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Summary of Contents for Shibaura BE00D
- Page 1 S E R I E S MODEL：BE00D ACTUATOR INSTRUCTION MANUAL ACTUATOR INSTRUCTION MANUAL Original Instructions Keep this manual nearby for future reference.
- Page 2 All efforts have been made to assure the contents of this manual. If you have any questions, or find any mistakes, however, please contact Shibaura Machine. Shibaura Machine will not be held responsible for any effects caused by using this equipment, regardless of Item 3 above.
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Page 3: Table Of Contents
Contents Chapter 1 Safety ................................1 ■1.1 Cautions for safety ............................1 ■1.2 For your safe operation ............................ 5 ■1.3 Warranty ................................9 Chapter 2 Shipment List............................. 10 ■2.1 Shipment list ..............................10 Chapter 3 Axis Specifications ............................ 11 ■3.1 Axis type and names of individual parts ......................11 ■3.2 Single axis specification .......................... -
Page 4: Chapter 1 Safety
Overview • This manual describes the axis type expression method, specifications and motor replacement procedures, etc., according to the type of axis. • For the installation, see the instruction manual (installation of actuator) provided separately. Chapter 1 Safety ■1.1 Cautions for safety ●... - Page 5 WARNING • Install the safety fences to prevent anyone from entering the working envelope of the robot. When the door is attached to the safety fence, the robot should be stopped at emergency at the same time that the door has opened. •...
- Page 6 WARNING • As the equipment is heavy, make sure of its weight and gravity center position and disconnect the cables when carrying the equipment. Also, DO NOT carry the equipment with the slider. Otherwise, the slider will move and you will get injured.
- Page 7 CAUTION • DO NOT place the equipment at a place where the ambient temperature exceeds 40°C, or where the temperature changes sharply, causing condensing, or where it is exposed to direct sunlight. Additionally, if the equipment is installed at a narrow place, the ambient temperature rises due to heat generation in the controller itself or external device, which will result in malfunction or mis-operation of the equipment.
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Page 8: For Your Safe Operation
■1.2 For your safe operation When you use the COMPO ARM BA-III series, be sure to take the measures in conformity to the following instruction: This machine is an industrial robot in conformance to the provisions of Paragraph 31of Article 36 of the Ordinance on Industrial Safety and Hygiene. - Page 9 ■1.2.2 Precautions for installation Observe the following instructions when installing a robot: (1) The robot shall be laid out to ensure the work space required for robot teaching, maintenance and inspection. (2) The robot controller, other controllers and stationary operation panel shall be installed outside the movable range and where the operator can watch the robot operations.
- Page 10 (3) Measures to ensure the operation safety of the personnel working within the movable range Any one of the following measures or other measures on the equal or higher level shall be taken so that you can stop the robot operation immediately in the event of an error when working within the movable range: 1.
- Page 11 Requesting your cooperation For the safety instructions which seem especially important, relevant warning label is attached to the equipment. When the label attached to the equipment has peeled off or the characters are defaced and unreadable, please procure it from our sales agent in your territory by specifying the part number, and attach it to the original place.
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Page 12: Warranty
■1.3 Warranty ■1.3.1 Warranty period This product is warranted for one of the following periods whichever comes first. (1) For 24 months after shipment from our factory. (2) For 18 months after installation at the customer's factory. (3) For 4000 hours of operation. ■1.3.2 Details of warranty (1) This product is warranted. -
Page 13: Chapter 2 Shipment List
Chapter 2 Shipment List ■2.1 Shipment list The axis unit is normally shipped in the parts configuration below. Model BE00D-RH-A BE00D-RH-F BE00D-RP-A BE00D-RP-F Component part Axis unit Hex socket head cap screw Not included Not included M5×20 Band Introduction Manual... -
Page 14: Chapter 3 Axis Specifications
Chapter 3 Axis Specifications ■3.1 Axis type and names of individual parts ■Type of axis The following shows the axis type: ＢＥ００Ｄ－ＲＨ－Ａ Series name Drive system Axis type Harmonic Rotary Planetary gear axis Mounting method Motor type L-bracket 50-W absolute Flange ■... -
Page 15: Single Axis Specification
■3.2 Single axis specification (1) Specifications Model (without brake) BE00D-RH-A BE00D-RH-F BE00D-RP-A BE00D-RP-F Mounting method L-bracket Flange L-bracket Flange Motor AC servomotor 50 W Drive system Harmonic drive Planetary gear Reduction ratio 1/50 1/21 Range of rotation (deg.) Maximum speed (deg./sec) Maximum Payload (kg) (Note 1) Rated output torque (Nm) - Page 16 (2) Axis dimensions [BE00D-RH-A] [BE00D-RH-F]...
- Page 17 [BE00D-RP-A] [BE00D-RP-F]...
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Page 18: Chapter 4 Installing Actuator (Axis)
Chapter 4 Installing Actuator (Axis) ■4.1 Installing Actuator (Axis) This chapter describes the basic installation procedures for the axis and peripheral equipment. Installation shall comply with the instructions of this Chapter. If the installation procedure is incorrect, robot performance cannot be achieved. -
Page 19: Robot Type For Each Axis
Table are specified in the Actuator Instruction Manual. When you want to use a combination of axes, see the following Table for each an axis. [BE00D Robot Type] When using as output axis rotation (normal operating procedure) Reduction ratio... -
Page 20: Parameter Values
■4.3 Parameter values The parameters of this product are available in two types -- parameter 1 and parameter 2 -- depending on the frequency of use. The relationship between each parameter and the robot type is illustrated below: Setting the robot type allows the parameters on the circled portion on the left to be automatically changed. ■4.3.1 Values of parameter 1 for each robot type This parameter has a higher frequency of use. - Page 21 ■4.3.2 Values of parameter 2 for each robot type 600810 600820 Robot type Automatic Reduction ratio Reduction ratio setting Parameter 1/50 1/21 Axis display 0.05 0.05 In position data value 20000 20000 Overflow data value ○ 2000 2000 Feed forward data value ○...
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Page 22: Chapter 5 Precautions For Use
Chapter 5 Precautions for Use ■5.1 Servo gain setting In the actuator, in order to facilitate the parameter setting work of the controller, the initial parameters for operating the component arm are automatically set by setting the "robot type" (6 digit number) determined for each model to the controller. - Page 23 (2) Speed gain (V) ● When the value is reduced ・ If it is made too small, an error such as "overflow error" may occur during operation (especially when accelerating) and operation may not be possible. ・ The positioning and holding force of the slider is reduced. (Rigidity decreases) ●...
- Page 24 ■5.1.2 About adjustment of servo gain When adjusting the servo gain, refer to the contents described in ■ 5.1.1 "Servo gain setting value and operating condition" and set according to the following description. (1) Speed gain setting The initial value of speed gain usually does not need to be changed. If it is changed, please set as follows.
- Page 25 ● Abnormalities such as vibration and abnormal noise may occur due to resonance, so check the operation from the low speed range used for return to origin operation and "JOG" operation to the high speed range used for continuous operation. ●...
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Page 26: Chapter 6 Maintenance
Chapter 6 Maintenance ■6.1 Precautions for inspection and maintenance work (1) Precautions for inspection and maintenance work Observe the following instructions at the time of inspection and maintenance: 1. The robot shall be inspected and maintained by the personnel having a sufficient level of skill and experience. If such personnel are not available, contact the manufacturer and request implementation of the relevant work or education of the person in charge. -
Page 27: Inspection Before Starting The Work
■6.2 Inspection before starting the work (1) Before starting your work with the robot, make sure of the following: 1. Brake device function 2. Emergency stop device function 3. Contact preventive equipment and robot interlock function 4. Related devices/robot interlocking function 5. -
Page 28: Maintenance Schedule
■6.4 Maintenance Schedule Perform the pre-work inspection before starting work on a daily basis. Periodic inspections and maintenance performed after a certain period of time should be performed in units of 1200 hours (operating hours). Also, please carry out overhaul every 24000 hours (operating hours). 1200 3-month check 2400... - Page 29 ■6.4.1 Maintenance and inspection items by schedule Determine the schedule for Inspection before starting the work and periodic inspection and maintenance. (1) Inspection at Power OFF I: Inspection before starting the work Q: Quarterly inspection S: Semi-annual inspection A: Annual inspection Description Inspection point Make sure that all bolts are...
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Page 30: Cleaning
4. If the covers have been removed, reinstall the covers. ■6.6 Replacing the Motor and Reduction Gears ● If the motor or reduction gears need to be replaced, please contact your nearest Shibaura Machine branch or sales office. These parts should never be replaced by the customer. - Page 31 TOKYO HEADQUATERS Equipment Electronic Sales Group, Control Systems Division 2-2, Uchisaiwaicho 2-Chome, Chiyoda-ku, Tokyo 100-8503, Japan TEL: [81]-(0)3-0270 FAX: [81]-(0)3-3509-0335 Q3294E 03 Jan. 2023...
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