Estun TRIO RX3-400-SR, Operator'S Manual

Page 1: ...RX SCARA ROBOT MECHANICAL UNIT OPERATOR S MANUAL...

Page 2: ...tions and information are checked on a regular basis Nevertheless discrepancies cannot be precluded for which reason we are not able to guarantee total conformity TRIO assumes no responsibility for an...

Page 3: ...or low level of risk which if not avoided could result in minor or moderate injury CAUTION Indicates a potentially hazardous situation that if not avoided could cause equipment damage loss of data pe...

Page 4: ...he Safety chapter before operating the robot system Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and or sever...

Page 5: ...the service life of joint please move the joint over 50 degrees for about 5 to 10 times per day 10 Joint 3 if arm s vertical move distance is shorter than 10mm please move the joint over half of the m...

Page 6: ...sing the Emergency Stop switch unnecessarily while the Robot is running normally Emergency Movement without Drive Power When the system is placed in emergency mode push the arm or joint of the Robot b...

Page 7: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved vii...

Page 8: ...c Shock Warning Fig A Electric shock warning This label indicates hazardous voltage or electric shock Do not touch any electronic parts inside 2 Personal Injury Warning Fig B Personal injury warning N...

Page 9: ...h the robot when it is moving This is extremely hazardous and may injury your hand 4 Manual Reading Warning Fig D Manual reading warning Be sure to read and understand the content of the manual and th...

Page 10: ...ment Version 1 8 2022 TRIO MOTION TECHNOLOGY All right reserved x Preface This manual describes the following robots Robot Type Load Capacity RX3 RX3 400 SR 3kg RX6 RX6 500 SR 6kg RX6 600 SR RX6 700 S...

Page 11: ...g the Cables 21 2 7 User Wires and Pneumatic Tubes 22 2 7 1 Electrical Wires 23 2 7 2 Pneumatic Tubes 24 2 8 Relocation and Storage 26 2 8 1 Precautions for Relocation and Storage 26 2 8 2 Relocation...

Page 12: ...Cap Bolts 47 5 4 Maintenance of the Belt 49 5 4 1 Belt specifications 50 5 4 2 Failure mode of timing belt 51 6 Calibration and battery 52 6 1 Introduction 52 6 2 Finding calibration position 53 6 2 1...

Page 13: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 1 1 Specifications 1 1 Model Number...

Page 14: ...lowered by the weight of the end effector While the LED lamp is on the current is being applied to the robot Performing any work with the power ON is extremely hazardous and it may result in electric...

Page 15: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 3 Fig 1 2 Dimension of RX3 robot...

Page 16: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 4 Fig 1 3 Part name RX6...

Page 17: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 5 Fig 1 4 Dimension of RX6 STANDARD robot a b...

Page 18: ...mm s 5400 6000 6650 5900 Joint 3 mm s 960 1000 Joint 4 s 2250 1730 Repeatability Joint 1 2 mm 0 025 0 025 Joint 3 mm 0 015 0 015 Joint 4 0 01 0 01 Payload Load Rated kg 1 2 Max kg 3 6 Joint 4 allowab...

Page 19: ...tube for customer use 2 pneumatic tubes 6 mm 0 59 Mpa 6 kgf cm2 86 psi 1 pneumatic tube 4 mm 0 59 Mpa 6 kgf cm2 86 psi Environmental requirements Ambient Temp 5 to 40 degrees C with minimum temperatu...

Page 20: ...Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 8 Item Max motion range Joint 1 Joint 2 Joint 3 mm Joint 4 RX3 400 SR 132 141 150 360 RX6 series...

Page 21: ...40 C with minimum temperature variation Ambient relative humidity 10 to 80 no condensation First transient burst noise 2 kV or less Electrostatic noise 6 kV or less Environment Install indoors Keep a...

Page 22: ...l in your application s environment Rapid change in temperature and humidity might cause condensation inside the Robot For food handling please consult your distributor if you feel any concern regardi...

Page 23: ...ounting the Robot base is M8 RX3 and RX6 Use mounting bolts with specifications conforming to ISO898 1 property class 10 9 or 12 9 The plate for the Robot mounting face should be 20 mm thick or more a...

Page 24: ...e required for mounting the Robot Controller and peripheral equipment Space for teaching Space for maintenance and inspection Ensure a space open covers and plates for maintenance Space for cables The...

Page 25: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 13 Fig 2 2 Motion range RX3 400 SR...

Page 26: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 14 Fig 2 3 Motion range RX6 Standard model...

Page 27: ...Arm 2 mm 275 275 275 Motion range of Joint 1 132 132 132 Motion range of Joint 2 150 150 150 Motion range mm 138 1 162 6 232 Motion range of backside mm 425 6 492 5 559 4 Mechanical stop position angl...

Page 28: ...a cart or similar equipment transport the Robot in the same manner as it was delivered WARNING Only authorized personnel should perform sling work and operate a crane and a forklift When these operat...

Page 29: ...d The Robot weights are as follows After removing the bolts securing the Robot to the delivery equipment the Robot can fall Be careful not to get hands or fingers caught The arm is secured with a wire...

Page 30: ...ator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 18 Parts Weight kg Robot RX3 400 SR 15 RX6 500 SR 18 RX6 600 SR 18 RX6 700 SR 19 Cabinet n a NOTE Some lightweight pa...

Page 31: ...n may occur during operation as the rigidity of worktable If it does please improve the rigidity of the worktable or change the settings of speed acceleration and deceleration Install the Tabletop Mou...

Page 32: ...conforming to ISO898 1 Property Class 10 9 or 12 9 The tightening torque is 73 5 N m 750kgf cm 2 Using nippers cut off the wire tie binding the shaft and arm retaining bracket on the base 3 Remove the...

Page 33: ...azardous and may result in electric shock and or malfunction of the robot system Be sure to connect the cables properly Do not allow unnecessary strain on the cables Do not put heavy objects on the ca...

Page 34: ...rved 22 2 7 User Wires and Pneumatic Tubes CAUTION Only authorized or certified personnel should be allowed to perform wiring Wiring by unauthorized or uncertified personnel may result in bodily injur...

Page 35: ...ARNING Do not apply the current more than 1A to the robot Pins with the same number indicated on the connectors on both ends of the cables are connected Connectors are standard accessories of the robo...

Page 36: ...TECHNOLOGY All right reserved 24 2 7 2 Pneumatic Tubes Max Usable Pneumatic Pressure Pneumatic tubes Outer Diameter Inner Diameter 0 59 MPa 6 kgf cm2 86 psi 2 6 mm 4 mm 1 4 mm 2 5 mm Fittings for 6 mm...

Page 37: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 25 Fig 2 7 Fittings for tubes RX3 RX6...

Page 38: ...transport WARNING Only authorized personnel should perform sling work and operate a crane and a forklift When these operations are performed by unauthorized personnel it is extremely hazardous and may...

Page 39: ...m will not be damaged Tie the lower end of the shaft and arm and the base and arm together with the wire tie Be careful not to tie them too tight Otherwise the shaft may bend 3 Hold the bottom of Arm...

Page 40: ...equipped with a gripper or chuck connect wires and or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF Improper connection...

Page 41: ...TECHNOLOGY All right reserved 29 3 1 1 Shaft Attach an end effector to the lower end of the shaft For the shaft dimensions and the overall dimensions of the Robot refer to chapter 1 Specifications Us...

Page 42: ...ion or when the motor is turned OFF even though the power is turned ON To move Joint 3 up down while attaching an end effector turn ON the Controller and press the brake release switch This button swi...

Page 43: ...erved 31 3 1 3 Layouts When you operate the robot with an end effector the end effector may interfere with the Robot because of the outer diameter of the end effector the size of the work piece or the...

Page 44: ...022 TRIO MOTION TECHNOLOGY All right reserved 32 3 2 Attaching Cameras and Valves The bottom of the Arm 2 has threaded holes as shown in the figure below Use these holes for attaching cameras valves a...

Page 45: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 33 Fig 3 2 Dimensions for attaching cameras and valves RX6...

Page 46: ...ht formula is shown below When you attach the equipment near Arm 2 1 2 1 2 2 When you attach the equipment to the end of Arm 2 2 2 2 equivalent weight weight of camera etc 1 length of Arm 1 2 length o...

Page 47: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 35 Fig 3 3 Equivalent weight calculation...

Page 48: ...t Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 36 4 Motion Range 4 1 Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Robot can move...

Page 49: ...al Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 37 WARNING Do not move the upper limit mechanical stop Moving the upper limit mechanical stop may lead to collision with robot a...

Page 50: ...and 2 Both Joints 1 and 2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings Install the bolts in the holes corresponding to the angle that you want to se...

Page 51: ...Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 39 Fig 4 4 Mechanical stops RX6 Type Angle for the J1 axis mechanical stop Angle for the J2 axis mechanical...

Page 52: ...tenance This chapter describes maintenance inspections and procedures Performing maintenance inspections and procedures properly is essential for preventing trouble and ensuring safety Be sure to perf...

Page 53: ...Schedule for Maintenance Inspection Inspection points are divided into five stages daily monthly quarterly biannual and annual The inspection points are added every stage If the Robot is operated for...

Page 54: ...ion Point Daily inspection Monthly inspection Quarterly inspection Biannual inspection Annual inspection Maintenance 1 month 250h Inspect every day 2 months 500h 3 months 750h 4 months 1000h 5 months...

Page 55: ...cking bolts Bolts screws around shaft Bolts screws securing motors reduction gear units etc Check looseness of connectors If the connectors are loosening push it securely or tighten External connector...

Page 56: ...n range Each joint Move the cables back and forth lightly to check whether the cables are disconnected External cables including cable unit of the Robot Push each arm in MOTOR ON status to check wheth...

Page 57: ...th insufficient grease will damage sliding parts and or result in insufficient function of the Robot Tab 5 1 Periodic Greasing Joint Greasing part Greasing Interval Grease 1 Reduction gear units Repla...

Page 58: ...it covers the slot on the upper end of the shaft Then clean up the remaining grease 6 Turn the controller power ON 7 Press the brake release switch Meanwhile move the shaft to the lower limit 8 Clean...

Page 59: ...ollowing table When it is necessary to refasten these bolts in some procedures in this manual except special cases as noted use a torque wrench so that the bolts are fastened with the appropriate tigh...

Page 60: ...fastened in a crisscross pattern as shown in the figure below Do not fasten all bolts securely at one time Divide the number of times that the bolts are fastened into two or three and fasten the bolt...

Page 61: ...anual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 49 5 4 Maintenance of the Belt Item Model Notes Tool Acoustic tension meter gates U507 For details about measurement refer to...

Page 62: ...mm m Width mm Span mm Internal stress N Tense kgf RX3 series Belt of Joint 3 2 5 10 127 34 3 7 0 5 Short belt of Joint 4 1 3 10 45 31 6 0 5 Long belt of Joint 4 1 3 16 85 51 10 0 5 RX6 series Belt of...

Page 63: ...the appearance When abnormal situation occurs replace the abnormal part Abnormal item Appearance Abnormal wear on the gear tooth Wear of the tooth cloth Exposure of the rubber width of tooth profile r...

Page 64: ...ibration data is supplied in a separate document when purchasing the robot These data are unique as per robot serial number Calibration is factory performed It is unnecessary to perform calibration in...

Page 65: ...The data of home position may be lost due to electrical or software problems The stored zero position can be regarded as the reference when you perform calibration by teaching method The process consi...

Page 66: ...6 2 1 Battery Replacement Steps 1 Turn power off for all axis drives 2 Move J1 J2 J3 and J4 and align the mark on the different arms to the position as shown in the figures below Fig 6 1 Home positio...

Page 67: ...n the robot base 4 Replace batteries of J1 J2 J3 and J4 or unplug and then plug them again so absolute encoders multi turn is set to 0 Fig 6 5 Back plate where batteries are stored RX3 RX6 NOTE It is...

Page 68: ...a new project in Motion Perfect 2 Make sure the Ethercat network is in operational state and all axes are all in working state no errors You can do this via Intelligent Drive window in Motion Perfect...

Page 69: ...window and clear any errors of each axis by Clear All Errors Clear Multi turns Errors and Clear Active in sequence as shown below Fig 6 7 Motion Perfect Intelligent Drives window 4 Make sure the cont...

Page 70: ...estart the cabinet 7 Via Motion Perfect make sure the Ethercat network is operational If not restart Ethercat network via Controller pane in Motion Perfect Fig 6 10 Restart EtherCAT network 8 Axis par...

Page 71: ...or s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 59 6 2 3 SCARA Definition 1 Run ROBOT_DEFINITIONS file 2 Switch Master Enable ON and test jog each axis of the robot Fi...

Page 72: ...0 Appendix Appendix A RX3 Maintenance Parts List RX3 Robot Parts Name Part name Code Note Maintenance AC Servo Motor Joint 1 12700000053 Joint 2 12700000049 Joint 3 4 12700000048 Timing belt Joint 3 G...

Page 73: ...r s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 61 Battery 51205A00001 Grease Ball Screw Spline A2144000012 AFB LF 400 Reduction Gear Unit Contact franchiser or TRIO fo...

Page 74: ...endix B RX6 Maintenance Parts List RX6 Robot Parts Name Part name Code Note Maintenance AC Servo Motor Joint 1 12700000057 Joint 2 12700000053 Joint 3 4 12700000048 Timing belt Joint 3 G5401000046 Joi...

Page 75: ...it Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 63 Grease Ball Screw Spline A2144000012 AFB LF 400 Reduction Gear Unit Contact franchiser or TRIO for purchasi...

Page 76: ...Danger Warning and Caution box colour indicators RT Aug 2021 V1 4 Corrected RX3 and RX4 calibration position measurements RT Nov 2021 V1 5 Use of canvas in drawings for consistent display in differen...

Page 77: ...TRIO SCARA Robot Mechanical Unit Operator s Manual Document Version V1 8 2022 TRIO MOTION TECHNOLOGY All right reserved 65 Trio Motion Technology Limited www triomotion uk...