Table of Contents
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Small Robots OVR
6-axis Vertically Articulated
OVR6048K1-V
Technical Reference
1
Introduction .............................. 2
2
Safety precautions ................... 3
3
Preparation ................................ 6
4
Installation ................................. 9
5
Connection .............................. 12
Thank you for purchasing an Oriental Motor product.
This document describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the document where it is readily available.
6
Before starting operation ..... 14
7
Maintenance ............................ 18
8
Specifications .......................... 19
TN-OVR4E
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Summary of Contents for Oriental motor OVR6048K1-V
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Page 1: Table Of Contents
Specifications ......19 Installation ......... 9 Connection ......12 Thank you for purchasing an Oriental Motor product. This document describes product handling procedures and safety precautions. • Please read it thoroughly to ensure safe operation. • Always keep the document where it is readily available. -
Page 2: Introduction
The product described in this document is designed and manufactured to be incorporated in general industrial equipment. Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any compensation for damage caused through failure to observe this warning. -
Page 3: Safety Precautions
Safety precautions Safety precautions The precautions described below are intended to ensure the safe and correct use of the product, and to prevent the customer and others from exposure to the risk of injury. Use the product only after carefully reading and fully understanding these instructions. - Page 4 Failure to do so may result in injury or damage to the equipment. • If the motor needs replacing during maintenance, please contact your nearest Oriental Motor sales office. General •...
- Page 5 Safety precautions damage to the equipment. • The status of the operation control device should be clearly displayed, for example, “power on”, “malfunction (failure) detected, ” or “automatic operation. ” If an indicator light is used, it should be installed in a suitable position and the color should conform to IEC 60204-1.
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Page 6: Preparation
Preparation Preparation Checking the product Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales office from which you purchased the product. • Robot ..............1 unit • Positioning pin ..........1 pc. -
Page 7: Names And Functions Of Parts
Preparation Names and functions of parts The robot consists of six axes: S-axis (M1: swing), L-axis (M2: lower arm), U-axis (M3: upper arm), R-axis (M4: wrist rotation), Bp-axis (M5: wrist bending), and T-axis (M6: wrist turning). • All drive motors are AZ series equipped with battery-free absolute sensors. •... - Page 8 Preparation • S-axis (M1): The rotation direction of the hollow rotary actuator is the direction seen from the mounting surface of the rotating part. • L-axis (M2), U-axis (M3), R-axis(M4), Bp-axis(M5), T-axis (M6): For harmonic geared types, the direction is the direction seen from the opposite output shaft of the AZ motor. Rotation limiting mechanical stopper The mechanical stoppers are included to limit the range of motion of the robot.
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Page 9: Installation
Installation Installation Installation location The product is designed and manufactured to be incorporated in general industrial equipment. Install it in a well- ventilated location that provides easy access for inspection. The location must also satisfy the following conditions: • Inside an enclosure that is installed indoors (provide vent holes) •... -
Page 10: Installation Method
Installation Installation method • Ensure that the installation location has enough work space to safely perform teaching and maintenance inspections. • When installing the product, install a safety cage to prevent it from entering the product’s movable range. • Perform a risk assessment of the entire equipment before use to ensure that there is no contact with the product within the cage and that it is safe please. - Page 11 • To prevent vibration, install the product on a metal surface of sufficient strength. • The outline drawing of the hollow rotary actuator (DGB130R36-AZAKL) can be downloaded from the Oriental Motor website. „ Installing a load Install a load with screws using the load-mounting screw holes (four places) onto the output table.
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Page 12: Connection
Connection Connection • Fix the area near the connector so that it does not move. • Keep 10 m (32.8 ft.) or less for the wiring distance between a motor and a driver. „ Wiring example... - Page 13 Connection „ Connecting the cable M2 and M3 are connector type motors. Please check the connection method below. 1. Remove the connector cap. Do not damage the O-ring of the connector when removing the connector cap. 2. Connect the connector of the connection cable. The figure shows an example using the connection cable of cable outlet in output shaft direction.
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Page 14: Before Starting Operation
RS-485 communication. The protocol supports Modbus (RTU) and can be connected to touch panels, PCs, etc. For operating manual of the driver, download from Oriental Motor Website Download Page or contact your nearest Oriental Motor sales office. - Page 15 Before starting operation Copying the fixed value (parameter) of the ABZO sensor to a driver • For parameters of the AZ Series, the different values are stored in the ABZO sensor and driver. When turning on the driver for the first time, copy the ABZO information (fixed value) parameter to the driver using support software MEXE02.
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Page 16: Home Position Setting
Before starting operation Home position setting • Home position setting is an operation to set the home position of each axis in order to use the product with high precision. The home position has not been set at the time of shipment. When using the product for the first time after unpacking or when replacing the driver, etc., be sure to determine the origin of the base coordinate system before use. - Page 17 Before starting operation • The AZ series returns to origin using high-speed return-to-home operation. High-speed return-to- home operation is an operation to return to the mechanical home position on the absolute position coordinate set in advance. Since the home position is recognized by the ABZO sensor, return-to-home operation can be executed at the same speed as that of the normal positioning operation without using an external sensor.
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Page 18: Maintenance
• Do not use petroleum solvents, since they will damage the coated surface. Warranty Check on the Oriental Motor Website for the product warranty. Disposal Dispose the product correctly in accordance with laws and regulations, or instructions of local governments. -
Page 19: Specifications
Specifications Specifications Product specifications Number of axes 6-axis Input voltage 24 VDC Vertical 735 mm [28.94 in.] (Upward) Maximum reach length Horizontal 568/480 mm [22.36/18.90 in.] (Downward) Payload 1 kg (2.2 lb.) Standard cycle time *1 0.7 sec S-axis (Swing) ±170 deg L-axis (Lower arm) −59 to +108 deg... - Page 20 Specifications Dimensions [Unit: mm (in.)] 159.5 (6.28) (4.65) (2.17) (2.36) 187.5 (7.38) 75 (2.95) 3× (2.13) 166.5 (6.56) 231.5 (9.11) (5.12) +0.012 +0.0005 ± 0.5 (0.1969 3× 5 (4.33 ± 0.02 ± 0.03 ×6.5 (0.26) Deep (1.5748 40 (1.57) ± 0.0012 +0.012 7 (0.28) +0.0005...
- Page 21 Specifications Operating range [Unit: mm (in.)] • (3.94) • *192(7.56) • *R380 (14.96) • (3.94) (4.37) * This is the range in which the end effector can operate when facing downwards.
- Page 24 If a new copy is required to replace an original document that has been damaged or lost, please contact your nearest Oriental Motor sales office. • Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information, circuit, equipment or device provided or referenced in this document.
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