MC Spec

Transcription

MC Spec

Standard specifications
Presto MC35/50/70-01-AX20
5th edition: June 2009
NACHI-FUJIKOSHI CORP.
Robot Production Plant
0906, SMCEN-021-005, 001
Table of contents
1. Outline........................................................................................................................ 1
1.1 Robot .................................................................................................................... 1
1.2 AX20 controller...................................................................................................... 1
2. Characteristic ............................................................................................................. 1
2.1 Robot .................................................................................................................... 1
2.2 AX20 controller...................................................................................................... 2
3. Basic specifications.................................................................................................... 3
4. Robot dimensions and working envelope................................................................... 4
5. Details of tool mounting plate ..................................................................................... 5
6. Details of upper part of forearm.................................................................................. 6
7. Installation procedure ................................................................................................. 7
7.1 Installation space .................................................................................................. 7
7.2 Accuracy of installation surface............................................................................. 8
7.3 Maximum robot generative force........................................................................... 8
8. Allowable wrist load.................................................................................................... 9
8.1 Torque map ......................................................................................................... 10
8.2 Wrist load conditions ........................................................................................... 11
9. Option specifications ................................................................................................ 13
10. Application wiring and piping diagram .................................................................... 15
10.1 Wiring and piping diagram ................................................................................ 15
10.2 Details of base and flame.................................................................................. 16
10.3 Detailed diagram of the connectors .................................................................. 17
11. Bypass Cable ......................................................................................................... 19
11.1 Bypass cable connection outline figure (Option) ............................................... 19
12. Transport procedure............................................................................................... 20
13. Installation (specification which contains a robot) .................................................. 21
14. Paint color .............................................................................................................. 21
15. Warranty................................................................................................................. 21
Page-1
1. Outline
“NACHI ROBOT” has used mechatronic techniques, cultivated throughout the last few decades, to
supply robots suited for industries utilizing welding, spray painting and the material handling
techniques.
1.1 Robot
"Presto MC series" is a compact handling robot with a powerful load capacity.
“Presto MC50” is the basic model, and 3 types of robots are featured in the MC series.
Table 1.1 Robot specifications
Load weight
Installation
Floor mount
Ceiling mount (option)
Wall mount (option)
Angle mount (option)
35 kg
50 kg
70 kg
Presto MC35-01
Presto MC50-01
Presto MC70-01
1.2 AX20 controller
The AX20 controller is high performance robot control equipment based on open concept which used
the personal computer as the base.
A de facto standard OS (Windows NT embedded+RTOS) is adopted as an operating system.
Moreover, safe equipment, such as double emergency stop circuit and 3 position ENABLE SW, is
carried as standard.
The standard AX controller is divided into two specifications; Domestic (Japan) and Overseas types as
shown below.
AX20-0000
AX20-1101
AX20-2101
Japanese domestic specifications
Overseas specification (North American specifications)
Overseas specification (CE specifications)
2. Characteristic
2.1 Robot
1. The swivel interference radius is small enough to make more free space. This fact enables
high-density layouts of the robots.
2. It came to be able to handle loading of heavy weights, because the wrist became powerful.
3. Applicability has improved, because the stroke in the back and forth became the maximum in its
class.
4. The application that can be applied has extended, because the environmental resistance became
IP67 in wrist (standard), IP65 in main body (motor cover option) and IP67 (full cover option).
5. It became easy to add the cables and the hoses for the application by installing “S-Trac" and
“A-Trac".
Page-2
2.2 AX20 controller
1. It is compact even if it adds abundant functions.
2. Large-sized LCD of a color graphic display was adopted as the Teaching pendant. Thereby more
easy and intelligible operation is attained and large shortening of teaching time can be aimed at.
3. It is possible to build the optimal operating environment for a robot's work system by the customize
function of menus, such as various parameter setup and a peripheral equipment setup, or a
screen.
4. Advanced motion control and the adoption of full digital servo based on modern control theory
realized smooth control at high speed.
5. Loss reduction of a power device was aimed at and improvement in reliability of servo amplifier
was realized.
6. It has equipped with safe equipment, such as double emergency stop circuit limit switch (Category
4 conformity) and 3 position ENABLE SW, as standard, and ANSI/RIA 15.06-1999 is supported.
Page-3
3. Basic specifications
Robot model: 【Presto MC35-01】【Presto MC50-01】【Presto MC70-01】
Specifications
Item
Robot model
Presto MC35-01
Presto MC50-01
Construction
Articulated
Number of axis
6
Drive system
AC servo motor
Max. working
envelope
J1
±2.88 rad (±165 °)
J2
＋2.97 ～－0.79 rad (＋170 ～－45 °)
J3
＋4.54 ～－2.55 rad (＋260 ～－146 °)
J4
±6.28 rad (±360 °)
J5
±2.18 rad (±125 °)
J6
±7.84 rad (±450 °)
J1
J2
3.23 rad/s (185 °/s)
3.14 rad/s (180 °/s)
3.14 rad/s (180 °/s)
3.05 rad/s (175 °/s)
2.53 rad/s (145 °/s)
J3
3.32 rad/s (190 °/s)
3.14 rad/s (180 °/s)
2.88 rad/s (165 °/s)
J4
5.32 rad/s (305 °/s)
4.45 rad/s (255 °/s)
4.10 rad/s (235 °/s)
J5
5.32 rad/s (305 °/s)
4.45 rad/s (255 °/s)
4.10 rad/s (235 °/s)
J6
7.33 rad/s (420 °/s)
6.46 rad/s (370 °/s)
6.11 rad/s (350 °/s)
Wrist
35 kg
50 kg
70 kg
Max. speed
Max. pay load
Presto MC70-01
Forearm
Allowable static load
torque
J4
160 N･m
210 N･m
300 N･m
J5
160 N･m
210 N･m
300 N･m
J6
90 N･m
130 N･m
J4
Allowable moment of
inertia *2
15 kg
2
150 N･m
2
30 kg･m
16 kg･m
2
J5
16 kg･m
30 kg･m2
J6
5 kg･m2
12 kg･m2
Position repeatability *3
±0.07 mm
Air pressure
0.49 MPa (5.0 kgf/cm2) or less
Ambient temperature
0 ～ 45 ℃
Robot type *2
Floor mount
Environmental
resistance*3
Robot mass
Body
IP54 (standard), IP65 (motor cover option), IP67 (full cover option)
Wrist
IP67 (standard)
640 kg
*1: This value changes by placement and load conditions of a wrist.
*2: Ceiling mount, wall mount and angle mount are the options.
*3: Liquid such as organic compound, acidity, alkalinity, chlorine or gasoline cutting fluid which
deteriorates the seal material are not available to use.
※ The specification and externals described in this specifications might change without a previous
notice for the improvement.
Page-4
4. Robot dimensions and working envelope
(option)
Fig. 4.1 Robot dimensions and working envelope
Page-5
5. Details of tool mounting plate
For the end effecter fixing bolts, use the mounting P.C.D. shown in Fig. 5.1.
Caution!
Be sure to screw the M8 end effecter fixing bolts in the wrist not deeper than the
screw depth in the mounting face. Screwing the bolts deeper than the screw
depth may damage the wrist.
Fig. 5.1 Details of end effector mounting section
Page-6
6. Details of upper part of forearm
Ancillary equipment can be mounted to the upper part of robot forearm.
TAP DEPTH
TAP DEPTH
APPLICATION EQUIPMENT AREA
TAP DEPTH
(THE OPPOSITE SIDE IS
THE SAME)
TAP DEPTH
(THE OPPOSITE SIDE IS
THE SAME)
Fig. 6.1 Details of upper part of forearm
Page-7
7. Installation procedure
7.1 Installation space
To install the robot, lock the swiveling base of the robot.
Caution!
The mechanical stopper end is located in a position exceeding the specified
working envelope (software limit) of the J1 axis by 4°. To install the safety fence,
with consideration given to the wrist configuration and the shape of end effector.
Danger!
On the J1, J2, and J3 axes, the robot working envelope can be regulated for
safety (optional function). Since optional parts should be installed to enable this
function, do not independently move the standard parts (e.g. mechanical
stopper).
REF
REF
TAP
Fig. 7.1 Robot installation space
Page-8
7.2 Accuracy of installation surface
In order to install the robot, strictly observe precautions listed below to cause no deformation in the
swivel base.
Precautions
1.
Make the deviation from the flatness of the 4 plates on the robot installation surface fall within 0.5 mm.
2.
Make the deviation in height between the 4 places of each base plate installation surface and the robot
installation surface fall in the range of 0.5 mm (±0.25 mm).
Fig. 7.2 Accuracy of robot installation surface
3.
If the 2 precautions above cannot be observed, use jack bolts to bring the four places into even contact
with the installation surface.
Fig. 7.3 Jack bolt
7.3 Maximum robot generative force
Table 7.1 Maximum robot generative force
Robot model
Maximum vertical generative force FV
Maximum horizontal generative force FH
Maximum vertical generative moment MV
Maximum horizontal generative moment MH
Presto MC35-01
Presto MC50-01
Presto MC70-01
23,700 N
16,700 N
32,900 N･m
28,300 N･m
Presto MC35-01
Presto MC50-01
Presto MC70-01
Fig. 7.4 Maximum robot generative force
Page-9
8. Allowable wrist load
Caution!
A load fixed to the tip of the robot wrist is regulated by the allowable payload
mass, allowable static load torque, and allowable moment of inertia.
Furthermore, the allowable load torque varies with the actual load inertia
moment.
Strictly keep the wrist load within each allowable value.
1. Allowable pay load mass
Table 8.1 Allowable pay load mass
Robot model
Allowable pay load mass
Presto MC35-01
35 kg or less
Presto MC50-01
50 kg or less
Presto MC70-01
70 kg or less
2. Allowable maximum static load torque
Table 8.2 Allowable maximum static load torque
Allowable static load torque
Robot model
Around J4 axis
Around J5 axis
Around J6 axis
Presto MC35-01
160 N･m or less
160 N･m or less
90 N･m or less
Presto MC50-01
210 N･m or less
210 N･m or less
130 N･m or less
Presto MC70-01
300 N･m or less
300 N･m or less
150 N･m or less
3. Allowable maximum inertia moment
Table 8.3 Allowable maximum inertia moment
Allowable inertial moment
Robot model
Around J4 axis
Around J5 axis
Around J6 axis
Presto MC35-01
16 kg･m2 or less
16 kg･m2 or less
5 kg･m2 or less
Presto MC50-01
30 kg･m2 or less
30 kg･m2 or less
12 kg･m2 or less
Presto MC70-01
30 kg･m2 or less
30 kg･m2 or less
12 kg･m2 or less
Referring to Fig. 8.1～Fig. 8.1.3, use the robot wrist on condition that the load gravity center falls in the
range shown in the wrist torque map.
Furthermore, referring to Fig. 8.2.1～Fig. 8.2.3, use the robot wrist on condition that the static load
torque and the moment of inertia fall in the range shown by the diagram in the wrist torque map.
Page-10
8.1 Torque map
Robot model: 【Presto MC35-01】
Fig. 8.1.1 Wrist axis torque map
Page-11
8.2 Wrist load conditions
Fig. 8.2.1 Wrist load conditions
Page-12
Page-13
9. Option specifications
○: Possible to correspond／－: Impossible to correspond
No.
Item
Specifications
Chemical anchor specification
(Base plate + chemical anchor bolts)
1
Installation parts
Ore anchor specification
(Base plate + ore anchor bolts)
Leveling plate
(□180mm x t=25m 4 plates)
Installation bolts and washers
(Robot installation bolts and washers)
Robot model:
MC35/50/70-01
○
OP-F1-020
○
OP-F2-016
○
OP-F1-021
○
OP-F1-022
○
OP-S3-011
2
J1 axis 380° stopper
J1 axis ±190° operation
3
J1 axis adjustable
stopper
Restriction of J1 axis operation edge
(-2.88～+2.88 rad, every 0.26 rad)
○
OP-S5-016
4
J2 axis adjustable
stopper
(From the advancement edge and the retreat edge to 0.52rad, every 0.26 rad)
○
OP-A5-020
5
J3 axis Working
envelope restriction
stopper
(The upper side 1.57 rad)
○
OP-A6-019
6
Adjustable limit switch
J2, J3 axis adjustable limit switch
7
8
J1 axis base LS
J2 axis arm clear LS
For J1 axis zone detection
For J2 axis zeroing point and
shelter pointconfirmation
－
With LS, 1 base
－
No LS, 1 base
－
With LS, 3 base
－
No LS, 3 base
－
The dog installation plate attachment
－
No dog installation plate
－
9
J3 axis motor guard
Protection of encoder and connectors of J3 axis motor
10
Wrist axis motor guard
Protection of encoder and connectors of J4, J5, J6 axis motor
11
Air piping
2 systems (inside diameter φ6.5X2), from swivel base to J3 axis gear box
2
12
Application signal line
20 wires (0.2 mm ), from swivel axis to J3 axis gear box
13
Solenoid valve
Built-in type
14
Transfer jig
Fork bracket
15
Transfer fixed jig
Arm fixed jig (for J2 axis)
16
Zeroing pin & Zeroing block
J1～J4 axis: Pin hole, J5, J6 axis: Block
17
J2 axis motor protection cover
IP65 specification (Motor cover for J2 axis)
18
Full cover
IP67 specification (Motor cover for J2 axis＋Wiring
protection cover)
Unnecessary
Standard
Standard
－
○
OP-S2-037
Unnecessary
○
OP-T2-052
○
OP-C1-006
○
OP-C2-004
Page-14
○: Possible to correspond／－: Impossible to correspond
No.
Item
Specifications
19
Flange adaptor
20
Bypass cable
21
Wrist match mark
Wrist axes reference position adjustment (sticker)
22
Cable
ID registration cable
23
24
Bearing installation jig
for J1 axis
Bearing installation jig
for wrist axes
ISO Flange
Robot model:
MC35/50/70-01
Standard
○ *1
○
OP-N2-021
○
MR20-OP03-A
J1 axis motor shaft portion
○ *2
KP-ZJ-007
J1 - J6 axis motor shaft portions
○ *2
KP-ZJ-008
*1: It is scheduled to correspond since August, 2009.
*2: It is scheduled to correspond since June, 2009.
※ The specification and externals described in this specifications might change without a previous
Page-15
10. Application wiring and piping diagram
10.1 Wiring and piping diagram
AIR PIPING
APPLICATION
SIGNALS
ADDITIONAL
AXIS (ENCODER)
ADDITIONAL
AXIS (MOTOR)
Fig. 10.1 Wiring and piping diagram
Page-16
10.2 Details of base and flame
Standard
specification
AIR 2 OUT
TUBE
AIR 1 OUT
TUBE
J5 MOTOR
APPLICATION SIGNALS
POWER / ENCODER LINES
BJ3BOX COVER
J6 MOTOR
Place the wires so that they do
not touch the motor.
Full cover option
specification
PERFORATABLE AREA
AIR 2 OUT
TUBE
AIR 1 OUT
TUBE
Application cables are inside
the box.
When pulling them out from
the box to use,
drill the cover and install a
cable clamp.
The cable clamp must be
water-proof type.
Fig. 10.2 Wiring and piping for application on arm
BJ1 PANEL
AIR 1 IN
Use air pressure not
more than 0.49MPa.
AIR 2 IN
Fig. 10.3 Wiring and piping for application on base
Do not install anything on
the BJ1 panel.
Page-17
10.3 Detailed diagram of the connectors
10.3.1 Details of the application connecter
BJ1 side (connector)
Partner connecter
CONNECTOR
Wire-side shell: JFM-WSA-4-A (JST)
Guide plate A kit: JFM-GPAK-4 (JST)
Receptacle housing: JFM2FDN-22V-K (JST)
Receptacle contact:
a: SJ2F-01GF-P1.0 (JST) (0.20 ∼ 0.50sq)
b: SJ2F-21GF-P1.0 (JST) (0.30 ∼ 0.75sq)
Manual crimp tool:
for a: YRS-8861
for b: YRF-1120
Cable diameter suitable for wire-side shell: φ26.2～φ28.0
(This figure is drawn seeing from the backside of the robot.)
Fig. 10.4 Details of connectors for application (BJ1 side)
BJ3 side (connector)
Connector type (CN61)
Housing: SMP-10V-BC (JST)
Partner connector
Housing: SMR-10V-B(JST)
Contact: SYM-001T-P0.6 (Applicable wire : AWG#22～28)
Pressure tool: YRS-121
Connector type (CN62)
Housing: SMP-11V-BC (JST)
Partner connector
Housing: SMR-11V-B (JST)
Contact: SYM-001T-P0. 6 (Applicable wire : AWG#22～28)
Manual crimp tool: YRS-121
Fig. 10.5 Details of connectors for application (BJ3 side)
Page-18
10.3.2 Details of the additional axis connector
BJ3 side (intermediate connector)
Connector type (CNA1)
Housing
VLP-06V (JST)
Partner connector
Housing
VLR-06V (JST)
Retainer
VLS-03V (JST)
Contact
SVM-42T-P2.0
(Applicable wire : AWG#22~16)
Contact
SVM-61T-P2.0
(Applicable wire : AWG#20~14)
Manual crimp tool:
YC-592:(AWG#22~16)
YC-590:(AWG#20~14)
(This pin layout is drawn seeing from the connection side of the robot side connector.)
Fig.10.6 The details of the additional axis motor connector
Connector form (CNEA1,CNEA2)
Housing
1-1827864-4 (AMP)
Partner connector
Housing
1-1903130-4 (AMP)
Contact
1903116-2
(Applicable wire : AWG#28 - 22)
Manual crimp tool : 1762846-1
(This pin layout is drawn seeing from the connection side of the robot side connector.)
Fig.10.7 The details of the additional axis encoder connector
Page-19
11. Bypass Cable
11.1 Bypass cable connection outline figure (Option)
CNE cable
CNMB Cable
Bypass cable
AX20 controller
Robot (MC)
Bypass cable box
Bypass cable box
Standard wire-harness
Page-20
12. Transport procedure
Safety measures against transport
The following describes precautions for transporting the robot. Fully understand the precautions for
safe transport work.
Warning!
The robot must be transported by personnel who have licenses required for slinging work, crane operation, forklift
truck operation, and others. The weight of the robot and controller is listed in the Operating Manual and the
Maintenance Manual. Check for the weight, and then handle them according to procedures suitable for the weight.
Warning!
To lift the robot or the controller, follow the procedures specified in the Maintenance Manual.
Following any procedures other than those specified will cause the robot to topple over or drop during transport,
thus resulting in accidents.
Caution!
During transport or installation work of the robot, pay utmost care not to cause damage to wirings.
Furthermore, after installing the robot, take protective measures such as using protective guards so that the wirings
will not be damaged by workers or other persons, or forklift trucks or else.
To transport the robot, make it a rule to use a crane.
First, put the robot into the configuration shown in figure below and mount the two carrier brackets
dedicated to the transport of the robot to both sides of the robot frame. Then, lift the robot using four
hanging wires. Fix these dedicated brackets with the two M16 X 35 bolts. The tightening torque is 287
N･m. Recommended length of the hanging wires is 3 m.
Lifting JIG
(option)
Fig. 13.1 Transport procedure
Page-21
13. Installation (specification which contains a robot)
1. Delivery condition
Because the expense is different, which form to choose be sufficiently examined.
Condition
Details
1
Delivery on the truck
Robot is delivered on the truck near the entrance of customer’s plant.
2
Delivery after installation and test-run
Robot is installed and test-run done.
3
Delivery after installation and test-run with work piece
After style 2, teaching with work piece is done.
2. Operation and maintenance education
The special spot operation guide and the special spot preservation guide are the outside of the
estimation. Also, there is schooling system in the Toyama factory, too.
Consult with each NACHI-FUJIKOSHI office for the details.
3. The earth wire construction of controller is class D earthing things above mentioned are
necessary.
4. Consuming power
Peak power
5.0kVA
Waiting status with servo ON
0.78kVA
14. Paint color
Standard color
Controller cabinet Munsell 10GY9/1
Robot body
Munsell 2.5YR-5.5/14
15. Warranty
Elapse of 1 year after delivery.
The specification and externals described in this specifications might change without a previous

MC Spec

Transcription

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