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PEITIAN ROBOTICS AIR8-710B Operation Manual

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AIR8-710B Operation Manual
Foreword
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Summary of Contents for PEITIAN ROBOTICS AIR8-710B

  • Page 1 AIR8-710B Operation Manual Foreword...
  • Page 3 Foreword Foreword About this manual This manual is for technicians to install, use, and use the AIR8-710B 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 2023.03.22 Add "Grounding instructions" Manual Number and Version The manual-related information is shown in Table 3. Table 3 Document-related information Document name "AIR8-710B Operation Manual" Document number UM-P05310000054-001 Document version V1.0.2 Declaration of applicable with product standards The requirements for industrial robot system design are detailed in Table 4.
  • Page 5 AIR7-920B Operation Manual Foreword Table 4 Declaration of applicable safety standards Standard Description Version Machinery directive: 2006/42/EC 2006 Machinery directive 2006/42/EC (new version) issued by European Parliament and Council on May 17, 2006 to modify 95/16/EC Electromagnetic compatibility directive: 2014/30/EU directive issued by European Parliament and Council on February 2014/30/EU 2014 26, 2014 to balance the electromagnetic compatibility regulations of member...

  • Page 7: General Safety Description

    AIR7-920B Operation 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. For the detailed functions of the manipulator, please fully understand its specifications through the relevant instructions.
  • Page 8 General safety description AIR7-920B Operation Manual also cause casualties. ⚫ Used in flammable environments. ⚫ 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 AIR7-920B Operation Manual General safety description When programming, try to do it outside the safety fence,, the ◼ following matters shall be taken into account when the safety fence needs to be carried out as a last resort: ⚫ Check the safety fence carefully and make sure it is not dangerous before entering the fence.
  • Page 10 General safety description AIR7-920B Operation Manual operation of the whole system in order to avoid blockage of the retreat by the operator and peripherals. Always pay attention to the danger around you and be prepared ⚫ so that you can press the emergency stop button at any time when you need it.

  • Page 11: Safety Protection Measures Before Use

    AIR7-920B Operation 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. Figure 1 is a schematic diagram of the safe work of industrial robots.
  • Page 12 Safety protection measures before use AIR7-920B Operation 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 AIR7-920B Operation 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. ◼ Emergency stop button shall be set within the reach of operators. Manipulator controller is designed to be connected to an external emergency stop button.
  • Page 14 Safety protection measures before use AIR7-920B Operation 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 AIR7-920B Operation 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

    Electrical interface type of manipulator ....................... 23 Definitions of heavy-duty and aviation plug interfaces of manipulator ............... 24 Grounding instructions ............................27 Adaptation and connection of AIR8-710B manipulator and accessories ............... 29 Examples of accessory types ..........................29 Connection mode ..............................29 7.2.1...
  • Page 18 14.1 Environmental conditions for long-term storage of manipulator ................. 63 14.2 Precautions for storage of manipulator ........................ 63 Appendix A Periodic maintenance schedule of AIR8-710B manipulator ................. 65 Appendix B Table of screw strength and tightening torque (Nm) ................... 69...

  • Page 19: Air8-710B Robot Overview And Basic Composition

    Manipulator refers to the mechanism of robot system to grab or move the objects (tools or workpieces), also known as the robot body. This manipulator is the 6-DOF tandem industrial robot that consists of three swing axes and three rotating axes. AIR8-710B robot manipulator and the names of its various parts are as shown in Figure 1-2...

  • Page 20: Basic Specifications

    AIR8-710B robot overview and basic composition AIR8-710B Operation Manual Figure 1-2 AIR8-710B robot body and its various parts 1.3 Basic specifications The basic specifications of AIR8-710B robot manipulator are as shown in Table 1-1. Table 1-1 Basic Specifications of AIR8-710B Basic specifications Illustrate...

  • Page 21: Environmental Requirements For Manipulator

    If the mechanical limit of J1 axle is removed, the range may reach -180° to 180° . 1.4 Environmental requirements for manipulator The range of ambient temperature for AIR8-710B manipulator is as shown in Table 1-2. Table 1-2 Operating environment requirements...

  • Page 22: Product Naming Rules

    AIR8-710B robot overview and basic composition AIR8-710B Operation Manual 1.5 Product naming rules Figure 1-3 Product naming rules diagram Table 1-3Product naming rules description Domain Meaning Domain value Explanation Domain A Product series Indicates that this product belongs to the PeiTian AIR product series.

  • Page 23: The Label Name And Meaning Of Air8-710B

    AIR8-710B Operation Manual The label name and meaning of AIR8-710B The label name and meaning of AIR8-710B 2.1 Safety sign of manipulator An operator safety label shall be pasted on the back of the upper arm of the operator, as shown in...

  • Page 24: Direction Sign Of Each Joint

    The label name and meaning of AIR8-710B AIR8-710B Operation Manual Figure 2-3 Robot handling gesture label 2.4 Direction sign of each joint " " " " sign is provided at the rotating or swinging joints of axes 1~6 of manipulator as shown in Figure 2-4 indicate the moving direction of each axis.

  • Page 25: Air8-710B Transport And Handing

    AIR8-710B Operation Manual AIR8-710B transport and handing AIR8-710B transport and handing Figure 3-1 Precautions for manipulator during handing 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 3.1...
  • Page 26 AIR8-710B transport and handing AIR8-710B Operation Manual...

  • Page 27: Handing Posture

    AIR8-710B Operation Manual AIR8-710B transport and handing Figure 3-2 Dimensions of AIR8-710B manipulator during the handling process 3.2 Handing posture The position and posture of the AIR8-710B manipulator during transportation are shown in Figure 3-3 Figure 3-3 Handling posture of AIR8-710B manipulator...

  • Page 28: Handing With Forklift

    AIR8-710B transport and handing AIR8-710B Operation Manual Angle values of axes for AIR8-710B manipulator during handling are as shown in Table 3-1. Table 3-1 Angle values of axes for robot during handling 0° -24° 156° 0° 48° 0° Manipulator shall be handled in strict accordance with the posture in the Table, otherwise it may fall due to unstable center of gravity.
  • Page 29 AIR8-710B Operation Manual AIR8-710B transport and handing Figure 3-5 AIR8-710B manipulator handling with swinging ring ◼ When manipulator is handled with swinging ring, insert a soft object between the sling and manipulator to avoid the scratching on the manipulator by sling.

  • Page 31: Air8-710B Preparation Before Installation

    AIR8-710B Operation Manual AIR8-710B preparation before installation AIR8-710B 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 33: Installation Of Air8-710B Manipulator

    It should be given to the strength of foundation installation surface for the installation of manipulator. The installation ground inclination shall be less than 5° for manipulator. Dimensions of AIR8-710B manipulator base are as shown in Figure 5-1: Figure 5-1 Dimensions of AIR8-710B manipulator base interface 5.2 Fixed mode...
  • Page 34 Installation of AIR8-710B manipulator AIR8-710B Operation Manual ◼ Mark "○" means that the part is in need. ◼ There shall be no insulating materials between the fixing plate and mounting bracket of robot and the manipulator and concrete. ◼ Bracket shall be firmly installed on the ground with the strength not less than the fixing strength between the fixing plate of robot and the ground for the ground fixing (mode 1).
  • Page 35 AIR8-710B Operation Manual Installation of AIR8-710B manipulator Figure 5-2 Ground fixed mode Bracket fixing Bracket fixing process is as follows:...
  • Page 36 Installation of AIR8-710B manipulator AIR8-710B Operation Manual Step1. In the handling posture, transfer the manipulator above the installation bracket, adjust the direction of the manipulator, align the base M12 threaded hole with the installation bracket M10 threaded hole; Step2. Check whether the base is tightly fitted to the mounting bracket without any shaking. Use four M10x35 screws (grade 12.9) to securely install the base onto the bracket.
  • Page 37 AIR8-710B Operation Manual Installation of AIR8-710B manipulator ◼ Fixing screw M10 of manipulator shall not be shorter than 35mm, and the insufficient length will cause the poor fixing and other accidents. When installing the manipulator ceiling, the length of fixing screws for manipulator shall be ◼...

  • Page 39: Electrical Connection Of Air8-710B Manipulator

    There is an aviation socket (forearm IO interface) on the manipulator arm of AIR8-710B, and there is an air passage directly connected to the base air pipe joint, as shown in Figure 6-2. The straight-through air passage is sealed with an M5 plug.

  • Page 40: Definitions Of Heavy-Duty And Aviation Plug Interfaces Of Manipulator

    6.2 Definitions of heavy-duty and aviation plug interfaces of manipulator Heavy-duty interface of AIR8-710B manipulator (power line) is defined as shown in Table 6-1: Table 6-1 Definition of heavy-duty interface of manipulator (power line) Signal name...
  • Page 41 Axis 1- Axis 6 Encoder 24V Axis 1- Axis 6 The heavy-duty interface definition of AIR8-710B manipulator (electromagnetic valve and forearm IO section) is shown in Table 6-3 Table 6-3 Manipulator heavy-duty interface definition (brake and forearm IO part) Signal name...
  • Page 42 The IO interface of the AIR8-710B manipulator forearm is shown in Figure 6-4, and the relevant descriptions of each interface can be found in Table 6-4. The IO interface of the manipulator forearm only supports PNP type sensors.

  • Page 43: Grounding Instructions

    M5 bolt. The contact surface between the terminal and the base should be cleaned thoroughly to ensure conductivity. Figure 6-5 Grounding method of AIR8-710B...

  • Page 45: Adaptation And Connection Of Air8-710B Manipulator And Accessories

    AIR8-710B Operation Manual Adaptation and connection of AIR8-710B manipulator and accessories Adaptation and connection of AIR8-710B manipulator and accessories 7.1 Examples of accessory types The accessory equipment of the manipulator mainly includes mechanical grab (Figure 7-1), hydraulic pressure sucker (Figure 7-2), welding gun welder (Figure 7-3), infrared identification equipment, visual identification equipment, cutting machine and other special equipment, etc.

  • Page 46: Connection Between Manipulator And Control Cabinet

    The definition of heavy-duty connector on the control cabinet of AIR8-710B manipulator is shown in Figure 7-4 below. For more details, please refer to the corresponding manual of the electrical part.

  • Page 47: Performance Parameters Of Air8-710B Manipulator

    AIR8-710B manipulator. 8.2 Dimension and working range of each joint The motion range of each axis of AIR8-710B manipulator is shown in Table 8-1. Table 8-1 Motion range of each axis of AIR8-710B manipulator Axis number Range of motion (°...

  • Page 48: Mechanical Limit

    Performance parameters of AIR8-710B manipulator AIR8-710B Operation Manual Figure 8-1 Working range of AIR8-710B manipulator 8.3 Mechanical limit On each axis, there are zero points and movable ranges. As long as the origin position is not lost due to servo system abnormalities or system errors, the robot is controlled to move within the movable range.

  • Page 49: Output Flange Size

    8.5 Output flange size Figure 8-3 show output flange connection size of AIR8-710B. Appendix B The Table 8-3 show output flange specification of AIR8-710B. Tightening torque of screws is shown in Table 8-3 The output mechanical interface specifications of AIR8-710B Specification...

  • Page 50: Load And Installation Method

    8.6.2 Wrist load installation of manipulator The load line diagram of the AIR8-710B type manipulator wrist is shown in Figure 8-5. ◼ For loads with a mass not exceeding 1kg, 3kg, 5kg, 7kg, 8kg, the centroid positions Lxy and Lz should be within the range of the corresponding wireframe shown in Figure 8-5 (b);...

  • Page 51: Installation Of Elbow Equipment Of J3 Of Manipulator

    8.6.3 Installation of elbow equipment of J3 of manipulator The specifications and dimensions of the equipment mounting holes of the J3 axis elbow of the AIR8-710B type manipulator are shown in Figure 8-6. AIR8-710B type manipulator can install external equipment with a weight not exceeding 8kg at the elbow and ◼...

  • Page 52: Installation Location Of Other Parts Of The Manipulator

    8.6.4 Installation location of other parts of the manipulator In order to facilitate the cable fixing on the manipulator, the AIR8-710B manipulator also reserves other parts, as follows: Fixed position of manipulator forearm The mounting hole specifications and dimensions of the manipulator forearm are shown in Figure 8-7.
  • Page 53 AIR8-710B Operation Manual Performance parameters of AIR8-710B manipulator Figure 8-7 Dimension drawing of AIR8-710B type manipulator forearm interface Fixed position of upper arm big arm and J1 axis The mounting hole specifications and dimensions of the manipulator upper arm and J1 axis are shown in Figure 8-8 and Figure 8-9.
  • Page 54 Performance parameters of AIR8-710B manipulator AIR8-710B Operation Manual Figure 8-9 AIR8-710B J1 axis interface dimension drawing ◼ When installing the equipment, the screw used shall take full account of the depth of the threaded hole, and the installation length shall not exceed the depth of the threaded hole, otherwise the internal components or cables of the operator will be damaged.

  • Page 55: Calibration Of The Axes Of Air8-710B Manipulator

    ◼ The AIR8-710B industrial robot calibration must be calibrated in sequence from the joint J1 to J6. Calibration required for high repetitive positioning accuracy During the operation of the manipulator, only when it is required to have higher repeat positioning accuracy, the positioning accuracy of the path shall not be required.
  • Page 56 Calibration of the axes of AIR8-710B manipulator AIR8-710B Operation Manual Figure 9-2 Calibration method of naked eye observation zero In the calibration process of the manipulator, the speed should be reduced as much as possible, and the operator should not enter the working range of the robot. After each time the robot stops moving, the alignment of the zero scale on the axis position should be observed.

  • Page 57: Calibrate The Direction Of Motion Of Each Joint

    AIR8-710B Operation Manual Calibration of the axes of AIR8-710B manipulator 9.4 Calibrate the direction of motion of each joint For a 6-degree-of-freedom industrial robot manipulator, its movement direction is defined as shown in Figure 9-4. Figure 9-4 Direction of motion of each joint of the manipulator...

  • Page 59: General Principles Of Maintenance

    General principles of maintenance 10 General principles of maintenance This manual is a description of preventive maintenance of AIR8-710B manipulator. For the maintenance of a complete set of industrial robot systems, it should also include: Control cabinet maintenance-see "Control cabinet maintenance manual".

  • Page 61: Maintenance Items

    AIR8-710B Operation Manual Maintenance items 11 Maintenance items 11.1 Daily maintenance When running the operator 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 62: Regular Maintenance

    Maintenance items AIR8-710B Operation Manual ◼ 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 63 AIR8-710B Operation Manual Maintenance items Table 11-4 Maintenance Items for 1,920 h (6 months) Check Item Essentials Check whether the manipulator cable and Chapter 11.2 See the first maintenance in cable sheath are damaged Is the synchronous belt worn? Check the synchronous belt for wear, elongation and breakage Regular maintenance for 3,840 h (1 year) The following check and repair items shall be done for manipulator after the 3,840 h or 1 year (whichever comes first).
  • Page 64 Maintenance items AIR8-710B Operation Manual Regular maintenance for 15,360 h (4 years) The following check and repair items shall be done for manipulator after the 15,360 h or 4 years (whichever comes first). As shown in Table 11-8: Table 11-8 Maintenance Items for 15,360 h (4 years)

  • Page 65: Project Maintenance Process

    AIR8-710B Operation Manual Project maintenance process 12 Project maintenance process 12.1 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 66 Project maintenance process AIR8-710B Operation Manual Figure 12-1 Overhaul of cables inside the base J1 axis manipulator internal cable repair process The maintenance process is as follows: Step1. Remove the cover of J1 axis manipulator, as shown in Figure 12-2.

  • Page 67: Battery Replacement

    AIR8-710B Operation Manual Project maintenance process Overhaul process of inner upper arm cable The maintenance process is as follows: Step1. Remove the cover, as shown in Figure 12-3. Step2. Check the cable and cable bracket for wear or damage. Step3. Check the internal cables for wear or damage.

  • Page 68: Replacing The Timing Belt

    Project maintenance process AIR8-710B Operation Manual Step3. Disassemble the side cover of the operating base, paying attention to the connected cables inside to prevent damage from forcefully pulling or tugging. Step4. Remove the battery box fixing sheet metal from the right cover plate to reveal the battery, as shown in Figure 12-4.
  • Page 69 AIR8-710B Operation Manual Project maintenance process Table 12-2 Manipulator replacement timing belt posture 0° 90° 0° 90° J5/J6 axis timing belt replacement process The replacement process is as follows: Step1. Run the manipulator to the attitude shown in Table 12-2.
  • Page 70 Project maintenance process AIR8-710B Operation Manual Figure 12-6 Remove the timing belt Figure 12-7 Timing belt installation deflection After replacing the timing belt, the calibration of the J5J6 axis of the manipulator should be performed. For Chapter 9 details, refer to...

  • Page 71: Common Faults And Treatment

    AIR8-710B Operation Manual Common faults and treatment 13 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 72 Common faults and treatment AIR8-710B Operation Manual Table 13-2 Possible Faults and Causes of Manipulator Fault Classification Possible Causes Treatment 1. Confirm whether the manipulator load exceeds ◼ Vibration at a specific posture the allowable value, and during the action 1.
  • Page 73 AIR8-710B Operation Manual Common faults and treatment Table 13-3 Possible Faults and Causes of Manipulator Fault Classification Possible Causes Treatment 1. For the fault of controller, see the controller manual 2. Replace the motor of vibrating 1. Fault of the circuit inside the...
  • Page 74 Common faults and treatment AIR8-710B Operation Manual Table 13-4 Possible Faults and Causes of Manipulator Fault Classification Possible Causes Treatment ◼ Abnormal noise after the replacement of lubricating 1. Abnormal noise from the 1.Observe the operation of grease manipulator speed Vibration manipulator for 1-2 days.
  • Page 75 AIR8-710B Operation Manual Common faults and treatment Table 13-5 Possible Faults and Causes of Manipulator Fault Classification Possible Causes Treatment Decrease ambient temperature may prevent the motor from overheating 2. Improvement of ventilation ◼ Ambient temperature conditions around the motor, i.e.
  • Page 76 Common faults and treatment AIR8-710B Operation Manual Table 13-6 Possible Faults and Causes of Manipulator Fault Classification Possible Causes Treatment Poor Sealing: 1. In case of casting 1. Crack of casting due to the crack, etc., the sealant excessive external force caused by the...
  • Page 77 AIR8-710B Operation Manual Common faults and treatment Fault Classification Possible Causes Treatment Please relocate Deviation of Peripheral Equipment peripheral equipment Position only deviates from 1. The external equipment under the specific peripheral Please modify external force leads to the deviation...

  • Page 79: Conditions Of Storage

    AIR8-710B Operation Manual Conditions of storage 14 Conditions of storage 14.1 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 70℃ Max. ambient temperature (storage time less than 24 h) Max.

  • Page 81: Appendix A Periodic Maintenance Schedule Of Air8-710B Manipulator

    AIR8-710B Operation Manual Appendix A Periodic maintenance schedule of AIR8-710B manipulator Appendix A Periodic maintenance schedule of AIR8-710B manipulator Appendix A Periodic Maintenance Schedule of AIR165-A Manipulator First 1 year 3 years 4 years 5 years Maintena Maintenance months months...
  • Page 82 Appendix A Periodic maintenance schedule of AIR8-710B manipulator AIR8-710A Operation ManuaAIR8-710B Operation Manual First 1 year 3 years 4 years 5 years Maintena Maintenance months months months months months months years months months months months months months months months months...
  • Page 83 AIR8-710B Operation Manual Appendix A Periodic maintenance schedule of AIR8-710B manipulator First 1 year 3 years 4 years 5 years Maintena Maintenance months months months months months months years months months months months months months months months months Item nce cycle...

  • Page 85: Appendix B Table Of Screw Strength And Tightening Torque (Nm)

    AIR8-710B Operation 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 Thread 8.8 level 10.9 level 12.9 level...
  • Page 87 AIR8-710B Operation Manual Appendix B Table of screw strength and tightening torque (Nm)

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