Summary of Contents for AVANT Robot 185
- Page 1 English ROBOT 185 Operator’s Manual 2013- Please read this manual carefully before using the equipment, and follow all instructions. Keep this manual for later reference.
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Page 2: Table Of Contents
Table of contents Robot 185 FOREWORD..........4 Taking into use a new remote control....30 WARRANTY LIABILITY..........5 Alert signal............31 Warning............5 Charging the battery..........31 SAFETY INSTRUCTIONS........6 Operating and changing attachment....32 General............6 Pressure adjustment of attachments....32 Work environment..........6 Installing attachments........32 Personal protective equipment......6 Removal of attachments........32 Risk factors............6... - Page 3 Robot 185 Table of contents Track system............50 General............50 Front wheel.............50 Drive wheel.............51 Drive motor............51 Tracks.............51 Wear in bearings and shafts .........52 Cleaning the machine..........53 Cleaning the oil cooler........53 TROUBLESHOOTING...........54 General............54 Troubleshooting method ........54 Tools............54 Safety in troubleshooting........54 Troubleshooting quick guide.......55 No connection to the remote control.....55...
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Page 4: Foreword
Robot 185 Foreword We thank you for choosing AVANT and we hope it will improve your work efficiency. Before taking the machine into use, it is very important that both the supervisor and the user have read and understood the whole contents of the manual, so that the machine can be used safely and efficiently. -
Page 5: Warranty Liability
AVANT manual. • The responsibility of AVANT Tecno Oy for claims that can be shown to derive from a product defect is limited to a refund of the price that the customer has paid for the faulty part or to a replacement of the part. -
Page 6: Safety Instructions
Safety Instructions Robot 185 General When taking the machine into use, the instruction manual must be read through carefully and the content must be understood. The person using the machine must have the appropriate training and experience to be able to work safely. -
Page 7: Warning Labels
Robot 185 Safety Instructions Warning labels Warning labels that warn the user of dangers have been attached to the machine. The warning signs of the labels are categorised as follows: the sign in a warning triangle represents an existing danger and the sign on the right presents a solution for preventing the danger. -
Page 8: Before Operation
Safety Instructions Robot 185 Before operation Check that there is no transportation damage to the machine. Check that the control and supply cables are intact. Check the oil level of the container. Check that the operator’s console is undamaged. No one is allowed to be closer than 6 metres of the machine, when it is started up (see figure right). -
Page 9: After Operation
Robot 185 Safety Instructions After operation After you have finished working, always lower the work tool to the floor or ground. Turn off the power on the machine. Always keep the remote control in a safe place, to prevent others from using the machine. -
Page 10: Structure
The travel speed is 2.8 km/h. The ground clearance is 10,7 cm. The engine power is either 15 kW or 18.5 kW. It is possible to install steel tracks on the Robot 185 for working in hot conditions. Width of the rubber track is 200mm. - Page 11 Robot 185 Structure 1590 2090 1820 2290 2030...
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Page 12: Structure And Terms
Robot 185 Structure and terms The AVANT Robot 185 is a small track-based demolition robot that can be also used also for construction and excavation operations. The machine has a continuous 360º rotating tower with a four-joint boom. The machine is controlled by remote control, with or without a cable. -
Page 13: Electric System
Robot 185 Structure 1 Electric motor Switch 2 Service display Supply cable support 3 Emergency stop Tower module 4 Power On indicator light 400V electric cabinet 5 220V socket outlet 10 24V electric cabinet and frame module... -
Page 14: Electric Cabinet, Heavy Current
Structure Robot 185 Electric cabinet, heavy current Name CONTACTOR 18.5 kW ABB/AF38Z.30.00.21 ... -
Page 15: Electric Cabinet, Low Current
Robot 185 Structure Electric cabinet, low current Name SAFETY RELAY DUELCO/NST2004F TERMINAL BLOCK WITH FUSE HOLDER WAGO 282.698 TERMINAL BLOCK WAGO/280.646 ... -
Page 16: Hydraulic System, The Frame
Structure Robot 185 Hydraulic system, the frame 1 Return filter Hydraulic pump 2 Pressure sensort Pressure accumulator 3 Cooler Pressure relief valve 4 Filling cap Frame control valve 5 Electric motot 10 Outrigger / track block... -
Page 17: Hydraulic System, The Tower
Robot 185 Structure Hydraulic system, the tower 1 Revolving bearing 6 Greasing device (optio) 2 Revolving motor 7 Tower control valve 3 Revolving release 8 Tank block 4 Attachment selection valve (option) 9 Rotary connection 5 Control module... -
Page 18: Control Valve Of The Arm System
Structure Robot 185 Control valve of the arm system 1. Tool 2. Main boom 3. Rear boom 4. Tower rotation 5. Tool tilting 6. Dipper boom 7. Telescope Control valve of the frame 1. Outriggers, right 2. Tracks, left 3. Tracks, right... -
Page 19: Control System
Robot 185 Structure Control system 1. Control box 2. Switch panel 3. Control lever... -
Page 20: Symbols Of Switches And Indicator Lights
Structure Robot 185 Symbols of switches and indicator lights Symbols of switches and indicator lights Potentiometres Hammer Hammer control Emercency stop Stop Tool A Tool A control Cable Cable usage Power off Tool B Tool B control Radio Radio control... -
Page 21: Lever Symbols
Robot 185 Structure Lever symbols Left joystick Right joystick Left track forward Right track forward Dipper boom up Main boom down Rear boom down Left track backwards Extension out Dipper boom down Right track backwards Left outriggers down Rear boom up... -
Page 22: Remote Control Specifications
Structure Robot 185 Remote control specifications Signal reach: Outdoor, without any obstacles 100 m Outdoor, with a few obstacles 50 m Indoor, without any obstacles 50 m Indoor, with a few obstacles 10…30 m Note: Signal reaches above are theoretical. -
Page 23: Operation
Robot 185 Operation General instructions Before using the machine, read the operating instructions carefully. The user must be familiar with issues concerning the machine control, operation, and maintenance prior to using the machine. Inspection before operation • Check that there is no transport damage to the machine. -
Page 24: Lifting And Transportation
Operation Robot 185 Lifting and transportation The machine can only be lifted from the intended lifting points (1). When lifting the machine, a four-branched lifting belt, which has been approved for the machine weight, must be used. When lifting the machine, make sure that the machine does not touch surrounding objects. -
Page 25: Start Up And Shut Down
Robot 185 Operation Start up and shut down Both of the emergency stop switches (16, 1), on the machine frame and on the remote, must be disengaged to be able to start the machine. The power switch (17) on the machine is turned into position 1. -
Page 26: Driving
Operation Robot 185 Driving There are three control modes in the system to choose from. The mode selection is made by a three- position mode switch (Mode). When only tracks and outriggers need to be used, select the Drive mode from the mode switch position 3 (the lowest). -
Page 27: Boom Usage
Robot 185 Operation Boom usage The booms and the tool are in operation, when the mode switch is selected on the Boom mode (middle). The booms also work in mode Boom+Tracks (highest), but it is not possible to control the tool and the auxiliary equipment and the Hold function does not work. -
Page 28: Auxiliary Attachment (Option)
Operation Robot 185 Auxiliary attachment (Option) To select the auxiliary equipment operation use the Tele/Aux switch. The auxiliary equipment can be controlled with the potentiometer (Aux/Adjust) of the remote control or with the y direction of the right joystick (K2), when the rocker switch is down (K2B). The mode selection switch must be in position 2, the Boom mode (middle). -
Page 29: Work Lights (Light)
Robot 185 Operation Work lights (Light) There are two LED work lights on the tower. Both lights are always controlled, when the control system is operational. Crawling mode (Slow) The Crawling mode is a system mode, where the motions are slower than usual. -
Page 30: Changing Radio Channels
Operation Robot 185 Changing radio channels The channel can be switched if there is disturbance from other networks such as WLAN. Press the acknowledge button at the same time as turning the ignition key to ON position. After 10 seconds all six indicator lights turn yellow and you can release the acknowledge button. -
Page 31: Alert Signal
Robot 185 Operation Alert signal When the tracks are used the machine gives an audible alert signal. The same signal can be given also manually from the remote control by pressing the green button continuously for 3 seconds. Use the alert signal to warn people in case of danger. -
Page 32: Operating And Changing Attachment
Each attachment manufacturer provides optimum pressure settings for the equipment. These settings need to be followed and adjusted from a pressure adjusting valve located on the tower. Avant Robot 185 factory setting has been set for Avant B220 and B150 hydraulic breakers. If other attachments are used on the machine, the pressure settings need to be set according to specifications of each attachment (see Determining the hydraulic pressure page 46). -
Page 33: Operating The Machine In Difficult Conditions
Robot 185 Operation Operating the machine in difficult conditions High temperature Since the highest recommended temperature for the hydraulic system is 80 ºC, the user must recognise that too high a temperature may damage the machine or its parts. Thus, it is important to monitor the machine in hot conditions, so that it does not overheat. -
Page 34: Service
Service Robot 185 General It is extremely important that the service instructions are followed precisely. Only a skilled and competent person is allowed to conduct service operations. This ensures the durability of the machine and the safety of the user. -
Page 35: Service Plan
Robot 185 Service Service plan First service, 100 operating hours: Slewing motor gearbox Oil change Drive motor gearbox Oil change Daily inspection: Frame and outriggers including Cracks, fastening, leakage and operation cylinders and shafts Boom system and attachment adapter Lubrication, damages, cracks, fastening, leakage and operation... -
Page 36: Lubrication
Service Robot 185 Lubrication Lubrication of the cylinders and outriggers • Lubricate the grease nipples well. • There are 15 nipples in the booms and 3 nipples in one outrigger. • Wipe the nipple clean. • Put the grease gun into the nipple and squeeze 3-5 times. -
Page 37: Control System
Robot 185 Service Control system The control system does not require any special service. Checking the control cable You should check the control cable regularly. A faulty control cable is one of the common reasons for machine shutdowns. If there is an undamaged control cable available, you can use it to check whether the control cable is faulty. -
Page 38: Electric System
Service Robot 185 Electric system General Remember to check the condition of all electric wires on regular basis. Only an authorized electrician is allowed to perform heavy current electricity service operations. The electric cabinet does not usually need to be opened. Only an authorized electrician is allowed to do that. -
Page 39: Checking The Extension Cord
Robot 185 Service Checking the extension cord • Turn off the motor and unplug both ends of the extension cord. • Check for external damages on the leads. • Remove the protective shell of the plugs. • Check that the leads are attached properly. -
Page 40: Checking The Supply Cable
Service Robot 185 Checking the supply cable • Turn off the motor and unplug both ends of the cable. • Check for external damages on the conductors. • If no current flows into the machine, check with a voltmeter that all three phases have a current. Start with the socket outlet and then measure all the connections of the supply cable. -
Page 41: Hydraulic System
Robot 185 Service Hydraulic system General Note! Hydraulic system includes a 150 bar pressure accumulator. Before starting service operations, release the pressure from a pressure adjusting screw that is located below left rear protective cover. Do not remove a pressurised hydraulic hose. Always mechanically support the machine parts before unplugging the cables. -
Page 42: Determining The Hydraulic Pressure
Service Robot 185 Determining the hydraulic pressure Diagnostics window of the Service display shows the current pressure of the machine. See Service display page 64. Idling pressure or circulation pump pressure The pump provides idling pressure when none of the machine functions have been activated. -
Page 43: Adjusting The Hydraulic Pressure
Robot 185 Service Adjusting the hydraulic pressure Maximum pressure of every pressure line on the tower can be adjusted with adjusting screw on the valve. Adjusting is done with 4mm hex key and 8mm spanner. • Remove the plastic cover on top of the adjusting screw. -
Page 44: Boom System
Service Robot 185 Boom system Checking for cracks • Welded joints are at the most risk of cracks. • Visually inspect the welded joints. Welding • Remove paint from the area that is to be welded. • Sand the possible faulty welding spots, before a new welding operation. -
Page 45: Installing Hydraulic Hoses And Connectors
Robot 185 Service Installing hydraulic hoses and connectors Hoses Adjust the length of the hoses, so that they are not straight or pulled when using the machine. Ensure that the hose does not twist when installing it and avoid bending it too much. -
Page 46: Tightening By Hand, The Ffft Method
Service Robot 185 Tightening by hand, the FFFT method • After tightening the nut by hand, draw a line on one side of the nut (A) and continue the line all the way to the nut of the connector (B). After this, tighten by the number of turns (FFFT) mentioned in the table. -
Page 47: Changing The Oil Filter
Robot 185 Service Changing the oil filter Change the oil filter when indicated, at regular intervals or at least twice a year. You should also change it, when impurities have possibly entered the hydraulic system due to damages or a failure in operation. -
Page 48: Changing The Pressure Filter
Service Robot 185 Changing the pressure filter • The pressure filter change is recommended to be done by authorized service personnel. • Pressure filter is located at the rear of the machine, on top of the steel bottom plate. • Ease the boom by putting it on the ground and turn off the motor. -
Page 49: Draining The Hydraulic Oil
Robot 185 Service Draining the hydraulic oil • The draining hose is placed in front of the machine, behind the bottom plate. • Drive the machine to a position, where the cylinders are retracted. • Check that there is room for a waste oil container at the hole, which is under the machine. -
Page 50: Track System
Service Robot 185 Track system General • Track tensioning is automatic and is activated every time the machine is raised on outriggers. The hydraulic system includes a 150 bar pressure accumulator that is used for the automatic tensioning. • The tracks are loosened by unscrewing the pressure accumulator adjustment wheel open from the outrigger block. -
Page 51: Drive Wheel
Robot 185 Service Drive wheel Installation: • Note that the parts are centered to the same line in relation to each other. • The drive wheel 6 must be installed with original bolts to the drive motor. • 7 indicates a hex socket-head screw M10, strength class 12.9., 8pcs / wheel. -
Page 52: Wear In Bearings And Shafts
Service Robot 185 Wear in bearings and shafts Measuring the bearing and the seat • Measure the bearings, seats and shafts with a micrometer. • If the diameter of the bearing or seat exceeds the wearing threshold, it must be replaced. -
Page 53: Cleaning The Machine
Robot 185 Service Cleaning the machine The machine must be washed regularly: damages are more noticeable, it is nicer to work with and the machine cools down better with a clean machine. Cleaning the oil cooler In order to prevent oil from over heating, the oil cooler is recommended to be cleaned weekly. -
Page 54: Troubleshooting
Troubleshooting Robot 185 Troubleshooting General The troubleshooting section focuses on the most common occurring faults and their repair. The section gives an overview of the machine and by guides through the troubleshooting of the machine. Troubleshooting method • The Service display reports most of the electric and control system failures. -
Page 55: Troubleshooting Quick Guide
Robot 185 Troubleshooting Troubleshooting quick guide The Service display reports all failures that are in the CAN bus. The messages are explained on ” The service display error messages”, page 67. No connection to the remote control Check that the emergency stop buttons of the machine and the remote control are disengaged and the indicator light Power On blinks. -
Page 56: The Overload Relay Blows
Troubleshooting Robot 185 The overload relay blows The supply voltage of the machine is too low. A gaping contact in the power feed from the switchboard to the motor: check the voltage drop in the junctions. The relay has been wrongly installed. The relay value should be 35 – 40 A. -
Page 57: Troubleshooting The Electric System
Robot 185 Troubleshooting The Oil Level indicator light is green, when the level of the hydraulic oil is within the approved limits. It blinks red, when the level alarm is activated and continues blinking until the alarm has been acknowledged with the acknowledgement button (Ack) of the remote control. -
Page 58: Troubleshooting The Control System
Troubleshooting Robot 185 Troubleshooting the control system The most common reasons for faults in the control system: • empty/dead battery • dirty battery terminals • a damaged control cable • another radio-controlled machine using the same frequency Troubleshooting the modules The modules send out a so called ”heartbeat”... -
Page 59: Service Display
Robot 185 Service display Service display The Service display is in integral part of the machine. It used for troubleshooting and adjusting control systems and parameters. In addition, it displays the temperature and pressure of the hydraulic system. Navigation is done by using the number buttons. Each button refers t<o the symbol/number on top of it. - Page 60 Service display Robot 185 ” Dead man’s delay” and alarm signal can be adjusted from ”General” of parameter section. Other parameters that can be adjusted are speed of cylinder, rotation, outrigger and tracks. It is done by adjusting opening/closing time of the acceleration and deceleration ramps. Oil capacity flow is increased by increasing...
- Page 61 Robot 185 Service display The service display error messages The Service display is in integral part of the machine. It used for troubleshooting and adjusting control systems and parameters. In addition, it displays the temperature and pressure of the hydraulic system.
- Page 62 Service display Robot 185 The frame valve related messages: Broken circuit in controlled left / right outrigger output Failure in the control cable or in a valve. Check the wiring and contact service. Error in left / right outrigger parameters Wrong setting on parameters.
- Page 63 Robot 185 Service display Short circuit in tower turn output Short circuit in control valve, cables or module output. The valve or cable is damaged and short circuit to earth potential. Broken circuit in rear boom output Broken circuit in rear boom control valve or cable. The valve or cable is damaged.
- Page 64 Service display Robot 185 The remote control related messages: Left / right joystick x / y / z-axis input signal too high / low Calibrate the remote control again. If the problem does not disappear, the remote control is damaged.
- Page 65 Robot 185 Service display Short circuit in Buzzer output Short circuit in buzzer, cable or module output. The buzzer or cable is damaged, or the buzzer is in short circuit to earth po- tential. Voltage without control in Buzzer output Voltage without control on the buzzer or module output.
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Page 66: Electric Diagrams
Electric diagrams Robot 185 400 V system and soft start ... -
Page 67: Frame Module And Can Bus
Robot 185 Electric diagrams Frame module and CAN bus ... -
Page 68: Frame Valves And Sensors
Electric diagrams Robot 185 Frame valves and sensors ... -
Page 69: Tower Module And Rotating Connector
Robot 185 Electric diagrams Tower module and rotating connector ... -
Page 70: Tower Module And Valves
Electric diagrams Robot 185 Tower module and valves ... -
Page 71: Emergency Stop Circuit And Remote Control
Robot 185 Electric diagrams Emergency stop circuit and remote control ... -
Page 72: Hydraulic Diagrams
Hydraulic diagrams Robot 185 Hydraulic diagram of the frame Marking Name Function Electric motor Drive motor of the hydraulic pump Hydraulic motor The hydraulic motor uses the left track Hydraulic motor The hydraulic motor uses the right track Cylinder Outrigger cylinder, on the right side of the machine... - Page 73 Robot 185 Hydraulic diagrams -LSA -LSB -LSC 3/4" G1/2" G1/2" 20 ltr BACKWARDS --> (DLB) 3/8" 3/8" FORWARDS --> (DLA) BACKWARDS --> (DRB) 3/8" 3/8" FORWARDS --> (DRA)
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Page 74: Hydraulic Diagram Of The Tower
Hydraulic diagrams Robot 185 Hydraulic diagram of the tower Marking Name Function Hydraulic motor Hydraulic motor of boom reversion Cylinder Main boom cylinder Cylinder Rear boom cylinder Cylinder Dipper boom cylinder Cylinder Tool tilting cylinder Cylinder Telescopic boom cylinder DCV2... - Page 75 Robot 185 Hydraulic diagrams 66 ltr 66 ltr 30 ltr 30 ltr 30 ltr 30 ltr 15 ltr 15 ltr 30 ltr 30 ltr 30 ltr 30 ltr 30 ltr 30 ltr...
- Page 76 FIN-33470 YLÖJÄRVI, FINLAND Tel. +358 3 347 8800 Fax +358 3 348 5511 e-mail: sales@avanttecno.com AVANT has a policy of continuing improvement, and retains the right to change specifications without notice. © 2013 AVANT Tecno Oy. Kaikki oikeudet pidätetään. www.avanttecno.com...
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