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PushCorp AFD92 Manual

Adjustable force device
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AFD92
Adjustable Force
Device
Manual
P
C
I
USH
ORP,
NC.
Dallas, Texas
January, 2006

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Summary of Contents for PushCorp AFD92

  • Page 1 AFD92 Adjustable Force Device Manual ORP, Dallas, Texas January, 2006...
  • Page 2 All fasteners, mounting holes and pipe threads on this tool are METRIC. All PushCorp, Inc. electrical cables are rated for high twist and flex robotic applications with a minimum cable bending radius specification of 125mm (5 in). Cable damage resulting from failure to abide by this specification will not be covered under warranty.

  • Page 3: Table Of Contents

    3.5 INTERNAL AIR CARTRIDGE FILTER..............10 4.0 ADJUSTING CARRIAGE PRELOAD................11 5.0 ELECTRICAL CONNECTIONS..................13 5.1 CARRIAGE POSITION FEEDBACK CONNECTION..........13 6.0 ACHIEVING DESIRED FORCE..................15 6.0.1 TABLE TOP......................15 6.0.2 WRIST MOUNT.......................16 7.0 TECHNICAL SPECIFICATIONS................18 8.0 PREVENTATIVE MAINTENANCE SCHEDULE............19 Copyright  PushCorp, Inc. 2006. All rights reserved...

  • Page 4: Limited Warranty

    3001 W. Kingsley Rd. Garland, Texas 75041 Who receives this warranty (purchaser): The original purchaser (other than for purposes of resale) of the PushCorp, Inc. product What products are covered by this warranty: Any PushCorp, Inc. Adjustable Force Device or Adjustable Force Device accessory supplied or manufactured by the Warrantor.
  • Page 5 AFD92 Manual ORP, Responsibilities of the purchaser under this warranty: A. Deliver or ship the PushCorp, Inc. product or component to PushCorp, Inc. Service Center, Dallas, TX. Freight and insurance costs, if any, must be borne by the purchaser. B. Use reasonable care in the operation and maintenance of the product as described in the owner's manual(s).

  • Page 6: General Overview

    ORP, 2.0 General Overview The PushCorp 90 Series Passive AFD was designed as a lower cost alternative to the 1200 Series Active Force Device. As such the 90 Series is a very basic unit that still provides outstanding performance. To increase force accuracy the 90 Series uses low friction glass pneumatic cylinders with graphite pistons and linear ball bearings.

  • Page 7: Mounting The Afd92

    Specifying a -2 or -3 determines which Mounting configuration is supplied. Adapter plates or "quick-change" attachments can be used as well for mounting. The AFD92 has two (2) 6mm dowel pins pressed into the base for location and alignment of the Mounting Bracket.

  • Page 8: Mounting The Horizontal Afd92

    Four (4) M10x1.5 Socket Head Cap Screws are used to attach the Mounting Bracket to the AFD92 force device. Once the Mounting Bracket is removed, mounting holes may be placed anywhere within the crosshatched area shown in Figure 2. PushCorp, Inc.

  • Page 9: Mounting The Table Top Afd92

    Figure 3. AFD90-3 Mounting Bracket hole locations 3.3 Maximum Carriage Load Calculations The Linear Rail bearings that support the AFD92 Carriage have been selected to provide optimal performance with respect to capacity, size, and low friction. To ensure optimal performance it is very important not to overload these bearings. The following diagrams and associated equations are provided to check your application for excessive loading.
  • Page 10 AFD92 Manual ORP, Copyright  PushCorp, Inc. 2006. All rights reserved...

  • Page 11: Pneumatic Connection

    The pneumatic supply system should be configured as shown in Figure 4. Figure 4. Pneumatic configuration To apply force in the positive + direction, on an AFD91 or AFD92, a Supply Line must be connected to the + Supply Air Port. To apply force in the negative - direction, on an AFD92, a Supply Line must be connected to the - Supply Air Port.

  • Page 12: Internal Air Cartridge Filter

    AFD remains clear of foreign matter. A Purge Port on the AFD92 (See Figure 5.) provides a pneumatic connection to supply this air flow. The port accepts a metric R 1/8 tapered pneumatic fitting. PushCorp provides fittings for English or metric tubing.

  • Page 13: Adjusting Carriage Preload

    ORP, 4.0 Adjusting Carriage Preload The required preload on the AFD92 Linear Rails has been set at the factory for optimal performance and, in general, should not require field adjustment. However, there are situations that could arise that cause the Linear Rails to need adjustment, or replacement.
  • Page 14 5. Verify that gravity returns the Carriage to its negative stops after begin pushed up to its positive stops and released, tighten the (3) three Movable Linear Rail M10x1.5 Socket Head Cap Screws on the Moveable Rail side to the torque specified in Section 7.0. Copyright  PushCorp, Inc. 2006. All rights reserved...

  • Page 15: Electrical Connections

    POSN signal wi re (V)  Calibrated voltage a t fully ne gative Car riage posi tion inch  = Calibrat ed voltage at fully positive C arriage po sition inch Copyright  PushCorp, Inc. 2006. All rights reserved...
  • Page 16 ORP, Figure 7. Electrical Connections Supply Voltage - The supply voltage input for the AFD92. The supply should be well regulated to +/- 10%. The load resistance is 3000 30%. The supply voltage should not exceed 24VDC. A 12VDC supply will yield a POSN signal output voltage between 0 and 10VDC.

  • Page 17: Achieving Desired Force

    D.C. offset errors. 6.0 Achieving Desired Force 6.0.1 Table Top The AFD92 is a passive force device that requires the user to provide pressure to the pneumatic actuators. Pressure in the actuators results in an output force at the Carriage.

  • Page 18: Wrist Mount

    The AFD92 has two pairs of single-acting actuators acting in opposite directions. This allows the AFD92 to apply both positive and negative forces. The area of the pair of cylinders is 2.6 in (1677 mm ) so, for every 1.0 psi (0.07 bar) of supply pressure the...
  • Page 19 AFD92 Manual ORP, The following are equations defining the applied force from each of the AFD92. AFD91 (Single Acting) Applied Force: cos( English units      cos( Metric units       Where: applied force (lbs.)

  • Page 20: Technical Specifications

    Fastener Size in.-lbs. ft.-lbs. N·m M4 x .7 0.17 M5 x .8 0.21 M6 x 1 11.7 15.8 0.25 M8 x 1.25 29.0 39.3 0.33 M10 x 1.5 50.0 67.8 0.41 10.5 Copyright  PushCorp, Inc. 2006. All rights reserved...

  • Page 21: Preventative Maintenance Schedule

    It is highly recommended to adhere to the preventative maintenance schedule in order help extend the longevity of the specified PushCorp, Inc. equipment. Failing to do so could cause a loss in functionality as well as a decrease in product life.

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