Agilebot GBT-S6A Series Product Manual

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Mechanical Manual for GBT-S6A Series Robots

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Page 1 Product Manual Mechanical Manual for GBT-S6A Series Robots...
Page 3 Mechanical Manual for GBT-S6A Series Robots The information in this Manual must not be considered as a commitment of Agilebot and may be changed without prior notice. Agilebot assumes no responsibility for errors (if any) in this Manual. Except as expressly specified in this Manual, nothing in this Manual shall be construed as any warranty or guarantee made by Agilebot for personal loss, property damage or specific applicability.
Page 4 Mechanical Manual for GBT-S6A Series Robots Revision Ver. Date Status V1.0 Feb 25, 2023 Canceled V1.1 Apr 3, 2023 Canceled V1.2 Jul 6, 2023 Release Mechanical Manual for GBT-S6A Series Robots 4 / 49...
Page 5: Table Of Contents
Mechanical Manual for GBT-S6A Series Robots Table of Contents Safety instructions ..........................6 Handling and mounting ......................12 1.1 Handling..........................12 1.2 Mounting ..........................14 Connection to controller ......................18 2.1 Connection to controller ....................... 18 Basic specification ........................19 3.1 Composition of robot ......................
Page 6: Safety Instructions
Nobody is allowed to modify the industrial robot without authorization from Shanghai Agilebot Robotics Co., Ltd. Shanghai Agilebot Robotics Co., Ltd. shall assume no responsibility for any damage to the industrial robot or its components due to the use of any other components (software, tools, etc.) not provided by Agilebot.
Page 7 Mechanical Manual for GBT-S6A Series Robots Definition of user The operators are defined as follows: ➢ Operator Perform power-on/off operation on the robot. Start the robot program from the panel board. ➢ Debugging Engineer Operate the robot. Perform teaching and programming debugging of the robot within the safety fence.
Page 8 Mechanical Manual for GBT-S6A Series Robots Definition of safety records This Manual includes safety warnings to ensure personal safety of the users and avoid any damage to the machine tool and describes them with "Danger" and "Warning" in the main text based on their importance in safety.
Page 9 Mechanical Manual for GBT-S6A Series Robots Steps for robot axis operation in emergency and abnormal situations In emergency and abnormal situations where a person is trapped or surrounded by the robot, it is required to immediately cut off the power supply to the robot controller, directly move the robot arm and change its posture to help the operator get out of danger.
Page 10 Mechanical Manual for GBT-S6A Series Robots Safety warning label Both the robot and the controller bear several safety and information labels, which contain important information related to the product. This information is very useful for all persons operating the robot system, e.g.
Page 11 Mechanical Manual for GBT-S6A Series Robots Sign Description Never enter the work area while the robot is moving. Otherwise, the robot may collide with the operator. This is very dangerous and may cause serious safety issues. Beware of burns due to high temperature.
Page 12: Handling And Mounting
The robot can be handled for a short distance by two adults or transported for a long distance by a forklift. The weights of GBT-S6A series robots (excluding cables) are shown in the table below: Robot model...
Page 13 Mechanical Manual for GBT-S6A Series Robots The transport posture of GBT-S6A robot is shown in Fig. 1.1: Human-powered transport location Fig. 1.1 Transport Posture of GBT-S6A Robot Axis No. Angle/stroke 0° 150° 0° Table 1.1 Axis Data at Transport Posture of GBT-S6A Robot...
Page 14: Mounting
Mechanical Manual for GBT-S6A Series Robots 1.2 Mounting Parts required for mounting the robot: Name Number (PCS) GB/T 70.1- Hexagon socket screw M8 * 25 ( [NOTE 1] 2008 Spring washer M8 [NOTE 2] GB/T 97.1-2002 Flat washer M8 ( Cylindrical pin φ6...
Page 15 Mechanical Manual for GBT-S6A Series Robots Mounting requirements: Maximum surface roughness 0.5mm Mounting base Maximum tilt angle 0.5° required Minimum resonance frequency 30Hz Minimum environmental temperature -20℃ Storage Maximum environmental temperature 50℃ conditions Maximum humidity 90% RH (non-condensation) Minimum temperature 5℃...
Page 16 Mechanical Manual for GBT-S6A Series Robots Warning Those designing or manufacturing the robot system with this product must read this Manual to understand basic precautions before work. Otherwise, it is very dangerous and may result in serious injury or significant damage.
Page 17 Mechanical Manual for GBT-S6A Series Robots Warning For the power cable, make sure to use a power plug or disconnector. Never connect it directly to the power supply in the factory. Never open the controller or robot cover except during maintenance. It is very dangerous when the controller cover is opened.
Page 18: Connection To Controller
Mechanical Manual for GBT-S6A Series Robots Connection to controller 2.1 Connection to controller The connecting cables between the robot and the controller include power cables and signal cables. Please connect each cable to the connector on the back of the mounting base. Don't forget to ground the controller.
Page 19: Basic Specification
3.1 Composition of robot The GBT-S6A series robot is composed of a base, a large arm, a small arm, a screw and a pipeline package. Totally, 4 servo motors can drive the movement of 4 joints to achieve different forms of motion.
Page 20 Mechanical Manual for GBT-S6A Series Robots Model GBT-S6A-500 GBT-S6A-600 GBT-S6A-700 Basic specification Axes Maximum reach 500 mm 600 mm 700 mm Rated Payload Maximum Rated 0.01 kgm 0.01 kgm 0.01 kgm Axis 4 Moment of Inertia Maximum 0.12 kgm 0.12 kgm 0.12 kgm...
Page 21: Diagram For Overall Dimensions And Action Range
Mechanical Manual for GBT-S6A Series Robots 3.2 Diagram for overall dimensions and action range Caution The workspace shown in this figure is the maximum space that can be theoretically reached. It may vary depending on the mounting method during actual operation. In practical application, please consider the impact of mounting method on the workspace.
Page 22 Mechanical Manual for GBT-S6A Series Robots Completely through Through Through Through Through Space reserved for cables over 90 Model Fig. 3.4 Overall Dimensions of GBT-S6A Series Mechanical Manual for GBT-S6A Series Robots 22 / 49...
Page 23 Mechanical Manual for GBT-S6A Series Robots Model Fig. 3.5 Operating Reach of GBT-S6A Series Mechanical Manual for GBT-S6A Series Robots 23 / 49...
Page 24: Origin Position And Range Of Motion (Rom)
Axis 3 Hard limit of Axis 1 Fig. 3.6 Diagram for Hard Limits of GBT-S6A Series (clean version on the left and standard version on the right; with the same hard limits) Mechanical Manual for GBT-S6A Series Robots...
Page 25: Wrist Payload Conditions
Mechanical Manual for GBT-S6A Series Robots 3.4 Wrist payload conditions Before use, it is necessary to set the correct payload data for the robot. It is important to carefully confirm the mass and inertia of the payload before operation. Overload may lead to excessive operation of the motor, the reducer and relevant structures.
Page 26: Mount The Device Onto The Robot
Mechanical Manual for GBT-S6A Series Robots Mount the device onto the robot 4.1 Mount the end-effector to the front end of the wrist The following figure shows the mounting surface of the end-effector at the front end of the wrist. Select the lengths of the bolts and positioning pins after sufficiently considering the depths of the screw hole and pin hole.
Page 27: Mounting Surface
Mechanical Manual for GBT-S6A Series Robots 4.2 Mounting surface Caution 1. Never increase machining holes or screw holes on the robot body, for it may cause adverse effects on the safety and functionality of the robot. 2. Please note that the use of screw holes other than those shown in the following figure is not warranted.
Page 28: About Payload Setting
Mechanical Manual for GBT-S6A Series Robots 4.3 About payload setting Caution Before operation, it is important to correctly set the payload for the robot. Do not operate under payloads inconsistent with the set payload or under overload conditions. The weight of the payloads, including cables connecting surrounding devices, cannot exceed the transportable weight of the robot.
Page 29 Mechanical Manual for GBT-S6A Series Robots System Button Fig. 4.4 Basic Setting Fig. 4.5 Mechanical Manual for GBT-S6A Series Robots 29 / 49...
Page 30 Mechanical Manual for GBT-S6A Series Robots Payload Setting Fig. 4.6 Fig. 4.7 Payload Setting Screen Mechanical Manual for GBT-S6A Series Robots 30 / 49...
Page 31: Cabling And Piping To End-Effector
Mechanical Manual for GBT-S6A Series Robots Cabling and piping to end-effector Warning ⚫ Cables with necessary user interfaces should be used inside the robot mechanism. ⚫ Do not add cables or hoses inside the robot mechanism. ⚫ When installing cables outside the robot mechanism, take care not to obstruct the motion of the robot.
Page 32: Air Pipe And Electrical Interfaces
Mechanical Manual for GBT-S6A Series Robots 5.1 Air pipe and electrical interfaces The following figure indicates the positions of air pipe and electrical interfaces on the robot. Negative pressure air Φ4×2 air pipe pipe (specific for the connector clean room)
Page 33: Maintenance And Repair
Mechanical Manual for GBT-S6A Series Robots Maintenance and repair It is possible to maintain the performance of the robot in a stable state through maintenance and repair. Caution The cumulative operating time of the GBT robot is assumed to be 3000h in a year. If the annual operating time is longer than 3000h, it is necessary to shorten the maintenance cycle according to the operating time.
Page 34: Maintenance And Repair Contents
Mechanical Manual for GBT-S6A Series Robots 6.1 Maintenance and repair contents Daily maintenance Before daily maintenance, please read this chapter carefully to fully understand safe maintenance methods. Only those who have passed robot system training of our company and the distributors are allowed to maintain the robot system.
Page 35 Mechanical Manual for GBT-S6A Series Robots Caution ⚫ Please use alcohol, liquid gasket and adhesive carefully according to respective instructions and the following descriptions. Improper use of alcohol, liquid gasket or adhesive may lead to fire or safety issues. ➢...
Page 36 Mechanical Manual for GBT-S6A Series Robots Regular maintenance Carry out maintenance and repair for the items below according to the shorter term of the specified period or cumulative operating time. (Please refer to Appendix A for detailed documents) Maintenance Maintenance · repair...
Page 37: Key Points
Mechanical Manual for GBT-S6A Series Robots 6.2 Key points Maintenance of hard limit If the hard limit is deformed or damaged, please contact us for repair and replacement. Fig. 6.1 Hard Limits of GBT-S6A Series Mechanical Manual for GBT-S6A Series Robots 37 / 49...
Page 38: Repair
Mechanical Manual for GBT-S6A Series Robots 6.3 Repair Battery replacement (1-year regular maintenance period for specified built-in battery) The position data of the robot axes is saved through a backup battery. The built-in battery (if used) should be replaced regularly every year. In addition, the battery should be replaced as well when the voltage-drop alarm is displayed.
Page 39 Mechanical Manual for GBT-S6A Series Robots Move Axis 3 to the lower limit and apply a small amount of grease evenly to the exposed surface of the lead screw. Then move it to the upper limit and repeat the greasing step. The application position is shown in the diagram of application area.
Page 40: Zero Calibration Method
Mechanical Manual for GBT-S6A Series Robots Zero calibration method 7.1 Summary Zero calibration is an operation associating the angle of each robot joint with the pulse count. The zero calibration operation is to obtain the pulse count corresponding to the zero position.
Page 41: General Calibration Method
Mechanical Manual for GBT-S6A Series Robots 7.2 General calibration method Select one or several axes and record their current readings as new zero data in the parameter file of the robot's Flash. The recording objects include main axis and additional axes of the robot (if any). It is possible to calibrate a single axis.
Page 42: Zero Encoded Data Direct Write
Mechanical Manual for GBT-S6A Series Robots Zero encoded data direct write As for the direct writing of zero calibration data, the zero calibration data can be directly entered into the system variables. This operation is used in the situations where zero calibration data is lost while pulse data is still maintained.
Page 43: Confirmation Of Zero Calibration Results
Mechanical Manual for GBT-S6A Series Robots Confirmation of zero calibration results Confirm whether the zero calibration is carried out normally: Usually, it is required to determine whether the zero calibration has been completed normally and check whether the current position display is consistent with the actual position of the robot by the following method.
Page 44: Resolution Of Common Faults
Mechanical Manual for GBT-S6A Series Robots Resolution of common faults A fault in the mechanism is sometimes caused by multiple different causes together. So, it is often difficult to thoroughly investigate them. In addition, incorrect measures (if taken) may actually lead to further deterioration of the fault.
Page 45 Mechanical Manual for GBT-S6A Series Robots The control program or The program or payload Adjust the program and payload of the robot has exceeds the acceptable reduce the payload. been changed. range of the robot. The parameters imported The imported parameters...
Page 46 Mechanical Manual for GBT-S6A Series Robots It may be caused by an abnormal pulse encoder. [Position offset of peripheral device] The position is only It may be because external offsetting for specific forces acting on peripheral peripheral devices. devices cause offsetting of relative positions.
Page 47: Appendice
Mechanical Manual for GBT-S6A Series Robots Appendice A. Regular Maintenance Sheet Robot Maintenance Schedule Category Inspection items Interval Contents Wipe away dirt and clear away Inspection Clean the body 3 months accumulated splashes, dust, chips, etc. Tighten all exposed Inspection...
Page 48: List Of Bolt Strengths And Tightening Torques
Mechanical Manual for GBT-S6A Series Robots B. List of Bolt Strengths and Tightening Torques Please use the following strengths for bolts: Bolts below M22 (inclusive): tensile strength higher than 1200 N/mm² Bolts above M24 (inclusive): tensile strength higher than 1000 N/mm²...
Page 49 Mechanical Manual for GBT-S6A Series Robots Contact us Agilebot Robotics Co., Ltd. (Shanghai Headquarters): Floor 8, Tower 6, Zhongjian Jinxiu Plaza, No. 50, Lane 308, Xumin Road, Qingpu District, Shanghai Agilebot Operation and Technical Service Center: Building 1, No. 338 Jiuye Road, Qingpu District, Shanghai Service hotline: +86-21-5986 0805 Website: www.sh-agilebot.com...

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