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Related Manuals for PushCorp AFD120 Series
Summary of Contents for PushCorp AFD120 Series
- Page 1 AFD120 Adjustable Force Device Manual...
- Page 2 All fasteners, mounting holes and pipe threads on this tool are METRIC. All PushCorp electrical cables are rated for high twist and flex robotic applications with a minimum cable bending radius specification of 125mm (5 in). Cable damage resulting from failure to abide by this specification will not be covered under warranty.
- Page 3 Table of Contents 1.0 LIMITED WARRANTY...................1 2.0 GENERAL OVERVIEW..................3 3.0 QUICK START.......................4 3.0 INSTALLATION.....................5 3.1 Mounting Process Equipment...................... 5 3.2 Mounting the AFD120........................7 3.2.1 Mounting the AFD120-1 Vertical and AFD120-2 Horizontal............7 3.3 Maximum Carriage Load Calculations..................9 3.4 Pneumatic Connection........................ 11 4.0 ELECTRICAL CONNECTIONS................13 4.1 Indicator Lights..........................
- Page 4 3001 W. Kingsley Rd. Garland, Texas 75041 Who receives this warranty (purchaser): The original purchaser (other than for purposes of resale) of the PushCorp product What products are covered by this warranty: Any PushCorp Adjustable Force Device or Adjustable Force Device accessory supplied or manufactured by the Warrantor.
- Page 5 AFD120 Manual Responsibilities of the purchaser under this warranty: A. Deliver or ship the PushCorp product or component to PushCorp Service Center, Dallas, TX. Freight and insurance costs, if any, must be borne by the purchaser. B. Use reasonable care in the operation and maintenance of the product as described in the owner's manual(s).
- Page 6 AFD120 Manual 2.0 General Overview The PushCorp, 120 Series Adjustable Force Device was designed to be a small, light weight active compliance device. It is the smallest & lightest active tool in the line up. As such, the 120 Series is a great fit for small to medium size robots. To reduce operating friction and increase force accuracy the 120 Series uses glass pneumatic cylinders with graphite pistons, and linear guide rails.
- Page 7 120 Series per Section 4.4. Step 4: Consult the FCU-FLEX Manual for electrical connections and software setup information. Please read the following sections to learn the full potential and features of the PushCorp 120 Series Adjustable Force Device.
- Page 8 A deformed or loose Carriage will damage the Linear Rails and affect the consistency of your process. If the Carriage becomes loose or binds after installing the process equipment, then the brackets must be removed and the problem corrected. PushCorp can design and fabricate brackets to user supplied specifications as an option.
- Page 9 AFD120 Manual The bolt pattern on the Carriage has been designed to facilitate process equipment installation. The Carriage has (6) six M4x0.7 mounting holes with a depth of 0. 26 inch (6.5 mm) to provide secure attachment points. The mounting holes are spaced 100mm across and on 50mm centers along the length of the Carriage.
- Page 10 Figure 4. All 4 mounting holes should be utilized to secure the Mounting Bracket to the robot mounting flange. If your robot flange does not feature an ISO 50 bolt pattern, then an adapter plate can be utilized. Your PushCorp Sales representative can help select the needed components.
- Page 11 AFD120 Manual -1 or -2 mounting flange is aligned and positioned into the mounting bracket such that the THRU holes are aligned. At that point, the M8x1.25 shoulder bolt should be inserted and threaded into the AFD120 mounting bracket to tighten the assembly as shown in Figure 8.
- Page 12 Bearing Load (L). If the AFD120 is placed in multiple orientations, then the Bearing Load (L) should be checked for each one. If your application is not similar to any of the designs listed here, or if the information is not clear, please contact PushCorp Technical Support for assistance.
- Page 13 AFD120 Manual...
- Page 14 Series (See Figure 8) provides a pneumatic connection to supply this additional air flow. The port accepts a metric R 1/8 tapered pneumatic fitting. PushCorp can provide fittings for english or metric tubing. The input pressure to the purge port can range from 10 PSI to 60 PSI (0.7 –...
- Page 15 2 SCFM (56 l/min) must be installed. NOTE: PushCorp highly recommends the use of flexible polyurethane tubing as opposed to nylon tubing. This is because nylon tubing tends to crimp shut when it is bent.
- Page 16 AFD120 Manual 4.0 Electrical Connections 4.1 Indicator Lights The AFD120 features 3 indicator lights to show the current status of the tool. that displays controller connectivity and carriage position status via 3 indicator lights. Figure 10: AFD120 Indicator Lights Symbol Description Signal Pulsing light indicates normal connection...
- Page 17 AFD120 Manual 4.2 USB-C Connection The AFD120 features an externally assessable USB-C connector for direct communication with the tool via a PC. This can be used to send commands to the tool via the AFD Dashboard software or to load new firmware. To access the USB-C, a 20mm socket should be used to loosen the connector locknut.
- Page 18 Network Mask: 255.255.255.0 In order to utilize the Ethernet connection instead of the FCUFLEX Controller, an appropriate adapter cable must be purchased from PushCorp to provide a standard Ethernet RJ45 network connection. Power must be provided to this connector via an external PASSIVE Power-Over-Ethernet (POE) injector.
- Page 19 AFD120 Manual Response String: OK[CR][LF] 2. A successful command returning parameter data: Response String: Data[CR][LF] 3. An unsuccessful command: Response String: Error: Error Object [Error No]: Error Description[[CR][LF] The following section describes the various commands to control and configure the AFD controller.
- Page 20 AFD120 Manual Requesting a parameter Send string: /afd/commandForce Reply string: {"data":{"/afd/commandForce":12.0000},"status":"success"} Setting a parameter Send string: /afd/deviceName=fred Reply string: {"data":{"/afd/deviceName":”OK”},"status":"success"} Command Failure Send string: /afd/badCommand=24.2 Reply string: {"data":{"/afd/badCommand":"Error: RpcObject[1]: Unknown Method"},"status":"fail"} Web Request Example A request can be sent from a web browser to the AFD with URL string containing the command to be executed.
- Page 21 AFD120 Manual 5.3 AFD Command Descriptions The parameters and commands of the AFD are organized in a hierarchical directory tree structure to access various system components as shown below: /afd (or “/”) /afd/net The top-level or root is the initial working directory and allows access to the AFD top- level commands.
- Page 22 AFD120 Manual Command Command Description Data Type Read/ Write Set soft touch force as multiplier of comandForce /afd/softTouchForce FLOAT Read/Write 0.1 – 1.0 Set soft touch position as multiplier of maxPosition /afd/softTouchPosition FLOAT Read/Write 0.1 – 1.0: Soft Touch feature is currently in effect /afd/softTouchActive INTEGER Read...
- Page 23 AFD120 Manual 5.3.2 AFD Network Commands Command Command Description Data Type Read/Write Displays all available commands /net/help LIST Read Network host name /net/hostName STRING Read/Write Set to use DHCP server to obtain IP address /net/dhcp INTEGER Read/Write 0: Static IP, 1: DHCP Time out for DHCP server (Seconds) /net/timeout INTEGER...
- Page 24 AFD120 Manual 6.0 Technical Specifications Maximum Applied Force: 27 lbs. (120 N) Maximum Payload: 27.1 lbs. (12.3 kg) Weight: 5.1 lbs. (2.3 kg) Compliant Stroke: 0.8 in. (20 mm) Temperature: 50 to 122 F (10 to 50 C) Humidity: 5% to 95%, Non-Condensing Supply air: Non-lubricated, Dry, 5µm Filtered, 90 psi (6.2 bar) Max.
- Page 25 It is highly recommended to adhere to the preventative maintenance schedule in order help extend the longevity of the specified PushCorp equipment. Failing to do so could cause a loss in functionality as well as a decrease in product life.
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