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SCORA-ER 14 User Manual Catalog #100067 Rev. B...
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Every effort has been made to make this book as complete and accurate as possible. However, no warranty of suitability, purpose, or fitness is made or implied. Intelitek is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software, hardware and/or the information contained in this publication.
CHAPTER Unpacking and Handling ‹ Read this chapter carefully before you unpack the SCORA-ER 14 robot and controller. Unpacking and Handling the Robot The robot is packed in expanded foam. Save the original packing materials and shipping carton. You may need them later for shipment or for storage of the robot.
CHAPTER Specifications The following table gives the specifications of the robot arm. SCORA-ER 14 Robot Arm Specifications Mechanical Structure Horizontal articulated (SCARA) Arm Length Link 1 270mm (10.6") Link 2 230mm (9.0") Axis Movement Axis Range Effective Speed Axis 1: Rotation 288°...
Structure is a horizontal articulated (SCARA) robot. SCORA-ER 14 The first two joints are revolute and determine the position of the end effector in the XY plane. The third joint is prismatic and determines the height (Z coordinate) of the end effector.
Figures 2-2 and 2-3 show the dimensions of the , while Figure 2-4 gives a top view of the robot’s work envelope. SCORA-ER 14 The base of the robot is normally fixed to a stationary work surface. It may, however, be attached to a slidebase, resulting in an extended working range.
CHAPTER Safety is a potentially dangerous machine. Safety during operation is SCORA-ER 14 of the utmost importance. Use extreme caution when working with the robot. Precautions The following chapters of this manual provide complete details for proper installation and operation of the .
Warnings Do not operate the until you have thoroughly studied both this SCORA-ER 14 User’s Manual and the Controller-B User’s Manual. Be sure you follow the safety guidelines outlined for both the robot and the controller. Do not install or operate the...
Robot Setup Refer to Figures 4-1 and 4-2. Set up the on a sturdy surface with at least 70 cm of free space all SCORA-ER 14 around the robot. Set up the robot so that it faces in the proper direction—...
SCORA-ER 14 operating area to protect both the operator and bystanders. Figure 4-2: Robot Base Layout SCORA-ER 14 Installation Controller Installation Perform the installation procedures detailed in the following sections of Chapter 2, “ Installation,” in the Controller-B User’s Manual: Computer/Terminal–Controller Installation...
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When disconnecting the robot from the controller, do it in the opposite order: • Disconnect the warning light connections. • Disconnect the power cable connections. • Disconnect the encoders cable connections. • Disconnect the ground wires. User’s Manual SCORA-ER 14 9603...
If the HOME process is not completed, an error message identifying the failure is displayed. For example: *** HOME FAILURE AXIS 3 If the home switch is found, but not the encoder’s index pulse, the following message is displayed: * * * INDEX PULSE NOT FOUND AXIS 2 SCORA-ER 14 User’s Manual 9603...
Connect the coiled double hose from the gripper to the quick coupling on the underside of Link 2, as indicated in Figure 4-7. Figure 4-6: Pneumatic Gripper Figure 4-7: Gripper Connectors User’s Manual SCORA-ER 14 9603...
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(C) terminal of the same relay output, as shown in Figure 4-9. Attach the valve to the Figure 4-9: Valve— Controller Connections controller or any other metalic surface by means of the valve’s magnetic base. SCORA-ER 14 User’s Manual 9603...
At the end of each work session (before turning off the controller), or before homing the robot, make sure the gripper’s position is as shown in Figure 4-11. Gripper Mounting Flange Figure 4-10: Connecting Gripper to SCORA-ER 14 User’s Manual SCORA-ER 14 9603...
Figure 4-11: Connecting Gripper to SCORA-ER 14 ‹ Axis 5 is reserved by default controller configuration for a servo gripper. To connect a different device as axis 5, you must change the system configuration by means of the ACL command CONFIG.
CHAPTER Operating Methods The SCORA-ER 14 robot can be programmed and operated in a number of ways. Controller-B User’s Manual includes two chapters which guide you through the basic commands for operating and programming the robot. Software ACL, Advanced Control Language, is an advanced, multi-tasking robotic programming language developed by Eshed Robotec.
The teach pendant is a hand-held terminal which is used for controlling the robot and peripheral equipment. The teach pendant is most practical SCORA-ER 14 for moving the axes, recording positions, sending the axes to recorded positions and activating programs. Other functions can also be executed from the teach pendant.
CHAPTER Drive System utilizes several different mechanical transmissions for SCORA-ER 14 transferring motion from the motors to the joints. The structure and operation of the various components used to drive the SCORA axes are described in this chapter. ‹ Note that the illustrations of...
Its main PULLEYS & TIMING BELT components are the motor, a worm gear and a spline, as shown in Figure 6-3. Figure 6-2: Drive System Axis 3 Figure 6-3: Drive System Axis 4 SCORA-ER 14 6 - 2 User’s Manual 9603...
As shown in Figure 6-4, the motors of the SCORA-ER 14 located close to the axes they drive. Figure 6-4: Motor Locations in SCORA-ER 14 User’s Manual 6 - 3 SCORA-ER 14 9603...
Figure 6-5 shows the basic structure and components of a DC motor comparable to the structure of the motors used in the . This motor has three main SCORA-ER 14 components: • Stator: This is a static component which creates the magnetic field. The stator may be a permanent magnet, or an electromagnet consisting of a coil wound around thin iron plates.
SCORA-ER 14 Motors uses permanent magnet DC motors to drive the axes. SCORA-ER 14 Axes 1 and 2 of the are powered by the motor shown in Figure 6-6. SCORA ER-14 Axes 3 and 4 are powered by the motor shown in Figure 6-7.
Harmonic Drive Gear The Harmonic Drive transmission used in the , shown in Figure 6-8, SCORA-ER 14 offers a very high gear ratio. The Harmonic Drive gears used in the have four main components: SCORA-ER 14 • Circular spline: a solid steel ring, with internal gear teeth, usually fixed to the robot link.
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The Harmonic Drive gear ratio for axis 1 and axis 2 of the is 160:1 SCORA-ER 14 Figure 6-9: Operation of the Harmonic Drive Figure 6-10: Operation of the Harmonic Drive User’s Manual 6 - 7 SCORA-ER 14...
The gear ratio of the belt drive is the ratio of the output pulley to the input pulley, calculated according to the number of teeth on each pulley. The belt drive used in the has a a ratio of 80:21. SCORA-ER 14 Thus, for each rotation (360°) of the input pulley, the output pulley moves OUTPUT PULLEY 94°, or approximately one-quarter of...
Figure 6-12. In the screw rotates and the nut SCORA-ER 14 travels along the length of the screw. As shown in Figure 6-13, a ball bearing screw thread is actually a hardened ball race.
Worm Gear A worm gear transmission, shown in Figure 6-14, is used in the to transfer SCORA-ER 14 the rotation of motor 4 to the rotation of the Z-axis. The ratio of a worm gear transmission is defined as: # teeth on worm gear...
4.2 mm. Axis 4 is driven by a worm gear with a ratio of 50:1. Thus, one rotation (360°) of motor 4 output shaft causes the end effector flange to rotate 7.2°. User’s Manual 6 - 11 SCORA-ER 14 9603...
This IC contains several sets of photodetectors and the circuitry for producing a digital signal. A perforated, rotating disk is located between the emitter and detector IC. Figure 7-1: SCORA-ER 14 Encoder User’s Manual 7 - 1 SCORA-ER 14 9603...
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This index pulse serves to Figure 7-2: determine the home position of the axis. SCORA-ER 14 Encoder Disk The photodetectors are arranged so that, alternately, some detect light while others do not. The photodiode outputs are then fed through the signal processing circuitry, resulting in the signals A, A, B, B, I and I, as shown in Figure 7-3.
Encoder Resolution From the quadrature signal the controller measures four counts for SCORA-ER 14 each encoder slot, thus quadrupling the effective resolution of the encoder. The resolution of the encoder is expressed as: 360° Where: is the resolution of the encoder.
Axes 1 and 2 each has two limit switches—one at each end of the axis’ working range. Figure 7-5: SCORA-ER 14 Limit Switch The limit switches are mounted on a disk which is attached to the robot’s frame, as shown in Figure 7-6.
When the joint reaches this hard stop, the impact protection and thermic protection processes detect an error, thus activating COFF. CON must be activated and the robot arm must be manually moved away from the impact condition. User’s Manual 7 - 5 SCORA-ER 14 9603...
Home Switches uses an optical home switch on each axis to identify the fixed SCORA-ER 14 reference, or home, position. For axes 1 and 2 the home switch is mounted on the same disk as the end of travel switches, and a “ flag” is attached to the Harmonic Drive output shaft, as shown in Figure 7-8.
CHAPTER Wiring Figure 8-1 is a schematic diagram of the SCORA-ER 14 cable connections. Figure 8-1: SCORA-ER 14 Cabling The power (robot) cable, encoder cable and warning light cable connect the Controller-B to the connector panel of the SCORA-ER 14 robot. Safety ground wires from the robot and the encoder cables are connected to safety ground studs on the connector panel and on the controller back panel.
M3_A Twisted Pair Motor 4 + yellow M3_B Motor 5 – black M4_A Twisted Pair Motor 5 + green M4_B +24V to PCB white +24V Twisted Pair 24VRET to PCB black 24VRET SCORA-ER 14 8 - 2 User’s Manual 9603...
Figure 8-4. Amphenol 3 Pin The following table details the warning light cable Connector and connector. Warning Light Cable and Connector Pin Description Wire Pin Description Robot Side (J3) Color Controller Side black SCORA-ER 14 8 - 4 User’s Manual 9603...
Bring the robot to a position near home, and activate the Home procedure. Check the following items: • Robot movement is normal. • No unusual noise is heard when robot arm moves. • Robot reaches home position in every axis. User’s Manual 9 - 1 SCORA-ER 14 9603...
Do not attempt to open the robot arm. There are no user-serviceable parts inside. If you are unable to determine and/or correct the problem, contact your service representative. Only qualified technicians may remove and/or replace robot components. SCORA-ER 14 9 - 2 User’s Manual 9603...
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HS will change to either 1 or 0 (defined by parameter 560+axis) when the home switch is detected. To help you perform this test, prepare and continuously run a simple ACL program, as follows: User’s Manual 9 - 3 SCORA-ER 14 9603...
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+12VA, –12VA, +12VDR, –12VDR. Turn off the controller and disconnect it from the power source. Check each of these four fuses. Replace the blown fuse. SCORA-ER 14 9 - 4 User’s Manual 9603...
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• System parameters are not properly adjusted. Refer to the ACL Reference Guide. • Problem in axis driver card(s) in the controller. Refer to the Controller-B User’s Manual. User’s Manual 9 - 5 SCORA-ER 14 9603...
(3) Hardware fault on this axis. Home on group/axis not done. You attempted to move the arm to a recorded positions, or to record a position, before homing was performed on the group or axis. SCORA-ER 14 9 - 6 User’s Manual 9603...
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No homing. The homing parameters for the axis (PAR 460+axis and PAR 600+axis) are set to 0; as a result, the homing procedure will not be performed on the axis. User’s Manual 9 - 7 SCORA-ER 14 9603...
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(2) Since the trajectory is not calculated prior to a linear or circular movement, the linear or circular movement may cause one of the joints to move too fast. Lower the value of speed for that movement. SCORA-ER 14 9 - 8 User’s Manual 9603...
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Modify the coordinate values of the positions which define the trajectory. *** UPPER LIMIT AXIS n During keyboard or TP manual movement of the specified axis, its encoder attained its maximum allowed value. Move the axis in the opposite direction. User’s Manual 9 - 9 SCORA-ER 14 9603...
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