Related Manuals for Bosch rexroth APAS CDE V01.00.00
Summary of Contents for Bosch rexroth APAS CDE V01.00.00
- Page 1 Operating instructions APAS sensor head CDE, V01.00.00-V01.00.99 3 842 565 000 3 842 565 042, Edition: 11.2020...
- Page 2 The information given does not exempt the user from the obligation of own judgment and verification. Our products are subject to natural wear and aging. © All rights reserved by Bosch Rexroth AG, also for the registration of industrial property rights. This document may not be reproduced or distributed to third parties without our consent.
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Page 3: Table Of Contents
Establishing electrical connections between end effector and collision detection element ............. 40 Assembling the sensor skin ............. 42 Assembling the sensor head at the APAS assistant .... 43 Disassembling the sensor head from the APAS assistant .. 44 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... - Page 4 8.2.2 Checking the proximity switch for functioning ...... 47 8.2.3 Checking the safety circuits of the sensor skin ...... 47 Disposal .................. 47 Upgrading and modification ............. 47 Checklist for functional safety acceptance ...... 48 Bosch Rexroth AG, Edition 11.2020, 3 842 565 042...
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Page 5: About This Documentation
Standardized safety instructions, symbols, terms and abbreviations are used so that you can use this documentation to work quickly and safely with your product. These are explained in the following sections to help you understand them better. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 6: Safety Instructions
Table 3: Meaning of the symbols Symbol Meaning If this information is not observed, the product cannot be used and/or operated as designed. Single, independent action Numbered steps: The numbers indicate that the action steps are sequential. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 7: Designations
Short name of APAS assistant K1100-10i Collision detection element Robot system General designation of the APAS assistant K1100-10i Sensor skin Capacitive sensor system for operator detection. sensor head Assembly consisting of collision detection element (CDE) and sensor skin. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 8: Safety Instructions
Products should only be used in safety-relevant applications that are expressly specified and approved in the product documentation. For example, in ex-protection areas or in safety-related parts of a control system (functional safety). Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 9: Personnel Qualifications
Safety instructions | APAS sensor head 9/52 Bosch Rexroth AG is not liable for any damage resulting from improper use. The user alone bears any risks associated with improper use. Improper use of the product includes: • Integration of the product without successfully completed compulsory training sessions by Bosch Rexroth AG. -
Page 10: General Safety Instructions
• Only use genuine, manufacturer-approved accessories and spare parts to ensure there is no risk to personnel from unsuitable spare parts. • Observe the technical data and ambient conditions specified in the product documentation. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 11: Product-Specific And Technology-Specific Safety Instructions
Use of the APAS assistant and/or the collision detection element in an ESD-sensitive environment must be coordinated with the operator in the individual case and assessed in the application-specific risk assessment. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 12: Installed Safety Equipment
(recommended residual spring path: 10 mm). Observe also the specifications in the assembly instructions of the corresponding APAS assistant. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 13: Residual Risk
In the CDE, permanent magnets are installed. The magnetic radiation may cause failure or malfunction of implants. f Persons with active and passive implants as well as pregnant women must keep a distance of 2 m to the magnets. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 14: System Integrator Responsibilities
• Make sure that the traverse movements of the APAS assistant are selected so that in case of collision, the forces are applied laterally or in the direction of the CDE to the pendulum plate. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... - Page 15 • Inform the operator about tasks they must perform according to these operating instructions. This also includes the definition of non-defined maintenance cycles. • Attach the CE mark in a visible location on the system. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG...
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Page 16: System Integrator Responsibilities
• Carry out a biomechanical measurement with the selected and installed springs as well as verification and documentation of the biomechanical measurement. • Completion of maintenance works and service works according to maintenance plan. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 17: Scope Of Delivery
Upon delivery, the sensor skin is mounted at the sensor head and the spring assembly R313075747 is installed. Only open the sensor skin for maintenance, the connection of more electrical periphery and for exchanging the spring. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 18: About This Product
In this case, the APAS assistant is stopped in a safe way. The robot arm will only automatically resume its motion sequence when the sensor area is free again. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 19: Product Overview
6 (interface module) 7 Blind plate with 2 cable 4 Pendulum plate, mechanical grommets interface for end effector (e.g. gripper) 8 Flange, mechanical interface for the rotary coupling of the APAS assistant 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 20: Mechanical Interface For The End Effector Installation
Fig. 2: Mechanical interface for the end effector installation The end effector may be fastened at the 4 threaded holes (M6) of the pendulum plate. The screw length must be selected so that the maximum screw-in depth is 7 mm. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 21: Cable Entries At The Sensor Head
4.5.1 Triggering the proximity switches Fig. 4: Proximity switches in the CDE When the pendulum plate is mechanically deflected or tilted exceeding the admissible value, the proximity switches (1) will be triggered and stop the robot arm. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 22: Tilting The Pendulum Plate
The entire area between pendulum plate and CDE must be free so that the entire distance is available. Installations, cables or lines are not admissible in this area! Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 23: Deflecting The Pendulum Plate
R313075750 (optional) D-232L 17.40 mm The entire area between pendulum plate and CDE must be free so that the entire distance is available. Installations, cables or lines are not admissible in this area! 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 24: Admissible Cde Applications
The larger the distance the lower the required force. Force acts on the end effector or a workpiece eccentrically, from the top. Very high force effect is required to trigger collision detection. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 25: Inadmissible Cde Applications
A rotary force acts on the end effector or the workpiece around the Z axis. The maximum possible force effect of the application occurs. A collision is not detected. The integrator must ensure that such collisions are excluded. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 26: Faulty Cde Triggering Due To Inertia
If the robot exceeds the determined velocities, the CDE proximity switches are triggered. With smaller distance to the center of gravity, higher velocities are possible. With a larger distance, the velocity has to be reduced. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... - Page 27 27/52 Stop category 2: Weight [g] 1000 2000 Spring v in mm/s D-145F VD-2 12-D VD-232L-02 D-232L-02 Stop category 1: Weight [g] 1000 2000 Spring v in mm/s D-145F VD-2 12-D VD-232L-02 D-232L-02 3 842 565 042, Edition 11.2020, Bosch Rexroth AG...
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Page 28: Typical Triggering Forces At The Pendulum Plate
Direction 3 Direction 4 Spring F [N] F [N] F [N] F [N] D-145F VD-212D VD-232L D-232L Force acts on the pendulum plate in impact direction Spring F [N] D-145F VD-212D VD-232L D-232L Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 29: Electrical Interfaces
APAS assistant FE connection for sensor skin segment 6 Cable base for the pull relief of lines X317 Sensor skin signal line for segment 6 FE connection for bearing plate 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... - Page 30 It may only be connected by the manufacturer. reserved for camera connection. The plug connector is reserved for manufacturer-specific purposes. It may only be connected by the manufacturer. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042...
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Page 31: Requirements On The Electrical Connection
EN 60204-1, chap. 9.1. • The stop categories are already intended in the APAS assistant. The integrator must commission and validate the stop categories for the sensor head according to the APAS assistant assembly instructions. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 32: Technical Data
Component Function Description MTTF (40 °C) Proximity switch Collision monitoring additional information 305 a B970 channel 1 see BALLUFF BES04F6 Proximity switch Collision monitoring additional information 305 a B971 channel 2 see BALLUFF BES04F6 Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 33: Safety Functions Sf1 And Sf2
The area at the pendulum plate and the blind plate next to the pendulum plate are not monitored by the sensor skin. The sensor skin requires application-specific teaching in. The sensor skin at the sensor head must be activated via SkinMonitoring in the SSKU. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 34: Transport And Storage
The gold spring contacts of the plug connector X870 must be protected during transport. Product storage and preparation f Set the product down on a flat surface. f Protect the product from mechanical stress and environmental influences such as dirt and humidity. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 35: Installation
Disassembling the sensor skin 1. Screw out the screw (1) at the bottom of the sensor skin. 2. Screw out both screws (2) at the top side of the sensor skin. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 36: Exchanging The Spring
Use only the spring assemblies and fixing devices included in the scope of delivery. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 37: Disassembling The Spring
2. Hold the housing cover in its position and remove the six screws (1) at the housing cover. 3. Remove the housing cover (3) vertically from the housing. 4. Remove the installed spring (4). 5. Rotate the disassembled housing cover by 180°. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 38: Available Spring Assemblies
Installation height Spring force [F] Spring rate [R] R313075747 33.5 mm 15.64 N 0.452 N/mm R913075752 33.5 mm 36.37 N 1.119 N/mm R913075750 33.5 mm 49.86 N 2.77 N/mm R913075751 33.5 mm 58.05 N 3.225 N/mm Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 39: Mounting The Spring
6. Re-connect the grounding cable between housing and housing cover. Disassembling the sensor skin 1. Screw out the screw (1) at the bottom of the sensor skin. 2. 2. Screw out both screws (2) at the top side of the sensor skin. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 40: Establishing Electrical Connections Between End Effector And Collision Detection Element
Per cable grommet, one cable can be laid. The cables must have a diameter between 4.5 mm and 10 mm. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... - Page 41 5. Lay the cables so that they do not pull at the pendulum plate and the pendulum plate is freely movable in all directions. Ensure that there are no cables or lines between pendulum plate and housing cover. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG...
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Page 42: Assembling The Sensor Skin
3. Screw the halves of the sensor skin to the upper side of the sensor skin using the screws (3) (approx. 2.8 Nm). 4. Screw in the screw (2) at the bottom of the sensor skin applying approx. 2.8 Nm. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 43: Assembling The Sensor Head At The Apas Assistant
2. Connect the two flanges with the two halves (3) of the clamping ring. 3. Tighten the two hexagon socket head cap screws ISO 4762-M4x16- 8.8 (4) applying 2.8 Nm. 4. Before the commissioning, verify proper assembly of the sensor head. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 44: Disassembling The Sensor Head From The Apas Assistant
1. Hold the sensor head (1) tight and loosen the two hexagon socket head cap screws ISO 4762-M4x16-8.8 (2) at the clamping ring. 2. Remove the clamping ring (3) and remove the sensor head from the rotary coupling of the APAS assistant. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 45: Commissioning
The record must be stored in a revision-safe manner. Changing the password • The passwords of the robot control must be changed before handing the application over to the operator. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG... -
Page 46: Maintenance And Repair
1. Deflect the pendulum mechanics manually to ensure ease of movement. It must be possible to deflect the pendulum mechanics applying little force. 2. Repeat this check for all available degrees of freedom. Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... -
Page 47: Checking The Proximity Switch For Functioning
10 Upgrading and modification • Do not modify the product. • The Bosch Rexroth AG warranty only applies to the configuration as delivered, and to approved upgrades. The manufacturer will not accept any warranty claims for systems with unapproved modifications or upgrades. -
Page 48: Checklist For Functional Safety Acceptance
Check signal colors of the pilot lights T1: "without error" = yellow; "with error" = red T2: "without error" = yellow; "with error" = red EXT: "without error" = green; "SH triggered" = green/white flashing; "with error" := red Bosch Rexroth AG, Edition 11.2020, 3 842 565 042... - Page 49 Confirmation of compliance with the test points specified in the checklist. Date: Validator: Signature: Any deviations from the requirements and the necessary measures must be stated in the "Comments" column or in additional appendices to this document. 3 842 565 042, Edition 11.2020, Bosch Rexroth AG...
- Page 50 50/52 APAS sensor head | Checklist for functional safety acceptance Bosch Rexroth AG, Edition 11.2020, 3 842 565 042...
- Page 51 Checklist for functional safety acceptance | APAS sensor head 51/52 3 842 565 042, Edition 11.2020, Bosch Rexroth AG...
- Page 52 Bosch Rexroth AG Postfach 30 02 07 70442 Stuttgart Germany Tel. +49 (0) 711 811 0 Fax +49 (0) 711 811–7777 info@boschrexroth.de www.boschrexroth.com APAS Website: www.boschrexroth.com/APAS Subject to changes Printed in Germany 3 842 565 042 3842565042...