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1. Pin signal Description 3 Temp motor temperature sensor 4 Temp 5 SIN 6 REFSIN 8 COS 1 REFCOS 2 485 7 485 10 GND 12 10V 9 Shield Shielding is also on connector housing Page 68 of 73 VELTRU AG User s Guide and Planning Manual Unloading Robot U10H Appendix B Servo amplifier X10 Power connector Pin signal Description 1 U Motor phase 2 V 3 W 4 DC DC coupling 5 DC 6 Rint Resistor bridge 7 Rint 8 230VAC L 9 230VAC N 10 GND GND X8 Logic Power connector Pin signal Description 1 Br Motor Brake 2 Br 3 Brin Brake Control 4 24VDC Logic supply 5 OVDC X3 Encoder connector Pin signal Description 14 Temp motor temperature sensor 5 Temp 17 SIN 18 REFSIN 9 COS 8 REFCOS 12 485 3 485 Page 69 of 73 VELTRU AG User s Guide and Planning Manual Unloading Robot U10H 16 GND 24 10V X2 O connector Pin signal Description 6 24VDC Power Supply Regulator 13 GND 3 10V Regulator Out 19 STO2 Safe Torque Off 20 EGND Safe Torque Off 21 STO1 Safe Torque Off 5 Br Out Brake Control 15 Br Out Brake Control X5 CAN connector Pin signal Description With terminal resistor l CANH 120 Ohm With terminal
2. Motion Contro VELTRU VELTRU U10H Unloading Robot User s Guide VELTRU AG Title Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Record of Revision Copyright Validity Trademarks Published by User s Guide and Planning Manual Page 2 of 73 Unloading Robot U10H VELTRU U10H Unloading Robot User s Guide 9800003000 This documentation describes the unloading robot VELTRU U10H Version Release Date Notes v1 0 02 08 2010 V1 1 26 08 2010 STO safety data V1 2 30 11 2010 Servo control structure V1 3 11 01 2011 Website Download V1 5 26 08 2011 GemDriveStudio handling V1 6 19 10 2011 Manual Drive Connection V1 7 31 03 2012 updated SerialNumber o Ring maintenance V1 8 21 12 2012 updated Maintenance V2 0 20 08 2013 updated GemDriveStudio 2008 2013 VELTRU AG All rights reserved Copying this document giving it to others and the use or communication of the contents thereof without express authority are forbidden Offenders are liable for the payment of damages All rights are reserved in the event of the grant of a patent or any other enforceable intellectual property rights The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract All rights are reserved with respect to the content of this documentation and the availability of the product Trade
3. e Use modified components in the robotics system e Disable the interlock or any other safety device so that operator can enter the workcell with power ON 2 15 Limitation of Liability 2 16 How Can Get Help The above information describes all safety features required to protect personnel from injury or death It is not a guarantee by VELTRU AG that the robot cannot damage equipment or peripherals even if all the safety instructions are complied with For further support see section 1 7 VELTRU AG User s Guide and Planning Manual Page 26 of 73 Unloading Robot U10H 3 Product Specification 3 1 Description The VELTRU U10H Robot is a two axis industrial robot specifically designed for flexible automation material handling and static pick and place applications VELTRU U10H Robots are designed to interface with the VELTRU C10 Motion Controller The control and operation of the robot is programmed and performed through the VELTRU C10 Motion Controller The controller has an open PC based structure that is specially adapted for flexible use and can communicate extensively with external systems This chapter describes the characteristics of the VELTRU U10H Robot For the VELTRU C10 Controller see the VELTRU C10 User s Guide and Planning Manual The VELTRU U10H Robot is a parallel industrial robot designed for static pick and place applications The main characteristics of the VELTRU U10H Robot are e Minimum cycle
4. The arms are delivered preassembled First mount the two upper arms to the actuator flanges Use the screws delivered with the robot four hex head M6x30 screws with washer The bolt to attach the passive arm determines the orientation of the arm structure Then mount the passive arm on the corresponding bolt Ensure one O Ring is placed on each side of the ball bearing of the passive arm VELTRU AG User s Guide and Planning Manual Page 41 of 73 Unloading Robot U10H Mount the passive arm on this bolt placing one O Ring on each side of the bearing and securing with the retaining ring provided Mount the tool carrier to the tool carrier plate The following is the mounting pattern on the tool carrier plate 60 0 10 5 7 Minimum Safety Requirements WARNING The robot arm is a potential danger when running Make sure that the installation conforms to all applicable local and national safety standards see Chapter 2 Safety Do not switch on the power until all of the interlocks are installed and tested VELTRU AG User s Guide and Planning Manual Page 42 of 73 Unloading Robot U10H 5 8 Wiring WARNING Turn off the power to the power chassis before installing or removing any cables Use an approved lockout and tag procedure see the OSHA Lockout tagout standard VELTRU U10H robots are using an Heavy Duty Connector The corresponding counterpart female connector is delivered with the robot
5. 5 9 8 DipSwitches The Servo Amplifiers provide DipSwitches for the Configuration Communication RS232 CAN They have no impact on the EtherCAT communication INFRANOR KE CAUTION Risk of electric shock Wait 10 minutes after power OFF VELTRU AG User s Guide and Planning Manual Page 51 of 73 Unloading Robot U10H VELTRU standard setting is OFF for the Baud Rate 1 MBits and Node ID equivalent to EtherCAT axis number The NodelD is set using the binary representation 5 9 9 Manually setting up drive communication In normal operation the communication between the drives and GemDriveStuido is established automatically using the scanner function as described in chapter 5 9 1 If e g loading a firmware is interrupted the necessary functionalities for this scanning may be unavailable on the drive Thus the drive needs to be connected manually Ensure a direct and unique RS232 communication line between the GemDriveStudio PC and the drive Disconnect any CAN communication Start GemDriveStudio with an empty project Open the Communication Configuration udic D a _ p File Edit View Project Program Tools Windows Infos Communication configuration Connect to the fieldbus Scan the fieldbus to detect devices Define the Node ID and COM Port as necessary Set the COM Baudrate to 19200 r Communication type _ r Node
6. Serial Nr 90002 Rated power 14 5 kVA Manuf Year 2009 HW Rev 1 4 Bus EtherCAT VELTRU may be contacted at the following address VELTRU AG Flurlingerweg 3 8245 Feuerthalen Switzerland When calling please have the serial number of the VELTRU C10 Motion Controller and the serial number of the VELTRU U10H Robot ready Service Calls For service maintenance or spare part requests please call our Support Center 41 0 52 654 03 80 Monday to Friday 7 30 am to 5 00 pm CET 41 0 52 654 03 81 Fax Please direct all support E Mails to support veltru com Training Information For information regarding VELTRU Training Courses please contact your sales partner at VELTRU AG VELTRU AG 2 Safety 2 1 Introduction CAUTION WARNING User s Guide and Planning Manual Page 12 of 73 Unloading Robot U10H This chapter describes the safety features of the VELTRU U10H Robot System The VELTRU U10H Robot is applied in various applications The information in this manual does not cover every application nor does it cover all the peripheral equipment which can influence the safety of the total system This manual provides instructions on how to use the robot safely and which standards are taken into account To protect personnel the robotic system must be installed in compliance with the safety requirements set out in the standards and regulations of the country where the robot is installed The user of a VELTRU
7. The reference position is stored on the encoder The calibration routine is executed using the servo amplifier configuration software GemDriveStudio The parameters are defined in the default servo amplifier file The latest version can be found in the VELTRU Software Release Package The routine will perform a homing to hard stop To execute the calibration connect a service laptop with GemDriveStudio installed to the robot using a RS232 connection See section 5 9 for details In the device control window choose mode of operation Homing Mode and Execute the homing Switch the operation mode back to Interpolated Position Mode and save parameters to flash The home offset is automatically saved in the encoder VELTRU AG User s Guide and Planning Manual Page 64 of 73 Unloading Robot U10H D Gem Deive Studio V fie Eat Yew Project Connection Progam Tools Wiedows infos N JE Hae Qa Bo P Scenn Correction Chert number 1 EN RE re ET hee EZ Poea EGG PacC 123017 1 Node AM 8 3 7 Check cabling You must inspect the cabling periodically to make sure that the movements of the robot do not rub or tear any of the cables If any of the cables show signs of abrasions then you must replace the cable NOTE It is very helpful to have a copy of the circuit diagram at hand when trying to troubleshoot electrical faults VELTRU AG User s Guide and Planning Manual Unloading Robot U10H Appendix A Motor D
8. This removes power from the robot axis actuators and stops all moving parts of the robot Safety Stop ISO 10218 EN 775 When a safety stop circuit is provided each robot is delivered with the necessary connections for the safeguards and interlocks associated with this circuit You must reset the power to the machine actuators before any robot motion can be initiated Resetting power to the machine actuators will not cause the robot to move Safeguard Interlock ISO 10218 EN 775 VELTRU AG User s Guide and Planning Manual Page 15 of 73 Unloading Robot U10H This is an interlock which connects a guard or safety device to the robot controller and or the power supply of the robot and its associated equipment 2 3 Intended Use of the Robots The installation and use of VELTRU Robots and related products must comply with all safety instructions and warnings in this manual Installation and use must comply with all applicable local and national requirements and safety standards The VELTRU U10H Robots are intended for use in pick and place applications and material handling for payloads of up to 6kg including gripper weight A WARNING For safety reasons you must not modify the VELTRU U10H Robots WARNING You must not use the VELTRU U10H Robot System for non intended use See also chapter 3 for further Product Specifications The VELTRU C10 Motion Controller used to control the U10H robot system is a component subassembly
9. manual See section 1 2 for further details VELTRU AG User s Guide and Planning Manual Page 10 of 73 Unloading Robot U10H 1 6 Product Identification A 5 digit serial number identifies the VELTRU U10H Robot The serial number is on the type plate which is located inside the robot housing on the robot base near the connector examples For exact identification see the plates and marks on your robot NOTE The type plates and marks shown in the figures below only serve as Please have the serial number available when you call VELTRU Customer Service for technical support The location of the type plate is shown in following picture Serial Number The layout of the type plate is shown in following picture VELTRU VELTRUAG CH 8245 Feuerthalen C www veltru com Type Art Serial Nr Year U10H 9014001200 90055 2011 Supply Voltage 1 230 240 VAC Control voltage 24 VDC Rated power 2 5 kVA VELTRU AG 1 7 Where to Get Help User s Guide and Planning Manual Unloading Robot U10H Page 11 of 73 Manufactured by VELTRU Distribution and service by VELTRU VELTRU AG VELTRU AG or OEM Name 8245 Feuerthalen VELTRU or OEM Location Switzerland VELTRU or OEM Country www oem domain com info oem domain com www veltru com info veltru com 41 52 654 03 80 00 123 456789 Type U10 Supply Voltage 3 400 480 VAC Art 9014000100 Control voltage 24 VDC
10. parameters setting drive parameter In the pop up window select restore parameters from PC file i LS n Gem Drive Sudio Vd Oot oO a Program Tools Windows Infos Sg 16 00 24 The following peripheral has been started COM4 19200 baud File Edit View Project Connection Prog 3 ME x fote Selection x Ep BY MyProject 49 PacET 23017 1 ED ac ET 230 17 1 parameter files o e Organize New folder Name Fr Favorites Restore parameters from PC file A NOTE Change the default file filter to txt file VELTRU AG User s Guide and Planning Manual Page 48 of 73 Unloading Robot U10H 5 9 4 Write Drive Firmware Gem Drive Studio File Edit View Project Connection Program Windows Infos 2 3m x l sta Eg 16 00 User identification Select language gt x election Embedded EEDS catalog BBY MyProject 1 69 Pac ET 230 17 1 NodelD1 Motor catalog Device info Digitizing oscilloscope E Parameter setting Device config Power supply config I Motor config Dialog window File service Wizard procedures Position sensors g Controler Drives fies backup Wite a file into the Inputs Outputs Drives files restore drive LIM Position limits MOD Modulo config Brake control Stop opera
11. 4 x M10 with large washer e End effector to fit the tool carrier Safeguarding e A suitable electrical ground point e A single phase 230 V AC power supply e A24V DC power supply for the controls VELTRU AG User s Guide and Planning Manual Page 38 of 73 Unloading Robot U10H 5 3 Requirements for Robot Frame 5 3 1 Structural requirements You must install the VELTRU U10H in a frame A frame is a dedicated robot support on a packaging or production machine The floor under the frame must be level stable and continuous The stiffness of the frame or support including the robot weight must have an eigenfrequency of at least 18 Hz The robot produces vertical forces of up to 1500 N and horizontal forces of up to 600N 5 3 2 Interface Robot Frame The VELTRU U10H has four fixation holes where the base plate of the robot must be connected to the frame For the bore pattern see the following picture Suitable attaching screws Metric M 10 Property class 8 8 socket screws with large washer e Tightening torque 48 Nm lubricated e Use Loctite or similar to retain the screws 5 3 3 Mounting Space Required The space required to successfully install the VELTRU U10H is shown in chapter 3 4 Dimension Drawings VELTRU U10H robot Each arm rotates VELTRU AG User s Guide and Planning Manual Page 39 of 73 Unloading Robot U10H about its rotation axis on a radius of 350mm up to its hardstop There must be no restri
12. 5 8 1 Grounding Proper grounding is essential for safe and reliable robot operation The integrator is responsible for the grounding to the robot All motors are connected to ground with the motor power cable The integrated drive is connected to ground with the mains supply on the Heavy Duty Connector Further grounding of the housing is not necessary but is possible at any point of the robot It is not possible to ground the arm system of the VELTRU U10H Robot WARNING Failing to ground robot mounted equipment or tooling that uses hazardous voltages could lead to injury or death 5 8 2 Default wiring The following is a cut through the Heavy Duty connector as seen by the integrator Connector and PIN Signal VELTRU AG AN WARNING User s Guide and Planning Manual Page 43 of 73 Unloading Robot U10H A EtherCAT RJ45 Patch Cable Optional EtherCAT RJ45 Patch Cable Out C1 24VDC for drive logic and motor brakes C2 OVDC Reference Potential BGND C3 STO 1 Safe Torque Off 24VDC C4 STO GND 0VDC C5 STO 2 Safe Torque Off 24VDC C6 Brake Release 24VDC 1A C7 NC C8 NC D1 N 230VAC D2 L1 230VAC GND GND Additional Integrator wiring is accepted The Pins support up to 250V 10A each The STO signals must be connected to the safety circuitry Cutting the mains supply on
13. IP54 Payload incl customer supplied End up to 6kg 13 2 Ib Effector VELTRU AG User s Guide and Planning Manual Unloading Robot U10H Page 33 of 73 Typical cycle times under optimal integration 1 0kg payload 100mm 700mm 100mm 0 6s Repeatability Y and Z 0 15 mm 0 006 in Accuracy Y and Z 0 5mm 0 019 in Maximal speed of tool carrier Y and Z 10m s Joint acceleration of tool carrier Use the VELTRU robot calculator to determine the maximum acceleration for your application Minimal jerk time 10 ms Weight 75kg Life expectation 42000 h Design Life 6000h Revision cycles 3 7 2 Power Supply Specifications The power supply requirements are shown in the following table Feature U10H Mains Supply voltage 230V AC single phase Mains Supply power 4 5 kVA Mains Supply frequency 45 Hz to 66 Hz Control Supply voltage 24VDC 15 Control Supply power 30VA 3 7 3 Required Safety Category The VELTRU U10H Robot is considered an industrial robot Therefore EN 954 safety category 3 is required for the installation of the equipment 3 7 4 Environment Requirements The environmental requirements are shown in the following table VELTRU AG 3 7 5 Emissions User s Guide and Planning Manual Unloading Robot U10H Page 34 of 73 Feature Value Ambient temperature operatin
14. Robot is responsible for ensuring that the safety requirements and regulations in the country concerned are observed The user of a VELTRU Robot must ensure that the safety devices necessary to protect people working with the robot system have been designed and installed correctly The user of a VELTRU Robot shall consult the integrator of the robot system to determine the required safety concept The user of a VELTRU robot must read and understand this manual and the safety precautions described It is the responsibility of the integrator to make the personnel working with the VELTRU robot aware of the information contained in this document and the details given on how to run the system and perform maintenance safely The VELTRU U10H Robot moves at high speed and can exert considerable force Only trained personnel should operate the VELTRU U10H Robot ALL personnel who operate or maintain VELTRU U10H Robot systems or who work within or near the workcell must read the VELTRU U10H User s Guide The guide assumes that the integrator has a sound working knowledge of the VELTRU C10 Motion Control system when operating a VELTRU U10H robot The user should provide the necessary additional training for ALL personnel working within or around the workcell VELTRU AG User s Guide and Planning Manual Page 13 of 73 Unloading Robot U10H 2 2 Applicable Safety Standards A WARNING 2 2 1 Safety Standards The VELTRU U10H Robot conform
15. amplifiers use large capacitors with residual energy also after switching off the mains Use appropriate procedures to avoid residual energy causing damage or injury The manipulator uses potentially lethal voltages in the following areas e The power supply for the motors up to 390 V DC e The power supply for the amplifier units up to 230 V AC 20A e The power supply for tools e The external voltage connected to the control cabinet This voltage is present even when the robot is disconnected from the mains e Only non lethal 24VDC are applied to the C10 Motion Controller These velocities can occur only in a runaway situation or mechanical failure situation They are not performance specifications VELTRU AG gt NOTE User s Guide and Planning Manual Page 19 of 73 Unloading Robot U10H VELTRU recommends you keep the VELTRU C10 Motion Controller running even when you operate the Emergency Stop of the VELTRU U10H Robot VELTRU also recommends to keep the 24VDC control supply to the servo amplifier alive when operating the Emergency Stop Otherwise manual operation of the brakes will not be possible Hazards related to tools etc Mains power is present on tools material handling devices etc even if the robot system is switched off Damage can occur to power supply cables which are in motion during the working process 2 7 Safety Functions and Safeguards A WARNING VELTRU recommends the following point
16. damage or injury due to improper handling or installation of a VELTRU U10H robot 4 1 1 Incoming goods inspection The VELTRU U10H Robot and the VELTRU C10 Motion Controller are delivered pre assembled Each shipment is accompanied with a delivery note containing the necessary information to keep track of the goods received Inspect all shipping crates for evidence of damage during transport before unpacking them If any damage is present do not open the crate Request that the carrier s agent be present at the time the crate is unpacked When you have unpacked the robot check again for damage during transport Compare the items received the delivery note and your equipment purchase order Verify that all the items are present and that the shipment is correct and free from damage If the items received do not match the delivery note or your order contact your VELTRU representative After unpacking retain all containers and packaging material You can use these items later if you have to relocate the equipment 4 1 2 Repackaging for Relocation To transport the robot repack it as originally packed at the factory VELTRU recommends that you use the original packing material and follow all safety notes applicable for handling and installation Improper packaging for shipment will void the warranty VELTRU AG User s Guide and Planning Manual Page 36 of 73 Unloading Robot U10H 4 1 3 Transportation and Storage Store the robot a
17. in a vertical plane 2D The following picture shows the VELTRU U10H Robot The VELTRU U10H Robot requires a VELTRU C10 Motion Controller for operation The robot is programmed and controlled using the C10 motion controller The robot motion code runs on servo amplifiers integrated in the robot base To run an application the robot must be integrated in a structure or frame and additional equipment is required How to use this manual This manual provides information on installation preventive maintenance troubleshooting and repairs on the VELTRU U10H Robot VELTRU AG 1 2 Related Manuals User s Guide and Planning Manual Page 8 of 73 Unloading Robot U10H Chapter 1 provides information on how to use this manual and other additional manuals which may be required Chapter 2 explains the necessary safety measures Chapter 3 provides the technical specifications This chapter includes drawings to specify the dimensions of the VELTRU U10H robot system Chapters 4 to 7 provide information on transportation assembly installation and operation of the VELTRU U10H Robot system Chapter 8 provides information on the servicing and maintenance procedures The VELTRU U10H Robot is delivered with a VELTRU C10 Motion Controller The VELTRU C10 Motion Controller is not described within this manual Please refer to the VELTRU C10 Motion Controller User s Guide and Planning Manual For programming the Motion Controller please refer to
18. maintenance and repair of the VELTRU U10H Servo Amplifiers and the VELTRU C10 Motion Controller The robot is extremely powerful even at low speed You must observe the applicable safety regulations and instructions when you enter the robot s safeguarded space You must read and understand the following points e It is the responsibility of the integrator of the complete system to make sure that all safety circuits are interlocked according to the applicable standards for that circuit e User and integrator must read and understand the instructions in the VELTRU U10H Robot User s Guide e The integrator must make sure that the mains supply to the robot is connected in such a way that it can be turned off and interlocked outside the robot s working space e It is the responsibility of the Integrator to make sure that all Emergency Stop circuits are interlocked according to the applicable standards for that circuit e The integrator must make sure that emergency stop buttons are highly visible and accessible It is the responsibility of the user to make sure that safety instructions are available for the installation at all times e Only skilled personnel should install the robot VELTRU AG User s Guide and Planning Manual Page 24 of 73 Unloading Robot U10H e Make sure that when disconnecting or connecting electric cables and disconnecting or connecting sub assemblies that the mains power is switched off and locked
19. n annsnene en lai 46 5 9 3 Ve Parameter File to Dive n ausann en 47 5 9 4 MENES 48 5 9 5 Backup Parameter of DIES 48 59 60 MN eee 49 5 9 7 Status information EE ES EE 50 59 8 NNN 50 5 99 Manually setting up drive COMMUNICATION c cscsesesssseeeeseseseseseeeeeeceeeceeecetetetetetetetetetesetesetes 51 5 10 Kinematics and Axes Definitions nisse 53 6 Optional features nsii 54 6 1 MalorBlakes sites een 54 6 1 1 Manual Brake Release au 54 6 1 2 Mounting a Brake Release Button un 54 FOSEN 54 7 System Cabling and Checks s snrvrvenenvnvrvrvrnenrsesererervrvrvevenenenerveveneneneserereresvsvenenenenernnnn 56 TD EGON ee 56 7 2 General System Overview Minimum Requirement ccccccseseseeseceeseeeesesereseeeeeeeaeaeees 56 7 3 Inspections before Switching Operert 57 8 Maintenance Instructions ccccccsssecscccceesscssssesssseronsensrarsecntercsnarsenessrstesnnterseasssnnanseesersecs 58 TN 58 8 1 1 General Maintenance Principles and Safety Precautions ccccccccccccceeescsesestssseseeeeeseeeeees 58 8 1 2 Maintenance Log BOON EE 58 8 1 3 Maintenance niemals nina hen 59 ENN 59 8 2 1 Cleaning Agents and Utensils u nein ea 60 8 2 2 General Cleaning Instructions aa 60 VELTRU AG User s Guide and Planning Manual Page 6 of 73 Unloading Robot U10H 2 Cleaning of the ceramic ball bearings sc nn a 60 Go MENN 60 8 3 1 Tools Materials and Supplies c cccccscsasssssescsssescscssscsecedacedsessse
20. of a complete industrial automation system You must install the motion controller inside a suitable enclosure The motion controller must not come into contact with liquids The standard VELTRU U10H Robot robot must not come into contact with liquids Do not use VELTRU Robots or related equipment in any of the following situations e In hazardous or explosive atmospheres e In mobile portable marine or aircraft systems e In life support systems e In residential installations e In situations where the VELTRU Robot and or related equipment is subject to extremes of heat or humidity See Chapter 3 7 4 for temperature and humidity ranges WARNING You must observe the instructions for operation installation and maintenance given in the VELTRU U10H User s Guide Improper use of a VELTRU U10H Robot can e Cause injury to personnel VELTRU AG User s Guide and Planning Manual Page 16 of 73 Unloading Robot U10H e Damage the robot or other equipment e Reduce system reliability and performance All persons that install commission operate or maintain the robot must e Have the necessary qualifications e Read and follow exactly the instructions in the VELTRU U10H User s Guide Application Questions If you have a question concerning the application of the robot please contact our support center see section 1 7 2 4 Qualification of Personnel This manual is intended for personnel who have a working knowledge of
21. production machine A WARNING Never walk under a suspended load The following tools are required to install the robot using a traverse crane Tool Part Number Traverse Crane Integrator provided 4 x M10 ISO Property Class 8 8 Mounting Screws and large washers Integrator provided Torque Wrench Integrator provided VELTRU AG User s Guide and Planning Manual Page 40 of 73 Unloading Robot U10H Lifting strap with a breaking strain of Integrator provided more than 50 kg 1 Place the robot under the frame 2 Wrap the lifting strap around the robot base between the two motors WARNING Do not attempt to lift the robot around the covers as they will break If the robot falls it will cause personnel injury and equipment damage CAUTION The robot assembly weighs approximately 50kg Make sure your lifting straps can support more than the weight of the robot assembly 3 Use the crane to lift the robot housing to mount the struts 4 Install the M10 mounting screws through the base plate of the robot into the threaded holes in the frame First tighten them loosely by hand 5 Tighten all screws using a torque wrench e Tightening torque 48 Nm lubricated e Use Loctite or similar to secure the screws 6 Remove the lifting equipment CAUTION The robot must be fully attached and secured to the frame before starting the motion 5 6 Mounting the Forearms and Tool Carrier to the Robot
22. the system The user must provide the necessary additional training for all personnel who will work with the system Only trained or skilled personnel should perform certain procedures Before working with the VELTRU U10H Robot you must make sure that all personnel e Have received the VELTRU U10H User s Guide e Have read the VELTRU U10H User s Guide e Understands the VELTRU U10H User s Guide e Work in the manner specified in the VELTRU U10H User s Guide 2 5 Safe Working Procedures You must use safe working procedures to prevent injury You must not modify bypass or change any safety device or safety circuit in any way at any time 2 5 1 Normal Operations All normal operations in automatic mode are controlled from outside the safeguarded space A WARNING Make sure the safety interlock is in place before power is applied to the robot 2 5 2 Risks during Operation Disturbances During operational disturbances you must cut power to the VELTRU U10H Robot You must interrupt the power supply to the VELTRU Servo Amplifiers VELTRU AG User s Guide and Planning Manual Page 17 of 73 Unloading Robot U10H using a suitable electromechanical device See chapter 7 2 General System Overview Minimum Requirements You must release pressure in the pneumatic systems before performing any work Use an approved lockout and tag procedure e g switch off and lock the mains switch before performing any work on cabling or in the electr
23. time of typically 0 7 1 0 s e Pick amp Place between static positions e Workload up to 6 kg 13 2 Ib including gripper weight e Working envelope up to 1000 mm horizontally and 300mm stroke Single sided mechanical interface e Conformity with international standards e Rugged design 3 2 Orientation in Cartesian Space The robot joint locations used in all documentation related to the VELTRU U10H Robot are shown in the following picture VELTRU AG User s Guide and Planning Manual Page 27 of 73 Unloading Robot U10H Oi f LA VELTRU uses the following convention to define the orientation of the robot in cartesian space The robot is moving in y z plane It is assumed the robot is working perpendicular to a machine e g a thermoformer or traysealer having its main moving direction in x z is looking up vertically Joint 1 is driving the passive arm for keeping the tool carrier plate horizontally at all times and is defining the y axis Joint 2 is having the two parallel forearms 3 3 Intended Use of the VELTRU U10H Robot The VELTRU U10H Robots are used in various applications in areas of flexible automation They are intended for use in parts pick and place applications with product weight of up to 6kg VELTRU AG User s Guide and Planning Manual Page 28 of 73 Unloading Robot U10H rigg DEE me a The figure above shows a drawing of the VELTRU U10H Robot structure The base plate 1 does not move It suppor
24. with food grade oil VELTRU AG User s Guide and Planning Manual Page 37 of 73 Unloading Robot U10H 5 Installation of the VELTRU U10H Robot WARNING Make sure that the robot is installed in a safe and secure manner by professionals familiar with the structural engineering principles related to the installation of large industrial equipment The information on the following pages is a guide to help you install your robot The customer must have the installation plan for the selected site verified by a structural engineer or a similarly qualified professional VELTRU does not accept responsibility for damage due to improper installation 5 1 Facility Requirements for Robot Installation The site for the standard VELTRU U10H Robot installation must meet the following conditions e Temperature 2 to 40 C 32 to 104 F e Humidity 5 to 95 non condensing e No dust or smoke e No flammable or corrosive material Non flammable and non corrosive atmosphere e No vibration e Enclosed control cabinet e Easy access to the robot and the control unit for service and repair e No abrasive dust such as sand or metal powder 5 2 Integrator Provided Hardware and Fixtures The Integrator must provide the following hardware and fixtures e Suitable robot base or frame e Installation tools and handling devices e g torque wrench or screw wrench with suitable inserts e Lifter or crane e Mounting screws or bolts
25. A single access connector is to be found inside the closest servo motor cover axis 2 to the servo amplifiers The standard communication COM baudrate setting is 115200 Please contact VELTRU before you change any parameters 5 9 1 Configuration Software At startup of the software the default login requests for password admin r User identification Administrator ange passwi User of level 1 ge passwor User of level 2 Password ooo Administrator possibilities gt Management of a project gt Reading and writing of the drive parameters gt Execution of movements gt Changing of all the passwords Ok The software configuration allows for different versions of the status and control window display ection Program Tools Windows Infos da Es 11442 User identification Select language x Embedded EEDS catalog Motor catalog Digitizing oscilloscope ae p Device not connected Dialog window Device connected and not enabled File service Device connected and enabled Device connected with fault reaction active x Device connected and faulty Drives files backup Device connected in boot manager mode Pines hes restore Select an option Device simulated Wizard procedures Software configuration Device not connected Template files A Device connected Node ID setting Device connected in boot manager mode Device simulated Device control window Display of the comp
26. ELTRU U10H Robot is not designed for any wash down procedure 8 2 1 Cleaning Agents and Utensils WARNING Make sure the mains supply is switched off Follow an approved lockout and tag procedure before starting cleaning procedure Use a suitable industrial vacuum cleaner to remove dust and loose particles within the robot and the workcell Never use a compressed air blower Clean the system with a damp cloth brushes and HACCP compatible cleaning agents Do not use harsh solvents such as Acetone on the VELTRU U10H Robot as they will damage the sealing joints bearings or cabling For disinfection of the surfaces use alcohol based disinfection tissues 8 2 2 General Cleaning Instructions Exterior Surface Coating The coatings on the exterior surfaces of VELTRU U10H Robots are ALTEF You can not apply a coating after the robot is assembled Users maintenance personnel cleaning crews etc must take care to protect the robot surface from sharp or abrasive objects and strong chemical cleaning agents such as sodium hydroxide If the surface is damaged contact VELTRU see section 1 7 for information on possible rework Fixed Seals The removable access covers are sealed with silicone rubber gaskets Several mating parts of the VELTRU Robot are sealed with silicone adhesive You must replace these seals if they degrade due to physical abuse chemical attack etc Contact VELTRU see section 1 7 for further information 8 2 3 Cle
27. ID to scan Serial bus CANopen bus IXXAT cards only r COM Port eee s Refresh COM baudrate 9600 C 57600 19200 115200 Use Right Mouse Click on the configuration tree and add a device File Edit View Project Connection Program Tools Windows Infos Open the directory VELTRU AG User s Guide and Planning Manual Page 52 of 73 Unloading Robot U10H Type Node ID XtrapulsPac 230v 058 XtrapulsPac 230v 114 XtrapulsPac 400V 454 Cancel Type XtrapuisPac 230V 1 Ta ov Name ftest 1 Node ID x Ok Cancel Right Mouse Click on the device in the configuration tree to connect Remove test_1 from the project Connect test_1 i FFS Disconnect test 1 Change device NodelD Change device name The device will change to a green orange color Embedded EEDS catalog Motors catalog Digitizing Oscilloscope Dialog window File service Drives files backup Drives files restore Read device informations Software configuration Template files NodelD1 The firmware can be uploaded as described in chapter 5 9 4 Selected file name Update drive fimware r List of files Write a file into the drive File size bytes DRIVEPAR TXT 5633 SEQUENCE TXT 998 Write an objects file into the drive eat 5 BE 5 10 Kinematics and Axes Definitions See chapter 3 2 Orientation in Carte
28. Use an appropriate lockout and tag procedure e Gravity will cause the robot to move when the brakes are released You must secure the tool carrier before you release the brakes Es NOTE You can support the tool carrier with one hand while you release the brakes e Be aware of stored energy capacitance and hot surfaces heat sinks inside electrical equipment e External power is supplied to units inside the controller e g I O modules e Only trained or otherwise skilled personnel should perform maintenance and or repairs 2 13 Transport and Lifting AN WARNING Do not stand underneath the robot when it is lifted or transported Only skilled persons shall transport or lift the robot You must use the proper equipment when transporting or lifting the VELTRU U10H Robot Always use the appliances provided for lifting See chapter 4 to 6 for more information on transporting lifting and installing 2 14 Risks Due to Incorrect Installation or Operation WARNING Do not remove or replace any assemblies subassemblies Printed Circuit Boards PCBs or components with power present To prevent injury or equipment damage always remove power before attempting repair or upgrade procedures To prevent injury or damage to the equipment while performing maintenance repairs or installing upgrades do not e Disable the emergency stop circuits e Install unauthorized programs on the robotics system e Use cables other than those supplied
29. ance Principles and Safety Precautions CAUTION On site maintenance of the VELTRU U10H Robot is the user s responsibility The user must assign the on site maintenance to skilled and trained personnel AN CAUTION To ensure safe operation damaged parts shall be replace immediately CAUTION Use only VELTRU spare parts VELTRU guarantees safe operation only if original VELTRU spare parts are used To order spare parts use the spare parts list provided with the robot Do not remove any parts as this will influence the calibration and the performance of the robot If you need to remove any part not described in this maintenance chapter contact VELTRU see section 1 7 After performing any maintenance check that all safety devices are fully operational Make sure no one is within the workcell of the robot and that there are no obstacles to movement before you switch on the power 8 1 2 Maintenance Log Book VELTRU recommends that you keep a maintenance log book You must record all maintenance carried out and all system failures and or malfunctions in the maintenance log book The maintenance log book if kept up to date is a very useful information source for service personnel and for VELTRU customer service VELTRU AG 8 1 3 Maintenance Interval 8 2 Cleaning User s Guide and Planning Manual Page 59 of 73 Unloading Robot U10H The maintenance intervals depend on the production conditions You must wipe up any spillage immed
30. aning of the ceramic ball bearings Check the ball bearings for intensive dirt or any wear You may rinse the bearings if necessary A WARNING Never lubricate the ceramic ball bearings 8 3 Maintenance 8 3 1 Tools Materials and Supplies Loctite 243 All screws at the VELTRU U10H Robot are secured with Loctite 243 If you need to break a Loctite seal apply Loctite 243 to the screw before VELTRU AG User s Guide and Planning Manual Page 61 of 73 Unloading Robot U10H mounting it The robot is exposed to vibrations which will loosen all screws not properly secured Otherwise only standard tooling if required 8 3 2 Check Mounting Screws Any screw in a VELTRU U10H installation should be secured against vibration e g using Loctite VELTRU recommends to visually check the mounting screws every 3 months 8 3 3 Check for Traces of Oil or Fat The ball bearings of the forearms are ceramic ball bearings and must not be greased Only the actuators the motor and gearbox units are filled with food grade oil They are lubricated for life and should require no service If the ball bearings of the gearbox become overheated or defective you may see oil traces around the front sealing of the gearbox You must check the bearings every three months for traces of oil Tiny traces of oil may just be removed with a towel In case of oil leakage around the gearing you must replace the actuator block Please contact VELTRU see secti
31. anually before you start the robot in the automatic mode See also EN 60947 4 for devices to cut power off and EN 1088 for safety interlocks The VELTRU U10H Robot is capable of moving at high speeds Death or serious injury can occur if the robot strikes the operator or maintenance personnel VELTRU AG User s Guide and Planning Manual Page 20 of 73 Unloading Robot U10H When power is applied to the VELTRU U10H Robot interlocked perimeter barriers stop the operator and or maintenance personnel from entering the robot work envelope In any other operating mode including calibration teaching or tool changes you must interrupt the power supply to the VELTRU Servo Motors See section 7 2 General System Overview Minimum Requirements WARNING The VELTRU supplied system components provide no safety control system as defined by EN 954 It is the integrator s responsibility to supply interlocked barriers The interlocked barrier must interrupt the supply to the VELTRU Servo Motors in the event of personnel attempting to enter the workcell Failure of the integrator to install suitable safeguards could result in injury or death The VELTRU U10H Robot system is not designed to run in a manual mode as described in EN 775 You may observe the complete workcell from outside the safeguards Make sure all security devices are in place according to EN 954 Category 3 before you run the robot NOTE For system calibration it is sometimes necessary to h
32. ata Sheets A 1 General Motor Information A 1 1 General A 1 2 Motor Data A 2 Motor Specifications Page 65 of 73 The motors are permanent magnet synchronous type servo motors Unless otherwise specified the data is the RMS value of measurements over U V V W and U W name Description unit TO Locked rotor torque Torque produced on motor Nm shaft at the speed n 0 stall TN Rated torque Definitions as for TO but at the Nm speed n nN and motor consumes the current I IN Tmax Maximum motor shaft torque Nm nN Rated speed rpm KT Torque constant Nm A RMS motor shaft motor shaft dimensions mm winding class winding class according to IEC 85 IEC 85 ai Protection class according to IEC 34 1 IEC 34 1 R20 winding resistance per phase at 20 C ohms LN Winding inductance per phase at IN mH Imax Current at torque Tmax A RMS UDC DC link voltage V mass mass of motor kg Poles Number of poles J Moment of inertia of the rotor excluding brake kgm2 and resolver Pn nominal power kW nmax maximal speed 1 min brake brake installed VELTRU AG User s Guide and Planning Manual Unloading Robot U10H Page 66 of 73 A 2 1 VELTRU U10H Axis 1 and 2 Motor Type TPM025F 031K 5PB1 094C W1 The motors are provided with a PTC type thermistor installed in the stator winding It will close to hot spot point at N side See section 2 in thi
33. ave the peripherals running even when the security circuits of the robot are open If the security level of the peripherals allows you to work without safeguards VELTRU recommends you install two security systems The main interlock for all the equipment and an interlock for the robot Programming or calibration with amplifier power off is done using the brake button to maneuver the robot manually Power for the servo amplifiers is therefore not required for any other manipulation You must design your applications so that the programmer does not have to enter the work envelope while the amplifiers are enabled 2 7 1 Computer Controlled Robots VELTRU systems are computer controlled and the program that is currently running the VELTRU U10H Robot may cause the robot to move at times or along paths you may not anticipate When programming the robot make sure it only runs with the security circuits closed and that no one is inside the workcell 2 8 Safety Requirements for Additional Equipment and Peripherals Additional equipment used with the VELTRU U10H Robot such as grippers or conveyor belts must not reduce the workcell safeguards Make sure that all Emergency Stop switches are visible and accessible All components and equipment must comply with the safety requirements as listed in section 2 2 Applicable Safety Standards VELTRU AG 2 81 Robot Modifications N CAUTION User s Guide and Planning Manual Page 21 of 73 Unloading Ro
34. bnddankd 35 4 1 1 Incoming goods inspection ee 35 4 1 2 Repackaging for Relocation euer 35 4 1 3 Transportation and SOE Haven 36 42 L ONG se rian ne 36 25 DSCHMMIESIONING eek 36 5 Installation of the VELTRU U10H Robot ner2e2ernannnnonnnnennnnnnnnnnnnnennnnnnnnnnnnnnnnnnnennenn 37 5 1 Facility Requirements for Robot Installation enenenenenennennenenn 37 5 2 Integrator Provided Hardware and Fixtures ensure 37 5 3 Requirements for Robot FANG csissinsccsstcnstsnshsshcncecatacatncashenthenitanitanitunsbonstcutbiaiacatusathenteaxsianieanste 38 5 3 1 Structural requirements sis csccsiasccssdtasancessokssssn veucatexesa ladutaducadesseacsousvetiaadavanddasdsadaauaasurasarabonssacasnaade 38 5 3 2 Interface RoOborFFrame anne en a 38 5 3 3 Mounting Space Required nun een 38 ENN NNN 39 5 5 Installing the VELTRU U10H Robot in a frame stents ainaaniahsseninss aon aiocatsiaiomstananansianaaanie 39 5 6 Mounting the Forearms and Tool Carrier to the RODOt cccccssssssssssseseessssssssssseseeees 40 VELTRU AG User s Guide and Planning Manual Page 5 of 73 Unloading Robot U10H 5 7 Minimum Safety Requirements RE nenna 41 GE 0 ee DE EEE 42 9 8 1 NNN 42 5 8 2 DR WINN eee 42 5 8 3 Recommended cabling crossections and precautions sccccecccecescseseseseseststeteteteteteteeeteees 43 5 9 Servo amplifier configuration NNN 44 5 9 1 Con iguration SONWANE EE EE eiia ea NEE 44 5 9 2 Version of Drive Parameler
35. bot U10H The following information is provided as a guideline to modifications For further information see chapter 5 Acceptable Modifications The following robot modifications will not cause problems but may affect robot performance Attaching pneumatic hoses or electrical cables to the robot You must design the attaching cables or hoses so that they do not restrict joint motion or cause robot motion errors Routing pneumatic hoses or electrical cables through the robot If you feed additional pneumatic hoses or electrical cables through the robot they must comply with the applicable safety standards Acceptable Modifications which will void the warranty on certain parts Modifications to the tool carrier This will annul the warranty for the tool carrier Modifications of the robot access covers This will annul the warranty with ingress protection Unacceptable Modifications The modifications listed below may damage the robot reduce system safety and reliability or shorten the life of the robot Making any of the modifications outlined below will void the warranty on any components that VELTRU determines are damaged due to the modification You must contact VELTRU Customer Service if you are considering any of the following modifications see also Chapter 1 section 7 e Attaching tooling utility boxes solenoid packs vacuum pumps tools lighting etc to links other than the tool carrier e Modifying any comp
36. ctions within that range The VELTRU U10H Robot is specially designed for fast movements and may break if a collision happens You must make sure that you have a proper cell layout and programming to avoid collisions WARNING Broken robot parts may fall on your peripheral systems and cause more damage VELTRU is not responsible for any damage caused due to collisions Do not install any mechanical joint limits on the VELTRU U10H Robot other than those in place To define software joint limits or collision detection in the control system please refer to the VELTRU Software Manuals 5 4 Hints for Successful Integration Due to its nonlinear construction the robot will perform best in the center of the given workrange and lose performance and stability at the borders For optimum performance make sure the robot is centered within the working area The tool carrier can reach an acceleration of up to 8 G 1 G 9 81 mis Even light weights appear as heavy loads to the robot Try to keep the gripper weight and dimensions as small as possible see chapter 3 for Product Specifications Minimize the distance between the tool carrier and the center of gravity of the gripper and product The distance multiplied with the weight will result in a moment of inertia on the tool carrier and reduce the stability of the robot 5 5 Installing the VELTRU U10H Robot in a frame The following paragraphs describe the installation of the robot to a frame or a
37. er Inputs Outputs LIM Position limits MOD Modulo config Brake control Stop operation TI Digital cams Ley Profile modes 8 48 Sequence mode BE Fieldbus config K Drive parameter files 9 Device programming Device control Quick stop The servo amplifier settings can be stored in a parameter file This file is also used to configure a new drive in case of spare part replacements The latest version of the file is to be found in the VELTRU Software Release Package using a parameter file make sure to have parameters compatible with the installed firmware or upgrade the firmware to be compatible with your parameters A NOTE The parameters may be firmware dependent Before overwriting settings 5 9 2 Version of Drive Parameters The Drive Parameter version 1 information is displayed in the motor configuration The parameter manufacture shows the motor type and parameter version VELTRU AG User s Guide and Planning Manual Page 47 of 73 Unloading Robot U10H Pac ET 230 17 1 motor configuration Motor data Manufacturer D12H 2 2 Motor name TPM025 E 320V Motortype Rotative Special Perso code Catalog date 06 28 2010 Maximum speed rpm 6600 Rated speed rpm 6000 Peak current 4 29 4 Stall current 4 9 9 Torque constant Nm A 0 56 Inertia g m2 23 6 Inductance mH 2 0 5 9 3 Write Parameter File to Drive In the device tree select the corresponding drive and open folders
38. g 2 C to 50 C 35 6 F to 122 F Ambient temperature transportation and storage 25 C to 55 C 13 F to 131 F Humidity operating and storage max 95 The emissions data is shown in the following table Feature Values Noise lt 75 dBA Pollution degree 2 EN 61131 2 3 7 6 Requirements for Frame and Workcell of U10H Robots The frame and workcell requirements are shown in the following table See also chapter Requirements for Robot Frame for more details to the z direction in the base coordinate system Requirement Value Static load gt 80 kg Natural frequency for optimal 18 Hz performance Max force in fixing points referring 1500 N Mounting hole pattern see chapter 5 Mounting surface must be leveled to within 10 degrees Category EN 954 Category 3 required Doors lockable VELTRU AG User s Guide and Planning Manual Page 35 of 73 Unloading Robot U10H 4 Transport storage and disposal of the VELTRU U10H Robot System This chapter provides information on transport storage and disposal of the VELTRU U10H Robot WARNING Only trained skilled personnel used to handling heavy industrial equipment should handle the robot 4 1 Packing Transport and Storage The following are guidelines for transporting and unpacking the robot WARNING VELTRU accepts no responsibility for
39. iately Make sure you clean especially exposed parts immediately as described above Typical recommended maintenance intervals are as follows Weekly By the machine operator Cleaning and control of exposed surfaces to ensure optimal functioning of the robot Periodic e By the maintenance staff Detailed maintenance of the robot Revision e By the maintenance staff Intended to prevent breakdowns Time is necessary to change the worn and defective parts Types of maintenance Maximum number of Maximum duration working hours between between two two maintenances maintenances Weekly 80 1 week Periodic 1000 3 months Revision 5000 1 year The list shown below gives the cleaning and maintenance intervals for all functional parts Unit Element Maintenance Cleaning interval Procedure Ceramic ball bearings weekly Clean with a wet cloth Robot housing weekly Clean and dust with a dry cloth Inspection of srews periodic none o rings cabling and actuators The cleaning intervals depend on the degree of soiling and the working environment To ensure proper and safe working clean all the exposed parts including the housing arms and tool carrier You must clean all functional parts regularly since cleaning is part of the maintenance inspection For cleaning intervals see section 8 1 3 VELTRU AG User s Guide and Planning Manual Page 60 of 73 Unloading Robot U10H The V
40. ic cabinet Other hazards can occur other than those associated with regular operation if the working process is interrupted Call maintenance or service if you think there is a fault Only trained personnel who are familiar with the entire installation as well as the special risks associated with its different parts may perform service or troubleshooting The VELTRU U10H Robot is a flexible tool which is used in many different industrial applications The appropriate safety regulations apply to any work or maintenance performed on the robot Take care at all times 2 6 Risk Assessment VELTRU has performed a Risk Assessment for this product based on the possible applications of the robot The conclusions are summarized below The following are recommendations on how to minimize the risks and how to meet the applicable safety standards CAUTION Commissioning of a VELTRU U10H Robot System requires step by step installation and testing procedures can inflict serious injury to personnel within the work envelope Safety standards in several countries require appropriate safety equipment as part of the system The robot is a Category 3 device according to EN 954 Safeguards in accordance with the EN 954 Category 3 Control System must protect the user yn WARNING Without special safeguards in the control system the VELTRU U10H Robot Gravity Heavy components e g the base plate of the VELTRU U10H Robot can drop if the attachi
41. lete window Display of the reduced window without cams and 1 0 Ok Cancel VELTRU AG User s Guide and Planning Manual Page 45 of 73 Unloading Robot U10H The standard procedure to connect the servo amplifier is by scanning the network with the following settings r 18 Gem Drive Studio vs3 er EG G File Edit View Project Connection Program Tools Windows Infos Uncheck all Ok G Gem Drive Studio V5 E it File Edit View Project Connection Program Tools Windows Infos amp ME Ea ba Ea Selection BY MyProject CANopen bus IXXAT cards only EtherCat After scanning the network all connected servo amplifiers are displayed in a tree on the left hand side of the screen Each servo amplifier node can be expanded to access tools and configuration screens which will open in the main screen section The main information can be checked in the Device Info and the Device Control The Device Info shows Firmware Version and Hardware Revision The Device Control displays mode of operation warnings and faults and many more VELTRU AG User s Guide and Planning Manual Page 46 of 73 Unloading Robot U10H 13 Gem Drive Sud va ET File Edit View Project Connection Progra Selection e B4 MyProject Pac ET 230 17_1 NodelD1 Device info E J Parameter setting Device config Power supply config uk Motor contig y Position sensors TET Controll
42. ly the robot will continue moving with the residual energy of the servo amplifier capacitors 5 8 3 Recommended cabling crossections and precautions The Integrator must provide external fusing for the robot For further basic precautions and system wiring requirement see chapter 7 System Cabling and Checks VELTRU uses the EN 60204 standard for AWG table 310 16 of the NEC 60 C or 75 C column VELTRU recommends for the U10H Robot System Connection Cable type remark PE 4 mm 12 AWG AC connection 4 mm 12 AWG 230V 105 C 24 V XGND max 2 5 mm 14 check voltage AWG drop EtherCAT RJ45 Cat5 or higher patch cable VELTRU AG User s Guide and Planning Manual Page 44 of 73 Unloading Robot U10H 5 9 Servo amplifier configuration The VELTRU U10H servo amplifier is compact digital amplifier It provides the power to drive the robot joint motors ina VELTRU U10H Robot system The VELTRU U10H servo amplifiers receive EtherCAT control signals from the VELTRU C10 Motion Controller The original manufacturer s documentation as well as the setup software GEMDriveStudio can be downloaded at http www infranor com or from the VELTRU website www veltru com The amplifiers are fully configured by VELTRU No special adaptations should be required for your application If required settings are configured with the servo amplifier setup software through the serial interface of a PC RS 232
43. marks used throughout this user s guide are registered trademarks of their respective owners VELTRU AG Flurlingerweg 3 m 8245 Feuerthalen Switzerland Phone 41 0 52 654 03 80 m Fax 41 0 52 654 03 81 http www veltru com m info veltru com VELTRU AG User s Guide and Planning Manual Page 3 of 73 Unloading Robot U10H Table of content 1 Introduction EEE EE ee 7 t1 BOR DUE this Manuals 7 1 2 Fed 8 1 3 Notes Cautions and Warnings used in this Manual oseseersnsvsrsrorererererrsrsvsrsrsrererereresrsrsrssssennne 8 1 4 What you must know before you use the VELTRU U10H Robot enenen 9 1 5 oh een ai 9 1 0 Product Identification sssini E 10 1 7 MN 11 EEE EEE 12 21 GE EE tenner 12 2 2 Applicable Safety SPENTE LLassaesssmdemuaetedmdmdtedudedandendddu died 13 2 2 1 Safety SA vestene 13 2 2 2 Definitions Of Safety FUnciong u nqumunmunnmnkmnmnmerneiniinimvmnvvhniivijuhe 14 23 Intended Use of the Robots ee 15 2 4 NPE eeu aninenaas 16 25 sale VM P ES ee 16 2 5 1 IN GLE DE AU 0 EN 16 2 5 2 RES during Operation Disturbances vasre 16 206 RIERKASSBSSMEN A 17 2 7 Safety Functions and Safeguards 2 2 nnnnennnenenenenennnenennnnenenennnennennnenenennnanan 19 2 7 1 Computer Controlled RS ae ea 20 2 8 Safety Requirements for Additional Equipment and Peripherals unnn 20 2 8 4 FSS vr 21 2 8 2 Safety Risks Related to End Effectors ccccccccsssssssssssseseesesescecsescsesessseesssssesesene
44. n place to prevent personnel from entering the workcell when a program is running The sound emission level of the VELTRU U10H Robot depends on the speed and payload The maximum value is 75dB at the maximum speed allowed in the preconfigured settings With a typical cell design the sound emission level of the VELTRU U10H Robot is usually below 70 dB To achieve sound emission levels below 70 dB a work cell with a first eigenfrequency of at least 22 Hz and safety fences made of 12mm polycarbonate PC are to be used Acoustic emissions from VELTRU Robots were measured without any peripherals such as valves or pumps The integrator must make sure that valves pumps or other peripheral equipment complies with the appropriate sound emission levels VELTRU AG User s Guide and Planning Manual Page 23 of 73 Unloading Robot U10H 2 10 Thermal Hazard WARNING Do not touch the robot joint motors If the robot is operated at cycle times of over 80 cycles per minute the robot joint motor surface temperature can exceed 70 C 158 F A WARNING Use a CARBON DIOXIDE extinguisher in the event of a fire in the robot 2 11 Protection against Unauthorized Operation You must protect the system against unauthorized use Use locking keyboards and secure pointing devices in a lockable cabinet to prevent unauthorized access to the system 2 12 Safety Aspects while Performing Maintenance WARNING Use an appropriate lockout and tag procedure during
45. nd the motion controller in the VELTRU supplied packing This packing is designed to prevent damage from normal shock and vibration Protect the package from excessive shock and vibration e Allowed temperature range 25 C to 55 C e Allowed humidity range 5 to 90 non condensing VELTRU ships the equipment in a number of boxes and shipping crates depending on the sales order The boxes have different dimensions and weights WARNING The center of gravity of the robot shipping crates is not in the middle of the boxes Be careful when you transport the crates 4 2 Handling and Lifting VELTRU recommends that you use lifting straps and a traverse crane to lift the VELTRU U10H Robot WARNING Never walk under a suspended load Do not transport the robot crate by hand VELTRU cannot accept responsibility for injury due to improper handling or lifting of a VELTRU U10H Robot 4 3 Decommissioning The components of the robot are manufactured from many different materials Some of them are listed below to facilitate decommissioning This allows you to dispose of the robot in a way that does not have a detrimental effect on health or the environment e The robot arm system is carbon fiber e The robot base and the metallic moving parts are aluminum e The ball bearings on the forearms are AlO2 ceramics e The covers are ABS e The plastics used are PA and POM e Take care when dismantling the motors and cables The motors are filled
46. ng screws are loose Heavy components can cause injury during installation if improper lifting techniques are used The forearms of the robot will move and can cause injury if the motor brakes are released Moving Parts VELTRU AG User s Guide and Planning Manual Unloading Robot U10H Page 18 of 73 The VELTRU U10H Robot is a mechanical device Single links of the mechanism are accessible and will cause pinching You must avoid contact with moving parts Always keep the all robot covers closed during operation Hazards from the attached tooling The maximum joint tip speeds achieved by VELTRU U10H Robots in a runaway situation are shown in the below table The table thus also shows the maximum tool carrier velocities in runaway situations Make sure that the robot arm cannot expel any tooling fixtures end effectors etc Also make sure that if the end effector holds a payload that payload is not expelled accidentally Joint Description Maximum Velocity Tool Carrier in y and z cartesian space 23 m s WARNING Design the safeguards around the robot to withstand the impact of any item expelled accidentally Projectile energy can be as high as 220 J 162 ft Ib Hazards from electrical power WARNING To avoid injury or damage to equipment always remove the mains power before performing any repair or upgrade Use appropriate lockout and tag procedures e g a lockable mains switch WARNING The
47. ning on the power WARNING Make sure that all connectors are fully inserted and attached correctly Poor connections can cause unexpected robot motion leading to injury or equipment damage in the robot workcell 7 2 General System Overview Minimum Requirements WARNING Appropriately sized branch circuit protection and lockout tagout capability must be provided in accordance with the National Electrical Code and any local codes Ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system NOTE To ensure EN 954 Category 3 the security circuit has to interrupt the power amp supply in two independent ways All signals have to be wired fail safe and with two independent wires Use the STO Safe Torque Off according to the servo amplifier manufacturer documentation The integrated STO function fulfills PLd requirements and fulfills SIL2 VELTRU AG User s Guide and Planning Manual Page 57 of 73 Unloading Robot U10H NOTE VELTRU recommends you keep the VELTRU C10 Motion Controller running even when you operate the Emergency Stop of the VELTRU U10H Robot VELTRU also recommends to keep the 24VDC control supply to the servo amplifier alive when operating the Emergency Stop 7 3 Inspections before Switching On A WARNING Check the position of the Emergency Stop before you switch on Before switching on the power supply check the following e The robot is properly m
48. ntroller VELTRU C10 Motion Controller Machine Type 90010000100 For discontinued versions refer to the corresponding manual All specifications are subject to change without notice 3 6 Workrange and Joint Motions of the VELTRU U10H Robot Joint 1 and 2 consist of two arms and forearms linked to the tool carrier The rotational movements of the arms in space determine the travel of the tool carrier The rotational movement of the arms is limited to 40 from the horizontal position by a hardstop The software also limits the travel of the arms The software constantly calculates soft stops to limit the travel of the tool carrier CAUTION When you move the robot in joint mode the resulting trajectory of the tool carrier is not linear but quasi spherical Make sure that the robot does not contact any of the peripherals VELTRU AG User s Guide and Planning Manual Page 32 of 73 Unloading Robot U10H 1000 3 7 Technical Data and Specifications 3 7 1 Performance Specifications The performance specifications and technical data of the VELTRU U10H robot are shown in the following table The payload includes product and gripper The defined payload does not include the weight of the tool carrier You must include the tool carrier and gripper to the total load product weight tooling for correct specification Feature VELTRU U10H Robot Axes 2 axis Protection Classification NEMA2
49. o amplifiers also provide SafeTorqueOff STO with two independent channels This allows to disconnect power from the servo motors according to the safety regulations Please refer to the original manufacturer s manual for details about integrating these signals in the safety circuit The two Safe Torque Off STO1 and STO2 connected to the Heavy Duty Connector must be switched at the same time within 50ms If both signals are high the servo amplifier can be operated If both a low an STO Warning is pending and the servo amplifier does not allow powering the motor If only one of two signals is switched a wiring fault is assumed The servo amplifier go into STO FAULT state To reset the servo amplifiers must be rebooted switch off logic power supply of 24VDC The integrated STO function fulfills PLd requirements and fulfills SIL2 VELTRU AG User s Guide and Planning Manual Page 50 of 73 Unloading Robot U10H 5 9 7 Status information Two LED on the drive indicate the status of the drive Each EtherCAT plug has two additional activity LED s Main LED information Green LED Red LED Status on Operational Flashing 1Hz EtherCAT Pre Operational off No Error Flashing 1Hz Undervoltage error no power supply on Fault EtherCAT LED information Green LED Status off No link Flickering Connected communication activity On Link active but not communication activity
50. on 1 7 before following the steps described in the next section 8 3 4 Check o rings for arm structure The U10H arm is pretensioned using o rings Please note their exact mounting position there are 13 o rings in total VELTRU AG User s Guide and Planning Manual Page 62 of 73 Unloading Robot U10H To replace o rings it is recommended to detach the complete arm from the robot and to work on a bench VELTRU AG User s Guide and Planning Manual Page 63 of 73 Unloading Robot U10H 8 3 5 Servo motor Replacement The AC servo motors are integrated into the actuator block containing also the gearbox If you change a motor you must remove all screws and replace the entire actuator block To replace the actuator block of axis one or two proceed as follows e Remove the motor cover and the respective upper arm e Detach the connectors from the motor cable e Remove the screws which secure the actuator block to the robot base and remove the entire actuator block e Install a new actuator block and secure it with the screws removed previously e Mount the connectors to the motor cable Check the motor is turning correctly before mounting the arms e Mount the arms and the covers 8 3 6 Servo motor Calibration The AC servo motors are equipped with absolute feedback encoders Hiperface The offset of the feedback must be calibrated The calibration must be executed whenever the AC servo motor is removed or replaced
51. onents of the drive system e Modifying including drilling or cutting any robot housing e Modifying any of the robot printed circuit boards PCBs or electrical components e Any modifications that will compromise EMC performance 2 8 2 Safety Risks Related to End Effectors Gripper Make sure that if a gripper is used to hold a work piece the work piece cannot come loose VELTRU AG User s Guide and Planning Manual Page 22 of 73 Unloading Robot U10H You must design the grippers so that they retain the work piece in the event of a power failure or a malfunction of the controller Make sure that you can release the work piece manually in the event of a malfunction VELTRU is not responsible for grippers or their use Pneumatic magnetic systems Special safety regulations apply to pneumatic and magnetic systems According to EN 983 you must anticipate a pressure release in pneumatic systems After the mains are cut it must be possible to dissipate residual energy remaining or stored in the circuits of the machinery without risk to exposed persons Gravity will cause any parts or objects held by these systems to drop 2 8 3 Other VELTRU C10 Controlled Devices 2 9 Sound Emissions NOTE Gp WARNING You can program a VELTRU U10H Robot to control equipment or devices other than the robot e g peripheral devices The software controlling other devices can cause them to operate unexpectedly Make sure that safeguards are i
52. ount any hoses or similar on the forearm of axis 2 The Integrator may use the reinforcement brackets to attach user supplied equipment NOTE Any additional equipment must not hinder the robot motion The additional weight of the equipment has to be taken into account for the specifications The maximum weight of external equipment e g hoses or wiring mounted on the arms of the manipulator must not exceed 300 g m Attach any external equipment in such a way that no torque is applied to the lower arms VELTRU AG User s Guide and Planning Manual Page 56 of 73 Unloading Robot U10H 7 System Cabling and Checks 7 1 Introduction This chapter provides an overview of the system cabling It remains the Integrators responsibility to ensure the installation is in accordance to national safety law and requirements The following notes are basic precautions to ensure proper working of the VELTRU robots For details e g pin assignment please refer to the installation chapter for the respective component and the appendices of this User s Guide WARNING Make sure the mains supply is switched off Follow an approved lockout and tag procedure before starting electrical work see the OSHA Lockout tagout standard WARNING Only a skilled electrical engineer should install the power cable Incorrect installation could cause injury or equipment damage in the robot workcell WARNING Make sure that a proper ground connection exists before tur
53. ounted e The cell is stable e The electrical connections are correct and correspond to the manual e Any peripheral equipment is properly connected e Limiting devices that establish the restricted space when utilized are installed e The physical environment is as specified e All necessary security devices and safeguards are in place e The function of all security devices and interlocks has been tested fr CAUTION You must verify all files and parameters on the VELTRU C10 Motion Controller before running the robot Refer to the Software User s Manual for further details CAUTION Before running the system check for obstacles in the robot workcell Pay special attention to obstacles hindering the upper arms VELTRU AG User s Guide and Planning Manual Page 58 of 73 Unloading Robot U10H 8 Maintenance Instructions VELTRU U10H Robots are designed to work under very demanding conditions with a minimum of maintenance Each robot uses maintenance free AC servo motors The cabling is designed for longevity and in the unlikely event of a failure its modular design makes it easy to change The gearing is oil lubricated for life time You must perform certain routine checks and preventive maintenance after specified intervals The maintenance intervals depend on the usage of the robot This chapter contains information on maintenance procedures and the frequency of these procedures 8 1 Introduction 8 1 1 General Mainten
54. resistor CANL 120 Ohm 2 Tx RS 232 on Drive 1 only 3 Rx RS 232 on Drive 1 only 5 GND RS 232 on Drive 1 only Page 70 of 73 Appendix C System Cabling Main wiring PAC X8 PAC X8 gt Power Cable gt Power Cable Harting 8013001900 I O Kabel PAC gt 1 O Kabel PAC PAC X9 PAC X9 I vel Servo Amplifier I O cable DSub DA26 DB26HD female crimp 9000000000 1 B0000000000 00000000 200 Voltage Regulator 10V TO 220 150 pae Attached to Servo Amplifier Side 120 PAC X2 24V Out3 GND I 13 bu oO 10v Bock sj 2 sro 3 2 violett STOGND onnected to Harting 8013001900 sto2 19 rd sTO2 Br Outl gean Br 0ut2 gt E n PAC X8 Brake in brown brown Brat DO 41 40V 1A IN 581 Le 2x60 Communication Cable 300 400 at 1 lo ooo o 00000 00000 KA M 90000 90000 DSub9 male DSub9 female DSub9 female CANL Appendix D Servo Amplifier Control Loop Structure
55. s chapter for an explanation of the definitions The following table shows the motor data for axis 1 and 2 to the U10H robot name value unit TO 54 Nm TN 7 Nm Tmax 10 3 Nm nN 6775 rpm KT 0 56 Nm A RMS motor shaft gearbox i 31 mm winding class F IEC 85 Protection class IP 64 IEC 34 1 R20 0 75 ohms LN 1 98 mH l0 9 6 A RMS IN 10 1 A RMS Imax 25 3 A RMS UDC 320 V Poles 12 mass 9 8 kg J 2 74 kgm2 Pn 1 4 kW nmax 7800 1 min brake yes The brakes require a 24V 10 power supply The brakes are failsafe so they will remain closed if no voltage is applied Each brake will operate for 2 x 10 openings and closings at zero speed The Feedback is a Hiperface Multiturn Absolute Encoder VELTRU AG User s Guide and Planning Manual Page 67 of 73 Unloading Robot U10H Description number type SKM36 SinCos Periods per Revolution Multiturn Revolutions 4098 128 Power supply 7 12V A 3 Motor Pin assignment A 3 1 Power connector Connector type Intercontec B series Pin signal Description 1 U Phase 1 2 V Phase 2 6 W Phase 3 4 Brake Motor Brake 24VDC 5 Brake Motor Brake GND GND GND GND VELTRU AG A 3 2 Feedback Connector User s Guide and Planning Manual Unloading Robot U10H Connector type Intercontec A series
56. s to make sure that your VELTRU U10H Robot conforms to the regulations described in section 2 2 Applicable Safety Standards It is the responsibility of the Integrator to make sure the installation conforms to all applicable local and national regulations Safeguards are an integral part of robot cell design All VELTRU Robot systems are computer controlled and can activate remote devices at times or along paths you may not anticipate Make sure that all necessary safeguards are in place to prevent personnel from entering the workcell whenever power is present to the equipment The operator or maintenance personnel must make sure that adequate safeguards are installed Light curtains or safety floor mats are not adequate safeguards as the robot may expel parts with high kinetic energy The robot has ONE security circuit VELTRU recommend that you do not include the VELTRU C10 Motion Controller and the 24 V power supply in the robot security circuit You do not need to switch off power to the motion controller when you enter the robot cell The brake release and HMI or any other optional equipment use the 24 V supply EN 954 prescribes the use of a safety interlock A Category 3 device requires a double interlock When you open the safeguards or operate the Emergency Stop the interlock must cut all power to the robot It must cut the power supply to the Amplifiers by a double electromechanical device You must reset the interlock circuits m
57. s to the requirements of all the standards listed below if you install it safely as described in this user s guide The system is designed in accordance with e EC Machine Directive 2006 42 EC e EC Low Voltage Directive 2006 95 EC e EC Electromagnetic Directive 2004 108 EC The applicable directives are EN 292 1 292 2 EN 775 EN 954 1 and EN 1050 The safeguards and interlocks are not included in the VELTRU U10H Robot System They need to be installed by the Integrator You must not override the robot safety devices at any time The system must conform to all local and national regulations and safety standards If used in an EU or EEA member country all components in the robot workcell must comply with the safety requirements above and related harmonized standards In non EU or EEA member countries VELTRU strongly recommends that in addition to complying with the applicable local and national regulations a similar level of safety as described above is maintained In the USA applicable standards include ANSI RIA R15 06 1999 and ANSI UL 1740 In Canada applicable standards include CAN CSA Z434 If the robot is installed in the USA or Canada you must follow the American National Standard for Industrial Robot Systems Safety Requirements published by the RIA in conjunction with the American National Standards Institute ANSI The publication ANSI RIA R15 061999 contains guidelines for robot system installation safeg
58. seseesseees 21 283 Other VELTRU C10 Controlled Devisen a u nee 22 Oo MENN 22 2 10 Thermal Hazard EEE EEE 23 2 11 Protection against Unauthorized Operation uus55 u 85008508 23 2 12 Safety Aspects while Performing Maintenance ccccscsessseecseseeseseseseseeeceeeseseaeeteteteneaees 23 2 13 Transport and Eid 24 2 14 Risks Due to Incorrect Installation or Operation oseveverrvrsrsvsvrrererererrsrrrsrrrrrererererrsrsrsrnsenene 24 VELTRU AG User s Guide and Planning Manual Page 4 of 73 Unloading Robot U10H 2 12 IM Tee LIE Vene ne noe 25 2 146 How Can Get 6 ENE EE EAN AE EE nena 25 3 Produet Specification vvs 26 C aa E PEO oio NE ee ne ene on er nee ee ner ee eh 26 32 Orientation in Cartesian Spalte 26 3 3 Intended Use of the VELTRU U10H RODS een 27 3 4 Dimension Drawings VELTRU U10H OBER 29 3 5 Configuration of the VELTRU U10H Robdl nesseean anna 30 3 6 Workrange and Joint Motions of the VELTRU U10H Robot neeeeeen 31 3 7 Technical Data and Spectikatens sensseieieiike ea 32 3 7 1 Performance SpPEGHealions u n ehren 32 3 7 2 PE Supply Specifications sakene 33 aco Required Safety Category ss 33 3 7 4 Environment Reaulfemenis n n aa d nn 33 LT NE 34 3 7 6 Requirements for Frame and Workcell of U10H Robots cccccecccececcseeeseeeseeeeteseteseeeseseeeees 34 4 Transport storage and disposal of the VELTRU U10H Robot System 35 4 14 Packing Transport and Storage s
59. sian Space for the robots coordinate system convention VELTRU AG User s Guide and Planning Manual Page 54 of 73 Unloading Robot U10H 6 Optional features 6 1 Motor Brakes Both axes actuating the upper arms are equipped with electromechanical brakes These brakes hold the robot in position as long as the drives are not controlling the robot As the robot has very little friction the brakes prevent the robot arms from falling due to gravity In operation the Servo Amplifier performs the brake control WARNING Do not move the robot manually without releasing the brakes this will damage the servo motors 6 1 1 Manual Brake Release The brakes may be released manually by either applying 24VDC 0 7A to the Brake Release signal on the heavy duty connector or a soft signal over EtherCAT to the drive 6 1 2 Mounting a Brake Release Button VELTRU recommends that you install a push button to release the brakes manually This is helpful when cleaning or performing maintenance on the robot It also allows easy access to the gripper or any other tooling You must attach the push button within the workcell of the robot CAUTION If the push button is mounted outside the cell and you release the brakes the controller may start moving the robot before it is in a safe position Gravity will cause it to fall if the end effecter is not held manually This will damage parts of the robot system 6 2 Adding Hoses to Joints VELTRU recommends to m
60. ssesssnessausenatdncadndeabencuessvassecntes 60 8 3 2 Check Mounting SONG EE EE EE 61 8 3 3 Check for Traces of Oil or Fat siess scescsssarazaccrnnleasecacanhcontelonsveesnaahaaradensatuatiannlacnenmasearmatsiantiass 61 8 3 4 Check o rings for arm structure RE EEE EEE EE 61 8 3 5 SONO motor REE engere 63 8 3 6 Servo motor Calibration EEE EEEn EEannnEn annen nena 63 83 7 Check cabling sssrin ee 64 Appendix A Motor Data Sheeis u u nina a 65 A General Motor INammalon seeeeeleeeeliielisiinlininlieliinlenn 65 All General RER ERE 65 A12 Motor EE A EE EAR EE EE VE 65 A 2 Motor es 0 21 162 EE NEA EEA AAN RI 65 A217 VELTRUUTOH Se I en 66 A 3 Motor Pin assignment ene ke ee 67 Pre ssscussasstnanncrasnonaenncanionraonsaemaniniatanseeeneaeenanieaes 67 A 3 2 Feedback Connector Luvuagverseeaadelugndkevenanddmiuimmmnindenanien 68 Appendix B Servo amplifier s ssssssesssssnssssnnsnsnnnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnan nna 69 Appendix Sysiem Cabling un unaneni ae 71 Appendix D Servo Amplifier Control Loop Structure nenssnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 73 VELTRU AG 1 1 1 Introduction User s Guide and Planning Manual Page 7 of 73 Unloading Robot U10H The VELTRU U10H Robot is a two axis industrial robot with a parallel structure specifically designed for industries with a need for flexible automation The two axes of the robot can move the common platform gripper connection plate
61. take to reduce the hazard A Note provides supplementary information emphasizes a point or procedure or gives a tip for easier operation 1 4 What you must know before you use the VELTRU U10H Robot A WARNING 1 5 Compatibility Standard tools are required for normal maintenance and repair work Tools and special procedures are described in more detail in chapter 8 3 1 All personnel working with the VELTRU U10H Robot System must read the safety regulations outlined in Chapter 2 Safety Incorrect operation can cause injury to personnel or damage to the equipment The VELTRU U10H Robot system as described in this manual consists of the hardware and software listed in the following table All new systems shipped from the factory will include the correct equipment as shown If you have existing VELTRU equipment this table can help distinguish new equipment from older equipment especially since some of it is visibly similar See the VELTRU C10 Motion Controller product data label or the VELTRU U10H Robot serial number for model number or part number information Description nt sli VELTRU U10H Robot Machine Type VELTRU U10H Robot standard version IP54 9014001200 or Dr Machine Type 1 5 1 1 1 1 VELTRU U10 Robot discontinued 9014000100 version IP54 or l l Machine Type VELTRU U10H Robot discontinued version 9014000200 IP54 For discontinued versions of the robot please refer to the corresponding
62. the corresponding software documentation as listed in the VELTRU C10 Motion Controller User s Guide and Planning Manuel Older versions of the VELTRU U10H Robot system are described in Document 9800001200 Please refer to section 1 5 for product identification The following table gives a brief description of the contents and organization of the VELTRU documentation set Manual Material Covered VELTRU C10 Motion Controller This manual provides information on User s Guide and Planning Manual the installation configuration and maintenance of your VELTRU C10 Motion Controller VELTRU U10 User s Guide and This manual covers older revisions of Planning Manual the U10H robot system No reference manual is shipped with the VELTRU C10 Motion Controller For details on the VELTRU C10 Motion Controller functions please contact VELTRU AG Please refer to section 1 7 1 3 Notes Cautions and Warnings used in this Manual CAUTION There are three levels of special notations used in VELTRU manuals If the action specified in the Caution is not complied with damage to your equipment could result VELTRU AG f WARNING A NOTE User s Guide and Planning Manual Page 9 of 73 Unloading Robot U10H If the actions indicated in a Warning are not complied with injury or major equipment damage could result A Warning statement will typically describe the potential hazard and the measures that you must
63. tion FI Digital cams Software configuration Template files gt Node ID setting Write an object file into the drive Total 5633 bytes In the file service window use the button Update drive firmware to choose the corresponding drive firmware to be loaded 5 9 5 Backup Parameter of Drives VELTRU recommends to use the project approach to backup the configuration of the robot servo amplifiers A project contains the entire tree configuration information as well as parameter files for each of the drives The project is stored in a project folder with subfolders for each drive containing the drive parameter files VELTRU AG 5 9 6 Integrated Safety A NOTE User s Guide and Planning Manual Page 49 of 73 Unloading Robot U10H e em Dive sucio TETTE ne ee nm EE File Edit View Project Connect rogram Tools Windows Infos alol lt 20 8al Za EBS Myf Project E Pac T 23017 1 NodelD1 Des o The Default Path used by GemDriveStudio to save a project is C Users user Documents GemDriveStudio MyProject The servo amplifiers provide safe electrical separation according to EN 50178 between the power input motor connections and the signal electronics It provides soft start overvoltage recognition short circuit protection phase failure monitoring and temperature monitoring of servo motor The serv
64. ts the entire robot structure Two motors 6 mounted on the base plate actuate the 2 degrees of freedom of the structure Two kinematic chains 2 and 3 link the base plate 1 to the tool carrier 5 Each kinematic chain consists of an arm 2 and a forearm 3 A third passive kinematic chain 4 ensures the tool carrier plate remains horizontal at all times WARNING You must not make modifications to VELTRU U10H Robots For permissible modifications refer section 2 8 WARNING You must not use the VELTRU U10H Robot System for any application other than its intended use If you have any doubts about your application please contact VELTRU see section 1 7 3 4 Dimension Drawings VELTRU U10H robot VELTRU AG User s Guide and Planning Manual Page 30 of 73 Unloading Robot U10H 3 5 Configuration of the VELTRU U10H Robot The VELTRU U10H Robot System consists of a manipulator and a motion controller Each different manipulator uses the same motion controller Description Machine Type Number VELTRU U10H Robot VELTRU U10H Robot Machine Type 9014001200 incl servo amplifier standard version IP54 VELTRU U10 Robot incl Machine Type 9014000100 servo amplifier discontinued version IP54 VELTRU U10H Robot Machine Type 9014000200 incl servo amplifier VELTRU AG User s Guide and Planning Manual Page 31 of 73 Unloading Robot U10H discontinued version IP54 VELTRU C10 Motion Co
65. uards maintenance testing start up and operator training The document is available from American National Standards Institute 1430 Broadway New York NY 10018 Some of the safety standards applicable to industrial robots are shown in the following table The list is a partial list of robot safety standards It is nota VELTRU AG User s Guide and Planning Manual Page 14 of 73 Unloading Robot U10H complete list You must comply with all local and national standards for the location where the robot is installed International USA Canada Europe Title of Standard ISO 10218 EN775 Manipulating Industrial Robots Safety ANSI RIA CAN CSA Industrial Robots and R15 06 2434 94 Robot Systems Safety Requirements EN 292 2 Safety of Machinery Basic Concepts General Principles for Design EN 954 1 Safety Related Parts of Control Systems General Principles for Design EN 1050 Safety of Machinery Risk Assessment VELTRU recommends the following standards to the Integrator e For safety fences see EN 294 and EN 811 e For fixed and moveable guards see EN 953 e For pneumatic system see EN 983 e For safeguards and interlocks see EN 418 EN 1088 and EN 60947 4 Please consider using the most actual version of the above standards 2 2 2 Definitions of Safety Functions Emergency Stop IEC 60204 If operated the Emergency Stop cuts all power to the Servo Amplifiers

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