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rozum robotics Pulse Hardware Installation Manual

Robotic arm
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Summary of Contents for rozum robotics Pulse

  • Page 2: Table Of Contents

    2.3.3. Digital I/O connectors ....................16 2.4. Mounting an end effector ....................17 2.5. Integration sequence ......................19 3. COMMISSIONING ........................ 20 ANNEX I. DIMENSIONAL DRAWING OF THE PULSE ROBOTIC ARM ..... 22 ANNEX II. KINEMATICS OF THE PULSE ARM..............23 Page 2 | 23...

  • Page 3: Introduction

    This manual is intended to assist an integrator in installing and commissioning a system comprising the PULSE robotic arm (hereinafter, a robotic arm or an arm), an end effector (also, a work tool), a control box, and an emergency stop button. The document contains the following information about the system: ...

  • Page 4: Product Overview

    ROZUM ROBOTICS PULSE robotic arm 1. PRODUCT OVERVIEW 1.1. Basic features and components The PULSE robotic arm is designed for collaborative operation in industrial and commercial applications, including:  pick-and-place  packing  assembly  machine tending  screwing ...

  • Page 5: Use Restrictions

    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.

  • Page 6: Supply Package

    ROZUM ROBOTICS PULSE robotic arm  Never install or operate the PULSE robotic arm in an explosive or flammable environment.  The atmosphere at the operating location of the robotic arm should not contain corrosive gases or liquids, salt, radioactive substances, oil mist, dust or metal powders.
  • Page 7 ROZUM ROBOTICS PULSE robotic arm The dimensions of the arm's six axes are as shown in Figure 1-3 (for detailed dimensions, see also the dimensional drawing 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.

  • Page 8: Operating Conditions

    It is advisable to avoid programming any arm or work tool moves within the area. 1.5. Operating conditions The PULSE robotic arm is intended 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.

  • Page 9: The Front Panel

    ROZUM ROBOTICS PULSE robotic arm Table 1-4: Specifications of the control box Specification Value Weight 9 kg Dimensions (D x W x H) 283 x 483 x 91 mm Noise level Less than 60 dB Protection rating IP20  4 digital inputs, 2 digital outputs ...

  • Page 10: The Back Panel

    1.7. Emergency stop button For the PULSE robotic arm, the emergency stop button is supplied as a standalone device pre- assembled with a connection cable. The button is designed to provide Category 1 Stop in accordance with ISO 10218-1—a controlled stop with power supplied to the servo motors in the arm joints until full stop is achieved.

  • Page 11: Wrist

    An end effector is a tool or a device designed to enable the robotic arm to perform various operations as required for its intended application. End effectors are beyond the scope of Rozum Robotics supply. Page 11 | 23...

  • Page 12: Control Buttons

    ROZUM ROBOTICS PULSE robotic arm Figure 1-8: The wrist of the PULSE arm The wrist of the PULSE robotic arm features:  a standard ISO 9409-1-50-4-M6 mechanical interface (1)  a cable output (2) for connecting an end effector electrically ...

  • Page 13: Installation

    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 the integrator.

  • Page 14: Continuous Power Supply Requirement

    2.2.1. Mounting the robotic arm Though the footprint of the PULSE robotic arm is as small as 120 mm (see Figure 2-1), you need to account for the arm workspace (Figure 1-4) when choosing a mounting location. This is important to exclude collisions with other equipment or objects.

  • Page 15: Installing The Control Box

     rack mounting (DIN 19") The exact installation method depends on the particular operating environment of the PULSE robotic 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.

  • Page 16: Power Connection

    ROZUM ROBOTICS PULSE robotic arm 2.3.1. Power connection The power connection of the control box is in accordance with the IEC 60320-1 C14 standard. The electrical specifications are as indicated in Table 2-1. Table 2-1: Electrical specifications of the control box power connection...

  • Page 17: Mounting An End Effector

    To attach an end effector to the robotic arm, use the mechanical and electrical interfaces on its wrist (see Figure 1-8). In its basic design, the wrist of the PULSE robotic arm has the standard ISO 9409-1-50-4-M6 mechanical interface as shown in Figure 2-3.
  • Page 18 ROZUM ROBOTICS PULSE robotic arm Figure 2-3: Basic mechanical interface on the arm wrist In case your end effector has a mechanical interface different from the standard ISO 9409-1-50-4-M6 one, make sure to use an appropriate adaptor. The basic electrical interface of the arm wrist is a socket of the configuration as shown in Figure 2-4.

  • Page 19: Integration Sequence

    Figure 2-5: Electrical diagram for the digital outputs of the end effector socket 2.5. Integration sequence To integrate the PULSE robotic arm system into your application, it is recommended to follow the sequence of steps as below: The sequence of Steps 2 to 7 is for reference only. You can re-arrange the steps at your convenience.

  • Page 20: Commissioning

    PULSE robotic arm 3. COMMISSIONING Once you have integrated the PULSE robotic arm system into your application as described in Section 2.5, you can proceed commissioning the system and actually working with it. Before the initial and any subsequent starts, make sure to check the following: ...
  • Page 21 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 22 8080 and 8081.

  • Page 22: Annex I. Dimensional Drawing Of The Pulse Robotic Arm

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

  • Page 23: Annex Ii. Kinematics Of The Pulse Arm

    PULSE collaborative robot ANNEX II. KINEMATICS OF THE PULSE ARM The kinematics of the PULSE robotic arm is described with three parameters of Denavit- Hartenberg convention as illustrated in Figure II-1 and Table II-1. These parameters include:  d—distance from the origin to the common normal along the z axis of the previous joint The common normal of two non-intersecting joint axes is a line perpendicular to both axes.

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