1. Manuals
  2. Brands
  3. artisan Manuals
  4. Robotics
  5. RX Series
  6. Instruction manual

artisan RX Series Instruction Manual

Arm
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
sales@artisantg.com
artisantg.com
(217) 352-9330 |
|
Visit our website - Click HERE

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the RX Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for artisan RX Series

Summary of Contents for artisan RX Series

  • Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Visit our website - Click HERE...
  • Page 2 Arm - RX series 90B family Instruction manual D28045104F - 02/2008...
  • Page 3 D28045104F - 02/2008...

  • Page 4: Table Of Contents

    2 - DESCRIPTION ..................21 2.1. IDENTIFICATION........................23 2.2. GENERAL PRESENTATION ....................25 2.3. DESIGNATION OF ROBOTS OF THE RX SERIES 90B FAMILY ......... 27 2.4. GENERAL CHARACTERISTICS.................... 27 2.4.1. Overall dimensions...................... 27 2.4.2. Work environment ....................... 27 2.4.3. Weight ......................... 29 2.5.
  • Page 5 D28045104F - 02/2008...
  • Page 6 2.11. PRESSURIZATION SYSTEM FOR DUSTY SURROUNDINGS OR SPATTERING WITH LIQUIDS ..........................45 2.11.1. Purpose ........................45 2.11.2. Installation ........................45 2.12. SAFETY ..........................47 3 - ON-SITE PREPARATION..............49 3.1. WORKING SPACE ......................... 51 3.2. ATTACHMENT........................51 4 - INSTALLATION ................... 53 4.1.
  • Page 7 D28045104F - 02/2008...
  • Page 8 7 - OPERATIONS ON MOTORS .............. 75 7.1. MOTOR PLAY ADJUSTMENT PROCEDURE ............... 77 7.1.1. Access to motors......................77 7.1.2. Joints 1, 2, 3 and 4 ...................... 77 7.1.3. Joints 5 and 6 ......................77 7.2. REPLACEMENT OF A MOTOR ..................... 79 7.2.1.
  • Page 9 D28045104F - 02/2008...

  • Page 10: Introduction

    Chapter 1 – Introduction CHAPTER 1 – INTRODUCTION D28045104F - 02/2008...
  • Page 11 D28045104F - 02/2008...

  • Page 12: Foreword

    Chapter 1 – Introduction 1.1. FOREWORD The information contained in the present document is the property of STÄUBLI and it cannot be reproduced, in full or in part, without our prior written approval. The specifications contained in the present document can be modified without notice. Although all necessary precautions have been taken to ensure that the information contained in this document is correct, STÄUBLI cannot be held responsible for any errors or omissions found in the illustrations, drawings and specifications contained in the said document.

  • Page 13: Definition Of The Elements Around The Robot Cell

    Notes Paragraphs of the "note" type provide very important information to help the reader to understand a description or a procedure. Note: Supplies further information, or underlines a point or an important procedure. This information must be memorized to make it easier to apply and ensure correct sequencing of the operations described.

  • Page 14: Reminder Concerning The Safety Standards

    Chapter 1 – Introduction 1.3. REMINDER CONCERNING THE SAFETY STANDARDS DANGER: The robot is a fast moving machine. These movements can be dangerous. Always comply with the safety standards recommended for robot use and inform operators about the dangers faced. The robot is a sub-assembly designed for integration in a robot cell.

  • Page 15: Safety Directives Concerning To The Work Environment

    1.4. SAFETY DIRECTIVES CONCERNING TO THE WORK ENVIRONMENT 1.4.1. ANALYSIS OF SAFETY AROUND THE ROBOT CELL Safety must be taken into account for the robot cell from the design and development stage on. Before planning the installation of the robot cell, it is necessary to study the following points: •...

  • Page 16: Safety Directives Concerning To Staff Protection

    Chapter 1 – Introduction 1.5. SAFETY DIRECTIVES CONCERNING TO STAFF PROTECTION Stäubli robots work with computer controlled mechanisms, capable of moving at high speed and exerting considerable force. Like all robots and most industrial equipment, they must be controlled with great care by the user of the robot cell.

  • Page 17: Robot Cell Safety Devices

    Figure 1.1 Following maintenance work, whether it involves mechanical, electrical, pneumatic or software operations, it is advisable to make sure that the robot functions correctly, first at low speed while the person stays outside the cell, and then under the normal conditions of use. In particular, make sure that all the protective and safety systems are correctly in place, and that calibration of the robot is correct.

  • Page 18: Safety Directives Concerning To Protection Of The Equipment

    Chapter 1 – Introduction 1.5.3. SAFETY DIRECTIVES CONCERNING TO PROTECTION OF THE EQUIPMENT 1.5.3.1. CONNECTIONS • Before connecting the controller to the power supply, make sure that its nominal voltage does indeed correspond to the network voltage. • When connecting the controller, use a cable whose cross-section corresponds to the power rating shown on the manufacturer's plate.
  • Page 19 Risks created by an electrostatic discharge A high ESD voltage (several thousand volts) creates danger for electronic components. A semi-conductor must be handled carefully to prevent destruction by ESD. ESD are truly dangerous. It is estimated that they destroy only 10% of the components that they effect. The other 90% of components fall into the "deteriorated"...
  • Page 20 Chapter 1 – Introduction 1.5.3.3. PREVENTION OF DAMAGE DUE TO ELECTROSTATIC DISCHARGES It is essential to guard against electrostatic discharges during an intervention concerning electronic components, sub-assemblies and complete systems. Elimination of the danger due to ESD requires a combined team effort. By complying with the following instructions, you can substantially reduce the potential damage caused by ESD and ensure long-term reliability for the robot.
  • Page 21 D28045104F - 02/2008...

  • Page 22: Description

    Chapter 2 – Description CHAPTER 2 – DESCRIPTION D28045104F - 02/2008...
  • Page 23 D28045104F - 02/2008...

  • Page 24: Identification

    Chapter 2 – Description 2.1. IDENTIFICATION Manufacturer's plate on each robot. There is a plate riveted on the controller and arm (see figure 2.1). Figure 2.1 For all requests concerning information, replacement part orders, or requests for intervention, please state the type and the serial number of the machine concerned, as set out on the manufacturer's plate.
  • Page 25 Figure 2.2 D28045104F - 02/2008...

  • Page 26: General Presentation

    Chapter 2 – Description 2.2. GENERAL PRESENTATION The arm consists of segments or members interconnected by joints (figure 2.2). Each joint comprises an axis around which two members pivot. The movements of the robot’s joints are generated by brushless motors coupled to resolvers. Each of these motors is equipped with a parking brake.
  • Page 27 Figure 2.3 Figure 2.4 D28045104F - 02/2008...

  • Page 28: Designation Of Robots Of The Rx Series 90B Family

    Chapter 2 – Description 2.3. DESIGNATION OF ROBOTS OF THE RX SERIES 90B FAMILY RX family arm Maximum reach between axes 2 and 5 expressed in decimeters: dimension + dimension Number of active axes: • 0 = 6 active axes.
  • Page 29 Figure 2.5 D28045104F - 02/2008...

  • Page 30: Weight

    Chapter 2 – Description 2.4.3. WEIGHT 5-AXIS ARM LONG 5-AXIS ARM STANDARD ARM LONG ARM 111 kg 113 kg 106 kg 107 kg 2.5. PERFORMANCE See figure 2.5 Brake release access area Area accessible in righty configuration STANDARD ARM LONG ARM Work envelope R.M max.
  • Page 31 D28045104F - 02/2008...

  • Page 32: Modification Of Amplitudes

    Chapter 2 – Description 2.5.3. MODIFICATION OF AMPLITUDES The arm is installed to obtain maximum angular amplitudes. The amplitude of the joints can be voluntarily limited by the "software" (see chapter on programming). Also, the position of the mechanical travel limiters on axis 1, 2 and 3 and of the electrical travel limiters on joints 1 and 2 can be modified in a certain number of positions (for modification, please consult STÄUBLI).
  • Page 33 Figure 2.6 D28045104F - 02/2008...

  • Page 34: Load Capacity - Mechanical Interface

    Chapter 2 – Description 2.6. LOAD CAPACITY – MECHANICAL INTERFACE Mechanical interface End-effector The end-effector is not supplied with the robot arm assembly; its design depends on the robot’s specific applications. All studies can be undertaken in cooperation with STÄUBLI to obtain optimum performance without exceeding the robot arm assembly load limits.
  • Page 35 Effective tapped depth : 8 mm Figure 2.7 D28045104F - 02/2008...

  • Page 36: Attachment Of Additional Load On Forearm

    Chapter 2 – Description 2.6.2. ATTACHMENT OF ADDITIONAL LOAD ON FOREARM An additional load can be attached to the forearm using 4 M5 screws; maximum torque is 7 Nm. Position of 4 M5 tapped holes: See figure 2.7. DIMENSIONS STANDARD ARM LONG ARM 167.5 ±...
  • Page 37 Figure 2.8 Figure 2.9 Figure 2.10 Figure 2.11 D28045104F - 02/2008...

  • Page 38: Additional Load Diagrams

    Chapter 2 – Description 2.6.3. ADDITIONAL LOAD DIAGRAMS These diagrams can be used to determine the additional load which can be attached to the forearm depending on its center of gravity position from joint 3 and the load attached to the mechanical interface of the wrist.
  • Page 39 Figure 2.12 Figure 2.13 D28045104F - 02/2008...

  • Page 40: User Circuit

    Chapter 2 – Description 2.7. USER CIRCUIT The electric wiring of the arm is assembled into a harness including several cables supplying the motors (power, brakes, resolvers), the solenoid valves, the limit switches and user connector. These components are connected by means of removable connectors. The harness also includes pneumatic hoses which supply air to the solenoid valves (EV1 and EV2).
  • Page 41 shielded Figure 2.14 D28045104F - 02/2008...

  • Page 42: Pneumatic And Electric Circuits (Except For Clean Room Application)

    Chapter 2 – Description 2.9. PNEUMATIC AND ELECTRIC CIRCUITS (EXCEPT FOR CLEAN ROOM APPLICATION) 2.9.1. PNEUMATIC CIRCUIT Plate attached to base Forearm Solenoid valves (EV1 and EV2): • 5/2-way monostable. • Electrically controlled (24 VDC). • Working pressure: 1.5 to 7 bar. •...
  • Page 43 VACUUM VACUUM shielded Figure 2.15 D28045104F - 02/2008...

  • Page 44: Pneumatic And Electric Circuits Clean Room Application

    Chapter 2 – Description 2.10. PNEUMATIC AND ELECTRIC CIRCUITS CLEAN ROOM APPLICATION 2.10.1. PNEUMATIC CIRCUIT Plate attached to base Forearm Solenoid valves (EV1 and EV2): • 5/2-way monostable. • Electrically controlled (24 VDC). • Max. working pressure: vacuum only. • Flow coefficient Kv = 5.72. •...
  • Page 45 Figure 2.16 Figure 2.17 D28045104F - 02/2008...

  • Page 46: Pressurization System For Dusty Surroundings Or Spattering With Liquids

    Chapter 2 – Description 2.11. PRESSURIZATION SYSTEM FOR DUSTY SURROUNDINGS OR SPATTERING WITH LIQUIDS 2.11.1. PURPOSE For very severe applications in dusty surroundings or with spattered liquids, the objective is to keep the pressure inside the arm above atmospheric pressure in order to avoid migration of dust and liquids. CAUTION: The overpressure must never exceed 20 mbar.
  • Page 47 FLOOR CONFIGURATION CEILING CONFIGURATION 1) Balanced position (joint 2 brake released) is as follows: without load: with nominal load: without load: with nominal load: A = 90 A = 90˚ A = 180 A = 180˚ ˚ A = 90 A = 90˚...

  • Page 48: Safety

    Chapter 2 – Description 2.12. SAFETY The robot arm’s energy is that accumulated by the springs. Indeed, joint 2 is equipped with a spring balance system. Releasing joint 2 discharges the accumulated energy. This energy label is attached on the arm and must remain in place. The brake release movements are described on the opposite page according to arm configuration (floor or ceiling).
  • Page 49 D28045104F - 02/2008...

  • Page 50: On-Site Preparation

    Chapter 3 – On-site preparation CHAPTER 3 – ON-SITE PREPARATION D28045104F - 02/2008...
  • Page 51 Figure 3.1 D28045104F - 02/2008...

  • Page 52: Working Space

    Chapter 3 – On-site preparation 3.1. WORKING SPACE The user is responsible for performing all preparatory work required to complete the on-site installation of the robot. Working space must be sufficient, installation surface appropriate; the power supplies must be available (for the electric power supplies, see the characteristics of the controller). DANGER: The arm's working area must be surrounded by a closed safety enclosure in compliance with the country's safety legislation preventing personnel...
  • Page 53 D28045104F - 02/2008...

  • Page 54: Installation

    Chapter 4 – Installation CHAPTER 4 – INSTALLATION D28045104F - 02/2008...
  • Page 55 Figure 4.1 Figure 4.2 Figure 4.3 D28045104F - 02/2008...

  • Page 56: Arm Packaging

    Chapter 4 – Installation 4.1. (figure 4.1) ARM PACKAGING Standard packaging: Case (1): L x H x D = 850 x 1210 x 640 mm Gross weight: • Standard arm:136 kg • Long arm:137 kg International packaging: Case (1): L x H x D = 935 x 1210 x 670 mm Gross weight: •...
  • Page 57 Figure 4.4 Figure 4.5 Figure 4.6 Figure 4.7 D28045104F - 02/2008...

  • Page 58: Installation Of Arm

    Chapter 4 – Installation 4.4. INSTALLATION OF ARM CAUTION: The arm can be attached with the base downwards (floor-mounted version) or with base upwards (ceiling-mounted version). Caution: the balance system is installed in the factory for one OR the other of these versions. Conversion from a floor-mounted version to a ceiling-mounted version requires a mechanical operation on the balance system.
  • Page 59 ceiling 90˚ floor Figure 4.8 Figure 4.10 Figure 4.9 Figure 4.12 Figure 4.11 D28045104F - 02/2008...

  • Page 60: Spring Tension

    Chapter 4 – Installation 4.5. SPRING TENSION CAUTION: The robot must be attached to the ceiling. Do not rotate joint 2. Figure 4.9 • Remove hoisting ring (9) from the arm. • Unscrew the 4 M5 screws (1) attaching cover (2). •...
  • Page 61 D28045104F - 02/2008...

  • Page 62: Internal Variations Between Various Types Of Arms

    Chapter 5 – Internal variations between various types of arms CHAPTER 5 – INTERNAL VARIATIONS BETWEEN VARIOUS TYPES OF ARMS D28045104F - 02/2008...
  • Page 63 Figure 5.1 Figure 5.2 D28045104F - 02/2008...

  • Page 64: Purpose Of This Chapter

    Chapter 5 – Internal variations between various types of arms 5.1. PURPOSE OF THIS CHAPTER This chapter shows the internal design variations between different types of arms. These variations are detailed on the following pages. Only the views of the standard version are shown in the following paragraphs. Clean room arm These variations concern the type of solenoid valves and their locations.
  • Page 65 Figure 5.3 Figure 5.4 D28045104F - 02/2008...

  • Page 66: Joints 3 And 4

    Chapter 5 – Internal variations between various types of arms 5.3. JOINTS 3 AND 4 After removing cover (1), the two solenoid valves (2) of the standard arm are replaced by a single solenoid valve (2) on the clean room arm. Figure 5.3: Joints 3 and 4 standard arm.
  • Page 67 D28045104F - 02/2008...

  • Page 68: Transmission Casing Oil Change

    Chapter 6 – Transmission casing oil change CHAPTER 6 – TRANSMISSION CASING OIL CHANGE D28045104F - 02/2008...
  • Page 69 Figure 6.1 D28045104F - 02/2008...

  • Page 70: Joint 1 Transmission Casing

    Chapter 6 – Transmission casing oil change CAUTION: The figures in this chapter show the standard arm (see chapter 5 for variations). 6.1. JOINT 1 TRANSMISSION CASING (figure 6.1) DANGER: Follow the safety rules! See chapter 1.3. • Unscrew the 4 M5 screws (1) attaching cover (2). •...
  • Page 71 Figure 6.2 D28045104F - 02/2008...

  • Page 72: Joint 3 Transmission Casing

    Chapter 6 – Transmission casing oil change 6.3. JOINT 3 TRANSMISSION CASING (figure 6.2) DANGER: Follow the safety rules! See chapter 1.3. • Set the arm in horizontal position. • Set the forearm perpendicular to the arm, wrist on top. •...
  • Page 73 Figure 6.3 D28045104F - 02/2008...

  • Page 74: Transmission Casing Of Joints 5 And 6

    Chapter 6 – Transmission casing oil change 6.5. TRANSMISSION CASING OF JOINTS 5 AND 6 (figure 6.3) DANGER: Follow the safety rules! See chapter 1.3. • Turn the joints so that forearm is horizontal, plugs (1) and (2) facing downwards, joint 6 vertical, upwards. •...
  • Page 75 D28045104F - 02/2008...

  • Page 76: Operations On Motors

    Chapter 7 – Operations on motors CHAPTER 7 – OPERATIONS ON MOTORS D28045104F - 02/2008...
  • Page 77 Figure 7.1 D28045104F - 02/2008...

  • Page 78: Motor Play Adjustment Procedure

    Chapter 7 – Operations on motors DANGER: Follow the safety rules! See chapter 1.3. 7.1. MOTOR PLAY ADJUSTMENT PROCEDURE 7.1.1. ACCESS TO MOTORS The operations to be performed to access the motors are described in paragraph 7.2. 7.1.2. JOINTS 1, 2, 3 AND 4 Motor play is adjusted by moving the motor gear wheel towards the crown gear of the JCS transmission module: •...
  • Page 79 Figure 7.2 D28045104F - 02/2008...

  • Page 80: Replacement Of A Motor

    Chapter 7 – Operations on motors 7.2. REPLACEMENT OF A MOTOR DANGER: Follow the safety rules! See chapter 1.3. Before carrying out any work on the motors, the DAPS board backup supply switch MUST be set to OFF (0). If an item is replaced or joint transmission uncoupled, an arm adjustment procedure must be performed.
  • Page 81 Figure 7.3 D28045104F - 02/2008...

  • Page 82: Joint 2

    Chapter 7 – Operations on motors 7.2.2. JOINT 2 (figure 7.3) DANGER: Follow the safety rules! See chapter 1.3. • Align the joint position frames. • Unscrew the 4 M5 screws (1) attaching cover (2). • Remove shoulder cover (2). •...
  • Page 83 Figure 7.4 D28045104F - 02/2008...

  • Page 84: Joint 3

    Chapter 7 – Operations on motors 7.2.3. JOINT 3 (figure 7.4) DANGER: Follow the safety rules! See chapter 1.3. • Align the joint position frames. • Unscrew the 4 M5 screws (4) attaching cover (3). • Remove elbow cover (3). •...
  • Page 85 Figure 7.5 D28045104F - 02/2008...

  • Page 86: Joint 4

    Chapter 7 – Operations on motors 7.2.4. JOINT 4 (figure 7.5) DANGER: Follow the safety rules! See chapter 1.3. • Configure the robot arm: • Arm horizontal (joint 2), • Forearm vertical, wrist downwards, • Joint 4 frames aligned. • Unscrew the 4 M5 screws (1) attaching cover (2). •...
  • Page 87 3 (x 4) Figure 7.6 D28045104F - 02/2008...

  • Page 88: Joints 5 And 6

    Chapter 7 – Operations on motors 7.2.5. JOINTS 5 AND 6 (figure 7.6) DANGER: Follow the safety rules! See chapter 1.3. • Remove the end-effector installed on mechanical interface (6) of wrist (5). • Unscrew the 4 M5 screws (1) attaching cover (2). •...
  • Page 89 D28045104F - 02/2008...

  • Page 90: Preventive Maintenance

    Chapter 8 – Preventive maintenance CHAPTER 8 – PREVENTIVE MAINTENANCE D28045104F - 02/2008...
  • Page 91 D28045104F - 02/2008...

  • Page 92: Maintenance Frequency

    Chapter 8 – Preventive maintenance To keep the performance of the arm at an optimal level the arm requires preventive maintenance. The maintenance operations must be carried out by persons who have followed the appropriate course given by STÄUBLI. CAUTION: To ensure a correct seal, the joint must be replaced each time a cover is removed (see chapter 6.6).
  • Page 93 Figure 8.1 D28045104F - 02/2008...

  • Page 94: Checking Oil Levels

    Chapter 8 – Preventive maintenance 8.2. CHECKING OIL LEVELS 8.2.1. ARM IN FLOOR-MOUNTED POSITION (figure 8.1) 8.2.1.1. ARTICULATION POSITIONS FOR LEVEL CHECKS POSITION Joint 1 Joint 2 Joint 3 Joint 4 Joints 5/6 Check Joint 1 +90° 0° Joint 2 Joint 3 0°...
  • Page 95 Figure 8.2 D28045104F - 02/2008...

  • Page 96: Arm In Ceiling-Mounted Position

    Chapter 8 – Preventive maintenance 8.2.2. ARM IN CEILING-MOUNTED POSITION (figure 8.2) 8.2.2.1. ARTICULATION POSITIONS FOR LEVEL CHECKS POSITION Joint 1 Joint 2 Joint 3 Joint 4 Joints 5/6 Check Joint 1 +90° 0° Joint 2 Joint 3 0° -90° 0°...
  • Page 97 Figure 8.3 Figure 8.4 D28045104F - 02/2008...

  • Page 98: Greasing Of The Balance System Eccentric Bearings

    Chapter 8 – Preventive maintenance 8.3. GREASING OF THE BALANCE SYSTEM ECCENTRIC BEARINGS DANGER: Follow the safety rules! See chapter 1.3. Use the kit (wedges + tools) dedicated to the spring tension. Procedure (Procedure applicable both to floor-mounted arms and ceiling-mounted arms): •...
  • Page 99 ceiling 90˚ floor Figure 8.5 Figure 8.7 Figure 8.6 Figure 8.9 Figure 8.8 D28045104F - 02/2008...
  • Page 100 Chapter 8 – Preventive maintenance Release the springs: CAUTION: The angle between the arm and the forearm must be 90° (see figure 8.5). Figure 8.6 • Unscrew the 3 screws (1). • Remove cover (2) from arm (3). • Remove plug (4) from arm (3). Figure 8.7 •...
  • Page 101 D28045104F - 02/2008...

  • Page 102: Recommended Spare Parts

    Chapter 9 – Recommended spare parts CHAPTER 9 – RECOMMENDED SPARE PARTS D28045104F - 02/2008...
  • Page 103 D28045104F - 02/2008...
  • Page 104 Chapter 9 – Recommended spare parts • Mobil SHC 634 oil* (for wrist) • Mobil SHC 639 oil* (for wrist) (Consult STÄUBLI) • Mobil SHC 626 oil* • Solenoid valve • Pneumatic harness • Motor of axis 1, 2, 3, 4, 5 and 6 •...
  • Page 105 D28045104F - 02/2008...

This manual is also suitable for:

Rx90b

Table of Contents