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rozum robotics PULSE 75 Hardware Installation Manual

Robotic arm
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  • Page 2: Table Of Contents

    ROZUM ROBOTICS PULSE robotic arm TABLE OF CONTENTS INTRODUCTION......................... 4 WARNING SIGNS AND THEIR MEANINGS ................. 4 PRODUCT OVERVIEW ..................... 5 Basic features and components ..................5 Use restrictions ....................... 6 Supply package ....................... 7 Specifications of the robotic arm .................. 7 Operating conditions ....................
  • Page 3 ROZUM ROBOTICS PULSE robotic arm Enabling control via API ..................... 30 Switching off a PULSE robotic arm ................31 ANNEX I. KINEMATICS OF THE PULSE ARM ..............32 Rev. 6, in effect from Q2 2019 Page 3 | 32...

  • Page 4: Introduction

    ROZUM ROBOTICS PULSE robotic arm 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 5: Product Overview

    The PULSE robotic arm boasts modular design comprising elements as below (Figure 1-1):  aluminum alloy tubes (1)  Rozum Robotics self-designed servo motors (2)  elbow fittings (3) Figure 1-1: Structural elements of the PULSE robotic arm Rev. 6, in effect from Q2 2019...

  • Page 6: Use Restrictions

    ROZUM ROBOTICS PULSE robotic arm The elements form six interlinked axes (see Figure 1-2). In addition, the arm includes the following structural segments:  an end effector mounting flange (a wrist)  an arm base  a transition plate Transition plate...

  • Page 7: Supply Package

    1.4 Specifications of the robotic arm The PULSE robotic arm has the specifications as listed in Table 1-2. Table 1-2: Specifications of the PULSE robotic arm Specification PULSE 75 PULSE 90 Weight 12.6 kg 17.4 kg...
  • Page 8 ROZUM ROBOTICS PULSE robotic arm Figure 1-3 and Table 1-3 illustrate the dimensions of the arm's six axes for PULSE 75 and PULSE 90 models. Figure 1-3: Lengths of the robotic arm axes Table 1-3: Variations of a1 and a2 lengths for PULSE models...
  • Page 9 It is advisable to avoid programming any arm or work tool moves within the area. Table 1-5 contains the R1 and R2 workspace values for PULSE 75 and PULSE 90. Rev. 6, in effect from Q2 2019 Page...

  • Page 10: Operating Conditions

    ROZUM ROBOTICS PULSE robotic arm Table 1-5: PULSE workspace for six and five DOF Model R1, m R2, m PULSE 75 0.67 0.83 PULSE 90 0.82 0.98 1.5 Operating conditions The PULSE robotic arm is intended for indoor use only. When operating it, make sure to comply with the following requirements: ...

  • Page 11: The Front Panel

    ROZUM ROBOTICS PULSE robotic arm 1.6.1 The front panel On the front panel of the control box, there are two light-emitting diodes (LED)—a green and a red one (see Figure 1-5). Figure 1-5: The front panel of the control box The front panel LEDs signal different states of the robotic arm as described in Table 1-7.

  • Page 12: Sound Signals

    ROZUM ROBOTICS PULSE robotic arm Figure 1-6: The back panel of the control box Intended use 4 digital inputs and 2 digital outputs (for details, see Section 2.3.2) USB 2.0 port Ethernet port (for specifications, see Table 1-6) Power supply switch...
  • Page 13 ROZUM ROBOTICS PULSE robotic arm accordance with ISO 10218-1—a controlled stop with power supplied to the servo motors in the arm joints until full stop is achieved. Figure 1-7: The emergency stop button The actual appearance of the emergency stop button can differ from that shown in Figure 1-7.

  • Page 14: 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. Figure 1-8: The wrist of the PULSE arm The wrist of the PULSE robotic arm features: ...

  • Page 15: Control Buttons

    ROZUM ROBOTICS PULSE robotic arm Control buttons For the current robot design (intended for use together with a gripper work tool), control buttons are located on the elbow fitting above the wrist (see Figure 1-9). Figure 1-9: Control buttons on the PULSE arm The functions of the buttons are as described in Table 1-10.

  • Page 16: Continuous Power Supply Requirement

    ROZUM ROBOTICS PULSE robotic arm The risk assessment is the responsibility of the integrator. Based on its results, the integrator determines whether additional safety measures (e.g., safeguards) are needed to protect the operator working with the robotic arm in the installation.
  • Page 17 ROZUM ROBOTICS PULSE robotic arm The installation procedure includes the following steps: 1. Position the robot arm vertically. 2. Holding the arm tight, secure it on a mounting surface using one of the following methods: Method 1. Insert 4 M8 bolts into the four 9-mm dia. holes on the transition plate (see Figure 2-1) and tighten the bolts up as appropriate.

  • Page 18: Installing The Control Box

    ROZUM ROBOTICS PULSE robotic arm 2.2.2 Installing the control box There are three methods to install the control box:  horizontal positioning on a flat solid surface (e. g., a table)  vertical positioning using a specially designed stand ...
  • Page 19 ROZUM ROBOTICS PULSE robotic arm For the current control box configuration, the two lower digital I/O connectors have the RESERVED status. The pin assignment for the two upper ones is as illustrated in Figure 2-3. Figure 2-3: Pin assignment for digital I/O connectors...

  • Page 20: Mounting An End Effector

    ROZUM ROBOTICS PULSE robotic arm 2.4 Mounting an end effector Depending on particular needs, you can use different end effectors with the PULSE robotic arm. Possible options include grippers for pick-and-place operations, material removal tools for cutting, drilling, and deburring, welding torches, etc.

  • Page 21: Integrating The Arm Into An Application

    ROZUM ROBOTICS PULSE robotic arm The pin assignment in the socket is as described in Figure 2-5. Table 2-4: Pin assignment in the end effector socket Wire color Signal Brown +24V White Digital output 1 Blue Black Digital output 2 Figure 2-6 below is the electrical diagram for the digital outputs in the end effector socket on the wrist.
  • Page 22 ROZUM ROBOTICS PULSE robotic arm Step 2. Attach your selected end effector to the wrist of the robotic arm in accordance with Section 2.4. Step 3. Connect the arm with the control box using the 48V hybrid cable from the supply package.

  • Page 23: Commissioning

    ROZUM ROBOTICS PULSE robotic arm Step 6. Connect the arm to a computer directly or to a local network, using an Ethernet cable. Step 7. Connect the control box to a power supply (a mains network) using the 220V power cable included in the supply package.

  • Page 24: Switching The Arm

    ROZUM ROBOTICS PULSE robotic arm  All cables are intact and connected to appropriate connectors.  The emergency stop button is attached to the control box and is located where the operator can reach it from his/her workplace at any moment.

  • Page 25: Static Ip

    ROZUM ROBOTICS PULSE robotic arm  a static IP if the robotic arm is connected directly to a control device (PC) or to a network without a DHCP server;  a dynamic IP if the robotic arm is connected to a network with a DHCP server.
  • Page 26 ROZUM ROBOTICS PULSE robotic arm 5. In the displayed Network Connections window, right-click the Ethernet icon and select Properties. 6. On the Networking tab in the displayed Ethernet properties window, double-click Internet Protocol Version 4 (TCP/IPv4). Rev. 6, in effect from Q2 2019...
  • Page 27 ROZUM ROBOTICS PULSE robotic arm 7. In the IP Version 4 (TCP/IPv4) Properties window, select Use the following IP address and set up the IP address and the Subnet Mask fields to the value as shown below. To specify the last IP address digit in the IP address field, you can use any value from 1 to 255, except for 20 since 10.10.10.20 is the default static IP address of the arm.
  • Page 28 ROZUM ROBOTICS PULSE robotic arm 3. In the displayed window, select the IPv4 Settings tab. 4. In the Method dropdown box on the IPv4 Settings tab, select Manual. Rev. 6, in effect from Q2 2019 Page 28 | 32...

  • Page 29: Dynamic Ip

    ROZUM ROBOTICS PULSE robotic arm 5. In the Addresses area on the same tab, click Add and specify the Address, Netmask, and Gateway as shown in the figure below. To specify the last digits in the Gateway and the Address fields, you can use any values from 1 to 255, except for 20, since 10.10.10.20 is the default static IP of the arm.

  • Page 30: Enabling Control Via Api

    ROZUM ROBOTICS PULSE robotic arm When connection with the arm is lost, check the network connection settings. When you have trouble reconnecting or finding the arm IP, contact your network administrator or the service department. The browser page displays the PULSE DESK starting screen. Now, you can start programming the PULSE arm using the interface.

  • Page 31: Switching Off A Pulse Robotic Arm

    ROZUM ROBOTICS PULSE robotic arm 2. Сlick Apply to confirm. Now, you can start sending API requests and processing API responses. For detailed information on available commands and their use, refer to the REST API Reference Guide. Once you enable remote API access, programming via PULSE DESK becomes impossible.

  • Page 32: Annex I. Kinematics Of The Pulse Arm

     alpha—angle of rotation about the common normal, from the previous z axis to the new Figure I-1: Denavit-Hartenberg convention applied to the PULSE robotic arm The origin point is the intersection of Motor 1 and Motor 2 rotation axes. Table I-1: Denavit-Hartenberg parameters and their values PULSE 75 PULSE 90 Joint d(m)

This manual is also suitable for:

Pulse 90

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