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Eshed Robotec SCORBOT-ER 4pc User Manual

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5%14$16/'4"6RE
7UGTIU"/CPWCN
Catalog #100118 Rev.A

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Summary of Contents for Eshed Robotec SCORBOT-ER 4pc

  • Page 1 5%14$16/'4"6RE 7UGTIU"/CPWCN Catalog #100118 Rev.A...
  • Page 3 Eshed Robotec bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software and manual without prior notice.

  • Page 5: Table Of Contents

    CHAPTER 1 About SCORBOT-ER 4pc ......1 Acceptance Inspection ......2 Repacking for Shipment .

  • Page 7: General Information

    This chapter contains instructions for unpacking and handling the SCORBOT-ER 4pc robot. About SCORBOT-ER 4pc The SCORBOT-ER 4pc was designed and developed to emulate an industrial robot. The open structure of the robot arm allows students to observe and learn about its internal mechanisms.

  • Page 8: Acceptance Inspection

    After removing the robot arm from its shipping cartons, examine it for signs of shipping damage. If any damage is evident, do not install or operate the system. Notify your freight carrier and begin appropriate claims procedures. The standard SCORBOT-ER 4pc package includes the following items: • SCORBOT-ER 4pc Robot arm •...

  • Page 9: Repacking For Shipment

    Lift and carry the robot arm only by grasping the body or the base. See Figure 2. Do not lift and/or carry the robot arm by its gripper, upper arm or forearm. Do not touch the microswitches, cams or encoders. Figure 2: Robot Arm Parts User’s Manual SCORBOT-ER 4pc 9810...

  • Page 10: Chapter 2 Specifications

    CHAPTER Specifications This chapter includes the specifications the SCORBOT-ER 4pc robot arm and descriptions of its components. SCORBOT-ER 4pc Specifications Mechanical Structure Vertical articulated Number of Axes 5 axes plus servo gripper Axis Movement Axis 1: Base rotation 310° Axis 2: Shoulder rotation +130°...

  • Page 11: Structure

    Structure The SCORBOT-ER 4pc is a vertical articulated robot, with five revolute joints. With gripper attached, the robot has six degrees of freedom. This design permits the end effector to be positioned and oriented arbitrarily within a large work space.

  • Page 12: Work Envelope

    The length of the links and the degree of rotation of the joints determine the robot’s work envelope. Figures 5 and 6 show the dimensions and reach of the SCORBOT-ER 4pc. 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.

  • Page 13: Motors

    The sequence of the signals indicates the direction of movement. The controller reads these signals and determines the extent and direction of axis movement. Figure 7: Encoder User’s Manual SCORBOT-ER 4pc 9810...

  • Page 14: Microswitches

    Microswitches The SCORBOT-ER 4pc has five microswitches— one on each axis—which serve to identify the robot’s home position. During the homing procedure, the robot joints are moved one at a time. Each axis is moved until the its home switch is activated. The axis is then moved slightly until the the switch shuts off—at that point the joint is at home.

  • Page 15: Gripper

    Gripper The SCORBOT-ER 4pc has a servo jaw gripper fitted with rubber pads. These pads can be removed to allow the attachment of other end effector devices, such as suction pads. Three bevel gears form a differential gear train which moves the wrist joint. When motors 4 and 5 are driven in opposite directions, the wrist pitch moves up and down.

  • Page 16: Chapter 3 Safety

    This manual provides complete details for proper installation and operation of the SCORBOT-ER 4pc. Do not install or operate the robot until you have thoroughly studied this User’s Manual. Be sure you heed the safety guidelines for both the robot and the controller.

  • Page 17: Warnings

    Warnings • Do not install or operate the SCORBOT-ER 4pc under any of the following conditions: • Where the ambient temperature or humidity drops below or exceeds the specified limits. • Where exposed to large amounts of dust, dirt, salt, iron powder, or similar substances.

  • Page 18: Chapter 4 Installation

    Chapter 1. Be sure you have ample space to set up the robotic system, as shown in Figure 12. 1. Set up the SCORBOT-ER 4pc on a sturdy surface with a minimum 700mm of free space all around the robot.
  • Page 19 5. Connect the robot cable (D50 connector) to the SCORPOWER box. 6. Make sure all other connections have been made in accordance with the instructions in the Controller-PC User’s Manual. 7. Turn on the computer and the SCORPOWER box. User’s Manual SCORBOT-ER 4pc 9810...

  • Page 20: Operating Methods

    CHAPTER Operating Methods The SCORBOT-ER 4pc can be programmed and operated by means of SCORBASE for Windows software and by a teach pendant. Software and teach pendant operation is described fully in the other manuals supplied with the system. SCORBASE for Windows Software SCORBASE for Windows is a robotic control software package which has been designed for use with the SCORBOT-ER 4pc.

  • Page 21: Chapter 6 Maintenance

    Maintenance The maintenance and inspection procedures detailed below will ensure continued optimum performance of the system. SCORBOT-ER 4pc Daily Operation Perform a routine inspection of your system at the start of every working session, in the following order: 1. Before you power on the system, check the following items: •...

  • Page 22: Periodic Inspection

    “ Adjustments and Repairs,” later in this chapter. 4. Qualified Technician Only: Check for excessive backlash in the base axis. For complete information, refer to the section, “ Adjustments and Repairs,” later in this chapter. SCORBOT-ER 4pc User’s Manual 9810...

  • Page 23: Troubleshooting

    Check the microswitch for this axis. Prepare and run a simple program to test the microswitch (on axis 2 for example), as follows: Set Variable LIMIT_SWITCH = 2 If Limit switch LIMIT_SWITCH jump to TURN_ON turn off output LIMIT_SWITCH Jump to END TURN_ON: turn on output LIMIT_SWITCH END: User’s Manual SCORBOT-ER 4pc 9810...
  • Page 24 If the encoder readings do not change, the problem is caused by a faulty encoder, a break in the encoder wiring, or a faulty connection on a PCB within the robot. SCORBOT-ER 4pc User’s Manual 9810...
  • Page 25 CICKP0"+V"UJQWNF"DG"YKVJKP"UGXGTCN"EQWPVU"QH"VJG"HKTUV"TGCFKPI0"4GRGCV"VJKU"UVGR C"PWODGT"QH"VKOGU0"+H"VJG"GTTQT"KP"VJG"GPEQFGT"TGCFKPI"CEEWOWNCVGU."VJG GPEQFGT"PGGFU"VQ"DG"TGRNCEGF0 • Check the transmission for loose points or damage. Check for continuity of movement in all the relevant transmission components (gears and belts moving together with the drive shaft of the motor). User’s Manual SCORBOT-ER 4pc 9810...
  • Page 26 Qualified Technician Only: • Refer to the section, “ Adjustments and Repairs,” later in this chapter. 9. Unusual noise. Qualified Technician Only: • Loose screws. • Poor lubrication. • Worn motor brushes. • Worn timing belt. SCORBOT-ER 4pc User’s Manual 9810...

  • Page 27: Adjustments And Repairs

    (4). Finally, retighten screw 5. Figure 16: Tightening Belts in Forearm Figure 17: Tightening Belts in Upper Arm Figure 18: Tightening Belts in Robot Base User’s Manual SCORBOT-ER 4pc 9810...

  • Page 28: Adjusting Base Anti-Backlash

    The spring should now be correctly stretched. • Return the gear (20) to its position and fasten the screw. • Remove the locking pin. 5. Replace the base lock nut (S286). 6. Replace the shoulder cover. SCORBOT-ER 4pc User’s Manual 9810...

  • Page 29: Tightening The Oldham Coupling In Gripper

    3. When all the coupling sections are aligned and attached, turn the motor body until the holes in the plate (112) align with those in the gear motor support (91). Reinsert and tighten the three bolts which you removed at the beginning of the procedure. User’s Manual SCORBOT-ER 4pc 9810...

  • Page 30: Parts Lists

    CHAPTER Parts Lists This chapter contains isometric drawings of the robot arm. Note that the SCORBOT-ER 4pc robot arm has several enhanced features which do not appear in these drawings. They are: • Improved encoders on all motors provide greater accuracy. The encoder disk has 20 slots;...
  • Page 31 Motor support (motor 3) [differs in ER 4pc] 112402 Motor support (motors 4+5) 319406 Timing belt pulley (motors 4+5) 111606 Rear cross bar [not used in ER 4pc] 111402 Main shoulder shaft 111909 Timing belt pulley 111911 Timing belt pulley User’s Manual SCORBOT-ER 4pc 9810...
  • Page 32 Lead nut – gripper 112115 Bearing housing 112116 Bearing housing cover 110229 Gripper motor base plate 113505 Spring 120 g. (gripper motor) [not used in ER 4pc] S 115 45007 Encoder circuitry (3 slots) [differs in ER 4pc] SCORBOT-ER 4pc User’s Manual 9810...
  • Page 33 Thrust washer 10 x 24 x 2.5 ∅ ∅ S 278 320504 Thrust bearing 12 x 26 x 2 ∅ ∅ S 279 320505 Thrust washer 12 x 26 x 1 S 283 314501 Lock washer User’s Manual SCORBOT-ER 4pc 9810...
  • Page 34 S 351 317502 Ball bearing - 3.5 mm 105001 Encoder disk (3 slots) - gripper [differs in ER 4pc 113005 Encoder housing (plastic) [differs in ER 4pc] 105002 Encoder disk (6 slots) [differs in ER 4pc] SCORBOT-ER 4pc User’s Manual 9810...
  • Page 35 Figure 20: Gripper Assembly User’s Manual SCORBOT-ER 4pc 9810...
  • Page 36 Figure 21: Robot Arm Assembly SCORBOT-ER 4pc User’s Manual 9810...
  • Page 37 Figure 22: Anti-Backlash Assembly User’s Manual SCORBOT-ER 4pc 9810...
  • Page 38 Figure 23: Base and Motors Assembly SCORBOT-ER 4pc User’s Manual 9810...

  • Page 39: Chapter 8 Wiring

    The following table details the wiring for the various electrical components in the robot. SCORBOT-ER 4pc Figure 24: (* indicates two wires on same pin.) Robot D50 Connector SCORBOT-ER 4pc Wiring Lead to Molex Lead to Robot Arm Signal 12-pin Connector D50 Connector Axis Motor Encoder Pad # Microsw.
  • Page 40 SCORBOT-ER 4pc Wiring Lead to Molex Lead to Robot Arm Signal 12-pin Connector D50 Connector Axis Motor Encoder Pad # Microsw. Color Pin# Color Pin # white white/gray yellow brown white white/orange yellow gray white brown/blue yellow green white green/brown...

  • Page 41: Single Axis Wiring

    Encoder Phototransistor (P white Encoder LED voltage (V yellow Encoder Ground (GND) 5 + Shield black Microswitch Signal (MS) * orange Microswitch (GND) * orange Figure 25: Motor Wiring Figure 26: Motor with D9 Connector User’s Manual SCORBOT-ER 4pc 9810...

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