Autech Technology ACR-20 Hardware Installation Manual

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ACR-20

Hardware Installation Manual

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Page 1 ACR-20 Hardware Installation Manual...
Page 3 Contents in this manual are subject to change without notice. We assume no responsibility for any errors that may appear in this manual. Please understand that in no event shall we be liable for incidental or consequential damages arising from the use of this manual and the products described herein.
Page 4: Table Of Contents
3 PRODUCT OVERVIEW ............................15 3.1 I ..............................15 NTRODUCTION 3.2 R ................................15 OBOT 3.2.1 Overview ............................... 15 3.2.2 Robot system ............................15 3.2.3 Definitions of rotation directions and frames ..................15 3.3 R ......................... 16 OBOT EACH ENDANT OVERVIEW ACR-20 Hardware Installation Manual...
Page 5 6.2.6 Extended EtherNet interface ....................... 35 6.2.7 EtherCAT servo drive debug interface ....................35 6.2.8 Function buttons on the end-effector ....................35 6.2.9 Tool interface ............................36 6.3 P ............................. 38 OWER ADAPTER 6.3.1 Power-on button of the power adapter ....................38 ACR-20 Hardware Installation Manual...
Page 6 8.1.4 When is zero calibration required? ..................... 43 8.2 C ............................. 43 ALIBRATION METHOD 8.2.1 Mechanical calibration ........................43 9 DECOMMISSIONING ............................45 9.1 R ..........................45 OBOT DECOMMISSIONING 9.2 R ..............................45 ECYCLING REVISION HISTORY ............................... 46 ACR-20 Hardware Installation Manual...
Page 7: Manual Overview
Also, figures from other models may be used to describe some general information. 1.5 Related product documents This document is the product manual for the ACR-20 robot and is intended to be used with the following documents:  iBot Control System User Manual 1.6 Contact...
Page 8: Safety
This section describes the principles and procedures that must be followed to ensure the safe use of the ACR-20 robots. ACR-20 robot integrators must read and understand the information listed here before powering on the robot for the first time.
Page 9: Enabling Switch
It is strictly prohibited to use external devices to hold the enabling switch in the middle position. 2.4 Emergency stop types 2.4.1 Emergency stop There are two types of stops for robots according to ISO 13850 and IEC 60204 safety ACR-20 Hardware Installation Manual...
Page 10: Safety Precautions
 STOP0: The motor power is switched off and the brakes are engaged.  STOP1: The robot comes to a controlled stop. Then the motor power is switched off and brakes are engaged. For ACR-20 robots, STOP0 is used for handheld emergency stop signal processing. 2.5 Safety precautions 2.5.1 Operating safety 2.5.1.1 General principles...
Page 11: Safety Precautions In Manual Mode
For another example, when removing a welding robot from the production line for routine maintenance, the robot supplying materials to it must also be stopped to avoid personal injury. 2.5.6 Safe handling of fire accidents 2.5.6.1 Treatment of mild fire disaster ACR-20 Hardware Installation Manual...
Page 12: Safe Handling Of Electric Shock Accidents
Teach Pendant or other interfaces.  Debugging personnel The debugging personnel can conduct robot operations, enter into the safeguarded space, and perform operations such as setting, teaching, and programming on the robot.  Maintenance personnel ACR-20 Hardware Installation Manual...
Page 13: Personnel Requirements
2.6.3.2 Safety requirements for debugging Debugging should be carried out outside the safety zone as much as possible. When debugging must be carried out inside the safeguarded space, special attention should be ACR-20 Hardware Installation Manual...
Page 14: Safety Training
In this state, the equipment should also be deemed as in the operational state. All peripheral equipment should be well grounded.  Peripheral equipment should be installed outside the working range of the robot as  much as possible. ACR-20 Hardware Installation Manual...
Page 15 During component replacement or reassembly, be careful to avoid the adhesion or  inclusion of foreign objects. ACR-20 Hardware Installation Manual...
Page 16: Pre-Use Assessment
Test that the robot can switch between Manual and Automatic modes.  Test that the 3-position handheld emergency stop and enabling device must be  pressed to enable motion in Manual mode and that the robot is under reduced speed control. ACR-20 Hardware Installation Manual...
Page 17: Product Overview
3 Product Overview 2022xxxxxxxx/V1.0 3 Product Overview 3.1 Introduction ACR-20 is a new-generation flexible cobot that boosts industrial productivity with highly sensitive force sensing and highly dynamic force control. 3.2 Robot 3.2.1 Overview The basic configuration of ACR-20: Product name...
Page 18: Robot Teach Pendant Overview
Skilled use of aPad-2 will greatly improve the efficiency of the robot. Figure 3-3 Teach Pendant 3.3.2 Teach Pendant components The aPad-2 Teach Pendant consists of the following components: Touch LCD  Keys  Buttons  USB interface, etc.  ACR-20 Hardware Installation Manual...
Page 19: Symbols And Labels
Position Label type Remarks Arm body logo Product nameplate Indicates product model and other product information. Electrical hazard Do not touch the electrical symbol components inside a live robot to avoid the risk of electric shock. ACR-20 Hardware Installation Manual...
Page 20: Technical Specifications
4 Technical Specifications 2022xxxxxxxx/V1.0 4 Technical Specifications 4.1 Introduction This section describes the specifications of the ACR-20 flexible cobot. 4.2 Specifications 4.2.1 Robot specifications Product name ACR-20 Number of axes Maximum reach 1798 mm Repeatability ±0.1 mm Maximum payload 20 kg Axis 1 ±175°...
Page 21: Working Space
Technical Specifications 4.3 Working space The working space of ACR-20 which mean the space skimmed by the wrist reference point (the intersection of the 4-axis and the 5-axis axis) is shown in the figure below: Figure 4-3 Working space of ACR-20 4.4 Allowable load...
Page 22: Allowable Wrist Torque And Inertia
To fully leverage the robots' performance and protect the robots from any failure or damage caused by overload, the payload installed on the robots must not exceed the allowable torque and inertia. The allowable torque and inertia of ACR-20 are listed in the table below: Allowable Inertia Allowable Torque (Unit: Axis (Unit: kg·m2)
Page 23: Joint Torque Limit
When installing the effector at the robot end, take the moment of inertia of the effector into consideration. See 4.5.1 for the maximum allowable inertia of the ACR-20 robots. Calculate the rotational inertia of the load before use and ensure that it is within the allowable range.
Page 24: Unpacking And Installation
2022xxxxxxxx/V1.0 5 Unpacking and Installation 5.1 Introduction This section contains instructions for unpacking and installing the ACR-20 flexible cobot. 5.2 Installation flow chart The installation flow chart is used to check the robot installation progress. Put a check mark in the "Completed" column when a step is finished.
Page 25: Unpacking And Hardware Installation
2022xxxxxxxx/V1.0 Unpacking and Installation Quant Item Model Remarks ACR-20 ACR-20 accessory box ACR-20 outer packing box Liner under accessory box CR series handheld emergency stop and LS28E2-400 enabling device Power adapter 3 kW Relative humidity ≤ 93%, non-condensing 5.4 Unpacking and hardware installation 5.4.1 Unpacking...
Page 26: Robot Angle And Force Application Points During Transportation
M12 X40 (Grade 12.9) s from the box in order Unscrew four M6 bolts on the robot base to remove the ACR-20 robot body. Keep the above parts and accessories properly and handle items such as power adapters and cables with care.
Page 27: Check Before Installation
In this case, the robot is unstable, and moving the arms may displace or tilt the center of gravity, and even cause the robot to tip over. 5.5.1.2 Transportation dimensions Figure 5-3 Reference transportation dimensions of the robot 5.5.2 Robot installation ACR-20 Hardware Installation Manual...
Page 28 Therefore, the robot base must be able to bear this supporting reaction force. Name Description Force along any direction in the Fxy/N XY-plane Fz/N Force in the Z-plane Bending torque along any direction in Mxy/Nm the XY-plane Mz/Nm Bending torque in the Z-plane ACR-20 Hardware Installation Manual...
Page 29: Flange
There are six M6 threaded holes on the wrist flange of the robot to attach the tool to the flange. The M8 bolts must be tightened with a torque of 38 Nm. See the figure below for the detailed dimensions. ACR-20 Hardware Installation Manual...
Page 30: Power Adapter
The location must meet the following conditions: With good ventilation and heat dissipation conditions; Outside the range of motions of ACR-20; The power switch is easy to access for operators. ACR-20 Hardware Installation Manual...
Page 31: Electrical Connections
6 Electrical Connections 6.1 Electrical layout This section describes the usage of all the electrical and operation interfaces of the ACR-20 robot and its related devices. The ACR-20 robot comes with a handheld emergency stop and enabling device that integrates an optional power adapter to supply power to the robot.
Page 32: Robot Power Supply
The robot's power supply interface is an M23 special-purpose socket (pin-type). It works with the ACR-20 power cord that has a special-purpose plug (hole-type) to supply power to the robot. The electrical specifications of the power supply of the robot are shown below.
Page 33: General-Purpose Dio
2022xxxxxxxx/V1.0 6.2.4 General-purpose DIO ACR-20 provides four digital input and 4 digital output channels on terminal connector J7. Users must connect to the corresponding channel using a cable with the E0308 pin-type cold-pressed terminal in order to use the general-purpose DIO function.
Page 34 D O _03 D O _C O M G N D Figure 6-8 NPN output wiring diagram PNP output  Connect the DO_COM end to the positive terminal of the power supply, as shown in the figure below. ACR-20 Hardware Installation Manual...
Page 35: Safety Dio
Figure 6-9 PNP output wiring diagram 6.2.5 Safety DIO The ACR-20 robot supports dedicated safety inputs such as external emergency stop and safeguard stop (for example, the safety gate), and dedicated safety outputs such as safety status feedback. The channels are located on terminal connector J6. Users must connect to the corresponding channel using a cable with the E0308 pin-type cold-pressed terminal in order to use this safety DIO function.
Page 36 The safety functions must be checked regularly. The robot must be installed in compliance with these  specifications. Failure to do so could result in serious injury or death as the safety function could be overridden. Default safety configuration: ACR-20 Hardware Installation Manual...
Page 37: Extended Ethernet Interface
J1 is a standard RJ45 interface that can be connected by a standard network cable. They support Ethernet communication with a maximum communication speed of 100 Mbps. You can connect the ACR-20 robot to a network device that has the ACR-20 software installed.
Page 38: Tool Interface
Adjacent to the tool flange on the robot wrist, there is a round connector that provides an extended electrical interface for the robot end effector. A special-purpose gripper of the ACR-20 robot can be used as the end effector in this interface. It can be used with the M8-FS-8CON-PVC-2.0 industrial cable.
Page 39 Default Activated Unit Output level High —— —— Continuous —— load current Figure 6-17 NPN end-effector output interface Figure 6-18 PNP end-effector output interface ACR-20 Hardware Installation Manual...
Page 40: Power Adapter
Figure 6-19 End-effector input interface 6.3 Power adapter The power adapter is an optional part of the ACR-20robot. It converts the mains to the DC power usable by the ACR-20 robot and provides a power supply indicator. Figure 6-20 Power adapter interfaces Meaning...
Page 41: Power Output
The power output interface of the adapter is an M23 special-purpose socket (hole-type) that outputs the 48V DC voltage usable by the ACR-20 robot. It works with the ACR-20 power cord that has a special-purpose plug (pin-type) to supply power to the robot.
Page 42: How To Hold The Teach Pendant
Teach Pendant with left hand and operate the buttons and touch screen with right hand. It is recommended to hold the Teach Pendant in the way shown in the figure below: Fig 6-24 How to hold the Teach Pendant ACR-20 Hardware Installation Manual...
Page 43: Maintenance
Perform cleaning only after the robot is completely powered off. Do not clean the robot with liquid detergents. Do not power on the robot when it is wet. Observe the following instructions when cleaning the robot: Cleaning should only be performed by trained users. ACR-20 Hardware Installation Manual...
Page 44 Do not apply excessive force to the manipulator during cleaning. Always hold the part that is manually cleaned by hands to avoid overloading the manipulator and causing any damage. Power on the robot only after all the surfaces are completely dry. Warning Improper cleaning may damage the robot. ACR-20 Hardware Installation Manual...
Page 45: Zero Calibration
8.2 Calibration method 8.2.1 Mechanical calibration The keyway calibration method is adopted from the first axis to the sixth axis of the ACR-20 robot. Only one axis can be calibrated at a time, and the specific operation process is as follows.
Page 46 Note that after the mechanical zero calibration is finished, the special calibration tool must be removed from the corresponding calibration keyway. After the mechanical calibration process is over, be sure to check the robot body status to prevent accidents. ACR-20 Hardware Installation Manual...
Page 47: Decommissioning
9 Decommissioning 2022xxxxxxxx/V1.0 9 Decommissioning 9.1 Robot decommissioning The decommissioning, storage and disposal of the robot must be performed in compliance with relevant national laws, regulations, and standards. 9.2 Recycling Contact us for the recycling of batteries. ACR-20 Hardware Installation Manual...
Page 48: Revision History
9 Decommissioning 2022xxxxxxxx/V1.0 Revision History Version Date Revision 2022/11/22 Initial version 2022/12/1 Updated "4.2 Nameplate", "6.4 Teach Pendant", and "8.2 Calibration Method" 2022/5/1 Update “5.5.3 flange” 2023/05/23 1. Delete 4.2 2. Modify the range information ACR-20 Hardware Installation Manual...

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Summary of Contents for Autech Technology ACR-20

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