Industrial Micro Robot System Rv-m1
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Transcript of Industrial Micro Robot System Rv-m1
AMrsuBtsHlINDUSTRIAL MICROROBOT SYSTEM
RV-M1a
Model
I
MOVEMASTERtrX
THIS MANUAL IS DIVIDEDUP AS FOLLOWS
f sercrrrcnrrorusmain specifications, Givesoverallof construction, using instrucread this oart first. tions. etc. Please
p oernarroruprocedures, basicfunctions of Givesinstallation connection and powering-up position to settingprocedures, systemcomponents, procedures. and execution and programgeneration 1 3 I D E S C R I P T I O N T H EC O M M A N D S OF which have commands Givesformatsand usagesof intelligent with functions.The commands been classified accordance in appearin alphabetical order. I4 MAINTENANCE D INSPECTION AN partsreplacement procedures and Givesmaintenance, inspection, servrcepans.
@ neeeNorcrsGives interfacing with a personalcomputer and external l/O positionsetequipment, cartesian coordinate system reference programs, ting, command list, application etc.
CONTENTS I 1 I SPECIFICATIONS 1, UNPACKING AND ACCEPTANCE INSPECTION 1.11.2
Un p a c ikn g I n s t r u c t i o n sAcceptancelnspection'' t-5
2. SYSTEM CONSTRUCTTON OF 2.1 2.2 Overall Construction of Standard and Optional
1-3
1-5J. I
3.1.3 Externaldimensions . 3 . 1 4 O p e r a t i os p a c e . .. . .. .. . . . . n3 . 1 . 5 B a s i c p e r a t i o n s. . . . . . . . . o .J.Z
......1-7' '' ' '' t-lt
' " ' . ' .. . . .... . . . . .. .. . . .1 - 9 . . . . . . . . -1 _ ' t ' l .. . . . . .. . . . .. . . . . . - 1 1 1t-tJ
DriveU nit 3.2.1 Nomenclature. 3.2.3 Exte I dimensions rna Teaching Box (Option) 3.3.1 Nomenclature.. 3.3.2 Externaldimensions M o t o r - o p e r a t Hd n d( O p t i o n ) . . ea
3.3
1-14 1-'t4
3.4
. . . . . . . . . . .- 1 5 1 . . . . . . . . . . . . . . . . . . . . . .1 - . . 6 .. 1 .
4. USINGINSTRUCTIONS4.1A '
4.3 4.4A F
. L i n e o l t a g e. . . . . . V
4.6 4.7 5. WARRANTY PERIOD AND PAINTCOLORS
1-17 1-17 1-17 1-18 1-18 1-19 1-19
iz ] onennrom1. 1.'l 1.2 'l.3 Transportation f the Robot o l n s t a l l a t i oo f t h e R o b o t n T r a n s p o r t a t i oa n d I n s t a l l a t i oo f t h e D r i v eU n i t . . . . . . . . . .. . . . n n l n s t a l l a t i o n h e l / OC a r d . . . . . . . . tof 2-1 2-3 . . . . 2-5 . . . . . . . . . . .. .' . . . . 2 - 5 2-6 2-7 .. .. . .. .. ....2-8 " " " '2-10 .. .. .. . . 2-10 " '2-11 " "
1.4 1.5 Grounding 1 . 6 C a b l eC o n n e c t i o n s 1 . 7 l n s t a l l a t i o n t h e H a n d( O p t i o n ).. . . . . of '1.8 I n s t a l l a t i oo f t h e T e a c h i n g o x ( O p t i o n ) n 8 1 . 9 l n s t a l l a t i oo f t h e B a c k u p a t t e r y O p t i o n ) n B { 1 . 1 0 i n s t a i l a t r oo f t h e E m e r g e n c y t o p S w i t c h n S
2.2
. . . . . . . . ' . 2.- 1 2 ' Drive nit U ' " " "'2-12 2 . 1 . 1 F u n c t i o n s o f f r o n t c o n t r o lw i t c h e s n d L E D s" a s " " " ' 2-13 2 . 1 . 2 F u n c t i o n so f s i d e s e t t i n gs w i t c h e sa n d L E D s 2 . 1 . 3 F u n c t i o n so f c o n n e c t o r s s w i t c h e s ,a n d t e r m i n a l b l o c k o n r e a r p a n e l " " " " " 2 - 1 6 , . " """ 2-18 Teaching ox " B "" " """""2-18 2 . 2 . 1 F u n c t i o n s tohf es w i t c h e s "" """" ""2-18 2,2.2 Functionsofeachkey " "" " " "" " "" '2-21 i r 2 . 2 . 3 F u n c t i o n s o f t h en d i c a t o L E D ' ' '' '' '' '' ''''''2-22 2.2.4 Eeleasinthe brakes g """"" 2-22 2 . 2 . 5 l r r r e l i i g e n to m m a n d sc o r r e s p o n d i ntg e a c hk e y " " " o c
J. l
"" 2-23 r S y s t e mC o n t i g u a t i o n "" """""'2-23 l a 3 . 1 . 1 S y s t e mc o n f i g u r a t i o c e n t e r i n g r o u n da p e r s o n ac o m p u t e r " n 3 . 1 . 2 S y s t e mc o n f i g u r a t i o c e n t e r i n g r o u n dt h e d r i v eu n i t " " " " " " " " " " " " ' 2 - 2 4 n a R o b o t - C o m p u t e L i nk r 3 . 2 . 1 C e r rrto ni c s i n t e r f a c e i 3 . 2 . 2 R S 2 3 2 Cn t e r f a c e C o n t r o lM o d e s h 3 . 3 . 1 P e r s o n a l c o m p u tre ro d e" 3 . 3 . 2 D r i v eu n i t m o d e 2-25 2-25 " "'2-25 "" " " "" 2-26 ''' 2-26 ' ' '2-24
3.2
3.3
" """
4 . 1 S e t t i ntg eS i d e e t t i n S w i t c h e s h S g 4.2 Turning oweON P r 4.3 Origin etting S
"
''
'''2-29 2-29 """'2-29
5. POSITION PROCEDURE SETTING ' .-3 5 . 1 S e t t i n gh eC a r t e s i aC o o r d i n a t ey s t e m e f e r e n c eo s i t i o n. . . . . . . . . . . . . . . . . . . . . . . . . .2 . . 0 t n R S P . .. ..... ... 2-30 5 . 2 S e t t i n g t h e T o o ln g t h . Le "t 'i o n s " ...'..2-31 5.3 Defining,Verifying,Changing,andDeletingthePosi 6.o. l
6 . 2 Executing Program the' 6.2.1 Stepexecution 6.2.2 Starting program the 6 . 2 . 3 S t o p p i n g / r e s t ia g h e p r o g r a m r n t g/resetting program 6.2.4 Stoppin the 7. WRITINGTHE PROGRAM/POSITION DATA IN EPROM . . . ( P E R S O N A L C O M P U T E R M O D.E ) . . . . . 7.1 7.2 7.3 8. 8.1 8.2 8.3 8.4 lnserting EPROM the .......... Setting SideSetting the Switches TurningPower ON Executing Program the 8.4.1 Stepexecution 8.4.2 Starting program the 8.4.3 Stopping/resta the program rting 8.4.4 Stopping/resetting program the I n s e r t i nE r a s e d P R O M g E W r i t i n g a t a n t oE P R O M D i Preca nsfor Storag of EPROM utio e
" " 2-34 " " " "... ... 2-31 . .2-34 . . . . . .. . . . . . . . .2 - 3 5
. . . .. . . . . 2 - 3 6 .'. .....'.....2-36 . . . . .. . . . . . . 2 - 3 6 "" "" " "" " " 2-36
' 2-37 . . . . .. . ' ' ' ' ' """ " " " "" " " 2-37 2-37 2-37 2-37 2-37 2-38 2-38
9. OPERATION USINGTHEEXTERNAL SIGNALS
10. 1 0 . 1 E r r o r M o dIe " 10.2 ErrorMode II " """""" 2-4O " 2-41
OF El DESCBTPTTON THE COMMANDS1.
2.1
z.z
. . . . . . . ' . '.. . . . . . . . . . . .3 - 3 .. P o s i t i o n / M o tCo n t r o ln s t r u c t i o n s . . .... . . . . . i on I D P{ D e c r e m e Pto s i t i o n ) " M o v i n g o a p o s i t i o n u m b e o n es m a 1 | e r . . . . . . . . . . ......... 3 - 3 t r . n 'Moving a distance (Draw) DW specified the cartesian in coordinate ...........3-4 system . . . . . . . . . . .. . - 5 (Here) HE T e a c h i ntg ec u r r e np o s i t i o n h t 3 HO {Home) " posiSettingthe cartesian coordinate systemreference .........3-6 tion....'..... nt l P( l n c r e m e P o s i t i o n.). . . M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r . . . . . . . . . . . . . . . . . . . 3 - 7 . (Move pproach) MA A M o v i n g o a s p e c i f i eid c r e m e n td ilm e n s i o n . . . . . . . . . . . . . - 8 t n a 3. ") " M o v i n g h r o u g hn t e r m e d i a pe i n t s o n t i n u o u s l y ........ .3 - 9 M C{ M o v e o n t i n u o u s C t i to c " " . ' . . T u r n i ne a c ho i n t a s p e c i f i e d a n g l e . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 1 1 g j MJ(MoveJoint) MO (Move) position articulated Movingto a specified by interpola" .......3-12 tion MP (MovePosition) Movingto a position whosecoordinates specified... are 3-13 (Move traight) MS S M o v i n g t o s p e c i f i ep o s i t i o n y l i n e a i n t e r p o l a t i o n .3 .-.' 1 4 a d b r . MT (MoveTool) Moving an incremental distance in specified the tool """" ""'3-16 direction .Returningtherobottoorigin........'..'.......'...'.'...'...3-17 N T( N e s t ) OG (Origin) Moving to the cartesian coordinate system reference " " "" positlon 3-18 ' .. Defining numberof columnand row grid points a (Pallet PA Assign) the for ' . . . . . . . . . . . . . . . ' -. 9 specified llet oa 3.1 " "' 3-20 position PC(Position Clear) " " Clearing specified a " n P D( P o s i t i oD e f i n e ) D e f i n i ntg ec o o r d i n a t e s a s p e c i f i e d p o s i t i o n . . . . . . . . . . 3 - 2 1 h of " Asslgning positionto PL(Position Load) the positiondata of a specified """ " " "' 3-22 position another specified PT(Pallet) Calculating coordinates a grid pointon a specified the of ... . . . . . . .........3-23 na||et PX (Position Exchange)" Exchanging coordinates a positionfor those of the of "" " " "" 3-2'l another" position" " " SF(Shift) " Shifting coordinates a specified the 3-28 of SP{Speed) Settingthe operating velocityand acceleration/decel" "" 3-29 eration time" " Halting motionfor a specified periodof time " Tl {Timer) the 3-30 " S e t t i ntg e t o o ll e n g t h ....'...."" "'3-31 TL(Tool) h " ' """""'3-32 P r o g r a m o n t r olln s t r u c t i o n " C s "" "" CP(Compare Counter) Loading counter dataintothe comparison register " 3-32 "" DA (Disable Act) Disabling interrupt an externalsignal "" " " 3-33 the by " Subtracting from a valuein a specified "" DC(Decrement Counter) 1 counter " 3-34 "'3-35 "e) " " " D e l e t i nags p e c i f i e d r t f a p r o g r a m " """" pa o DL(DeleteLin
" "' 3-36 the by signal "" Enabling interrupt an external " E n d i n gh e p r o g r a m t 3-38 a of Causing jump to occurif the contents the compari"" " "" ' 3-39 son register equala specified value " " GS(GoSub) Executing specified a subroutine ' 3-40 " ' 3-41 i GT(GoTo) C a u s i n a l u m p t oo c c u r t o s p e c i f i eldn en u m b e r " g a "" " ' 3-42 lC (lncrement Counter) " 'Adding 1 to the valuein a specified counter"" . L G( l fL a r g e r.)" . . . . . . . . . . . . . . .C.a u s i n g j u m pt o o c c u ri f t h e c o n t e n t o f t h e c o m p a r i s a thana specified value"" " " " 3-43 son register greater are " Causing jump to occurif the contents the compariNEllf Not Equal) " " of a value " "" " " 3-44 son register not equalaspecified do " ' 3-45 . . D e l e t i na l l p r o g r a m a n dp o s i t i o d a t a" " " g n s N W( N e w ) " " " " " " " ' S p e c i f y i ntg er a n g e o a l o o pi n a p r o g r a m " " " " " ' 3 - 4 6 NX(Next)" h f ( R e p e a t y c l e ) ' ' ' ' S p e c i f y i n g t h e n u m b e r o fp e a t ec y c l e s f a l o o p " " ' 3 - 4 7 re d RC C o """""" r 3-48 R N{ R u n ) " " ' E x e c u t i na s p e c i f i ep ar t o f p r o g a m " " g d (Return)" program after completinga RT Returningto the main "" """3-49 subroutine " " S C ( S e t C o u n t e " )" ' ' ' r L o a d i n g a v a l u e i n a s p e c i f i e d c o u n t"e r " " " " " ' 3 - 5 0 of SM (lf Smaller)" Causing jump to occurif the contents the comparia value " " " " ' 3-5i son register smaller are thana specified " "'3-52 ' 2 . 3 H a n d o n t r oIln s t r u c t i o n s." C " "" 3-52 " G C( G r i p C l o s e )" " " " ' C l o s i n g t h eh a n dg r i p " " " " " " "" " " " 3-53 '). . . . . . .. . . . . ' . D e f i n i ntg eo p e n / c l o s e a t e f t h eh a n d F h st o G F( G r i p l a g """" " 3-54 " " " " " Openingthe nd rip (Grip pen) " ha g GO O " "" " Definingthe gripping force/timewhen the hand is GP(GripPressure)" 3-55 3-56 2.4 " " " " F e t c h i na n e x t e r n a l s i g n a l " " ' t 3-56 l D( l n p u D i r e c t ) " g " " ' 3-57 " F e t c h i na n e x t e r n a l s i g ns y n c h r o n o u s"l y" " lN(lnput) g al e o O B ( O u t p u t B i " ) " " " " " S e t t i n gh eo u t p u s t a t e f a s p e c i f db i t " " " " " " ' 3-58 t" t t " "" " " "" " 'Outputting 3-59 specified data OD (Output Direct).." " " " ' 3-60 " " " ' O u t p u t t i n g e c i f i e d t a y n c h r o n o u s l y" sp da s OT(Output) """" " " " " "'Causinga jump to occurdepending the condition of on TB (Test Bit) " "" " " "" "" " " 3-6' external signalbit" " a specified " 3-62 2.5 RS232C Readlnstructions " "" " " " ' 3-62 Reading datain a specified the counter CR(Counter Read)" "" ' 3-63 "" " " " Reading datain the external (Data port " input the DR Read) " "'3-64 " " . ) E R ( E r r o r R e a d" " " " R e a d i n g t h e s t a t u s o etrh e r " f ro " line LR(LineRead) Reading program a specified number" " " 3-65 the on " " Reading coord position " "'3-67 inates a specified PR(Position the of Read)"position " ' 3-68 the of WH (Where) Reading coordinates the current " "'3-69 2.6 Miscellaneous RS(Reset) "" ""'3-70 " " " Transferring ROMatao RAM EP d t T R( T r a n s f e r ) """""" 3-7 writing RAMdataintoEPROM wR (write) ' ( C o m m e n t")" " ""'3-72 " ' W r i t i n g c o m m e n t" a EA {Enable Act) (End) ED EO(lf Equal)
AND TNSPECTTON l!l MATNTENANCE
2.1 2.2 2.3 3.J. I
3.2
3.4
..........4-g C o n s t r u c t i oo f t h e R o b o t . . . . n . . . . . . . . . . . 4.-.1 0 . R e m o v ao f t h e C o v e r s . . . . l .......-..-..4-j2 R e p l a c e m e o f t h e M o t o rB r u s n . . . . . . . . . . . . nt ..........4-12 3 . 3 . 1 C h e c k i n g n d r e p l a c i n gh e w a i s td r i v em o t o r b r u s h e s . . a t . 3 . 3 . 2 C h e c k i n g n d r e p l a c i n gh e s h o u l d e r / e l b o d r i v em o t o r b r u s h e s. . . . . . . . . . . . . . . . .4.-.1 5 a t w . ...... . . . . . . . . . . . . . . . . . . .4.-.1 6 . 3 . 3 . 3 R e p l a c i n t h e w r i s t p i t c hd r i v em o t o r . . . . . g . . . . . . . . . . . . . . . . . . . . . . . . 4 -1g 3 . 3 . 4R e p l a c i n g t h e w r i s t r o l l d r i v e m o t o r . . . . . . . . . . . . . ......'........ . . . . . . . . . .4 - 2 0 . A d j u s t m e n a n d R e p l a c e m e n tf t h e T i m i n gB e l t t o . . . . .4 - 2 0 3 . 4 . 1 R e p l a c e m e nr e q u e n c y . . . ft 3 . 4 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e s h o u l d e r d r i v e t i m i n g b e l t . . . . . . . . . . . . . . . . . . 4 - 2 1 3 . 4 . 3 C h e c k i n ga d j u s t i n ga n d r e p l a c i n gh e e l b o wd r i v et i m i n g b e 1 t . . . . . . . . . . . . . . . . .4 - 2 4 , , t .. 3 . 4 . 4 C h e c k i n ga d j u s t i n ga n d r e p l a c i n gh e w r i s t p i t c hd r i v et i m i n g b e l t . . . . . . . . . . . . . . .4 . .2 7 , , t .. . . . . . . . . . .4 - 3 0 . R e p l a c e m e n tf t h e C u r l e dC a o r e s. . . . . . . . . . . . o . . . . . . . .4 - 3 2 . l n s p e c t i o n , d j u s t m e n ta n d R e p l a c e m e n tf t h e B r a k e s . . . . . . . . . A , o . 3 . 6 . 1 C h e c k i n ga d . j u s t i n g , d r e p l a c i n gh e s h o u l d e r r a k e. . . . . . . . . . . . ...... . . .. . . . . . . . . . . .4 - 3 2 , an t b ... ....4-34 3 . 6 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e e l b o w b r a k e . . . .. 4-36
3.5J.O
4.A 1
4.2 4.3
@ neeeruorcesAPP-11.1 1.2 1.4 1.5
2.1 1
APP.5
2 . 2 F u n c t i oo f E a c h i g n aL i n e . . .. . . . . . . . . . . . . n S l2.5
RS232C Settings R S 2 3 2 C a b l e. . RS232C Interfacing Examples
2.5 2.6
3 . 1 . A x t e r n a /l OC o n n e c t o ri nA s s l g n m e n ltT y p e l / OC a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 1 5 E l P s A 3 . 1 8 E x t e r n a /l OC o n n e c t o ri nA s s i g n m e n ( T y p e l / OC a r d . . . ' . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 1 6 . l P ts B ) l/OCircuitSpecifications(TypeAl/OCard).............. ..........'.....App-l7 . ..................App-18 T 3 . 2 . 8l / OC i r c u iS p e c i f i c a t i o(n sy p e l / OC a r d ) . . . . . . . . . . . t B . ...........App-19 ( 5 . 5 . 4 F u n c t i o n s o/fO S i g n a l i n e s T y p e l / OC a r d . . . . .. . . . . . . l L A ) ....... . . . .............App-20 ( 3 . 3 . 8F u n c t i o n sf l / OS i g n aL i n e s T y p e l / OC a r d ) o l B .) 3.4.AE x a m p l e o f o n n e c t i o n t o l / O C i r c u i t s ( T y p e A l / O C a r d . .. .. .. .. .. .. .. '.. . . . . . . . . . . . . . . . A p p - 2 1 C 3 . 4 . 8E x a m p lo f C o n n e c t i o n t o l / O C i r c u i t s ( T y p e B l / O C a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 2 e . ............App-23 3 . 5 l / OS i g n aL i n e i m i n g h a r ( S y n c h r o n o u/ s ) . . . . . . . . . l T C t l O 3.5.1.ASynchronousinputtiming(TypeAl/Ocard)............... ...App-23 .........App-23 ( 3 . 5 . ' l . B y n c h r o n o un p u t t i m i n gT y p e l / Oc a r d ) . . . . . . ... . S is B ..App-24 3.5.2.A ynchronousoutputtiming(TypeAl/Ocard)................ S . .....App-24 3.5.2.8 ynchronousoutputtiming(TypeBl/Ocard)........ S ............App-25 3 . 5 . 3 . A e d i c a t el dOt i m i n g( T y p e t / Oc a r d ) . . . . . . . . . . . . . . . . D / A .....App-26 3.5.3.8Dedicated timinglTypeB l/Ocard) l/O . . . . . ' . . . .A P P - 2 7 J.O E x t e r n a/l O C a b 1 e . . ...... l a'7 ....................APP-28 P r e c a u tno f o r C o n e c t i o t o E x t e r n a Iq u i p m e n t is n n E 4. CARTESIAN COORDINATE SYSTEM REFERENCE 4.1 4.2 4.3 4.4 M o v i n g t h e o b o t t o e f e r e n c eo s i t i o n . . .. .. . . . R B P S e t t i n gh e R e f e r e n c eo s i t i o . . . . . . . . . t P n StoringReference Position Datain EPROM L o a d i n g t hR e f e r e n c eo s i t i o D a t a . . . ' . . . ..... . e P n ..App-29 . . . . . . . . . . . .A.p p - 2 9 . .........App-30 ..APp-31
5. PROGRAMMING SYSTEM USING PERSONALCOMPUTER 5. SAMPLE ROGRAMS.... P . 7 . C O M M A N D 1 | S T . . . . ...... . . 8. TIM|NG ELTTENSTON B 9. DEFINITIONOFWEIGHTCAPAC|TY............. . . .. . . 1 0 . R O B O T A R M S T O R A G E P O S | T | O.N . . . . . . . ...... 1 1 . O P E R A T | O N A L S P A C E D | A G R A M .. . . . . . . . 1 2 .W | R | N G D I A G R A M 1 3 .D R | V E U N | T W t R t N G D | A G R A M . . . . . . .
..."".......APP-32 ...............App-36 ...........App-44 ...........'.. pp-48 A ........App-49 .....App-50 . . . .. . . A p p - 5 1 . . . . . . . . . . . . . .....A.p p - 5 2 . ............'......App-54
1.SPEC|F|CATI0N2. OPERATIOl{
TIII OT 3. DESCRIPTIONCOt|MANDS4. MAIl{TEI{ANCT A1{D INSPECTION 5. APPENDICTS
(SPECIFICATIONS} CONTENTS
INSPECTION AND ACCEPTANCE 1. UNPACKING n 1 . 1 U n p a c k i nIg s t r u c t i o n s " Ie 1.2 Acceptancnspection OF 2. SYSTEM CONSTRUCTION " ofConstruction " ""' 2 . 1 OverallS t a n d a r da n d O p t i o n a lE q u i p m e n t "
' ' '' 1-1 """ "'1-2t-J
"
"
. . . .' t- 4 1-5
3.1
" Robo""" t ' 3.1.1 Nomenclature d 3 . 1 . 2 S t a n d a r s p e c i f i c a t i o n' s 3.1.3 Externaldimensions ' 3 . 1 . 4O p e r a t i o n s p a c " " e c s" 3 . 1 . 5 B a s io p e r a t i o n " " " " o s 3 . 1 . 6 O r i g i n e t( R e t u r tn o r i g i n ) " " U 3.2 Drive nit 3.2.1 Nomenclature" p 3 . 2 . 2 S t a n d a rsd e c i f i c a t i o 'n s 3.2.3 Externaldimensions Box(Option) Teaching ' 3.3.1 Nomenclature rnaldimensions 3.3.2 Exte 3.4
" " '
" """""'1-5 " " "" 1-5 "" 1-7 """ "" """' " "1-7 " " "" ""'1-8 "" " """"1-9 " "" 1-10 "" "" " 1-11 "" "" " "' 1-11 ''l-12 " """"""1-13 1-14 1-14 1-1 5 1-1 6
4.1.+.J
Robot
""'
4.41+.3
4.6 4.7
N o i s e" ' Position
1-17 1-17 1-'t7 1- 8 1 1-18 1-19 1-19
..... PERIOD AND PAINTCOLORS 5. WARRANTY3. 1
5.2
1-21 1-21
1. SPECIFICATIONS1. UNPACKINGAND ACCEPTANCE INSPECTION 1.1 Unpacking Instructions11)Carefullyread "Section 1.1 Robot Transportation, Vol. 2,, beforeremovingthe robot from the package. ( 2 ) D o n o t h o l dt h ec o v e r a r e a i n F i g .1 . 1 . 1 w h e nr e m o v i n gh e ( A .) t robot. (3) The origin limit switchesand dogs (areasB, C) have been factory-adjusted. not touch them to ensurehigh repeataDo bility. (4) Brakeis being appliedto the arms (areasD. E) Do not force these arms to extend. (5) Do not removethe arrn fixing plate (areaF) until the robot installation complete, is This plate protects the arm during transportation.
Do nol force the arm.
Do not force the arm,
'Do not ho d tlie cover,
Do t h e I mil swltch.
Do not louch the imlt swilch.
Robot weight: approx. 1gkg
Fig. 1.1.1 Robot Attitude in the Package
The arm fixing platemust be reinstalled beforetransporting the robot.
1. SPECTF|CAT|ONSproduct to order. 1.2 Acceptance Inspection Check conforms your purchase thatthe received purchased as follows: whichvou have are Ihe basiccomponentsTvpeRV,Ml D/U t\,'11 IVISM 1 t\,1P- 1 t\,1 POW-M1
No. Robot
Description
Ouantity 1 1l
2 34 5 6 1 8 I
Dflve unit lMolorsignai cable {5m) Motor power cable {5m) Power cord (2.5m)
,I 1 1
S p a r ef u s e ( 1 0 A )Instructron anua m
11
Warranty cardInstallation olt b
M8x30
4 4 4
1011
Spring washer for installation For Mg bolt F l a tw a s h e r { o r i n s t a l l a t i o n o l t b l/O card
ForM8 A 8 o r 4 1 6 ( 8 8o r 8 1 6 )
12
1
Table 1.1.1 Standard Components
The following options are available.
No.1
DescriptionT e a c h i n gb o x lMotor operated hand
Type T/8,M1 Htvl-01 256K,ROMl/O-CBL {5m) NilULTl16, PC9801 (Note)
2 34 5
EP-RO I\,4External l/O cable P e r s o n a lc o m p u t e r c a b l e
6
Backupbattery
BAT-M1Table 1.1.2 Options
1. SPECIFICATIONS2. SYSTEMOF CONSTRUCTION 2.1 Overallof Construction
Motor power cable(MPM]) 5m
c o m p u t e rc a b l e *
M o t o r s i g n a lc a b l e ( M SM l ) 5 m Drive unit I D / UM 1 )
Robot (RV,M1) ( P O WM 1
OPersonalcomputer (MUtTtl6lll)Teaching ox' b ( T / BM l ) C a b l el e n g t h3 m + indicales an option. OThe equipment indicated by should be prepared by the customer.
Fig. 1.2.1Ovelall of Construction
1. SPECIFICATIONS2 . 2 S t a n d a r da n d OptionalEquipment
Division Robot
Description
Type RV-t\,11 D/U M1 MS.t\,4 1 t\,1P- 1 M P O WM 1
RemarksVertical articulated robot with 5 degrees of freedom. Pobot controller. G i v e sc o n t r o ls l g n a l sf r o m t h e d r i v e u n i t t o the robot. S u p p l i e sp o w e r f r o m t h e d r i v e , J n i tt o t h e robot.
e;
Drive unit Molor siEnalcable (5m)
E
l M o t o rp o w e r c a b l e ( 5 m ) Power cord (2.5m )
p S u p p l i e s o w e rt o t h e d r i v e u n i t . 8 inputs/B utputs. o 16 lnputs/16utpurs. oHandy cont.ol switch box with a cable for t e a c h n g , c h e c k i n g ,c o r r e c t i n gp o s i t r o n s i Hand which is only used with the RV-M1 a n d a l l o w s 1 6 s t e p h o l d i n gp o w e r c o n t r o l .
l/O card A8 (or BB) l/O card416 (or B16iT e a c h i n gb o x { C a b l el e n g t h 3 m ) Motor operatedhand
to-A8 (r/o-88) ( v o - A 1 6 t / o8 1 6 )T/B Ml
HM O1 2 5 6 KR O M BAT II1
EP,ROM Backupbattery
Stores writtenprograms andset positions.B a c k su p l " e m e m o r y d u l n g p o w e r o f f . , C o n n e c t s i t h a n e x t e r n a lp e r i p h e r a l e . g . w p r o g r a m m a b l ec o n t r o l l e r . RS 232C cable used to MULTI'I6. connect the
E
External l/O cable
r/o-cBLR S ' M U L T I - C B3 m ) {L
c
MULTIl6Centronicsf
L L C-MU TI-CB(2m) (3 RS'PC-CBL m)
Centronicscable used to connect the
MULr16.RS 232C cable used to PC9801. connect the
EPC9801
RS-232C
( Centronics C-PC-CBL1.5m)
Centronicscable used to connect the PC9801 . RS-232C cable wiih one free end. C e n t r o n i c sc a b l e w i t h o n e { . e e e n d .
RS-232CFree cable
R SF R E E B L ( 3 m ) C (L C - F R E E - C B1 . 5 m )
Centronics
Table 1.2.1 Standard and Optional Equipment
Note: l/O card A8 or 416 is for sink ioad. B8 or 816 is for sourceload.
1. SPEC|F|CAT|ONS3. MAIN SPECIFICATIONS 3.1 Robot 3.1.1 Nomenclature
F o r ea r m upper armElbow (J3 axis)
u"j"i:i-/A -+f
\-tHand installation surface
S ho u l d e r (J2 axis)
S h o u l d e rc o v e r (upperl
W r i s tp i t c h( J 4 a x i s )
Shoulder cover {lower) Curl cable
W a i s t{ J 1 a x i s )
--S=:?
Molor siqnal cable
(to the upper conneclorl
Motor power cable (to the lower connector)
Base side cover (R) * {L) Left sideFig. 1.3.1 Nomenclature (External Viewl
1. SPECIFICATIONS
J5 axismotorJ4 axis motor J4 axis timing belt J2 axis timing belt J3 axis limit switch
J2 axismotor
J4 axis limit switch
J5 axis limit switch
J2 axis brake
J3 axis brake
J2 axis limit switch
J'l axis limit switch
J1 axis motor
Relay card
Fig. 1.3.2Nomenclature (lnternalView)
1. SPECTFTCAT|ONS3.1.2 Standard specificationsItern Mechanical Structure
Specifications5 degrees of freedom, venical articulated robot
Remarks
Waist rotation Shoulder otation Operation rangeElbow rotation
300' (max. 120"/sec) 130"lmax. 727sec) 1'10'(max. 109'/sec) 190" (max. 1001sec) 1 1 8 0 ' ( m a x .1 6 3 7 s e c ) 250mm 160mmM a x . 1 . 2 k g f ( i n c l u d i n gt h e h a n d w e i g h t ) 1000mm/sec (wrist tool surface)
J1 axis
J2 ax;s J3 axis J4 axis J5 axis
Wrist pitchro tl
upper armArm length
F o r ea r mWeight capacity Maximum path velocity
75mm from the mechanical interface (center of gravity) Speedat point P in Fig. 1.3.4 Accuracy at point P in Fig. 1. 3 . 4
Positionrepeatability Drive systemRobot weight Motor capacity
0.3mm (roll centerof the wrist tool surface) Electrical servodrive usinqDC servomotors Approx. 1gkgf J l t o J 3 a x e s :3 0 W ; J 4 , J 5 a x e s r1 l WTable 3.1.1 Standard Soecifications
3.1.3 External dimensions
-LMechanical interface
-
?
I I r+st68
60 a2
254
180"
Frange deraiLs
lP c
968)
Fig. 1.3.3 Fxternal Dimensions
1. SPECTFTCATIONS3.1.4 Operationspace
Fig. 1.3.4OperationSpace
indicated Fig.1.3.4 in assume thatthe Note1: Theoperation space hand is not installed the robot. (Traceof point P) to may be restricted some area in Note2: The wrist pitchoperation positions.For depending the upper arm and fore arm i d e t a i l ss e e F i g . 5 . 1 1 . 1n t h e a p p e n d i x . , Note3: Jog operation mustbe performed with special careas the robotbaseand floor surface. wrist mav interfere with the REMARKS Jog operation indicates a manual operation using the teachingbox.
1. SPECIFICATIONS3.1.5 Basicoperations in system. Fig. 1.3.5shows axis operations the articulated
#
lJ:lr 'E
S r r o ! d e . r o r a ro .
.rzr9
Fig. 1.3.5 Operations in Articulated System
is Note I: The positive direction the J1 and J5 axisoperations of clockwise viewedfrom arrowsA and B, respectively. as direction the J2, J3 and J4 axisoperations of Note2: The positive is the uoward directionof the arm and wrist.
system. in coordinate Fig. 1.3.6shows operations the cartesian
*4)>J+;z'; : -\, M/ 1 , ' y 7//'
, r *, l*. /f