Robot e.do. Safety requirements and technical specifications. Rel axes and 6 axes versions

Transcription

1 Robot e.do Rel axes and 6 axes versions Safety requirements and technical specifications Requirements and instructions for safe installation, use, and decommissioning of the Robot. Robot Technical Specifications CR en_00/

2 The contents of this handbook are the property of COMAU S.p.A. Any reproduction, even partial, is prohibited without prior written authorization from COMAU S.p.A. COMAU reserves the right to modify, without notice, the features of the product presented in this handbook. Copyright by COMAU - Published on 01/2018

3 SUMMARY SUMMARY Before using Packaging removal and preliminary checks Specific checks and requirements for Robot in assembly kit Specific checks for preassembled Robot Details on hard stop screws and obtainable stroke limitations Preliminary requirements and instructions for installation General requirements for installation Use of J8 connector on Robot base Connection to the power supply mains Robot specifications and technical features General technical features Robot workspace and calibration position Robot wrist features Drilling diagram on Robot flange for tool fixing Wrist loads During the use Cleaning Decommissioning and disposal

4 1. This document summarizes the minimum safety requirements to be followed during the use of the Robot, for the entire duration of its operating life: Before using Robot specifications and technical features During the use For cleaning Decommissioning and disposal Carefully read this document before carrying out any operation on the Robot. Comau will not be responsible for any damages or injuries caused by improper installations or uses of the Robot. 4

5 1.1 Before using Minimum safety requirements to be followed during the Robot unpacking and installation operations are given below: Packaging removal and preliminary checks Specific checks and requirements for Robot in assembly kit Specific checks for preassembled Robot Details on hard stop screws and obtainable stroke limitations Preliminary requirements and instructions for installation Packaging removal and preliminary checks remove the Robot from the packaging by holding it by the base; after removing the packaging, make sure that the Robot does not show signs of damage during transport; if it does, do not install the Robot and contact the Comau Service Centre; the packaging materials must be kept out of reach of children, as they are potential sources of danger; Do not handle the Robot and perform the installation working with wet or damp hands or feet. The Robot is designed and built to be used exclusively in indoor domestic / scholastic environments and protected from atmospheric agents. It is not intended for use in industrial environments or in hazardous environments (e.g. with potential risk of explosion). 5

6 1.1.2 Specific checks and requirements for Robot in assembly kit in case of the Robot sold in assembly kit: perform mechanical assembly paying particular attention to the back of assembly of the single joints (see also the relative guide Get started Manual ) perform electrical connections, making sure that the Robot base is turned off and not connected to the power supply network; pay particular attention to the labelling and identification of the connectors on the individual cables and on the electronic boards, in order to avoid possible incorrect connections (see also the relative guide Get started Manual ) make sure of the presence of q.ty 3 hard stop screws kit (Part No. CR ), containing q.ty 2 socket hex head screws M3x8 each (q.ty 6 total screws inserted in a special housing); perform the installation of the hard stop screws on the joints, used to physically limit the stroke of the axes and thus avoid potential risks of pinching (for details, see par ); On axis 2 and axis 3 joints, the installation of the hard stop screws in 1-1 position (minimum useful limitation to avoid risks of pinching) is obligatory. The installation of the hard stop screws in other possible positions (2-2, 3-3, 4-4, resulting in a greater limitation of the axis stroke) is optional and can be assessed by the Customer depending on his own needs. make sure that all plastic protection covers of the electronic board on each joint are properly installed Specific checks for preassembled Robot In case of preassembled Robot: On axis 2 and axis 3 joints, the hard stop screws are installed by default by Comau in 1-1 position (minimum useful limitation to avoid risks of pinching). If necessary, change the installation position of the hard stop screws, according to need (for details, see par ). check the proper assembly and fixing of the various Robot parts; make sure that all plastic protection covers of the electronic board on each joint are properly installed. 6

7 1.1.4 Details on hard stop screws and obtainable stroke limitations Fig Detail on the hard stop screws positioning on the Robot joints * * tightening torque 1.2 Nm The 1-1 installation position (highlighted in figure) of the hard stop screws is obligatory to allow the minimum useful limitation in order to avoid the risk of pinching. The installation of the hard stop screws in other possible positions (2-2, 3-3, 4-4, resulting in a greater limitation of the axis stroke) is optional and can be assessed by the Customer depending on his own needs. The Software stroke-ends on axes 2 and 3 are set by default and allow a stroke limitation equal to that obtained with stop screws installed in 1-1 position. The Software stroke-ends cannot be changed and therefore remain unchanged even in case of the hard stop screws installed in other possible positions (with consequent greater limitation of the axis stroke). In case of hard stop screws installed in a position different from 1-1', pay particular attention to the programming of the Robot motions, in order to avoid possible impacts against the screws. 7

8 Fig Detail on stroke limitations obtainable through hard stop screws mounting * * notch for visual calibration Position Stroke Position Stroke

9 1.1.5 Preliminary requirements and instructions for installation General requirements for installation Use of J8 connector on Robot base Connection to the mains power supply General requirements for installation the Robot installation plane must be a flat surface; when installing, make sure that under the Robot base there are not objects (or similar) that can alter the Robot stability during performance, with consequent risk of overturning. 9

10 Use of J8 connector on Robot base On the Robot base there is a D-SUB 9-pole connector, named J8 (see Fig. 1.3), that can be used for: Connection of any emergency push-buttons Connection of any interlocking devices associated with guards When not used, the J8 connector must be closed using the apposite Mating connector for inputs reclosure, supplied with the Robot. Fig Location of J8 connector on Robot base 10

11 Connection of any emergency push-buttons Robot is arranged for the connection of additional emergency devices, through "E-stop" input on J8 connector, available on robot base; depending on the application need, evaluate to install additional emergency push-buttons. If not used, the E-Stop input must be closed by using the apposite Mating connector for inputs reclosure, supplied with the Robot. The following Fig. 1.4 shows the diagram of the E-Stop input connection. Connect a pair of dry contacts of any additional emergency push-button. Fig E-Stop input connection diagram Hexagonal Base J8 E-Stop Tab J8 connector pinout (pins relative to the input for the emergency push-button connection) PIN Name / function 1 V_Out_Safe (24 Vdc) 2 0V (V_Out_Safe) 3 Connection to Relay K1, inside hexagonal base 4 Input connection on Raspberry, inside hexagonal base 11

12 Connection of any interlocking devices associated with guards Robot is arranged for the connection of additional interlocking devices, through Fence input on the apposite J8 connector available on Robot base. The Fence input opening makes the Robot to stop safely. If not used, the Fence input must be closed by using the apposite Mating connector for inputs reclosure, supplied with the Robot. The following Fig. 1.5 shows the diagram of the Fence input connection. Connect a pair of dry contacts, of a possible guard interlocking device (e.g. safety limit switch). Fig Fence input connection diagram Hexagonal base J8 Fence Tab J8 connector pinout (pins relative to the input for guard interlocking devices connection) PIN Name / function 5 V_Out_Safe (24 Vdc) 6 0V (V_Out_Safe) 7 Connection to Relay K2, inside hexagonal base 8 Input connection on Raspberry, inside hexagonal base 12

13 Mating connector for inputs reclosure When the J8 connector on Robot base is not used for any connection of emergency push-buttons and/or guard interlocking devices, it must be closed through the apposite mating connector (see Fig. 1.6), supplied with the Robot. Fig Mating connector for inputs reclosure Connection to the mains power supply Check that the voltage and frequency of power supply from the electrical mains are compatible with the Robot electrical features (230 V, 50 Hz respectively, see Tab Robot e.do technical features); make sure that the Robot is powered off (main switch open in 0 - OFF position); use only the power supply supplied as standard with the Robot; Check the integrity of the power cord and of the power supply; in case the power cord is damaged, do not connect it to the electrical mains and contact Comau Service Centre. connect the Robot to the power supply mains. 13

14 1.2 Robot specifications and technical features The following table and graphs show the main Robot technical features: General technical features Robot workspace and calibration position Robot wrist features General technical features Tab Robot e.do technical features Structure / No. axes VERSION e.do 6 axes e.do 4 axes Wrist load Torque on axis (6 axes version) Torque on axis 5 (4 axes version) Admissible inertia on axis (6 axes version) Admissible inertia on axis 5 (4 axes version) Stroke /(Speed) Max horizontal reach Repeatability Axis 1 Axis 2 Axis 3 Anthropomorphic / 6 axes max 1 kg (2.2 lb) 2.75 Nm kgm² ± 179 (38 /s) ± 99 (38 /s) ± 99 (38 /s) Anthropomorphic / 4 axes Axis 4 ± 179 (56 /s) N/A Axis 5 ± 104 (56 /s) Axis 6 ± 2700 (56 /s) N/A 478 mm (1.56 ft) ± 1 mm Robot weight 11.1 kg (24.5 lb) 10.5 kg (23.15 lb) Robot tool coupling flange features See Fig Drilling diagram on Robot flange for tool fixing Motors DC motors Position measurement system Encoder 256 IMP Protection degree IP2x Robot colour White and black Assembly position On floor, on the relative hexagonal base Operating environment temperature from +10 C to +40 C Storage temperature from -10 C to +55 C Relative humidity 5% to 95% without condensate Maximum temperature gradient 1.5 C/min Power supply voltage / frequency 230 Vac / 50 Hz 14

15 1.2.2 Robot workspace and calibration position The drawings and tables below show the Robot workspace, in two available versions, and the relative calibration position: Robot workspace in 6 axes configuration Robot workspace in 4 axes configuration Calibration position for Robot in 6 axes configuration Calibration position for Robot in 4 axes configuration The workspaces shown in the figure are obtained with hard stop screws installed in 1-1 position (see Fig. 1.1, position obligatory in order to allow the useful minimum limitation to avoid the risk of pinching) on axes 2 and 3. Any installation of hard stop screws in other possible positions (see Fig. 1.1) leads to a reduction of the Robot workspace. 15

16 Fig Robot workspace in 6 axes configuration * Ax.5 Ax ,50 Ax ,50 Z ,3 261, Ax.6 +/-2700 Ax.4 +/-179 Ax Y -179 * = calibration position Dimensions in millimetres 16

17 Fig Robot workspace in 4 axes configuration * Ax.5 Ax ,50 Ax ,50 Z 261,3 261, Ax Y -179 * = calibration position Dimensions in millimetres 17

18 Tab Calibration position for Robot in 6 axes configuration Joints in calibration position Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis Tab Calibration position for Robot in 4 axes configuration Joints in calibration position Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis

19 1.2.3 Robot wrist features The following drawings and graphs show the main Robot technical features: Drilling diagram on Robot flange for tool fixing Wrist loads Drilling diagram on Robot flange for tool fixing Fig Drilling diagram on Robot flange for tool fixing Dimensions in mm 19

20 Wrist loads Max load (Q F ) applicable to the flange is defined depending on the Lz and Lxy coordinates of the load centre of mass (P), represented in the following figure. Fig Centre of mass coordinates of the load applied to the flange Max load (Q F ) applicable to the flange is defined using the wrist load graphs given below. Fig Graphs for determination of the maximum load applicable to the Robot flange. A) M = 0,4 kg B) M = 0,6 kg C) M = 0,8 kg D)M=1kg M= mass in kg of the load applied to the Robot wrist 20

21 1.3 During the use Minimum safety requirements to be followed during the Robot use are given below: during the normal operation, the acoustic pressure level from the Robot is less than 70 db(a); the Robot can be used by children (age > 14 years) and by persons with reduced physical, sensory or mental capabilities, or with insufficient experience and knowledge, provided that they are under the supervision of an adequately trained and informed adult, responsible for the safe use of the Robot itself. Children must not play with the equipment, they must not perform cleaning and routine maintenance operations. Do not use the Robot working with wet or damp hands or feet. Do not bypass the safety devices and solutions present on the Robot. keep the ventilation openings free from obstructions; during the use, provide a sufficiently large free space around the Robot (greater than the workspace of the Robot itself, see Fig Robot workspace in 6 axes configuration and/or Fig Robot workspace in 4 axes configuration) in order to avoid any Robot impacts that could cause pinching or crushing; Do not handle potentially dangerous objects (e.g. sharp or with sharp shapes objects). do not suspend or fix objects (or similar) to the Robot structure during the operating; periodically check the proper operating of the emergency stop push-button and the guard interlocking devices connected to the Fence input (when present); activate the devices and check the actual stop of the Robot; when not used, shut down the Robot and disconnect the power cord; In the event of malfunctions, do not independently carry out dismantling or repair attempts on the Robot; contact the Comau Service Centre, as indicated in the "Certifications, Service, Warranty" document supplied with the Robot itself. 21

22 1.4 Cleaning Minimum safety requirements to be followed during the Robot cleaning are given below: Before carrying out any cleaning operation, make sure that the Robot is powered off and remove the plug from the socket. do not pull the power cord to disconnect the Robot. Always pull from the plug; do not spray water or use steam to clean the Robot; clean the Robot with a damp and soft cloth. Use only neutral detergents. Do not use abrasive products, abrasive sponges, solvents or metal objects. 1.5 Decommissioning and disposal The disposal operations must be carried out in compliance with the law in force in the country where the machine is installed: dispose of the batteries, electronic boards and various components in an environmentally correct way and in accordance with the regulations in force transferring them to the appropriate collection facilities. Minimum safety requirements to be followed during the Robot decommissioning and disposal are given below: disconnect the Robot from the power supply mains; disassemble the Robot following the assembly instructions (when present) in reverse order; perform the disposal of the Robot and various components in accordance with the law in force in the country where the Robot is installed; inside the Robot there are batteries and electronic boards that must be disposed of according to the law in force in the country where the Robot is installed, transferring them to the appropriate collection facilities. 22

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24 Integration to instructions MadeinComau