Bluerprint Lab RB-1025, Integration Manual

Page 1: ...REACH BRAVO INTEGRATION MANUAL www blueprintlab com tel 61 2 9519 7651 email info blueprintlab com...

Page 2: ...re 6 1 10 3 Explosive Environments 6 2 PRODUCT OVERVIEW 7 MAIN PRODUCT FEATURES 7 2 1 AVAILABLE CONFIGURATIONS 7 2 2 END EFFECTOR OPTIONS 8 2 3 RELATED PRODUCTS AND ACCESSORIES 9 3 SPECIFICATIONS 10 3...

Page 3: ...LEVEL CONTROL IMPLEMENTATION 25 6 BENCH SETUP AND ACCEPTANCE TEST 26 6 1 BENCH SETUP 26 6 1 1 Physical interfacing 26 6 1 2 Communication Setup 28 6 1 3 Reach Control 29 6 2 ACCEPTANCE TEST 31 6 2 1 R...

Page 4: ...considerations and make correct judgments on safety procedures during operation Reach Bravo manipulators are highly dexterous electromechanical devices that can move with a high degree of freedom Fai...

Page 5: ...int Lab Pty Ltd 2021 1 3 BACKDRIVABILITY WARNING Axes G and D see diagram below use a software limits to ensure they do not rotate beyond their described Range of Motion When power is off this softwar...

Page 6: ...s first Adhering to this servicing schedule ensures Blueprint Lab manipulators maintain their performance within the operational specification and reduced the risk of failure in the field 1 5 1 BRAVO...

Page 7: ...ton is included in the power circuit when bench level testing the manipulator Additionally a digital ESTOP is included in the Reach Control software 1 8 ELECTRICAL INSTALLATION For bench level testing...

Page 8: ...ustere out of water applications With a highly modular design the Reach Bravo is available in configurations ranging from a single function grabber linear or rotate actuator up to the seven function B...

Page 9: ...from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 Bravo 3 Three Function Manipulator RB 3001 Bravo 2 Two Function Manipulator RB 2001 2 2 END EFFECTOR OPTIONS W...

Page 10: ...de available to third parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 2 3 RELATED PRODUCTS AND ACCESSORIES See respective manuals...

Page 11: ...2 1 Full Extension Reach 900mm 750mm 410mm 320mm static Dynamic Full Extension Lift 10kg 12kg 15kg N A Base Joint Torque 110Nm 50Nm N A Max Dynamic Lift 15kg 20kg N A Max Axial Load 100kg 200kg Wrist...

Page 12: ...rmation not to be reproduced or made available to third parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 Bravo 7 Module breakdown...

Page 13: ...to third parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 3 2 2 BRAVO 5 Note Base joint is software limited to 359 not continuous...

Page 14: ...e reproduced or made available to third parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 Bravo 5 Range of motion top view left and...

Page 15: ...Information not to be reproduced or made available to third parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 Bravo 3 Range of mot...

Page 16: ...ilable to third parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 3 2 4 BRAVO 2 Note Bravo 2 Range of Motion is limited to the cont...

Page 17: ...ACE Bravo 7 Bravo 5 Bravo 3 Bravo 2 Input Voltage 20 48V 20 48V 24 48V 24 48V Power Draw Nominal with 10kg 200W 200W 60W 60W Power Draw Max with 10kg 300W 300W 150W N A 3 4 2 COMMUNICATION INTERFACE P...

Page 18: ...rd parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 4 INTERFACING AND INTEGRATION Note 3D CAD files for our manipulators are avail...

Page 19: ...b Confidential Proprietary Information not to be reproduced or made available to third parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd...

Page 20: ...ace Cable Supplied MCIL4F MC Inline 4C Female to unterminated ends 100cm COMMUNICATION CONNECTOR DWTEK MCBH8ME Bulkhead Connector Receptacle Male Face View Pins Description Colour 1 RS485 A Brown 2 RS...

Page 21: ...ed in any unauthorised way Blueprint Lab Pty Ltd 2021 4 1 3 COMMUNICATION PROTOCOL Full details of the communication protocol are found in the Reach Communication Protocol Document BPL RCPD Contact Bl...

Page 22: ...nformation not to be reproduced or made available to third parties without prior consent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 Option 2 Direct Backpl...

Page 23: ...our code 1 Black 2 Screen orange wire on bulkhead 3 White 4 5 Brown Brown white 6 7 Blue Blue white 8 9 Orange Orange white 10 11 Green Green white 12 Red 13 Green Twisted pairs Pins Description Colou...

Page 24: ...rom Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 4 3 INTEGRATION ELECTRICAL DIAGRAM The diagram below shows the basic electrical integration of a Bravo 7 5 and M...

Page 25: ...Yes Cartesian XYZ End Effector Control No Yes Eye Ball Control move arm with respect to tool sensor orientation No Yes Crack and Feature Measurement Tool No Yes Data Logging Tool No Yes Custom Probe...

Page 26: ...nner In this way the Master Arm controller allows the manipulator to mimic the movement of the operator The following Master Arm products are available Master Arm for Seven Function Reach Manipulators...

Page 27: ...ated with a Bravo 7 If you experience any issues in following these steps please contact Blueprint Lab for technical support via info blueprintlab com You will need Bravo Product Reach Control Wall Po...

Page 28: ...shrod Rotate pushrod if needed 6 Screw the collar to tighten Fasten the screw with the 3 16 In Allen key to secure 7 Ensure the included power and communications cables are securely connected to the B...

Page 29: ...indows computer press START type Settings Network and Internet Ethernet Change Adaptor Options 2 Double click the ethernet connection to the Reach Bravo Arm To check if you have the correct ethernet c...

Page 30: ...authorised way Blueprint Lab Pty Ltd 2021 6 1 3 REACH CONTROL Reach Control will be provided to you digitally via email as well as on a USB within the Hard Carry Case 1 Install Reach Control 2 Open Re...

Page 31: ...he name of the port just created Select the type of manipulator 4 If the Bravo is setup correctly the 3D model in the background will update to reflect the physical position of the manipulator 5 If th...

Page 32: ...T 6 2 1 RANGE OF MOTION TEST 1 On the control panel in the bottom right of Reach Control click the velocity button Directional arrows will appear on the 3D model 2 Click Settings Cog Icon Display Feed...

Page 33: ...ent from Blueprint Lab and not to be used in any unauthorised way Blueprint Lab Pty Ltd 2021 4 All Bravo products are shipped with a virtual obstacle to prevent collision with the floor under the base...

Page 34: ...uthorised way Blueprint Lab Pty Ltd 2021 6 2 2 MASTER ARM TEST IF APPLICABLE 1 Set up the Master Arm with the stand provided 2 Connect Master Arm to the computer via USB 3 Once powered the Master Arm...

Page 35: ...Icon Control If there is no Master Arm option underneath Spacemouse click Add Assign the new Control port a name Set Port to the name of your Master Arm port Set Device to the name of the Slave arm yo...

Page 36: ...eck that a The corresponding joint on the slave arm responds b The joint moves in the correct direction c The motion of slave to master is a 1 to 1 ratio d The motion is smooth and complete 8 Press an...

Page 37: ...new Reach Bravo system The coverage period of the capped price service program is for a period of two 2 years or 200 operational hours whichever occurs first For details on the Blueprint Lab Service...

Page 38: ...used in any unauthorised way Blueprint Lab Pty Ltd 2021 9 REVISION HISTORY Rev Name Date Change V1 0 Anders 26 May 20 First Version V2 0 James 25 Aug 20 Inclusion of Bravo 2 3 Electrical Diagrams Setu...