Staubli TX 200 Series Instruction Manual

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Arm - TX series 200 family

Instruction manual

D28083004B – 29/05/2013

Translation of the original manual

TX200 © Stäubli 2013

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Page 1 Arm - TX series 200 family Instruction manual D28083004B – 29/05/2013 Translation of the original manual TX200 © Stäubli 2013...
Page 2 You can find added elements and "errata" in the "readme.pdf" document supplied with the robot's CD-ROM 2 / 108 © Stäubli 2013 - D28083004B TX200...
Page 3: Table Of Contents
TABLE OF CONTENTS 1 - INTRODUCTION ......................7 1.1. Foreword ..........................9 1.1.1. Objective of this manual ..................9 1.1.2. Special messages concerning warnings, alerts, and information......9 1.2. Definition of the elements around the machine ..............10 1.3. Safety ..........................11 1.3.1.
Page 5 2.11. Safety ..........................62 2.11.1. Risks near the arm ....................62 2.11.2. Counterbalance system..................62 2.11.3. Stopping times and angles ..................63 2.11.4. Maximum energy generated by the robot in the event of an impact ..... 65 2.11.5. Noise level......................65 2.11.6.
Page 9: Foreword
Chapter 1 - Introduction 1.1. FOREWORD The information contained in the present document is the property of STÄUBLI and it cannot be reproduced, in full or in part, without our prior written approval. The specifications contained in the present document can be modified without notice. Although all necessary precautions have been taken to ensure that the information contained in this document is correct, STÄUBLI cannot be held responsible for any errors or omissions found in the illustrations, drawings and specifications contained in the said document.
Page 10: Definition Of The Elements Around The Machine
Information message Notes of the "information" type provide very important information to help the reader to understand a description or a procedure. Information: Supplies further information, or underlines a point or an important procedure. This information must be memorized to make it easier to apply and ensure correct sequencing of the operations described.
Page 11: Safety
Chapter 1 - Introduction 1.3. SAFETY 1.3.1. REMINDER CONCERNING THE SAFETY STANDARDS DANGER: The robot is fast moving equipment. These movements can be dangerous. Always comply with the safety standards recommended for robot use and inform operators about the dangers faced. The robot is a "partly completed machinery"...
Page 12 Declaration of Incorporation in accordance with Directive 2006/42/EC, annex II B (Machine Directive) and of Conformity The manufacturer: STÄUBLI FAVERGES Address: Place Robert Stäubli, 74210 FAVERGES, France Hereby declares that: (Industrial robot or Industrial robot arm or Industrial robot controller) of the STÄUBLI make, serial number………..……, Is a partly completed machinery designed to be incorporated in a machine or to be assembled with other machines, in accordance with the specifications set out in the documentation, to constitute a machine covered by the “Machines”...
Page 13 Chapter 1 - Introduction Guidelines for robot integration Other standards are applicable to the robot cell called "machine" such as (non exhaustive list): • Standard ISO 10218-2 Safety requirements for industrial robots: robot systems and integration • Standard EN ISO 12100 General principles •...
Page 14: Safety Directives Concerning To The Work Environment
1.3.2. SAFETY DIRECTIVES CONCERNING TO THE WORK ENVIRONMENT 1.3.2.1. Analysis of safety around the machine Safety must be taken into account for the machine from the design and development stage Before planning the installation of the machine, it is necessary to study the following points: •...
Page 15: Safety Directives Concerning To Staff Protection
Chapter 1 - Introduction 1.3.3. SAFETY DIRECTIVES CONCERNING TO STAFF PROTECTION STÄUBLI robots work with computer controlled mechanisms, capable of moving at high speed and exerting considerable force. Like all robots and most industrial equipment, they must be operated with great care by the user of the machine. All staff using STÄUBLI robots must be familiar with the warnings and recommendations given in this manual.
Page 16 Information: If a crash of the arm occurs, all safety components involved in the safety have to be checked carefully to verify they are still operating and not damaged: hard stop devices on the arm, electrical limit switches, calibration of the robot. Don't hesitate to call STÄUBLI service for any doubt.
Page 17: Safety Directives Concerning To Protection Of The Equipment
Chapter 1 - Introduction 1.3.4. SAFETY DIRECTIVES CONCERNING TO PROTECTION OF THE EQUIPMENT DANGER: To ensure reliability and precision in the robot's movements, the machine environment must comply with the levels of disturbance set out in the safety standards. 1.3.4.1. Connections •...
Page 18 Risks created by an electrostatic discharge A high ESD voltage (several thousand volts) creates danger for electronic components. A semi-conductor must be handled carefully to prevent destruction by ESD. It is estimated that ESD destroy only 10% of the components that they effect. The other 90% of components fall into the "deteriorated"...
Page 19 Chapter 1 - Introduction 1.3.4.3. Prevention of damage due to electrostatic discharges It is essential to guard against electrostatic discharges during an intervention concerning electronic components, sub-assemblies and complete systems. Elimination of the danger due to ESD requires a combined team effort. By complying with the following instructions, you can substantially reduce the potential damage caused by ESD and ensure long-term reliability for the robot.
Page 20: Arm Safety Devices
1.3.5. ARM SAFETY DEVICES 1.3.5.1. Overview of the safety devices The arm features the following safety devices: Device Paragraph 2.11.8 Axis range limitation Axis limitation devices 4.4.3 Modification of ranges 1.3.5.2. Residual risks Whatever the safety functions implemented, there are some residual risks due to the type of machine: A Category 3 PLd safety function is usually adequate for a temporary protection of the Adequate safety...
Page 23: Identification
Chapter 2 - Description 2.1. IDENTIFICATION Robots are manufactured by Stäubli Faverges SCA Place Robert Stäubli 74210 Faverges France They are identified by a plate attached to the controller and to the arm (see figure 2.2). Standard version Figure 2.2 For all requests concerning information, replacement part orders, or requests for intervention, please state the type and the serial number of the machine concerned, as set out on the manufacturer's plate.
Page 24: General Presentation
2.2. GENERAL PRESENTATION The arm consists of segments or members interconnected by joints (figure 2.1). Movements on the arm joints are generated by servomotors coupled with position sensors. Each of these motors is equipped with a parking brake. This reliable, robust assembly is linked to an innovative counting system that provides data concerning the absolute position of the robot at all times.
Page 25 Chapter 2 - Description Min. Min. Figure 2.4 - Standard arm with rear cable connection TX200 © Stäubli 2013 - D28083004B 25 / 108...
Page 27 Chapter 2 - Description Min. Figure 2.6 - Long arm with rear cable connection TX200 © Stäubli 2013 - D28083004B 27 / 108...
Page 29: Designation Of Robots Of The Tx Series 200 Family
Chapter 2 - Description 2.3. DESIGNATION OF ROBOTS OF THE TX SERIES 200 FAMILY TX 20 (1) (2) (3) TX family arm Maximum reach between axes 1 and 5 expressed in decimeters: dimension + dimension + dimension Number of active axes: •...
Page 30: General Characteristics
2.4. GENERAL CHARACTERISTICS 2.4.1. DIMENSIONS See figures 2.4, 2.5, 2.6, 2.7. Remark concerning dotted line zones: leave access to install connections and for maintenance. 2.4.2. WORK ENVIRONMENT • Working temperature: + 5°C to + 40°C. CAUTION: It may be necessary to perform a warm-up cycle before nominal performances are obtained.
Page 31: Weight
Chapter 2 - Description • Vertical cable outlet: Standard configuration See also chapter 3.2 for the particular aspects concerning he robot installation. • Horizontal cable outlet: Option only See also chapter 3.2 for the particular aspects concerning he robot installation. 2.4.3.
Page 32: Cleaning And Disinfecting Recommendations
2.4.4. CLEANING AND DISINFECTING RECOMMENDATIONS Stäubli standard, cr, scr external robot surfaces • Unpainted metal parts: • Use wipes wetted with product recommended in the following compatibility chart. • Painted metal parts or plastic parts: • Use wipes soaked with a neutral pH aqueous soap solution (For example, use a product listed in the following compatibility chart).
Page 33 Chapter 2 - Description CAUTION: Nevertheless, the repetitive mechanical action of wiping may damage the brightness of the paint. In case of cleaning or disinfecting agents being out of specification, please consult Stäubli. Type of product Cleaner Disinfectant Neutral Neutral 2 to 4 Neutral Cleaner or disinfecting...
Page 37: Performance
Chapter 2 - Description 2.5. PERFORMANCE Area accessible in righty configuration See figures 2.8 and 2.9 Standard arm Long arm Work envelope 2000 mm 2400 mm R.M max. reach between axis 1 and 5 1750 mm 2150 mm R.M max. reach between axis 2 and 5 365 mm 528 mm R.m1 min.
Page 39: Load Capacity - Mechanical Interface
Chapter 2 - Description 2.6. LOAD CAPACITY – MECHANICAL INTERFACE See figure 2.10. The end-effector is not supplied with the robot arm assembly; its design depends on the robot's specific applications. The end-effector design should be sufficient rigid to avoid affecting robot performance levels.
Page 40 Payload center of gravity (COG) Z (mm) X (mm) Figure 2.11 Axis 4: ±60° Figure 2.12 40 / 108 © Stäubli 2013 - D28083004B TX200...
Page 41: Load Capacity
Chapter 2 - Description 2.6.1. LOAD CAPACITY See figures 2.11 and 2.12 Load characteristics: • The robot load capacity is set out in the array below. Floor configuration Load capacity Standard arm Long arm 220.5 132.3 At nominal speed At reduced speed 286.6 176.4 Maximum load capacity at low speed...
Page 43: Torque Limits
Chapter 2 - Description 2.6.2. TORQUE LIMITS Reference axis Axis 2 Static torque Axis 1 (floor Axis 3 Axis 4 Axis 5 Axis 6 (Nm) configuration) 3100 2600 1580 TX200 3100 2100 1200 TX200L Information: These pairs are available for a load carried equal to 0 kg. 2.6.3.
Page 44: Fixing The Auxiliary Harness On The Arm Casing
2.6.4. FIXING THE AUXILIARY HARNESS ON THE ARM CASING 2 x M10 Figure 2.14 44 / 108 © Stäubli 2013 - D28083004B TX200...
Page 45 Chapter 2 - Description R120 Min. J1203 Ethernet option J1201 J1207 J1202 J1204 Ethernet option Figure 2.15 Arm with horizontal cable outlet TX200 © Stäubli 2013 - D28083004B 45 / 108...
Page 46 R120 R120 Min. J1203 J1203 Ethernet option J1201 J1207 J1202 J1201 J1207 J1202 J1204 J1204 Ethernet option Figure 2.16 - Arm with vertical cable outlet 46 / 108 © Stäubli 2013 - D28083004B TX200...
Page 47: User Circuit
Chapter 2 - Description 2.7. USER CIRCUIT See figure 2.15: Arm - Horizontal cable outlet See figure 2.16: Arm - Vertical cable outlet The arm's electrical wiring consists of a harness of several cables designed to power the servomotors (power, brakes, encoders), valves, and user electrical connector (J1203). These components are connected by means of removable connectors.
Page 49: Pneumatic And Electric Systems
Chapter 2 - Description 2.8. PNEUMATIC AND ELECTRIC SYSTEMS CAUTION: Check in the application that the gripper is designed to hold the load with the accelerations programmed, and in the event of an electrical power or air supply failure. 2.8.1. STANDARD PNEUMATIC SYSTEM (STANDARD ROBOT EQUIPMENT) Plate attached to base Forearm...
Page 51: Pneumatic System With Electric Distributor For Use With Compressed Air (Option)
Chapter 2 - Description 2.8.2. PNEUMATIC SYSTEM WITH ELECTRIC DISTRIBUTOR FOR USE WITH COMPRESSED AIR (OPTION) Plate attached to base Forearm Description (figure 2.18): Arm - Rear cable connection and vertical cable connection Solenoid valves (EV1 and EV2). • 5/2-way monostable. •...
Page 53: Standard Electrical Circuit (Standard Robot Equipment)
Chapter 2 - Description 2.8.3. STANDARD ELECTRICAL CIRCUIT (STANDARD ROBOT EQUIPMENT) Description (figure 2.19): Arm - Rear cable connection and vertical cable connection The electrical circuit consists of: • A male 19-contact socket at the bottom of the arm. • A female 19-contact socket on the forearm. These 19 contacts include 3 power contacts and 16 signal contacts.
Page 55 Chapter 2 - Description 2.8.4. ELECTRICAL CIRCUIT WITH CAT 5E ETHERNET CABLE (OPTION) Description (figure 2.20): Arm - Rear cable connection and vertical cable connection The electrical circuit consists of: • A 19-contact fixed male connector with 13 contacts wired and a 4-contact fixed male connector (M12 coding D Ethernet) at the base of the arm.
Page 57: Pressurization System For Dusty Surroundings Or Spattering With Liquids
Chapter 2 - Description 2.9. PRESSURIZATION SYSTEM FOR DUSTY SURROUNDINGS OR SPATTERING WITH LIQUIDS 2.9.1. PURPOSE For applications with dusty conditions or with spattered liquids, the purpose of this option is to prevent dust or liquids from getting into the arm by keeping its internal pressure above atmospheric pressure.
Page 58: Settings
2.9.5. SETTINGS Pressurize the arm: • Gradually adjust the regulator (2) in. First adjust the pressure to 1 bar max. (pressure shown on pressure gage 9). Information: At this stage, the low pressure gage (5) must remain at 0 mbar. •...
Page 59: Releasing Joint Brake
Chapter 2 - Description 2.10. RELEASING JOINT BRAKE See figure 2.22 CAUTION: Make sure that the arm and load relevant to this joint are suitably supported. Also take care to remain in an area clear of the robot. The remote brake release box (option) (ref. (4) in figure 2.22) includes: •...
Page 60 Operating mode: The controller must be connected to the power supply. Set the brake release mode selector key (manual/automatic) to manual mode. Place the brake release selector in position corresponding to the joint to be released. When the pushbutton is pressed to free the brakes, the brake on the joint under consideration is freed and the motor is put into short-circuit on the amplifier to reduce the arm drop speed.
Page 61 Chapter 2 - Description FLOOR CONFIGURATION 1) Balanced position (joint 2 brake released) is as follows: without load for standard robot: with nominal load for standard robot and without load for long robot: A = 100° A = 60° Rotating joint 3 modifies angle A: Example of a position that can be used during maintenance work on axis 2: For a standard robot not carrying a load and having an axis 3 angle of +118°, axis 2 is balanced at about +55°...
Page 62: 2.11. Safety
2.11. SAFETY 2.11.1. RISKS NEAR THE ARM A yellow indicator light (1) is located on the robot arm to show that it is powered up, that movements are possible, and that it constitutes a potential danger for the operator (figure 2.24). CAUTION: •...
Page 63: Stopping Times And Angles
Chapter 2 - Description 2.11.3. STOPPING TIMES AND ANGLES 2.11.3.1. Stop conditions Definition of stop categories (according to EN 60204-1): Category 0: Immediate power off on motors and brakes activation. Category 1: Controlled stop with arm power maintained followed by arm power off and brakes activation.
Page 64 TX200, TX200L Axis 1 1,00 70,0 60,0 0,80 Maximum guaranteed time 50,0 0,60 40,0 Time decel 100% 30,0 0,40 20,0 Maximum guaranteed angle 0,20 10,0 0,00 Angle decel 100% Speed (°/s) Axis 2 1,00 70,0 60,0 0,80 Maximum guaranteed time 50,0 0,60 40,0...
Page 65: Maximum Energy Generated By The Robot In The Event Of An Impact
Chapter 2 - Description 2.11.3.3. Category 0 stop Mains power failures and envelope errors are some of the typical common faults. The stopping times and angles are about the same order of magnitude as category 1 stops, but the stops are made axis by axis and not on a trajectory. 2.11.3.4.
Page 66: Outside Temperature Of The Arm
2.11.6. OUTSIDE TEMPERATURE OF THE ARM DANGER: The temperature at the surface of the arm can reach 80°C (176°F) under severe operating conditions. 2.11.7. ACCELERATIONS, DECELERATIONS The robot is capable of strong accelerations and decelerations. Check in the application that: •...
Page 67: On-Site Preparation
Chapter 3 - On-site preparation CHAPTER 3 - ON-SITE PREPARATION TX200 © Stäubli 2013 - D28083004B 67 / 108...
Page 68 Sectional view A-A 8 washers grade A hardness class 200HV 8 screws M24*100 class 8.8 Tightening torque = 650 N.m Opening to be left: - Passage for connections. - Access for maintenance. Figure 3.1 68 / 108 © Stäubli 2013 - D28083004B TX200...
Page 69 Chapter 3 - On-site preparation Opening to be left: - Passage for connections. - Access for maintenance. Sectional view B-B 8 screws M24*100 class 8.8 Tightening torque = 650 N.m 8 washers grade A hardness class 200HV Figure 3.2 TX200 ©...
Page 70 Opening to be left: - Passage for connections - Access for maintenance Sectional view A-A Place mastic under washers and screw heads 8 M24x100 screws, class + 8 flat washers M24 Material: A4-80 class stainless steel Static seal R100 min Zone with roughness to be complied with Figure 3.3 70 / 108...
Page 71: Working Space
Chapter 3 - On-site preparation 3.1. WORKING SPACE The user is responsible for performing all preparatory work required to complete the on-site installation of the robot. Working space must be sufficient, installation surface appropriate; the power supplies must be available (for the electric power supplies, see the characteristics of the controller).
Page 72 CAUTION Particular aspect for the "Wet environment application he" (figure 3.3): Reminder (see also chapter 2.4.2 "Work environment"): The threaded fastenings used on the wrist mechanical interface, those used to fix the robot in place, the underside of the base, the socket holder plate and the equipment fixed on the plate are not qualified for a wet environment (he), so they must be protected from that environment.
Page 73 Chapter 3 - On-site preparation Attachment surface shall be flat and metallic. A deformable support will greatly reduce robot's performance in speed and accuracy. When calculating the size of the support, it is necessary to take into account the maximum forces transmitted by the arm in movement at point 0, which are as follows for the standard arm (see figure 3.4).
Page 75: Storage, Transport And Installation
Chapter 4 - Storage, transport and installation CHAPTER 4 - STORAGE, TRANSPORT AND INSTALLATION TX200 © Stäubli 2013 - D28083004B 75 / 108...
Page 77: Arm Packaging
Chapter 4 - Storage, transport and installation 4.1. ARM PACKAGING Packaging position of the arm: Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 TX200 8° -105° +130° 60° -115° 0° TX200L Standard packaging: Standard arm Arm L 1580 x 1444 x 1150 mm 1580 x 1805 x 1150 mm Packing case (1) L x H x P...
Page 79: Unpacking And Installation Of Arm With Floor Configuration
Chapter 4 - Storage, transport and installation 4.3. UNPACKING AND INSTALLATION OF ARM WITH FLOOR CONFIGURATION DANGER: In compliance with the "Machines" Directive 2006/42/CE, the tapped hole (M24) for the lifting eye bolt (A) used to handle the robot is defined in accordance with standard ISO 262.
Page 80: Installation Of Arm
4.4. INSTALLATION OF ARM CAUTION: Throughout all handling and installation operations concerning the arm, it is essential to keep the protection on the main connector at the foot of the robot in place at all times to avoid damaging and soiling the electrical and optical contacts. 4.4.1.
Page 81 Chapter 4 - Storage, transport and installation 4.4.3.1. Taking stopping zones into account Joint range limitation by an electric or mechanical system must take the stopping distances into account: Work area Triggering position for the electric range limit or the optional mechanical limit stop Software range limit...
Page 83 Chapter 4 - Storage, transport and installation 4.4.3.2. Axis 1 Factory settings: • Software range limit: ±180° • No mechanical range limiters are fitted. Changing ranges: • The software range limit can be reduced (see the chapter covering the software configuration of the controller).
Page 85 Chapter 4 - Storage, transport and installation 4.4.3.5. Optional mechanical stop system for axis 1 or 2 a) Description: (see figure 4.3) The optional adjustable mechanical limit stop system is made up of a two part ring (1) fixed on the shoulder, and on which one or two adjustable stop units (8 + 9 + 10 + 11) are positioned.
Page 86 A view + direction limit stop - direction limit stop + direction + direction single limit Double limit stop - direction single limit Position of the cen- stop Position of the limit stop tral guide pin Position of the me- stop contacts Position of the me- chanical stop contact...
Page 87 Chapter 4 - Storage, transport and installation b) Definition of the ranges depending on the positions of the adjustable limit stops: DANGER: • The angles are given on contact with the limit stops. • As shown in figure 4.2, integrate the 20° stopping zone as from contact with the limit stop.
Page 88 + direction A view - direction limit stop + direction limit stop Point + direction single li- - direction single limit Double limit stop mit stop stop Absolute range Max. angle axis 2 Max. angle axis 2 ** Value that cannot be reached by the software Figure 4.6 88 / 108 ©...
Page 89 Chapter 4 - Storage, transport and installation Case of axis 2: (see array in figure 4.6) There are two types of limit stops: • Single limit stops against which the robot only stops in one direction of rotation. • Double limit stops, against which the robot can stop in both directions of rotation. Case of 'single' limit stops: 1) Define the contact angle in the + direction.
Page 90 d) Installing the adjustable limit stop units: • Select the number of limit stops and their locations: (see paragraph b) • Fit the plate (10) and the guide (9). Add the slide (8). CAUTION: Place the mitre of the slide (8) on the plate (10) side. •...
Page 91: Preventive Maintenance
Chapter 5 - Preventive maintenance CHAPTER 5 - PREVENTIVE MAINTENANCE TX200 © Stäubli 2013 - D28083004B 91 / 108...
Page 93: Rules To Be Applied For Maintenance
Chapter 5 - Preventive maintenance 5.1. RULES TO BE APPLIED FOR MAINTENANCE • To keep the performance of the arm at an optimal level the arm requires preventive maintenance. • All maintenance operations must be carried out solely by personnel who have undergone the appropriate training provided by STÄUBLI.
Page 94: Defining The Levels Of Intervention
5.2. DEFINING THE LEVELS OF INTERVENTION Level 1: Operations that can be carried out by a maintenance technician without specific STÄUBLI training. Level 2: Operations that can be carried out by a maintenance technician who has undergone specific STÄUBLI training. The documentation corresponding to these operations will be provided during the training.
Page 95: Maintenance Frequency
Chapter 5 - Preventive maintenance 5.3. MAINTENANCE FREQUENCY Periodicity Every (first reached) TX200 Preventive maintenance Safety - External hard stop (option): Visual check, change if 4.4.3 damaged - Remote brake release box (option): Functional test, 2.10 change if damaged - Brakes: Check efficiency, refresh brake or change motor if necessary - Fastenings (arm base, tool flange…): Check tightness and for corrosion...
Page 96 Periodicity Every (first reached) TX200 Preventive maintenance - Counter balancing system replacement (eccentric, upper bearing and springs set) Electrical and pneumatic harness - Visible parts (covers removed): Visual check - Harness replacement - Solenoid valves (option): Check, change if damaged (1) Typical periodicity for harsh environments (e.g.
Page 97: Cover Locations And Removal
Chapter 5 - Preventive maintenance 5.4. COVER LOCATIONS AND REMOVAL CAUTION: Make sure that the arm and the load are suitably supported during all work on the robot arm. Tools required: - 5 and 6 mm hex keys. - Torque wrench. Recommended tools: - M8 lifting rings.
Page 98: Procedure For Replacing The Flat Seal
5.5. PROCEDURE FOR REPLACING THE FLAT SEAL Tools required: - Not applicable. Recommended tools: - "C" fluid. The flat seal is made up of 2 sections: - A section made of foam (1). - An adhesive section (2). Removing the seal: - To remove the flat seal, peel off a corner of the seal and pull it towards you.
Page 99: Paint Touch-Up Procedure For He Robots
Chapter 5 - Preventive maintenance 5.6. PAINT TOUCH-UP PROCEDURE FOR he ROBOTS To protect the painted part surfaces (he arm) from aggressive environments, it is essential to do touch-ups if the paint is scratched. A paint touch-up kit is available. To order one, contact the STÄUBLI after-sales department. The kit includes the paint and the procedure to be followed to carry out the touch-up work.
Page 100 5.7.1.2. Levels to be observed CAUTION Too much or too little oil can prevent the robot from operating correctly. Information: G3/4 black plastic plug: Tightening torque = 12 Nm ±0.8 Nm. G1/8 metal plug: Tightening torque = 5 Nm ±0.35 Nm. With the robot in the position shown above, the oil levels to be complied with are as follows: Tools required: - 5 mm Allen key.
Page 101 Chapter 5 - Preventive maintenance Joint 3: - The oil level must lie within the red circle on the sight glass (5). Information: Top up with oil via the plug (6). Joint 4: The oil level must lie within the red circle on the sight glass (7).
Page 102: Counter Balance Cam Lubrication
5.8. COUNTER BALANCE CAM LUBRICATION Tools required: - 5 mm Allen key. - Grease gun. Recommended tools: - Not applicable. Procedure: - Position the robot axis 2 at 0°. CAUTION Make sure that the arm and the load are suitably supported during all work on the robot arm.
Page 103: Replacement Of A Valve Manifold
Chapter 5 - Preventive maintenance 5.9. REPLACEMENT OF A VALVE MANIFOLD Tools required: - 5 mm Allen key. - Flat-bladed screwdriver. Recommended tools: - Not applicable. Procedure: - Move the robot axis 3 to a horizontal position. CAUTION Make sure that the arm and the load are suitably supported during all work on the robot arm.
Page 105: Recommended Spare Parts
Chapter 6 - Recommended spare parts CHAPTER 6 - RECOMMENDED SPARE PARTS TX200 © Stäubli 2013 - D28083004B 105 / 108...
Page 107 Chapter 6 - Recommended spare parts • Solenoid valve and its flat seal. • Gear box oil (Specific Stäubli formula) and CASTROL OPTIGEAR SYNTHETIC RO 150 oil • SHELL STAMINA HDS grease. • Cover seal kit. • Paint touch up kit for he robots. *Approximate quantity of oil: 1) Axis 1 (CASTROL OPTIGEAR SYNTHETIC RO 150 oil): 5400 cm³...

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