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Intelitek SCORA-ER 14Pro User Manual

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SCORA-ER 14Pro
User Manual
Catalog # 200035 Rev. C

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Summary of Contents for Intelitek SCORA-ER 14Pro

  • Page 1 SCORA-ER 14Pro User Manual Catalog # 200035 Rev. C...
  • 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: Safety

    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 SCORA-ER 14Pro operating area to protect both the operator and bystanders.

  • Page 6: Warnings

    Manuals. Be sure you follow the safety guidelines outlined for both the robot and the controller. 2. Do not install or operate the SCORA-ER 14Pro under any of the following conditions: • Where the ambient temperature drops below or exceeds the specified limits.

  • Page 7: Table Of Contents

    Specifications..........................2-1 Structure........................... 2-2 Work Envelope ........................2-3 3 ............................... 3-1 Installation ........................... 3-1 Preparations ..........................3-1 SCORA-ER 14Pro Installation ....................3-2 Peripheral installation ......................3-6 Gripper Installation........................3-6 4 ............................... 4-1 Operating Methods ........................4-1 Software........................... 4-1 Teach Pendant.......................... 4-1 5 ...............................
  • Page 8 Daily Operation ........................8-1 Periodic Inspection ........................8-1 Troubleshooting........................8-2 SCORA-ER 14Pro User Manual...

  • Page 9: Unpacking And Handling

    Unpacking and Handling This chapter contains important instructions for unpacking and inspecting the SCORA-ER 14Pro robot arm.  Read this chapter carefully before you unpack the SCORA-ER 14Pro robot and controller. Unpacking and Handling the Robot The robot is packed in expanded foam.

  • Page 10: Acceptance Inspection

    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 SCORA-ER 14Pro 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: Specifications

    Specifications The following table gives the specifications of the SCORA-ER 14Pro robot arm. Table 2: Specifications Robot Arm Specifications Mechanical Structure Horizontal articulated (SCARA) Arm Length Link 1 270mm (10.6") Link 2 230mm (9.0") Axis Movement Axis Range Effective Speed Axis 1: Rotation 301.5°...

  • Page 12: Structure

    Structure The SCORA-ER 14Pro is a horizontal articulated (SCARA) robot. The first two joints are revolute and determine the position of the end effector in the XY plane. The third joint is prismatic and determines the height (Z coordinate) of the end effector .

  • Page 13: Work Envelope

    14Pro, while Figure 2-4 gives a top view of the robot's work envelope. The base of the robot is normally fixed to a stationary work surface. Figure 2-2: Dimensions (Side View) Figure 2-3: Dimensions (Top View) User Manual SCORA-ER 14Pro...
  • Page 14 Figure 2-4: Working Range (Top Vie w) SCORA-ER 14Pro User Manual...

  • Page 15: Installation

    Controller USB-Pro User Manual. Robot Setup Refer to Figure 3-1 and Figure 3-2. 1. Set up the SCORA-ER 14Pro on a sturdy surface with at least 70cm of free space all around the robot. Figure 3-1: Robot Safety Range 2.

  • Page 16: Scora-Er 14Pro Installation

    Make sure the robot is securely bolted in place. Otherwise the robot will become unstable and topple over while in motion. Figure 3-2: Robot Base Layout 4. Set up a guardrail or rope around the SCORA-ER 14Pro operating area to protect both the operator and bystanders. SCORA-ER 14Pro Installation...
  • Page 17  Before working with the Robot, it must be configured in Scorbase. Select Options | Hardware Setup and configure the Robot being used. For more information refer to the Hardware Setup section in the Scorbase for ER 9Pro/ER 14Pro User Manual. Hardware Setup in Scorbase User Manual SCORA-ER 14Pro...
  • Page 18 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 SCORA-ER 14Pro could behave unexpectedly. Homing the Robot After you have completed the robot installation, execute the robot's Home routine, as described below.
  • Page 19 On-line mode. When Scorbase is in Off-Line Mode, or when Scorbase is installed, the homing procedure is not required, although it can be executed. User Manual SCORA-ER 14Pro...

  • Page 20: Peripheral Installation

    Hardware Setup section in the Scorbase for ER 9Pro/ER 14Pro User Manual. Gripper Installation The gripper is attached to the flange at the end of the robot arm whose layout is shown in Figure 3-4. Figure 3-4: Gripper Mounting Flange Layout SCORA-ER 14Pro User Manual...
  • Page 21 1. Using a 3mm hex wrench and four M4x8 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 underside of Link 2, as indicated in Figure 3-5. Figure 3-5: Gripper Connectors Figure 3-6: Pneumatic Gripper User Manual SCORA-ER 14Pro...
  • Page 22 5. Connect 24VDC to the common (C) terminal of the same relay output, as shown in Figure 3-8. Attach the valve to the controller or any other metallic surface by means of the valve's magnetic base. Figure 3-7: Pneumatic gripper valve connection example (front connection) Figure 3-8: Example of gripper connection SCORA-ER 14Pro User Manual...
  • Page 23 Figure 3-9:Pneumatic Solenoid Valve User Manual SCORA-ER 14Pro...
  • Page 24 Open and close the gripper in order to verify that it is functioning. To do so, select View | Manual Movement. Control the gripper using the manual movement window which appears. This window can be used for both the electric and the pneumatic gripper. SCORA-ER 14Pro 3-10 User Manual...

  • Page 25: Operating Methods

    Operating Methods The SCORA-ER 14Pro 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 27: Drive System

    The structure and operation of the various components used to drive the robot’s axes are described in this chapter.  Note that the illustrations of components shown in this chapter are for descriptive purposes, and may not be the actual components used in the SCORA-ER 14Pro . User Manual SCORA-ER 14Pro...

  • Page 28: Axes 1 And 2

    Axes 1 and 2 The main components of the drive system for axes 1 and 2 are the motor, the coupling and the Harmonic Drive gear, as shown in Figure 5-1. Figure 5-1: Drive Systems Axes 1 and 2 SCORA-ER 14Pro User Manual...

  • Page 29: Axis 3

    The drive system for axis4 (Z-roll) produces the rotation of the end effector flange. Its main components are the motor, a worm gear and a spline, as shown in Figure 5-3 . Figure 5-3: Drive System Axis 4 User Manual SCORA-ER 14Pro...

  • Page 30: Motors

    • Since mounting motors on the robot arm adds to the robot's weight and inertia, the robot motors must be light and compact, yet powerful. As shown in Figure 5-4, the motors of the SCORA-ER 14Pro are located close to the axes they drive. Figure 5-4: Motor Locations in SCORA-ER 14Pro...
  • Page 31 This situation creates a force which acts on the conductor. Figure 5-5 shows the basic structure and components of a DC motor comparable to the structure of the motors used in the SCORA-ER 14Pro This motor has three main components: •...
  • Page 32 The SCORA-ER 14Pro uses permanent magnet DC motors to drive the axes. Axes 1 and 2 of the SCORA-ER 14Pro are powered by the motor shown in Figure 5-6. Axes 3 and 4 are powered by the motor shown in Figure 5-7.

  • Page 33: Harmonic Drive Gear

    Harmonic Drive Gear The Harmonic Drive transmission used in the SCORA-ER 14Pro, shown in Figure 5-8, offers a very high gear ratio. The Harmonic Drive gears used in the SCORA-ER 14Pro have four main components: Circular spline • a solid steel ring, with internal gear teeth, usually fixed to the robot link.
  • Page 34        The Harmonic Drive gear ratio for axis 1 and axis 2 of the SCORA-ER 14Pro is 160:1. Figure 5-9: Operation of the Harmonic Drive Figure 5-10: Operation of the Harmonic Drive SCORA-ER 14Pro...

  • Page 35: Pulleys And Timing Belt

    In lead screw transmissions, the screw is rotated by the motor, and the shaft is connected to the nut, or sleeve, as illustrated in Figure 5-12. In the SCORA-ER 14Pro the screw rotates and the nut travels along the length of the screw.
  • Page 36 The lead screw used in the SCORA-ER 14Pro has a 16mm lead. That is, for each rotation of the screw, the nut travels a linear distance of 16mm. The lead screw of the SCORA-ER 14Pro is fitted with a brake which halts motion of the Z-axis when motor power is cut off.

  • Page 37: Worm Gear

    The worm gear used in the SCORA-ER 14Pro has 100 teeth and the shaft has two starts. Thus, the worm gear transmission has a ratio of 50:1. Figure 5-14: Worm Gear Transmission User Manual 5-11...

  • Page 38: Ball Bearing Spline

    Ball Bearing Spline The SCORA-ER 14Pro uses a ball bearing spline, shown in Figure 5-15, to transmit torque from the worm gear to the Z-axis (slider) shaft, while allowing linear motion of the axis. Ball bearing splines are similar to ball bearing screws in that they both employ the rolling contact principle of balls recirculating in a path between a shaft (spline) and a matching nut (sleeve).

  • Page 39: Position And Limit Devices

    Position and Limit Devices This chapter describes the various elements in the SCORA-ER 14Pro 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 40 The encoder used on the SCORA-ER 14Pro contains a single light emitting diode (LED) as its light source. Opposite the LED is a light detector integrated circuit. This IC contains several sets of photodetectors and the circuitry for producing a digital signal.
  • Page 41 A will lead channel B. When the disk rotation is clockwise, channel B will lead channel A. Encoder Resolution From the quadrature signal the SCORA-ER 14Pro controller measures four counts for each encoder slot, thus quadrupling the effective resolution of the encoder. The resolution of the encoder is expressed as: ...

  • Page 42: End Of Travel (Limit) Switches

    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 2 of the SCORA-ER 14Pro is therefore as follows:   ...
  • Page 43 The motor cannot move the joint beyond this point. The diode allows the motor to reverse direction, thus permitting the joint to move away from the limit switch. Figure 6-7: Axis Limit Circuit User Manual SCORA-ER 14Pro...

  • Page 44: Hard Stops

    Home Switches The SCORA-ER 14Pro uses an optical home switch on each axis to identify the fixed reference, or home, position. For axes 1 and 2 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 6-9.
  • Page 45 Once the home switch location has been detected, the axis motor continues to rotate until its encoder produces an index pulse. The point at which that occurs is the axis home position. Figure 6-9: Home Switch Activation User Manual SCORA-ER 14Pro...

  • Page 47: Wiring

    Wiring Figure 7-1 is a schematic diagram of the SCORA-ER 14Pro cable connections. Figure 7-1: SCORA-ER 14Pro Cabling The robot motors cable, encoder cable and warning light cable connect the Controller USB-Pro to the connector panel of the SCORA-ER 14Pro robot. Safety ground wires from the robot and the encoder cables are connected to safety ground studs on the connector panel and on the controller back panel.

  • Page 48: Robot Interface Cable

    Pair 27, 28 Motor 4 + Blue M3_B 44, 45 Motor 5 - Brown M4_A Twisted Pair 13, 14 Motor 5 + Grey M4_B +24V to PCB +24VDC Twisted Pair 24VRET to PCB Black 24V RET SCORA-ER 14Pro User Manual...
  • Page 49 J21-3 B4 (Encoder Pulse B) Brown CHB 3 J21-4 C4 (Encoder Index Pulse) Green CHC 3 J21-5 COMMON 4 Yellow COMMON 3 J21-1 H4 (Home) Grey MSWITCH 3 J21-2 A5 (Encoder Pulse A) White CHA 4 User Manual SCORA-ER 14Pro...
  • Page 50 H5 (Home) Grey MSWITCH 4 COMMON2 Enable Signal JUMPER Black ENABLE Warning Light Cable Table 7: Warning Light Cable Signal Name Signal Name Wire Color Robot Side (J22) Controller Side 24V RET Relay NO/COM Warning Light Black SCORA-ER 14Pro User Manual...

  • Page 51: Maintenance

    The following inspections should be performed regularly: • 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. User Manual SCORA-ER 14Pro...
  • Page 52 • Make sure the green Motors LED is lit. • 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. SCORA-ER 14Pro User Manual...
  • Page 53 If this does not occur, there is a problem in the encoder or its circuitry. If the encoder readings do not change, check whether the encoder connector is properly connected to the rear controller panel. The problem may be caused by faulty encoder connectors on the robot's internal PCB's. User Manual SCORA-ER 14Pro...
  • Page 54 7. Axis/axes vibrating, too weak to carry load, motion not smooth, or jerks during or at end of motion. • System parameters are not properly adjusted. Refer to the Scorbase for ER 9Pro/ER 14Pro User Manual. • Problem in axis driver card(s) in the controller. Refer to the Controller USB-Pro User Manual. SCORA-ER 14Pro User Manual...
  • Page 55 • 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 SCORA-ER 14Pro...

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