fruitcore robotics HORST900, Assembly Instructions Manual

Page 1: ...Robot System HORST900 Assembly Instructions For installation operating and maintenance personnel Always keep with the product Version 3 1 09 02 2022 ...

Page 2: ...ocumentation must not be altered expanded reproduced or passed on to third parties without the previous written consent of fruitcore robotics GmbH fruitcore robotics GmbH Macairestr 3 78467 Konstanz Germany Telephone 49 0 7531 945 99 20 Email info fruitcore de Website www fruitcore robotics com Date of issue February 2022 Subject to design and machine alterations ...

Page 3: ...III ...

Page 4: ...ment by the Operator 7 2 4 3 Operations Manager 8 2 5 Operating Personnel 9 2 5 1 Obligation of the Operating Personnel 9 2 5 2 Training of the Operating Personnel 9 2 6 Working Area Danger Zone and Safe Area 9 2 7 Safety Functions 10 2 8 Safety Information for Assembly and Commissioning 11 2 9 Safety Information on Operation 11 2 9 1 Emergency Situations 12 2 9 2 Emergency Operation Moving the Ro...

Page 5: ...r Connection 32 6 4 horstCONTROL I O 33 6 4 1 Overview of All Interfaces 34 6 4 2 Safety critical Inputs Outputs 35 6 4 3 Test Signals A B 39 6 4 4 General Digital Inputs 40 6 4 5 General Digital Outputs 41 6 4 6 24 V Power Supply 42 6 4 7 Common Features of All Digital Interfaces 43 6 4 8 Wiring Examples of Safety critical Inputs Outputs 45 6 4 9 Wiring Examples of Digital Inputs Outputs 48 6 5 T...

Page 6: ...isposal 67 12 1 Disassembly 67 12 2 Disposal 67 13 Annex 68 13 1 Technical Data 68 13 2 Stopping Distances and Stopping Times 71 13 3 Optional Accessories 72 13 4 Spare Parts 74 13 5 Type Plates 74 13 6 Overview of Connectors 75 13 7 Terminal Assignment 76 13 8 Functional Wiring Diagrams of the Electrical Interfaces 78 13 8 1 horstCONTROL I O 78 13 8 2 Tool I O 79 14 Glossary 80 ...

Page 7: ...general digital inputs 40 Table 6 7 Configurable functions for general digital outputs 41 Table 6 8 Characteristic values of the 24 V power supply 42 Table 6 9 Characteristic values of digital I O horstIO 43 Table 6 10 Characteristic values of tool inputs outputs 50 Table 12 1 Materials used 67 Table 13 1 Stopping distances and times with horstFX performance 71 Table 13 2 Optional accessories 72 T...

Page 8: ...ions HI High Logisch 1 HORST Highly Optimized Robotic Systems Technology I O Input Output kV Kilovolt kΩ Kiloohm LO Low Logisch 0 mA Milliampere ms Millisekunden mΩ Milliohm OSSD Output Switching Signal Device TCP Tool Center Point Werkzeugmittelpunkt Ω Ohm ...

Page 9: ...nce The robot system delivered may include options that deviate from the text and images shown in these Assembly Instructions This is due to the individual adaptation and further develop ment of the robot system on the basis of the requests and orders of the individual customers These deviations do not constitute a basis for claims of any kind The robot system must be used only for the permissible...

Page 10: ...e appointed by the operator The operations manager is obligated to allow the operating personnel time for work and safety instruction on the basis of the these Assembly Instruc tions Malfunctions must be reported to the operations manager immediately In addition the operator must observe and provide instruction on generally applicable legal and other binding regulations on accident prevention and ...

Page 11: ...and exercise particular caution in these cases Also pass on the safety signs to other users DANGER The sign with the addition DANGER refers to an immediate danger The danger will lead to serious injury or death of persons The description of the danger is followed by instructions for action that serve to avoid or re move the danger WARNING The sign with the addition WARNING refers to possible dange...

Page 12: ...r of damage to robot or property This sign indicates information that if disregarded presents a danger to the robot system individual modules or the operating environment There is no risk of injury Wear protective clothing Wear your personal protective equipment Safety shoes protective helmet safety goggles and work gloves Danger of environmental damage This sign indicates information that if disr...

Page 13: ...ns and robotics applications in the area of education After being programmed by the operator the robot system is able to execute move ments independently Add on parts such as grippers or testing instruments can be attached to the robot These can be controlled by the robot system The robot system must be operated only in dry level interior spaces on a firm surface The robot must be used only within...

Page 14: ...ved the appropriate instruction train ing or authorization Operation of the robot system outside of the specified technical limits Use of components that have not been approved by the manufacturer Repairs to components performed by unauthorized personnel Manipulation of power settings Attachment of accessories or add on parts that are not expressly approved for use by the man ufacturer Removal or ...

Page 15: ...n declares that the commissioning of the partly completed machinery re mains impermissible until the partly completed machinery is installed in a piece of machinery or assem bled together with other parts into a piece of machinery that corresponds to the provisions of the EC Machinery Directive and the EC declaration of conformity in accordance with Annex II A is present This includes in particula...

Page 16: ...ntegration in the superordinate emergency stop circuit 2 4 3 Operations Manager DANGER Possible personal injuries caused by unsafe condition of the system The operator of the robot system is obligated to designate an operations manager at the installation location The operations manager is obligated to operate the robot system only in perfect and safe condition In addition the operations manager i...

Page 17: ... by the operation of persons undergoing training Persons to be trained or taught as well as apprentices are only permitted to operate the ro bot system if supervision by a trained person with technical or electrotechnical training teaching personnel is ensured The operating personnel must be trained on the work with and dangers of the robot system by fruitcore robotics GmbH or authorized personnel...

Page 18: ...the emergency stop button or external safety controls External emergency stop devices are connected to the emergency stop inputs of the switch cabinet hereinafter referred to as the horstCONTROL This safety function must be used in emergency situations exclusively in order to bring the robot into a safe condition The emergency stop must not be used for process related stops Safety Stop Bringing ab...

Page 19: ...nd crushing due to robot movement Close off the installation area and protect it against access by unauthorized persons Secure the horstPANEL operating panel and horstCONTROL switch cabinet against oper ation by unauthorized persons CAUTION Risk of injury due to overloading or the robot falling The robot must be lifted by at least two persons in order to prevent overloading or the robot from falli...

Page 20: ...esses in accordance with the Assembly instruc tions It is only permissible to disconnect the horstPANEL from or connect it to the horstCONTROL when it is disconnected from the power supply Ensure that only the connected horstPANEL is in the vicinity of the robot to avoid confusions with inactive emergency stop buttons 2 9 1 Emergency Situations DANGER Due to the robot system s automatic movement s...

Page 21: ...access by unauthorized persons Set up warning signs to prevent the system from being started up while work is being per formed Secure the horstPANEL and horstCONTROL against operation by unauthorized per sons Remove the covers 1 of the belt drives on both sides with a suitable screwdriver Attention The warranty expires when this ac tion is performed and the robot system must only be started up aga...

Page 22: ...be performed by electro technical specialist personnel only WARNING Danger of impact and crushing due to unexpected robot movement Remove any workpieces from the gripper prior to cleaning or maintenance Prior to carrying out cleaning or maintenance work disconnect the robot system from the power grid and disconnect any mounted tools that are operated with compressed air from the compressed air sup...

Page 23: ...ets may arise in the course of use DANGER Danger resulting from human error or malfunctions When integrated in a complete system the robot system must be integrated in the emer gency stop circuit of the higher level system WARNING Operation without protection devices presents a risk of injury The robot must be used only within suitable protection devices e g separating protection device light curt...

Page 24: ...m is stopped the engine brake of the respective robot axis is applied Since the belt drives are elastic they may still move slightly As a result manual intervention can lead to injuries even in idle mode Never insert your hand into the area of motion or between the axes of the robot DANGER OF CRUSHING IMPACT AND CUTTING Possible personal injuries due to the robot arm collapsing during maintenance ...

Page 25: ...ansport shipping position To transport the robot system again after use follow the steps below Before disconnecting the robot system from the power supply start the Shipping position program in horstFX and leave it to run in full This brings the robot to the correct position for shipping transport Alternatively use the Freies Fahren free movement software control to bring the robot to the transpor...

Page 26: ...4 1 Scope of Delivery The robot system is delivered with HORST robot horstCONTROL switch cabinet horstPANEL portable operating panel Connection cable robot horstCONTROL 3 m Power cable 1 8 m DVI cable 5 m 4 mounting screws DIN 7984 M8x20 Carry transport aid Mount for control panel Assembly Instructions Surfstick incl SIM card ...

Page 27: ...re presented The most important components are listed and some are explained in more detail 4 2 1 Robot Fig 4 1 Robot HORST 900 1 Base fixed part with floor flange 2 Base moving part 3 Linkage 4 Swivel arm 5 Support arm 1 6 Support arm 2 7 Support arm 3 8 Tool flange 5 3 4 7 1 2 8 6 ...

Page 28: ... the ranges of movement in the Annex Technical Data page68 4 2 2 horstPANEL operating panel 1 Touch display user interface 2 Connection to horstCONTROL 3 Emergency stop button The horstPANEL features a portable operating panel equipped with a touchscreen display It is connected to the horstCONTROL by a DVI cable As standard a 5 m long DVI cable is supplied Up to 15 m are possible after consultatio...

Page 29: ...always be kept in the center position WARNING Never connect a standard monitor to the DVI cable As the wiring does not correspond to the standard this could damage the end device or the horstCONTROL Never plug in or unplug the horstPANEL during operation Switch the horstCONTROL off first The USB ports on the horstPANEL are only provided for input devices For storage media use the interfaces of the...

Page 30: ...sors and actuators The left hand image shows the front side of the horstCONTROL and the right hand image shows the rear side Fig 4 6 horstCONTROL switch cabinet 1 Cable duct for inputs outputs interfaces 2 PROFINET connection modular plug RJ45 optional 3 Robot connection 4 horstPANEL connection 5 PC ON OFF button 6 Operating modes selector switch 7 Main switch 8 2x USB 3 1 ports 9 Ethernet port mo...

Page 31: ...n is on the top right hand side of the horstPANEL Fig 4 8 Emergency stop button 4 4 Add on Parts Tools Option Add on parts can be additional mechanical attachments such as flange plates e g for mounting pneu matic accessories or tools such as grippers To mount tools on the mechanical interface a standard tool flange is installed in accordance with DIN EN ISO 9409 1 for dimensions see Assembling Ad...

Page 32: ...orking Area of the Robot 24 5 Assembly 5 1 Working Area of the Robot The following figures display the size and shape of the working area Fig 5 1 Side view of working area Fig 5 2 Plan view of working area ...

Page 33: ...he other machin ery cannot damage the robot Ensure that suitable protection devices e g separating protection device light curtain or safety laser scanner are installed The protection devices must stop the robot s movement within the danger zone Protection devices emergency stop safety stop must be connected only to safety critical interfaces and must be designed to be redundant 5 2 1 Mounting Sur...

Page 34: ...the robot with the 4 mounting screws supplied DIN 7984 M8x20 with 20 Nm Fig 5 4 Fastening the mounting screws 5 2 3 Restricting the Movement Space ATTENTION Risk of damage to the robot Ensure that the movement space is limited by the software and never drive into the me chanical end stops of the robot If the robot is intended for operating mode Manual with high speed T2 the integrator must provide...

Page 35: ...due to add on parts Note that the range of the robot and thus the danger zone change with add on parts WARNING Danger due to the add on parts and workpieces being ejected during operation Before commissioning ensure that the add on part is securely attached Avoid eccentric loads to prevent upswing Adhere to the holding forces adapted to the process parameters The robot is equipped with an interfac...

Page 36: ...st loosening The pneumatic connection values of the add on parts can be found in the manufacturer documentation When all pneumatic components gripper cables valves are securely mounted connect the compressed air supply 5 4 Setting Up horstCONTROL Position the horstCONTROL in compliance with the following The connection cable can be routed to the robot It is protected against damaged and falling do...

Page 37: ... only the included power cable to connect to the power grid Do not use damaged ca bles ELECTRICAL VOLTAGE Possible personal injuries caused by applied electricity Make sure that the power supply is switched off while working on the robot and that it can not be switched on again by accident DANGER Danger due to incorrectly connected emergency stop devices Only use the interface for emergency stop I...

Page 38: ... system Do not use the robot for applications that expose the cables to bending 6 2 Robot Connection Connect the robot to the horstCON TROL using the connection cable Fig 6 1 Interface on the robot 1 Robot connection to horstCONTROL Fig 6 2 Robot connection to horstCONTROL ATTENTION The robot connection cable must be plugged into the horstCONTROL before the power is switched on It must only be plu...

Page 39: ...ROL to the power supply with the supplied power cable Lay the power cable such that it is protected against damage Fig 6 3 Power connection to horstCONTROL Parameter min typ max Unit Input voltage 90 260 VAC Input frequency 47 63 Hz Current consumption 4 4 A Rated power draw 1 300 W Table 6 1 Mains connection characteristic values 1 Power draw measuring conditions horstCONTROL PCB PCC Robot H900 a...

Page 40: ...ectors and their terminal assignments in the Annex 13 6 13 7 from page 75 Undo the four external M4 countersunk head screws Remove the cable duct cover 1 The horstIO connections are now accessible If relevant connect peripherals to the inter faces Secure the cable duct cover 1 again Fig 6 4 horstCONTROL cable duct The connections are designed as pluggable screw terminal connectors The supplied scr...

Page 41: ...or safety critical inputs Up to 28 general digital inputs blue area o 20 digital inputs o A further 8 digital inputs if the 4 configurable safety critical inputs are configured as normal inputs Up to 30 general outputs green area o 18 digital outputs Push Pull High Side o A further 8 digital outputs push pull if the 4 configurable safety critical outputs are config ured as normal outputs o A furth...

Page 42: ...ment stops Yes Yes Energization of drives Off On Program execution Paused Paused Acknowledgement Manually at the horstPANEL Manually at the horstPANEL Further operation after acknowledgement Program continues running at interrupted position Program continues running at interrupted position Requires reinitialization No No Stop category IEC 60204 1 2 Power level ISO 13849 1 PL d PL d Only if the pow...

Page 43: ... emergency stop on the horstPANEL In the delivery state bridges connect these to the safe emergency stop in puts X6 2 and X6 4 An external emergency stop button can be series con nected to the emergency stop on the horstPANEL between X6 1 X6 2 and X6 3 X6 4 X6 6 and X6 8 are the respective inputs for a safety stop Safety Stop In At these connections either potential free contacts and the internal ...

Page 44: ...nfiguration Options for Digital Interfaces page 44 6 4 2 3 Configurable Safe Inputs There are 4 further configurable safe inputs SI4 to SI7 Safety In on terminal block X5 These are also designed redundantly with Performance Level d Category 3 in accordance with EN ISO 13849 1 They meet the same electrical specifications as the general digital inputs They can be used both as safety critical inputs ...

Page 45: ...ical 0 e g robot has a low signal at the external emergency stop input 6 4 2 4 Safe Outputs There are 6 configurable safe outputs These are also designed redundantly with Performance Level d Category 3 in accord ance with EN ISO 13849 1 although outputs SR5 and SR6 Safety Relay Out are each implemented as potential free con tacts by means of positively controlled relays With these out puts it is p...

Page 46: ...witch actuated center position LO Enabling switch not actuated or pressed Safety stop Output can be used to forward the guaranteed operator protection to other devices within the same protection area Two digital outputs Safe output is configured as two general digital outputs Table 6 4 Configurable functions for safe outputs 6 4 3 Test Signals A B The internally generated OSSD signals hereinafter ...

Page 47: ...ption Not assigned Start program Starts a program from outside flank LO HI Pause program Pauses a running program flank LO HI Continue program Continues a paused program flank LO HI Pause continue program Pauses a running program flank LO HI or continues it flank HI LO Acknowledge internal error Acknowledges an internal error flank LO HI Acknowledge emergency stop Acknowledges an internal emergenc...

Page 48: ...ve loads The following functions can be configured for the general digital outputs see Software Configuration Options for Digital Interfaces page 44 Function Description Not assigned Emergency stop button Exact image of the emergency stop button signal for diagnostics OR function with several emergency stop buttons For larger sys tems the actuated emergency stop button is easier to identify ATTENT...

Page 49: ...rain is limited to this 7 A and if it is exceeded for a longer period of time e g due to short circuit the 24 V power supply is switched off The safety critical outputs as well as the digital outputs DO17 DO18 are not affected by this In the event of a deactivation the power supply attempts to switch back on again after about 500 ms If unsuccessful a new attempt will be started every 500 ms Likewi...

Page 50: ...cal high low Switching threshold LO HIGH 8 5 10 V Logical low high Current consumption 2 4 2 6 mA Input voltage 18 30 V Input resistance 3 kΩ ESD strength 15 kV Human Body Model IEC 61131 2 Type 1 3 Outputs Function Type PNP High Side or Push Pull semi con ductor Voltage 23 5 24 24 5 V Output voltage Current HI_PP 0 0 64 1 2 A Per output logically high Push Pull Current LOW_PP 0 0 44 0 81 A Per ou...

Page 51: ...ction is executed when the corre sponding output is switched The I Os configured in this way are then no longer available as normal digital inputs outputs as they have a fixed link with the functions The exclusively safe inputs emergency stop safety stop and enabling switch Safety In 1 3 cannot be assigned functions More on this in the horstFX manual Filters For all digital inputs safety critical ...

Page 52: ... Additional Emergency Stop Buttons One or more additional emergency stop buttons should be used which cause the robot to stop in an emergency The adjacent figures clarify the connection of further two channel emergency stop buttons which are series connected to the button on the horst PANEL 6 4 8 3 Safety Relay A safety relay should be safely actuated and contactor monitoring should be set up The ...

Page 53: ...stop input of the main control In this configuration the cross circuit recognition must be deac tivated in horstFX and the filter time set greater than the test impulse of the protection device see Safety critical Inputs Outputs page 35 In both cases the safety stop must be acknowl edged manually after exiting the area The adjacent example shows the options for connecting a safety stop with automa...

Page 54: ...rable safe output is connected to a 2 channel input of the safety PLC here and a configu rable safe input is connected to a 2 channel output of the PLC 6 4 8 7 Safe Deactivation of the Digital Outputs General digital outputs DO01 16 should be deac tivated in a safety critical manner To this end the bridge between X17 7 and X17 8 is removed and routed via the potential free safe output SR5 together...

Page 55: ...ow the use of the general digital inputs and outputs An inductive proximity switch in the configuration as a PNP normally closed contact should be con nected to a digital input Fig 6 26 Consumer at the digital output Fig 6 27 Button at the digital input Fig 6 28 Inductive sensor at digital input ...

Page 56: ... be configured in horstFX as inputs or outputs Configuration of inputs outputs Spe cial I O menu As standard the two I Os of the User 1 interface are configured as outputs and the two I Os of the User 2 interface are configured as inputs Configured as outputs these act as Push Pull switches and can be loaded with a maximum of 600 mA each if connected to the positive power supply and a maximum of 2...

Page 57: ...mp tion 2 3 2 6 mA IEC 61131 2 Type 3 Outputs Function Type Push Pull semiconductor Voltage 24 V Output voltage Current HI_PP 0 0 6 A Per output logically high Current LO_PP 0 0 2 A Per output logically low Internal resistance HI 120 240 mΩ Logically high Leakage current 150 150 µA Total current 2 5 A All 4 digital outputs and 24 V ESD strength 7 kV Contact Table 6 10 Characteristic values of tool...

Page 58: ...xchanged The connection is made via a RJ45 modular connector and a category 5 network cable CAT5 on the front of the horstCONTROL see subsection horstCONTROL switch cabinet page 22 6 6 2 Ethernet The Ethernet interface enables optional remote access and remote control of the robot This is also used for connection to horstCOSMOS which enables e g program synchronization and the transmission of tele...

Page 59: ... and bystanders are protected Familiarize yourself with the work environment of the robot system prior to commissioning Ensure that suitable protection devices e g separating protection device light curtain or safety laser scanner were installed The protection devices must stop the robot s movement within the danger zone Check the protection devices for proper function In case of damage to the rob...

Page 60: ... authorized to re main logged in after a restart was logged in when the software horstFX was last used the pop up window for switching the user role appears For information on the user roles see the User Roles subsection of the horstFX software user manual Fig 7 2 Switching user roles In the main menu select connect to robot Wait until the display shows connection with robot established successful...

Page 61: ...ck the enabling switch for proper function by deliberately letting it go and pressing it down every so often In the main menu select initialize robot The Automatic initialization menu appears Fig 7 3 Automatic initialization menu The menu at the top right displays the initialization status of the six axes of the robot in the form of dots The axes that have not yet been initialized are shown as bla...

Page 62: ...ears Fig 7 4 Manual initialization menu This allows the axes to be moved manually in the case that automatic initialization is not possible Press and hold the enabling switch in the center position Select the axes one after the other and move them slightly until successful initialization is displayed If the initialization was successful the dot initialization status for the respective axis is show...

Page 63: ... Switch the desired output via the corresponding changeover button The automatic manual initialization of the axes was successful if all six dots initialization status for the axes are shown in turquoise The complete initialization button is activated Press the complete initialization button The initialization of the robot is completed The main menu is shown again The robot is ready ...

Page 64: ... and protect it against access by unauthorized persons There must be no persons in the danger zone of the robot While the robot is in teaching mode secure the horstPANEL and horstCONTROL against op eration by unauthorized persons WARNING The robot arm may be moved by applying external force only in emergencies Modules of the robot system may be damaged if the robot arm was moved manually in an eme...

Page 65: ...isplay If the emergency stop was reset the program only starts up again once it is continued manually Fig 8 3 Emergency stop confirmation 8 2 Operating Modes The robot can be operated in three operating modes Change the operating modes using the operating mode selector switch on the horstCONTROL which is designed as a key switch The following operating modes are provided for Teaching mode T1 manua...

Page 66: ... 1 page 53 If the power supply was interrupted previously the robot must be reinitialized If necessary reinitialize the robot see subsection 7 2 page 54 Switching to a different operating mode causes the robot to stop A warning message appears on the display The message must be confirmed in order to proceed The enabling switch must be released during this time There are two teaching modes T1 or T2...

Page 67: ...e to program changes during automatic mode Do not make any changes to the program during automatic mode Ensure that no unauthorized persons have access to the horstPANEL Switch on the robot system see subsection 7 1 page 53 If the power supply was interrupted previously the robot must be reinitialized If necessary reinitialize the robot see subsection 7 2 page 54 Switching to a different operating...

Page 68: ...If necessary move the robot to a safe position manually via the free movement menu see horstFX user manual section Free movement ATTENTION Before the robot system is switched off it must be ensured that the computer for the software horstFX that is integrated in the horstCONTROL is shut down properly Navigate to the main menu Tap on the Exit horstFX button there A pop up window with two options ap...

Page 69: ... PC ON OFF button see subsection horstCONTROL switch cabinet page 22 on the horstCONTROL A pop up window appears In this pop up window press the Shut Down button 1 to shut down the computer for the software horstFX Fig 8 7 Shutting down the computer for the software horstFX alternative Switch the main switch on the horstCONTROL to OFF Secure the main switch with a lock 1 ...

Page 70: ...ftware problems switch off the robot system as described in subsection 8 3 page 61 and switch it on again as described in subsection 7 1 page 53 If step losses occur due to overloading or blocking of the robot arm the brakes are automatically acti vated After 250 step losses or brake activations the warranty of the brakes expires DANGER Danger due to faulty maintenance and brake failure Regularly ...

Page 71: ... is being per formed Secure the horstPANEL and horstCONTROL against operation by unauthorized per sons WARNING Danger due to missing protection devices as well as defective damaged modules or accesso ries Assemble all protection devices after completing the work Check all modules and accesso ries After completing the maintenance work perform a test run of the entire system and check it for proper ...

Page 72: ...ed air to remove dust chips and other particles from the robot Use a clean cloth to clean the horstCONTROL and horstPANEL Environmental protection Dispose of the waste and used cleaning cloths in an environmentally responsible way 10 2 Maintenance and Repair The operating personnel must check the robot system for external damage every day If there is a service contract with fruitcore robotics GmbH...

Page 73: ...ed it must be protected with suitable packaging The robot system must be stored in a dry frost protected place that is not exposed to rainfall or heavy temperature fluctuations Shut the robot down and disassemble it see subsections 8 3 page 61 and 12 1 page 67 Securely package the robot horstPANEL and horstCONTROL ...

Page 74: ... of environmental damage All parts of the robot system must be disposed of in such a way that any damage to health or the environment can be ruled out Shut the robot down see subsection Shutdown after End of Operation page 61 and disas semble it Dispose of all parts of the machine in such a way that any damage to health or the environ ment can be ruled out Note the materials used Materials Used Th...

Page 75: ...the load that an industrial robot can handle as the vectorial sum of tool load and payload without restriction of the kinematic and geometric parameters specified for the axes Measured at nominal distance Rn from the tool flange 123 mm eccentricity e 61 5 mm offset Z 106 5 mm Permissible load capacity Max 5 kg After consultation with fruitcore robotics GmbH The permissible load capacity is reduced...

Page 76: ...900 s 5 119 85 s 750 s 6 300 130 s 1150 s TCP Vmax 1 6 m s 4 4 m s Axis Acceleration independent of load Acceleration at a load capacity of 0 kg 1 115 s 450 s 2 65 s 450 s 3 120 s 1670 s 4 115 s 5000 s 5 125 s 5000 s 6 75 s 4400 s horstPANEL Dimensions L x W x H 340 x 245 x 85 mm Weight 2 4 kg Display 13 3 inch touchscreen Full HD monitor 1920 x 1080 Software horstFX graphical user interface Mount...

Page 77: ...0 Mbit Ethernet web interface http Safety critical interfaces Emergency stop safety stop enabling switch 4 safe inputs 6 safe outputs 2 relays I O connections on horstCONTROL 20 inputs 8 configurable 18 outputs 8 configurable 4 relay contacts I O connections for attachments on support arm 2x 2 inputs outputs Ambient conditions Ambient temperature 0 40 C Relative humidity 10 75 The horstCONTROL mus...

Page 78: ...istances and stopping times have been determined for the three main axes Axis 1 Axis 2 and Axis 3 The table shows the stopping distances and stopping times when triggered by an emergency stop signal at speed 100 with horstFX performance Without horstFX performance the stopping time is the same and the stopping distances are correspondingly shorter Average stopping distance Average stopping time s ...

Page 79: ... of braking processes It is therefore recommended that stopping distances and stopping times be determined under real conditions in the respective use case and the values checked at least once a year 13 3 Optional Accessories The following accessories can be purchased from fruitcore robotics GmbH Order number Component Comment On request Tool flange On request Accessory flange plate On request Mob...

Page 80: ...ange plate Accessory flange plates can be mounted for add on parts that are to be attached to the robot arm e g pneumatic valves Fig 13 3 Accessory flange plate Fig 13 4 Positions of accessory flange plates on the robot SECTION G G 1 1 SCALE ...

Page 81: ...request Cable between horstCONTROL and robot On request Cardboard for packaging Table 3 Spare Parts 13 5 Type Plates The robot s type plate is located on the base of the rear side of the robot Fig 13 5 Robot type plate The horstCONTROL type plate is located on its rear side Fig 13 6 horstCONTROL type plate The horstPANEL type plate is located on its rear side Fig 13 7 horstPANEL type plate ...

Page 82: ...1 8 X2 Digital inputs 9 16 X3 Digital inputs 17 20 Enable enabling switch X4 Test signals A B X5 Safe inputs 4 7 X6 Emergency stop safety stop X7 Safe outputs 1 4 X8 Safe outputs 5 6 pot free X9 Digital outputs 1 8 X10 Digital outputs 9 16 X11 Digital outputs 17 18 24 V X12 24 V X13 24 V X14 Ground X15 Ground X16 Ground X17 RS 485 bridge 24 V ...

Page 83: ...igurable safe input 5 Channel A X5 4 SI5B I Configurable safe input 5 Channel B X5 5 SI6A I Configurable safe input 6 Channel A X5 6 SI6B I Configurable safe input 7 Channel B X5 7 SI7A I Configurable safe input 8 Channel A X5 8 SI7B I Configurable safe input 8 Channel B X6 1 EIA out A Test signal for emergency stop channel A X6 2 EIA in I Emergency stop input SI1A channel A Standard Bridge to X6 ...

Page 84: ...tact A2 X8 7 SR6B1 A Conf safe output 6 potential free contact B1 X8 8 SR6B2 A Conf safe output 6 potential free contact B2 X9 1 X9 8 DO01 DO08 A General digital outputs 1 8 X10 1 X10 8 DO09 DO16 A General digital outputs 9 16 X11 1 X11 2 DO17 DO18 A General digital outputs 17 18 X11 3 X11 8 24V A Power supply 24 V X12 1 X12 8 24V A Power supply 24 V X13 1 X13 8 24V A Power supply 24 V X14 1 X14 8...

Page 85: ...iagrams of the Electrical Interfaces 77 13 8 Functional Wiring Diagrams of the Electrical Interfaces 13 8 1 horstCONTROL I O Safe input Safe output General digital input Potential free output General digital output High Side ...

Page 86: ...13 Functional Wiring Diagrams of the Electrical Interfaces 78 General digital output Push Pull 13 8 2 Tool I O Digital input output ...

Page 87: ...his see EN ISO 13850 or DIN EN 60204 1 Stop category 2 Stopping is achieved through active braking controlled stopping and after the stop the energy supply to the drive components is maintained The safe control system monitors the stop For more information on this see DIN EN 60204 1 Performance Level The Performance Level PL describes the capacity of safety related parts of a control system to exe...