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Syntec Y Series Product Manual

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LA917-6 Product Manual
匯出日期：2023-08-28
修改日期：2023-08-01

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  • Page 1 LA917-6 Product Manual 匯出日期：2023-08-28 修改日期：2023-08-01...
  • Page 2 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual About this user manual Thank you for buying our robot products. This manual contains instructions for the proper installation and use of robots.
  • Page 3 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Unauthorized copying or reprinting of part or all of this manual is prohibited. The contents of this manual may change from time to time without prior notice.
  • Page 4 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 3. The Company cannot foresee all possible risks and consequences. Therefore, this manual cannot warn the user of all possible risks.

  • Page 5: Table Of Contents

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 1 Contents • Contents • Safety •...
  • Page 6                              –                              LA917-6 Product Manual • Replace Battery and Lubricating Oil (Y series 6 axis-917mm) Source • Replace Battery •...

  • Page 7: Safety

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 2 Safety 2.1 About this Chapter Instruction ...

  • Page 8: Risk

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Icon Description If the content with this logo is not operated in accordance with the regulations, it will cause serious or even fatal to the personnel Life damage, and will/may cause serious damage to the robot.
  • Page 9 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Icon Name Description Clamp hand There is a risk of a pinch when the maintenance personnel approaches the belt drive during a maintenance operation.
  • Page 10 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Operate Reference information Make sure all emergency stop Emergency stop equipment includes a safety equipment is properly configured gate, safety grating, safety light blanket, etc.

  • Page 11: Safety Characteristics

    2.2.3 Safety characteristics Instruction PLC is built into the Syntec system to process safety-related signals, and external safety signal interfaces such as safety gate and safety grating are provided. Signals processed by PLC include : •...
  • Page 12 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual The emergency stop means that all power to the robot will be cut off except for the manual brake release circuit.

  • Page 13: Enabling Device

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 2.2.5 Enabling Device It is a special switch with two presses and three positions, which only works if the enable switch been pressed and kept in the middle position.

  • Page 14: Work Safety Guide

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Warning External devices that jam the enabling device in the middle position are strictly prohibited! 2.3 Work Safety Guide 2.3.1 Description About Robots...
  • Page 15 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual time, and use the manual mode to move the robot away from the dangerous situation at low speed.

  • Page 16: Operate The Teach Pendant

                                LA917-6 Product Manual 2.3.3 Operate the teach pendant Instruction The teach pendant equipped with Syntec system is manufactured with advanced electronic components. In order to avoid failure or damage during use, please follow the following requirements.

  • Page 17: Safety Considerations For Manual Mode

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual important to ensure that the robot system is not put into production operation in a dangerous state.

  • Page 18: Safety Considerations For Automatic Mode

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual In manual mode, signals of external safety devices will be by bypassed, such as safety doors and safety light barriers.
  • Page 19 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Measures to deal with severe fire When the fire has spread and is out of control, site staff should not try to put out the fire, but should immediately notify other staff, give up personal belongings, and evacuate from the emergency exit as soon as possible.

  • Page 20: Product Overview

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 3 Product overview 3.1 Overview of Robot System System overview A complete robot system includes the robot body, controller, instructor, connecting cables, software, terminal actuators and other accessories, as shown in the figure...

  • Page 21: Function And Purpose

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Label Name ① Load capacity（KG） ② Work space（mm）...

  • Page 22: Basic Principles And Main Technologies Applied

    The teach pendant controller gives the command to two SYNTEC three-in-one drivers, and the drivers drive the six motors on the robot to rotate regularly to control the motion path of the center of rotation at the end of the sixth axis. Technologies：...
  • Page 23 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Base -- The base is the foundation of the robot, with electrical connections for the robot at its rear.
  • Page 24 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Joint action C1: The whole robot rotates C2: Upper arm swing C3: Forearm swing...

  • Page 25: Technical Parameters

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 4 Technical parameters 4.1 Specifications Performance parameter table The performance parameters of the robot are shown in the table Model LA917-6...

  • Page 26: The Workspace

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Model LA917-6 Axis 6 468°/s Operating temperature 0°~+45℃...
  • Page 27 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Reminder In practice, consider the impact of installation on the workspace. Technical parameters – 27...

  • Page 28: Output Flange

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 4.3 Output flange Instructions Customer make the robot end fixture according to actual needs and connect it to the output flange of the wrist.
  • Page 29 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 　 Electronic Box D Entity diagram of electronic control box Corresponding Model LS400、LS600、LA917...
  • Page 30 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Technical parameters – 30...

  • Page 31: The Installation

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 5 The installation 5.1 Environmental Conditions Description The working environment of the robot shall meet the following conditions：...

  • Page 32: On-Site Installation

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual • A flammable environment. • radioactive environment.
  • Page 33 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual glue, etc. must be removed to lift the robot using steel cables. Must be in transport position prior to transport with axis in the following position.
  • Page 34 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual It is necessary to set up a safety bar, or accidents such as personal injury and equipment damage may occur. Ensure that the safety bar is not inside the working area of the end of the robot and the fixture.

  • Page 35: Mechanical Interface

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Reminder To avoid the deformation of the robot base during installation, please control the flatness of the installation panel within 0.2mm.

  • Page 36: Grounding Instructions

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual  Beware of electric shocks • Be sure to perform replacement work after turning off the controller and related equipment and unplugging the power plug.
  • Page 37 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Danger • The ground terminal must be connected to the ground pole (5.5mm diameter or above is recommended), otherwise, fire and electric shock may occur.

  • Page 38: Io Wiring Definition

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Arm main body side W24-19 plug diagram W24-19 plug definition A：electric box panel wiring cable HDD-040-FC definition...
  • Page 39 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual The IO connection method of the electric cabinet of the Y-series arm is to transfer 16 I points and 16 O points to the side panel of the electric cabinet.

  • Page 40: Function Test

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 5.3.5 Function test 5.3.6 Check before Power-on Before powering on, check if the installation environment meets the environmental conditions in chapter 4.1.

  • Page 41: Test Procedure Of Automatic Mode

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual JOG each joint according to the direction shown in the figure and check whether the direction of each axis is correct.

  • Page 42: Maintenance

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual 6 Maintenance 6.1 About safety during maintenance Instruction Warning •...

  • Page 43: Maintenance Plan

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual When the robot breaks down, please do not continue to operate. You should immediately contact the technician who has received the required training to carry out the failure analysis and determine which part is abnormal.

  • Page 44: Tightening Of Hexagon Socket Screws

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Maintenanc Inspection and Remarks e Cycle Maintenance Content Oil leaking inspection Check the installation surface of each reducer...
  • Page 45 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Hex cylinder head screw Torque（N•m） Please refer to the following table for the torque of the set screw used in belt pulley installation： Hex cylinder head screw Torque（N•m）...

  • Page 46: La917-6 Product Manual

                                 –                              LA917-6 Product Manual 6.3.3 Replace Battery and Lubricating Oil (Y series 6 axis-917mm) Source 6.3.4 Replace Battery The batteries of the robot are used to record the encoder data of each axis, hence the batteries are required to replace every 1000 hours.
  • Page 47 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Remove the battery box    1. Loosen the "6-hexagon socket M4 screw" fastened on the back cover of the robot, and open the back cover.
  • Page 48 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Plug and 2-hexagon socket M4 screw Battery Case Maintenance – 48...

  • Page 49: Replace Lubricating Oil

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Power-on verification 1. Connect the robot "Connector Shell" and power on; 2.
  • Page 50 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Required Tool: Iron Powder Density Meter Recommended Lubricating Oil Iron Powder Densitometer Model OM-810 .

  • Page 51: The Maintenance Of Synchronous Belt

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Remove the cover indicated by the arrow in the picture to see the oil filling port. The C1 axis oil filling port is at the bottom of the robot base The maintenance of Synchronous Belt Reminder...

  • Page 52: Four-Axis Synchronous Belt Maintenance

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Synchronous belt adjustment and maintenance require professional staff to use professional tools to operate, after the replacement of the robot to zero calibration! If you have any problem during the adjustment, please call us! LA917-6 Robot 2, 3, 4, 5, and 6 axis should be used in synchronous belt transmission, loose when may lead to...

  • Page 53: Six-Axis Synchronous Belt Maintenance

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Step 4: Remove the old synchronous belt and replace it with a new one; Step 5: According to the synchronous belt tensioning parameters, it is recommended to use a sonic tension meter to control the tensioning frequency of the five-axis synchronous belt at about 210Hz.
  • Page 54 联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Step 4: Remove the old synchronous belt and replace it with a new one; Step 5: According to the synchronous belt tensioning parameters, it is recommended to use a sonic tension meter to control the tensioning frequency of the six-axis synchronous belt at about 210Hz, and tighten the screws 3-hexagon socket M3×12 to fix the power part of the C6 axis according to the 8.8-level torque standard...

  • Page 55: Zero Point

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual Zero Point 7.1 About mechanical home What is a mechanical home The robot is designed with an initial orientation defined in advance, under which the...

  • Page 56: Calibration Steps

    联达产品/LEANTEC Products                              –                              LA917-6 Product Manual the standard 3mm wide flat key can be used instead). At this time, the position shall be the zero point position of the axis.
  • Page 57 Read more For more information about the use, programming, and parameter setting of robots, teaching aids and control cabinets, please refer to the Operation Manual of Syntec Robot Control System. Address: Leantec Intelligence, Xindai Science park, No. 9, Chunhui Road,  Suzhou Industrial Park Leantec Intelligence：https://www.leantec.com.cn...

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