PreCise PF3400, Hardware Reference Manual

Page 1: ...The PF400 and PF3400 Robots Hardware Reference Manual Version 5 04 August 9 2017 Precise Automation Inc 727 Filip Road Los Altos California 94024 www preciseautomation com...

Page 2: ...1300 PrecisePlace 1400 PrecisePlace 2300 PrecisePlace 2400 PreciseFlex 1300 PreciseFlex 1400 PreciseFlex 400 PrecisePower 500 PrecisePower 2000 PreciseVision RIO are either registered or trademarks o...

Page 3: ...special alert notation used in this manual In descending order of importance they are DANGER This indicates an imminently hazardous situation which if not avoided could result in death or serious inj...

Page 4: ...dule Ethernet Version 8 Machine Vision Software and Cameras 9 Machine Safety 9 Safety and Agency Certifications 9 Standards Compliance and Agency Certifications 10 Moving Machine Safety 10 Voltage and...

Page 5: ...IO 72 PF3400 3kg IO in Base of Robot GIO 73 Digital Outputs in the Outer Link 75 Ethernet Interface 75 RS 232 Serial Interface 75 Software Reference ___________________________________________________...

Page 6: ...e Robot Controller 112 Replacing the Servo Gripper Controller 114 Wiring for 60N Gripper with Battery Pigtail 116 Wiring for Pneumatic Gripper 116 Wiring for Vacuum Gripper 117 Wiring for Vacuum Palle...

Page 7: ...____________________________ 157 Appendix C Spare Parts List _________________________________________________ 158 Appendix D Preventative Maintenance_________________________________________ 160 Appe...

Page 8: ......

Page 9: ...interface an Ethernet interface and a number of digital input and output lines In addition the robot can be purchased with several types of optional Precise peripherals These include digital cameras...

Page 10: ...n 3kg accelerations greater than 100 may be commanded to increase the accelerations to values equal or greater than the standard version robot The 3kg payload includes the gripper For example the opti...

Page 11: ...umn which is the Z axis When inner link is closest to the bottom the Z axis is at its 0 position in the Joint Coordinate system and Z 30mm in the World Coordinate system As the robot arm moves upwards...

Page 12: ...des control of the optional electric gripper It is also possible to order the robot with a pneumatic gripper in which case the outer link will house a solenoid to control air to the pneumatic gripper...

Page 13: ...ased as a standalone module at this time The picture below shows a 750mm vertical travel PF400 on a 1000mm Linear Axis Module The robot is positioned in the middle of travel which is defined as the ze...

Page 14: ...link housing The controller includes local digital IO It also supports RS232 and RS 485 serial communication and an optional Precise Remote IO module It contains two Ethernet ports The controller and...

Page 15: ...l Control Pendant that includes an E Stop button The E Stop box can be plugged into the green Phoenix connector in the connector panel in the base of the robot The E Stop box completes a circuit from...

Page 16: ...te IO Module Ethernet Version For applications that require a large number of Inputs and Outputs a Precise Remote IO RIO module may be purchased The RIO interfaces to any PreciseFlex robot and its emb...

Page 17: ...pported in PreciseVision Precise offers an Arm Mounted Camera Option for certain robots Contact Precise for details Machine Safety Safety and Agency Certifications Precise systems can include computer...

Page 18: ...ual Control Mode to a maximum of 250mm per second for safety While the PreciseFlex 400 is a light duty robot that can only apply approximately 20 60 Newtons of force it is very important for operators...

Page 19: ...Manual Control Pendant or in the Virtual Manual Control Pendant in the Web Based Operator Interface See Guidance Controller Setup and Operation Quick Start Guide For pneumatic configurations a slidin...

Page 20: ...ec the distance traveled will be 100mm to reach a full stop and the time will be 0 4sec Releasing a Trapped Operator Brake Release Switch Should a hard E Stop be triggered the Z brake will engage and...

Page 21: ...to the standard amplifier disable circuitry in the 500gm version and meets Performance Level d CAT3 There is one exception to the CAT3 specification in the PF3400 it is possible for the computer to re...

Page 22: ...y these are Select S1 for slight injuries normally reversible and S2 for serious injuries or death Select F1 for infrequent exposure to a hazard for example only from time to time and F2 for frequent...

Page 23: ...th IFA in Germany has surveyed the literature relating to crushing and impact injuries Figure 2 below summarizes their findings which has contributed to the current draft 15066 standard Note in partic...

Page 24: ...where the person or appendage is trapped between the robot and a hard surface with the robot moving at speed While this can be rare for many applications given proper workcell design it should be con...

Page 25: ...6 Precise has selected the maximum impact force transient force in free space to be 280N for the hand and forearm and 130N for the skull for a collaborative robot Impact force against a rigid surface...

Page 26: ...arranted For the 3kg payload version of the PF400 an additional circuit board has been added in the base of the robot This circuit board provides redundant PLd CAT 3 Estop and other safety circuits Sa...

Page 27: ...power will remain on Category 2 soft stop For this test the robot is moved under manual control using a wireless pendant and the wireless router is unplugged The robot should stop While the wireless p...

Page 28: ...This can be demonstrated by pushing on the robot while stationary to generate a position envelope error There are redundant monitor functions that check that the position error and force limits are o...

Page 29: ...re 2 is attached to the force gage For the Z test the robot is driven downwards in the Z direction at various speeds and crashes into the hand simulator attached to the force gage For the Horizontal t...

Page 30: ...can only apply 60 Newtons of force could plunge a sharp needle through a person s hand Note that designing a robot workcell can be compared to driving a car When approaching obstacles or parking you...

Page 31: ...Pausing robot and removing racks from workcell with no safety interlocks in workspace Robot is stopped Possible Low Frequency rare Interaction with Robot Untrained operator reaches into workcell whil...

Page 32: ...PreciseFlex_Robot 24 Appendix B TUV Verification of PF400 Collision Forces...

Page 33: ...Introduction to the Hardware 25...

Page 34: ...PreciseFlex_Robot 26...

Page 35: ...Introduction to the Hardware 27...

Page 36: ...kg X cart Y cart J2 rot Z 1 0kg Z 1 0kg 100 20 30 95 85 85 100 105 138 223 234 164 80 21 29 90 64 82 100 89 114 149 195 139 60 20 24 88 50 51 100 72 94 116 155 118 40 19 21 81 34 28 96 50 70 87 121 10...

Page 37: ...Introduction to the Hardware 29 Appendix C Table A2 from ISO TS 15066 2016...

Page 38: ...PreciseFlex_Robot 30 Table A2 Continued...

Page 39: ...at 8Khz w checksum comm check accel check SW watchdog in servo loop turns off amp enable PWM and 48V Counter embedded in position word to confirm CPU read from FPGA Power amp Fault Yes Yes Yes 90 100...

Page 40: ...57 Yes d 3 Startup test checks encoder communication prevents mtr power if fault Serial update at 8Khz w checksum comm check accel check SW watchdog in servo loop turns off amp enable PWM and 48V Coun...

Page 41: ...Introduction to the Hardware 33 PF400 500gm Safety Circuits PF3400 3kg Safety Circuits...

Page 42: ...is acceptable but this robot is not intended for use in a washdown or spray environment Please see the Environmental Specifications in Appendix B for specific environmental limits Facilities Connectio...

Page 43: ...top and right views are shown below All dimensions are in millimeters Mounting Dimensions for PF400 Standard Reach Increase height by 22mm for PF3400 For XR robot R575 increases to R731 and inner link...

Page 44: ...PreciseFlex_Robot 36 Finger Mount Height from Base PF400 Gripper Flange Mount Height from PF3400...

Page 45: ...Installation Information 37...

Page 46: ...PreciseFlex_Robot 38...

Page 47: ...Installation Information 39...

Page 48: ...PreciseFlex_Robot 40...

Page 49: ...axis has both an M6 and 20 hole pattern inside the extrusion You must loosen the connector end cap slightly and remove the top cover to access these holes patterns When replacing the top cover be sur...

Page 50: ...tside the robot wrist For robots without the electric gripper a ribbon cable from the G1400A controller is routed to the outer link This ribbon cable provides 4 digital inputs and 4 digital outputs fr...

Page 51: ...ts vary with the robot duty cycle but do not exceed 200 watts RMS Emergency Stop It is necessary to wire an Emergency Stop Button to the controller This button may be wired in series with other emerge...

Page 52: ...digital input and four digital output signals from the main robot controller are also connected to the MIDS Power Interface Board through a 10 conductor ribbon cable One digital input signal DI3 is r...

Page 53: ...Hardware Reference 45 that performs this function under computer power so that the brake can be released manually without motor power being enabled...

Page 54: ...PreciseFlex_Robot 46 Schematic System Overview...

Page 55: ...Hardware Reference 47 Schematic FFC Boards Revision B PF400...

Page 56: ...PreciseFlex_Robot 48...

Page 57: ...Hardware Reference 49 Schematic FFC Boards Revision C PF400...

Page 58: ...PreciseFlex_Robot 50 Schematic FFC Boards 3kg PF400...

Page 59: ...Hardware Reference 51...

Page 60: ...PreciseFlex_Robot 52 Schematic Safety System Overview PF400 CAT3...

Page 61: ...Hardware Reference 53...

Page 62: ...PreciseFlex_Robot 54 Controller Power Amplifier Connectors Control Board Connectors...

Page 63: ...Hardware Reference 55 Gripper and Linear Axis Controller Connectors...

Page 64: ...PreciseFlex_Robot 56...

Page 65: ...Hardware Reference 57...

Page 66: ...PreciseFlex_Robot 58 Schematic Slip Ring for 60N Gripper...

Page 67: ...Hardware Reference 59...

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Page 69: ...Hardware Reference 61...

Page 70: ...PreciseFlex_Robot 62...

Page 71: ...Hardware Reference 63...

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Page 73: ...Hardware Reference 65 Motor 60N Gripper...

Page 74: ...PreciseFlex_Robot 66...

Page 75: ...the robot To simplify interfacing most of the electrical interfaces provided by the robot s embedded Guidance Controller are available on the Facilities Panel These include Digital input signals Digit...

Page 76: ...exceeding this level may disconnect interior connections or damage fittings or hoses If a higher pressure is required an external air line should be utilized E Stop Connector The standard E Stop conne...

Page 77: ...l Pendant is not connected to the secondary RS 232 port provided in this connector this serial interface can be accessed via a GPL procedure as device dev com2 for general communications purposes Plea...

Page 78: ...high to 5VDC to 24VDC to indicate a logical high value or must allow it to float to no voltage for a logical low This input is configured at the factory as sinking By setting Jumpers on the CPU MIDS4...

Page 79: ...t provide a 5VDC to 24VDC pull up voltage on an output pin and the controller pulls this pin to ground when the signal is asserted as true Alternately the output signals can be configured as sourcing...

Page 80: ...inking digital inputs and 3 sourcing digital outputs One digital input and one digital output are dedicated for a lighted teach button on some electric grippers The other two inputs and outputs are av...

Page 81: ...the facilities panel when this option is ordered The DIO signals addresses are determined by a base address set by a DIP switch on the DIO board For the PF400 robot without the linear axis option the...

Page 82: ...igital Output 1 10 800015 Digital Output 3 11 800017 Digital Output 5 12 800019 Digital Output 7 13 24VDC 14 Gnd 15 810002 Digital Input 2 16 810004 Digital Input 4 17 810006 Digital Input 6 18 810008...

Page 83: ...as other Precise controllers or robots remote I O units and Ethernet cameras The Ethernet switch automatically detects the sense of each connection so either straight thru or cross over cables can be...

Page 84: ...6 The connector for this interface is a standard RJ11 serial interface connector that has pin assignments compatible with standard PC com ports For this robot it is only used for debugging and special...

Page 85: ...eb Server Interface embedded in the controller The Web Server Interface may be addressed by opening a browser such as Internet Explorer in a PC that is connected to the robot via Ethernet You must kno...

Page 86: ...r company has protected access to the Web Interface Once the password has been entered click on Admin to access all the features to perform system upgrades The window below will open up Click on Contr...

Page 87: ...nterface select Utilities Backup and Restore 2 Click on Start File Manager It may be necessary to hold down the Control Key to allow the pop up An ftp directory pop up will come up In the Page menu in...

Page 88: ...upgrade software from Precise in the form of a bin file 2 In the Operator Interface go to the Utilities System Upgrade menu 3 Click on Open ROMDISK bin This will open an FTP window You will need to s...

Page 89: ...PAC files and any user programs that were stored in Flash RAM This problem should typically not be encountered by a user unless the user is changing configuration files in the robot Precise maintains...

Page 90: ...Backup and Restore 6 Click on Start File Manager It may be necessary to hold down the Control Key to allow the pop up An ftp directory pop up will come up In the Page menu in Windows Internet Explorer...

Page 91: ...83 7 Open the Config folder and paste the backup copy of the PAC files into this folder 8 Wait until the console prompt stops flashing about 10 15 seconds 9 Turn off robot power...

Page 92: ...the robot The PAC files should be restored and the robot should run 12 If the robot has ever been recalibrated since the back up PAC files were created it will be necessary to recalibrate the robot a...

Page 93: ...he end of the linear rail where an RS485 jumper is installed Failing to remove this jumper can result in RS485 communication errors as there will be too many loads on the RS485 bus Note however that f...

Page 94: ...osed from the spring force when motor power is disabled there is a 500ms delay after an EStop or power disable command is sent before the motor power is cut off During this period the servo slowly clo...

Page 95: ...e 10351 and 10352 that can be used to limit the torque from the PID loop in the positive and negative directions These parameters were developed to limit the downwards force of a robot running with dy...

Page 96: ...orque counts to the squeeze Since this value is taken into account by the spring compensation and is offset from the torque commanded to the motor in Parameter 12304 when checking Parameter 12304 to d...

Page 97: ...tal Output 2 3 200015 Digital Output 3 LED Output or TXD select with J7 4 24 VDC output 5 GND 6 210001 Digital Input 1 Pushbutton on some Electric Grippers or RXD select with J4 7 210002 Digital Input...

Page 98: ...400B adds one dedicated digital output to the standard dedicated signals found in the Guidance Controller as shown in the table below Users normally do not need to modify the setting of the status lam...

Page 99: ...27 1 5 2 0 2 5 and 3 0mm driver for example McMaster Carr PN 52975A21 4 A pair of tweezers or needle nose pliers 5 A pair of side angle cutters 6 Small flat bladed screw driver with 1 5mm wide blade t...

Page 100: ...e 48V supply Amplifier Fault Check harness and motor for shorts Amplifier Over Voltage Replace energy dump board Check harness for shorts Soft Envelope Error Make sure robot not pressing against surfa...

Page 101: ...obot has not been damaged by the shipping process this error can be reset by the following procedure 1 Access the Web Operator Interface to the robot with either Maintenance or Administrator privilege...

Page 102: ...is no drain on the battery The battery voltage is monitored by the system The nominal battery voltage is 3 6 volts If the battery voltage drops to 3 3 volts an error message Encoder Battery Low is ge...

Page 103: ...disconnected Cal_PP is supplied on the Guidance Controller System Software CD To run Cal_PP the controller must be configured to run GPL programs and Cal_PP must be loaded into the controller s memor...

Page 104: ...ry to remove the top cover of the robot by removing 4 M5 Low Head screws with a 3 0mm hex driver and then to remove the front cover to access the bag with the Calibration Pins which is inside the fron...

Page 105: ...97 10 With the CALPP application loaded select Start Application then press Perform Operation a Application should start and prompt user to confirm correct robot position for calibration...

Page 106: ...PreciseFlex_Robot 98 b The CALPP application takes about 1 minute to run...

Page 107: ...ton and move the Z axis up from the hard stop Failing to do this will produce an error as the robot is outside of the soft stop limits 12 Make sure the pins are removed 13 Enable power and home the ro...

Page 108: ...cifications Tensioning the J1 Z Column Belts DANGER Before tensioning the timing belts or replacing any motors the AC power should be disconnected Removing the front cover allows access to the AC powe...

Page 109: ...must 1 Turn off the robot power and remove the AC power cord 2 Remove the Top Plate of the robot by removing the 4 M5 socket head screws from the top plate of the robot that attach the top plate to t...

Page 110: ...and side of the belt as shown above With the carriage at this location with a span of 530mm for these longer travel Z strokes you can then measure the tension on the right hand side of the belt and us...

Page 111: ...of the robot by removing the 4 M5 socket head screws from the top plate of the robot that attach the top plate to the Z column Lift up the Top Plate 4 Remove the Front Cover by lifting it out vertical...

Page 112: ...lamping screws Replace the tie wrap if it was removed 7 Replace the Z Carriage Stiffener Plate 8 Replace the Front Cover 9 Replace the Top Plate Tensioning the J3 Belt Before 2014 Tools Required 1 Gat...

Page 113: ...by using a belt tension meter as described in Appendix E while checking for the minimum belt tension every 10 degrees of rotation of the J3 output pulley This more extensive procedure should be requir...

Page 114: ...r so that the tension meter head can reach the timing belt without tipping up the belt cover Tensioning the J3 and J4 Belts 2014 In 2014 the access hatches shown below were added to both the inner and...

Page 115: ...107 Microphone on belt tension meter Pluck belt gently with L key to measure tension Motor Locking Screws Motor Locking Screws...

Page 116: ...end cap by loosening the screws attaching the connector end cap to the Linear Axis Extrusion so that the cover can be lifted up and removed 2 Slide the carriage so that there is a 500m span of the bel...

Page 117: ...4VDC power supply PN PS10 EP 00125 or 2 48VDC power supply PN PS10 EP 48365 or 3 J1 Stage Two Belt PN PF00 MC X0022 The user must 1 Move the robot arm to the top of the Z Column travel 2 Turn off the...

Page 118: ...axis Stage 2 belt 7 Remove the remaining M5 shoulder screw 8 Disengage the Z Carriage Timing Belt from the lower Drive Pulley If it is necessary to replace the Z Carriage 2nd Stage Timing Belt remove...

Page 119: ...e 14mm wide flat cable out of the FFC connector on the J1 Motor Interface PCA If this cable is pulled out you must carefully release the clamping lid on the FFC cable connector on the J1 Motor Interfa...

Page 120: ...robot power and remove the AC power cord 2 Remove the Inner Link Cover by removing the 4 M3 X 20 SHCS that attach the cover 3 Remove the upper circuit board by removing 4 M2 5 X 6mm screws 4 Unplug th...

Page 121: ...to board connector 10 Make sure no cables will be pinched by the Inner Link Cover and replace the Cover 11 After replacing the Robot Controller the robot must be re calibrated See Calibrating the Robo...

Page 122: ...troller the AC power should be removed Tools Required 2 5mm hex driver or hex L wrench Spare Parts Required For the 23N PF400 Servo Gripper Guidance Gripper Controller P N G1X0 EA T1100 or G1X0 EA T11...

Page 123: ...dress DIP switch with jumpers To make the SW in the GSB3 work in a compatible mode with the standard PAC files Jumper J11 must be removed 8 In the case of the controller for the 60N gripper the batter...

Page 124: ...PreciseFlex_Robot 116 Wiring for 60N Gripper with Battery Pigtail Wiring for Pneumatic Gripper...

Page 125: ...117 Wiring for Vacuum Gripper Wiring for Vacuum Pallet Gripper...

Page 126: ...re Parts Required 1 Guidance G1400B Controller PN P N PF0A MA 00011 set of 4 pads To replace the Gripper Finger Pads the user must 1 Remove 3 M2 X 6mm FHS to remove the Spline Bumper Plates 2 Replace...

Page 127: ...h 4 Loctite 222 Spare Parts Required Spring or Cable Assembly To replace the spring or cable the user must 1 Remove the Gripper Cover by removing 4 or 6 M2 X 6mm FHCS depends on model 2 Remove the spr...

Page 128: ...eturn disconnect one end of the spring to remove spring tension 3 Move the racks back and forth to determine which rack has backlash and where it is located on the rack 4 Loosen the 2 M3 X 8 SHCS clam...

Page 129: ...121 Gripper racks centered in fully closed position Gripper racks centered in fully open position...

Page 130: ...e brake shoe and the finger mount brake surface This clearance should be between 1mm 004in and 25mm 010in and the gripper fingers should slide freely 7 If necessary use a 5 5mm open end wrench to adju...

Page 131: ...0001 Rev A1 Spare Parts Required for Slip Ring one of the following 1 PF400 Slip Ring Harness Assembly 23N Brake Gripper Agilent PF04 MA 00002 2 PF400 Slip Ring Harness Assembly 23N Spring Gripper Sta...

Page 132: ...ness 4 plugs from the Gripper harness 8 Rotate the Slip Ring housing 30 degrees to allow access to 3 of 6 M2 X 16 SHCS Loosen these screws Rotate the Slip Ring housing 30 degrees in the opposite direc...

Page 133: ...ver the hub This should be removed when attaching the Delrin Clamp 12 Replace the Gripper and re attach the new Gripper Be sure the dowel pin in the wrist pulley flange is located in the notch in the...

Page 134: ...e to one end of travel remove 4 M4 X 30 SHCS from the end caps retaining the cover It may also be necessary to loosen the connector end cap by loosening the bottom two screws attaching the connector e...

Page 135: ...troller GSB Rev 2 Linear Axis Controller Rev2 GSB Rev 3 J3 jumper pins 2 3 Connect 48V Remove J8 Address Bit 0 Remove J6 RS485 term J7 jumper pins 1 2 LED not used Battery Pin 1 3 6VDC Battery wires f...

Page 136: ...dard D sub 4 40 mounting standoffs This board is typically installed at the factory but can be installed in the field for robots shipped after July 2012 which have the appropriate mounting holes To in...

Page 137: ...26pin connector into the GIO board Be careful to fold the harness to the D sub as shown 10 Reconnect the Ethernet Cable 11 Replace the covers 12 Set value 8 in Data ID 151 to GIO_8 so that this ID re...

Page 138: ...e wrap to hold the fold down over the GIO board 7 Replace the covers 8 Set value 8 in Data ID 151 to GIO_8 so that this ID reads Controller Serial No GSB_1 GIO_8 This parameter may be found in Setup P...

Page 139: ...Replacing the Outer Link Harness does not require un mounting the robot from its surface The user must 1 Remove the Inner Link Cover 2 Remove the Outer Link Cover 3 Unwind the Outer Link in counterclo...

Page 140: ...t the motor and encoder cables from the lower circuit board 9 Release the Harness Retaining Clip from the J3 Output Pulley by loosening the M3 by 25 SHCS attaching the clip to the pulley Pull the clip...

Page 141: ...ends of the harness down at a right angle to replicate the replaced harness 15 Insert the connectors down thru the Elbow into the Outer Link 16 Attach the J3 Harness Retaining Clip with the M3 X 4 BH...

Page 142: ...After replacing the harness the robot must be re calibrated See Calibrating the Robot Replacing the Z Axis Motor Assembly DANGER Before replacing the Z Axis Motor the AC power should be removed Tools...

Page 143: ...p the links with a protective cover first such as a sheet of foam 4 Remove the top cover by removing 4 M5 Low Head Cap Screws 5 Remove the Front Cover by sliding it out 6 Remove the left splash guard...

Page 144: ...243 15 Replace the components in reverse order Compress the tension spring to 5 5mm under the washer with the M4 Motor Bracket Locking screws slightly loose then tighten the screws Use Loctite 222 or...

Page 145: ...3 Turn off the robot power and remove the AC power cord 4 Remove the Top Plate of the robot by removing the 4 M5 socket head screws from the top plate of the robot that attach the top plate to the Z...

Page 146: ...One end will remain connected to the EChain and the other end connected to the J2 Pulley 13 Remove the J2 Belt Cover by removing 3 M3 X 10 FHCS and pull it partially up the uncoiled harness to expose...

Page 147: ...nge 21 Remove the motor from the Motor Mount Bracket by removing 4 M5 X 12 SHCS Attach new motor to Motor Mount Bracket using Loctite 243 22 Re install motor threading cables through the Z carriage fi...

Page 148: ...raps 3 Loctite 222 and 243 The J3 Motor Assembly is comprised of the J3 motor connectors and a timing belt pulley The user must 1 Unbolt the robot from its mounting surface and set it vertically on th...

Page 149: ...r from the J2 Motor Interface PCA 8 Remove controller from inner link 9 Detach the inner link from the Z carriage by removing 6 M3 X 35 SHCS and lock washers Remove controller first unplugging cables...

Page 150: ...on as it preserves the position of the motor mount plate 13 Replace the J3 motor using Loctite 243 or optionally replace the J3 timing belt if necessary Since the motor mount plate has not been remove...

Page 151: ...MA 00011 or J4 Timing Belt PN PF00 MC X0004 2 Loctite 222 and 243 The J4 Motor Assembly is comprised of the J4 motor connectors and a timing belt pulley The user must 1 Move the robot arm to a conveni...

Page 152: ...e This procedure will preserve the belt tension and avoid having to use a tension meter to reset the belt tension as it preserves the position of the motor mount plate 12 Replace the J4 motor using Lo...

Page 153: ...or hex L wrench 4 1 3mm hex driver of hex L wrench 5 Fine point tweezers 6 06 in flat blade screwdriver Spare Parts Required 1 Pneumatic or Vacuum Gripper and installation kit including air harness fo...

Page 154: ...stalled a pneumatic fitting will be installed on the robot connector panel The user must 1 Move the robot arm to a convenient height on the Z column for removing the servo gripper 2 Turn off the robot...

Page 155: ...ip ring connectors inside the servo gripper 10 Rotate the slip ring slightly to expose the M2 counter bores in the J4 output pulley Using a M1 5 hex driver remove 6 M2 X 16 SHCS that attach the grippe...

Page 156: ...d on the harness 13 Remove the RS485 10 conductor ribbon cable from the robot by feeding the connector up past the J4 motor in the outer link removing this cable from the retaining clamps and unpluggi...

Page 157: ...d motor cable then IO 10 conductor ribbon cable 16 Add tie wrap to harness tube to prevent harness from slipping through clamp Add 010 in UHMW strip and clamp strip wire harness and air harness by squ...

Page 158: ...ar as possible Rotate outer link and check that air harness does not bind on controller connectors as rotating clip passes controller 19 Check harness when outer link is fully rotated counter clockwis...

Page 159: ...pper to top of gripper and attach gripper to J4 output pulley by tightening 6 M2 SHCS after threading wires and hoses from gripper thru pulley Make sure dowel pin in J4 pulley fits into notch in gripp...

Page 160: ...gripper until it is centered under outer link Then stretch rubber grommet over wires and hoses and slide grommet into sheet metal belt cover so that wires are on the inside of any hoses Be sure the w...

Page 161: ...153 25 Wiring and fold detail for interface board 26 Vacuum gripper configuration with vacuum interface board IO Cable Installed in J4 Interface IO Board...

Page 162: ...uum generator if installed For Pneumatic grippers Digital Output 1 turns on the pneumatic valve 1 and Digital Output 2 turns on the pneumatic valve 2 30 After removing the servo gripper new PAC files...

Page 163: ...erfaces General Communications RS 232 channel 100Mb Ethernet Digital I O Channels 1 optically isolated input available on facilities panel at base Additional 12 isolated inputs and 8 isolated outputs...

Page 164: ...1400C Guidance 1100T Slave Amp Interfaces General Communications RS 232 channel 100Mb Ethernet Digital I O Channels 8 optically isolated inputs and 8 isolated outputs available on facilities panel at...

Page 165: ...must be installed in a clean non condensing environment with the following specifications General Specification Range Features Ambient temperature 4 C to 40 C Storage and shipment temperature 25 C to...

Page 166: ...rust Washers J3 Motor Assembly PF03 MA 00011 J3 Belt PF00 MC X0035 J4 30W Motor Assembly PF04 MA 00011 J4 50W Motor Assembly PF3400 PF04 MA 00023 J4 Belt PF00 MC X0004 PF400 23N Servo Gripper with Spr...

Page 167: ...r Interface PCA PF00 EA 00001 J2 MIDS Interface PCA PF00 EA 00001 MI MIDS Interface PCA PF3400 Connector changed J4 Motor Interface PCA PF00 EA 00001 J4 New J4 Motor Interface PCA PF3400 Connector Add...

Page 168: ...and any sticking If a bearing is getting stiff return to factory for bearing replacement Check second stage long Z belt for any squeaking If noisy add thick grease to front and rear edge of belt if n...

Page 169: ...usted properly by the pre load spring the tension can be checked with a Gates Sonic Tension Meter Model 507C or 508C To use the tension meter 1 Turn on the power 2 Press the Mass button and enter the...

Page 170: ...60 180 319 339 J2 PF3400 2 8 20 108 200 250 277 309 J3 S 2 8 12 104 70 110 219 275 J3 S Hatch 2 8 12 113 70 110 202 253 J4 S 2 8 9 113 35 60 165 216 J4 S Hatch 2 8 9 95 35 60 196 257 J3 X 2 8 12 183 7...

Page 171: ...ntal specification Rev 4 18 151102 Updated FFC schematic and Gates Tension Meter model number Rev 4 19 151104 Added finger mount height dimension to installation section Rev 4 20 151110 Updated Servo...