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PEITIAN ROBOTICS AIR10-1720B Operation Manual

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Summary of Contents for PEITIAN ROBOTICS AIR10-1720B

  • Page 3: Foreword

    Foreword Foreword About this manual This manual is for technicians to install and use the AIR10-1720B industrial robot quickly, correctly, and safely, to be familiar with the relevant precautions, and to perform regular routine maintenance work on the manipulator. Prerequisites Before operating the robot, be sure to read the relevant safety instructions and operation instructions of the product carefully.
  • Page 4 Foreword AIR10-1720B Operation Manual Sign Meaning Prompt for the environmental conditions and important things or shortcuts you shall pay attention to Prompt for additional literature and instructions for additional information or more detailed operating instructions Manual description The contents of this manual are subject to supplementation and modification. Please visit "Download Center"...
  • Page 5 AIR10-1720B 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...

  • Page 7: General Safety Description

    AIR10-1720B 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.
  • Page 8 General safety description AIR10-1720B Operation Manual ⚫ 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 AIR10-1720B Operation 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 AIR10-1720B Operation Manual 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 ◼...

  • Page 11: Safety Protection Measures Before Use

    AIR10-1720B 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.
  • Page 12 Safety protection measures before use AIR10-1720B Operation Manual Operator, teacher and maintenance engineer shall carefully perform the operation, programming and maintenance of manipulator, and shall at least wear the following items: Work clothes suitable for task ◼ Safety shoe ◼...
  • Page 13 AIR10-1720B Operation Manual Safety protection measures before use Operate the manipulator system outside the safety barrier. ◼ ◼ 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 AIR10-1720B Operation Manual Perform the repair operation while the controller is powered off if possible. Main circuit ◼ breaker shall be locked to prevent other personnel from turning on the power. ◼ 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.
  • Page 15 AIR10-1720B Operation Manual Safety protection measures before use ◼ The manipulator may be interlocked with peripheral equipment and the manipulator may be stopped if required so as to control the status of all devices in the system from the manipulator.
  • Page 16 Safety protection measures before use AIR10-1720B Operation Manual A detection unit shall be set on the end effector to monitor the status of end effector and control the action of manipulator.

  • Page 17: Table Of Contents

    AIR10-1720B Operation Manual Contents Contents Foreword ......................................... I General safety description ..................................V Safety protection measures before use ..............................IX Contents ......................................... i Overview and basic composition of the manipulator ........................1 Overview of industrial robot ......................................... 1 Basic composition ............................................1 Basic specifications ............................................

  • Page 18: Contents

    Contents AIR10-1720B Operation Manual Calibration position of each axis ........................................ 29 Transport and handing ................................33 Handing posture ............................................33 Handing dimensions ........................................... 34 Handing with forklift ..........................................35 Handing with swinging ring ........................................36 General principles of maintenance ............................. 39 Maintenance items ..................................

  • Page 19: Overview And Basic Composition Of The Manipulator

    ◼ Teach pendant Connecting cable [power supply], etc. ◼ Figure 1-1 Composition of AIR10-1720B robot system Figure 1-1 shows an example of the composition of an industrial robot system, in which: 1 Manipulator 2 Control cabinet (inCube20) 3 Teaching pendant...

  • Page 20: Basic Specifications

    Overview and basic composition of the manipulator AIR10-1720B Operation Manual Figure 1-2 AIR10-1720B manipulator and its various parts Basic specifications The basic specifications of manipulator are as shown in Table 1-1: Table 1-1 Basic specifications of AIR10-1720B Parameter Explanation Coordinate form...

  • Page 21: Environmental Requirements For Operation

    AIR10-1720B Operation Manual Overview and basic composition of the manipulator Parameter Explanation Noise 70dB IP rating IP54 (wrist IP67) ◼ Ambient temperature: 0° C~45° C ◼ Humidity: not more than 95% at constant temperature without condensation Mounting conditions ◼ Allowable altitude: not more than 1,000m above sea level ◼...

  • Page 23: The Label Name And Meaning

    AIR10-1720B Operation Manual The label name and meaning The label name and meaning 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. Figure 2-1 "No Approaching" sign of manipulator...

  • Page 24: Direction Sign Of Each Axis

    Joint. "J1" in sign represents the axis 1 (other axes are represented by the corresponding numbers), "+" indicates the positive direction, and "-" indicates the negative direction. Figure 2-3 Direction identification of each axis on the AIR10-1720B manipulator...

  • Page 25: Preparation Before Installation

    AIR10-1720B Operation 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 ◼ international and local laws and regulations.

  • Page 27: Installation Of Manipulator

    AIR10-1720B Operation Manual Installation of manipulator Installation of manipulator Technical specifications When installing the manipulator, the strength of the foundation installation surface shall be fully considered. In addition, the inclination of the installation ground of the manipulator shall be less than 5° .
  • Page 28 Installation of manipulator AIR10-1720B Operation Manual The manipulator supports three installation postures: ground installation, hoisting and wall installation. There are differences in the fixing methods on the installation contact surfaces of different materials. When the base is fixed on the concrete floor or bracket, you can refer to the following fixing methods for installation: Ground fixed ◼...
  • Page 29 AIR10-1720B Operation Manual Installation of manipulator Figure 4-2 Diagram of manipulator ground fixation Fixing plate surface shall meet certain roughness and flatness requirements as detailed in Figure 4-2. Bracket fixing Fixing steps: Step1. Use 8 M20x50 bolts (strength grade 12.9) to fix the 4 adapter plates on the bracket.
  • Page 30 Installation of manipulator AIR10-1720B Operation Manual Figure 4-3 AIR10 manipulator bracket fixing diagram Mounting surface of bracket shall meet certain flatness requirements as shown in Figure 4-3. Fixing screw M20 of manipulator shall not be shorter than 40mm, and the insufficient length ◼...

  • Page 31: Electrical Connection Of The Manipulator

    AIR10-1720B Operation Manual Electrical connection of the manipulator Electrical connection of the manipulator Manipulator heavy duty connector There are aviation plugs and heavy-duty connectors on the manipulator. The specific location of the heavy-duty connector PQ50WASX-46P-UNIT (10) is shown in Figure 5-1.
  • Page 32 Electrical connection of the manipulator AIR10-1720B Operation Manual Signal name Axis number Pin number Signal name Axis number Pin number 1 axis 4 axis 1 axis 4 axis 2 axis 5 axis 2 axis 5 axis 2 axis 5 axis...

  • Page 33: Adaptation And Connection Of The Manipulator And Accessories

    AIR10-1720B Operation Manual Adaptation and connection of the manipulator and accessories Adaptation and connection of the manipulator and accessories Connection between manipulator and accessories 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 34: Connection Between Manipulator And Control Cabinet

    Adaptation and connection of the manipulator and accessories AIR10-1720B Operation Manual Connection between manipulator and control cabinet Connection of manipulator and accessories The connection between the external accessory equipment of the manipulator and the manipulator is similar to the connection between the load and the manipulator. It can be connected to the manipulator directly or indirectly through flanges.
  • Page 35 AIR10-1720B Operation Manual Adaptation and connection of the manipulator and accessories Figure 6-6 Grounding diagram of the manipulator base...

  • Page 37: Performance Parameters Of The Manipulator

    AIR10-1720B Operation Manual Performance parameters of the manipulator Performance parameters of the manipulator Basic specification See Chapter1.3 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 the manipulator is shown in Table 7-1 as follows.

  • Page 38: Mechanical Limit

    Performance parameters of the manipulator AIR10-1720B Operation Manual Figure 7-1 Operating range of the 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 39: Speed Of Each Axis

    AIR10-1720B Operation Manual Performance parameters of the manipulator Figure 7-2 Mechanical brakes on the manipulator 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 Axis number Maximum angular velocity(°...

  • Page 40: Load And Installation Method

    Performance parameters of the manipulator AIR10-1720B Operation Manual Parameter Value Screw grade 12.9 grade Screw diameter Screw quantity Locating pin Screw standard GB/T 70.1-2000 Figure 7-3 The flange dimension diagram of wrist When installing the fixture, the depth of the threaded hole and pin hole shall be fully considered for the screws and locating pins used.
  • Page 41 AIR10-1720B Operation Manual Performance parameters of the manipulator Figure 7-4 Diagram of load eccentricity Wrist load installation of manipulator The load line diagram of the wrist operation is shown in Figure 7-5. ◼ The load conditions should be within the range shown in the chart.
  • Page 42 Performance parameters of the manipulator AIR10-1720B Operation Manual Figure 7-5 Diagram of the manipulator wrist load center of gravity position Installation of 3-axis elbow device for manipulator The device installation hole specifications and dimensions for manipulator J3 axis elbow are shown in Figure 7-6.
  • Page 43 AIR10-1720B Operation Manual Performance parameters of the manipulator When installing equipment, it is necessary to fully consider the reliability of the installation. It is recommended to use grade 12.9 screws to install according to the specified torque, and apply thread sealant to the threads. Otherwise, long- term operation may cause loosening or even fracture, leading to accidents.
  • Page 44 Performance parameters of the manipulator AIR10-1720B Operation Manual Figure 7-8 AIR10-1720B upper arm interface dimension diagram Fixed shoulder position The specifications and dimensions of the installation holes on the shoulder of the manipulator are shown in Figure 7-9. Figure 7-9 AIR10-1720B shoulder interface dimensional diagram...
  • Page 45 AIR10-1720B Operation Manual Performance parameters of the manipulator During usage, the installation holes may cause interference with the aviation plug and cable of the motor. In such cases, it may be necessary to add additional adapter parts. When installing the equipment, the screws used should fully consider the depth of the threaded hole. It is prohibited to install screws that exceed the depth of the threaded hole, as it may damage internal components or cables of the manipulator.

  • Page 47: Calibration Of The Axes Of The Manipulator

    The position of each axis of the manipulator is shown in Figure 8-1 below, in which, except for the J3 axis, it is 90 ° , and the other axes are 0 ° . Figure 8-1 Diagram of zero points for each axis of AIR10-1720B The robot calibration must always be performed at the same temperature conditions to avoid errors due ◼...
  • Page 48 8-1, the naked eye shall be used to make the zero point position of each shaft to be aligned, as shown in Figure 8-2 Figure 8-2 AIR10-1720B naked eye zero point calibration method 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.
  • Page 49 AIR10-1720B Operation Manual Calibration of the axes of the manipulator When the calibration block is used for calibration of the manipulator, the basic alignment of the calibration slot shall be observed with the naked eye, the operating speed of the manipulator is reduced to the manual...

  • Page 51: Transport And Handing

    Do not hang chains or other items on the transport components. ◼ Handing posture One to six axis posture of the manipulator during handling shall be posed as shown in Figure 9-2 and Table 9-1. Figure 9-2 AIR10-1720B manipulator handling pose diagram...

  • Page 52: Handing Dimensions

    Transport and handing AIR10-1720B Operation Manual Table 9-1 Angle value of each axis during robot handling -60° 170° 70° The manipulator must be handled in strict accordance with the posture in Table 9-1, otherwise it may tip over. Handing dimensions Three views of manipulator during the handling process are as shown in Figure 9-3 (it shall be noted that the actual dimensions may be slightly larger than those in the figure).

  • Page 53: Handing With Forklift

    AIR10-1720B Operation Manual Transport and handing Figure 9-3 AIR10-1720B handling manipulator dimensions Handing with forklift Handling with forklift is as shown in Figure 9-4. Forklift shall meet the requirement for the weight of manipulator. The total weight of manipulator and handling device is about 210kg.

  • Page 54: Handing With Swinging Ring

    Handing with swinging ring Handling with swinging ring is as shown in Figure 9-5, Lifting device shall meet the requirement for the weight of manipulator. The total weight of manipulator and handling device is about 185kg. Figure 9-5 AIR10-1720B lifting ring handling diagram...
  • Page 55 AIR10-1720B Operation Manual Transport and handing ◼ 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. Manipulator may turn over when transported with swinging ring. During the handling, please take ◼...

  • Page 57: General Principles Of Maintenance

    AIR10-1720B Operation Manual General principles of maintenance General principles of maintenance This manual is a description of preventive maintenance of the 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 59: Maintenance Items

    AIR10-1720B Operation 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 operation machine Ordinal Inspection item Main points of inspection...

  • Page 60: Regular Maintenance

    Maintenance items AIR10-1720B Operation Manual 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 61 AIR10-1720B Operation 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. Table 11-4 Manipulator 1920 hours (6 months) maintenance project...
  • Page 62 Maintenance items AIR10-1720B Operation Manual Table 11-7 Manipulator 11520 hours (3 years) maintenance project Ordinal Inspection item Main points of inspection Replacement of synchronous tape See Chapter11.2 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.

  • Page 63: Project Maintenance Process

    AIR10-1720B Operation Manual Project maintenance process Project maintenance process Cleaning of manipulator To ensure the long-term operation of robot, the manipulator shall be cleaned every 960h or 3 months (whichever comes first) according to the following process: Step1. Adjust the robot to the calibration state.
  • Page 64 Project maintenance process AIR10-1720B Operation Manual Repair external cables Maintenance steps: Step1. Adjust the robot J1 to J6 axes to 0 ° , 0 ° , 90 ° , -180 ° , 0 ° , and 0 ° . Step2. To prevent danger, turn off the power, hydraulic, and pneumatic sources connected to the manipulator.
  • Page 65 AIR10-1720B Operation Manual Project maintenance process Step9. Install the electrical installation plate, and apply sealant to the joint surface between the electrical installation plate and the base casting. Repair the internal cable of the elbow Figure 12-3 Internal cable at elbow Maintenance steps: Step1.

  • Page 66: Battery Replacement

    Project maintenance process AIR10-1720B Operation Manual Repair the internal cable of the wrist Figure 12-4 AIR10-1720B wrist internal cable Maintenance steps: Step1. Remove the cover plate, as shown in Figure 12-4. Step2. Check if there is any wear or damage at the fixing point of the cable and silicone protective sleeve.

  • Page 67: Replace Grease

    AIR10-1720B Operation Manual Project maintenance process Figure 12-5 Electrical installation panel for small and heavy load disassembly and manipulator Maintenance steps: Step1. Adjust the robot to the calibration state. Step2. To prevent the hazards, turn off the power, hydraulic, and pneumatic sources connected to the robot.
  • Page 68 Project maintenance process AIR10-1720B Operation Manual Table 12-1 AIR10-1720B manipulator grease model and grease amount Manipulator model Replace the grease part Amount of grease Grease type J1 axis reducer 286g AIR10-1720B J2 axis reducer 333g VIGOGREASE RE0 J3 axis reducer 166g When replacing the grease, please refer to Table 12-2 for the posture of the manipulator.
  • Page 69 Replace J2 axis reducer grease Figure 12-7 AIR10-1720B replacement of J2 axis reducer grease Maintenance steps: Step1. Run the manipulator as shown in Table 12-2.
  • Page 70 Replace J3 axis reducer grease Figure 12-8 AIR10-1720B replacement of J3 axis reducer grease Maintenance steps: Step1. Run the manipulator as shown in Table 12-2.

  • Page 71: Replacement Of Synchronous Belt

    AIR10-1720B Operation Manual Project maintenance process Step8. The amount of oil discharged by weighing shall be equal to the amount of oil injected. If the discharge amount is less than the injection amount, the excess amount is discharged by gas at the fat injection port. If the discharge volume is greater than the injection volume, inject the missing amount from the grease outlet Step9.
  • Page 72 Project maintenance process AIR10-1720B Operation Manual At the replacement of synchronous belt, the manipulator shall be posed as shown in Table 12-5. Table 12-5 Posture of manipulator at the replacement of synchronous belt 0° 90° 0° 70° Arbitrarily Arbitrarily Replacement process for synchronous belt of J5 axes...
  • Page 73 AIR10-1720B Operation Manual Project maintenance process Maintenance steps: Step1. Operate the manipulator to the attitude shown in Table 12-5. Step2. Cut off the power supply of the control device. Step3. Remove the manipulator cover and four M4 screws, as shown in Figure 129.

  • Page 75: Common Faults And Treatment

    AIR10-1720B Operation 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 76 Common faults and treatment AIR10-1720B Operation Manual Fault Classification Possible Causes Treatment Mechanical transmission ◼ system is subjected to excessive external force due to collision or overload, causing ◼ Make the manipulator operate the damage to the gear surface uniaxially to confirm the Joint...
  • Page 77 AIR10-1720B Operation 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 Connect the grounding wire ◼ electrical noise will mix into the...
  • Page 78 Common faults and treatment AIR10-1720B Operation Manual Fault Classification Possible Causes Treatment Turn off the power of manipulator, Large backlash is resulted from the and confirm that the screws are wear or damage of internal gears of If you need to replace the internal...
  • Page 79 AIR10-1720B Operation Manual Common faults and treatment Fault Classification Possible Causes Treatment applied, which causes the motor ◼ After the motor is replaced, the to withstand excessive load overheating of motor disappears. It is confirmed that the condition Failure of motor body to perform ◼...
  • Page 80 Common faults and treatment AIR10-1720B Operation Manual Table 13-5 Causes and treatment measures of manipulator axis falling Fault Classification Possible Causes Treatment The damage of brake drive relay Check if the brake drive relay is ◼ ◼ causes the brake to always be damaged, and if so, replace the ◼...
  • Page 81 AIR10-1720B Operation 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 parameters data, please recalibrate the...

  • Page 83: Conditions Of Storage

    AIR10-1720B Operation 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 24h) 70℃...

  • Page 84: Appendix A Periodic Maintenance Schedule Of Manipulator

    AIR10-1720B Operation Manual Appendix A Periodic maintenance schedule of manipulator Appendix A Periodic maintenance schedule of manipulator Note:  indicates that maintenance is required. Schedule A Periodic maintenance schedule of the manipulator First Main month month month month month month...
  • Page 85 Appendix A Periodic maintenance schedule of manipulator AIR10-1720B Operation Manual First Main month month month month month month month month month month month month month month Mainte month year years years 4 years years tena Item nance 3,840 7,680 11,520...
  • Page 86 AIR10-1720B Operation Manual Appendix A Periodic maintenance schedule of manipulator First Main month month month month month month month month month month month month month month Mainte month year years years 4 years years tena Item nance 3,840 7,680 11,520...

  • Page 87: Appendix B Table Of Screw Strength And Tightening Torque (Nm)

    AIR10-1720B Operation Manual Appendix B Table of screw strength and tightening torque (Nm) Appendix B Table of screw strength and tightening torque (Nm) Schedule B1 Carbon steel screw strength and screw tightening torque table (Nm) Performance level 8.8 level 10.9 level 12.9 level...
  • Page 88 Appendix B Table of screw strength and tightening torque (Nm) AIR10-1720B Operation Manual ◼ Screws shall be tightened evenly and symmetrically. According to the installation requirements of the reducer and other moving parts, apply thread ◼ adhesive to the engagement part of some screws.

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