rozum robotics Pulse, Hardware Installation Manual

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Page 2: ...k panel 10 1 7 Emergency stop button 10 1 8 Wrist 11 1 9 Control buttons 12 2 INSTALLATION 13 2 1 General requirements 13 Continuous power supply requirement 14 2 2 Mechanical integration 14 2 2 1 Mounting the robotic arm 14 2 2 2 Installing the control box 15 2 3 Electrical integration 15 2 3 1 Power connection 16 2 3 3 Digital I O connectors 16 2 4 Mounting an end effector 17 2 5 Integration seq...

Page 3: ... system basic features and components operating conditions and use restrictions dimensions and specifications requirements and instructions on mechanical and electrical integration pre commissioning checks and the commissioning procedure WARNING SIGNS AND THEIR MEANINGS Below are the warning symbols used throughout the manual and explanations of their meanings The sign denotes important informatio...

Page 4: ...ardware and software components listed in Table 1 1 Table 1 1 Hardware and software components supplied with the PULSE arm Component Intended use For details refer to Hardware Control box To control operation of the PULSE robotic arm Section 1 6 Emergency stop button To ensure Category 1 stop of the robotic arm in an emergency Section 1 7 Software PULSE DESK The software is pre installed on the PC...

Page 5: ...s see Figure 1 2 In addition the arm includes the following structural segments an end effector mounting flange a wrist an arm base a mounting plate Figure 1 2 Structural segments of the PULSE robotic arm 1 2 Use restrictions Make sure to observe the following use restrictions for the PULSE robotic arm Failure to observe the restrictions shall constitute a misuse making our warranty void 1 Mountin...

Page 6: ...d with a connection cable a 220V power cable a hybrid cable to connect the robotic arm and the control box user documentation also available at our website 1 4 Specifications of the robotic arm The PULSE robotic arm has the specifications as listed in Table 1 2 Table 1 2 Specifications of the PULSE robotic arm Specification Value Weight1 12 6 kg Payload1 4 kg Degrees of freedom1 6 axes Reach1 630 ...

Page 7: ...g in Annex I Figure 1 3 Lengths of the robotic arm axes The motion ranges for each of the axes are as listed in Table 1 3 Table 1 3 Motion ranges and maximum speeds of the robot axes Axis Motion range Maximum speed Axis 1 base 360 to 360 180 s Axis 2 360 to 360 180 s Axis 3 160 to 160 180 s Axis 4 170 to 170 180 s Axis 5 360 to 360 180 s Axis 6 360 to 360 180 s ...

Page 8: ...for indoor use only When operating it make sure to also comply with the following requirements Ambient temperature 0 C to 45 C 1 6 Control box In the PULSE robotic arm system the control box monitors and controls operation of the arm while providing an interface for communication between the hardware and software components of the system The control box is a case of the dimensions in accordance wi...

Page 9: ...ight emitting diodes LED a green and a red one see Figure 1 5 Figure 1 5 The front panel of the control box The front panel LEDs signal different states of the robotic arm system as described in Table 1 5 Table 1 5 LEDs on the front panel of the control box Purpose State event in the robotic arm system LED color Mode Signals system states System switched off Green LED off Bootup blinking Ready con...

Page 10: ...ains switch to switch on off power supply 6 Ethernet port for integrating the robotic arm into an enterprise network for specifications see Table 1 4 7 Connector for an emergency stop button 8 48V connector for the cable connecting the control box with the robotic arm 9 mounting holes 1 7 Emergency stop button For the PULSE robotic arm the emergency stop button is supplied as a standalone device p...

Page 11: ...ome to a full stop The LED on the arm s wrist should go off 2 Unpress the emergency stop button 3 Flip the power switch on the back panel of the control box to the off position or unplug the power cord from the mains socket 4 Switch the system on again as described in Section 3 Before restarting the system after an emergency shutdown make sure the emergency stop button is unpressed Otherwise the s...

Page 12: ...O 9409 1 50 4 M6 one the user integrator has to provide a proper adaptor for integrating an end effector The states of the wrist LED are as described in Table 1 6 Arm state LED signal Power off Off no indication Standby mode freeze state Green on Operation in motion Blinking green Learn mode Steady yellow Error Steady red A control button pressed Blinking color 1 9 Control buttons For the current ...

Page 13: ...e wrist Close gripper To close the gripper attached to the wrist 2 INSTALLATION 2 1 General requirements The PULSE robotic arm is partly completed machinery which means its safe operation largely depends on the operating environment Therefore it is common practice to conduct a risk assessment of the operating environment for each particular installation The risk assessment is the responsibility of...

Page 14: ...ns its position during a power outage which may result in serious damage to its components 2 2 Mechanical integration Pinching hazard When performing mounting works keep your fingers away from the arm joints to avoid entrapment Do not wear loose clothing or jewelry Make sure long hair is tied back 2 2 1 Mounting the robotic arm Though the footprint of the PULSE robotic arm is as small as 120 mm se...

Page 15: ...arm and your requirements In any case the distance from the control box to the robotic arm should not exceed 3 meters the length of the connection cable Otherwise you will have to use a cable extension When installing the control box provide an air gap of 50 mm from its front and back panels 2 3 Electrical integration Before proceeding to any electrical integration works make sure no power is supp...

Page 16: ...g an external mains switch with a fuse 2 3 3 Digital I O connectors The control box has 4 digital inputs and 2 digital outputs that you can use to connect additional equipment including sensors safety devices PLC etc The connectors are located on the back panel of the control box see Figure 1 6 The cable length from the digital inputs outputs to connected equipment should not exceed 2 m Otherwise ...

Page 17: ...ange Hi level 5 12 V Input voltage range Low level 0 1 5 V 2 4 Mounting an end effector Depending on particular needs you can use different end effectors with the PULSE robotic arm Possible options include grippers for pick and place operations material removal tools for cutting drilling and deburring welding torches etc Selecting a proper type and model of an end effector is the responsibility of...

Page 18: ...f the configuration as shown in Figure 2 4 Figure 2 4 Basic electrical interface on the arm wrist The pin assignment in the socket is as described in Table 2 3 Table 2 3 Pin assignment in the end effector socket Pin Wire color Signal 1 Brown 24V 2 White Digital output 1 3 Blue GND 4 Black Digital output 2 Figure 2 5 below is the electrical diagram for the digital outputs in the end effector socket...

Page 19: ...stop button cable into the appropriate connector No 7 Figure 1 6 on the back panel of the control box 4 Connect the arm with the control box using the 48V hybrid cable from the supply package The cable must run from the connector at the bottom of the robotic arm to the 48V connector No 8 Figure 1 6 on the back panel of the control box This connection not only supplies power to the arm but also pro...

Page 20: ...an reach it from his her workplace at any moment The operating conditions comply with the requirements as set forth in Section 1 5 All risks identified during a risk assessment of the operating environment have either been eliminated or mitigated by implementing appropriate measures e g safeguards limiting access to the arm workspace There are no obstacles within the workspace of the robotic arm t...

Page 21: ...e and the port number 8080 see Figure 3 2 The browser page displays the Edit stage screen of the PULSE DESK software Figure 3 2 Browser line with IP address and port number The IP address is dynamically assigned to the PULSE robotic arm by the DHCP server To get the address you can either a look up the last assigned IP address on the DHCP server or b check the IP addresses of the devices on ports ...

Page 22: ...ROZUM ROBOTICS PULSE collaborative robot Page 22 23 ANNEX I DIMENSIONAL DRAWING OF THE PULSE ROBOTIC ARM ...

Page 23: ...e previous joint The common normal of two non intersecting joint axes is a line perpendicular to both axes a length of the common normal alpha angle of rotation about the common normal from the previous z axis to the new one Figure II 1 Denavit Hartenberg convention applied to the PULSE robotic arm The origin point is the intersection of Motor 1 and Motor 2 rotation axes Table II 1 Denavit Hartenb...