Table of Contents
Related Manuals for ST Robotics DEUCALEON R17
Summary of Contents for ST Robotics DEUCALEON R17
- Page 1 R17 Robot Manual page 1 01.04.2017 Welcome! to the R17 robot arm R17 DEUCALEON ROBOT SYSTEM User Manual We hope you enjoy your experience. Any problems at all just contact us. support@strobotics.com +1 609 584 7522 +44 1223 420 288...
- Page 2 R17 Robot Manual page 2 System Components: A basic R17 robot system comprises the following:- R17 Robot arm Fitted with any options: Pneumatic or electric gripper Vacuum pickup Pneumatic Tool Changer axis module Controller K11R Fitted with any options: I/O expansion Gripper drive module Teach box Cable 9-way D-type each end (M-M) - K11R to teach box...
- Page 3 R17 Robot Manual page 3 1. INTRODUCTION The R17, DEUCALION is a robot arm of the vertically articulated format. This is the format which most closely resembles the human arm and so its parts are named after the human arm. It is more versatile than other formats but the drawback is that backlash and compliance in each joint are added together joint by joint.
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Page 4: Important Dos And Don'ts
R17 Robot Manual page 4 2. IMPORTANT DOS AND DON'TS (1) DON'T ever disconnect or connect the robot while the controller is switched on. This will result in damage to the electronics and the connectors themselves. Warranty claims will not be accepted for damage resulting from this. On the R17HS or R17HSW do not leave the motor cable disconnected but the power cable connected or vice versa. -
Page 5: Safety Is Your Responsibility
R17 Robot Manual page 5 SAFETY IS YOUR RESPONSIBILITY Risks Because stepping motors raise more torque at low speeds a substantial low speed force can be brought to bear especially on fingers which may become trapped under or between axes. Robot end effectors typically have sharp edges or fingers made of thin metal which can cause injury at the low speed high forces or at the higher speeds. - Page 6 R17 Robot Manual page 6 3. SETTING UP Set the robot up in the desired location. Connect up all cables - their positions should be self-evident. Cables to the robot connect to the rear of the controller. There are 5 basic cables: Motor power –...
- Page 7 R17 Robot Manual page 7 Pneumatic connections Connect the air line by pushing it into the push-fit connectors on the air valve and two from the valve to the rear of the robot. If there is no compressor supplied then connect the shop air supply to the air valve.
- Page 8 R17 Robot Manual page 8 4. COMPUTER Note: Commands to computer or controller are in the form of a string of characters followed by the enter key. In all my examples of dialog between man and machine I will underline text typed in by the user. I won't keep mentioning the need for the enter key. A machine response will be in upper case but not underlined.
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Page 9: Powering Up The Controller
R17 Robot Manual page 9 5. POWERING UP THE CONTROLLER To power up the controller, connect the power cord at the rear and operate the power switch, which is integral with the power connector. You may have all other cables disconnected if you wish. - Page 10 R17 Robot Manual page 10 If there is no message on screen press the reset button on the front panel and watch the lights. The red led should light as you press the button. As you release the button the red led goes out, the green light comes on and the yellow TX light should flash.
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Page 11: Preparing For Use
R17 Robot Manual page 11 6. PREPARING FOR USE WARNING Before trying any of the following commands be sure to KEEP OUT OF THE ROBOT ENVELOPE Note: ALL FORTH and ROBOFORTH COMMANDS ARE IN UPPER CASE. With power off first visually set the robot up approximately in the HOME position. This is with the robot vertical. - Page 12 R17 Robot Manual page 12 Check that sensors and encoders are working (optional) For assurance before you calibrate you can check the sensors or encoders as follows: Check sensors if you suspect any transit damage. 1. Switch off the controller and wait 10 seconds. Disconnect the motor (metallized) cable and the R17HS servo power cable (twisted red and black pair).
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Page 13: Getting Started
R17 Robot Manual page 13 7. GETTING STARTED WARNING Before trying any of the following commands be sure to KEEP OUT OF THE ROBOT ENVELOPE Note: ALL FORTH and ROBOFORTH COMMANDS ARE IN UPPER CASE. Assuming ROBWIN is loaded and running: 1. - Page 14 R17 Robot Manual page 14 range is marked NO. If you start a calibration with an axis in the NO range then that joint will fold in and collide with a physical stop or another axis. Axis version Note there is a difference between the calibrate routines of 5 and 6 axis versions.
- Page 15 R17 Robot Manual page 15...
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Page 16: End Effectors
R17 Robot Manual page 16 8. END EFFECTORS Pneumatic Gripper connections If the gripper opens when it should close and vice versa simply swap over the two 4mm tubes at one end. Programming the optional confirmation sensor. The confirmation sensor is normally connected to PB 5. There is a RoboForth word GRIPCHECK which checks to see that the gripper has closed on a part. - Page 17 R17 Robot Manual page 17 Vacuum pick-up connections: Programming the vacuum sensor. The vacuum switch is connected to PB 5*. You can quickly check this with GRIPCHECK Insert this word at a suitable place for the robot to check it has a valid pick e.g. JIG GRIP WITHDRAW GRIPCHECK If there is no vacuum (object not picked) you will get “Grip fail”...
- Page 18 R17 Robot Manual page 18 If you have multiple tools and/or a tool changer. Note that an electric gripper uses PA 0 and1 in PWM mode to open the gripper. To change between electric gripper and pneumatic gripper: Enter 1 GTYPE ! for electric gripper 0 GTYPE ! for pneumatic gripper If you have both electric gripper and vacuum then the vacuum valve should normally be on PA 2 not 0.
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Page 19: Controller Settings
R17 Robot Manual page 19 9. CONTROLLER SETTINGS Changing default values All the robot parameters revert to their original values when the controller is powered up or the reset is pressed. If you want to change these values and make the changes permanent you need to write them to flash ROM with the command USAVE Changes to any variable in the RoboForth itself are saved with PSAVE. -
Page 20: Robot Parameters
R17 Robot Manual page 20 10. ROBOT PARAMETERS WARNING – there should be no reason to alter these constants unless some change has been made to the robot, for example a repair. These parameters are particular to your robot, sometimes called a ‘signature’. They are stored in flash memory. - Page 21 R17 Robot Manual page 21 Micro-stepping Each motor is ‘micro-stepped’ and the micro-step setting depends on the type of drive module fitted in the controller. Geckos are set to 10 while IM805s are set to 5 but may changed to 10 or any value. There is an array MICROS which has values of 2 for 5 microsteps and 4 for 10 microsteps.
- Page 22 R17 Robot Manual page 22 11. CALIBRATION When the robot calibrates it seeks out proximity detectors on each axis and corrects the counts to values seen in the array LIMITS which you can view with VIEW LIMITS The accuracy of these figures affects the home position, and is particularly important in Cartesian transformations i.e.
- Page 23 R17 Robot Manual page 23 Energizing current Standard motors are energized at less than rated current for two reasons: - (1) at low speeds the torque at the final drive can be very high so the reduced current reduces this torque for safety.
- Page 24 R17 Robot Manual page 24 11 FULL CALIBRATION (Setting up from scratch) If you change the robot calibration for example because of a repair, you can set the robot up from scratch as follows: 1. Make sure you have a copy of the memory image on disk (see reloading ROBOFORTH).
- Page 25 R17 Robot Manual page 25 12. CONNECTIONS Connections to the rear panel are as follows:- MOTORS 25-way D-type, female: 5-axis version 1,2 - motor 1 winding 1 3,4 - motor 1 winding 2 (waist) 5,6 - motor 2 winding 1 7,8 - motor 2 winding 2 (shoulder) 9,10 - motor 3 winding 1 11,12 - motor 3 winding 2 (elbow)
- Page 26 R17 Robot Manual page 26 6TH AXIS MODULE CONNECTOR ON FOREARM Sensor: Motor: 12v supply (brown) Phase A1 B (goes to 25Df 22) 0v return (blue) C (goes to 25Df 23) Signal (black) J (goes to PB 5) D (goes to 25Df 24) E (goes to 25Df 25) Electric gripper A (goes to 25Dm 22)
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Page 27: Technical Support
R17 Robot Manual page 27 13. COLLISIONS In case of a collision one or more motors can stall. A stepping motor will come out of synchronism and no further motion will take place. The encoders then detect the stall and an error is declared: “ENCODER-STEPPER MISMATCH”... - Page 28 R17 Robot Manual page 28 RISK ASSESSMENT This form must be completed by a competent Assessor for any procedure using the robot system before attempt is made at the procedure by any worker or visitor. For further information on hazards and risks please refer to the section SAFETY IS YOUR RESPONSIBILITY on page 5 of this manual.
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