Staubli 90B family, Manual

Page 1: ...St ubli Faverges 2004 Arm RX series 90B family Characteristics D18326204C 11 2004...

Page 2: ...ed without notice Although all necessary precautions have been taken to ensure that the information contained in this document is correct ST UBLI cannot be held responsible for any errors or omissions...

Page 3: ...AL INTERFACE 15 1 5 1 Load capacity 15 1 5 2 Attachment of additional load on forearm 17 1 5 3 Additional load diagrams 19 1 6 USER CIRCUIT 21 1 7 RELEASING JOINT BRAKE 21 1 8 PNEUMATIC AND ELECTRIC C...

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Page 5: ...ARM PACKAGING 37 3 2 HANDLING OF PACKING 37 3 3 UNPACKING AND INSTALLATION OF ARM 37 3 4 INSTALLATION OF ARM 39 3 4 1 Installation of arm on floor 39 3 4 2 Installation of arm on ceiling 39 3 4 3 Moun...

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Page 7: ...Chapter 1 Description D18326204C 11 2004 7 CHAPTER 1 DESCRIPTION...

Page 8: ...8 D18326204C 11 2004 Figure 1 1 B A C D E F 3 4 5 2 1 6 RX 90 RX 90 R...

Page 9: ...clean room applications This list is not restrictive for further information please consult us The various elements of the robot s arm are the base A the shoulder B the arm C the elbow D the forearm E...

Page 10: ...10 D18326204C 11 2004 Figure 1 2 Figure 1 3...

Page 11: ...2 Maximum reach between joints 2 and 5 expressed in decimeters dimension dimension 3 Number of active joints 0 6 active joints 5 5 active joints geometry being conserved 4 RX family changed to B 5 Up...

Page 12: ...12 D18326204C 11 2004 Figure 1 4...

Page 13: ...max reach between joints 2 and 5 900 mm 1100 mm R m min reach between joints 2 and 5 289 mm 401 mm R b reach between joints 3 and 5 450 mm 650 mm Maximum speed at load center of gravity 11 m s 12 6 m...

Page 14: ...14 D18326204C 11 2004 Figure 1 5...

Page 15: ...5 Load characteristics Load center of gravity position z 150 mm from centerline of joint 5 and x 75 mm from centerline of joint 6 figure 1 5 1 in all configurations and taking maximum inertias into a...

Page 16: ...16 D18326204C 11 2004 Figure 1 6 Effective tapped depth 8 mm...

Page 17: ...al load can be attached to the forearm using 4 M5 screws maximum torque is 7 Nm Position of 4 M5 tapped holes See figure 1 6 DIMENSIONS STANDARD ARM LONG ARM A 167 5 1 mm 272 1 mm B 6 4 5 CAUTION The...

Page 18: ...18 D18326204C 11 2004 Figure 1 7 Figure 1 8 Figure 1 9 Figure 1 10...

Page 19: ...50 50 For CS8 VEL 60 ACC 30 DEC 30 Additional load kg Additional load center of gravity position m from centerline of joint 3 The additional load center of gravity position is at 0 25 m max from the...

Page 20: ...20 D18326204C 11 2004 Figure 1 11 Figure 1 12 R RX 90 R E10 B1 A1 B2 A2 P2 P1 P2 JOC 2 1 3 EV1 EV2 4 5 R R E10 B1 A1 B2 A2 P2 EV2 P1 P2 JOC 2 1 3 EV1 5 4...

Page 21: ...ch includes several electrical and pneumatic components such as Figures 1 11 and 1 12 Arm controller connector 1 R23 connector intended for the user for possible electrical connection of grip JOC Brak...

Page 22: ...22 D18326204C 11 2004 Figure 1 13...

Page 23: ...nsists of A male 19 contact socket at the bottom of the arm A female 19 contact socket on the forearm These 19 contacts include 3 power contacts and 16 command contacts The 3 power contacts in each so...

Page 24: ...24 D18326204C 11 2004 Figure 1 14...

Page 25: ...at the bottom of the arm A female 19 contact socket on the forearm These 19 contacts include 3 power contacts and 16 command contacts The 3 power contacts in each socket are connected by a 3 wire con...

Page 26: ...26 D18326204C 11 2004 Figure 1 15 Figure 1 16 11 1...

Page 27: ...osed plugs in hoisting ring tapped hole pipe connected at 6 and at 9 etc Install a pipe with an outside 8 between the unit output 6 and the arm input P2 Provide a male G1 4union for the pipe with an o...

Page 28: ...of joints 3 4 5 and 6 standard arm or joints 3 4 and 5 5 axes arm causes arm to move down whether loaded or not Joints 3 and 5 standard arm Joints 3 and 4 5 axes arm Joints 4 and 6 standard arm Joint...

Page 29: ...by the springs Indeed joint 2 is equipped with a spring balance system Releasing joint 2 discharges the accumulated energy This energy label is attached on the arm and must remain in place The brake r...

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Page 31: ...Chapter 2 On site preparation D18326204C 11 2004 31 CHAPTER 2 ON SITE PREPARATION...

Page 32: ...32 D18326204C 11 2004 Figure 2 1...

Page 33: ...and metallic A deformable support will greatly reduce robot s performance in speed and accuracy To dimension the support take into account the maximum loads generated by the arm in motion at point 0 w...

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Page 35: ...Chapter 3 Installation D18326204C 11 2004 35 CHAPTER 3 INSTALLATION...

Page 36: ...36 D18326204C 11 2004 Figure 3 1 Figure 3 2 Figure 3 3 1 5 X L Y 2 P 7 H 6 3 4...

Page 37: ...NSTALLATION OF ARM Move the packing case as near as possible to the installation site Remove the cardboard packaging 1 remove the packing material 5 and the plastic cover 7 figure 3 1 Pass the hook 4...

Page 38: ...38 D18326204C 11 2004 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 6 3 5 7 3...

Page 39: ...the robot see chapter 3 5 3 4 3 MOUNTING FLOOR QUALITY figure 3 7 The user has to make sure that the mechanical caracteristics of the floor and the means of fixture allow to hold up the maximum forces...

Page 40: ...40 D18326204C 11 2004 ceiling floor Figure 3 8 Figure 3 10 Figure 3 9 Figure 3 11 Figure 3 12 90 90 6 N3 H7 8 3 7 5 x 7 A3 3 1 9 2 4 1 11 F3 4 5 6 8 7 4 3 2 10 1 3 1...

Page 41: ...nto threaded rod 6 Screw the end of threaded rod 6 into beam 7 Grip length X 15 mm 1 mm Tighten nut 5 against beam 7 Using an 18 mm ring spanner not supplied tighten nut 8 until the pin holes of beam...

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