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Eshed Robotec SCORBOT-ER III User Manual

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SCORBOT-ER III
User's Manual
6th Edition
Catalog No. 100038 Rev.A

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Summary of Contents for Eshed Robotec SCORBOT-ER III

  • Page 1 SCORBOT-ER III User’s Manual 6th Edition Catalog No. 100038 Rev.A...
  • Page 3 Eshed Robotec bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software, hardware and manual without prior notice.
  • Page 5 ....Testing the Motors ......USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 6 DEMO Program ......4-48 Position Tables ......4-50 SCORBOT-ER III USER’ S MANUAL...
  • Page 7 APPENDIX A Writing Software for SCORBOT-ER III ... . . A-1 Operating System ....A-1 SCORBOT-ER III Controller Operating System Commands .
  • Page 8 RS232 Specifications ....B-1 SCORBOT-ER III RS232 Cable Connections ..... . . B-1 RS232 Card Setup .
  • Page 9 Encoder Disks ..... . E-1 Figure E-2: Encoder Circuitry ....E-1 USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 10 Lamp and Buzzer Connections ....I-2 Figure J-1: The Linear Slidebase ....SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 11 Robot Arm Specifications ..SCORBOT–ER III Table 7-1: Robot Arm Components – ..SCORBOT-ER III Table 7-2: Controller Components – ..SCORBOT-ER III Table D-1: Wiring to Motors, Encoders and Microswitches .
  • Page 13 CHAPTER General Information Congratulations! You are now the owner of the educational SCORBOT–ER III robot. Many hours of interesting and stimulating work now await you. Read this chapter carefully before you unpack the robot and controller. SCORBOT–ER III Figure 1-1: in Packing SCORBOT–ER III USER’...
  • Page 14 Unpacking and Handling Instructions robot arm and controller are packed and shipped in a carton SCORBOT–ER III weighing 22 kg (48.5 lb.) and measuring: Height: 400 mm (15.5") Width: 460 mm (18") Length: 610 mm (24") After you have removed the User’s Manual from the recess in SCORBOT–ER III the top layer of the molded foam, carefully remove the layer of foam which covers...
  • Page 15 Table 1-1: Standard Components SCORBOT–ER III Item Description Mechanical Arm SCORBOT–ER III Controller SCORBOT–ER III User’s Manual SCORBOT-ER III Software Levels 1, 2 and 3 diskettes SCORBASE 5. Power Cable 6. RS232 Cable USER’ S MANUAL SCORBOT–ER III 9211...
  • Page 16 Optional Accessories Following is a list of optional accessories. Make sure you have received all the items you ordered. Table 1-2: Optional Accessories SCORBOT–ER III Item Description Catalog # 1. Teach Pendant 1701 (includes Level 4) SCORBASE Level 5 9003 SCORBASE 3.
  • Page 17 Safety Precautions is potentially dangerous! Use extreme caution when SCORBOT-ER III operating the robot. Carelessness could result in injury to the operator and people in the vicinity. Study this manual thoroughly before you install or operate the SCORBOT-ER III. 1. Make sure the robot’s base is fastened to the work surface by means of at least three bolts, set 120°...
  • Page 18 Warnings To prevent damage to the , make sure you heed the following SCORBOT-ER III warnings: 1. Do not plug the controller into the 220/110/100V AC outlet before making sure the voltage on the manufacturer’s tag at the back of the controller matches your voltage supply.
  • Page 19 CHAPTER Components and Specifications system consists of the mechanical arm and the electronic SCORBOT-ER III controller. The Robot Arm is a vertically SCORBOT–ER III articulated robot. It has a base joint which rotates the arm in a horizontal plane, three joints which rotate the robot’s links in a vertical plane, and a...
  • Page 20 Figure 2-2: Robot Arm Segments Figure 2-3: Gripper (Removal of Rubber Pads) SCORBOT–ER III USER’ S MANUAL 9211...
  • Page 21 The following table gives the technical specifications of the robot SCORBOT-ER III arm. Table 2-1: Robot Arm Specifications SCORBOT-ER III Item Specification Mechanical Structure Vertically articulated 5 axes plus gripper Control of 8 axes simultaneously Working Envelope: Axis 1: Base Rotation 310°...
  • Page 22 Motors The five axes and the gripper are operated by DC servo motors. The direction of motor revolution is determined by the polarity of the operating voltage: positive DC voltage turns the motor in one direction, while negative DC voltage turns it in the opposite direction.
  • Page 23 and a toothed gear differential unit at the end of the arm move the wrist. A lead screw coupled directly to a DC servo motor causes the gripper to open and close. Robot Cable The main cable of the robot contains 50 leads divided into six groups (one for each motor).
  • Page 24 The Controller controller main components: the controller housing; the main controller circuit; the display and I/O circuit; two drive circuits: NPN and PNP; and the power supply Controller Housing The base of the controller contains the main circuit, the power supply, the transformer and the two drive circuits.
  • Page 25 marked on the controller front panel. MOTOR 6 MOTOR 7 In addition, the main controller circuit operates eight outputs and checks the state of eight inputs. It also checks the state of up to eight microswitches and reads the state of the eight encoders. Display and Input/Output Circuitry (PC 3 10 ) Display Circuitry The display circuit is fitted to the cover of the controller housing.
  • Page 26 Connect a microswitch to an input terminal and to a ground terminal. • • Connect an external voltage signal to an input terminal and connect the external ground pole to the ground pole. SCORBOT-ER III Voltage and input states are as follows: • 2.5 V – 24 V Input OFF •...
  • Page 27 When the relay functions, the situation reverses: the NO terminal is shorted to the COM terminal, and the NC terminal is disconnected from the COM terminal. A maximum current of 4 amp can be switched through a relay output. Outputs 5–8: Open Collector Outputs Each open collector output utilizes a single terminal.
  • Page 28 • –12V, 0.4A, regulated, supplies power to the RS232 communications. • + 5V, 1.5A, regulated, supplies power to the microprocessor, the memory and the logic in the control circuit. The three regulated power supplies also feed the teach pendant’s circuitry. Warning! Never connect the ground of the motor power supply and the ground of the other power supplies to each other.
  • Page 29 Figure 2-9: Pow er Supply Card (PC 410) Circuitry USER’ S MANUAL SCORBOT–ER III 2-11 9211...
  • Page 30 This page intentionally left blank. 2-12 SCORBOT–ER III USER’ S MANUAL 9211...
  • Page 31 CHAPTER Installation Before proceding with the installation of , familiarize yourself SCORBOT–ER III with the safety instructions and warnings detailed in Chapter 1. Connecting the Equipment Place the arm, controller and computer on an ample and sturdy work surface. (Note that the computer/terminal is not supplied with the SCORBOT–ER III Installing the Robot...
  • Page 32 Connecting the Robot to the Controller 1. Connect the D50 connector on the robot cable to the port marked on the ROBOT rear panel of the controller (see Figure 3-2). 2. Gently insert the two screws on the connector into the threads on the controller port.
  • Page 33 3. Connect the RS232 cable from the lower port, marked COMPUTER on the rear of the controller to the RS232 port on the computer. 4. Connect the computer power cable to an AC power source. Figure 3-3: RS232 Setup for Computer as COM1 Testing the Controller Display Panel 1.
  • Page 34 Figure 3-4: Recommended Starting Position for Motor Test 2. Once the robot is in a suitable position, turn on the and the POWER MOTOR switches. The and the LEDs on the controller front panel will POWER MOTOR light up. Warning! Proceed with care! The controller is now in the MOTORS ON state and is supplying voltage to the motors.
  • Page 35 SCORBASE Level 1 CHAPTER Operation SCORBASE Software software lets you program and operate the SCORBASE SCORBOT-ER III. system is supplied with Levels 1, 2 and 3. Each SCORBOT-ER III SCORBASE level offers increasingly more features and is designed to match the student’s progress in learning to program and operate the robot.
  • Page 36 SCORBASE Level 1 SCOR1 <Enter> SCOR2 <Enter> SCOR3 <Enter> The following message will appear on your screen: SCORBASE LEVEL # IS LOADED The Main Menu will then appear on your screen. SCORBASE Level 1 MAIN MENU To select any of the options, press the number or the first letter of the function you want to activate.
  • Page 37 SCORBASE Level 1 Program Handling This module lets you save programs on a disk(ette), and to load or delete them. Run Program This module lets you run a program which exists in the computer memory. Exit to DOS Press 9 to exit to DOS. will prompt you to confirm: SCORBASE ARE YOU SURE? (Y/N)? N...
  • Page 38 SCORBASE Level 1 TEACH POSITIONS MENU This screen allows you to move the robot, and to teach and define positions. The following pairs of number and letter keys are used to directly control the movement of the servo axes. The axes will continue to move as long as the activating key is depressed.
  • Page 39 SCORBASE Level 1 move axis 6 + / – Axis no. 6 moves forward and backward. move axis 7 + / – Axis no. 7 moves forward and backward. Open / Close gripper These commands open and close the gripper. Press O to open the gripper.
  • Page 40 SCORBASE Level 1 set present position as Home Press H to set the current position of the axes as the new home position. Warning! This command automatically alters the physical location of all recorded positions. Changing the home position may therefore invalidate other recorded positions.
  • Page 41 SCORBASE Level 1 LIST / DELETE POSITIONS SCREEN This screen allows you to display, delete and print the positions you have recorded. To activate this screen, select the L option in the Teach Positions menu. LIST POSITION . . . This command displays the coordinates of the robot axes at the specified position.
  • Page 42 SCORBASE Level 1 DELETE FROM POSITION . . . TO POSITION . . . This command deletes all points from the first position specified through the second position specified. Press 4 and enter two position numbers. DELETE ALL Press 5 to delete all recorded positions from controller memory. PRINT POSITION (TO PRINTER) Press 6 to print out a listing of all recorded positions.
  • Page 43 SCORBASE Level 1 EDIT PROGRAM MENU This screen allows you to write and edit your robotic programs. SCORBASE automatically assigns numbers to your program lines. OPEN/CLOSE GRIPPER These commands open and close the gripper. Press O to open the gripper. Press C to close the gripper.
  • Page 44 SCORBASE Level 1 LIST / DELETE PROGRAM Press L to activate the List / Delete Program screen. < ESC> RETURN TO MAIN MENU 4-10 SCORBOT–ER III USER’ S MANUAL 9211...
  • Page 45 SCORBASE Level 1 LIST / DELETE PROGRAM SCREEN This screen allows you to display, delete and print the programs you have written. It is similar to the List/Delete Position screen called from the Teach Positions menu. To activate this screen, press L from the Edit Program menu. LIST LINE .
  • Page 46 SCORBASE Level 1 DELETE FROM LINE . . . TO LINE . . . This command deletes all program lines from the first line specified through the second line specified. Press 4 and enter two program line numbers. DELETE ALL Press 5 to delete the entire program from the controller memory.
  • Page 47 SCORBASE Level 1 PROGRAM HANDLING MENU This screen allows you to delete programs and to transfer (load and save) programs between the computer memory and disk(ette). Save Program This option lets you save on disk(ette) the program you have created. Press 1 or S.
  • Page 48 SCORBASE Level 1 Delete Program This option allows you to deletes a program from the disk(ette). Press 3 or D, and enter the program name. To delete a program, you must be operating in the level in which the program was created.
  • Page 49 SCORBASE Level 1 RUN PROGRAM MENU This screen lets you run the programs you have created. RUN SINGLE LINE Press 1 and press G. One program line (the current line) is executed each time you press G. RUN SINGLE CYCLE Press 2 and press G.
  • Page 50 SCORBASE Level 1 PRESS ’G’ TO LET ROBOT RUN You must press G to begin or restart the running of a program. PRESS ’B’ FOR IMMEDIATE BRAKE Press B to apply an emergency brake at any time. No loss of information will occur, and the following message is displayed: PRESS C TO CONTINUE PRESS M TO RETURN TO MENU Press C to restart the program from the line at which it was stopped.
  • Page 51 SCORBASE Level 2 SCORBASE Level 2 This section describes only the additional options offered by Level 2. SCORBASE Refer to the section, “ Level 1,” for descriptions of all other options. SCORBASE MAIN MENU The Main Menu now allows you to activate a module for homing the robot and configuring and homing the peripheral equipment.
  • Page 52 SCORBASE Level 2 TEACH POSITIONS MENU All commands in this screen are the same as those in Level 1 with the following additions: turn on /off output # These commands activate and deactivate the controller outputs. Press J to turn on an output. Press K to turn off an output.
  • Page 53 SCORBASE Level 2 EDIT PROGRAM MENU All commands in this screen are the same as those in Level 1 with the following additions: GO TO POSITION ... FAST/SPEED # This command sends the robot to a recorded position at the specified speed. Press 1.
  • Page 54 SCORBASE Level 2 JUMP TO LINE #... This command causes the program to jump to the specified line. Press 5. Then enter the number of the line to which the program will jump. LIST / DELETE PROGRAM SCREEN All commands in this screen are identical to those found in Level 1. PROGRAM HANDLING MENU All commands in this screen are identical to those found in Level 1.
  • Page 55 SCORBASE Level 2 HOME MENU This screen is used for configuring and homing the robot and peripheral equipment. Many of the commands in the Home screen are identical to those found in the Teach Positions screen. The additional features are as follows: PRESS ’G’...
  • Page 56 SCORBASE Level 2 Press any key to stop the homing while the operation is in progress. Press G again to restart the homing procedure. Peripheral equipment setup The homing of axes 6 and 7 depends upon the peripheral equipment you have connected.
  • Page 57 SCORBASE Level 3 SCORBASE Level 3 Level 3 offers all programming and operating options available in SCORBASE Levels 1 and 2 and many additional features. This section describes SCORBASE all the options available in Level 3, including those found in preceding SCORBASE levels.
  • Page 58 SCORBASE Level 3 Program handling This module lets you to save and load programs to and from disk(ette) and to delete them. Run program This module lets you run a program which exists in the computer memory. Home This module enables you to home the robot, and configure and home the peripheral equipment.
  • Page 59 SCORBASE Level 3 TEACH POSITIONS MENU This screen allows you to move the robot, and to teach and define the positions. The following pairs of number and letter keys are used to directly control the movement of the servo axes. The axes will continue to move as long as the activating key is depressed.
  • Page 60 SCORBASE Level 3 move axis 6 + / - Axis no. 6 moves forward and backwards. move axis 7 + / - Axis no. 7 moves forward and backwards. Open / Close gripper These commands open and close the gripper. Press O to open the gripper.
  • Page 61 SCORBASE Level 3 If you simply press < Enter> without specifying a number for the reference position, the position you record will be relative to the current position of the axis. For example: RECORD POSITION (1-100) 12 RELATIVE TO CURRENT If your position is relative to current, you are prompted to define values for the relative movement of each axis.
  • Page 62 SCORBASE Level 3 Pressing < Enter> for a coordinate accepts the default value. The default is always the current value of the coordinate, as displayed. For example: X (mm) =163.42 ..You may now enter a new X coordinate, or press < Enter> to accept the default, which is 163.42.
  • Page 63 SCORBASE Level 3 LIST / DELETE POSITION SCREEN This screen lets you display, delete and print the positions you have recorded. To activate this screen, select the L option in the Teach Positions menu. Note that the listing operations require extensive communication with the controller and may result in a delay in response time.
  • Page 64 SCORBASE Level 3 DELETE FROM POSITION . . . TO POSITION . . . This command deletes all points from the first position specified through the second position specified. Press 4 and enter two position numbers. DELETE ALL Press 5 to delete all recorded positions from controller memory. PRINT POSITION (TO PRINTER) Press 6 to print out a listing of all recorded positions.
  • Page 65 If you press S, you must also enter a number, from 1 (slowest) through 9, for the speed value. WAIT . . . SECONDS This command halts program execution for the specified time. Press 2. At the Wait prompt, type a number and press < Enter> . USER’ S MANUAL SCORBOT-ER III 4-31 9211...
  • Page 66 0. At run time, if the counter value is greater than 0, the jump will occur. If the counter value is 0, the program will continue at the following line. 4-32 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 67 This command is a conditional jump command. It allows you to compare the values of two memory cells, and to use that comparison to make a real-time decision regarding the continued course of action. USER’ S MANUAL SCORBOT-ER III 4-33 9211...
  • Page 68 Any motor error on axis 1 which occurs subsequent to this command causes the program to jump to line 24. This jump occurs in the form of an interrupt. • Press S. For example: ON MOTOR 1 ERROR JUMP TO 37 SING. 4-34 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 69 This command is used to display any one of 19 pre-recorded messages during program execution. Press < Ctrl> + K. At the prompt, enter the number of the message you want displayed. Your options are as follows: USER’ S MANUAL SCORBOT-ER III 4-35 9211...
  • Page 70 Press X. At the prompt, enter the number of the command line you want to replace. The command line specified is displayed and you are prompted for the new command. Pressing < Enter> without a new command leaves the original line unchanged. 4-36 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 71 This command deletes the specified line from the program. Press 3 and enter the number of a program line. Note that whenever you give the command to delete a line or lines, SCORBASE USER’ S MANUAL SCORBOT-ER III 4-37 9211...
  • Page 72 Press 4 and enter two program line numbers. DELETE ALL Press 5 to delete the entire program from the controller memory. PRINT PROGRAM (TO PRINTER) Press 6 to print out a listing of all program lines. 4-38 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 73 JACK.L1, JACK.L2 and JACK.L3. When loading a program which was created in a level other than Level 3, indicate the level as shown SCORBASE in the examples below: 2DEMO will load DEMO.L2. 1DEMO will load DEMO.L1. USER’ S MANUAL SCORBOT-ER III 4-39 9211...
  • Page 74 ARE YOU SURE(Y/N)? N Catalog Press 4 or C to display a listing of all the programs which have been saved on the disk(ette). Press 4 or C. < ESC> RETURN TO MAIN MENU. 4-40 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 75 The pointer goes to the specified line. Press G to start the program from that line. DISPLAY ON/ Press 5 to display program lines during program execution. (This is the default mode). Press T to turn off the display during program execution. USER’ S MANUAL SCORBOT-ER III 4-41 9211...
  • Page 76 ANY OTHER KEY FOR REGULAR STOP Press any key (other than B) to halt the robot as son as it completes execution of the current command. < ESC> RETURN TO MAIN MENU 4-42 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 77 When the robot reaches its home position, the following message is displayed: HOMING COMPLETED Press any key to stop the homing while the operation is in progress. Press G again to restart the homing procedure. USER’ S MANUAL SCORBOT-ER III 4-43 9211...
  • Page 78 Set Memory to Sensor command. This gripper setup is also recorded in the ZERO file and placed on your disk(ette). A sensor mounted within the gripper can be used to control the amount of force 4-44 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 79 Used when the robot base is not at table level. TOOL LENGTH(MM) ..Used when you want to program XYZ positions for the tip of a tool connected to the gripper. < Esc> RETURN TO MAIN MENU USER’ S MANUAL SCORBOT-ER III 4-45 9211...
  • Page 80 Device Options C Defines the RS-232 port used for communication with the robot controller. /C1 : COM1 /C2 : COM2 4-46 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 81 /S If you include this option together with a position number, the robot will automatically be sent to the position specified, and not to Home, when SCORBASE is loaded. Example: SCOR3 /S20 /H Instructs the system to run the HOME program before activating the Main Menu. USER’ S MANUAL SCORBOT-ER III 4-47 9211...
  • Page 82 The DEMO program is listed below. It is followed by position tables in joint coordinates and XYZ coordinates. Note: A set of remarks appears in the first lines of the DEMO programs. The actual program line numbers are therefore different. 4-48 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 83 45 GO POSITION 11 *FAST 46 GO POSITION 12 *FAST 47 GO POSITION 11 SPEED #2 48 OPEN GRIPPER 49 CLOSE GRIPPER 50 GO POSITION 13 SPEED #5 51 JUMP TO LINE # 41 USER’ S MANUAL SCORBOT-ER III 4-49 9211...
  • Page 84 -3.17 -454.22 367.58 -3.35 0.00 210.41 62.86 87.75 -88.89 0.00 -11.93 39.88 926.76 82.68 0.00 77.57 -259.27 297.38 269.07 0.00 163.42 0.00 499.07 -64.52 0.00 ROBOT PRESENT POSITION IS: 210.41 62.86 87.75 -88.89 0.00 4-50 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 85 • Run programs one line at a time; run complete programs; run programs starting from any line. Run a DEMO program. Use an emergency brake. Search for the HOME position. • USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 86 If the teach pendant displays a communication error message and/or an axis moves improperly when activated from the teach pendant, you may have accidently pressed the controller button. To restore communication to the teach pendant, follow RESET the steps described above. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 87 When functions require the entry of numbers, type them using the keys numbered 1 – 0. To correct a mistakenly typed number (before you press Return), press the ⇐ Left Arrow ( ) backspace key. Figure 5-2: Teach Pendant – Keypad Layout USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 88 These keys move the peripheral axes. Each axis has two keys. The direction of axis motion is shown by the arrow on each key. The axis will move as long as you press the key. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 89 Entering 0 or a number greater than 100 will cancel the command, and an error message will be displayed: V ALUE OUT OF RANGE. USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 90 Return. Before the delete operation is executed, you are prompted: ARE YOU SURE? Press the Yes key to delete the position(s) entered. Press any other key to cancel the operation. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 91 Note: During program execution, the actual change in speed between slow and fast is not immediate; the shift is gradual. Also, the takes longer SCORBOT-ER III to decrease speed than increase speed, and stops more quickly when moving against the force of gravity.
  • Page 92 This option lets you enter and store a predetermined value in a memory cell (SET MEMORY .. TO ..). This command provides a constant value for the size of the gripper’s opening, which can be used for comparisons during program execution. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 93 Return. Before the deletion is executed, you are prompted to confirm: ARE YOU SURE? Press Yes to delete the line entered. Press any other key to cancel the operation. USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 94 1 . SINGLE Press 1. A single line of the progam will be executed each time you press Return. 2 . CONTINUOUSLY Press 2. The program will run continuously once you have pressed Return. 5-10 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 95 To run the Search program on axis 6 and axis 7, the switches on the INPUT controller must be turned on, as follows: switch on: Search for home on Axis 6. INPUT #1 switch on: Search for home on Axis 7. INPUT #2 USER’ S MANUAL SCORBOT-ER III 5-11 9211...
  • Page 96 SCORBASE such as Level 3, and contains commands unknown to the teach pendant, the lines containing these commands will be blank during Run or List operations; only the line number will be displayed. 5-12 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 97 MOTOR # ERROR! 1.CONTINU 2.MENU Press 1. The program resumes running from the line it failed to execute. Press 2. The program is aborted and you are prompted to select another function. USER’ S MANUAL SCORBOT-ER III 5-13 9211...
  • Page 98 The following messages are also displayed: PROGRAM TRANSMITTED The program has been loaded to the teach pendant from the computer. PROGRAM RECEIVED The program has been saved to the computer from the teach pendant. 5-14 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 99 3. Activate the Program Handling menu. Check the Catalog. Load the program written by the teach pendant (it will be identfied by the extension .L4). USER’ S MANUAL SCORBOT-ER III 5-15 9211...
  • Page 100 6. Once the load operation has been completed, the message PROGRAM TRANS- MITTED appears on the computer screen, and the message DONE! appears on the teach pendant display panel. You can now use the teach pendant to edit and execute the program. 5-16 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 101 Routine Maintenance Monthly inspection and maintenance of the should include the SCORBOT-ER III following: 1. Check all screws and bolts in the robot arm. Tighten any loose ones. 2. Check all leads and rubber components in the robot arm. Replace any worn ones.
  • Page 102 Figure 6-2: Tightening Belts in Forearm Figure 6-3: Tightening Belts in Upper Arm Figure 6-4: Tightening Belts in Robot Base SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 103 Manually turn the robot body counterclockwise a distance of six to eight teeth between the marked teeth. The spring should now be correctly stretched. • Return the gear (20) to its position and fasten the screw. Remove the locking pin. • USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 104 Make sure the RS232 cable is properly wired and Error” message while connected to the controller and to the computer. operating robot from Make sure the RS232 card in the computer is set up computer. properly. (See Appendix B). SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 105 LEDs in the encoder. You can try to run the motor by applying 12VDC directly to its two poles. Make sure there are no breaks in the leads from the motor to the controller. USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 106 If all axes find home but inaccuracies still occur, contact your agent for the recalibration of the Home position. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 107 Remove the spring and the second teflon washer. Replace the necessary parts. Make sure the encoder disk does not touch the sides of the encoder housing. Figure 6-5: Spring and Washers betw een Encoder and Motor USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 108 Using an oscilloscope, check the signals received from the two phototransistors. Figure 6-6 shows the wave diagrams which emanate from the two channels (Photo 0 Figure 6-6: The Encoder Signals SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 109 Level 3, activate the Home Menu and SCORBASE message when gripper press Z to zero the gripper. Exit the Home Menu and opened and when recheck the gripper. closed. If the problem persists, proceed to the next item. USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 110 1.5 mm to 2 mm away from the plate (112). Reassemble the Gripper: 1. Make sure the coupling’s plastic portion is attached to the metal portion attached to the lead screw (94). Keep 6-10 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 111 The problem may be in the display board (PC 310) or in the flat cable connecting it to the main circuit board (PC 010). Or, ICU9 on the main circuit board is malfunctioning. Contact your agent. USER’ S MANUAL SCORBOT-ER III 6-11 9211...
  • Page 112 Execute the Home routine, and reload the program you want to run. If the fault occurs frequently, use filtering equipment on your power line. Contact your agent if you are unable to rectify this problem. 6-12 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 113 To order spare parts or replacements, contact your agent. When ordering, specify the new and old (previous) part number and the item description. Table 7-1: Robot Arm Components – SCORBOT-ER III Iso. Previous Dw g #...
  • Page 114 110212 AR58 Lower arm – right side plate 111904 AR60 Tooth gear (right – 72 teeth) 110217 AR61 Lower arm – left side plate 112407 AR63 Clamp – lower arm – left side plate SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 115 Encoder circuitry (6 slots) 107009 WA7S127 Spacer washer (for base bearing) S 139 306008 SC2C4-18 Socket head set screw #4-40 x 1/8 S 153 306214 SC2C8-14 Socket head set screw #8-32 x 1/4 (without head) USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 116 Thrust washer ∅ 10 x ∅ 24 x 2.5 S 277 320503 LS31024 Thrust bearing ∅ 12 x ∅ 26 x 2 S 278 320504 BE31226 Thrust washer ∅ 12 x ∅ 26 x 1 S 279 320505 AS31226 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 117 Roll pin ∅ 1/8 x 1 1/4 S 350 317801 PN2C18-114 Ball bearing ∅ - 3.5 mm S 351 317502 AR351 105001 UV414-1 Encoder disk (3 holes) 113005 UV427 Encoder housing (plastic) 105002 UV429-1 Encoder disk (6 holes) USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 118 Table 7-2: Controller Components – SCORBOT-ER III Part # Description 35007 110V/220V transformer 40013 Main power cable set (within controller) 40014 Diode bridge cable set (within controller) 40015 RS-232 cable set (within controller) 40016 Ground cable (within controller) 45001 PCB 010 main board...
  • Page 119 Part # Description 410506 Fuse 1A 4109511 Fuse 4A 410601 Fuse housing 411815 Flat cable to ER III USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 120 Figure 7-1: Gripper Assembly SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 121 Figure 7-2: Robot Arm Assembly USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 122 Figure 7-3: Anti-Backlash Assembly 7-10 SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 123 Figure 7-4: Base and Motors Assembly USER’ S MANUAL SCORBOT-ER III 7-11 9211...
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  • Page 125 APPENDIX Writing Software for SCORBOT-ER III The SCORBOT-ER III Operating System The operating system incorporated in the robot controller lets you program the robot without using SCORBASE The operating system of the robot is stored in an EPROM in the controller. It allows you to type on the computer keyboard the ASCII characters for robot commands.
  • Page 126 If, despite this precaution, the motor stalls, press switch on the controller front panel; this will reset all motor registers RESET to zero, thus stopping all motors. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 127 On receipt of P, the controller will reset the register of the specified motor, thus causing an immediate stop. Since the register of that motor contained a value indicating the amount of motor motion still to be carried out, resetting the register USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 128 This command prevents the controller from sending interrupts to the host computer (by means of the RS-232C port) when the events listed above occur. Refer to the bi-directional command W for enabling the interrupt mode. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 129 1 If the limit switch is ON (that is, if the limit switch on the robot arm is depressed). 0 If the limit switch is OFF (that is, if the limit switch on the robot arm is released). USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 130 Refer to the uni-directional command U for setting a new offset. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 131 I1 . . . I8 When input (1 through 8) goes from OFF to ON state. J1 . . . J8 When input (1 through 8) goes from ON to OFF state. Refer to the uni-directional command X for disabling the interrupt mode. USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 132 Q command is used while the robot is in motion. The Z command is used only after an emergency brake command, to update the present position of the robot motor (relative to the start of the programmed motion). SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 133 J TP requests programs from computer. K TP request positions from computer. Denotes end of command. Drops the Load–Save flag to the OFF state. The controller then transmits the ASCII code D through the current transmission line. USER’ S MANUAL SCORBOT-ER III 9211...
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  • Page 135 APPENDIX Controller-Computer RS232 Setup The robot controller contains a microprocessor which runs under the control of an external computer. The two units communicate by means of RS232 connections. SCORBOT-ER III RS232 Specifications • Baud rate: 9600 • Data bits: 8 •...
  • Page 136 Other computers and terminals may require different RS232 connections. Check the manufacturer’s specifications. RS232 Card Setup 1. All Eshed Robotec software packages are set with the first serial port as COM1 and require that the RS232 communication interrupt is enabled (see Figure 3-3). Configuration...
  • Page 137 APPENDIX Input/Output Applications Inputs Figure C-1 shows the internal interface circuitry of a input. SCORBOT-ER III Figure C-1: Input Application 1 USER’ S MANUAL SCORBOT–ER III 9211...
  • Page 138 Figure C-2 and Figure C-3 show the connection of a input to an SCORBOT-ER III external output. In Figure C-2, the external machine is an open collector, NPN type, with a grounded emitter. In Figure C-3, the external machine is an open collector, PNP type, with emitter connected to + V.
  • Page 139 Relay Outputs (Outputs 1–4) Figure C-4 shows the OFF and ON states of a relay output. SCORBOT-ER III Figure C-5 shows the connection of a relay output to an external input. SCORBOT Note: The connection of + V or GND depends on the machine logic of operation, and can be reversed.
  • Page 140 Figure C-6: Open Collector Output – Application 1 Figure C-7: Open Collector Output – Application 2 Figure C-8 shows the connection of a open collector output to an SCORBOT external input. The external machine expects a high voltage level (2.5 – 24V) for ON activation.
  • Page 141 Table D-1 details the wiring between the various electrical components and the 50-pin connector. The table lists the robot arm signals, the colors of the leads, and the pin number in the D50 connector. The table also includes the Molex 12-pin and PC500 wiring. USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 142 Figure D-1: Controller Internal Wiring SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 143 – white orange/grey Grp – white grey orange/blue yellow 1 GND white white/grey yellow brown 2 GND white white/orange yellow grey 3 GND white brown/blue yellow green 4 GND white green/brown yellow orange USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 144 1 GND white brown 2 GND white grey 3 GND white white orange white 4 GND white blue green blue 5 GND white orange blue orange not connected grp GND white brown/grey SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 145 MOTOR 6 MOTOR 7 the controller’s front panel. For additional information about SCORBOT-ER III motors, see Appendix F, Figure D-2: Motor Wiring “The Motor Kit.” Figure D-2 shows the leads to the motor and encoder. Table D-2 details the wiring in the D9 connector which connects a motor and the controller.
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  • Page 147 APPENDIX The Optical Encoders uses two kinds of optical encoders. The encoders on motors SCORBOT-ER III 1 through 5 differ from those on motors 6 through 8. Figure E-1 shows the two kinds of encoder disks. The encoder disk with six slots •...
  • Page 148 Figure E-3: Height of Electronic Components disk, the mask is green and the number 3 is printed on the board. Figure E-4 shows how the circuitry fits into the encoder housing. Figure E-4: Encoder Assembly SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 149 The motor is identical to the motors. It comprises a DC servo SCORBOT-ER III motor, an optical encoder with a three-slot rotating disk, and a connecting cable with a D9 connector (see Figure F-1). It has a gear ratio of 127.7 : 1.
  • Page 150 Photo Detector Photo Detector Ground Logic (GND) Microswitch * * If you want to use a microswitch in order to determine a Home position for the motor, connect the microswitch to pins 4 and 5. SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 151 Unlike the microswitches on the robot arm, however, the microswitch on the rotary table is normally depressed, and is released at the home position. Take note of this reversal when making electrical connections. USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 152 To enable periodic movement, use the command (available SCORBASE in Level 3): SET AXIS #. TO ZERO (where # is the axis number). Use the Home menu in to define and home the rotary table. SCORBASE SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 153 SCORBASE axis 6 or axis 7. The conveyor can also be installed as an open loop device, using an external 12V source on the motor terminals. Figure H-1: The Conveyor USER’ S MANUAL SCORBOT-ER III 9211...
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  • Page 155 To connect a table microswitch to a controller input, select the appropriate pair of wires and connect one wire to ground and one wire to the input tab. Outputs (Red sleeve wiring): Lamp: brown, red Buzzer: black, white USER’ S MANUAL SCORBOT-ER III 9211...
  • Page 156 To connect the buzzer or lamp to a relay output, select the appropriate pair of wires and connect one wire to COM and the other to NO. Figure I-2 shows the connections of the lamp and buzzer to the outputs. Figure I-2: Lamp and Buzzer Connections SCORBOT-ER III USER’ S MANUAL 9211...
  • Page 157 SCORBASE either axis 6 or axis 7. Use the Home menu in to define and home the connected linear SCORBASE slidebase. Figure J-1: The Linear Slidebase USER’ S MANUAL SCORBOT-ER III 9211...