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SCORBOT-ER III User`s Manual

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1. 1 OPEN GRIPPER 2 INPUT 1 ON JUMP TO 2 3 SET MEMORY 3 TO 5 4 GO POSITION 2 FAST 5 GO POSITION 1 SPEED 2 6 WAIT 1 SECONDS 7 CLOSE GRIPPER 8 SET MEMORY 1 TO SENSOR 9 OPEN GRIPPER 10 IF MEMORY 3 gt MEMORY 1 JUMP 4 11 GO POSITION 2 SPEED 7 12 GO POSITION 3 SPEED 7 13 GO POSITION 4 SPEED 2 14 WAIT 1 SECONDS 15 CLOSE GRIPPER 16 SET MEMORY 2 TO SENSOR 17 IF MEMORY 2 gt MEMORY 3 JUMP 20 18 OPEN GRIPPER 19 JUMP TO LINE 12 20 IF MEMORY 2 gt MEMORY 1 JUMP 28 21 GO POSITION 3 SPEED 7 22 GO POSITION 2 SPEED 7 23 GO POSITION 5 SPEED 2 24 WAIT 1 SECONDS 25 OPEN GRIPPER 26 GO POSITION 2 FAST 27 JUMP TO LINE 2 28 OPEN GRIPPER 29 GO POSITION 3 SPEED 7 30 GO POSITION 2 SPEED 7 31 GO POSITION 1 SPEED 2 32 WAIT 1 SECONDS 33 CLOSE GRIPPER 34 GO POSITION 2 SPEED 7 35 GO POSITION 3 SPEED 7 36 GO POSITION 6 SPEED 2 37 WAIT 1 SECONDS 38 OPEN GRIPPER 39 GO POSITION 3 SPEED 7 40 JUMP TO LINE 2 41 GO POSITION 7 SPEED 7 42 GO POSITION 8 FAST 43 GO POSITION 9 FAST 44 GO POSITION 10 SPEED 4 45 GO POSITION 11 FAST 46 GO POSITION 12 FAST 47 GO POSITION 11 SPEED 2 48 OPEN GRIPPER 49 CLOSE GRIPPER 50 GO POSITION 13 SPEED 5 51 JUMP TO LINE 41 USER S MANUAL SCORBOT ER III 9211 4 49 POSITION TABLES Joint Coordinates
2. 1 2 3 AX 4 AX 5 AX 6 AX 7 1 0 956 871 59 0 0 0 2 0 602 705 59 0 0 0 3 225 602 705 59 0 0 0 4 224 955 873 59 0 0 0 5 0 901 862 59 0 0 0 6 224 901 863 59 0 0 0 7 0 219 498 306 0 0 0 8 962 271 242 51 0 0 0 9 962 571 570 128 0 0 0 10 177 782 965 51 0 0 0 ii 1135 239 509 308 0 0 0 12 1135 59 1559 698 0 0 0 13 0 0 0 0 0 0 0 ROBOT PRESENT POSITION IS 39 782 965 51 0 0 0 XYZ Coordinates X Y Z PITCH ROLL AX 6 AX 7 1 277 63 0 00 19 28 92 72 0 00 0 0 2 269 40 0 00 184 87 92 72 0 00 0 0 3 251 27 97 17 184 87 92 72 0 00 0 0 4 258 21 99 37 19 52 92 72 0 00 0 0 5 276 44 0 00 44 60 92 72 0 00 0 0 6 257 59 99 13 44 49 92 72 0 00 0 0 7 39 92 0 00 925 32 81 73 0 00 0 0 8 1 69 242 70 410 93 88 89 0 00 0 0 9 3 17 454 22 367 58 3 35 0 00 0 0 10 210 41 62 86 87 75 88 89 0 00 0 0 14 11 93 39 88 926 76 82 68 0 00 0 0 12 77 57 259 27 297 38 269 07 0 00 0 0 13 163 42 0 00 499 07 64 52 0 00 0 0 ROBOT PRESENT POSITION IS 210 41 62 86 87 75 88 89 0 00 0 0 4 50 SCORBOT ER III USER S MANUAL 9211 CHAPTER 5 The Teach Pendant The teach pendant or control box is a hand held controller which allows you to operate and program the robot The teach pendant is best used for teaching the robot positions and writing short programs For writing longer and more complex programs it is easier to use SCORBA
3. S STANDARD COMPONENT Figure 7 1 Gripper Assembly SCORBOT ER III USER S MANUAL 9211 Ap 6e IN3NOdWQO ORNLIVINNYAN 9O310 0u 03H63 ANJNOJNOD OBNVONY1S B GV Figure 7 2 Hobot Arm Assembly 7 9 SCORBOT ER III USER S MANUAL 9211 S STANDARD COMPONENT xxx ESHED ROBOTEC MANUFACTURED COMPONEN T Figure 7 3 Anti Backlash Assembly SCORBOT ER III USER S MANUAL 9211 STANDARD COMPONENT ESHED ROBOTEC MANUFACTURED COMPONENT e 7 WS LAVAS Y Aw EIS IED QN a2 OSS o e A f C Figure 7 4 Base and Motors Assembly 7 11 SCORBOT ER III USER S MANUAL 9211 This page intentionally left blank SCORBOT ER III USER S MANUAL 9211 APPENDIX A Writing Software for SCORBOT ER lll The SCORBOT ER Ill Operating System The operating system incorporated in the robot controller lets you program the robot without using SCORBASE The operating system of the robot is stored in an EPROM in the controller It allows you to type on the computer keyboard the ASCII characters for robot commands To input these commands use one of the following A terminal DOS with COMI device A communication utility program Eshed Robotec s UTILITIES program Controller Operatin
4. X UE Se Se 1 3 Optional Accessories a 1 4 Safety Rare a 1 5 Euh Ne Uie Ae sia 1 6 CHAPTER 2 Components and Specifications 2 1 The RObOt ATM s dg Gore ete tibt cer p ro des c 2 1 MOOLS e sis ten eer eo ee Jee aes Gee JE Ene are oe ee Me 2 4 at dere ede ea a Gee Ee a em e dedo Eres dies any 2 4 Microswitches lt uox uoo us Romo ed tae Se Rs 2 4 JLEADSIISSIOBS 4 edu EAS ea SEA Rs 2 4 Robot Cables s v Bae BP OG e eee RSE dS 2 5 TheController zou o urag Ba er SOC Ue Wed Ge att ne RH eg 2 6 Controller 2 6 Main Controller Circuitry PC 010 2 6 Display and Input Output Circuitry PC 310 2 7 Display uve uag atga u gots ht Gm Gey 2 7 MOUNT Ye PEL 2 8 Motors Gand T ms s a aie ee ela RR EE X EX EEE x 2 9 Drive Circuitry NPN and PNP 200N and 200P 2 9 Power Supply Circuitry PC 410 2 9 CHAPTER 3 IISTONGUIOR ce Vp prs era p hy ey a mes ee Connecting the Equipment 3 1 Installing the Robot 3 1 Connecting the Robot to the Controller 3 2 Connecting the Computer Terminal to the Contro
5. 5 3 TEACH Key Leach Mode 5 4 EDIT Key EditMode iu uud woes woe w Xem Hoa and Ge 5 7 MODE Key Select Mode 5 10 RESET Key ab eng e dius Neve dae eR 5 13 BRAKE Key eai ooi mudo OR ee eee we ee Bee eos 5 13 SCORBASE Level4 os wow 43 Gow ww Go wo Gow WO RISE eos 5 14 PD 5 14 Other Memis ves ae awe LSU E odo de a 5 15 Saving Programs from Teach Pendant to Computer Disk ette 5 15 Computer Editing of Programs Written on the Teach Pendant 5 15 Loading Programs from Computer Disk ette to Teach Pendant 5 16 CHAPTER 6 Maintenance and Repairs 6 1 Routine Maintenance 6 1 Troubleshooting x x ox cd eee o oed XR head alte Bp or ob eS ein amp 6 4 CHAPTER 7 Parts Lists and Exploded Views 7 1 APPENDIX A Writing Software for SCORBOT ER 1 The SCORBOT ER III Operating System 4 1 Controller Operating System 1 Uni Directional Commands a a a a A 2 Motor Movement A 2 Set Speed of Motors A 3 SeC OUIPUE 15s 9 UR AOR AUREUS RS a a EUR A A 3 Reset s p cme s e eu a a Re dS A 3 Stop Motor Movement with Loss of Informati
6. The teach pendant recognizes all the commands in SCORBASE Level 2 and the gripper sensor commands from SCORBASE Level 3 If you edit a program in Level 3 avoid using commands not recognized by the teach pendant for example the Memory commands The lines containing these commands will be displayed as blank if you attempt to load the edited program to the teach pendant Also remember to disconnect the teach pendant from the controller if you activate and work in levels of SCORBASE other than Level 4 Loading Programs from Computer Disk ette to Teach Pendant 1 2 Sy 9 Load SCORBASE Level 4 into the computer Activate the Program Handling menu and load a program from the diskette To load programs written on the computer and saved in a level other than SCORBASE Level 4 do the following If necessary remove the SCORBASE Level 4 diskette from the disk drive and insert the diskette containing the program you want to load Load the program into the computer prefixing the name with the number representing the level in which the program was written For example Return to the Main Menu Activate the Mode menu on the teach pendant Press the green Load key on the teach pendant Once the load operation has been completed the message PROGRAM TRANS MITTED appears on the computer screen and the message DONE appears on the teach pendant display panel You can now use the teach pendant to edit and execute the
7. Figure 2 2 Hobot Arm Segments SCREWS GRIPPER RUBBER FINGER PAD Figure 2 3 Gripper Removal of Rubber Pads SCORBOT ERIII USER S MANUAL 9211 USER S MANUAL The following table gives the technical specifications of the SCORBOT ER III robot arm Table 2 1 SCORBOT ER Robot Arm Specifications Item Mechanical Structure Working Envelope Axis 1 Base Rotation Axis 2 Shoulder Rotation Axis 3 Elbow Rotation Axis 4 Wrist Pitch Axis 5 Wrist Roll Maximum Working Radius Gripper Opening Maximum Work Load Transmission Actuators Feedback Hard Home Repeatability Maximum Speed Specification Vertically articulated 5 axes plus gripper Control of 8 axes simultaneously 310 130 35 130 130 Unlimited 610 mm 24 4 75 mm 3 without rubber pads 65 mm 2 56 with rubber pads 1 kg 2 2 Ib Gears timing belts and lead screw 6 DC servo motors with closed loop control Optical encoders on all axes Fixed reference position on all axes 0 5 mm 0 02 330 mm sec 13 sec Weight Robot Arm 11 kg 24 16 Controller 5 kg 11 Ib SCORBOT ER IIl 2 3 Motors The five axes and the gripper are operated by DC servo motors The direction of motor revolution is determined by the polarity of the operating voltage positive DC voltage turns the motor in one direction while negative DC voltage turns it in the opposite direction Each motor has closed loop control
8. Motor Encoder Microswitch Colors Pin Colors Pin Pad 5 GND white 29 1 green blue 3 3 5 Virgp yellow 9 2 Po blue 18 4 Grp GND white 28 black 12 1 grey blue 19 green 11 3 Grp Vi gp white 25 yellow 10 2 Po white blue 34 brown 9 4 1 GND white 33 MS brown 23 2 GND white 32 MS grey 7 3 GND white 31 white 1 MS orange 24 white 2 4 GND white 30 blue 3 MS green 8 blue 4 5 GND white 20 orange 3 MS blue 6 orange 6 not connected grp GND white 28 MS brown grey 22 D 4 SCORBOT ER III USER S MANUAL 9211 Single Axis Wiring In addition to the six motors on the robot arm the controller can control two other motors which can be used for operating mechanical equipment and accessories such as conveyors and rotary tables The additional motors are connected to the D9 female connectors marked MOTOR 6 and MOTOR 7 on the controller s front panel For additional information about SCORBOT ER III motors see Appendix Figure D 2 Motor Wiring The Motor Kit Figure D 2 shows the leads to the motor and encoder Table D 2 details the wiring in the D9 connector which connects a motor and the controller Table D 2 Single Axis Wiring with D9 Connector Lead Color in D9 Connector Encoder Circuit Function External Cable Pin PC500 Pad Power Motor red 1 Power Motor green 9 Phototransistor 0 brown 8 4 Phototransistor 1 white 6 3 VLED yellow 3 2 Ground Logic GND black 5 1 Microswitch ora
9. On receipt of J the controller will operate the specified motor for the prescribed extent of motion The defined number of encoder pulses is stored in the register of the specified motor The processor recognizes that the value stored in the register is not equal to 0 and connects the voltage for motor operation As the motor turns so does its encoder which transmits pulses to the controller With each pulse received the value stored in the register is decremented by 1 when the value stored in the register equals 0 the processor disconnects the voltage from the motor If a new movement command for the motor is entered before the motor stops the number of pulses defined in the new command will be added to the value remaining in the motor s register Warning Use small numbers at first to reduce the danger of the motor stalling following a collision of the robot arm with objects or with itself or the motor coming to a mechanical end stop If despite this precaution the motor stalls press the RESET switch on the controller front panel this will reset all motor registers to zero thus stopping all motors SCORBOT ER III USER S MANUAL 9211 Set Speed of Motors a Vb a A digit from 1 to 8 denotes the number of the motors whose speed is to be set Use 0 to denote all motors Designates a motor speed command b A digit from 0 to 9 denotes the speed setting The slowest speed is 1 increasing to 9 The fastest speed is 0 Set
10. ROLL DEG 20 00 45 RECORD POSITION 1 100 RELATIVE TO Pressing Enter for a coordinate accepts the offset default value which in all the instances above is 0 00 Pressing Enter without specifying a reference position creates a position which is relative to the current position A position which is relative to current means the specified offset will be computed from wherever the robot is located at the time it is sent to the relative position lt ESC gt RETURN TO MAIN MENU COORDINATES DISPLAY The coordinates display at the bottom of the Teach Positions menu shows the current location of the robot arm in Cartesian coordinates n 2 PITCH ROLL AK 6 A r 3 9 64 52 0 00 0 To display the axes location in robot joints coordinates activate the List Delete Position screen and use the R Robot command SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 3 LIST DELETE POSITION SCREEN This screen lets you display delete and print the positions you have recorded To activate this screen select the L option in the Teach Positions menu LIST DELETE POSITIONS LIST POSITION LIST FROM POSITION DELETE POSITION DELETE FROM POSITION TO POSITION DELETE ALL PRINT POSITION TO PRINTER 7 COORDINATES lt 5 gt RETURN TO TEACH POSITIONS MENU 2 AK 3 ARK 4 AK 5 Note that the listing operations require extensive commu
11. WAIT SECONDS IF INPUT JUMP TURN ON OFF OUTPUT JUMP TO LINE I INSERT LINE X REPLACE LINE L LIST DELETE PROGRAM lt ESC gt RETURN TO MAIN MENU 1 GO TO POSITION FAST SPEED This command sends the robot to a recorded position at the specified speed Press 1 At the prompt enter a position number If you press lt Enter gt instead of specifying a position SCORBASE automatically enters the next sequential position number You are then prompted for a speed Press lt Enter gt or F to accept the fastest speed Or press S and enter a number from 1 slowest speed to 9 2 WAIT SECONDS This command halts the program execution for the specified time Press 2 At the prompt enter the number of seconds you want the program to delay 3 IF INPUT JUMP This command causes the program to jump to the specified line if the tested input is on Press 3 At the prompt enter the number of an input from 1 to 8 At the next prompt enter the number of the line to which the program will jump 4 R TURN ON OFF OUTPUT ft These commands activate and deactivate the controller outputs Press 4 to turn on an output Press R to turn off an output At the prompt enter a specific output number USER S MANUAL SCORBOT ER IIl 4 19 9211 SCORBASE Level 2 5 JUMP TO LINE ff This command causes the program to jump to the specified line Press 5 Then enter the number of the li
12. 3E move elbow up down Elbow moves up and down 4 R move wrist pitch up down Wrist moves up and down 5 T move wrist roll right left Wrist rolls right and left SCORBOT ERIII 4 25 4 26 6 Y 7 U O C F S J K P V SCORBASE Level 3 move axis 6 Axis no 6 moves forward and backwards move axis 7 Axis no 7 moves forward and backwards Open Close gripper These commands open and close the gripper Press O to open the gripper Press C to close the gripper Fast p Speed 0 movement These commands set the speed for manual robot movement Press F to set the fastest speed 10 This is the default speed Press S and then enter any speed from 1 the slowest to 9 turn on off Output These commands activate and deactivate the controller outputs Press J to turn on an output Press to turn off an output At the prompt enter a specific output number record Position relative position The Record Position command records the current joints position of both the robot axes and the peripheral axes Press P At the prompt enter the position number you want to assign to the current location of the axes If you simply press Enter SCORBASE will automatically enter the next sequential position number Up to 100 positions can be recorded The Record Relative Position command records the current position of the robot arm and peripheral axes relative to another abs
13. Press G to perform the hard fixed home search During the homing procedure each joint is moved until its microswitch is depressed closed SCORBASE displays messages stating whether each of the joints has reached its fixed home position If a joint does not reach its home location the program will automatically execute the home search once more for that joint If the homing is not fully successful the following message is displayed ROBOT IS NOT AT HOME When the robot reaches its home position the following message is displayed HOMING COMPLETED Press any key to stop the homing while the operation is in progress Press G again to restart the homing procedure USER S MANUAL SCORBOT ER III 4 43 9211 4 44 Z D SCORBASE Level 3 Arm calibration The calibration procedure for the robot arm should be performed before using SCORBASE for the first time and after prolonged use of the robot During calibration SCORBASE moves the axes at each of the ten speeds measures the exact rate of movement and calculates the true speed ratios between axes Press A to perform the calibration The robot first searches for its hard home and then begins the calibration process The procedure can take up to 10 minutes The calibration data is stored in the ZERO file on your disk ette When you copy SCORBASE to another diskette be sure to copy the ZERO file as well Peripheral Equipment Setup The homing of axes 6 and 7 depends
14. Signal Ground PC Computer SCORBOT ER III Controller D25 female connector D25 male connector Pin 2 to Pin3 Pin 3 to Pin2 Pin 7 to Pin7 Pin4 to Pin5 Pin6 to Pin 8 and 20 Other computers and terminals may require different RS232 connections Check the manufacturer s specifications RS232 Card Setup l Eshed Robotec software packages are set with the first serial port as COMI and require that the RS232 communication interrupt is enabled see Figure 3 3 Configuration DIP switch position Serial Port 1 COM 1 ON COM I interrupt IRQ4 5 ON 6 OFF Eshed Robotec software packages can be modified for use with the COM2 port by adding the option C2 when activating the software For example for regular operation of SCORBASE Level 3 type SCOR3 Enter For use of SCORBASE Level 3 with port type SCOR3 C2 Enter When using COMO make sure the interrupt for that port is enabled and make sure the RS232 card is properly configured Check the manufacturer s specifications SCORBOT ER III USER S MANUAL 9211 APPENDIX C Input Output Applications Inputs Figure C 1 shows the internal interface circuitry of a SCORBOT ER III input 5 1V ZENER DIODE Figure C 1 Input Application 1 USER S MANUAL SCORBOT ER IIl C 1 9211 C 2 Figure C 2 and Figure C 3 show the connection of a SCORBOT ER III input to an external output In Figure C 2 the ext
15. Ss s SAN SS ttd un 8 5 Upper Arm Belts in Tightening 3 6 Figure Hobot Base ing Belts in Tighten Figure 6 4 USER S MANUAL SCORBOT ER III 6 2 9211 Figure 6 4 shows how to tighten the two belts in the robot base which move the wrist axes First loosen the screw 5 and then loosen either one or both screws 4 Then to tighten the belts simultaneously pull the appropriate motor and retighten the screw s 4 Finally retighten the screw 5 Check the backlash between the pinion 60 and the main drive toothed gear 32 of the elbow and shoulder motors the two motors attached to the side plate of the robot body Refer to Figures 7 2 and 7 4 If the backlash is excessive loosen the two screws S22 which hold the motor bracket onto the side plate and push the motor and its pinion towards the drive gear Then retighten the screws Check for excessive backlash in the base axis Refer to Figures 7 3 and 7 4 The anti backlash unit has four gears Two gears 22 and 27 are on top of one other with a spring 23 fitted in between To stretch the spring do the following Make sure the robot is bolted to the work surface Undo the screw holding the gear 20 closest to you Remove this gear Note the small unused hole on the base plate located near the gears 22 and 27 It will enable you to lock the gear 22 in the next step To prevent the gear 22 from moving
16. TO LINE DELETE RLL PRINT PROGRAM PRINTER lt ESC gt RETURN TO EDIT PROGRAM MENU 1 LIST LINE This command displays the specified program line Press 1 and enter the number of a program line 2 LIST FROM LINE This command displays all program lines beginning with the line specified Press 2 and enter the number of a program line If there are more lines than can be displayed in one screen the sytem will pause and prompt you PRESS ESC TO EXIT LISTING ANY OTHER KEY TO CONTINUE Press Enter to move the display down one line Press any other key to move the display down one screen 3 DELETE LINE This command deletes the specified line from the program Press 3 and enter the number of a program line Note that whenever you give the command to delete a line or lines SCORBASE displays the line s and prompts you to confirm ARE YOU SURE Y N N USER S MANUAL SCORBOT ER IIl 4 11 9211 SCORBASE Level 1 4 DELETE FROM LINE TOLINE This command deletes all program lines from the first line specified through the second line specified Press 4 and enter two program line numbers 5 DELETE ALL Press 5 to delete the entire program from the controller memory 6 PRINT PROGRAM TO PRINTER Press 6 to print out a listing of all program lines ESC gt RETURN TO EDIT PROGRAM MENU SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 1 PROGRAM
17. that is an encoder circuit provides the controller with feedback on the extent and direction of the movement of the motor Encoders An optical encoder mounted on each motor continuously monitors the positions direction and velocity along the path of movement The encoder produces an electric pulse according to the rotation of the motor shaft on which it is mounted The number and rate of the pulses are measured by the controller which then compares the actual position with the desired position and makes any necessary adjustments See Appendix E for more details Microswitches Five microswitches are fitted onto the mechanical arm When the robot assumes the position in which the microswitch on each joint is depressed by the cam this predetermined position is known as hard home This is the point of reference for robot operation Whenever the system is turned on the robot should be reset to this hard home position Refer to the Home Menu in the section SCORBASE Level 2 in Chapter 4 Transmissions Several kinds of transmission are used to operate the links of the mechanical arm Toothed gears move the robot base and shoulder Toothed gears and timing belts move the robot elbow Timing belts Figure 2 4 Robot Arm Transmissions SCORBOT ER III USER S MANUAL 9211 and a toothed gear differential unit at the end of the arm move the wrist A lead screw coupled directly to a DC servo motor causes the gripper to open an
18. 45 9211 Command Line Options When loading any level of SCORBASE you can enter several command line options The complete syntax for loading this software is SCOR L P T C O progname R S H Where is the number of the level The options within brackets are strictly optional and can be omitted During normal operation the default values are used Once you have entered an option it overrides the default options Size Options L Defines the maximum number of available program lines Default 400 Maximum 10000 or memory limit P Defines the maximum number of positions Default 100 Maximum 7000 or memory limit T Defines the maximum number of text lines PRINT and REMARK statements available when writing a program Default 50 Maximum 1000 or memory limit Example SCOR3 L2000 P400 Enter This command loads SCORBASE Level 3 and allow the use of up to 2000 lines and 400 positions Note that when you execute partial load and save operations SCORBASE creates a temporary copy of the program If you have defined a setup which uses a very large number of lines you may be unable to execute these partial operations due to memory size limitations Device Options C Defines the RS 232 port used for communication with the robot controller COMI C2 COM2 4 46 SCORBOT ER III USER S MANUAL 9211 O Defines the parallel printer port to be used when printing 01
19. ESHED ROBOTEC MAIN MENU Teach positions Edit program Program handling Run program Home exit to ROBOT IS NOT SYNCHRONIZED PLEASE SELECT HONE MENU USER S MANUAL SCORBOT ER III 4 17 9211 SCORBASE Level 2 TEACH POSITIONS MENU commands in this screen are the same as those in Level 1 with the following additions TEACH POSITIONS MENU SCORBASE move base right left LEUEL 2 move shoulder up down VER 3 4 move elbow up down move wrist pitch up down move wrist roll right left move axis 4 not connected move axis T 4 not connected Close gripper See Speed 0 movement on off output Go to position go Home record Position List delete positions lt ESC gt RETURN TO MAIN MENU J K turn on off output These commands activate and deactivate the controller outputs Press J to turn on an output Press K to turn off an output At the prompt enter a specific output number G H to position go Home Press G to send the robot to a previously recorded position Press H to send the robot to the Home position LIST DELETE POSITIONS SCREEN All commands in this screen are identical to those found in Level 1 SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 2 EDIT PROGRAM MENU commands in this screen are the same as those in Level 1 with the following additions EDIT PROGRAN OPEN CLOSE GRIPPER GO TO POSITION FAST SPEED
20. MOTOR switches The POWER and the MOTOR LEDs on the controller front panel will light up 3 Press the button marked MOTOR TEST As long as you press the button the motors will rotate briefly one after another in one direction and then in the other If a motor fails to rotate or is missing the test will simply skip to the next motor After the wrist roll movement has been executed the controller will attempt to activate motor 6 and motor 7 If no motors are found at these locations the controller will then activate motor 8 the gripper The motor test continues until you release the MOTOR TEST button Press the MOTOR TEST button again to continue the test from the point where it was interrupted Press the RESET button and then MOTOR TEST to restart the test at motor 1 Note The Motor Test does not prove the gripper motor is functioning perfectly only that the motor rotates Use the SCORBASE Level 3 command Set Memory to Sensor which utilizes the gripper s measuring capability to test gripper operation SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 1 CHAPTER 4 _ O Operation SCORBASE Software SCORBASE software lets you program and operate the SCORBOT ER III The SCORBOT ER III system is supplied with SCORBASE Levels 1 2 and 3 Each level offers increasingly more features and is designed to match the student s progress in learning to program and operate the robot This chapter presents and explains the f
21. Open Collector Outputs Each open collector output utilizes a single terminal An open collector output allows you to determine the external voltage level V required for the application Maximum Voltage Supply V 24V Maximum Current 0 5 amp But do not drive more than a total of 1 5 amps through outputs 5 8 Warning Never connect an open collector output directly to a power supply it must be connnected to a load such as a resistor solenoid relay or motor However you can connect directly to a SCORBOT input without an external power supply and load See Appendix C for examples of input and output applications Motors 6 and 7 The D9 connectors marked MOTOR 6 and MOTOR 7 are used to connect additional motors for operating mechanical equipment and accessories such as conveyors and rotary tables Drive Circuitry NPN and PNP PC 200N and PC 200P Figure 2 8 shows the circuitry of the power drive card The PNP and NPN circuits differ only in the Vcc polarity and the transistor type Power Supply Circuitry PC 410 Figure 2 9 shows the circuitry of the power supply card The power supply contains five different DC power supplies 15V 4A unregulated supplies power to the robot motors 15V 4A unregulated supplies power to the robot motors 12V 0 4A regulated supplies power to the I O circuitry outputs and to the RS232 communications USER S MANUAL SCORBOT ER IIl 2 9 9211 2V 0 4A re
22. Output 5 a A digit from 1 to 8 denotes the number of the output to be operated S Designates a set output command On receipt of S the controller will activate the desired output The output LED will light If the number of the output selected is between 1 and 4 a soft click will be heard as the output relay contacts close Reset Output a A digit from 1 to 8 denotes the number of the output to be disconnected R Designates a reset output command On receipt of R the controller will disconnect the desired output The output LED will go out If the number of the output selected is between 1 and 4 a soft click will be heard as the output relay contacts open Stop Motor Movement with Loss of Information a P A digit from 1 to 8 denotes the number of the motor to be stopped P Designates a stop motor movement command On receipt of P the controller will reset the register of the specified motor thus causing an immediate stop Since the register of that motor contained a value indicating the amount of motor motion still to be carried out resetting the register USER S MANUAL SCORBOT ER III A 3 9211 to zero will cause the controller to lose all information on the amount of motion executed by that motor before it received the stop command Emergency Brake all Motors without Loss of Information B B Designates an emergency brake command On receipt of B the controller will stop all robot motor motion At the moment o
23. Outputs 5 8 lll ln C 4 APPENDIX D Wiring D 1 Controller Wiring 8 ow ode e eo T D 1 Robot Controller D 1 SIDnsle ARIS WIENS qu au tho end x8 Ge oet Be SP ts Fey D 5 APPENDIX E The Optical Encoders E 1 APPENDIX F The Motor Kit F 1 APPENDIX G The Rotary Table G 1 APPENDIX H The Conveyor H 1 APPENDIX I The Experiment Microswitch Table 1 1 The Linear Slidebase J 1 SCORBOT ER III USER S MANUAL 9211 List of Figures Figure 1 1 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 2 9 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 4 1 Figure 5 1 Figure 5 2 Figure 6 1 Figure 6 2 Figure 6 3 Figure 6 4 Figure 6 5 Figure 6 6 Figure 7 1 Figure 7 2 Figure 7 3 Figure 7 4 Figure C 1 Figure C 2 Figure C 3 Figure C 4 Figure C 5 Figure C 6 Figure C 7 Figure C 8 Figure D 1 Figure D 2 Figure E 1 Figure E 2 USER S MANUAL 9211 SCORBOT ER III in Packing Robot Joints OG MS Rh bt sehe rs 2 1 Robot Arm 2 2 Gripper Removal of Rubber Pads 2 2 2 Robot Arm Transmissions 4 2 4 Controller Housing 4 5 29 4 o BO oe 2 6 Controller Front Panel 2 7 Input Output Terminals csl n
24. When the force reaches a predefined threshold the sensor sends an ON signal to the input The D command allows you to define which input port is used for the sensor connection Press D You are then prompted IS GRIPPER SENSOR CONNECTED Y N Y Press Y or Enter to connect a gripper sensor Otherwise press N If a gripper sensor is connected the following prompt is then displayed GRIPPER SENSOR CONNECTED TO INPUT 1 8 Enter the number of the input port Your response input 3 for example is then reflected in the menu line Define gripper sensor 81 During the execution of Close Gripper commands this input will be checked H set present position as Home If you want to start the robot from a position other than its fixed home move the robot to the desired position Press H to set the current position of the axes as the new home position Warning This command automatically alters the physical location of all recorded positions Changing the home position may therefore invalidate other recorded positions At the Change Values for XYZ Y N prompt you can insert new Cartesian values for the new home position You can also change the following BASE HEIGHT TOOL LENGTH MM Used when you want to program XYZ positions for the tip of a tool connected to the gripper lt Esc gt RETURN TO MAIN MENU USER S MANUAL SCORBOT ER III 4
25. a SCORBOT open collector output to an external input The external machine expects a high voltage level 2 5 24V for ON activation input tab inside inside Scorbot external machine Figure C 8 Open Collector Output Application 3 C 4 SCORBOT ER III USER S MANUAL 9211 APPENDIX D Wiring Controller Wiring Figure D 1 shows the wiring which connects the circuits within the controller Robot Controller Connections The cable which connects the controller to the robot motors encoders and microswitches contains 50 leads in 25 pairs In each pair one lead is either white or yellow The five motors on the robot body and their encoders are connected directly to the D50 connector whereas the gripper motor and the microswitches on the arm are not A square 12 pin connector Molex CC7F 1213 on the base of the robot is used for connecting special flexible leads to the gripper and the forearm These leads are resistant to breakage even after extensive movement of the robot arm Each encoder contains a small printed circuit PC500 Table D 1 details the wiring between the various electrical components and the 50 pin connector The table lists the robot arm signals the colors of the leads and the pin number in the D50 connector The table also includes the Molex 12 pin and PC500 wiring USER S MANUAL SCORBOT ER III D 1 9211 AlddnS H3A Od AV jdSiQ 2d OLE Dd t uid op avo 1v314
26. all recorded positions Changing the home position may therefore invalidate other recorded positions Ctrl L IF LIMIT SWITCH ON JUMP TO This command causes the program to jump to the specified line if the specified limit switch is depressed on Press lt Ctrl L At the Limit Switch prompt enter a number from 1 through 7 1 to 5 are on the robot 6 and 7 are on the peripherals At the Jump prompt enter the line number to jump to lt Ctrl K MESSAGE This command is used to display any one of 19 pre recorded messages during program execution Press Ctrl At the prompt enter the number of the message you want displayed Your options are as follows USER S MANUAL SCORBOT ER III 4 35 9211 4 36 SCORBASE Level 3 BASE IS AT HOME HOULDER IS AT HOME ELBOW IS AT HOME RIST PITCH IS AT HOME RIST ROLL IS AT HOME XIS 6 IS AT HO XIS 7 IS AT HO RIPPER IS AT HOME E B QN raat wn ROBOT STARTS PROGRA 10 ROBOT FINISHES PROGRAM 11 BASE IS NOT AT HOME 12 SHOULDER IS NOT AT HOME 13 ELBOW IS NOT AT HOME 14 WRIST PITCH IS NOT AT HOME 15 WRIST ROLL IS NOT AT HOME 16 AXIS 6 IS NOT AT HOME 17 AXIS 7 IS NOT AT HOME G 18 GRIPPER IS NOT AT HOME 19 ROBOT IS RESTING Messages 11 through 18 include a code for sounding a beep To display any other message at run time use the Rem
27. applications are made possible through the use of a motor kit For example it can be used to Drive a slidebase rotating table or conveyor Operate an elevator Control the flow rate of a tap or valve Operate wheels on which robot is mounted Operate a small tracked vehicle which brings and removes materials to and from a work station SCORBOT ER III F 1 To drive a two axis device use two motor kits connected to the system as motors 6 and 7 When your application does not require precise movement you can use the motor kit in an open loop system Connect the pair of leads from the motor to an external 12VDC 1 2 amp power supply and do not connect the cable to the controller However you will probably need a proximity or optical sensors to synchronize the robot and the external device It is recommended that you switch the current to the motors through one of the relay output terminals on the controller When your application requires a DC motor more powerful than the one in the motor kit you can fit the encoder onto a different motor provided the motor shaft matches the encoder hole and connect the encoder leads to the motor If you use a motor kit from another source or if you connect the motor Kit to another kind of controller you must assume full responsibility for the connections Make sure they are in accordance with the motor kit specifications Motor 12 VDC nominal voltage 2 amp maximum Op
28. during the following steps lock the gear by inserting a short pin through this hole and in between two teeth in this gear Make sure the pin does not touch the lower gear 27 and that the gear 27 is free to rotate Mark the two teeth which are directly above one another on the gears 22 and 27 one on the upper gear and one on the lower gear Manually turn the robot body counterclockwise a distance of six to eight teeth between the marked teeth The spring should now be correctly stretched Return the gear 20 to its position and fasten the screw Remove the locking pin USER S MANUAL SCORBOT ER III 6 3 9211 6 4 Troubleshooting Whenever there is a problem in your system try to identify the component in which it exists controller arm computer teach pendant or RS232 connections by using other functioning components or equipment That is if you have another system which you know is functioning properly then exchange the suspected faulty component with its counterpart in the functioning system For example if the robot is unable to find Home in axis 2 the problem is either in the arm or in the controller Exchange first the arm and then the controller with their counterparts in a system you know is functioning properly Do not open the controller housing Do not attempt repairs for which you are not qualified Contact your agent or a technician who has received proper training and certification from the ma
29. exit to DOS press Y Pres any other key to cancel OPERATING KEYS Throughout SCORBASE the following keys are used to activate screens and enter commands and options PgUp Recalls the screen previously displayed or Esc Esc Cancels a command line which has been activated Enter Accepts commands options and field entries Backspace Erases field entries which have been typed but not yet accepted 4 24 SCORBOT ER IIl USER S MANUAL 9211 USER S MANUAL 9211 TEACH POSITIONS MENU SCORBASE Level 3 This screen allows you to move the robot and to teach and define the positions EDIT PROGRAN OPEN CLOSE GRIPPER GO TO POSITION FAST SPEED WAIT SECONDS IF INPUT JUMP TURN ON OFF OUTPUT JUMP TO LINE SET COUNTER TO DECRENENT COUNTER IF COUNTER gt 0 JUMP TO SET RETURN CALL SUBROUTINE SET MEMORY TO TO SENSOR IF MEMORY lt gt MEMORY JUMP REMARK PRINT ON MOTOR ERROR JUMP TO SET AXIS 8 TO ZERO 7570 SCORBASE I X INSERT REPLACE LINE L LIST DELETE lt ESC gt RETURN TO MAIN MENU 1 The following pairs of number and letter keys are used to directly control the movement of the servo axes The axes will continue to move as long as the activating key is depressed 1 Q move base right left Robot base moves right and left 2 W move shoulder up down Shoulder moves up and down
30. flag to the OFF state The controller then transmits the ASCII code D through the current transmission line USER S MANUAL SCORBOT ER III A 9 9211 This page intentionally left blank SCORBOT ER III USER S MANUAL 9211 APPENDIX B Controller Computer RS232 Setup The robot controller contains a microprocessor which runs under the control of an external computer The two units communicate by means of RS232 connections SCORBOT ER Ill RS232 Specifications Baud rate 9600 Data bits 8 Stop bits 2 No parity The two D25 ports are located at the rear of the controller see Figure 3 2 The lower port connects the controller to the computer The upper port connects the controller to the teach pendant Between these ports are two LEDs marked TX for transmission and RX for reception These LEDs flicker as signals pass through the RS232 cable signifying that communication between SCORBOT and computer is occuring Note The computer and the teach pendant can be connected to the controller at the same time only if SCORBASE Level 4 has been loaded Refer to the section Connecting the Teach Pendant to the Controller in Chapter 5 USER S MANUAL SCORBOT ER III B 1 9211 B 2 RS232 Cable Connections When a computer IBM PC or compatible is used to operate the SCORBOT ER III the RS232 cable connections should be as listed in the chart below Pin functions are as follows Pin2 Transmission Pin3 Reception Pin 7
31. program SCORBOT ER III USER S MANUAL 9211 CHAPTER 6 Maintenance and Repairs Routine Maintenance Monthly inspection and maintenance of the SCORBOT ER III should include the following 1 Check all screws and bolts in the robot arm Tighten any loose ones 2 Check all leads and rubber components in the robot arm Replace any worn ones 3 Check the tension of the robot arm belts When you press on a belt it should give 2 mm 0 08 see Figure 6 1 Tighten the belts only if you are absolutely certain they are slipping or retarding the motors see Figures 6 2 6 3 and 6 4 Figure 6 2 shows how to tighten the belts in the forearm which move the wrist axes pitch and roll Loosen the two screws 1 which hold the tension shaft Press down on the shaft and retighten the two screws Figure 6 3 shows how to tighten the belts in the upper arm which move the wrist axes 2 and the belt which moves the elbow 3 Figure 6 1 Checking Belt Tension USER S MANUAL SCORBOT ER III 6 1 9211 Belts in Forearm ing Tighteni Figure 6 2 2 ue se 8 M een SSIES ER MEAT 5 dd AERE Im Eee mm Se ee Bs vem sit see m st sit zm TET eth Mu eee e 2m s um i m n z Tue se SE E Sua S MEE RITTER eee 2 s et Sx em Sit n m sit SES Mu
32. s 2 8 Power Drive Card PC 200 Circuitry 2 10 Power Supply Card PC 410 Circuitry 2 11 Base Plate Layout 3 1 Controller Rear Panel 3 2 RS232 Setup for Computer as COMI 3 3 Recommended Starting Position for Motor Test Hard Home Position Teach Pendant 2 3 a e RR 5 1 TeachPendant Keyboard 5 3 Checking Belt Tension c l ll ns 6 1 Tightening Belts in 6 2 Tightening Belts in Upper Arm 6 2 Tightening Belts in Robot Base 6 2 Spring and Washers between Encoder and Motor 6 7 The Encoder Signals 6 8 Gripper Assembly 7 8 Robot Arm Assembly a a a a 7 9 Anti Backlash Assembly 7 10 Base and Motors Assembly 7 11 Input 1 C 1 Input 2 C 2 Inpt Appication3 C 2 Relay Output States C 3 Relay Output Application C 3 Open Collector Output Application C 4 Open Collector Output Application 2 4 Open Collector Output Application3 4 Controller Internal Wiring D 2 Motor Wiring 4 2 x 04 oe Roo wo bow eR RO A D 5 Encoder DISKS 4 ge 33s Aa ws E 1 E
33. software may be faulty If LEDs light but problem persists contact your agent 6 Robot does not find the Check whether the microswitch is broken If so replace Home position in one it of its axes If the microswitch is not broken listen for a click and Axis not at home look to see if it is depressed and released during axis message during a movement If the microswitch is not being depressed no Home search click is heard look for the faulty or loose component and replace or adjust it Check whether the microswitch shorts its two poles when depressed If you cannot locate a short between the two micro switch terminals the microswitch needs to be replaced If you can locate a short between the two terminals check the wires for conductivity between the D50 connector and the microswitch terminal while pressed Refer to Appendix D If you detect conductivity the problem may be in the controller contact your agent 7 Inaccurate robot Execute a Home search Make sure all axes reach home response when executing XYZ commands as confirmed on the computer or teach pendant display If one or more of the axes does not find its home position the problem may be due to the microswitch the cable connecting the robot to the controller or the controller itself If all axes find home but inaccuracies still occur contact your agent for the recalibration of the Home position SCORBOT ER III USER S MANUAL 9211 Item
34. sure the robot D50 connector is securely connected closes in response to to the controller Open Gripper command gripper One or more of the optical components in the encoder responds incorrectly may be faulty or not connected to Close Gripper command Use an oscilloscope as described in Item 9 above to check for the two square waves in the phototransistor outputs as the motor rotates The problem may be due to a break in the leads Check the leads between the encoder and the motor The problem may also be in the controller If the problem persists contact your agent 13 The gripper opens and Make sure the gripper motor output shaft is securely closes too freely weak gripper force the gripper motor rotates endlessly attached to the gripper lead screw Disassemble the loose gripper See Figure 7 1 1 Remove the gripper motor S 312 from the plate 112 by unscrewing the three attachment bolts 2 bolts S 12 and one bolt S 14 Take note of part S 313 an Oldham coupling with three parts two metal parts fitted with bolts and an intermediate plastic part When you remove the motor one metal portion of the coupling will stay attached to the shaft The second metal portion of the coupling will stay attached to the lead screw 94 The plastic portion will remain attached to either one of the two metal portions 2 Remove the lead screw 94 from part 105 by turning it counterclockwise 3 Fasten both metal portions to t
35. the Controller in Chapter 5 the controller normally transmits through the lower RS 232C port to the computer When the teach pendant is connected to the system transmission is automatically routed through the upper RS 232C port to the teach pendant To transfer programs between the teach pendant and the computer the controller produces an echo that is transmissions entering through the upper port are transmitted by the controller to the lower port and vice versa The commands which enable communication between the teach pendant and the external computer are as follows F Switches the transmission line of the controller from the current port to other port After the switching the ASCII code F is transmitted through the new current transmission line G H Lifts the Load Save flag to the ON state The character is then transmitted through J K thecurrent transmission line When the flag is on every byte which reaches the controller with its most significant bit MSB equal to 1 is transmitted through the current transmission line of the controller MSB 1 indicates data to be transmitted by controller MSB 0 denotes a command for controller execution If the flag is off the controller does not check the MSB G Transmits programs between TP and computer H Transmits positions between TP and computer J TP requests programs from computer K TP request positions from computer D Denotes end of command Drops the Load Save
36. the number of the motor to be operated Q Designates a check remainder of motor movement command On receipt of Q the controller will check the quantity of motion remaining to be performed by the motor as stored in the register of that motor The controller response is in two bytes because robot axis motion is measured in thousands of encoder pulses Since a maximum remaining quanity is 8000 the controller s response will be transmitted as follows 1 Division of the 14 bit response into 2 bytes of 7 bits each 2 Addition of an eighth bit with a value of 1 to each byte to serve as most signficant bit MSB 3 Transmission of the two bytes to the host computer first the most significant byte then the least significant byte with no transmission between or following the two bytes Check Remainder of Motor Movement follow ing Emergency Brake 2 a A digit from 1 to 8 denotes the number of the motor to be operated Z Designates a check remainder of motor movement command following emergency brake The Z command is identical to the Q command with the following exception The Q command is used while the robot is in motion The Z command is used only after an emergency brake command to update the present position of the robot motor relative to the start of the programmed motion SCORBOT ER III USER S MANUAL 9211 Switching the Communication Ports As explained in the section Connecting the Teach Pendant to
37. upon the peripheral equipment which is connected Press P to define the peripheral equipment You are then prompted AXIS 6 7 Type the number of the axis motor you want to define The system now displays AXIS 7 IS CONNECTED TO Slidebase Rotary table Conveyor Not connected Press S R C or N according to the connected equipment The homing procedure for the peripheral equipment is as follows Slidebase The slidebase is moved to one side until it cannot move any further Rotary table Search for microswitch is performed Conveyor No search is performed Not connected No search is performed This setup is recorded in the ZERO file and placed on your disk ette The next time you load SCORBASE the correct peripheral setup will automatically be configured You do not need to repeat the setup operation unless you actually alter a peripheral or its axis connection set gripper to Zero Define gripper sensor The Z command sets the value of the gripper to zero which allows more accurate measurements when using the Set Memory to Sensor command This gripper setup is also recorded in the ZERO file and placed on your disk ette A sensor mounted within the gripper can be used to control the amount of force SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 3 exerted by the gripper when executing a Close Gripper CG command The sensor is connected to the SCORBOT controller through one of the 8 input ports
38. waves Distorted waves with an incorrect shift between them may indicate 1 a faulty encoder which needs to be replaced or readjusted 2 an electro optic component is covered with dirt or dust and is therefore malfunctoning electrically 3 the legs of the electro optic components are bent or are at the incorrect height 4 the encoder disk may have a mechanical problem Note To produce clean square waves with a 90 shift the height of the optical components above the printed circuit board is very important see Appendix E Robot innacuracy may also be due to a loose or damaged component in one of the transmissions between the motor and the moving link Check for movement continuity in all relevant transmission components that is check whether the gears and belts move together with the motor drive shaft 10 The gripper does not respond to open or close commands Using SCORBASE Level 3 activate the Home Menu and press Z to zero the gripper Exit the Home Menu and recheck the gripper Follow steps for checking motor and encoder as described in Item 4 11 Sensor value is 0 message when gripper opened and when closed USER S MANUAL 9211 Using SCORBASE Level 3 activate the Home Menu and press Z to zero the gripper Exit the Home Menu and recheck the gripper If the problem persists proceed to the next item SCORBOT ER III 6 9 Item Problem Corrective Action 12 The gripper opens and Make
39. yi Ex V Vor v orr 9 Power Supply 410 Circuitry Figure 2 2 11 SCORBOT ERIII USER S MANUAL 9211 This page intentionally left blank SCORBOT ER IIl USER S MANUAL 9211 CHAPTER 3 Installation Before proceding with the installation of SCORBOT ER III familiarize yourself with the safety instructions and warnings detailed in Chapter 1 Connecting the Equipment Place the arm controller and computer on an ample and sturdy work surface Note that the computer terminal is not supplied with the SCORBOT ER III Installing the Robot To prevent the robot from toppling over during operation fasten the base of the robot arm to the work surface with at least three bolts 120 apart as shown in Figure 2 1 5 85mm033 After you have bolted SCORBOT ER III to the table you may connect the robot to the controller Robot Base 240 mm 9 49 Pitch Circle 207 mm 8 15 Figure 3 1 Base Plate Layout Hole 6 off 8 5 mm 0 33 USER S MANUAL SCORBOT ER IIl 3 1 9211 Connecting the Robot to the Controller 1 Connect the D50 connector on the robot cable to the port marked ROBOT on the rear panel of the controller see Figure 3 2 2 Gently insert the two screws on the connector into the threads on the controller port Tighten the screws just enough to keep the connector securely fastened 3 Make sure the voltage requirement of the
40. 10 311 S 312 S 313 S 315 S 316 S317 S 318 S 319 S 320 S 322 S 324 S 325 S 350 S 351 414 427 429 USER S MANUAL 9211 Part 314501 310401 310402 100706 100705 319201 319202 319203 315202 315201 317501 430901 430901 430902 430903 319001 410802 310802 300006 113006 300007 314007 113203 113202 113204 317801 317502 105001 113005 105002 Previous Part Description WA4M 10 Lock washer NU4M 10 Lock nut gripper NU4S286 Lock nut base KM 5 WAOS288 Washer 10 5 x 20x 0 5 WA9S289 Washer 12 5 x 22x 0 5 AR293 Timing belt AR294 Timing belt AR295 Timing belt AR300 Flange timing belt pulley AR301 Flange timing belt pulley PNICI8 38 Pivot pin 1 8 x 3 8 AR309 Gear motor base 1 127 7 1 AR310 Gear motor shoulder elbow 2 3 127 7 1 AR311 Gear motor pitch roll no 4 5 65 5 1 AR312 Gripper motor no 8 AR313 Coupling SW712MO Limit switch NUSCS8 Nut for harness PA4317 Harness clamp PA113 Rubber plug base PA408 Harness clamp WASM10 Conical washer PA205 Rubber grommet 512 O ring rubber PA310 Rubber stopper PN2CI8 114 Roll pin 1 8 x 1 1 4 AR351 Ball bearing 3 5 mm UVA14 1 Encoder disk 3 holes UV427 Encoder housing plastic UV429 1 Encoder disk 6 holes SCORBOT ER III 7 5 Table 7 2 Controller Components SCORBOT ER III Part Description 35007 110V 220V transformer 40013 Main power cable set within controller 40014 Diode
41. 16 112403 ARI6 Clamp for motors 44 5 support USER S MANUAL SCORBOT ER III 9211 17 18 S 18 S 19 20 S 20 S21 22 22 23 S 23 24 S 26 27 S27 28 S31 32 34 S 34 35 37 38 39 40 46 47 48 49 52 53 55 56 57 58 60 61 63 7 2 Part 110202 110207 306401 306402 111901 306404 306405 111902 306407 113501 306403 107003 306602 111903 306602 111907 306414 319404 112405 113505 112404 112402 319406 113502 111606 111402 111909 111911 111905 111405 113013 111406 113014 112406 110212 111904 110217 112407 Previous Part Description ARI7 Right side plate AR18 Left side plate SC1F10 38 Socket head cap screw 10 32 x 3 8 SC1F10 12 Socket head cap screw 10 32 x 1 2 AR20 Anti backlash tooth gear transfer SC1F10 34 Socket head cap screw 10 32 x 3 4 SC1F10 78 Socket head cap screw 10 32 x 7 8 AR22 Anti backlash tooth gear upper SC1F10 114 Socket head cap screw 10 32 x 1 4 AR23 Anti backlash spring SC1F10 58 Socket head cap screw 10 32 x 5 8 AR24 Washer SC1C14 1 Socket head cap screw 1 4 20 x 1 AR27 Anti backlash tooth gear bottom SC1C14 58 Socket head cap screw 1 4 20 x 5 8 AR28 Tooth gear base motor 10 14 Socket head cap screw 10 32 x 3 4 x 1 4 shoulder 1018 Tooth gear motors 2 3 AR34 Motor support 2 SPS34 Spring 220 g motors 2 3 AR35 Motor support 3 AR37 Motor support motors 4 5 AR38 Timing belt pulley motors 4 5 SPS39 Spring 55 g motors
42. 3 The Teach mode is automatically activated when you turn on the controller to which the teach pendant is connected To activate the Teach mode when another mode is active press the Teach key If a sub menu of a different mode is active you may have to press the Teach key more than once When you press the blue Teach key the display panel shows TEACH POSITIONS JT The letter T flashes until you select a Teach function or another mode The functions available in the Teach mode are as follows Shoulder Elbow Pitch Roll These keys move the joints of the robot Each joint has two keys The direction of joint motion is shown by the arrow on each key The joint will move as long as you press the key Axis 6 Axis 7 These keys move the peripheral axes Each axis has two keys The direction of axis motion is shown by the arrow on each key The axis will move as long as you press the key SCORBOT ER III USER S MANUAL 9211 Open Close These keys open and close the robot gripper Press the Open Gripper key The gripper will open to its widest opening Press the Close Gripper key The gripper will close to its smallest opening Fast This key causes the robot to move at its maximum speed Once you have pressed Fast each pressing of an axis movement key will move the corresponding axis at a rate of 30 encoder pulses Slow This key allows you to set a slower speed for axis movement At the SPEED prompt press a number
43. 4 5 AR40 Rear cross member AR46 Main shoulder shaft AR47 Timing belt pulley AR48 Timing belt pulley AR49 Tooth gear 72 teeth 52 First tension shaft AR53 Tension wheel AR55 Second tension shaft AR56 Tension pulley AR57 Clamp lower arm left side plate 58 Lower arm right side plate AR60 Tooth gear right 72 teeth AR61 Lower arm left side plate AR63 Clamp lower arm left side plate SCORBOT ER III USER S MANUAL 9211 Iso Dwg 64 67 70 S 70 72 74 76 77 S 81 82 S 82 84 86 S 87 88 91 91 94 96 97 98 99 100 101 102 103 105 107 108 109 112 113 S 115 116 S 116 127 S 139 S 153 USER S MANUAL 9211 Part 111403 107001 111910 306007 111407 111404 112439 110705 306201 113008 306211 110227 111912 306410 110222 112408 306412 113801 112117 112118 112119 112120 112113 110703 113201 111409 111408 113802 112115 112116 110229 113503 45007 113009 45006 107009 306008 306214 Previous Part Description AR64 Middle shaft AR67 Aluminium spacer AR70 Timing belt pulley SC3C4 14 Flat head socket screw 4 40 x 1 4 AR72 Third tension shaft AR74 Gripper axis AR76 Stopper motors 4 5 AR77 Baseplate limit switch SC3C8 38 Flat head socket screw 8 32 x 3 8 AR82 Timing belt pulley miter gear SC3C8 12 Flat head socket screw 8 32 x 1 2 AR84 Upper arm left side plate AR86 Timing belt pulley SC3F10 12 Flat head socket screw 10 32 x 1 2 AR88 U
44. BASE LEVEL 4 ROBOTICS SOFTWARE ver 3 4 copyright ESHED ROBOTEC MAIN MENU list delete positions list delete program program handling clear memory exit to dos TEACH M COMPUTER PENDRNT When saving and loading operations are executed an arrow on the screen shows the direction in which the data is flowing The following messages are also displayed PROGRAM TRANSMITTED The program has been loaded to the teach pendant from the computer PROGRAM RECEIVED The program has been saved to the computer from the teach pendant SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 4 Other Menus The List Delete Positions List Delete Program and the Program Handling screens in SCORBASE Level 4 are identical to those in SCORBASE Level 3 The Clear Memory option is used to empty the teach pendant memory and positions table and to erase unwanted programs and positions Note Remember to return to the Main Menu after each list delete program handling or clear memory operation Otherwise load and save operations cannot be executed properly Saving Programs from Teach Pendant to Computer Disk ette 1 2 Make sure the computer screen displays SCORBASE Level 4 Main Menu Make sure the computer is connected to the lower RS232 port on the controller and the teach pendant is connected to the upper RS232 port Activate the Mode menu on the teach pendant You may need to press the green Mode key mo
45. COLLECTOR OUTPUT 5 com OPEN COLLECTOR OUTPUT 6 712345678 iia E 1R 3R 4R 2R n c OPEN COLLECTOR OUTPUT 7 com OPEN COLLECTOR OUTPUT UM NPUTI SWITCH SWITCH RELAY OUTPUT 2 RELAY OUTPUT 4 Figure 2 7 Input Output Terminals Inputs 1 8 Twelve screw terminal connectors are used to connect the eight inputs to the controller The first four connectors on the left are connected to ground The next eight are connected to the circuitry for inputs through 8 You can produce input signals in two ways Connect a microswitch to an input terminal and to a ground terminal Connect an external voltage signal to an input terminal and connect the external ground pole to the SCORBOT ER III ground pole Voltage and input states are as follows 2 5V 24 V Input OFF OV 15V Input ON Outputs 1 4 Relay Outputs The connectors for the relay outputs are marked 1R through 4R Each connector contains three terminals COM common NO normally open NC normally closed In steady state before the relay functions the NO terminal is disconnected from the common line and the NC terminal is shorted to the COM terminal SCORBOT ER IIl USER S MANUAL 9211 When the relay functions the situation reverses the NO terminal is shorted to the COM terminal and the NC terminal is disconnected from the COM terminal A maximum current of 4 amp can be switched through a relay output Outputs 5 8
46. EMO will load in any other level USER S MANUAL SCORBOT ER IIl 4 13 9211 SCORBASE Level 1 3 Delete Program This option allows you to deletes a program from the disk ette Press 3 or D and enter the program name To delete a program you must be operating in the level in which the program was created For example to delete program TOP L3 you must be working in SCORBASE Level 3 Note that whenever you give the command to delete a program SCORBASE prompts you to confirm ARE YOU SURE Y N N 4 Catalog Press 4 or C to display a listing of all the programs which have been saved on the disk ette lt ESC gt RETURN TO MAIN MENU SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 1 RUN PROGRAM MENU This screen lets you run the programs you have created RUN PROGRAN SCORBRSE RUN SINGLE LINE LEUEL 1 RUN SINGLE CYCLE VER 3 4 RUN CONTINUOUSLY JUMP TO LINE PRESS G KEY TO LET THE ROBOT RUN PRESS B FOR IMMEDIATE BRAKE ANY OTHER KEY FOR REGULAR STOP lt ESC gt RETURN TO MAIN MENU RUN SINGLE LINE NEXT LINE gt PROGRAM IS EMPTY 1 RUN SINGLE LINE Press and press G One program line the current line is executed each time you press G 2 RUN SINGLE CYCLE Press 2 and press G The program is executed from the NEXT LINE command to the end of the program 3 RUN CONTINUOUSLY Press 3 and press G The entire program is executed repeatedly When it reaches the l
47. HANDLING MENU This screen allows you to delete programs and to transfer load and save programs between the computer memory and disk ette PROGRAM HANDLING Save program Load program Delete program Catalog lt ESC gt RETURN TO MAIN MENU 1 Save Program This option lets you save on disk ette the program you have created Press 1 or S At the prompt type the name you want to assign to the program you have created and press lt Enter gt The program is now saved on disk ette When you type a program name do not use more than 8 characters and do not use a number for the first character of the file name Do not use an extension All programs saved by SCORBASE are automatically assigned extensions corresponding to the level in which they were created For example DEMO L 1 indicates that the program DEMO was created in SCORBASE Level 1 2 Load Program This option lets you call up a program from the disk ette to the computer memory Press 2 or L and enter the program name When loading a program which was created in the level in which you are operating you need only to type the program name You may have programs with similar names which were written in different levels for example JACK L1 JACK L2 JACK L3 When loading a program which was created in a level other than the one in which you are operating indicate the level as shown in the examples below 2DEMO will load DEMO L2 in another other level ID
48. I4MA Connector pin UV6 Clamp cable 50 lead SC5M2 10 Socket binding head screw M2 x 10 limit switch SC5M2 8 Slotted binding head screw M2 x 8 limit switch SC7M2 20 Slotted binding head screw M2x20 encoder housing WAICA Washer for screw 4 40 WAICIO Washer for screw 10 32 WAICIA Washer for screw 1 4 WA2CA Spring washer for screw 4 40 WA2C6 Spring washer for screw 6 32 WA2C8 Spring washer for screw 8 32 WA2C10 Spring washer for screw 10 32 WA2C14 Spring washer for screw 1 4 WA3M2 Lock washer M2 WAICS Washer for screw 8 32 WAS8S232 Teflon washer 1 4 x 3 8 x 0 6mm WASS233 Teflon washer 1 4 x 1 2 x 0 6mm WASS234 Nylon washer 11 x 4 NUI1U2 Hexagonal nut M2 CBC18 E Ring 1 8 DIN 6799 CIIM10 Retaining ring 10 DIN 471 12 Retaining ring 12 DIN 471 CI1M25 Retaining ring 25 DIN 471 BE10822 Ball bearing 8 x 22x 7 BE11019 Ball bearing 10 x 19x 5 BE11026 Ball bearing 10 x 26x 8 BE12547 Ball bearing 25 x 47x 8 BE21216 Needle bearing 12 x 16 x 10 BE21219 Needle bearing 12 x 19 x 16 BE51215 Needle bearing 15 x 21x 12 BE31024 Thrust bearing 10 x 24x 2 AS31024 Thrust washer 10x 24x 1 LS31024 Thrust washer 10 x 24 x 2 5 BE31226 Thrust bearing 12 x 26x2 A831226 Thrust washer 12 x 26x 1 SCORBOT ER III USER S MANUAL 9211 Iso Dwg S 283 S 285 S 286 S 288 S 289 S 293 S 294 S 295 S 300 S 301 S 308 S 309 S 3
49. III l 1 9211 F2 The ends of all output wires are insulated to prevent accidental activation of buzzer and or lamp To connect the buzzer or lamp to a relay output select the appropriate pair of wires and connect one wire to COM and the other to NO Figure I 2 shows the connections of the lamp and buzzer to the outputs BUZZER NO BATTERY COM LAMP NO BATTERY COM Figure 1 2 Lamp and Buzzer Connections SCORBOT ER III USER S MANUAL 9211 APPENDIX J The Linear Slidebase The linear slidebase LSB serves to mobilize the robot and significantly extend its working range This allows the use of the robot in applications which require it to serve more than one machine or station see Figure J 1 Two models of the linear slidebase are available 48 1240 mm 72 1860 mm The slidebase can fastened to the work surface by means of predrilled mounting holes The linear slidebase is driven by a DC servo motor with a gear ratio of 5 9 1 Connect the D9 connector on the motor cable to either one of the MOTOR terminals on the controller s front panel SCORBASE will then recognize the slidebase as either axis 6 or axis 7 Use the Home menu in SCORBASE to define and home the connected linear slidebase Figure J 1 The Linear Slidebase USER S MANUAL SCORBOT ER III J 1 9211
50. L 9211 Acceptance Inspection Standard Items Item Qu Wc pp ce Following is a list of the items included in the SCORBOT ER III standard package Make sure you have received all these items Check all items for any shipping damage prior to installation or operation If any damage is evident do not use the SCORBOT Notify your freight dealer immediately and begin appropriate claims procedures Table 1 1 SCORBOT ER Standard Components Description SCORBOT ER III Mechanical Arm SCORBOT ER III Controller SCORBOT ER III User s Manual SCORBASE Software Levels 1 2 and 3 diskettes Power Cable RS232 Cable USER S MANUAL SCORBOT ER III 1 3 9211 1 4 Optional Accessories Following is a list of optional accessories Make sure you have received all the items you ordered Table 1 2 SCORBOT ER III Optional Accessories Item Description 10 11 12 13 14 15 sb EM duo pe Teach Pendant includes SCORBASE Level 4 SCORBASE Level 5 Motor Kit Rotary Table Conveyor orange Experiment Table Linear Slide Base 48 Slide Base 72 Slide Base Utilities Control Box Vacuum Gripper 1 pad Vacuum Gripper 3 pads Air Brush Dispenser Gripper Adaptor for Round Bars Photoelectric Sensor Dual Axis Vise Catalog 1701 9003 1206 1004 1003 1201 1001 1002 1204 601 602 603 604 606 1203 SCORBOT ER IIl USER S MANUAL 9211 Safety Precautions Th
51. MANUAL 9211 Teach Pendant Functions The teach pendant has a 2 line 32 character liquid crystal display LCD panel and a flat keyboard with 30 keys in 6 rows The three main keys on the teach pendant are the mode keys at the top left of the keyboard Teach blue Edit yellow and Mode green Most of the other keys are divided into blue yellow and or green areas which represent the functions they activate after the the mode key of the same color has been pressed You should hear a short beep each time you press a key If you do not hear a beep the key was not pressed properly and its function has not been activated You need not press heavily on the keys Simply press on the center of the key where you can feel a slight depression When functions require the entry of numbers type them using the keys numbered 1 0 To correct a mistakenly typed number before you press Return press the Left Arrow x backspace key Brake Figure 5 2 Teach Pendant Keypad Layout USER S MANUAL SCORBOT ER III 5 3 9211 When you switch on the controller to which the teach pendant is connected several messages appear on the display panel NO OF LINES 250 NO OF POS 100 TEACH POSITIONS TEACH Key TEACH MODE The Teach mode allows you to move the robot and teach positions The Teach mode commands are identical to the commands in the Teach Positions Menu in SCORBASE Level
52. ONVOB Pad OLO 2d Or Sr L37101A Y rip xl SOV Te xu FATS gE 4349 034 031 Oxy CA WIA gu 37719 docs Woo N33H9 0 N GONVHEO INOUN AZ 299 zi 84 i a39 udog 3dAl Q 3dAi d MO113A Y n U J NYNO Controller Internal Wiring Figure D 1 ote WA WA 1 3snd 3Sn4 wi 3sn4 THOEZ HOI VOZ VIOSZA 3 0 OwAGILHOJ VOLYTOGIA 39 9211 USER S MANUAL SCORBOT ER III D 2 Table D 1 Wiring to Motors Encoders and Microswitches Molex 12 Pin Encoder Printed Robot Arm Signals D50 Connector Connector Circuit PC500 Motor Encoder Microswitch Colors Pin Colors Pin Pad white 50 grey green 17 2 white 49 white green 16 3 white 48 orange brown 15 4 white 47 orange green 14 5 white 46 t orange grey 13 Grp white 45 grey 8 orange blue 12 yellow 7 1 GND white 33 1 white grey 5 3 1 Vigp yellow 11 2 Po brown 2 4 2 GND white 32 1 white orange 21 3 2 ViEp yellow 24 2 Po grey 1 4 3 GND white 31 1 brown blue 4 3 3 yellow 10 2 Po green 36 4 4 GND white 30 1 P green brown 20 3 4 Vigp yellow 26 2 Po orange 35 4 USER S MANUAL SCORBOT ER III D 3 9211 Molex 12 Pin Encoder Printed Robot Arm Signals D50 Connector Connector Circuit PC500
53. PRNI 02 PRN2 03 PRN3 Example SCOR3 C2 SCORBASE Level 3 will be loaded with the robot communications on COMO2 Automatic Run Options progname If you specify a program name this program will automatically be loaded Note R IS H that only the program lines are loaded The position table should already exist in the controller If you add this option the program will automatically start running as soon as it is loaded When execution of the program is completed SCORBASE will return control to the DOS operating system Example SCOR3 TEST R The SCORBASE Level 3 program named TEST will automatically be load and executed When execution of TEST is completed SCORBASE will return control to the DOS operating system If you include this option together with a position number the robot will automatically be sent to the position specified and not to Home when SCORBASE is loaded Example SCOR3 S20 Instructs the system to run the HOME program before activating the Main Menu USER S MANUAL SCORBOT ER III 4 47 9211 4 48 Programs on the SCORBASE Diskettes Program The HOME program is included in SCORBASE Level 2 and Level 3 and is necessary for operation of the robot and for finding the home position Do not delete this program DEMO Program The DEMO program is included in SCORBASE Level 3 This program contains two subroutines in loops which do not coincide In the first
54. Positions menu Exit to DOS can only be activated by pressing 9 1 Teach positions This module allows you to control the robot movements directly and teach the robot positions Note that movement instructions and the recording of positions are performed in the PC RAM 2 Edit program This module lets you write and edit your robot programs The programs are created by SCORBASE and maintained in the PC RAM USER S MANUAL SCORBOT ER III 4 23 9211 SCORBASE Level 3 3 Program handling This module lets you to save and load programs to and from disk ette and to delete them 4 Run program This module lets you run a program which exists in the computer memory 5 Home This module enables you to home the robot and configure and home the peripheral equipment Since the SCORBOT should be homed each time the controller is turned on begin each working session by first activating the Home screen and performing the necessary operations Note that at the bottom of the Main Menu screen you may see the message ROBOT IS NOT SYNCHRONIZED PLEASE SELECT HOME MENU This message is displayed until the robot is successfully homed 9 exit to dos Press 9 to exit to DOS SCORBASE will prompt you to confirm ARE YOU SURE Y N N If changes to the program have been made but not yet saved to disk ette the following message will also flash on the screen WARNING CHANGES NOT SAVED To
55. Problem Corrective Action 8 Excessive motor The encoders link electronic and mechanical parts in the oscillations system Each encoder measures one robot axis movement and enables the controller to stop the motor as soon as the prescribed amount of movement is executed The motor then oscillates briefly around the brake point Controlled by the microprocessor the oscillation is quickly reduced by the friction created by the spring and teflon washers between the motor and the encoder disk see Figure 6 5 The washers might wear down and fail to exert sufficient pressure on the spring This will cause excessive motor oscillation You will therefore need to compress or replace the washers Remove the two screws on the encoder cover Open the encoder and carefully remove the small printed circuit board from the encoder it will remain attached to the electrical leads To compress the washers Loosen the two Allen screws which hold the encoder disk onto the motor shaft Gently press the encoder disk toward the motor and retighten the Allen screw Reattach the circuit board and cover To replace the washers and spring Lift out the encoder disk Remove the metal washer and the teflon washer Remove the spring and the second teflon washer Replace the necessary parts Make sure the encoder disk does not touch the sides of the encoder housing Figure 6 5 Spring and Washers between Encoder and Motor USER S MANUAL SCORBO
56. RESS G KEY TO SYNCHRONIZE THE ROBOT ANY OTHER KEY WILL STOP THE ROBOT lt ESC gt RETURN TO MAIN MENU PRESS G KEY TO SYNCHRONIZE THE ROBOT The SCORBOT should be homed each time the controller is turned on Press G to perform the hard fixed home search During the homing procedure each joint is moved until its microswitch is depressed closed SCORBASE displays messages stating whether each of the joints has reached its fixed home position If a joint does not reach its home location the program will automatically execute the home search once more for that joint If the homing is not fully successful the following message is displayed ROBOT IS NOT AT HOME When the robot has reached its hard home position the following message is displayed HOMING COMPLETED Figure 4 1 shows the hard home position of the robot USER S MANUAL SCORBOT ER IIl 4 21 9211 SCORBASE Level 2 Press any key to stop the homing while the operation is in progress Press G again to restart the homing procedure P Peripheral equipment setup The homing of axes 6 and 7 depends upon the peripheral equipment you have connected Press P to define the peripheral equipment You are then prompted AXIS 6 7 Press the number of the axis you have connected for example 6 You are then prompted Figure 4 1 Hard Home Position AXIS 6 is connected to Slidebase Rotary table Conveyor Not connected Press S R C
57. SCORBOT ER IIT User s Manual 6th Edition ESED D Copyright 1995 1999 Eshed Robotec 1982 Limited Catalog 100038 Rev A December 1995 Sixth Edition March 1999 Reprinted PDF version SBN 965 291 052 X Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied Eshed Robotec is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Eshed Robotec bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice Read this manual thoroughly before attempting to install or operate the robot controller or computer If you have any problems during installation or operation call your agent for assistance Save the original carton and all packing material You may need them later for shipment SCORBOT is a registered trademark and SCORBASE a trademark of Eshed Robotec 1982 Ltd Table of Contents CHAPTER 1 General Information 1 1 Unpacking and Handling Instructions 1 2 Repacking for Shipment 1 2 Acceptance 1 3 Standard IteHis s 4 of sou o Wa uec uev
58. SE Level 3 or 5 after you have recorded the required positions with the teach pendant and SCORBASE Level 4 The SCORBOT ER III teach pendant allows a number of programming and operating functions You can use the teach pendant to LCD DISPLAY Teach up to 100 positions Write programs of up to 250 lines The teach pendant uses all the commands contained in SCORBASE Level 2 and the gripper sensor commands from SCORBASE Level 3 Transfer programs between the teach pendant and the CONNECTOR computer Programs written on the teach pendant can then be saved to disk ette Programs on the computer can Figure 5 1 Teach Pendant be loaded into the teach pendant for execution or editing Run programs one line at a time run complete programs run programs starting from any line Run a DEMO program Use an emergency brake Search for the HOME position USER S MANUAL SCORBOT ER III 5 1 9211 Connecting the Teach Pendant to the Controller The teach pendant requires no battery and has no ON OFF switch It is connected to the controller by a RS232 cable and connector and turns on automatically when the controller power and motor switches are turned on Two RS232 serial communication connectors are located on the controller rear panel The lower connector connects the computer to the controller The upper connector connects the teach pendant to the controller The controller can transmit through only one RS232 conn
59. T ER III 6 7 9211 Item Problem Corrective Action Notes 1 If the washers are overly compressed excessive friction will result this will slow the motor and possibly cause motor errors while the robot is running 2 Where the force of gravity acts upon motors particularly in motors 2 and 3 it may be difficult to prevent the oscillation completely by compressing the washers and spring 3 n some positions especially when the robot arm is loaded some minor oscillations may occur which do not cause any movement of the gripper These slight oscillations are not a sign of a problem 9 Errors in the accuracy of the robot Position deviations in one or more of the axes during the running of a program may be caused by a faulty encoder Using an oscilloscope check the signals received from the two phototransistors Figure 6 6 shows the wave diagrams which emanate from the two channels Photo 0 t V Vu t 2 VL2 z VH1t VH2 Figure 6 6 The Encoder Signals SCORBOT ER III USER S MANUAL 9211 Item Problem Corrective Action and Photo 1 of an encoder with respect to the time axis the two upper signals should be clean square waves The low value should not exceed 0 4 V The high value should be greater than 4V However you must also check the third wave which shows the sum of the two waves The diagram reflects a time shift of a quarter cycle between the two
60. T LINE This command displays the specified program line Press 1 and enter the number of a program line 2 LIST FROM LINE This command displays all program lines beginning with the line specified If there are more lines than can be displayed in one screen the system will pause and prompt you PRESS ESC TO EXIT LISTING ANY OTHER KEY TO CONTINUE Press Enter to move the display down one line Press any other key to move the display down one screen 3 DELETE LINE This command deletes the specified line from the program Press 3 and enter the number of a program line Note that whenever you give the command to delete a line or lines SCORBASE USER S MANUAL SCORBOT ER III 4 37 9211 SCORBASE Level 3 displays the line s and prompts you to confirm ARE YOU SURE Y N N Press Y to delete Press any other key to cancel 4 DELETE FROM LINE TOLINE This command deletes all program lines from the first line specified through the second line specified Press 4 and enter two program line numbers 5 DELETE ALL Press 5 to delete the entire program from the controller memory 6 PRINT PROGRAM TO PRINTER Press 6 to print out a listing of all program lines 4 38 SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 3 PROGRAM HANDLING MENU This screen allows you to delete programs and to transfer load and save programs between the computer memory and disk
61. ach pendant but will not erase the program currently in its memory For more information on the Reset function refer to the section Connecting the Teach Pendant to the Controller at the beginning of this chapter BRAKE Key The red Brake key is used for emergency stops When running a program you can stop the robot movement in one of two ways Emergency brake Press the Brake key The robot will stop immediately and the following is displayed Regular stop Press any other key The display panels shows ABORT and the line currently being executed During program execution if the robot encounters an obstacle or some part of itself or if any robot motor has difficulty moving the emergency brake is automatically applied and the following is displayed Press 1 The program resumes running from the line it failed to execute Press 2 The program is aborted and you are prompted to select another function USER S MANUAL SCORBOT ER III 5 13 9211 SCORBASE Level 4 SCORBASE Level 4 SCORBASE Level 4 enables the transfer loading and saving of programs between the teach pendant and the computer thereby allowing you to save programs onto disk ette and later recall them to the teach pendant Level 4 also enables the listing and deletion of positions and program lines Main Menu The Main Menu must be displayed to permit the loading and saving operations which involve the teach pendant SCOR
62. activating key is depressed 1 Q move base right left Robot base moves right and left 2 W move shoulder up down Shoulder moves up and down 3E move elbow up down Elbow moves up and down 4 R move wrist pitch up down Wrist moves up and down 5 T move wrist roll right left Wrist moves right and left SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 1 6 Y move axis 6 Axis no 6 moves forward and backward 7 U move axis 7 Axis no 7 moves forward and backward O C Open Close gripper These commands open and close the gripper Press O to open the gripper Press C to close the gripper F S ET Speed 0 movement These commands set the speed for manual robot movement Press F to set the fastest speed of axis movement Press S and then enter any speed from 1 the slowest to 9 G Go to position This command sends the robot to a previously recorded position Press G to receive the prompt GO POSITION Then enter the position number If you enter a position number which has not been recorded a message will appear POSITION 15 EMPTY P record Position The Record Position command records the current location of the robot and peripheral axes Press P to receive the prompt RECORD POSITION 1 100 Then enter the position number you want to assign to the current location of the robot and peripheral axes If you simply press Enter SCORBASE will autom
63. and SCORBASE automatically assigns numbers to your program lines When you are prompted to enter a value or an option you may also press Enter to accept the default setting as your choice O C OPEN CLOSE GRIPPER These commands open and close the gripper 1 GO TO POSITION FAST SPEED This command sends the robot to a recorded position at the specified speed Press 1 At the Go Position prompt enter a position number If you press Enter instead of specifying a position SCORBASE automatically enters the next sequential position number You are then prompted for a speed Press Enter or F to enter the fastest speed If you press S you must also enter a number from 1 slowest through 9 for the speed value 2 WAIT SECONDS This command halts program execution for the specified time Press 2 At the Wait prompt type a number and press lt Enter USER S MANUAL SCORBOT ER III 4 31 9211 4 32 4 R SCORBASE Level 3 IF INPUT JUMP TO This command causes the program to jump to the specified line if the tested input is on Press 3 At the Input prompt type a number from 1 through 8 At the Jump prompt enter the line number to jump to TURN ON OFF OUTPUT These commands activate and deactivate the controller outputs Press 4 to turn on an output Press R to turn off an output At the prompt enter the number of the output JUMP TO LINE f This command causes the program to j
64. ark command EDITING FUNCTIONS INSERT LINE This command allows you to insert lines into a program Press I At the prompt enter the number of the line at which you wish to insert another command Then type and enter the additional command line or lines Press Enter a second time to exit the insert mode SCORBASE then displays the next available program line When program lines are inserted all line numbers and previously entered Jump commands are automatically updated REPLACE LINE This command allows you to replace an existing command line with another command Press X At the prompt enter the number of the command line you want to replace The command line specified is displayed and you are prompted for the new command Pressing Enter without a new command leaves the original line unchanged SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 3 L LIST DELETE Press L to activate the List Delete screen lt ESC gt RETURN TO MAIN MENU LIST DELETE PROGRAM SCREEN This screen allows you to display delete and print the programs you have written It is similar to the List Delete Position screen called from the Teach Positions screen To activate this screen press L from the Edit Program screen LIST DELETE PROGRAM LIST LINE LIST FROM LINE DELETE LINE DELETE FROM LINE TO LINE DELETE RLL PRINT PROGRAM PRINTER lt ESC gt RETURN TO EDIT PROGRAM MENU 1 LIS
65. ast line it automatically jumps to the first line and cotinues 4 JUMP TO LINE Press 4 and enter the number of a program line Press G to begin running the program from that line USER S MANUAL SCORBOT ER IIl 4 15 9211 SCORBASE Level 1 PRESS G TO LET ROBOT RUN You must press G to begin or restart the running of a program PRESS B FOR IMMEDIATE BRAKE Press B to apply an emergency brake at any time No loss of information will occur and the following message is displayed PRESS C TO CONTINUE PRESS M TO RETURN TO MENU Press C to restart the program from the line at which it was stopped Press M to allow the activation of any other command You can now go to another menu or continue running the program ANY OTHER KEY FOR REGULAR STOP Press any key other than B to halt the robot as soon as it completes execution of the current command lt ESC gt RETURN TO MAIN MENU SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 2 SCORBASE Level 2 This section describes only the additional options offered by SCORBASE Level 2 Refer to the section SCORBASE Level 1 for descriptions of all other options MAIN MENU The Main Menu now allows you to activate a module for homing the robot and configuring and homing the peripheral equipment Use the Home option to home the robot at the beginning of each working session SCORBASE LEVEL 2 ROBOTICS SOFTWARE ver 3 4 copyright
66. atically enter the next sequential position number You can record up to 100 positions L List delete positions Press L to activate the List Delete Positions screen USER S MANUAL SCORBOT ER IIl 4 5 9211 4 6 SCORBASE Level 1 H set present position as Home Press H to set the current position of the axes as the new home position Warning This command automatically alters the physical location of all recorded positions Changing the home position may therefore invalidate other recorded positions lt ESC gt RETURN TO MAIN MENU SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 1 LIST DELETE POSITIONS SCREEN This screen allows you to display delete and print the positions you have recorded To activate this screen select the L option in the Teach Positions menu LIST DELETE POSITIONS SCORBRSE LIST POSITION LEVEL 1 LIST FROM POSITION VER 3 4 DELETE POSITION DELETE FROM POSITION TO POSITION DELETE RLL PRINT POSITION PRINTER lt ESC gt RETURN TO TEACH POSITIONS MENU AK 1 AK 2 AK 3 AK 4 AK 5 1 LIST POSITION This command displays the coordinates of the robot axes at the specified position Press 1 and enter the number of a position 2 LIST FROM POSITION This command displays a listing of the coordinates of all positions beginning with the specified position Press 2 and enter the number of a position If there are more positions listed than can be di
67. ation between the robot and the computer Execute the Home routine and reload the program you want to run If the fault occurs frequently use filtering equipment on your power line Contact your agent if you are unable to rectify this problem SCORBOT ER III USER S MANUAL 9211 CHAPTER 7 Parts Lists Exploded Views Following are parts lists detailing the components used to assemble the robot arm and the controller The robot arm parts list includes the isometric drawing numbers used in the diagrams at the end of this chapter To order spare parts or replacements contact your agent When ordering specify the new and old previous part number and the item description Table 7 1 Robot Arm Components SCORBOT ER III Iso Previous Dwg Part Part Description 1 113012 ARI Bearing housing cover plastic 2 111401 AR2 Main shaft base S2 306003 SC1C4 14 Socket head cap screw 4 40 X 1 4 S3 306004 SC1C4 38 Socket head cap screw 4 40 X 3 8 4 113004 ARA Baseplate 5 113001 5 S6 306201 SCIC6 14 Socket head cap screw 6 32 X 1 4 S8 306002 SC1C2 38 Socket head cap screw 2 56 x 3 8 11 111906 ARII Tooth gear 120 teeth S11 306204 SC1C8 14 Socket head cap screw 8 32 x 1 4 12 112102 ARI2 Bottom Plate 12 301205 SC1C8 38 Socket head cap screw 8 32 x 3 8 S13 306206 SC1C8 12 Socket head cap screw 8 32 x 1 2 5 14 306207 SC1C8 58 Socket head cap screw 8 32 x 5 8 15 112401 ARIS Motors 4 5 support base
68. bably due to a faulty RS232 cable 3 Communication Error message while operating robot from teach pendant Press the Reset key on the teach pendant and reply No to the prompt ARE YOU SURE If error message reoccurs switch the controller off and then on again 4 Controller functioning but robot arm cannot be activated or one motor fails to respond and Motor Error appears screen USER S MANUAL 9211 Make sure the MOTOR switch is on and the green MOTOR LED is lit Make sure the robot cable is properly connected to the controller Make sure none of the axes has reached its mechanical limit If no fault detected and problem persists Check the two 4A fuses Check all electrical connections to the motor and the encoder Open the encoder by unscrewing the two Phillips screws on its cover and check the phototransistors and the LEDs in the encoder You can try to run the motor by applying 12VDC directly to its two poles Make sure there are no breaks in the leads from the motor to the controller SCORBOT ER III 6 5 Item Problem Corrective Action 5 The robot does not Enter a robot command from the computer and check respond to instructions whether the RX and TX LEDs on the controller rear from the computer panel light up but responds when If the LEDs fail to light up the problem is probably in MOTOR TEST switch is the computer or with RS232 card setup or cable Or the pressed
69. bridge cable set within controller 40015 RS 232 cable set within controller 40016 Ground cable within controller 45001 PCB 010 main board 45002 NPN PCB 200 driver board 45003 PNP PCB 200 driver board 45004 PCB 310 I O board 45005 PCB 410 power supply board 102311 Voltage tag 110707 Controller housing base 110709 Controller housing cover 110711 Transformer cover 110713 PCB 200 support bracket 307201 Phillips round head screw 4 40x3 8 307202 Phillips countersunk head screw 4 40 1 4 307203 Phillips countersunk head screw 4 40x3 8 307204 Phillips countersunk head screw 4 40 1 2 307402 Slotted round head screw 6 32x3 8 307404 Phillips round head screw 6 32x1 4 309001 D connector screw and nut 4 40x3 16 310601 Nut 4 40x3 16 nickel plated 310604 Nut 4 40 zinc plated 310605 Nut 6 32 5 16 zinc plated 310606 Nut 46 32 self locking zinc plated 310607 Nut 6 32x7 32 310804 Nut 28 32 self locking zinc plated 313003 Flat washer M4 DIN125a 313009 Fiber washer M4 314001 Spring washer UN 4 zinc plated 314003 Spring washer UN 6 314506 Star washer 6 314507 Star washer 4 zinc plated 315003 Plastic nut 6 32 315004 Plastic spacer 408515 LED housing SCORBOT ER III USER S MANUAL 9211 USER S MANUAL 9211 Part 410506 4109511 410601 411815 Description Fuse 1A Fuse 4A Fuse housing Flat cable to ER III SCORBOT ER III MANUFACTURED COMPONENT ESHED ROBOTEC
70. controller matches your power supply voltage Make sure the POWER switch is off Then plug the power cable first into the controller power port and then into the power outlet Note The power cable is a standard cable Controllers with 220V operating voltage have a cable with a European plug Controllers with 1 10V operating voltage have an American plug If you need to alter the plug provided make sure your connections are correct Note that the colors of the leads in the cables are in accordance with international standards VM 4A VM 4A M 5V 1A TEACH PENDANT esses MOTOR MOTOR LOGIC RX RS2320 otk FUSE 220 110V 2 COMPUTER 1 5A 1 6A M OUTLET SWITCH MANUFACTURER S CONNECTOR SCREW TAG VOLTAGE ROBOT CABLE Figure 83 2 Controller Rear Panel Connecting the Computer to the Controller 1 Make sure the power to your computer is off 2 Setup your computer in your standard configuration If you are using the computer as COMI set the RS232 card DIP switch as shown in Figure 3 3 If you are using the computer as COM2 or if you are using any other type of computer see Appendix B for additional instructions 3 2 SCORBOT ER III USER S MANUAL 9211 3 Connectthe RS232 cable from the lower port marked COMPUTER on the rear of the controller to the RS232 port on the computer 4 Connect the computer power cable to AC power source Figure 3 3 RS232 Setup for Computer as COM1 Te
71. d close Robot Cable The main cable of the robot contains 50 leads divided into six groups one for each motor Each group contains eight leads 2 leads supply voltage to the motor 2 leads receive pulses from the optical encoder channel and channel 1 lead carries the signal from the microswitch 1 lead supplies voltage to the encoder pp 1 lead provides the ground for the microswitch 1 lead provides the ground for the encoder commands both operational and control are transmitted through this cable which is the sole connection between the robot arm and the controller The cable runs from the robot base to the D50 connector marked ROBOT on the rear panel of the controller See Appendix D for more details USER S MANUAL SCORBOT ER III 2 5 9211 The Controller The controler has six main components the controller housing the main controller circuit the display and I O circuit two drive circuits NPN and PNP and the power supply Controller Housing The base of the controller contains the main circuit the power supply the transformer and the two drive circuits The display and I O printed circuit Figure 2 5 Controller Housing board is fitted into the cover see Figure 2 5 Main Controller Circuitry PC 010 The main controller circuit operates the robot s motors encoders inputs outputs microswitches test routine and communication The controller circuit is a slave of the comp
72. e SCORBOT ER III is potentially dangerous Use extreme caution when operating the robot Carelessness could result in injury to the operator and people in the vicinity Study this manual thoroughly before you install or operate the SCORBOT ER III Make sure the robot s base is fastened to the work surface by means of at least three bolts set 120 apart see Figure 3 1 Otherwise the robot could become unstable and topple over during operation Make sure the robot arm has sufficient space in which to move freely Do not place your hands or fingers or any object within the robot arm s operating range particularly while it is in motion Before you approach or handle the robot make sure the MOTOR switch on the controller front panel has been shut off Otherwise an unexpected signal could trigger robot motion Before you connect any input or output to the controller make sure the controller POWER switch has been shut off Before you remove any fuses from the controller rear panel unplug the power cable from the AC power outlet Do not open the controller housing USER S MANUAL SCORBOT ER III 1 5 9211 1 6 Warnings 10 11 12 13 To prevent damage to the SCORBOT ER III make sure you heed the following warnings Do not plug the controller into the 220 110 100V AC outlet before making sure the voltage on the manufacturer s tag at the back of the controller matches your voltage su
73. e positions will be printed using the currently active coordinate display system NO 104M XYZ COORDINATES SCORBASE Level 3 supports work and can display positions in two different coordinate systems Robot joints and Cartesian XYZ This command determines the system used to display and print positions Press R to display the position coordinates in terms of encoder pulses of the robot joints Press X to display the position of the robot axes in Cartesian or XYZ coordinates Movement of the robot axes is in millimeters and movement of the gripper is in degrees Note that the location of the peripheral axes 6 and 7 is always stated in encoder pulses lt ESC RETURN TO TEACH POSITIONS MENU SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 3 EDIT PROGRAM MENU This screen allows you to write and edit your robotic programs EDIT PROGRAN SCORBRSE OPEN CLOSE GRIPPER LEUEL 3 GO TO POSITION FRST SPEED VER 3 4 WAIT SECONDS IF INPUT JUMP TO TURN ON OFF OUTPUT JUMP TO LINE SET COUNTER TO DECRENENT COUNTER IF COUNTER gt 0 JUMP SET RETURN CALL SUBROUTINE SET MEMORY TO TO SENSOR IF MEMORY lt gt MEMORY JUMP REMARK PRINT ON MOTOR ERROR JUMP TO 5 0 SET ARIS TO ZERO I X INSERT REPLACE LINE L LIST DELETE lt ESC gt RETURN TO MAIN MENU T To create a program line type the character which activates the comm
74. ector at a time Normally the controller transmits to the lower computer connector However when you connect the teach pendant to the robot controller transmission is automatically routed to the upper teach pendant RS232 connector Warning Do not connect the computer and the teach pendant to the controller at the same time unless SCORBASE Level 4 has been loaded into the computer Loading SCORBASE Level 1 2 or 3 may interfere with teach pendant functions and cause communication error messages to be displayed while the robot is in motion SCORBASE Level 4 1s not active software that 1s it does not cause robot motion It simply enables the transfer of programs between the teach pendant and the computer and the listing of programs and positions These functions are discussed later in this chapter To return transmission to the lower RS232 connector press the RESET key on the controller To return transmission to the teach pendant press the Reset key on the teach pendant and answer No to the prompt ARE YOU SURE If you answer Yes communication will be directed to the teach pendant but its memory will be erased by the reset operation If the teach pendant displays a communication error message and or an axis moves improperly when activated from the teach pendant you may have accidently pressed the controller RESET button To restore communication to the teach pendant follow the steps described above SCORBOT ER III USER S
75. er 1 GO TO POSITION This command sends the robot to a recorded position Press 1 and enter the position number I INSERT LINE This command allows you to insert lines into a program Press I At the prompt enter the number of the line at which you want to insert another command Then type and enter the additional command line or lines Press Enter a second time to exit the insert mode SCORBASE then displays the next available program line When program lines are inserted all line numbers are automatically updated X REPLACE LINE This command lets you replace an existing command line with another command Press X At the prompt enter the number of the command line you want to replace The command line is displayed and you are prompted for another command Pressing Enter without a new command leaves the original line unchanged USER S MANUAL SCORBOT ER IIl 4 9 9211 L LIST DELETE PROGRAM Press L to activate the List Delete Program screen lt ESC gt RETURN TO MAIN MENU SCORBOT ER III SCORBASE Level 1 USER S MANUAL 9211 SCORBASE Level 1 LIST DELETE PROGRAM SCREEN This screen allows you to display delete and print the programs you have written It is similar to the List Delete Position screen called from the Teach Positions menu To activate this screen press L from the Edit Program menu LIST DELETE PROGRAM LIST LINE LIST FROM LINE DELETE LINE DELETE FROM LINE
76. er Circuitry USER S MANUAL SCORBOT ER III E 1 9211 E2 the distance between the board and the LED or phototransistor 2 Difference in the colors of the printed circuit boards In the encoder with a six slot disk there is no solder mask covering the board The board is a beige color In the encoder with a three slot LED or phototransistor board disk the mask is green and the Figure E 3 Height of Electronic Components number 3 is printed on the board Figure E 4 shows how the circuitry fits into the encoder housing SCORBOT ER III Figure E 4 Encoder Assembly USER S MANUAL 9211 APPENDIX F The Motor Kit USER S MANUAL 9211 The motor kit unit is a complete unit ready to connect axes 6 and 7 to the controller The motor is identical to the SCORBOT ER III motors It comprises a DC servo motor an optical encoder with a three slot rotating disk and a connecting cable with a D9 connector see Figure F 1 It has a gear ratio of 127 7 1 The motor kit allows the quick and easy integration of external devices into the robot system The output shaft of the motor must be mechanically connected to the device you wish to drive Electronically you need only to connect the motor to either of the terminals on the controller front panel marked MOTOR 6 and MOTOR 7 Activate the motor using SCORBASE software no additional programming is needed Figure F 1 The Motor Kit A number of
77. ernal machine is an open collector NPN type with a grounded emitter In Figure C 3 the external machine is an open collector PNP type with emitter connected to 4 V Inside external machine SCORBOT Figure C 2 Input Application 2 Inside inside external SCORBOT machine Figure C 3 Input Application 3 SCORBOT ER IIl USER S MANUAL 9211 Relay Outputs Outputs 1 4 Figure C 4 shows the OFF and ON states of a SCORBOT ER III relay output Figure C 5 shows the connection of a SCORBOT relay output to an external input Note The connection of V or GND depends on the machine logic of operation and can be reversed OUTPUT ut 1 OUTPUT E input tab external machine Figure C 5 Helay Output Application inside Open Collector Outputs Outputs 5 8 Figure C 6 shows an open collector output with a suggested application The open collector output transistor is ULN2003 NPN Figure C 7 shows the connection of a SCORBOT open collector output to an external input The external machine expects a low voltage level or ground 0 1 5V for ON activation USER S MANUAL SCORBOT ER IIl C 3 9211 inside a protective controller diode for i inductive load LOAD open collector out ON OFF commands input tab inside inside Scorbot external machine Figure C 7 Open Collector Output Application 2 Figure C 8 shows the connection of
78. ess 3 or D and enter the program name To delete a program you must be operating in the level in which the program was created For example to delete program KEYS L3 you must be working in SCORBASE Level 3 Note that whenever you give the command to delete a program SCORBASE prompts you to confirm ARI 4 Catalog E YOU SURI E Y N N Press 4 or C to display a listing of all the programs which have been saved on the disk ette Press 4 or C lt ESC gt RETURN TO MAIN MENU SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 3 RUN PROGRAM MENU This screen lets you run the programs you have created RUN PROGRAM RUN SINGLE LINE RUN SINGLE CYCLE RUN CONTINUOUSLY JUMP TO LINE DISPLAY LINE PRESS G KEY TO LET THE ROBOT RUN PRESS B FOR IMMEDIATE BRAKE ANY OTHER KEY FOR REGULAR STOP lt ESC gt RETURN TO MAIN MENU RUN SINGLE LINE gt Ea NEXT LINE gt PROGRAM IS EMPTY 1 RUN SINGLE LINE Press 1 and press G One program line the current line is executed each time you press G 2 RUN SINGLE CYCLE Press 2 and press G The program is executed from the NEXT LINE command to the end of the program 3 RUN CONTINUOUSLY Press 3 and press G The entire program is executed repeatedly When it reaches the last line it automatically jumps to the first line and continues 4 JUMP TO LINE Press 4 and enter the number of a program line The pointer goes t
79. ess than the offset number of encoder pulses to complete their movements If there are motors which still have to complete more than the offset number of pulses to complete their movement If a motor error has occurred on motor 1 through 8 that is the motor does not move as instructed Enable Interrupt Mode W W Designates the enable interrupt mode command On receipt of W the controller will effect interrupts to the computer whenever specific events occur The controller sends the following ASCII codes as interrupts 0 1 11 18 1 8 I1 1IS8 Jl J8 USER S MANUAL 9211 Change from motor movement to motor stop on all the motors Change from the state in which at least one motor has more than the offset remaining to state where no motor has more than the offset remaining Change from the state of the movement of the motors 1 though 8 to a state in which they are stalled or fail to move motor error When limit switch 1 through 8 goes from OFF to ON state When limit switch 1 through 8 goes from ON to OFF state When input 1 through 8 goes from OFF to ON state When input 1 through 8 goes from ON to OFF state Refer to the uni directional command X for disabling the interrupt mode SCORBOT ER III A 7 Special Bi Directional Commands Controller response to the special bi directional commands is two bytes in binary code Check Remainder of Motor Movement a A digit from 1 to 8 denotes
80. ette PROGRAM HANDLING Save program Load program Delete program Catalog lt ESC gt RETURN TO MAIN MENU 1 Save Program This option lets you save on disk ette the program you have created Press or S At the prompt type the name you want to assign to the program and press lt Enter gt The program is now saved on disk ette When you type a program name do not use more than 8 characters and do not use a number for the first character of the file name Do not use an extension All programs saved by SCORBASE are automatically assigned extensions corresponding to the level in which they were created For example PICKUP L3 indicates that the program PICKUP L3 was created in SCORBASE Level 3 2 Load Program This option lets you call up a program from the disk ette to the computer memory Press 2 or L and enter the program name When loading a program which was created in the level in which you are operating you need only to type the program name You may have programs with similar names which were written in different levels for example JACK L1 JACK L2 and JACK L3 When loading a program which was created in a SCORBASE level other than Level 3 indicate the level as shown in the examples below 2DEMO will load DEMO L2 IDEMO will load USER S MANUAL SCORBOT ER III 4 39 9211 4 40 3 Delete Program SCORBASE Level 3 This option allows you to delete a program from the disk ette Pr
81. f braking the controller resets all motor registers to zero but stores the information required to completed the interrupted movement in a special area of the backup memory Resume Motor Movement following Emergency Brake C C Designates a resume motor movement command On receipt of C the controller will restore the robot motion information from the backup memory to the motor registers causing the robot motor to restart and complete the originally programmed motion Set a New Offset U abc U Designates the change offset command abc A three digit number denoting the new offset instead of 14 pulses Denotes end of command Refer to the bi directional command E for checking the completion of motor movement Disable Interrupt Mode X X Designates the disable interrupt mode command This command prevents the controller from sending interrupts to the host computer by means of the RS 232C port when the events listed above occur Refer to the bi directional command W for enabling the interrupt mode A 4 SCORBOT ER III USER S MANUAL 9211 Regular Bi Directional Commands To reduce the possibility of error it is recommended that bi directional commands be transmitted twice in succession for example A I A I Then refer only to the controller s second response Check Input Status 1 a A digit from 1 to 8 denoting the number of the input to be checked I Designates an input status check command On rece
82. f holes along the length of conveyor enable the attachment of proximity and optical sensors The conveyor can be connected as an additional servo axis Connect the D9 connector on the motor cable to either one of the MOTOR terminals on the controller s front panel SCORBASE will then recognize the conveyor as either axis 6 or axis 7 The conveyor can also be installed as an open loop device using an external 12V source on the motor terminals Figure H 1 The Conveyor USER S MANUAL SCORBOT ER III H 1 9211 H 2 This page intentionally left blank SCORBOT ER Ill USER S MANUAL 9211 APPENDIX The Experiment Microswitch Table The experiment table is an accessory for demonstrating the concepts of inputs and outputs You can practice the operation of four controller inputs and two controller outputs The table contains microswitches and a buzzer and a lamp which are powered by two 1 5V AA batteries mounted within the table see Figure I 1 Figure l 1 The Experiment Table The experiment table s operating cable contains 12 wires as follows Inputs Black sleeve wiring Input 1 purple gray Input 2 green blue Input 3 yellow orange Input 4 brown red To connect a table microswitch to a controller input select the appropriate pair of wires and connect one wire to ground and one wire to the input tab Outputs Red sleeve wiring Lamp brown red Buzzer black white USER S MANUAL SCORBOT ER
83. from 1 slowest to 9 and press Return Note If the robot continues to move slowly after you have pressed the Fast key select a slow speed and then attempt to return to a fast speed Output On This key turns on the controller outputs At the TURN ON OUPUT prompt enter a number of a specific output from 1 through 8 and press Return Output Off This key turns off the controller outputs At the TURN OFF OUTPUT prompt type a number of a specific output from 1 though 8 and press Return Record This key lets you teach record the present robot location After you have moved the robot to the desired location press Record Type the number for the position from 1 through 100 and press Return Pressing Return without typing in a position number will record the next available postion number Entering 0 or a number greater than 100 will cancel the command and an error message will be displayed VALUE OUT OF RANGE USER S MANUAL SCORBOT ER III 5 5 9211 5 6 Go Position List Delete This key allows you to move the robot to a recorded position Press Go Position Type in a position number and press Return Pressing Return without typing in a position number cancels the Go Position command If the position number has not been recorded the robot will not move and an error message will be displayed POSITION EMPTY This key displays the robot axis coordinates in encoder pulses for any recorded position Press List then ty
84. g System Commands Communication is initiated by the host computer which sends all its commands to the controller as a continuous serial transmission of ASCII codes Commands may be categorized according to the controller response which they elicit Uni directional The controller does not transmit a response Regular bi directional The controller response is one ASCII character such as Oorl Special bi directional The controller response consists of two consecutive bytes USER S MANUAL SCORBOT ER Ill A 1 9211 Note that the TX and RX LEDs on the controller rear panel light up to indicate that communication between the controller and the host computer is functioning properly If you are having trouble operating the robot check that these LEDs are indeed lit Uni Directional Commands Uni directional commands are sent to the controller as a continuous serial transmission of ASCII codes These commands activate robot operations The controller does not transmit a response to these command Motor Movement a M bcde bcde 4 A digit from 1 to 8 denotes the number of the motor to be operated Designates a motor movement command A plus or a minus sign denotes the required direction of motor rotation If no sign is used the direction is considered positive A four digit number ranging from 8000 to 80000 denotes the required amount of motion measured in encoder pulses Carriage return
85. gulated supplies power to the RS232 communications 5V 1 5A regulated supplies power to the microprocessor the memory and the logic in the control circuit The three regulated power supplies also feed the teach pendant s circuitry Warning Never connect the ground of the motor power supply and the ground of the other power supplies to each other V motor 0201 0208 122 Vmotor Z201 10K Vmotor Q201 0208 TIP127 u 44 R261 L J 201 3 22Ka V J201 112 6 Kom R20 2 J201 4 3201122 74_ 9 J201 5 J201 130 aom R204 2A 201 6 J201 140 KA Kr R205 C 1 5 9201 7 J201 156 A 2 4 d R 206 AA up 5201 8 5201 18 AAA 24 9201 9 J201 17 AWE Kov R 288 2A 2 2201 10 J201 180 A v Ke J201 22 NOTE THIS PRINTED CIRCUIT em BOARD IS USED FOR EITHER 2 OR PC 200P Figure 2 8 Power Drive Card PC 200 Circuitry SCORBOT ERIII USER S MANUAL 9211 v og cOvf x 51501 9 den AS AZ soba AGS Elro io 4Yoozv lor 21701 2 O2 5101720 4 8 LOV HA eem OOPGNL 3 8 O0FT EOP Kc 1 3 01 corvo SrivNL 42 ed OOVP gis 0 N VOWAZL Lop YSA 90PX OVE 00b OG eA D _ 6 2 00 Ae E LOr P gt
86. h 250 and press Return Output On This key writes a command to activate a specific controller output Press Output On type in the number of the output and press Return Output Off This key writes a command to deactivate a specific controller output Press Output Off type in the number of the output and press Return Jump This key writes an unconditional jump command which causes the program to jump to the specified line each time the program is run Press Jump type in the desired line number and press Return Input This key writes a conditional jump command which causes the program to jump to the specified line if the specified input is on If the input is off the program simply continues at the line immediately following the Jump command line Press Input You are prompted to type the desired input number Type a number from 1 through 8 and press Return You are now prompted to type the desired line number Type a number from 1 through 250 and press Return Sensor This key activates the gripper measurement commands Press Sensor The following is displayed 1 VALUE 2 SENS 3 JUMP Select one of the following 1 VALUE This option lets you enter and store a predetermined value in a memory cell SET MEMORY TO This command provides a constant value for the size of the gripper s opening which can be used for comparisons during program execution SCORBOT ER III USER S MANUAL 9211 Pre
87. heir respective shafts by firmly tightening the Allen screws one portion to the motor output shaft and the other to the lead screw Note When tightening the coupling piece to the motor output shaft ensure that the coupling is 1 5 mm to 2 mm away from the plate 112 Reassemble the Gripper 1 Make sure the coupling s plastic portion is attached to the metal portion attached to the lead screw 94 Keep SCORBOT ER III USER S MANUAL 9211 Item Problem Corrective Action the gripper fingers closed Screw the lead screw 94 with the coupling portion attached clockwise into part 105 as tight as possible Now release the gripper fingers 2 Refit the motor by aligning the coupling fitted to the motor output shaft together with the plastic coupling portion attached to the metal portion attached to the lead screw 94 3 When all the coupling sections are aligned and attached turn the motor body until the holes in the plate 112 align with those in part 91 Reinsert and tighten the three bolts which you loosened at the beginning of the procedure 14 Motor turns constantly in one direction after a move axis command is given Press the controller RESET button If pressing the RESET switch stopped the motor s rotation the problem is probably due to the encoder or the encoder circuitry in the controller Check the square wave from both phototransistors while the motor is rotating 15 Motor turns cons
88. ing 9 1 Teach Positions This module lets you manipulate the robot and teach the robot positions 2 Edit Program This module lets you write and edit your robot programs 4 2 SCORBOT ER IIl USER S MANUAL 9211 USER S MANUAL 9211 Program Handling SCORBASE Level 1 This module lets you save programs on a disk ette and to load or delete them Run Program This module lets you run a program which exists in the computer memory Exit to DOS Press 9 to exit to DOS SCORBASE will prompt you to confirm ARE YOU SURE Y N N If changes to the program have been made but not yet saved the following message will also flash on the screen WARNING CHANG ES NOT SAV ED Press Y to exit to DOS Press any other key to cancel SCORBOT ER III 4 3 4 4 SCORBASE Level 1 TEACH POSITIONS MENU This screen allows you to move the robot and to teach and define positions TEACH POSITIONS MENU move base right left move shoulder up down move elbow up down move wrist pitch up down move wrist roll right left move axis move axis T 7 Open Close gripper meee Speed 0 movement Go to position record Position List delete positions set present position as Home lt ESC gt RETURN TO MAIN MENU The following pairs of number and letter keys are used to directly control the movement of the servo axes The axes will continue to move as long as the
89. ipt of I the controller will check the status of the specified input and respond with the following ASCII codes If the input is ON that is if a short circuit exists between the two input terminals If the input is OFF that is if a state of disconnection exists between the two input terminals Check the controller response to the status of inputs 1 and 2 by turning input switches 1 and 2 on and then off Also check the controller response to the status of inputs 3 through 8 by changing their status short circuit or disconnect from the controller front panel Check Limit Switch Status 1 digit from 1 to 8 denoting the number of the limit switch to be checked L Designates a limit switch status check command On receipt of L the controller will check the status of the specified limit switch and respond with the following ASCII codes If the limit switch is ON that is if the limit switch on the robot arm is depressed O If the limit switch is OFF that is if the limit switch on the robot arm is released USER S MANUAL SCORBOT ER Ill A 5 9211 Check Completion of All Motor Movement T T Designates a movement completion check command On receipt of T the controller will check whether all robot motors have completed their programmed motion that is whether all motor registers are set to zero and respond with the following ASCII codes 1 If all robot motors have completed their programmed movemen
90. irst three levels of SCORBASE SCORBASE Level 4 is provided with the teach pendant Level 4 enables the transfer of programs between the teach pendant and the computer and the listing of programs and positions See Chapter 5 SCORBASE Level 5 contains almost all the features available in Levels 1 2 and 3 as well as more advanced features Loading SCORBASE To load any level of SCORBASE do the following steps Turn on the controller power supply always do so before loading SCORBASE 2 Turn on the controller MOTOR switch 3 Turn on your display screen Turn on your computer and boot using your DOS diskette 4 When the cursor prompt is displayed insert the SCORBASE diskette and type GO Enter or depending on the level you want to activate USER S MANUAL SCORBOT ER IIl 4 1 9211 SCORBASE Level 1 SCOR1 Enter SCOR2 Enter SCOR3 Enter The following message will appear on your screen SCORBASE LEVEL 4 IS LOADED The Main Menu will then appear on your screen SCORBASE Level 1 MAIN MENU SCORBASE LEVEL 1 ROBOTICS SOFTWARE ver 3 4 copyright ESHED ROBOTEC MAIN MENU Teach positions Edit program Program handling Hun program exit to dos To select any of the options press the number or the first letter of the function you want to activate For example press 3 or P to activate the Program Handling module However Exit to DOS can be activated only by press
91. is fitted to the cover of the controller housing This circuit includes push button switches I O terminals and LEDs see Figure 2 6 Switches The MOTOR on off switch for DC power to the motors Two INPUT switches connected to inputs 1 and 2 these can be used to simulate inputs The RESET switch resets the controller to its initial state The LAMP TEST switch causes all the LEDs on the panel to light up The MOTOR TEST switch initiates a diagnostic routine on the robot s motors Note The MOTOR switch and INPUT switches 1 and 2 are activated by pressing them for both on and off Do not attempt to pull them out LEDs A green LED POWER light indicates 110 VAC 220 VAC voltage A green LED on MOTOR switch indicates DC voltage to the motors Eight yellow LEDs show whether the inputs are on or off Eight green LEDs show whether the outputs are on or off INPUTS OUTPUTS 1811111010 Mer E 12345678 12345678 TEST 24 24Wmax 24Vmax 24Vmax 5 3H moze 777712345678 TEST gt 24 24Vmax 24Vmax n c HI Hi Hi Hese n o R 4R Figure 2 6 Controller Front Panel _ USER S MANUAL SCORBOT ER Ill 2 7 9211 Circuitry Warning Make sure the controller POWER switch is off before you make any connections to the I O terminals RELAY OUTPUT 1 RELAY OUTPUT 3 GND INPUTS 1 THROUGH 8 n c OPEN
92. ke a real time decision regarding the continued course of action USER S MANUAL SCORBOT ER III 4 33 9211 4 34 D Y SCORBASE Level 3 Press V At the prompt enter a recorded memory number Then enter a comparison operator and enter the number of another recorded memory The comparison operations can be as follows equal to smaller than greater than smaller than or equal to greater than or equal to notequal M M A II At the Jump prompt type the line number to jump to if the result of the comparison is true REMARK PRINT The Remark command lets you insert a comment line into the program for explanation and documentation Type in any text of up to 48 characters The Print command prints text on the screen at run time A maximum of 48 characters can be printed in one command line ON MOTOR ERROR JUMP TO C S O This command allows you to receive information about motor errors and to respond with a jump to another command line At the prompt enter a number from 1 through 8 Or press Enter to accept any motor error Note that the command line will show Motor ALL Error At the Jump prompt enter a line number If you simply press Enter without specifying a line number the following will be displayed ON MOTOR 1 ERROR JUMP TO NEXT Continuously Single Off This defines a jump to the next line of the program Should a motor error occur on the specified motor during its exec
93. ling Instructions The SCORBOT ER III robot arm and controller are packed and shipped in a carton weighing 22 kg 48 5 16 and measuring Height 400 mm 15 5 Width 460 mm 18 Length 610 mm 24 After you have removed the SCORBOT ER III User s Manual from the recess in the top layer of the molded foam carefully remove the layer of foam which covers the robot and controller see Figure 1 1 To remove the robot grasp the orange aluminum side plate with one hand and the black handle carrying bar at the rear of the robot with the other hand Carefully lift the robot out of the box Set the robot down on its base Lift and or carry the robot arm only by grasping the carrying bar or by holding the body or the base with both hands Warning Prevent damage to the robot arm When handling do not grasp the gripper upper arm or forearm and do not touch the micro switches cams or encoders To remove the controller grasp it on its two metal sides Set it down on its base Unpack the electric power cable and the RS232 cable To install the robot refer to the instructions in Chapter 3 Repacking for Shipment Save the carton and molded foam for use when storing or shipping the equipment The SCORBOT ER III arm and controller should always be repacked in their original packing materials When repacking make sure the microswitch on the base of the robot is not in contact with its cam 1 2 SCORBOT ER IIl USER S MANUA
94. ller 3 2 Testing the Controller Display Panel 3 3 Testing the Motors RR NL 3 3 USER S MANUAL SCORBOT ER Ill V 9211 CHAPTER 4 2 on er seb oom oe a BY moe Romo VES 2 4 1 SCORBASE Software 2 4 9 04 s x 9 do dX RR oS d UR Ls 4 1 Loading SCORBASEY err ARS DEI TR a 4 1 SCORBASElev ll 4 4 2 Mar Men ves arse qu ao Gs wu dee w Nee a 4 2 Teach Positions Menu 4 4 List 7 Delete Positions Screen uw 49 dw 4909 wy ow 4 7 Edit Pr eranr Menus ieu x m Rx ee Reus 4 9 List Delete Program Screen 4 11 Program Handling Menu o aoaaa e 4 13 Run Program Men ues aina Aa ede TEA 4 15 SCORBASE Level 2 sor 2 e Eis onem RU es EE des s 4 17 Mar Men o uus See uud wwe Xe oo BG 4 17 Teach Positions Menu 4 18 List 7 Delete Positions 4 18 Edit Program Menu 4 19 List Delete Program Screen 4 20 Program Handling Menu 4 20 Run Program Men abd una RC Red A 4 20 Home Men s uos ee 4 21 SCORBASE aod GU ee w
95. ncoder Circuitry E 1 SCORBOT ER III Figure E 3 Height of Electronic Components 2 E 2 Figure E 4 Encoder Assembly 4 E 2 Figure F 1 2 1 Figure G I The Rotary Table G 1 Figure H 1 The Conveyor H 1 Figure I l The Experiment Table I 1 Figure 1 2 Lamp and Buzzer Connections I 2 Figure J 1 The Linear Slidebase lll n 1 1 SCORBOT ER III USER S MANUAL 9211 List of Tables Table 1 1 SCORBOT ER III Standard Components 1 3 Table 1 2 SCORBOT ER Optional Accessories 1 4 Table 2 1 SCORBOT ER Robot Arm Specifications 2 3 Table 7 1 Robot Arm Components SCORBOT ER 7 1 Table 7 2 Controller Components SCORBOT ER 7 6 1 Wiring to Motors Encoders and Microswitches D 3 Table D 2 Single Axis Wiring with D9 Connector D 5 USER S MANUAL SCORBOT ER Ill Xi 9211 CHAPTER 1 pommEEECCEEEG i General Information Congratulations You are now the owner of the SCORBOT ER III educational robot Many hours of interesting and stimulating work now await you Read this chapter carefully before you unpack the SCORBOT ER III robot and controller Figure 1 1 SCORBOT ER III in Packing USER S MANUAL SCORBOT ER III 1 1 9211 Unpacking and Hand
96. nd Delete functions are also applicable to the DEMO program Note For Save operations the robot controller must be connected to a computer in which SCORBASE Level 4 has been loaded Refer to the following section SCORBASE Level 4 Press Save This key transfers the program currently in the teach pendant memory to the computer memory When the Save operation is completed the display will show DONE Note For Load operations the robot controller must be connected to a computer in which SCORBASE Level 4 has been loaded Refer to the following section SCORBASE Level 4 Press Load This key loads the program currently in the computer memory into the teach pendant memory Note If you load a program which was written in another level of SCORBASE such as Level 3 and contains commands unknown to the teach pendant the lines containing these commands will be blank during Run or List operations only the line number will be displayed SCORBOT ER III USER S MANUAL 9211 RESET Key The gray Reset key clears the teach pendant memory Press Reset You are prompted ARE YOU SURE If you press Yes the teach pendant memory will be irretrievably erased Press any other key for No If the teach pendant stops responding to keyboard entries and does not beep when keys are pressed press the controller RESET switch and then press the teach pendant Reset key Then respond negatively to ARE YOU SURE This will restore operation to the te
97. ne definition The only way to execute a subroutine is to use the Call Subroutine command The Return from Subroutine command marks the end of a subroutine At run time it terminates the execution of the subroutine and the program resumes execution at the line which follows the Call Subroutine command Press 0 zero to create this comand line The Call Subroutine command activates calls the specified subroutine Press P At the prompt enter any number from 1 though 64 M SET MEMORY TO This command allows you to enter an arbitrary value and store it in one of 64 memory cells Press M At the prompt enter a number from 1 through 64 At the next prompt enter a value 32767 This command is most valuable for storing the size in millimeters of an object N SET MEMORY TO SENSOR This command allows you to measure the spread of the gripper fingers in order to record the size of an object being grasped by the gripper At run time SCORBASE translates this measurement into millimeters and stores the result in a specified memory cell Press At the prompt enter a number from 1 through 64 At run time whenever this command is encountered the measured value is displayed in millimeters For example SENSOR VALUE IS 45 V IF MEMORY lt gt MEMORY JUMP This command is a conditional jump command It allows you to compare the values of two memory cells and to use that comparison to ma
98. ne to which the program will jump LIST DELETE PROGRAM SCREEN All commands in this screen are identical to those found in Level 1 PROGRAM HANDLING MENU All commands in this screen are identical to those found in Level 1 RUN PROGRAM MENU All commands in this screen are identical to those found in Level 1 with the following addition RUN PROGRAM SCORBASE RUN SINGLE LINE LEVEL 2 RUN SINGLE CYCLE VER 3 4 RUN CONTINUOUSLY JUMP TO LINE DISPLAY PRESS G KEY TO LET THE ROBOT RUN PRESS B FOR IMMEDIATE BRAKE ANY OTHER KEY FOR REGULAR STOP lt ESC gt RETURN TO MAIN MENU RUN SINGLE LINE NEXT LINE gt PROGRAM IS EMPTY 5 T DISPLAY ON 913 Press 5 to display the program lines during program execution Press T to turn off the display during program execution 4 20 SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 2 HOME MENU This screen is used for configuring and homing the robot and peripheral equipment Many of the commands in the Home screen are identical to those found in the Teach Positions screen The additional features are as follows HOME MENU move base right left move shoulder up down move elbow up down move wrist pitch up down move wrist roll right left move axis 4 not connected move axis T not connected 4 Close gripper 3 Speed 0 movement on off output set present position as Home Peripheral equipment setup P
99. nge 4 Note GND and Vj gp are always connected to pads 1 and 2 respectively on the encoder printed circuit PC500 GND is also connected to the shield on the D9 connector The phototransistors and are always connected to pads 4 and 3 respectively USER S MANUAL SCORBOT ER III D 5 9211 This page intentionally left blank SCORBOT ER Ill USER S MANUAL 9211 APPENDIX E The Optical Encoders The SCORBOT ER III uses two kinds of optical encoders The encoders on motors 1 through 5 differ from those on motors 6 through 8 Figure E 1 shows the two kinds of encoder disks The encoder disk with six slots at left is used on the robot arm motors The encoder disk with three slots at right is used on the gripper and accessories such as the conveyor rotary table or linear slide base Figure E 1 Encoder Disks Figure E 2 shows the encoder circuitry It comprises a printed circuit board 500 two LEDs and two phototransistors Po and Pj The circuitry of the two kinds of encoders differs in two ways 1 Difference in the height of the electronic components above the printed circuit board surface In the encoder with a six slot disk the components are 8 2 mm 0 1 mm above the board In the encoder with a three slot disk the height is 6 7 mm 0 1 mm It is extremely important to maintain the exact height of the components PHOTOTRANSISTOR Figure E 3 shows how to measure Figure E 2 Encod
100. nication with the controller and may result in a delay in response time 1 LIST POSITION This comand displays the coordinates of the specified position using the currently active coordinate display system Press 1 and enter the number of a position 2 LIST FROM POSITION This command displays a list of the recorded positions starting from the specified position using the currently active coordinate display system Press 2 and enter the number of a position If there are more positions listed than can be displayed in one screen the system will pause and prompt you PRESS ESC TO EXIT LISING ANY OTHER KEY TO CONTINUE Press Enter to move the display down one line Press any other key to move the display down one screen 3 DELETE POSITION This command deletes the position specified Press 3 and enter the number of a position Note that you will be prompted to confirm whenever you give the command to delete a position ARE YOU SURE Y N N USER S MANUAL SCORBOT ER IIl 4 29 9211 4 30 R X SCORBASE Level 3 DELETE FROM POSITION TO POSITION This command deletes all points from the first position specified through the second position specified Press 4 and enter two position numbers DELETE ALL Press 5 to delete all recorded positions from controller memory PRINT POSITION TO PRINTER Press 6 to print out a listing of all recorded positions Th
101. ntly being written or edited is displayed at the left The functions available in the Edit mode are as follows Go Position This key creates the command which sends the robot to a previously recorded position whenever the program is run Press Go Position Type in a position number and press Return You are prompted to press Slow or Fast to enter the rate of motion Slow Fast The Slow and Fast keys determine the speed at which the robot goes to the specified position You are prompted to select a speed after you have entered a Go Position command EDIT PROGRAM 1 POS 2 S F Press Fast to enter the fastest speed Press Slow and a number from 1 through 9 for a slower speed Note During program execution the actual change in speed between slow and fast is not immediate the shift is gradual Also the SCORBOT ER III takes longer to decrease speed than increase speed and stops more quickly when moving against the force of gravity Open This key writes a command to open the gripper The gripper will open each time this line is encountered during program execution Close This key writes a command to close the gripper The gripper will close each time this line is encountered during program execution USER S MANUAL SCORBOT ER III 5 7 9211 5 8 Wait This key writes a command which causes a delay of the specified number of seconds each time the program is run Press Wait type in the number of seconds from 1 throug
102. nufacturer for repairs The following chart provides guidelines for identifying and rectifying problems which you may encounter Item Problem Corrective Action 1 Controller power does Make sure the power cable is connected to the controller not turn on and to a proper power source The LED on the controller POWER Check the 5V 1A fuse switch does not light Check the 220V 110V 1 5A 1 6A fuse use a small up screwdriver to pry open the lid If the RS232 cable is connected disconnect it and retry to power on the controller If successful reconnect the RS232 cable Disconnect the robot cable and retry to power on the controller If successful reconnect the cable 2 No communication Make sure the controller POWER and MOTOR switches between the controller and computer Communication Error message while operating robot from computer are on Make sure the RS232 cable is properly wired and connected to the controller and to the computer Make sure the RS232 card in the computer is set up properly See Appendix B SCORBOT ER III USER S MANUAL 9211 Item Problem Corrective Action Make sure the teach pendant is not connected to the controller s upper RS232 port Press the controller RESET switch or switch the controller off and then on again Using the Teach screen in SCORBASE try to move any robot axis and check whether the TX and RX LEDs at the back of the controller light up If problem persists it is pro
103. o the specified line Press G to start the program from that line 5 T DISPLAY ON 84 Press 5 to display program lines during program execution This is the default mode Press T to turn off the display during program execution USER S MANUAL SCORBOT ER III 4 41 9211 SCORBASE Level 3 6 Y KONI OFF LINE This option lets you choose between running your programs off line or on line Press 6 to run programs on line When a program runs on line the robot peripherals and I Os execute all program commands This is the default mode Press Y to run programs off line When a program runs off line all commands for executing actions are suppressed The robot arm is not moved and the outputs are not switched The robot can even be disconnected when this mode is active When a program runs off line it will halt at the commands which test the state of the inputs or limit switches and will prompt you for a simulated status Example When the program reaches this line IF INPUT 1 ON JUMP TO LINE 25 It will stop and prompt IS INPUT 1 ON Y N You can thus simulate the actual execution of the program Note that the off line option in this screen can also be used when SCORBASE is connected to a controller and is in the on line mode PRESS G TO LET ROBOT RUN You must press G to begin or restart the running of a program PRESS B FOR IMMEDIATE BRAKE Press B to apply an emergency brake at any time No loss
104. of information will occur and the following message is displayed PRESS C TO CONTINUE PRESS M TO RETURN O MENU Press C to resume program execution from the line at which it was stopped Press M to allow the activation of any other command You can now go to another menu or continue running the program ANY OTHER KEY FOR REGULAR STOP Press any key other than B to halt the robot as son as it completes execution of the current command lt ESC gt RETURN TO MAIN MENU 4 42 SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 3 HOME MENU This screen is used for configuring and homing the robot and peripheral equipment HOME MENU _ SCORBASE move base right left LEVEL move shoulder up down UER move elbow up down move wrist pitch up down move wrist roll right left move axis 4 not connected move axis 7 not connected Open Close gripper eee Speed movement turn on off output set present position as Home set gripper to Zero Define gripper sensor Reps ee Peripheral equipment setup Arm calibration PRESS G KEY TO SYNCHRONIZE THE ROBOT ANY OTHER KEY WILL STOP THE ROBOT lt ESC gt RETURN TO MAIN MENU Many of the commands in the Home screen are identical to those found in the Teach Positions screen The additional features are as follows G PRESS KEY TO SYNCHRONIZE THE ROBOT The SCORBOT should be homed each time the controller is turned on
105. of the axes under mechanical strain for a long period and especially do not leave the gripper grasping an object for any length of time Do not use the SCORBOT where the power line contains spikes of high surge voltage or near any equipment such as presses oscillators large size inverters contactors which generates large electrical noise SCORBOT ER IIl USER S MANUAL 9211 CHAPTER 2 Components and Specifications The SCORBOT ER III system consists of the mechanical arm and the electronic controller The Robot Arm The SCORBOT ER III is a vertically articulated robot It has a base joint which rotates the arm in a horizontal plane three joints which rotate the robot s links in a vertical plane and a wrist roll joint which rotates the gripper see Figures 2 1 and 2 2 SHOULDER The body of the robot is the main frame which contains five of the six motors The links upper arm and forearm and the joints enable the desired movements of the gripper The gripper is the end effector of the robot arm For the gripper to reach the desired position some or all of the axes must move Figure 2 1 Robot Joints The gripper fingers open and close in parallel Various kinds of pads and end effectors such as an air brush or a vacuum gripper can be attached to the gripper by means of the 4 mm 0 16 holes in the gripper fingers see Figure 2 3 USER S MANUAL SCORBOT ER IIl 2 1 9211 FOREARM JOINTS GRIPPER
106. olute position Make sure you have first recorded the reference position Press V The format for recording a relative position is RECORD POSITION 1 100 RELATIVE At the Record Position and Relative To prompts type in valid position numbers and press Enter SCORBOT ER IIl USER S MANUAL 9211 SCORBASE Level 3 If you simply press Enter without specifying a number for the reference position the position you record will be relative to the current position of the axis For example RECORD POSITION 1 100 12 RELATIVE TO CURRENT If your position is relative to current you are prompted to define values for the relative movement of each axis The format is as follows RECORD POSITION 1 100 RELATIVE TO CURRENT AXIS 1 0 AXIS AXIS AXIS AXIS AXIS AXIS WN ll Ceu co 0 Pressing Enter without specifying a value for a particular axis accepts the offset default value which in all the instances above is 0 Be sure to enter a value of 0 for axes 6 and or 7 if peripheral equipment is not connected to these axes A position which is relative to current means the specified offset will be computed from wherever the robot is located at the time it is sent to the relative position If the reference position changes the relative position also moves L List delete positions Press L to active the List Delete Positions sc
107. on A 3 Emergency Brake all Motors without Loss of Information 4 Resume Motor Movement following Emergency Brake 4 Seta New ue ue due ec tue Se AUS es ir eme es A 4 Disable Interrupt 4 Regular Bi Directional Commands A 5 Check Input Status i 2 2 209 9 82 mo oO o9 ox RR ES A 5 Check Limit Switch Status ue ccv c wo 3 mo Ge ee ee ds A 5 Check Completion of All Motor Movement A 6 Check Expected Completion of All Motor Movement Offset of 14 Pulses 6 Check Status 7 USER S MANUAL SCORBOT ER III 9211 vii viii Enable Interrupt Mode Special Bi Directional Commands 4 A 8 Check Remainder of Motor Movement A 8 Check Remainder of Motor Movement following Emergency Brake A 9 Switching the Communication Ports a a a e a e A 9 APPENDIX B Controller Computer RS232 Setup oe ee E 0 SCORBOT ER III RS232 Specifications a a a B 1 RS232 Cable Conmnectons o eos s e 99 Ge EE as B 1 RS253 4 anb out au deu nose Ge Rue BEM dee B 2 APPENDIX C Input Output Applications C 1 1 t dto ood a dh d Mate wee gl nn Relay Outputs Outputs 1 4 C 3 Open Collector Outputs
108. or N according to the connected equipment The homing procedure for the peripheral equipment is as follows Slidebase The slidebase is moved to one side until it cannot move any further Rotary table Search for a microswitch is performed Conveyor No search is performed Not connected No search is performed H set present position as Home This is the same command as in the Teach Positions menu in SCORBASE Level 1 Press H to set the current position as the new home position Warning This command automatically alters the physical location of all recorded positions Changing the home position may therefore invalidate other recorded positions 4 22 SCORBOT ERIII USER S MANUAL 9211 SCORBASE Level 3 SCORBASE Level 3 SCORBASE Level 3 offers all programming and operating options available in SCORBASE Levels 1 and 2 and many additional features This section describes all the options available in SCORBASE Level 3 including those found in preceding levels MAIN MENU Once SCORBASE Level 3 has been loaded the Main Menu screen is displayed SCORBASE LEVEL 3 ROBOTICS SOFTWARE ver 3 4 copyright ESHED ROBOTEC MAIN MENU Teach positions Edit program Program handling Run program Home exit to dos ROBOT IS NOT SYNCHRONIZED PLEASE SELECT MENU To select an option press either the number or the first letter of the function you want to activate For example press either 1 or T to activate the Teach
109. pe the position number The display format is as follows LIST F POS 4 4 225 955 shoulder 875 pitch uen 58 axis 6 elbow 0 roll axis 7 Press Return to display the next line of coordinates Hold down the Return key to scroll the coordinate display Press the Left Arrow key to return the previous line of coordinates Hold down the Left Arrow key to scroll up reverse scrolling This key allows you to delete any position or any range of positions from the teach pendant memory Press Delete Type the number of the position or the first position to delete and press Return You are again prompted To delete a single position type the same position number previously entered and press Return or simply press Return without typing a position number To delete arange of positions type the number of the last position to delete and press Return Before the delete operation is executed you are prompted ARE YOU SURE Press the Yes key to delete the position s entered Press any other key to cancel the operation SCORBOT ER III USER S MANUAL 9211 EDIT Key EDIT MODE The Edit mode allows you to write and amend programs The Edit commands are identical to the commands in the Edit Program Menu in SCORBASE Level 3 To activate the Edit mode press the yellow Edit key The display panel shows The letter E flashes until you select an Edit yellow function or another mode The number of the line curre
110. pper arm right side plate AR91 Gripper gear motor support SC3F10 114 Flat head socket screw 10 32 x 1 4 AR94 Lead screw AR96 Gripper bridge AR97 Gripper arm inner AR98 Gripper arm outer AR99 Gripper arm short AR100 Gripper clamp AR101 Mounting plate gripper AR102 Rubber pad gripper AR103 Pivot pin AR105 Main shaft gripper AR107 Lead nut gripper AR108 Bearing housing AR109 Bearing housing cover AR112 Gripper motor base plate AR113 Spring 120 g gripper motor PC503 Encoder circuitry 3 slots AR116 Miter gear bottom PC502 Encoder circuitry 6 slots WA7S127 Spacer washer for base bearing SC2C4 18 Socket head set screw 4 40 x 1 8 SC2C8 14 Socket head set screw 8 32 x 1 4 without head SCORBOT ER III 7 3 Iso Dwg 169 170 172 173 174 S 187 S 188 S 189 S 206 S 208 S 209 S 215 S 216 S 217 S 218 S 219 S 225 S 227 S 232 S 233 S 234 S 240 S 253 S 254 S 255 S 257 S 260 S 261 S 262 S 263 S 268 S 269 S 270 S 275 S 276 5277 S 278 S 279 7 4 Part 40002 40001 412364 412606 300008 302002 302001 302006 313001 313004 313005 314002 314003 314004 314005 314006 314503 313003 107008 107007 113016 310001 316006 316003 316004 316302 320005 320004 320006 320203 320701 320702 320704 320501 320502 320503 320504 320505 Previous Part Description AR420 Gripper harness AR421 Cable 50 leads connector CCT7F1213 Connector housing 12 pin P
111. pply If your power supply and the controller voltage requirements are not compatible contact your agent immediately and have the controller exchanged Do not connect voltage in excess of 24 VDC to the input ports Do not connect voltage in excess of 24 VDC to the output ports Always connect outputs 5 through 8 open collector outputs to a load Never connect voltage from a power supply directly to the output ports Never drive a current of more than 4 amp through the relay outputs Never drive a current of more than 0 5 amp through each of the open collector outputs Moreover make sure that the total current driven through outputs 5 8 does not exceed 1 5 amps Do not exert force on any part of the system installation and operational procedures are designed to proceed smoothly and easily Do not use physical or mechanical means to stop the movement of any part of the robot arm Do not drive the arm into another object or an obstacle Do not expose the SCORBOT to impact or vibration Do not operate the SCORBOT beyond the allowed temperature range 5 40 C 41 104 F Do not allow water liquids or metal shavings to fall on the robot or controller Do not operate the SCORBOT in gaseous or explosive environments in wet or damp locations or near dust dirt and oil Do not overload the arm The workload may not exceed 1 kilo 2 2 Ib The gripper should grasp a workload at its center of gravity Do not leave any
112. re than once Press the green Save key on the teach pendant Wait for the message PROGRAM RECEIVED to appear on the computer screen and the message DONE to appear on the teach pendant display panel Make sure the program was indeed transferred to the host computer Activate the List Delete Positions and the List Delete Program screens Examine the com puter s programs and positions and compare them with those in the teach pendant Activate the Program Handling menu Save the program Assign the program a name of up to 8 characters beginning with a letter and do not use an extension Select Catalog Check that the program just saved appears in the catalog Note that the extension L4 will be appended to the program name signifying that the program was received in Level 4 Computer Editing of Programs Written on the Teach Pendant 9211 1 Load SCORBASE Level 3 2 Remove the SCORBASE Level 3 diskette from the disk drive and insert the diskette which contains the program written and saved from the teach pendant 3 Activate the Program Handling menu Check the Catalog Load the program written by the teach pendant it will be identfied by the extension L4 USER S MANUAL SCORBOT ER III 5 15 4 SCORBASE Level 4 When typing the name of the program to be loaded add the figure 4 at the beginning of the name for example 4PROGA Do not use the extension You can now work with the loaded program on the computer Important
113. reen X Z teach position relative by XYZ coordinates The Teach Position XYZ command enables you to teach record a position according to its Cartesian XYZ coordinates To define a position in Cartesian coordinates you specify the distance in millimeters of the robot s gripper tip from the point of origin the bottom center of the robot s base along three linear axes To complete the definition you must also specify the pitch and roll of the gripper in degrees You are prompted to complete the command as follows CURRENT POSITION TEACH POSITION x y z X MM 163 42 e Y MM 20 00 LAGAN Z MM SAGO OTF 1 dei PITCH DEG 64 52 45 4 ROLL DEG 20 00 45 RECORD POSITION 1 100 USER S MANUAL SCORBOT ER IIl 4 27 9211 4 28 SCORBASE Level 3 Pressing Enter for a coordinate accepts the default value The default is always the current value of the coordinate as displayed For example X mm 163 42 You may now enter a new X coordinate or press Enter to accept the default which is 163 42 The Teach Relative Position XYZ command allows you to teach a position which is relative to another position by an XYZ offset You are prompted to complete the command as follows TEACH RELATIVE POSITION x y z X MM 0 400 5 2 2 e ev Y MM 20 00 45 4 Z MM ZOZO O laces dS PITCH DEG 0 00 45 4
114. se name appears in green on the keyboard The functions available through the MODE key are as follows The Run key enables the execution of a line or lines in a program Press Run Your options are displayed 1 SINGLE 2 CONT INUOUSLY 3 JUMP These operations are identical to the Run Program options in SCORBASE Level 3 1 SINGLE Press 1 A single line of the progam will be executed each time you press Return 2 CONTINUOUSLY Press 2 The program will run continuously once you have pressed Return SCORBOT ER III USER S MANUAL 9211 3 JUMP Press 3 You are prompted for the line number to jump to Type the number and press Return The program jumps to the line specified and the Run options are displayed To interrup a running press the red Brake key for an immediate stop Press any other key to stop the program once the current line has been executed Home The Home key enables homing operations of the robot and the execution of a DEMO program Press Home Your options are displayed Note Before selecting this option make sure the gripper is closed Press 1 The current robot axis coordinates will be reset to zero SET PRESENT POSITION AS HOME if you press Yes in response to the prompt Press any other key to cancel the command 2 SEARCH Press 2 You are prompted to press Return which will cause the robot to search for its hard home Warning The Search Home proced
115. splayed in one screen the system will pause and prompt you PRESS ESC TO EXIT LISTING ANY OTHER KEY TO CONTINUE Press Enter to move the display down one line Press any other key to move the display down one screen 3 DELETE POSITION This command deletes the specified position Press 3 and enter the number of a position Note that you will be prompted to confirm whenever you give the command to delete a position ARE YOU SURE Y N N USER S MANUAL SCORBOT ER IIl 4 7 9211 4 8 SCORBASE Level 1 4 DELETE FROM POSITION TO POSITION This command deletes all points from the first position specified through the second position specified Press 4 and enter two position numbers 5 DELETE ALL Press 5 to delete all recorded positions from controller memory 6 PRINT POSITION TO PRINTER Press 6 to print out a listing of all recorded positions lt ESC RETURN TO TEACH POSITIONS MENU SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 1 EDIT PROGRAM MENU This screen allows you to write and edit your robotic programs SCORBASE automatically assigns numbers to your program lines EDIT PROGRAM OPEN CLOSE GRIPPER G0 TO POSITION I INSERT LINE X REPLACE LINE L LIST DELETE PROGRAM lt ESC gt RETURN TO MAIN MENU O C OPEN CLOSE GRIPPER These commands open and close the gripper Press O to open the gripper Press C to close the gripp
116. ss 1 You are prompted to type a memory cell number Type a number from 1 through 15 and press Return Then enter the desired value in millimeters 2 SENS This option lets you measure and store the size in millimeters of the gripper s opening during program execution SET MEMORY TO SENSOR Press 2 You are prompted to type a memory cell number Type a number from 1 through 15 and press Return When this line is encountered during program execution the size of the gripper s will be measured by the sensor and stored in the specified memory and the value will be displayed 3 JUMP This option creates a condition jump command based on the comparison of the values stored in two memory cells IF MEMORY gt MEMORY JUMP TO LINE Press 3 You are prompted to type the numbers of two memories and the line number to jump to if the first value is greater than the second value List This key lets you review the lines in a program Press List Then type the number of the line or first line you want to display and press Return Press Return to display the next line Hold down the Return key to scroll down the display Press the Left Arrow key to return to the previous line Hold down the Left Arrow key to scroll up reverse scrolling Delete This key lets you delete one or more command lines from the program you are editing Press Delete You are prompted to type in the number of the line or the first line yo
117. sting the Controller Display Panel 1 Press on the POWER switch on the rear of the controller The power LED on the controller front panel will light up 2 Press the MOTOR switch on the controller front panel The LED in the MOTOR switch will light up 3 Press the LAMP TEST switch all the LEDs on the panel will light up Release the switch all the LEDs except POWER and MOTOR will go off 4 Press on the INPUT 1 switch The LED for Input 1 will light up 5 Press on the INPUT 2 switch The LED for Input 2 will light up Testing the Motors 1 To begin the Motor Test the robot should be in a position similar to that shown in Figure 3 4 Initiating the test from an unsuitable position could for example cause the robot to knock into the work surface and result in damage to the robot Bring the robot arm into a proper position by one of the following means Gently force the links of the robot arm into a suitable position To do this you must first turn off the MOTOR and POWER switches It is preferable that you use either the computer keyboard or the teach pendant to move the robot arm To do this you must first connect the robot to a computer in which SCORBASE is loaded and follow the instructions for manual axis movement given in Chapters 4 and 5 USER S MANUAL SCORBOT ER IIl 3 3 9211 Figure 3 4 Recommended Starting Position for Motor Test 2 Once the robot is in a suitable position turn on the POWER and the
118. subroutine lines 1 through 40 the robot measures two blocks and places the narrower one squarely on top of the wider one The blocks must be 25 mm in height If the robot does not find the block as a result of a measurement of less than 5 mm the robot will open the gripper raise and lower the arm and reattempt to find the block To determine the placement of the blocks run the DEMO program without the blocks and mark the points reached by the gripper on the work surface If the table surface is too low for the robot to reach the blacks raise the blocks by putting them on a higher surface on top of a book for example If INPUT 1 switch is on program execution will stay at line 2 this allows you to rearrange the blocks for example Once you have arranged the blocks turn the INPUT switch off and then on again If the switch remains off the program will run continuously without halting between the loops The second subroutine lines 41 51 demonstrates the movement of the robot arm at various speeds The DEMO program is listed below It is followed by position tables in joint coordinates and XYZ coordinates Note A set of remarks appears in the first lines of the DEMO programs The actual program line numbers are therefore different SCORBOT ER III USER S MANUAL 9211
119. t Ifany robot motor has not completed its programmed movement Check Expected Completion of All Motor Movement Offset of 14 Pulses E E Designates an expected movement completion check command This command resembles the T command with one exception The T command checks whether all motor registers are set to zero The E command checks whether all motor registers store values less than 14 On receipt of E the controller will check whether all robot motors are about to completed their programmed motion that is whether all motor registers have less than 14 steps or encoder pulses remaining to completed their programmed motion and will respond with the following ASCII codes 1 If all robot motors are about to complete their programmed movement Ifany robot motor is not about to complete its programmed movement This command is used to ensure smooth robot arm motion between positions The controller is sent a movement command to the next position before the robot arm has reached the previous position to prevent discontinuity of motion Refer to the uni directional command U for setting a new offset SCORBOT ER III USER S MANUAL 9211 Check Status of Motors A A Designates a check motor status command On receipt of A the controller will check the status of all motors and respond with the following ASCII codes 0 If none of the motors is moving and none is intended to move If all the motors have l
120. tantly in one direction when POWER and MOTOR switches are turned on The fault probably lies in the power transistors on the PC 200N and PC 200P boards or in the opto isolators ICs U45 U48 on the main circuit board PC 010 Contact your agent 16 The controller does not receive an input signal USER S MANUAL 9211 Short the input port to ground The corresponding LED should light up If the LED does not light up use SCORBASE to check whether the input is not functioning or whether the display is faulty The problem may be in the display board PC 310 or in the flat cable connecting it to the main circuit board PC 010 Or ICU9 on the main circuit board is malfunctioning Contact your agent SCORBOT ER III 6 11 6 12 Item Problem Corrective Action 17 The controller does Check the wiring to the outputs not give output signals If the LEDs light up but the output does not work the problem is probably in the controller If problem is with one of outputs 5 8 open collector check first whether a load has been correctly connected as described in Chapter 2 If both the LED and the outputs do not operate there is probably a fault in the internal wiring Contact your agent 18 The Home position This fault may occur continually or once every few suddenly changes and the robot continues operation in relation to the new Home hours due to a noisy electrical system which disturbs the communic
121. tical Encoder Two channel quadrature output Open collector outputs Emitting diodes fed by 5V supply with a 39 ohm resistor in series The resistor is not included in the encoder Connecting 5V directly to the encoder will damage it Cable Wiring D9 Connector Pin Function Motor Motor Photo Detector Photo Detector VLED Ground Logic GND 4 Microswitch Tf you want to use a microswitch in order to determine a Home position for the motor connect the microswitch to pins 4 and 5 SCORBOT ER III USER S MANUAL 9211 APPENDIX G The Rotary Table A rotary table lets you simulate an automatic industrial work station The rotary table adds a degree of freedom to the robotic system and enables the positioning of work pieces so the robot can reach them see Figure G 1 The rotary table can be used for assembly operations or materials handling It can also be shared as in a two robot system where one robot loads and unloads the workpieces onto the rotary table and the other robot performs the machining operation A motor kit within the table s Figure G 1 The Rotary Table stationary base activates the rotating plate in both clockwise and counterclockwise directions The motor has a gear ratio of 426 1 The diameter of the rotating plate is a 305 mm 12 The plate has four metal frames or jigs to prevent the slippage or sliding of work pieces during table mo
122. u Tee eee 4 23 Nam Menu o un RR ee Se BR aes 4 23 Operating Keys ew dle Aide tw Ne R x 4 24 Teach Positions Menu 4 25 Coordinates Display 4 28 List Delete Position Screen 4 29 Edit Program Men 2 4 aini xp n a Be a 4 31 Additional Editing Commands 4 35 Edi ne a Xue wot x 4 36 List Delete Program Screen 4 37 Program Handling Menu 4 39 Run Program Menu 4 4 Home Men sis Go 4309 Us od dee qw CRY IR AE 4 43 Command Line Options 4 46 SIZE c a dere tee es See ee we Jee eae Seer 4 46 Device Options ic due Ru XE deve ge 4 46 Automatic Run 4 47 Programs on the SCORBASE Diskettes 4 48 HOME Program ao BS GOS BR Gs wh xo OY Er 4 48 DEMO Progra on e SRLS ee Ss 4 48 Position Tables si ow baw ee eh EUR 4 50 SCORBOT ER III USER S MANUAL 9211 CHAPTER 5 The Teach Pendant ox iow ELE VES 20 DNI Connecting the Teach Pendant to the Controller 5 2 Teach Pendant
123. u want to delete Type the number and press Return You are then prompted to type the number of the last line to delete To delete a single line type the same line number or simply press Return To delete a range of lines type in the number of the last line to delete and press Return Before the deletion is executed you are prompted to confirm ARE YOU SURE Press Yes to delete the line entered Press any other key to cancel the operation USER S MANUAL SCORBOT ER III 5 9 9211 Insert This key allows you to insert additional lines into the program you are editing Press Insert You are prompted to type in the number of the line at which you want to insert new line s Type the command line s you want to insert All lines and jump commands following the inserted line s are automatically updated Press Return again to return the pointer to the end of the program Replace This key allows you to replace a line in the program you are editing Press Replace You are prompted to type in the number of the line you want to replace Type the number and press Return The specified line is displayed and you are prompted to replace it with another After you have entered the new line the point returns to the end of the program MODE Key SELECT MODE Run The green Mode key allows you to select modes other than the Edit and Teach modes When you press the Mode key the display panels shows You can now activate any operation who
124. ump to the specified line Press 5 At the prompt enter the line number to jump to SET COUNTER TO Together with the other counter commands this command is used to produce loops in the program The Set Counter command sets the value of a counter Press 6 At the prompt enter the number of the counter You can set up to 64 counters At the next prompt enter a value from 1 through 9999 This value equals the maximum number of times a program loop can be executed DECREMENT COUNTER This command decreases the value of a counter by 1 Press 7 At the prompt enter the number of a counter IF COUNTER gt 0 JUMP TO This command produces a conditional jump It is used to determine if the value of a counter has decreased to 0 Press 8 At the prompt enter the number of the counter At the Jump prompt enter the number of the line to jump to if the counter value is greater than 0 At run time if the counter value is greater than 0 the jump will occur If the counter value is 0 the program will continue at the following line SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 3 9 0 P SET RETURN CALL SUBROUTINE f The Set Subroutine command marks the beginning of the specified subroutine You can program up to 64 subroutines Press 9 At the prompt enter any number from 1 through 64 During normal program flow the program will skip over without executing the lines containing a subrouti
125. ure will erase the contents of the teach pendant memory If you have a valuable program in memory be sure you first save it to disk ette using SCORBASE Level 4 Press any other key to cancel the command Note For more accurate repeatability execute Search Home twice at the beginning of each working session or whenever you select this option To run the Search program on axis 6 and axis 7 the INPUT switches on the controller must be turned on as follows INPUT 1 switch on Search for home on Axis 6 INPUT 2 switch on Search for home on Axis 7 USER S MANUAL SCORBOT ER III 5 11 9211 5 12 Save Load If no peripheral axis is connected make sure these switches are off when you run the search If either of these switches is on and the motor axis which it represents is not connected a motor error message will be displayed 3 GO Press 3 If you press Yes in reponse to the prompt ARE YOU SURE the robot will immediately move to its home position Press any other key to cancel the command 4 DEMO Press 4 This will load and run a demonstration program This DEMO program resembles the DEMO program included on the SCORBASE Level 3 diskette For an explanation and listing of this program refer to the section Programs on the SCORBASE Diskettes in Chapter 4 After you load DEMO from the teach pendant s EPROM to the RAM you can amend it using the Edit and Teach modes and execute it with the Run key List a
126. uter communicating by means of the RS232 serial port The main components of the circuit are Central Processing Unit CPU INTEL 8031 EPROM A fixed memory of 16K bytes which contains the controller s operational software Logic Components and Buffers Transmit information to the CPU and execute instructions relating to the motors encoders inputs and outputs Multiplexers Expand the CPU s capability for receiving input output information Drivers Activate motors and outputs These include switching components such as power transistors Drivers also interface between low power and high power components Serial Communication Components Receive and transmit information in RS232 standard 12V and exchange it with the TTL levels of the CPU The teach pendant also communicates through the RS232 circuitry Altogether the main controller circuit controls eight motors the six motors on the robot arm are connected through the cable which plugs into the port marked ROBOT at the back of the controller two additional motors can be connected to the ports 2 6 SCORBOT ER III USER S MANUAL 9211 marked MOTOR 6 and MOTOR 7 on the controller front panel In addition the main controller circuit operates eight outputs and checks the state of eight inputs It also checks the state of up to eight microswitches and reads the state of the eight encoders Display and Input Output Circuitry PC 310 Display Circuitry The display circuit
127. ution of any movement the movement will be aborted The program will jump to the next line and continue running You now have the following options Press C For example ON MOTOR 1 ERROR JUMP TO 24 CONT Any motor error on axis 1 which occurs subsequent to this command causes the program to jump to line 24 This jump occurs in the form of an interrupt Press S For example ON MOTOR 1 ERROR JUMP TO 37 SING SCORBOT ER III USER S MANUAL 9211 SCORBASE Level 3 Only the first occurence of a motor error on axis 1 subsequent to this command causes a jump to line 24 The second occurrence will cause the program to halt and display a motor error message Press O For example ON MOTOR 1 ERROR JUMP TO 24 OFF This command cancels the effect of any preceding motor error instructions in the program relating to motor 1 S SET AXIS TO ZERO This command resets the position of the axis specified by setting its value to 0 This command is very useful for performing a cyclical motion of an accessory such as a conveyor or a rotary table Press S At the prompt enter the number of an axis This command can also be entered by pressing Ctrl O ADDITIONAL EDITING COMMANDS Ctrl J SET PRESENT POSITION AS HOME When executed at run time this command sets the current position of the axes to 0 thereby creating a new home position of the robot Warning This command automatically alters the physical location of
128. vement The internal dimensions of the jigs are 50 mm 40 mm and 30 mm Connect the D9 connector on the motor cable to either one of the MOTOR terminals on the controller s front panel SCORBASE will then recognize the rotary table as either axis 6 or axis 7 The rotary table finds its home position by means of a microswitch under the rotating plate Unlike the microswitches on the robot arm however the microswitch on the rotary table is normally depressed and is released at the home position Take note of this reversal when making electrical connections USER S MANUAL SCORBOT ER III G 1 9211 G 2 In most robotic applications involving a rotary table the table must rotate at fixed intervals To enable periodic movement use the SCORBASE command available in Level 3 SET AXIS TO ZERO where is the axis number Use the Home menu in SCORBASE to define and home the rotary table SCORBOT ER III USER S MANUAL 9211 APPENDIX H The Conveyor The conveyor accessory expands the robotic system to simulate an industrial work cell Its main applications are delivering and removing workpieces to and from the robot and identifying the arrival of a part to the work station see Figure H 1 The conveyor is 810 mm long and 100 mm wide Its metal base has a PVC belt driven by a motor kit with a gear ratio of 65 5 1 Supports on each side enable assembly of the conveyor at various heights and angles maximum of 5 degrees A number o

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