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Intelitek SCORBOT-ER 9Pro User Manual

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SCORBOT-ER 9Pro
User Manual
Catalog # 200034 Rev. B

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Summary of Contents for Intelitek SCORBOT-ER 9Pro

  • Page 1 SCORBOT-ER 9Pro User Manual Catalog # 200034 Rev. B...
  • Page 3 Every effort has been made to make this book as complete and accurate as possible. However, no warranty of suitability, purpose, or fitness is made or implied. Intelitek is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software, hardware and/or the information contained in this publication.

  • Page 5: Precautions

    5. Make sure the robot arm has ample space in which to operate freely. 6. Make sure a guardrail or rope has been set up around the SCORBOT-ER 9Pro operating area to protect both the operator and bystanders.

  • Page 6: Warnings

    Warnings 1. Do not operate the SCORBOT-ER 9Pro until you have thoroughly studied this User Manual and the Controller USB-Pro and Scorbase for ER 9Pro/ER 14Pro User Manuals. Be sure you follow the safety guidelines outlined for both the robot and the controller.

  • Page 7: Table Of Contents

    5 ..............................5-1   Drive System ........................... 5-1   Motors..........................5-1   DC Motor Structure ......................5-3   SCORBOT-ER 9Pro Motors ....................5-4   Harmonic Drive Gears......................5-5   Harmonic Drive Gear Ratios ................... 5-6   Axis Gear Ratios........................5-7  ...
  • Page 8 Robot (Power) Cable and Connector................... 7-2   Encoder Cable and Connector ..................... 7-3   8 ..............................8-1   Maintenance..........................8-1   Daily Operation ........................8-1   Periodic Inspection ......................8-1   Troubleshooting........................8-2  ...

  • Page 9: Unpacking And Handling

    Unpacking and Handling This chapter contains important instructions for unpacking and inspecting the SCORBOT-ER 9Pro robot arm.  Read this chapter carefully before you unpack the SCORBOT-ER 9Pro robot and controller. Unpacking the Robot The robot is packed in expanded foam, as shown in Figure 1-1.

  • Page 10: Handling Instructions

    If any damage is evident, do not install or operate the robot. Notify your freight carrier and begin appropriate claims procedures. The following items are standard components in the SCORBOT-ER 9Pro package. Make sure you have received all the items listed on the shipment's packing list. If anything is missing, contact your supplier.

  • Page 11: Repacking For Shipment

    Fill the box equally around the unit with resilient packing material (shredded paper, bubble pack, expanded foam chunks). Seal the carton with sealing or strapping tape. Do not use cellophane or masking tape. User Manual SCORBOT-ER 9Pro...

  • Page 13: Specifications

    Specifications The following table gives the specifications of the SCORBOT-ER 9Pro. Table 2-1: Specifications. Robot Arm Specifications Mechanical Structure Vertical articulated, enclosed casting Number of Axes 5 plus gripper Axis Range • Axis 1: Base rotation: 270° • Axis 2: Shoulder rotation: 145°...

  • Page 14: Structure

    Structure The SCORBOT-ER 9Pro is a vertical articulated robot, with five revolute joints. With gripper attached, the robot has five degrees of freedom. This design permits the end effector to be positioned and oriented arbitrarily within a large workspace. Figures 2-1 and 2-2 identify the joints and links of the mechanical arm.
  • Page 15 Figure 2-3: Operating Range (Side View) Figure 2-4: Operating Range (Top View) User Manual SCORBOT-ER 9PRO...

  • Page 17: Installation

    Controller USB-Pro User Manual. Robot Setup Refer to Figures 4-1, 4-2 and 4-3. 1. Set up the SCORBOT-ER 9Pro on a sturdy surface with at least one meter of free space all around the robot. Figure 4-1 Robot Safety Range 2.
  • Page 18 Make sure the robot is mounted on a surface large enough to provide support for this segment of the robot cable during all movements of the base axis. 5. Set up a guardrail or rope around the SCORBOT-ER 9Pro operating area to protect both the operator and bystanders.

  • Page 19: Scorbot-Er 9Pro Installation

    SCORBOT-ER 9Pro Installation Controller Installation Perform the necessary installation and configuration procedures detailed in the Controller USB-Pro User Manual. Robot Installation  Before you begin, make sure the controller POWER switch is turned off. The robot cable has a number of connectors. Connect them to the controller according to following three steps.

  • Page 20: Hardware Check

    Watch the Encoder Counts window to see that it is responding correctly.  It is important to make sure that one has the emergency stop button on the controller within easy reach as the SCORBOT-ER 9Pro could behave unexpectedly. Homing the Robot After you have completed the robot installation, execute the robot's Home routine, as described below.

  • Page 21: Peripheral Installation

    To abort homing while the procedure is still in progress, do one of the following: Press [F9] (Stop command) • Press the red EMERGENCY button on the controller. • Press the EMERGENCY button on the Teach Pendant. • If the homing procedure fails, a message appears. The Search Home - All Axes command executes the robot’s homing procedure as well as that of any peripheral devices that have been configured in the Options | Hardware Setup menu.
  • Page 22 1. Using a hex wrench and four M4x10 socket screws, attach the gripper to the robot arm flange. 2. Connect the coiled double hose from the gripper to the quick coupling on the robot's forearm, as indicated in Figure 4-11. Figure 4-8: SCORBOT-ER 9Pro with Figure 4-7: Pneumatic Gripper Pneumatic Gripper 3. Refer to Figure 4-12.
  • Page 23 4. Refer to Figure 4-9. Connect the valve to the controller's User Power Supply as follows: Connect the black wire to a common terminal. • Connect the red wire to the normally open (NO) terminal of any unused relay • output.

  • Page 24: Dc Servo Gripper

    4. Carefully execute the robot HOME command. Stay close to the teach pendant or controller. If the gripper cable becomes entangled or excessively stretched during the homing, abort the procedure immediately. 5. The gripper has a rotation of ±270º. Do not attempt to move the gripper beyond this limit. SCORBOT-ER 9Pro User Manual...

  • Page 25: Activating The Gripper

    6, you must change the system configuration by means of the Hardware Setup that is found under Options on the Menu Bar. Figure 4-13: Connecting Gripper to SCORBOT-ER 9Pro Figure 4-14: Connecting Gripper to SCORBOT-ER 9Pro Activating the Gripper Open and close the gripper in order to verify that it is functioning.

  • Page 27: Operating Methods

    Operating Methods The SCORBOT-ER 9Pro robot can be programmed and operated in two ways. The Scorbase for ER 9Pro/ER 14Pro User Manual includes instructions on operating the robot. Software Scorbase Software Scorbase for ER 9Pro/ER 14Pro is a robot control software package which is supplied with the controller.

  • Page 29: Drive System

    Timing belt and pulleys • Figure 6-1 shows the drive system for axes 1 through 4 of the SCORBOT-ER 9Pro. The roll axis (axis 5) transmission does not contain the pulleys and timing belt; only a Harmonic Drive is used.
  • Page 30 • the robot motors must be light and compact, yet powerful. As shown in Figure 6- 2, the motors of the SCORBOT-ER 9Pro are located on the axes they drive, with a two-stage (axes 14) or one-stage (axis 5) transmission.

  • Page 31: Dc Motor Structure

    This situation creates a force which acts on the conductor. Figure 6-3 shows the basic structure and components of a DC motor comparable to the structure of the motors used in the SCORBOT-ER 9Pro. This motors has three main components: Stator: This is a static component which creates the magnetic field.

  • Page 32: Scorbot-Er 9Pro Motors

    The SCORBOT-ER 9Pro uses permanent magnet DC motors to drive the axes. Axes 1, 2 and 3 of the SCORBOT-ER 9Pro are powered by the motor shown in Figure 6-4. Axes 4 and 5 are powered by the motor shown in Figure 6-5.

  • Page 33: Harmonic Drive Gears

    Harmonic Drive Gears The Harmonic Drive transmission used in the SCORBOT-ER 9Pro, shown in Figure 6-6, offers a very high gear ratio. The Harmonic Drive gears used in the SCORBOT-ER 9Pro have four main components: Circular spline: a solid steel ring, with internal gear teeth, usually fixed to the •...

  • Page 34: Harmonic Drive Gear Ratios

    Hence:  HD gear ratio =   The Harmonic Drive gear ratios for each of the SCORBOT-ER 9Pro axes are as follows: Axis 1 — 160:1 Axis 2 — 160:1 Axis 3 — 160:1 Axis 4 — 100:1 Axis 5 —...

  • Page 35: Axis Gear Ratios

    (that is, the radii ratio): PulleyA is the Harmonic drive ratio, as described above. is the overall gear ratio of the axis. AXIS Table 6-2: SCORBOT-ER 9Pro Gear Ratios AXIS Axis 1 1.33 : 1 160 : 1 213.33 : 1...

  • Page 37: Position And Limit Devices

    Position and Limit Devices This chapter describes the various elements in the SCORBOT-ER 9Pro which play a part in the positioning of the robot arm and the limiting of its motion. Encoders • End of Travel Switches • Hard Stops •...
  • Page 38 The SCORBOT-ER 9Pro encoders have 512 slots, as shown in Figure 7-2. An additional slot on the encoder disk is used to generate an index pulse (C-pulse) once for each full rotation of the disk.

  • Page 39: Encoder Resolution

    Since the encoder is mounted on the motor shaft, and turns along with it, the resolution of the joint is expressed as:  JOINT AXIS Thus, for example, the resolution of joint 3 of the SCORBOT-ER 9Pro is therefore as follows:  0.176 ...
  • Page 40 The limit switches are mounted on a disk which is attached to the robot's frame. The disk for axis3 is shown in Figure 7-6. Figure 7-5: SCORBOT-ER 9Pro Limit Switch The output shaft of the Harmonic Drive moves relative to the microswitch disk.

  • Page 41: Hard Stops

    Home Switches The SCORBOT-ER 9Pro uses an optical home switch on each axis to identify the fixed reference, or home, position. The home switch is mounted on the same disk as the end of travel switches, and a flag is attached to the Harmonic Drive output shaft, as shown in Figure 7-7.

  • Page 43: Wiring

    Wiring Figure 8-1 is a schematic diagram of the SCORBOT-ER 9Pro cable connections. The wire braid which connects the robot to the controller contains a power (robot) cable and an encoder cable. Figure 8-1: SCORBOT-ER 9Pro Cabling The body, upper arm and forearm links each contain a printed circuit board (PCB).

  • Page 44: Robot (Power) Cable And Connector

    Light blue M3_A 27, 28 Motor 4 + Blue M3_B 44, 45 Motor 5 - Grey M4_A 13, 14 Motor 5 + Pink M4_B 31, 32 Motor 6 - White M5_A 48, 49 Motor 6+ Green M5_B SCORBOT-ER 9Pro User Manual...

  • Page 45: Encoder Cable And Connector

    Pin Description Belden Wire Pin Description Robot Side (J1) Color Controller Side (P1) +24VDC +24VDC 24VDC RET Black 24V RET Encoder Cable and Connector The encoder cable, which connects the controller to the motor encoders and optical home switches, contains 36 leads. Figure 8-3 shows the D37 female connector that joins the encoder cable to the controller's back panel.
  • Page 46 CHA6 (Encoder Pulse A) green CHA 5 CHB6 (Encoder Pulse B) white CHB 5 CHC6 (Encoder Index Pulse) black CHC 5 MSWITCH (Home Switch) blue MSWITCH Internal jumper to pin 16 to detect when the cable is disconnected SCORBOT-ER 9Pro User Manual...

  • Page 47: Maintenance

    Check robot mounting bolts for looseness using a wrench. Retighten as needed. • Check all visible bolts and screws for looseness using a wrench and screwdriver. • Retighten as needed. Check cables. Replace if any damage is evident. • User Manual SCORBOT-ER 9Pro...

  • Page 48: Troubleshooting

    • Make sure the controller is in the control off (COFF) state. Then activate the • control on (CON) state from the PC or TP. Make sure all robot and encoder cables are properly connected. • SCORBOT-ER 9Pro User Manual...
  • Page 49 Try to identify the faulty axis. If many or all axes are faulty, look for an electrical • noise source in your environment. Check the controller's ground and the robot's ground connection to the safety • ground terminal at the back of the controller. Check the encoder. • User Manual SCORBOT-ER 9Pro...
  • Page 50 Check the relay output to which the gripper is connected. • Check whether the relays have been switched (LED is lit): • When an output is in OFF state, NC contact is shorted to COM, and NO contact is • disconnected from COM. SCORBOT-ER 9Pro User Manual...
  • Page 51 Check gripper configuration hardware setup. select Options | Hardware • Setup . 9. Error Messages For details on error messages refer to the System Messages chapter in the • Scorbase for ER 9Pro/ER 14Pro User Manual. User Manual SCORBOT-ER 9Pro...

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