Related Manuals for ST Robotics R12-500
Summary of Contents for ST Robotics R12-500
- Page 1 R12 Robot Manual page 1 01.04.2017 Welcome! to the R12-500 Firefly robot arm User Manual We hope you enjoy your experience. Any problems at all just contact us. support@strobotics.com +1 609 584 7522 +44 1223 420 288...
- Page 2 R12 Robot Manual page 2 System Components: A basic R12 robot system comprises the following:- R12 Robot arm Fitted with any options: Pneumatic or electric gripper Vacuum pickup Incremental encoders axis module Controller K11R Fitted with any options: I/O expansion Gripper drive module Teach box Cable 9-way D-type each end (M-M) - K11R to teach box...
- Page 3 R12 Robot Manual page 3 1. INTRODUCTION The R12, firefly is a revolute robot arm of the vertically articulated format. This is the format which most closely resembles the human arm and so its parts are named after the human arm.
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Page 4: Important Dos And Don'ts
R12 Robot Manual page 4 2. IMPORTANT DOS AND DON'TS (1) HANDLING – DO take care when carrying the robot by hand or moving the arm by hand. DON’T push the covers in when handling – this can damage wiring under the covers. DANGER - HOT –... -
Page 5: Safety Is Your Responsibility
R12 Robot Manual page 5 SAFETY IS YOUR RESPONSIBILITY Hazards Because stepping motors raise more torque at low speeds a substantial low speed force can be brought to bear especially on fingers which may become trapped under or between axes. Robot end effectors typically have sharp edges or fingers made of thin metal which can cause injury at the low speed high forces or at the higher speeds. - Page 6 R12 Robot Manual page 6 3. SETTING UP Set the robot up in the desired location. Connect up all cables - their positions should be self- evident. Cables to the robot connect to the rear of the controller. There are 5 basic cables: Motor power –...
- Page 7 R12 Robot Manual page 7 4. COMPUTER Note: Commands to computer or controller are in the form of a string of characters followed by the enter key. In all my examples of dialog between man and machine I will underline text typed in by the user.
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Page 8: Powering Up The Controller
R12 Robot Manual page 8 5. POWERING UP THE CONTROLLER To power up the controller, connect the power cord at the rear and operate the power switch, which is integral with the power connector. You may have all other cables disconnected if you wish. - Page 9 R12 Robot Manual page 9 If there is no message on screen press the reset button on the front panel and watch the lights. The red led should light as you press the button. As you release the button the red led goes out, the green light comes on and the yellow TX light should flash.
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Page 10: Preparing For Use
R12 Robot Manual page 10 6. PREPARING FOR USE Switch off the controller and set the robot up visually to an approximate home position (see below). This is the only position from which you can calibrate the robot. 5-axis home 6-axis home (hand points backwards) - Page 11 R12 Robot Manual page 11 Optional: Check that sensors and encoders are working. 1. Connect up the sensor/encoder cable to the robot – this is the cable with a 25w D each end. Do not connect the screened (braided sheath) cable at this time. Switch on the controller.
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Page 12: Getting Started
R12 Robot Manual page 12 7. GETTING STARTED WARNING Before trying any of the following commands be sure to KEEP OUT OF THE ROBOT ENVELOPE Note: ALL FORTH and ROBOFORTH COMMANDS ARE IN UPPER CASE. First checks Assuming RobWin is loaded and running: 1. - Page 13 R12 Robot Manual page 13 To operate the gripper press the key marked 'GRIP', then to close the gripper press the + key and to open the gripper press the - key. If you have an electric gripper do not operate it yet.
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Page 14: End Effectors
R12 Robot Manual page 14 8. END EFFECTORS Pneumatic Gripper connections If the gripper opens when it should close and vice versa simply swap over the two 4mm tubes at one end. - Page 15 R12 Robot Manual page 15 Vacuum pick-up connections: Change from gripper to vacuum: There will be a total of 3 valves. One for the gripper as above and one for the vacuum as above. Both these valves connect to PA 0 so the command GRIP will operate either of them. A third valve is provided to switch between the two, connected to PA 2.
- Page 16 R12 Robot Manual page 16 Tool changer or multiple tools Note that an electric gripper uses PA 0 and1 in PWM mode to open the gripper. To change between electric gripper and pneumatic gripper: Enter 1 GTYPE ! for electric gripper 0 GTYPE ! for pneumatic gripper If the vacuum is connected to some other bit, not PA 0 enter the bit number for GTYPE For example 4 GTYPE ! if the valve is connected to PA 4.
- Page 17 R12 Robot Manual page 17 Electric gripper If the electric gripper is fitted this is wired through the robot and requires no installation by the customer but there is an external cable from the arm to the gripper. Take care not to continuously rotate the gripper or the wire will trap or break.
- Page 18 R12 Robot Manual page 18 9. CONTROLLER SETTINGS FLASH ROM Cold start mode When power is switched on, or the reset button is pressed all RAM contents are refreshed from flash ROM. All the user programming, whether entered in immediate mode or using RobWin will be lost.
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Page 19: Robot Parameters
R12 Robot Manual page 19 10. ROBOT PARAMETERS WARNING – there should be no reason to alter these constants unless some change has been made to the robot, for example a repair. These parameters are particular to your robot, sometimes called a ‘signature’. They comprise the calibration figures in LIMITS, numbers of steps per 90 degrees of axis movement, arithmetic relationships between encoders and motors, microstep ratios, and other constants. - Page 20 R12 Robot Manual page 20 Motors, gearing The waist (rotate), shoulder and elbow joints are driven by 2-stack stepping motors, driving through toothed belts. The ratios chosen are to obtain the desired resolution and the correct load matching for the motors at high speeds. The R12 hand is driven by two motors. If both run together then the hand will pitch but if motor 5 only runs then the hand will roll.
- Page 21 R12 Robot Manual page 21 To save the parameters (signature) 1. Click file – save binary. bank 0 start address A200 length 200 2. Save as R12Cnnn.SIG – where nnn is the serial number of the robot. The actual filename will be R12Cnnn.SIG.ram (note to see what version you have type HERALD) To reload (overlay) the parameters.
- Page 22 R12 Robot Manual page 22 11. CALIBRATION When the robot calibrates it seeks out proximity detectors on each axis and corrects the counts to values seen in the array LIMITS which you can view with VIEW LIMITS The accuracy of these figures affects the home position, and is particularly important in Cartesian transformations i.e.
- Page 23 R12 Robot Manual page 23 axis calibration To perform a similar action on the 6 axis: 1. START and CALIBRATE in the usual way. Enter READY 3. Using the simple teach pad in joint mode and a spirit level move J6 in a negative direction to level the gripper as in the picture on right.
- Page 24 R12 Robot Manual page 24 FULL CALIBRATION (Setting up from scratch) The HOME position of the robot is quite critical because it is where X and Y are both zero. Any error in the HOME position therefore affects all the CARTESIAN positioning. If you suspect that the home position is not accurate (for example after adjusting a sensor) and is giving errors in Cartesian positions you can set the robot up from scratch as follows: Load the project SETUP...
- Page 25 R12 Robot Manual page 25 12. CONNECTIONS Connections to the rear panel are as follows:- MOTORS 25-way D-type, female: dual 5/6-axis versions with RoboForth V13.6x and V14. 1,2 - motor 1 winding 1 3,4 - motor 1 winding 2 (waist) 5,6 - motor 2 winding 1 7,8 - motor 2 winding 2 (shoulder) 9,10 - motor 3 winding 1...
- Page 26 R12 Robot Manual page 26 13. COLLISIONS In case of a collision one or more motors can stall. A stepping motor will come out of synchronism and no further motion will take place. The encoders then detect the stall and an error is declared: “ENCODER-STEPPER MISMATCH”...
- Page 27 R12 Robot Manual page 27 RISK ASSESSMENT This form must be completed by a competent Assessor for any procedure using the robot system before attempt is made at the procedure by any worker or visitor. For further information on hazards and risks please refer to the section SAFETY IS YOUR RESPONSIBILITY on page 5 of this manual.
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