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PEITIAN ROBOTICS AIR35-1700C Manual

Industrial robot manipulator
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Summary of Contents for PEITIAN ROBOTICS AIR35-1700C

  • Page 3: Foreword

    Foreword Foreword About this manual This manual is for technicians to install and use the AIR35-1700C 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 AIR35-1700C Industrial Robot Manipulator 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 AIR35-1700C Industrial Robot Manipulator 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:...

  • Page 7: General Safety Description

    AIR35-1700C Industrial Robot Manipulator 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 AIR35-1700C Industrial Robot Manipulator Manual 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 AIR35-1700C Industrial Robot Manipulator 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 ◼...
  • Page 10 General safety description AIR35-1700C Industrial Robot Manipulator Manual ⚫ 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. The auxiliary equipment such as the crane shall be used when the ◼...

  • Page 11: Safety Protection Measures Before Use

    AIR35-1700C Industrial Robot Manipulator 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 AIR35-1700C Industrial Robot Manipulator Manual 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.
  • Page 13 AIR35-1700C Industrial Robot Manipulator Manual Safety protection measures before use Emergency stop button shall be set within the reach of operators. ◼ Manipulator controller is designed to be connected to an external emergency stop button. With this connection, the manipulator will stop when the external emergency stop button is pressed.
  • Page 14 Safety protection measures before use AIR35-1700C Industrial Robot Manipulator Manual operators shall hang the "Repairing" sign to remind other people not to operate the manipulator. ◼ Before performing a repair, verify that the manipulator or peripheral equipment is in a safe status.
  • Page 15 AIR35-1700C Industrial Robot Manipulator Manual Safety protection measures before use 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

    AIR35-1700C Industrial Robot Manipulator 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 ..............................

  • Page 18: Contents

    Conditions of storage ............................. 65 Environmental conditions for long-term storage of manipulator ................65 Precautions for storage of manipulator ......................... 65 Appendix A Periodic maintenance schedule of AIR35-1700C manipulator ..............66 Appendix B Table of screw strength and tightening torque (Nm) ..................69...

  • Page 19: Overview And Basic Composition Of The Manipulator

    AIR35-1700C Industrial Robot Manipulator Manual Overview and basic composition of the manipulator Overview and basic composition of the manipulator Overview of industrial robot Industrial robot consists of the following parts is as shown in Figure 1-1: Manipulator ◼ ◼ Control cabinet Teach pendant ◼...

  • Page 20: Basic Specifications

    Overview and basic composition of the manipulator AIR35-1700C Industrial Robot Manipulator Manual Figure 1-2 AIR35-1700C Robot Body and Its Various parts Basic specifications The basic specifications of AIR35-1700C robot manipulator is as shown in Table 1-1: Table 1-1 Basic Specifications of AIR35-1700C Robot Parameter Explanation...

  • Page 21: Environmental Requirements For Operation

    AIR35-1700C Industrial Robot Manipulator Manual Overview and basic composition of the manipulator Parameter Explanation Drive mode Electrical servo drive with AC servo motor Repeated positioning accuracy ± 0.03mm Robot weight 295kg Noise 70dB IP rating IP54 (Wrist IP67) Ambient temperature :5° C ~45° C ◼...

  • Page 23: The Label Name And Meaning

    AIR35-1700C Industrial Robot Manipulator Manual The label name and meaning The label name and meaning Safety sign of manipulator An operator safety label shall be pasted on the back of the upper arm of the manipulator. As shown in Figure 2-1.

  • Page 24: Direction Sign Of Each Axis

    The label name and meaning AIR35-1700C Industrial Robot Manipulator Manual Direction sign of each axis "+" or "-" sign is provided at the rotating or swinging joints of axes 1~6 of manipulator as shown in Figure 2-3 to indicate the moving direction of each axis. "J1" in sign represents the axis 1 (other axes are represented by the corresponding numbers), "+"...

  • Page 25: Preparation Before Installation

    AIR35-1700C Industrial Robot Manipulator 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 ◼...

  • Page 27: Installation Of Manipulator

    The forces and torques applied to the foundation during the movement are shown in Table 4-1, Enough thought shall 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. Table 4-1 The force applied to foundation by AIR35-1700C manipulator Load type Force/torque/mass Vertical force Fz 6.8kN (In operation)

  • Page 28: Fixed Mode

    Installation of manipulator AIR35-1700C Industrial Robot Manipulator Manual Fixed mode Three ways of fixing are suitable for the manipulator: ◼ Ground fixing (mode 1). Lift mounting (mode 2). ◼ ◼ Bracket fixing (mode 3). ◼ Specific fixing mode depends on the usage environments.
  • Page 29 AIR35-1700C Industrial Robot Manipulator Manual Installation of manipulator Figure 4-2 The fixed mode 1 for manipulator Fixing plate surface shall meet certain roughness and flatness requirements as detailed in Figure 4-2. Lift mounting Fixing steps: Hold the fixing plate of robot close to the mounting surface and secure it with eight M20 chemical bolts (strength not less than Grade 4.8).
  • Page 30 Installation of manipulator AIR35-1700C Industrial Robot Manipulator Manual Figure 4-3 The fixed mode 2 for manipulator Fixing plate surface shall meet certain roughness and flatness requirements as detailed in Figure 4-3. Bracket fixing Fixing steps: Fix the 4 mounting brackets with eight M20 chemical bolts (strength grade not less than 4.8).
  • Page 31 AIR35-1700C Industrial Robot Manipulator Manual Installation of manipulator Figure 4-4 The fixed mode 3 for manipulator Mounting surface of bracket shall meet certain flatness requirements as shown in Figure 4-4 ◼ Fixing screw M20 of manipulator shall not be shorter than 40 mm, and the insufficient length will cause the poor fixing and other accidents.

  • Page 33: Electrical Connection Of The Manipulator

    Electrical connection of the manipulator Manipulator electrical interface type The AIR35-1700C manipulator base and forearm are equipped with heavy-duty connectors, IO interfaces, and air pipe connectors, as shown in Figure 5-1 and Figure 5-2. Figure 5-1 Diagram of the interface of the manipulator's forearm...

  • Page 34: Definitions Of Heavy-Duty Interfaces Of Manipulator

    Figure 5-3 The heavy-duty connector on AIR35-1700C manipulator body Definitions of heavy-duty interfaces of manipulator Heavy-duty interface of AIR35-1700C manipulator is defined as shown in Table 5-1 and Table 5-2. Table 5-1 Pin definition of Heavy duty power line Pin number...
  • Page 35 AIR35-1700C Industrial Robot Manipulator Manual Electrical connection of the manipulator Pin number Definition Internal cables Use the pin yellow(J1) + yellow(J2) yellow(J3) + yellow(J4) CESM-0.37 yellow(J5) + light blue(J6) Table 5-2 Pin definition of Heavy duty encoder line Pin number...

  • Page 37: Adaptation And Connection Of The Manipulator And Accessories

    AIR35-1700C Industrial Robot Manipulator Manual Adaptation and connection of the manipulator and accessories Adaptation and connection of the manipulator and accessories Examples of accessory types 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 38: Grounding Method Of The Manipulator

    Adaptation and connection of the manipulator and accessories AIR35-1700C Industrial Robot Manipulator Manual Connection between operator and accessories The connection and load between the external auxiliary equipment and the operator are similar to those of the operator, and can be directly or indirectly connected to the operator through the flange. See Chapter7.6 of this manual for details.

  • Page 39: Performance Parameters Of The Manipulator

    Performance parameters of the manipulator Basic specification See Chapter 1.3 Basic Specifications of this manual for the basic specifications of AIR35-1700C 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 40: Mechanical Limit

    Performance parameters of the manipulator AIR35-1700C Industrial Robot Manipulator Manual Figure 7-1 Working range of AIR35-1700C 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 41: Speed Of Each Axis

    AIR35-1700C Industrial Robot Manipulator Manual Performance parameters of the manipulator Figure 7-2 Mechanical brake 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 42: Load And Installation Method

    Performance parameters of the manipulator AIR35-1700C Industrial Robot Manipulator 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 43 Performance parameters of the manipulator Figure 7-4 Diagram of load eccentricity Wrist load installation of manipulator The wrist load line diagram of AIR35-1700C manipulator is shown in Figure 7-5(a). ◼ The load conditions shall be within the limits shown on the chart.
  • Page 44 Performance parameters of the manipulator AIR35-1700C Industrial Robot Manipulator Manual Installation of elbow equipment of axis 3 of manipulator The specification and size of the installation hole of J3 axis elbow of the manipulator are shown in Figure 7-6. ◼...
  • Page 45 AIR35-1700C Industrial Robot Manipulator Manual Performance parameters of the manipulator Figure 7-7 Diagram of the manipulator forearm Fixed position of manipulator shoulder ◼ The specifications and dimensions of the mounting hole on the shoulder of the manipulator are shown in Figure 7-...
  • Page 46 Performance parameters of the manipulator AIR35-1700C Industrial Robot Manipulator Manual Figure 7-9 Diagram of upper arm interface ◼ The above parts are designed for cable fixation. If equipment is needed to be installed, it should be guaranteed that: Arm load + wrist load <20kg.

  • 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 AIR35-1700C zero point diagram of each axis...
  • Page 48 Calibration of the axes of the manipulator AIR35-1700C Industrial Robot Manipulator Manual ◼ The robot calibration must always be performed at the same temperature conditions to avoid errors due to thermal expansion and contraction. ◼ The industrial robot calibration must be calibrated in sequence from the J1 axis to the J6 axis.
  • Page 49 AIR35-1700C Industrial Robot Manipulator Manual Calibration of the axes of the manipulator 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 51: Transport And Handing

    AIR35-1700C Industrial Robot Manipulator Manual Transport and handing Transport and 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 9.1.
  • Page 52 Transport and handing AIR35-1700C Industrial Robot Manipulator Manual...

  • Page 53: Handing Posture

    AIR35-1700C Industrial Robot Manipulator Manual Transport and handing Figure 9-2 Dimensions of AIR35-1700C Manipulator during the Handling Process Handing posture One to six axis posture of the manipulator during handling shall be posed as shown in Table 9-1 and Figure 9-5.

  • Page 54: Handing With Forklift

    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 294kg. Figure 9-4 Diagram of AIR35-1700C handling with forklift...

  • Page 55: Handing With Swinging Ring

    20 or 25 steel; The specification of the lifting ring is M12. The total weight of the manipulator and handling device is approximately 317kg. Figure 9-5 Diagram of AIR35-1700C Manipulator handling with swinging ring ◼...

  • Page 57: General Principles Of Maintenance

    AIR35-1700C Industrial Robot Manipulator 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

    AIR35-1700C Industrial Robot Manipulator Manual Maintenance items Maintenance items 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 operation machine Ordinal Inspection item Main points of inspection...

  • Page 60: Regular Maintenance

    Maintenance items AIR35-1700C Industrial Robot Manipulator 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 AIR35-1700C Industrial Robot Manipulator Manual Maintenance items 1920 hours (6 months) regular maintenance The operation machine 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.
  • Page 62 Maintenance items AIR35-1700C Industrial Robot Manipulator Manual 15360 hours (4 years) periodic maintenance The operation machine shall be operated for 4 years or 15360 hours (whichever is short), and the following items shall be inspected and repaired. As shown in Table 11-8.

  • Page 63: Project Maintenance Process

    AIR35-1700C Industrial Robot Manipulator Manual Project maintenance process Project maintenance process 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: Adjust the robot to the calibration state.
  • Page 64 Project maintenance process AIR35-1700C Industrial Robot Manipulator Manual Adjust the manipulator from J1 to J6's angle is 0° ,0° ,90° ,-180° ,0° ,0° . To prevent the damage, please shutdown the electric power and hydraulic power and pneumatic power of the manipulator.
  • Page 65 AIR35-1700C Industrial Robot Manipulator Manual Project maintenance process Remove elbow cable retaining plate as shown in Figure 12-3. Pull out the cable and check whether the cable is reliably connected to the fixed plate. Check whether the cable and the bracket are fixed for wear or damage.

  • Page 66: Battery Replacement

    Project maintenance process AIR35-1700C Industrial Robot Manipulator Manual Figure 12-4 Inner cable of the wrist Please entrust the service department of the company to replace the internal cables of the operator. The use of substandard cables may result in the robot not working properly.

  • Page 67: Replace Grease

    AIR35-1700C Industrial Robot Manipulator Manual Project maintenance process Figure 12-5 Remove manipulator electrical installation panel Replace grease Operation machine J1 axis to J6 axis reducer, every 11520 hours or 3 years (whichever is shorter), need to replace the internal grease.
  • Page 68 Project maintenance process AIR35-1700C Industrial Robot Manipulator Manual J1 axis reducer replacement grease process Figure 12-6 Replace the lubricating grease of J1 axis reducer The replacement process is as follows: Run the manipulator as shown in Table 12-2. To prevent danger, turn off the power, hydraulic and pneumatic sources connected to the robot.
  • Page 69 AIR35-1700C Industrial Robot Manipulator Manual Project maintenance process J2 axis reducer replacement grease process Figure 12-7 Replace the grease of J2 axis reducer The replacement process is as follows: Run the manipulator as shown in Table 12-2. To prevent danger, turn off the power, hydraulic and pneumatic sources connected to the robot.
  • Page 70 Project maintenance process AIR35-1700C Industrial Robot Manipulator Manual J3 axis reducer replacement grease process Figure 12-8 Replace the lubricating grease of J3 axis reducer The replacement process is as follows: Run the manipulator as shown in Table 12-2. To prevent danger, turn off the power, hydraulic and pneumatic sources connected to the robot.

  • Page 71: Replacement Of Synchronous Belt

    AIR35-1700C Industrial Robot Manipulator Manual Project maintenance process Table 12-3 Release internal pressure of reducer and gearbox Replace the grease part Action point The action time The premise J1 axis reducer >90° Ten minutes Sealing head or oil nozzle shall be...
  • Page 72 Project maintenance process AIR35-1700C Industrial Robot Manipulator Manual Preliminarily install the motor base screw M4. Install the adjusting screw with an Allen key and adjust the timing belt to the appropriate tension; The frequency of synchronous belt is 116Hz -122Hz, which can also be measured by pressure method, with pressure g = 2.9N and deformation f = 2.1mm.
  • Page 73 AIR35-1700C Industrial Robot Manipulator Manual Project maintenance process After the replacement of synchronous belt, the J5 axis of manipulator shall be calibrated. For details, see Chapter 8.

  • Page 75: Common Faults And Treatment

    AIR35-1700C Industrial Robot Manipulator 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 AIR35-1700C Industrial Robot Manipulator Manual Fault Classification Possible Causes Treatment Mechanical transmission system ◼ is subjected to excessive external force due to collision or overload, causing the damage to the gear ◼ Make the manipulator operate...
  • Page 77 AIR35-1700C Industrial Robot Manipulator 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 electrical noise will mix into the grounding ◼ Connect the grounding wire...

  • Page 78: Motor Overheating

    Common faults and treatment AIR35-1700C Industrial Robot Manipulator Manual Fault Classification Possible Causes Treatment Turn off the power of manipulator, and Large backlash is resulted from the wear confirm that the screws are tightened, or damage of internal gears of...
  • Page 79 AIR35-1700C Industrial Robot Manipulator 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 ◼...
  • Page 80 Common faults and treatment AIR35-1700C Industrial Robot Manipulator 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 AIR35-1700C Industrial Robot Manipulator 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...

  • Page 83: Conditions Of Storage

    AIR35-1700C Industrial Robot Manipulator 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 Min. ambient temperature -25℃ Max. ambient temperature 55℃ Max. ambient temperature (storage time less than 24 h) 70℃...

  • Page 84: Appendix A Periodic Maintenance Schedule Of Air35-1700C Manipulator

    AIR35-1700C Industrial Robot Manipulator Manual Appendix A Periodic maintenance schedule of AIR35-1700C manipulator Appendix A Periodic maintenance schedule of AIR35-1700C manipulator Note:  indicates that maintenance is required. Schedule A Periodic maintenance schedule of the manipulator First Main month month...
  • Page 85 Appendix A Periodic maintenance schedule of AIR35-1700C manipulator AIR35-1700C Industrial Robot Manipulator Manual First Main month month month month month month month month 3 year month month month month month month 5 year Mainte month year year 4 years tena...
  • Page 86 AIR35-1700C Industrial Robot Manipulator Manual Appendix A Periodic maintenance schedule of AIR35-1700C manipulator First Main month month month month month month month month 3 year month month month month month month 5 year Mainte month year year 4 years tena...

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

    AIR35-1700C Industrial Robot Manipulator 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 8.8 level 10.9 level 12.9 level...