Elephant Robotics Panda 3, User Manual

Page 1: ...ant Robotics Technology Co Ltd Elephant Robotics User Manual Panda Series Robot Version 1 0 Language English Compiled in 2019 01 Copyright 2017 2019 Shenzhen Elephant Robotics Technology Co Ltd All ri...

Page 2: ...ssion of Shenzhen Elephant Robotics Technology Co Ltd hereinafter referred to as Elephant Robotics In addition the product information and related resources mentioned in this manual are for reference...

Page 3: ...t 11 2 1 Overview to the robot system 11 2 2 Robot 12 2 2 1 Characteristics of the robot 12 2 2 2 Model 12 2 2 3 Robot joint introduction 13 2 3 Scope of work 14 2 4 Active load 14 2 5 Technical Param...

Page 4: ...ned in Elephant Robotics and have the mechanical and electronic knowledge required for the above work How to use This manual should be used when doing the following works Installation work Move the ro...

Page 5: ...will only repair the failures that occur when the robot is normally used However in the following cases the customer will be charged for repairs even during the warranty period 1 Damage or malfunction...

Page 6: ...ent should be performed to maximize personal safety and property safety This chapter provides a basic guide to safe use by introducing different safety alert symbols and precautions 2 Interpretation o...

Page 7: ...r damage caused by the operator may still occur Therefore it is very important to understand the safety hazards of robot use which is beneficial to prevent problems before they occur Tables 1 2 4 belo...

Page 8: ...should you stand under any axis of the robot 7 The robot is a precision machine If it is not placed smoothly during handling it may cause vibration and may cause damage to the internal components of t...

Page 9: ...nd warning symbols on the equipment and ensure that all warning signs and warning symbols are complete and clear and that all safety devices are secured before opening and starting the equipment And m...

Page 10: ...ncy stop state is canceled and before the servo power is turned on it is necessary to remove the obstacles and faults that cause the emergency stop and then turn on the servo power 19 Please pay atten...

Page 11: ...ronment that may cause an explosion Used directly without risk assessment Insufficient use of safety function levels Inconsistent use of robot performance parameters 1 7 Emergency stop This section de...

Page 12: ...er equipment at the same time you can use the external E STOP double loop circuit user need to short it when not in use 1 7 2 Collision checking During the operation of the robot it is possible to tou...

Page 13: ...Ltd 10 If the software pops up with a fatal error message please activate the emergency stop quickly write down the condition that caused the error and contact your supplier In the event of a fire us...

Page 14: ...s the number of cable cores connected from the body to the controller and also improves the stability and anti interference ability of the cable transmission data and reduces the cost The main materia...

Page 15: ...e and transformation of independent stations compared to the traditional robotic deployment of the entire automated production line The customer or system integrator can choose the adapted end effecto...

Page 16: ...the robot body is shown in Figure 2 2 The mechanical body of the Panda series robot can be thought of as an open chain multi link mechanism The start link is the base of the robot the end link is conn...

Page 17: ...e under loads of 3kg and below The Panda 5 robot is rated at 5kg and can operate under loads of 5kg and below As the load moves further and further away from the J6 flange position its payload will be...

Page 18: ...3848 2008 PL d EN ISO 10218 1 2011 Clause 5 4 3 Noise 70dB Robot mounting Any angle Relative humidity 5 95 Controller Size L W H 545mm 285mm 433mm Weight 25kg Power supply AC 110 240V 50 60Hz IP class...

Page 19: ...ease use heavy lifting equipment such as driving as much as possible and be careful of the people standing around to prevent the machine from rolling over When carrying the Panda 3 or Panda 5 robot ma...

Page 20: ...allation 3 4 1 Installation requirements The actual weight of the Panda 3 robot is 17kg The actual weight of the Panda 5 robot is 24 5kg Considering the movement of the robot the center of gravity wil...

Page 21: ...e 3 1 The specific hole size 2 Mount the robot on the base Before you officially install please confirm The environment to be installed complies with the requirements of Table 3 1 The installation pos...

Page 22: ...on the base the robot may be in danger of falling over Please keep the balance of the robot 3 Place controller teach pendant The outline of the controller as shown in Figure 3 2 Figure 3 2 Controller...

Page 23: ...from the robot body beyond the length of the connecting cable Choose the placement position of the controller try to avoid possible problems such as the controller being bumped or close to the wall no...

Page 24: ...The specific information is shown in Table 3 3 Table 3 3 Main cables of the robot Type Connection Length Use description Controller power cord External power supply controller 2m Power supply to the e...

Page 25: ...peration Before wiring turn off the power of the controller and related devices and pull up the warning sign eg do not turn on the power Wiring under power on conditions is extremely dangerous and may...

Page 26: ...ant Robotics Technology Co Ltd 23 Figure 3 5 Robot system boot flow chart 3 7 IO Board 3 7 1 IO board introduction Figure 3 6 shows the IO board port of the Panda series robot Port details are shown i...

Page 27: ...faces power interfaces general purpose IO ports and dedicated IO ports Among them the universal IO port includes 16 digital input signals and 16 digital output signals for interaction with other devic...

Page 28: ...ial port can receive data while using one line to send data while using another line RS485 is half duplex and only one point can be sent at any time Therefore the transmitting circuit must be controll...

Page 29: ...ink in the automatic control system 3 Digital input ports As shown in Table 3 6 there are general purpose digital input ports The Panda series robot provides 16 digital input signals Table 3 6 IO port...

Page 30: ...form a complete loop by connecting the two ends output signal and common port and the peripherals can be controlled by controlling the state of the outputs Table 3 7 IO port description table 4 Digita...

Page 31: ...ovides an internal DC 24V for the user to use Table 3 8 IO port description table 5 DC power port No Type Port Definition Description 14 DC power port 0 24V Internal DC power supply 24V 1 24V 2 24V 3...

Page 32: ...rnal device inputs 0V the input signal is in the High state otherwise it is in the Low state vice versa Figure 3 8 Input application example diagram 2 Digital output port As shown in Figure 3 9 the ou...

Page 33: ...Shenzhen Elephant Robotics Technology Co Ltd 30 Figure 3 9 Digital output port schematic Figure 3 10 shows an example of an output connection application Figure 3 10 Output application example diagram...

Page 34: ...ts position Therefore in order to obtain the highest possible absolute positioning accuracy the robot must be calibrated the operation where the two origin positions are the same is called calibration...

Page 35: ...a new system which means that all safety audit processes such as risk assessment must be updated Do not remove any parts unless otherwise stated in this manual The maintenance steps shall be strictly...

Page 36: ...enance schedule No Contents Equipment Routine 1 month 3 months 6 months 12 months 1 Inspection Robot appearance 2 Cable interface 3 Motor reducer 4 Cable harnes s external 5 internal 6 Screw surface 7...

Page 37: ...determine what components are abnormal Matters on repair inspection adjustment etc of the robot must be carried out by an authorized system integrator or agent Please contact a professional for dispos...