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PEITIAN ROBOTICS AIR20-1700 Manual

Industrial robot manipulator
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Summary of Contents for PEITIAN ROBOTICS AIR20-1700

  • Page 3: Foreword

    AIR20-1700 Industrial Robot Manipulator Manual Foreword Foreword About this manual This manual is for technicians to install and use the AIR20-1700A and AIR20-1700B industrial robot quickly, correctly, and safely, to be familiar with the relevant precautions, and to perform regular routine maintenance work on the manipulator.
  • Page 4 Foreword AIR20-1700 Industrial Robot Manipulator Manual Meaning of common signs The signs and their meanings in this manual are detailed in Table 1. Table 1 Signs used in this manual Sign Meaning Failure to follow the instructions may result in an accident causing the severe or fatal injury or the great losses of property.
  • Page 5 AIR20-1700 Industrial Robot Manipulator Manual Foreword Version Publication date Modification description 2nd official release V1.0.1 2022.01.04 Fix known bugs 3rd official release V1.0.2 2022.02.10 Add wall mounting mode 4th official release Fix known bugs V1.0.3 2022.12.02 The model and material of handling rings are added in Section 9.4...
  • Page 6 Foreword AIR20-1700 Industrial Robot Manipulator Manual Standard Description Version Safety of machinery: ISO 12100 2010 General principles for design - Risk assessment and risk reduction Robots and robotic devices - Safety requirements for industrial robots: ISO 10218-1 Part 1: Robots 2011 (Prompt: Information is consistent with ANSI/RIAR.15.06-2012, Part 1)

  • Page 7: General Safety Description

    AIR20-1700 Industrial Robot Manipulator Manual General safety description General safety description Thank you for purchasing our manipulator. This description is required for the safe use of the manipulator. before using the operator, please read the manual carefully and use the manipulator correctly on the premise of understanding it.
  • Page 8 General safety description AIR20-1700 Industrial Robot Manipulator Manual Used in explosive environments. ⚫ ⚫ Used in environments where there is a lot of radiation. ⚫ Used in water or in high humidity environments. ⚫ Used for the purpose of transporting people or animals.
  • Page 9 AIR20-1700 Industrial Robot Manipulator Manual General safety description Check the safety fence carefully and make sure it is not dangerous ◼ before entering the fence. The emergency stop button can be pressed at any time. ◼ The manipulator shall be operated at low speed ◼...
  • Page 10 General safety description AIR20-1700 Industrial Robot Manipulator Manual The auxiliary equipment such as the crane shall be used when the ◼ moving motor and the speed reducer and the like have certain weight parts, so as to avoid the excessive work load for the operators. At the same time, it is necessary to avoid the wrong operation, otherwise, the operation and death of the operation may be caused.

  • Page 11: Safety Protection Measures Before Use

    AIR20-1700 Industrial Robot Manipulator Manual Safety protection measures before use Safety protection measures before use Before operating the manipulator and peripheral equipment and the manipulator system composed of them, the safety precautions of the operators and the system must be fully studied.
  • Page 12 Safety protection measures before use AIR20-1700A Industrial Robot Manipulator Manual Work clothes suitable for task ◼ ◼ Safety shoe ◼ Helmet When the auto system is used, be sure to protect the operation personnel. The measures shall be taken to prevent the operation personnel from entering the range of manipulator. The general precautions are listed below.
  • Page 13 AIR20-1700 Industrial Robot Manipulator Manual Safety protection measures before use The guard fence and safety door shall be provided to prevent the unrelated personnel from ◼ entering the range of manipulator or to prevent operators from entering a hazardous location.
  • Page 14 Safety protection measures before use AIR20-1700A Industrial Robot Manipulator Manual If it is Inevitable to enter the range of manipulator when it is powered on, you shall first ◼ press the emergency stop button of control cabinet or teach pendant. In addition, the operators shall hang the "Repairing"...
  • Page 15 AIR20-1700 Industrial Robot Manipulator Manual Safety protection measures before use Mechanical precautions: Manipulator system shall be kept clean and the use environments shall be free of grease, ◼ water, dust, etc. Do not use the cutting fluids and cleaning agents of unknown nature.

  • Page 17: Table Of Contents

    AIR20-1700 Industrial Robot Manipulator Manual Contents Contents Foreword ................................... I General safety description ............................... V Safety protection measures before use ........................... IX Contents .................................... i Overview and basic composition of manipulator ...................... 1 Overview of industrial robot ............................ 1 Basic composition ..............................2 Basic specifications ..............................

  • Page 18: Contents

    Conditions of storage ............................. 71 Environmental conditions for long-term storage of manipulator ................71 Precautions for storage of manipulator ......................... 71 Appendix A Periodic maintenance schedule of AIR20-1700 manipulator ................ 72 Appendix B Table of screw strength and tightening torque (Nm) ..................75...

  • Page 19: Overview And Basic Composition Of Manipulator

    AIR20-1700 Industrial Robot Manipulator Manual Overview and basic composition of manipulator Overview and basic composition of manipulator Overview of industrial robot Industrial robot consists of the following parts are as shown in Figure 1-1 and Figure 1-2: Manipulator ◼ ◼...

  • Page 20: Basic Composition

    Figure 1-3 AIR20-1700A manipulator and its various parts Figure 1-4 AIR20-1700B manipulator and its various parts Basic specifications The basic specifications of AIR20-1700 robot manipulator are as shown in Table 1-1: Table 1-1 Basic specifications of AIR20-1700 robot Parameter Instruction...
  • Page 21 AIR20-1700 Industrial Robot Manipulator Manual Overview and basic composition of manipulator Parameter Instruction Number of control axes 6 axes (J1, J2, J3, J4, J5 and J6) Mounting mode Ground installation, lift mounting and wall mounting -170°~170° -95°~155° Range -95°~170° (upper limit / -185°~185°...

  • Page 22: Product Naming Rules

    Overview and basic composition of manipulator AIR20-1700 Industrial Robot Manipulator Manual Product naming rules Figure 1-5 Diagram of product naming rules Table 1-2 Description of product naming rules Domain Meaning Domain value Explanation It indicates that the product belongs to Peitian AIR product...

  • Page 23: The Label Name And Meaning Of Manipulator

    AIR20-1700 Industrial Robot Manipulator Manual The label name and meaning of manipulator The label name and meaning of manipulator Safety sign of manipulator A manipulator safety label shall be pasted on the back of the upper arm of the manipulator. As shown in Figure 2-1.

  • Page 24: Direction Sign Of Each Axis

    The label name and meaning of manipulator AIR20-1700 Industrial Robot Manipulator Manual Direction sign of each axis "+" or "-" sign is provided at the rotating or swinging joints of axes 1~6 of manipulator as shown in Figure 2-3 and Figure 2-4 to indicate the moving direction of each Joint.

  • Page 25: Preparation Before Installation

    AIR20-1700 Industrial Robot Manipulator Manual Preparation before Installation Preparation before Installation Check item Following requirements shall be strictly adhered to before installation: Ensure that the installers pass the relevant training of company and perform the installation according to the ◼...

  • Page 27: Installation Of Manipulator

    AIR20-1700 Industrial Robot Manipulator Manual Installation of manipulator Installation of manipulator Technical specifications The forces and torques applied to the foundation during the movement of the manipulator are shown in Table 4-1 and Table 4-2, Enough thought shall be given to the strength of foundation installation surface for the installation of manipulator.

  • Page 28: Fixed Mode

    Installation of manipulator AIR20-1700 Industrial Robot Manipulator Manual Figure 4-1 Dimensions of the manipulator base interface Fixed mode The manipulator supports three mounting attitudes: ground mounting, bracket mounting and wall mounting. The fixing methods on the installation contact surfaces of different materials are different. When the base is fixed on the concrete...
  • Page 29 AIR20-1700 Industrial Robot Manipulator Manual Installation of manipulator Ground fixing Fixing steps: Step1. Hold the fixing plate of robot close to the mounting surface and secure it with eight M20 chemical bolts (strength not less than Grade 4.8). Step2. Four M20x40 bolts (eight M20 bolts are required for lift mounting and wall mounting) with the strength grade of 12.9 are used to fix the manipulator base on the fixed plate.
  • Page 30 Installation of manipulator AIR20-1700 Industrial Robot Manipulator Manual Step2. Use 8 M20x40 bolts (strength grade 12.9) to fix the manipulator base on the adapter plate. Figure 4-3 Diagram for fixing the manipulator bracket The mounting surface of the bracket shall meet certain flatness requirements, as shown in Figure 4-3.

  • Page 31: Electrical Connection Of Manipulator

    AIR20-1700 Industrial Robot Manipulator Manual Electrical connection of manipulator Electrical connection of manipulator AIR20-1700A manipulator heavy load type The two in one heavy load connector of the manipulator is shown in Figure 5-1. Figure 5-1 Heavy load connector on AIR20-1700A manipulator Definitions of heavy-duty interfaces of AIR20-1700A manipulator Heavy-duty interface of AIR20-1700A manipulator is defined as shown in Table 5-1 and Table 5-2.
  • Page 32 Electrical connection of manipulator AIR20-1700 Industrial Robot Manipulator Manual Pin number Definition Pin number Definition black 3(J2) CEM-1.5 yellow and green(J1) CEM-1.5 black 1(J1) CEM-1.5 black 2(J1) CEM-1.5 black 3(J1) CEM-1.5 black 5(J3) + white(J4) CDM-0.75 white(J5) + white(J6) CDM-0.5 yellow(J6) CDM-0.37...

  • Page 33: Air20-1700B Manipulator Heavy Load Type

    AIR20-1700 Industrial Robot Manipulator Manual Electrical connection of manipulator Pin number Definition Internal cables Use the pin J5_5V pink(J5) CAM-08 J5_0V gray(J5) CAM-08 J5_PS+ green(J5) CAM-08 J5_PS- yellow(J5) CAM-08 J6_5V pink(J6) CAM-08 J6_0V gray(J6) CAM-08 J6_PS+ green(J6) CAM-08 J6_PS- yellow(J6)
  • Page 34 Electrical connection of manipulator AIR20-1700 Industrial Robot Manipulator Manual Pin number Definition Internal cables Use the pin white(J3) CDM-0.75 black(J3) CDM-0.75 J1&J2_BK_24V+ brown(J1) + brown(J2) CDM-0.75 green(J5) CDM-0.37 red(J5) CDM-0.37 white(J5) CDM-0.37 black(J5) CDM-0.37 green(J2) CEM-2.5 red(J2) CEM-2.5 white(J2) CEM-2.5 black(J2) CEM-2.5...
  • Page 35 AIR20-1700 Industrial Robot Manipulator Manual Electrical connection of manipulator Table 5-4 Pin definition of Heavy-duty encoder line Pin number Definition Internal cables Use the pin J1_5V brown(J1) CAM-08 J1_0V white(J1) CAM-08 J1_PS+ yellow(J1) CAM-08 J1_PS- black(J1) CAM-08 J2_5V brown(J2) CAM-08...

  • Page 37: Adaptation And Connection Of Manipulator And Accessories

    AIR20-1700 Industrial Robot Manipulator Manual Adaptation and connection of manipulator and accessories Adaptation and connection of manipulator and accessories Examples of accessory types The accessory equipment of the operator mainly includes mechanical grab (Figure 6-1), hydraulic pressure sucker (Figure 6-2), welding gun welder (Figure 6-3), infrared identification equipment, visual identification equipment, cutting machine, other special equipment, etc.

  • Page 38: Connection Mode

    Adaptation and connection of manipulator and accessories AIR20-1700 Industrial Robot Manipulator Manual Connection mode Connection between manipulator and accessories The connection and load between the external auxiliary equipment and the manipulator are similar to those of the manipulator, and can be directly or indirectly connected to the manipulator through the flange. See Chapter7.6 of this manual for details.

  • Page 39: Performance Parameters Of Manipulator

    See Chapter 1.3 Basic Specifications of this manual for the basic specifications of manipulator. Dimension and working range of each axis The motion range of each axis of manipulator is shown in Table 7-1 as follows. Table 7-1 Motion range of each axis of AIR20-1700 manipulator Motion range (°) Axis number -170°~170°...
  • Page 40 Performance parameters of manipulator AIR20-1700 Industrial Robot Manipulator Manual Figure 7-1 Working range of AIR20-1700A Manipulator...

  • Page 41: Mechanical Limit

    AIR20-1700 Industrial Robot Manipulator Manual Performance parameters of manipulator Figure 7-2 Working range of AIR20-1700B Manipulator Mechanical limit Zero point and movable range are respectively set on each axis. As long as the origin position is not lost due to servo system abnormality and system error, the robot is controlled to move within the movable range.

  • Page 42: Speed Of Each Axis

    Performance parameters of manipulator AIR20-1700 Industrial Robot Manipulator Manual Speed of each axis The maximum angular speed of each axis of the manipulator is shown in Table 7-2. Table 7-2 Maximum angular speed of each axis of the manipulator Maximum angular velocity (°/s)

  • Page 43: Load And Installation Method

    AIR20-1700 Industrial Robot Manipulator Manual Performance parameters of manipulator Figure 7-4 The flange dimension diagram of wrist of manipulator When installing the fixture, the depth of the threaded hole and pin hole shall be fully considered for the screws and locating pins used. It is forbidden to install the length beyond the depth of the threaded hole (10.5mm) and the depth of the pin hole (4mm), otherwise the wrist of the operator will be damaged.
  • Page 44 Please refer to Table 1-1 for specific values. ◼ Figure 7-6 Location of wrist load center of AIR20-1700 manipulator Installation of elbow equipment of axis 3 of manipulator The specification and size of the installation hole of J3 axis elbow of manipulator are shown in Figure 7-7.
  • Page 45 AIR20-1700 Industrial Robot Manipulator Manual Performance parameters of manipulator Figure 7-7 Interface dimension diagram of elbow load of manipulator When installing the equipment, the reliability of installation shall be fully considered. It is recommended to use 12.9 grade screws to install according to the specified torque, and apply thread glue on the thread, otherwise the long-term operation may lead to looseness or even fracture, resulting in accidents.
  • Page 46 Performance parameters of manipulator AIR20-1700 Industrial Robot Manipulator Manual Figure 7-9 Dimension drawing of shoulder interface of AIR20-1700A series Figure 7-10 Dimension drawing of shoulder interface of AIR20-1700B series Fixed position of manipulator upper arm The specifications and dimensions of the mounting hole of the manipulator upper arm are shown in Figure 7-11 and...
  • Page 47 AIR20-1700 Industrial Robot Manipulator Manual Performance parameters of manipulator Figure 7-11 Dimension drawing of AIR20-1700A series upper arm interface Figure 7-12 Dimension drawing of AIR20-1700B series upper arm interface...
  • Page 48 Performance parameters of manipulator AIR20-1700 Industrial Robot Manipulator Manual ◼ The above parts are designed for cable fixation. If equipment is needed to be installed, it should be guaranteed that: Arm load + wrist load <20kg. ⚫ Shoulder load + arm load + elbow load <37kg.

  • Page 49: Calibration Of The Axes Of The Manipulator

    AIR20-1700 Industrial Robot Manipulator Manual Calibration of the axes of the manipulator Calibration of the axes of the manipulator General This section describes the case where the manipulator needs to be calibrated and the zero-point calibration method under different requirements.
  • Page 50 Calibration of the axes of the manipulator AIR20-1700 Industrial Robot Manipulator Manual Figure 8-2 AIR20-1700B zero point diagram of each axis The robot calibration must always be performed at the same temperature conditions to avoid errors due ◼ to thermal expansion and contraction.
  • Page 51 AIR20-1700 Industrial Robot Manipulator Manual Calibration of the axes of the manipulator Calibration under the requirement of High path Positioning accuracy When the manipulator is required to have high path positioning accuracy, it is necessary to calibrate and compensate the angle and length of each axis accurately, and to contact the company to use special equipment for calibration.

  • Page 53: Manipulator Transportation And Handling

    AIR20-1700 Industrial Robot Manipulator Manual Manipulator transportation and handling Manipulator transportation and handling Manipulator shall be equipped with the matching handling bracket. The incorrect handling method may cause the damage to manipulator. Manipulator posture during handling is subject to the description in Chapter 9.1.
  • Page 54 Manipulator transportation and handling AIR20-1700 Industrial Robot Manipulator Manual Figure 9-2 Dimensions of AIR20-1700A Manipulator during the Handling Process...
  • Page 55 AIR20-1700 Industrial Robot Manipulator Manual Manipulator transportation and handling...

  • Page 56: Handing Posture

    Manipulator transportation and handling AIR20-1700 Industrial Robot Manipulator Manual Figure 9-3 Dimensions of AIR20-1700B Manipulator during the Handling Process Handing posture One to six axis posture of AIR20-1700A manipulator during handling shall be posed as shown in Table 9-1, Figure 9-4...
  • Page 57 AIR20-1700 Industrial Robot Manipulator Manual Manipulator transportation and handling Figure 9-4 Handling posture of AIR20-1700A Manipulator Figure 9-5 Handling posture of AIR20-1700B Manipulator Manipulator shall be handled in strict accordance with the posture in the table, otherwise it may fall due to...

  • Page 58: Handing With Forklift

    Manipulator transportation and handling AIR20-1700 Industrial Robot Manipulator Manual Handing with Forklift Handling with forklift is as shown in Figure 9-6 and Figure 9-7. Forklift shall meet the requirement for the weight of manipulator. The total weight of AIR20-1700A manipulator and handling device is about 303kg, and the total weight of AIR20-1700B manipulator and handling device is about 317kg.
  • Page 59 AIR20-1700 Industrial Robot Manipulator Manual Manipulator transportation and handling The lifting ring is M12. The total weight of AIR20-1700A manipulator and handling device is about 303kg, and the total weight of AIR20-1700B manipulator and handling device is about 317kg. Figure 9-8 Diagram of AIR20-1700A Manipulator Handling with Swinging Ring...
  • Page 60 Manipulator transportation and handling AIR20-1700 Industrial Robot Manipulator Manual ◼ Do not pull the swinging ring to the side to avoid the damage to the manipulator and the unpredictable failure.

  • Page 61: General Principles Of Maintenance

    AIR20-1700 Industrial Robot Manipulator Manual General principles of maintenance General principles of maintenance This manual is a description of preventive maintenance of manipulators. For the maintenance of a complete set of industrial robot systems, it should also include: Control cabinet maintenance-see "Control cabinet maintenance manual".

  • Page 63: Maintenance Items

    AIR20-1700 Industrial Robot Manipulator Manual Maintenance items Maintenance items Daily maintenance When running the manipulator every day, the following items should be checked. As shown in Table 11-1. Table 11-1 Daily Maintenance of manipulator Ordinal Inspection item Main points of inspection...

  • Page 64: Regular Maintenance

    Maintenance items AIR20-1700 Industrial Robot Manipulator Manual ◼ Connecting cable of manipulator, grounding terminal, user cable joint Confirmation Check the cable sheath for crack and wear, and if so, replace it. ◼ ◼ Check if the lubricating grease on the surface of internal cable of J1 axle body and the internal cable of big arm is disappeared, and if the lubricating grease is about to disappear, add it properly.
  • Page 65 AIR20-1700 Industrial Robot Manipulator Manual Maintenance items 1920 hours (6 months) regular maintenance The manipulator shall run for 1920 hours or 6 months (whichever is shorter), and the following items shall be inspected and repaired. As shown in Table 11-4.
  • Page 66 Maintenance items AIR20-1700 Industrial Robot Manipulator Manual 15360 hours (4 years) periodic maintenance The manipulator shall be operated for 4 years or 15360 hours (whichever is short), and the following items shall be inspected and repaired. As shown in Table 11-8.

  • Page 67: Project Maintenance Process

    AIR20-1700 Industrial Robot Manipulator Manual Project maintenance process Project maintenance process Cleaning of manipulator To ensure the long-term operation of robot, the manipulator shall be cleaned every 960 h or 3 months (whichever comes first) according to the following process: Step1.
  • Page 68 Project maintenance process AIR20-1700 Industrial Robot Manipulator Manual Figure 12-2 AIR20-1700B layout for cables of manipulator Check and repair external cables Maintenance steps: Step1. Adjust the manipulator from J1 to J6's angle is 0° ,0° ,90° ,-180° ,0° ,0° .
  • Page 69 AIR20-1700 Industrial Robot Manipulator Manual Project maintenance process Step4. Check the internal cables for wear or damage. Step5. In case of crack, wear or damage, please contact us for replacement timely. Step6. Check if the lubricating grease on the internal cable surface has disappeared.
  • Page 70 Project maintenance process AIR20-1700 Industrial Robot Manipulator Manual Step1. Remove elbow cable retaining plate as shown in Figure 12-5. Step2. Pull out the cable and check whether the cable is reliably connected to the fixed plate. Step3. Check whether the cable and the bracket are fixed for wear or damage.

  • Page 71: Battery Replacement

    AIR20-1700 Industrial Robot Manipulator Manual Project maintenance process Figure 12-6 Inner cable of the wrist Please entrust the service department of the company to replace the internal cables of the operator. The use of substandard cables may result in the robot not working properly.

  • Page 72: Replace Grease

    Project maintenance process AIR20-1700 Industrial Robot Manipulator Manual Figure 12-7 Remove AIR20-1700A manipulator electrical installation panel Figure 12-8 Remove AIR20-1700B manipulator electrical installation panel Replace grease Manipulator J1 axis to J6 axis reducer, every 11520 hours or 3 years (whichever is shorter), need to replace the internal grease.
  • Page 73 AIR20-1700 Industrial Robot Manipulator Manual Project maintenance process Manipulator model Replace the grease part Amount of grease Grease type J1 axis reducer (lift mounting) 1576g J2 axis reducer 1177g J3 axis reducer 254g Table 12-2 Grease model and quantity of AIR20-1700B manipulator...
  • Page 74 Project maintenance process AIR20-1700 Industrial Robot Manipulator Manual Figure 12-10 Replace the lubricating grease of AIR20-1700B J1 axis reducer The replacement process is as follows: Step1. Run the manipulator as shown in Table 12-3. Step2. To prevent danger, turn off the power, hydraulic and pneumatic sources connected to the robot.
  • Page 75 AIR20-1700 Industrial Robot Manipulator Manual Project maintenance process J2 axis reducer replacement grease process Figure 12-11 Replace the grease of AIR20-1700A J2 axis reducer Figure 12-12 Replace the grease of AIR20-1700B J2 axis reducer The replacement process is as follows: Step1.
  • Page 76 Project maintenance process AIR20-1700 Industrial Robot Manipulator Manual Step6. Remove the grease injection port M10x1 plug, install the grease injection nozzle, and use manual grease injection gun to inject grease until the new grease is discharged from the outlet. Step7. Release the grease pressure inside the reducer as shown in Table 12-4.
  • Page 77 AIR20-1700 Industrial Robot Manipulator Manual Project maintenance process Figure 12-14 Replace the lubricating grease of AIR20-1700B J3 axis reducer The replacement process is as follows: Step1. Run the manipulator as shown in Table 12-3. Step2. To prevent danger, turn off the power, hydraulic and pneumatic sources connected to the robot.

  • Page 78: Replacement Of Synchronous Belt

    Project maintenance process AIR20-1700 Industrial Robot Manipulator Manual Table 12-4 Release internal pressure of reducer and gearbox Replace the grease part Action point The action time The premise >90° J1 axis reducer Ten minutes Sealing head or oil nozzle shall be installed at the grease injection >90°...
  • Page 79 AIR20-1700 Industrial Robot Manipulator Manual Project maintenance process Step6. Move the motor pulley assembly, remove the old synchronous belt and install the new synchronous belt. Step7. Preliminarily install the motor base screw M4. Step8. Install the adjusting screw with an Allen key and adjust the timing belt to the appropriate tension; The frequency of synchronous belt is 116Hz~122Hz, which can also be measured by pressure method, with pressure G=2.9N and deformation f=2.1mm.
  • Page 80 Project maintenance process AIR20-1700 Industrial Robot Manipulator Manual After the replacement of synchronous belt, the J5 axis of manipulator shall be calibrated. For details, see Chapter 8.

  • Page 81: Common Faults And Treatment

    AIR20-1700 Industrial Robot Manipulator Manual Common faults and treatment Common faults and treatment The fault of manipulator may be caused by a number of different reasons. It is often difficult to thoroughly find out the cause. If the wrong handling method is used, the fault may be further deteriorated. Therefore, it is very important to analyze the fault situation and find out the real cause.
  • Page 82 Common faults and treatment AIR20-1700 Industrial Robot Manipulator Manual Fault Classification Possible Causes Treatment Mechanical transmission system ◼ is subjected to excessive external force due to collision or overload, causing the damage to the gear ◼ Make the manipulator operate...
  • Page 83 AIR20-1700 Industrial Robot Manipulator Manual Common faults and treatment Fault Classification Possible Causes Treatment Mechanical electrical noise from ◼ the manipulator ◼ If the grounding wire is not connected properly, the electrical noise will mix into the grounding ◼ Connect the grounding wire...
  • Page 84 Common faults and treatment AIR20-1700 Industrial Robot Manipulator Manual Fault Classification Possible Causes Treatment Turn off the power of manipulator, and Large backlash is resulted from the wear confirm that the screws are tightened, or damage of internal gears of...
  • Page 85 AIR20-1700 Industrial Robot Manipulator Manual Common faults and treatment Fault Classification Possible Causes Treatment Brake fault causes the motor to Please confirm whether the brake ◼ ◼ always operate when the brake is is released when the motor is applied, which causes the motor powered on.
  • Page 86 Common faults and treatment AIR20-1700 Industrial Robot Manipulator Manual Table 13-5 Causes and treatment measures of manipulator axis t falling Fault Classification Possible Causes Treatment ◼ The damage of brake drive relay ◼ Check if the brake drive relay is...
  • Page 87 AIR20-1700 Industrial Robot Manipulator Manual Common faults and treatment Fault Classification Possible Causes Treatment ◼ Re-enter the previous correct calibration data Parameters: Deviation occurs after the modification of ◼ In case of uncertain calibration The modification of calibration data parameters...

  • Page 89: Conditions Of Storage

    AIR20-1700 Industrial Robot Manipulator Manual Conditions of storage Conditions of storage Environmental conditions for long-term storage of manipulator Table 14-1 Environmental conditions for long-term storage of manipulator Parameter Value -25℃ Min. ambient temperature 55℃ Max. ambient temperature Max. ambient temperature (storage time less than 24 h) 70℃...

  • Page 90: Appendix A Periodic Maintenance Schedule Of Air20-1700 Manipulator

    AIR20-1700 Industrial Robot Manipulator Manual Appendix A Periodic maintenance schedule of AIR20-1700 manipulator Appendix A Periodic maintenance schedule of AIR20-1700 manipulator Note:  indicates that maintenance is required. Schedule A Periodic Maintenance Schedule of AIR20-1700A Manipulator First Main month month...
  • Page 91 Appendix A Periodic maintenance schedule of AIR20-1700 manipulator AIR20-1700 Industrial Robot Manipulator Manual First Main month month month month month month month month month month month month month month 5 year Mainte month year years years 4 years tena Item...
  • Page 92 AIR20-1700 Industrial Robot Manipulator Manual Appendix A Periodic maintenance schedule of AIR20-1700 manipulator First Main month month month month month month month month month month month month month month 5 year Mainte month year years years 4 years tena Item...

  • Page 93: Appendix B Table Of Screw Strength And Tightening Torque (Nm)

    AIR20-1700 Industrial Robot Manipulator Manual Appendix B Table of screw strength and tightening torque (Nm) Appendix B Table of screw strength and tightening torque (Nm) Appendix B Table of screw strength and tightening torque (Nm) Performance level 8.8 level 10.9 level 12.9 level...

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Air20-1700aAir20-1700b

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