Related Manuals for PEITIAN ROBOTICS AIR10-1420A
Summary of Contents for PEITIAN ROBOTICS AIR10-1420A
- Page 1 Peitian Robot AIR10-1420A | Manipulator Manual A solution provider for intelligent equipment manufacturing industry...
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Page 3: Declaration
AIR10-1420A Operation Manual Declaration Declaration Associated manual shall be carefully read before using the industrial robot, and shall be properly used under the premise of understanding its contents. Any content in this manual cannot be reproduced or transmitted in any form without permission. -
Page 4: Identifications Used In This Text
AIR10-1420A Operation Manual Identifications used in this text Identifications used in this text Symbol Name Meaning Failure to follow these instructions will lead to accident, and cause Danger serious or fatal personnel injury, or severe articles damage Failure to follow these... -
Page 5: General Safety Instructions
AIR10-1420A Operation Manual General Safety instructions General Safety instructions Thanks very much for your purchase of the manipulator made by the company. The information described is necessary for safely using the manipulator. Please read associated manual carefully before using the manipulator, and properly use it under the premise of understanding its contents. - Page 6 AIR10-1420A Operation Manual General Safety instructions Apply it in explosive atmosphere; Apply it in the environment with substantial amount of radiation; Apply it in water or high-humidity atmosphere; Apply it for transporting people or animals; Apply it as foot stool (such as climbing on the manipulator or overhanging...
- Page 7 AIR10-1420A Operation Manual General Safety instructions Attentions during the programming Warning Operate outside safety barrier as far as possible during the programming. If it is required to operate in the safety barrier for unavoidable conditions, following precautions shall be noticed: Carefully view the conditions in the safety barrier, and then enter the barrier after ensuring there is no danger;...
- Page 8 AIR10-1420A Operation Manual General Safety instructions Warning When dismounting motor or brake, it shall be dismantled after crane lifting and other measures are taken to prevent manipulator arm, etc. from falling. Warning If the manipulator is moved for unavoidable reasons during the maintenance, the...
- Page 9 AIR10-1420A Operation Manual General Safety instructions Warning When maintaining pneumatic system and hydraulic system, internal pressure shall be released to 0 at first for subsequent operation. Warning Testing and operation shall be carried out in accordance with prescribed methods after components replacement. At this moment, the operating personnel shall operate outside the safety barrier.
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Page 10: Safety Precautions
AIR10-1420A Operation Manual Safety precautions Safety precautions Before operating the manipulator, peripheral equipment and its manipulator system, sufficiently study the safety precaution for operating personnel and system. Fig. 1 Schematic Diagram of Safe Operation of the Industrial Robot Definition of operating personnel... - Page 11 AIR10-1420A Operation Manual Safety precautions Safety of operating personnel When applying the automatic system, the safety of operating personnel shall be guaranteed. Since the motion range is very dangerous, measures for preventing the operating personnel from entering into the manipulator motion range shall be applied.
- Page 12 AIR10-1420A Operation Manual Safety precautions The safety of programmer When taking manipulator demonstration operation, if entering into manipulator motion range is required in some cases, please pay particular attention to safety: Please operate outside the manipulator motion range in case that there is no need to operate in its range;...
- Page 13 AIR10-1420A Operation Manual Safety precautions operation to ensure that the emergency button can be pressed at any time; When replacing the parts or reassembling, attentions shall be paid in case of foreign material adhesion or foreign material invasion; When maintaining internal control device, in case of contacting unit, printed circuit board, etc., to prevent electric shock, power supply of main...
- Page 14 AIR10-1420A Operation Manual Safety precautions Set a specified work origin for manipulator program and create a program starting from work origin and ending at this one to see clearly whether operation of the manipulator is finished or not from the outer edge.
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Page 15: Table Of Contents
Basic Specification ........................22 Range of Robot Body ........................22 Mechanical limit ......................... 23 Axle Speed ..........................24 Flange Interface Size ........................24 Robot Load and Load Diagram ...................... 25 AIR10-1420A Calibration of each axis of manipulator ................. 29 10.1 summary ............................ 29... - Page 16 Environmental conditions for long-term storage of the operator ............54 15.2 Precautions for storage of operator ....................54 Appendix A Appendix A periodic maintenance form of AIR10-1420A operator ..........55 Appendix B table of screw strength and tightening torque (nm) ..............56...
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Page 17: Document Summary
AIR10-1420A Operation Manual Document Summary 1 Document Summary 1.1 Purpose and Content This document has been prepared to allow technicians quickly, correctly and securely installing and using the robot manipulator, familiar with the notes and doing maintenance on a regular basis to the robot manipulator. - Page 18 AIR10-1420A Operation Manual Document Summary Standard Description Version General principles for design - Risk assessment and risk reduction Robots and robotic devices - Safety requirements for industrial robots - ISO 10218-1 Part 1: Robots 2011 (Prompt: Information is consistent with ANSI/RIAR.15.06-2012, Part 1)
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Page 19: Definition
(tools or workpieces), also known as the robot body. This manipulator is the 6-DOF tandem industrial robot that consists of three swing axes and three rotating axes. AIR10-1420A robot manipulator and the names of its various parts are as shown in Fig. 2-2. J6 flange interface... -
Page 20: Basic Specifications
*If the mechanical limit of J1 axle is removed, the range may reach -180 to 180°。 Environmental Requirements for Operation Temperature The range of ambient temperature for AIR10-1420A manipulator is as shown in Table 2-2: Table 2-2 Temperature Limits Requirement Value（℃）... - Page 21 AIR10-1420A Operation Manual Definition Caution It is recommended to warm-up the robot for several minutes before using the manipulator when the ambient temperature is lower than 10℃. Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent grease viscosity.
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Page 22: Preparation Before Installation
AIR10-1420A Operation Manual Preparation before Installation 3 Preparation before Installation 3.1 Checking items Following requirements shall be strictly adhered to before installation: Ensure that the installers pass the relevant training of company and perform the installation according to the international and local laws and regulations. -
Page 23: Installation Of Robot Body
Force (Z) Fv 2071N Force (XY) Fh 2892N Torque (XY) Mk 2618Nm Torque (Z) Mr 1563Nm Manipulator Mass 160kg Max. Load 22kg（10kg+12kg） Dimensions of AIR10-1420A manipulator base are shown in Fig. 4-1: Fig. 4-1 Dimensions of AIR10-1420A Manipulator Base Interface... -
Page 24: Fixing Mode
The names and specifications of parts required to fix the manipulator are as shown in Table 4-2: Table 4-2 Parts for Fixing AIR10-1420A Manipulator Grounding Bracket Part Name... - Page 25 AIR10-1420A Operation Manual Installation of Robot Body M20X40 Screw Manipulator base Fixing plate of robot M20 chemical bolt Concrete Fig. 4-2 Schematic Diagram Bracket Fixing Bracket fixing process (mode 2) is as follows: Install the manipulator base on the bracket with eight M20x40 bolts (Grade 12.9).
- Page 26 AIR10-1420A Operation Manual Installation of Robot Body M20X40 Screw Manipulator Base Installing Bracket M20 Chemical Bolt Concrete Fig. 4-3 Schematic Diagram of Bracket Fixing for Manipulator...
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Page 27: Air10-1420A Manipulator Electrical Connections
AIR10-1420A Operation Manual AIR10-1420A Manipulator Electrical Connections 5 AIR10-1420A Manipulator Electrical Connections 5.1 Electrical Interface Type for Manipulator Air plug and heavy-duty are provided on the AIR10-1420A manipulator base shown in Fig. 5-1. HDD-072 Fig. 5-1 Heavy-duty Connector on AIR10-1420A Manipulator 5.2 Definitions of Heavy-duty Connector of Manipulator... - Page 28 AIR10-1420A Operation Manual AIR10-1420A Manipulator Electrical Connections Table 5-1 Definition of HDD-072-MC Signal Signal Name Signal Name Number Name Number Number J1_5V J3_5V J5_5V J1_0V J3_0V J5_0V J1_PS+ J3_PS+ J5_PS+ J1_PS- J3_PS- J5_PS- J2_5V J4_5V J6_5V J2_0V J4_0V J6_0V J2_PS+...
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Page 29: Transport And Handling
Do not have impact on this part by grabber of forklift. Do not chain or strap on the transport component. 6.1 Handling posture AIR10-1420A manipulator during handling shall be posed as shown in Table 6-1. Table 6-1 Angle Values of Axes for Robot during Handling -60°... -
Page 30: Handling Dimensions
AIR10-1420A Operation Manual Transport and Handling Fig. 6-2 Handling posture of AIR10-1420A Manipulator Warning Manipulator shall be handled in strict accordance with the posture in the Table 6-1, otherwise it may fall due to unstable center of gravity. 6.2 Handling dimensions... -
Page 31: Handling With Forklift
AIR10-1420A Operation Manual Transport and Handling Fig. 6-3 Handling Dimensions 6.3 Handling with Forklift Handling with forklift is as shown in Fig. 6-4. Forklift shall meet the requirement for the weight of manipulator. The total weight of manipulator and handling device is about 170kg. -
Page 32: Handling With Swing Ring
6.4 Handling with Swing Ring Fig. 6-5 Schematic Diagram of AIR10-1420A Manipulator Handling with Swinging Ring Handling with swinging ring is as shown in Fig. 6-5, Lifting device shall meet the requirement for the weight of manipulator. The total weight of manipulator... - Page 33 AIR10-1420A Operation Manual Transport and Handling Caution When manipulator is handled with swinging ring, insert a soft object between the sling and manipulator to avoid the scratching on the manipulator body by sling. Manipulator may turn over when transported with swinging ring. During the handling, please take special care to keep the manipulator steady.
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Page 34: Accessories And Connectors On Manipulator
AIR10-1420A Operation Manual Accessories and Connectors on Manipulator 7 Accessories and Connectors on Manipulator 7.1 Examples of Accessories Accessories of manipulator are mainly including mechanical Grabber as shown in Fig. 7-1, hydraulic or pneumatic suction cup as shown in Fig. 7-2, welding torch as shown in Fig. -
Page 35: Connection Mode
AIR10-1420A Operation Manual Accessories and Connectors on Manipulator Connection mode Connecting with Accessories Accessories can be attached to the manipulator through the flange directly or indirectly like connection between the payload and manipulator. It is detailed in Chapter 9.6 of this manual. -
Page 36: Product Label And Meaning
AIR10-1420A Operation Manual Product Label and Meaning 8 Product Label and Meaning 8.1 Safety Label “No Approaching” sign, as shown in Fig. 8-1, is pasted on the manipulator arm. Fig. 8-1 “No Approaching” Sign of Manipulator Danger The sign reminds the operators to stay away from the working area of manipulator. -
Page 37: Direction Sign Of Each Axle
AIR10-1420A Operation Manual Product Label and Meaning Fig. 8-2 Manipulator Nameplate 8.3 Direction Sign of Each Axle “+” or “-” sign is provided at the rotating or swinging joints of axes 1~6 of manipulator as shown in Fig. 8-3 to indicate the moving direction of each axle. -
Page 38: Performance Of Air10-1420A Manipulator
AIR10-1420A robot. 9.2 Range of Robot Body Range of manipulator is as shown in Table 9-1, the working envelope is as shown in Fig. 9-1. Table 9-1 Motion Ranges of AIR10-1420A Manipulator Axle Axle Number Range（°） -170 ~ +170... -
Page 39: Mechanical Limit
J3 Mechanical Limit J2 Mechanical Limit J1 Mechanical Limit Fig. 9-2 Mechanical Limits of AIR10-1420A Manipulator The position of mechanical Limits is as shown in Fig. 9-2. Do not modify the mechanical limits. Otherwise the robot may not stop properly. -
Page 40: Axle Speed
AIR10-1420A Operation Manual Performance of AIR10-1420A Manipulator 9.4 Axle Speed The maximum speed of AIR10-1420A manipulator is as shown in Table 9-2. Table 9-2 Max. Speed of AIR10-1420A Manipulator Axle Number Max. Speed（°/s） 9.5 Flange Interface Size The flange interface specifications of AIR10-1420A manipulator are as shown Appendix B table of screw strength and in Table 9-3 and Fig. -
Page 41: Robot Load And Load Diagram
9.6 Robot Load and Load Diagram Manipulator Wrist Load AIR10-1420A manipulator wrist load diagram is as shown in Fig. 9-4. Load shall be inside the range as shown in the diagram. Allowable torque of J4 shall be less than 22Nm while J5 less than 22Nm and J6 less than 9.8Nm. - Page 42 135mmx66mm for installing screw as shown in Fig. 9-5. Distance between Centroid and installing face shall be not more than 60 Fig. 9-5 Diagram of AIR10-1420A Manipulator Elbow Load Interface Reliability shall be considered sufficiently when the external device is installed.
- Page 43 AIR10-1420A Operation Manual Performance of AIR10-1420A Manipulator Fig. 9-6 Diagram of AIR10-1420A Manipulator Forearm Interface Fixing Location of Manipulator Upper arm Interface specification and size of manipulator upper arm is as shown in Fig. 9-7. Fig. 9-7 Diagram of AIR10-1420A Manipulator Upper Arm...
- Page 44 AIR10-1420A Operation Manual Performance of AIR10-1420A Manipulator Fig. 9-8 Diagram of AIR10-1420A Manipulator Shoulder Warning Depth of screw must not exceed depth of thread hole when installing peripheral equipment, otherwise internal parts and cable of manipulator body may be damaged.
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Page 45: Air10-1420A Calibration Of Each Axis Of Manipulator
The position of each axis of the manipulator is shown in Fig. 10-1 below. The J3 axis is 90 ° after calibration, and the other axes are 0 ° . Fig. 10-1 Schematic diagram of zero point of each axis of AIR10-1420A... - Page 46 AIR10-1420A Calibration of each axis of manipul AIR10-1420A Operation Manual ator Caution The robot calibration must always be carried out at the same temperature to avoid the error caused by thermal expansion and contraction. Caution The calibration of the AIR-10A industrial robot must be carried out in the order...
- Page 47 AIR10-1420A Calibration of each axis of manipul AIR10-1420A Operation Manual ator Calibration when there are rough requirements for path positioning accuracy When there is a rough requirement for the path positioning accuracy, use the calibration block to calibrate, as shown in Fig. 10-3.
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Page 48: General Principles Of Maintenance
General principles of maintenance 11 General principles of maintenance This manual is about the preventive maintenance of AIR10-1420A operator. For a complete set of industrial robot system maintenance, it shall also include: Control cabinet maintenance - refer to "control cabinet maintenance manual"... -
Page 49: Maintenance Items
AIR10-1420A Operation Manual maintenance items 12 maintenance items 12.1 daily maintenance When operating the machine, check the following items. As shown in Table 12-1: Table 12-1 daily maintenance items of the operator Serial number Inspection items Checkpoints Whether there is abnormal vibration and... -
Page 50: Regular Maintenance
AIR10-1420A Operation Manual maintenance items Operator connecting cable, grounding terminal and user cable connector. Confirmation matters Check whether the line sheath is cracked and worn. If the sheath is damaged, replace it. Check whether the grease on the surface of the internal cable of the j1axis and the internal cable of the boom disappears. - Page 51 AIR10-1420A Operation Manual maintenance items Table 12-3 960 hours (3 months) maintenance items of the operator Serial number Inspection items Checkpoints Control cabinet vent If there is a lot of dust on the vent of the cleaning control cabinet, please remove it...
- Page 52 AIR10-1420A Operation Manual maintenance items 11520 hours (3 years) regular maintenance Every 3 years or 11520 hours of operation (whichever is shorter), the operator needs to carry out the inspection and maintenance of the following items. As shown in Table 12-7:...
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Page 53: Project Maintenance Process
AIR10-1420A Operation Manual Project maintenance process 13 Project maintenance process 13.1 operator cleaning In order to ensure long-term operation of the robot, the operator shall be cleaned regularly every 960 hours or 3 months (whichever is shorter). The process is as follows: Adjust the robot to the calibration state. - Page 54 AIR10-1420A Operation Manual Project maintenance process Wrist cable J3 axis cable fixing place J2 axis cable fixing position Cable inside the base Fig. 13-1 cable layout of operator External cable maintenance process Adjust the axes of robot from j1to J6 to 0 ° , 0 ° , 90 ° , - 180 ° , 0 ° and 0 ° .
- Page 55 AIR10-1420A Operation Manual Project maintenance process Electrical installation board screw M4X8 Cable Bracket Fig. 13-2 Cables inside the base Elbow internal cable maintenance process Remove the elbow cable fixing plate, as shown in Fig. 13-3. Pull out the cable and check whether the connection between the cable and the fixed plate is reliable.
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Page 56: Battery Replacement
AIR10-1420A Operation Manual Project maintenance process Maintenance process of wrist internal cable Remove the cover plate as shown in Fig. 13-4 Check whether there is abrasion or damage at the fixed position of cable and cable shaft Check the internal cable for wear or damage... -
Page 57: Changing Grease
AIR10-1420A Operation Manual Project maintenance process Reconnect the battery cable. Install the battery box. Install the electrical installation plate, and apply sealant on the joint surface of the electrical installation plate and the base casting After all safety conditions are met, calibrate and test the operator... - Page 58 AIR10-1420A Operation Manual Project maintenance process Carefully and slowly open the drain port to prevent oil splashing The procedure of changing lubricating grease for j1axis reducer Operate the operator to the attitude shown in Table 13-2. To prevent danger, turn off the power, hydraulic and pneumatic sources connected to the robot.
- Page 59 AIR10-1420A Operation Manual Project maintenance process instantaneous pressure inside the reducer becomes higher, which may cause the oil seal of the motor to be damaged and the grease will enter the motor J2 shaft reducer replacement grease process Operate the operator to the attitude shown in Table 13-2.
- Page 60 AIR10-1420A Operation Manual Project maintenance process instantaneous pressure inside the reducer becomes higher, which may cause the oil seal of the motor to be damaged and the grease will enter the motor J3 shaft reducer replacement grease process Operate the operator to the attitude shown in Table 13-2...
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Page 61: Replace Synchronous Belt
AIR10-1420A Operation Manual Project maintenance process instantaneous pressure inside the reducer becomes higher, which may cause the oil seal of the motor to be damaged and the grease will enter the motor Release the internal grease pressure of the reducer... - Page 62 AIR10-1420A Operation Manual Project maintenance process Table 13-5 attitude of operator replacing synchronous belt Arbitrary Arbitrary 0° 90° 0° 90° angle angle Replacement process of J5 axis synchronous belt Operate the operator to the attitude shown in Table 13-5. Turn off the power to the control.
- Page 63 AIR10-1420A Operation Manual Project maintenance process Fig. 13-11 installation deflection of synchronous belt Warning After replacing the synchronous belt, the J5 axis of the operator shall be Chapter 10 calibrated. See of this manual for details。...
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Page 64: Common Faults And Handling
AIR10-1420A Operation Manual Common faults and handling 14 Common faults and handling The failure of the operator is sometimes caused by several different reasons. It is difficult to find out the causes thoroughly. If the error handling method is adopted, it may lead to further deterioration of the failure. Therefore, it is very important to analyze the failure situation in detail and find out the real cause Possible faults and causes of the operator are shown in Table 14-1. - Page 65 AIR10-1420A Operation Manual Common faults and handling Fault Fault classification Possible cause Solution 1.Check whether the load of the ◼Vibration is generated in a 1.It may be because the load of the manipulator exceeds specific posture during movement manipulator exceeds...
- Page 66 AIR10-1420A Operation Manual Common faults and handling Fault Fault classification Possible cause Solution 1.The circuit in the control device fails, the instruction is not correctly transmitted to the motor, or the motor information is not 1.For faults of the control device,...
- Page 67 AIR10-1420A Operation Manual Common faults and handling Fault Fault classification Possible cause Solution ◼Abnormal noise occurs after changing grease 1.The manipulator has abnormal ◼Abnormal noise occurs when noise at low operation speed 1.Observe the operation of the Vibration the robot is put into operation after immediately after replacement or manipulator for 1-2 days.
- Page 68 AIR10-1420A Operation Manual Common faults and handling Fault Fault classification Possible cause Solution decreased, preventing the motor from being overheated 5.Please contact the company Control parameters: 1.If the input parameters are 1.Input appropriate ◼The motor overheats after inappropriate, the acceleration...
- Page 69 AIR10-1420A Operation Manual Common faults and handling Fault Fault classification Possible cause Solution 1.It may be because the brake drive relay is damaged, and the brake is always in the energized 1.Check whether the brake drive status, having no braking effect.
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Page 70: Storage Condition
AIR10-1420A Operation Manual Storage condition 15 Storage condition 15.1 Environmental conditions for long-term storage of the operator Table 15-1 environmental conditions for long-term storage of the operator parameter numerical value Minimum ambient temperature -25℃ Maximum ambient temperature 55℃ Maximum ambient temperature (storage time 70℃... -
Page 71: Appendix A Appendix A Periodic Maintenance Form Of Air10-1420A Operator
AIR10-1420A Operation Manual Appendix A Appendix A periodic maintenance form of AIR10-1420A operator Appendix A Appendix A periodic maintenance form of AIR10-1420A operator 附表 A Appendix a periodic maintenance form of AIR10-1420A operator First Maintenance 3 months 6 months 9 months... -
Page 72: Appendix B Table Of Screw Strength And Tightening Torque (Nm)
AIR10-1420A Operation Manual Appendix B table of screw strength and tightening torque (nm) Appendix B table of screw strength and tightening torque (nm) Table B strength and tightening torque of screws Performance grade Level 8.8 Level 10.9 Level 12.9 Thread specification 12.5...