Table of Contents
Summary of Contents for SEW-Eurodrive MAXOLUTION MAXO-RPS-.-R Series
- Page 1 *25797530_0418* Drive Technology \ Drive Automation \ System Integration \ Services Assembly and Operating Instructions ® MAXOLUTION Production Robot Parallel Arm Kinematics Kit MAXO-RPS-.-R...-..-...-.. Edition 04/2018 25797530/EN...
- Page 2 SEW-EURODRIVE—Driving the world...
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Page 3: Table Of Contents
Table of contents Table of contents General information........................ 5 About this documentation .................... 5 Structure of the safety notes ................... 5 Rights to claim under limited warranty ................ 6 Applicable documentation.................... 6 Product names and trademarks.................. 7 Copyright notice ...................... 7 Safety notes .......................... 8 Preliminary information .................... 8 Working on the system solution .................. 8 Target group ........................ 8 Designated use ....................... 9... - Page 4 Table of contents Operating modes ...................... 52 Service ............................. 53 Electronics service from SEW‑EURODRIVE .............. 53 Waste disposal...................... 53 Inspection and maintenance .................... 54 Technical data......................... 55 ® MAXOLUTION Competence Center .................. 56 Assembly and Operating Instructions – Parallel Arm Kinematics Kit...
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Page 5: General Information
General information About this documentation General information About this documentation The current version of the documentation is the original. This documentation is an integral part of the product. The documentation is written for all employees who assemble, install, start up, and service this product. Make sure this documentation is accessible and legible. -
Page 6: Rights To Claim Under Limited Warranty
General information Rights to claim under limited warranty Hazard symbol Meaning Warning of dangerous electrical voltage Warning of hot surfaces Warning of risk of crushing Warning of suspended load Warning of automatic restart 1.2.3 Structure of embedded safety notes Embedded safety notes are directly integrated into the instructions just before the de- scription of the dangerous action. -
Page 7: Product Names And Trademarks
General information Product names and trademarks The SEW‑EURODRIVE website (www.sew‑eurodrive.com) provides a wide selection of documents for download in various languages. If required, you can also order prin- ted and bound copies of the documentation from SEW‑EURODRIVE. Product names and trademarks The brands and product names in this documentation are trademarks or registered trademarks of their respective titleholders. -
Page 8: Safety Notes
Safety notes Preliminary information Safety notes Preliminary information The following basic safety notes must be read carefully to prevent injury to persons and damage to property. The safety notes refer to the use of the system solution described in this document. This document does not replace the detailed documentation of the products and soft- ware used. -
Page 9: Designated Use
Safety notes Designated use Specialist for elec- Any electrotechnical work may only be performed by electrically skilled persons with a trotechnical work suitable education. Electrically skilled persons in the context of this documentation are persons familiar with electrical installation, startup, troubleshooting, and maintenance of the product who possess the following qualifications: •... -
Page 10: Verification
Safety notes Verification The technical solutions described in this document can help to reduce risk by provid- ing additional safety measures. The risk assessment and the selected measures for risk reduction must be developed and performed in accordance with the applicable na- tional regulations for machine and plant manufacturing (e.g. -
Page 11: Protective Separation
Safety notes Protective separation Make sure that preventive measures and protection devices comply with the applic- able regulations (e.g. EN 60204-1 or EN 61800-5-1). 2.9.1 Required preventive measure Make sure that the product is correctly attached to the ground connection. 2.9.2 Stationary application Necessary preventive measure for the product is: Type of energy transfer Preventive measure... -
Page 12: Inspection And Maintenance
Safety notes Inspection and maintenance Removing covers without authorization, improper use, or incorrect installation and operation may result in severe injuries to persons or damage to machinery. Live components Do not touch live components or power connections immediately after disconnecting the device from the voltage supply because some capacitors may still be charged. -
Page 13: Application
Application Description Application Description 3.1.1 Areas of application The robot is used when simple motion sequences with high repeat accuracy and high speeds are required. Typical areas of application include fast pick and place applications. 3.1.2 Structure The robot consists of robot arms, a tool mounted to the arms, drives and a controller. 20094220811 Drives robot arms Drive tool/gripper... -
Page 14: Type Designation
Application Type designation Integrated With integrated robots, the energy supply and the controller are installed in the control cabinet of the system. These components can also be used for other system parts (e.g. conveyor line). 3.1.4 Features • Very stiff mechanics •... - Page 15 Application Configuration 3.3.1 Number of arms and axes Delta kinematics Tripod kinematics 2 arms (2 – 3 axes) 3 arms (3 – 5 axes) 20413212555 [1] Axis 20413216523 [2] Arm 3.3.2 Movement dimensions Axes Work envelope 2 (+ 1 optional axis) XZ (level) (optional inclination) 3 (+ 1 optional axis) XYZ (space) (optional rotation)
- Page 16 Application Configuration 3.3.3 Dimensioning of the mechanical components The following data is relevant for the dimensioning of the mechanical components: 20413051915 Minimum vertical start length (loading) Minimum height Z Minimum vertical final length (unloading) Height difference between loading and unloading position Path length In addition, the following data is important: •...
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Page 17: Scope Of Delivery
Application Scope of delivery 3.3.4 Dimensioning The table shows the respective maximum values. Only one feature can reach the ma- ximum value for the features work envelope, payload and cycles. The remaining val- ues are calculated from this. 1) 2) Number Rotary axis Inclination axis Work envelope... -
Page 18: Control And Visualization
Application Control and visualization Control and visualization 3.5.1 Technical diagram 20451967883 Component Part number Higher-level controller (PLC) (optional) – ® MOVI‑C CONTROLLER power UHX85A-R Configured (PROFINET) control cabinet controller Windows memory card OMW72A (optional) 28208331 CFast memory card OMH85A Configured Software –... -
Page 19: Mechanical Components
Application Mechanical components Operating systems The following operating systems run parallel on the control cabinet controller: • A real-time operating system for the communication with the higher-level controller and the coordination of the axes. The real-time operating system allows for short response times with connection to the higher-level controller via system buses. - Page 20 Application Mechanical components 3.6.2 Drives of the arms 2 arms Stand-alone ® The drives of the arms are controlled by 2 MOVIDRIVE system inverters and coordin- ® ated by a MOVI-C CONTROLLER power control cabinet controller. 20363369739 Component Part number ®...
- Page 21 Application Mechanical components Integrated ® The drives of the arms are controlled by a power supply module with a MOVIDRIVE ® modular inverter and coordinated by a MOVI-C CONTROLLER power control cabinet controller. 20363750155 Component Part number ® MOVI-C CONTROLLER power control cabinet Configured controller Line filter NF0420-513...
- Page 22 Application Mechanical components 3 arms Stand-alone ® The drives of the arms are controlled by 3 MOVIDRIVE system inverters and coordin- ® ated by a MOVI-C CONTROLLER power control cabinet controller. 20364033291 Component Part number ® MOVI-C CONTROLLER power control cabinet Configured controller Line filter NF0120-503...
- Page 23 Application Mechanical components Integrated ® The drives of the arms are controlled by a power supply module with MOVIDRIVE ® modular inverters and coordinated by a MOVI-C CONTROLLER power control cab- inet controller. 20366696459 Component Part number ® MOVI-C CONTROLLER power control cabinet Configured controller Line filter NF0420-513...
- Page 24 Application Mechanical components 3.6.3 Drives of the tools (optional) Several tools can be mounted to the robot for handling the workpieces. Optionally, a motor at the tool axis can generate rotary motions with up to 6000 revolutions/minute for 2- and 3-axis variants. In addition to the rotary motion, a drive for tilting of the tool is provided for 4-axis vari- ants.
- Page 25 Application Mechanical components Integrated ® The drives of the tools are controlled by MOVIDRIVE modular inverters. 20367468811 Component Part number ® MOVIDRIVE MDD90A-0020-503-X-S00 drive inverter Configured System bus cable 4-pole 18167039 Length: 0.75 m Servo motor cable with SM11 (M23) connector for a 05904544 fixed installation Length: configurable...
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Page 26: Assembly And Installation
Assembly and installation General information Assembly and installation General information Note the following information for the installation: • The general guidelines and instructions provided by the system manufacturer. • All information about permitted conditions at the place of installation. • The general safety notes for the respective devices. -
Page 27: Electrical Installation
Assembly and installation Electrical installation • Only use mounting and locking elements that fit into the existing bores, threads and countersinks. • Observe the relevant minimum distances and clearances. • Ensure that there is no risk of collision with other components or construction ele- ments along the travel path after installation. - Page 28 Assembly and installation Electrical installation 4.3.1 Preventive measures Observe the following rules: • Observe the permitted EMC limit value ranges for the devices. For detailed information about EMC-compliant installation, refer to the publication "Electromagnetic Compatibility in Drive Engineering" from SEW-EURODRIVE. •...
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Page 29: Sequence
Assembly and installation Sequence 4.3.4 Cable routing Observe the following rules: • To connect the power supply and the communication, use suitable cables. • Route power cables and signal cables in separate cable ducts. • Choose the greatest possible distance between power cables and signal cables. •... -
Page 30: Procedure
Assembly and installation Procedure Procedure Install the hardware as described in the documentation for the components. Assembly and Operating Instructions – Parallel Arm Kinematics Kit... -
Page 31: Startup
Startup General information Startup General information Note the following information for the startup: • The general guidelines and instructions provided by the system manufacturer. • All information about permitted conditions at the place of installation. • The safety notes for the respective devices. •... -
Page 32: Hardware Startup
Startup Hardware startup 5.2.2 Kinematic model DELTA DELTA is a kinematic model where 2 kinematic partial chains are connected in parallel between kinematic base and tool flange in a triangular structure. 5.2.3 Kinematic model TRIPOD TRIPOD is a kinematic model characterized by a tripod and consisting of 3 parallel kinematic partial chains between kinematic base and tool flange. - Page 33 Startup Referencing 5.4.2 Referencing arms Proceed as follows: 1. Dismount all secondary arms. 21362190731 Primary arms Secondary arms 2. Release the brakes of the motors for the primary arms. 3. Turn the primary arms downwards in order to mount the referencing tool. 4.
- Page 34 Startup Referencing 5. Tighten the star grip nut until the referencing tool has been fixed. 21373481867 Star grip nut ® 6. Open the MOVISUITE software and release the motor brake of the required arm in manual mode. 7. Push the upper arm with its ball joint against the referencing tool. 21373602699 Referencing tool Primary arm...
- Page 35 Startup Referencing 5.4.3 Referencing rotary and inclination axis Proceed as follows: 1. Set the inclination axis to -90°. -90° +90° 0° 21373609483 Internal gear unit DANGER! Risk of mechanical damage. The alignment of the inclination axis depends on the position of the internal gear unit.
- Page 36 Startup Referencing 3. Fasten the referencing tool at the tool center point. 21380817931 Referencing tool Tool operating point Star grip nut 4. Tighten the star grip nut until the referencing tool has been fixed. ® 5. Open the MOVISUITE software and release the motor brake of the rotary and in- clination axis in manual mode.
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Page 37: Software Startup
Startup Software startup 9. Ensure that the angle of the rotation axis is 0° (±0.1°) and that of the inclination ® axis is -90° (±0.1°). Check the value in MOVISUITE 10. Remove the referencing tool. Software startup 5.5.1 Requirements • Check the installation of the controller, the inverter and the connection of the en- coders. - Page 38 Startup Software startup 2. Add the axes/inverters of the robot under the structure node. Click "Add from cata- log" in the context menu of the structure node. 20611672587 ® 3. Configure the drive train in the work phase "Planning", see MOVISUITE docu- mentation.
- Page 39 Startup Software startup 5. Press the <F11> button and compile the IEC editor project. 6. Save your settings. ® 5.5.7 Integrating MOVIKIT Robotics Installing the package 1. Unpack the rar archive MOVIKIT Robotics*.rar included in the delivery. 2. Double-click the file SEW_MOVIKIT_Robotics_*.package and install it. 3.
- Page 40 Startup Software startup Inserting Main call 1. Open the User_PRG.Main. 2. Paste the following code SEW_PRG_Robotics.MAIN(); 3. If the user code is also to be initialized, paste it above. Adjusting task configuration Adding TaskLowPriority and program call 1. Select entry "Add object" > "Task..." in the context menu of the task configuration. 2.
- Page 41 Startup Software startup 3. Click the button [2]. ð The following window is displayed: 20632225675 4. Make the following settings: Description Select "PrepareDownload". Enter "CloseSockets_Collection_PrepareDownload". 5. Insert another event handler. Make the following settings: Description Select "PrepareReset". Enter "CloseSockets_Collection_PrepareReset". Replacing the configuration Instantiating kinematic model 1.
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Page 42: Robot Program
Startup Robot program 2. Double-click "FUN_MOS_ConnectAxisToRobot1". 3. Replace all single-axis variable names in the template program with the names of the single axes of the robot that were created in the GVL_System by the code gen- eration. 4. If there are fewer axes on the robot, delete lines. 5. - Page 43 Startup Robot program [11] [10] 20615539211 General control of the robot Robot program Control of the jog mode Control of the program mode Diagnostic messages General status of the robot Editor for creating and diagnosing the robot program Display of the robot, its pose and the travelled path Program status [10] Access switching...
- Page 44 Startup Robot program 5.6.3 Creating the robot program The robot program is created in the editor: 20621256843 Creating a new program ü Visible program is not executed. 1. Go to the tab "Program". 2. Change the active program to the new program. 20621267083 ð...
- Page 45 Startup Robot program Editing an existing program ü Visible program is not executed. 1. Go to the tab "Program". 2. Change the active program to the program to be edited. ð The program is displayed. 3. Add the desired commands: Mark the line under which you want to insert the new command.
- Page 46 Startup Robot program 5.6.5 Assignments Assignments are commands that are effective until the command is called again with another parameterization. Adding a motion parameter set assignment 1. Mark the line under which you want to insert the motion parameter set assignment. 2.
- Page 47 Startup Robot program Adding IF condition 1. Mark the line under which you want to insert the IF condition. 2. Select the value "IF" from the drop-down list "New Block". 3. Click the [Add] button. 4. Parameterize the argument of the IF condition: 20628961419 Argument of the IF condition: Bool variable Drop-down list to replace [1]...
- Page 48 Startup Robot program 4. Parameterize the argument of the while loop: 20628968203 Argument of the while loop: Bool variable Drop-down list to replace [1] Line with while loop start Lines to be repeated until [1] is fulfilled. Line with while loop end 5.
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Page 49: Control Via The Process Controller
Startup Control via the process controller 3. Click the [Add] button. 4. Parameterize the waiting for end of motion: 20631220235 Line Number Identification for a wait command Argument of the wait command: End of motion End of program Ends the program. END_PROG Adding end of program 1. - Page 50 Startup Control via the process controller 5.7.2 Starting up the process controller ® 1. Test the correct configuration of the MOVIKIT Robotics and the controller by means of the robot monitor. 2. Make sure you are familiar with the control of the robot monitor and the sample user program.
- Page 51 Startup Control via the process controller • Program pause deactivated • Program stop deactivated • Rising edge from program start The edge must be at least one cycle after the rising edge of setpoint active and after the falling edges of the program pause and program stop so that the rising edge starts the program.
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Page 52: Operation
Operation General information Operation General information CAUTION Risk of breakage of parts during operation. Damage to property. • Adhere to the technical specifications. Operating modes • Automatic mode A parameterized program is automatically executed in automatic mode. • Manual mode The axes can be moved manually to the next position in manual mode. -
Page 53: Service
Service Electronics service from SEW‑EURODRIVE Service Electronics service from SEW‑EURODRIVE If you are unable to rectify a fault, contact SEW‑EURODRIVE Service. Provide the following information when sending the product in for repair: • Serial number (see nameplate) • Type designation •... -
Page 54: Inspection And Maintenance
Inspection and maintenance Inspection and maintenance CAUTION Risk of live machine parts or system components in case of an error. Serious injuries. • Replace defective and faulty components of the electric system immediately. • Do not operate the system with defective components. •... -
Page 55: Technical Data
Technical data Technical data Note the technical data in the documentation for the components. Assembly and Operating Instructions – Parallel Arm Kinematics Kit... -
Page 56: Maxolution
® MAXOLUTION Competence Center ® MAXOLUTION Competence Center Germany Bruchsal SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-0 Ernst-Blickle-Straße 42 Fax +49 7251 75-1970 76646 Bruchsal http://www.sew-eurodrive.de maxolution@sew-eurodrive.de Kirchheim SEW-EURODRIVE GmbH & Co KG Tel. +49 89 909552-10 Domagkstraße 5 Fax +49 89 909552-50 85551 Kirchheim (München) dtc-sued@sew-eurodrive.de... - Page 57 ® MAXOLUTION Competence Center Sweden Jönköping SEW-EURODRIVE AB Tel. +46 36 34 42 00 Gnejsvägen 6-8 Fax +46 36 34 42 80 553 03 Jönköping http://www.sew-eurodrive.se Box 3100 S-550 03 Jönköping jonkoping@sew.se Lyman SEW-EURODRIVE INC. Tel. +1 864 439-7537 1295 Old Spartanburg Highway Fax +1 864 439-7830 P.O.
- Page 60 SEW-EURODRIVE—Driving the world SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Str. 42 76646 BRUCHSAL GERMANY Tel. +49 7251 75-0 Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com...
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