommended to constantly monitor the motor temperature during operation to ensure that it does not overheat NOTE The life of the 0610 motor is directly related to the operational temperature so proper cooling is critical The 0610 Series is supplied with two 5 16 and 8 mm diameter tube push lock fittings for installation in the Motor Cooling Ports Remove the shipping plugs and install the desired size push lock fittings If another type of fitting is needed replace the existing fitting with a fitting having an R 1 8 Metric thread Be sure to use a thread seal product and do not over tighten the fitting 3 8 Monitoring Motor Temperature As previously stated the 0610 Series is designed to operate below a temperature of 176 F 80 C and within an optimal range of 122 140 F 50 60 C In many situations it is desirable to monitor the inter
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