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Agilebot GBT-C7A Mechanical Manual

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Mechanical Manual for GBT-C7A/C12A/C16A Robots

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Summary of Contents for Agilebot GBT-C7A

  • Page 1 Product Manual Mechanical Manual for GBT-C7A/C12A/C16A Robots...
  • Page 2 Product Manual Mechanical Manual for GBT-C7A/C12A/C16A Robots V1.0 Copyright,2025AgilebotRoboticsCo.,Ltd.Allrightsreserved...
  • Page 3 Mechanical Manual for GBT-C7A/C12A/C16A Robots The information in this Manual must not be considered as a commitment of Agilebot and may be changed without prior notice. Agilebot assumes no responsibility for errors (if any) in this Manual. Except as expressly specified, nothing in this Manual shall be construed as any warranty or guarantee made by Agilebot for personal loss, property damage or specific applicability.
  • Page 4 Mechanical Manual for GBT-C7A/C12A/C16A Robots Revision Ver. Date Status V1.0 Jan 21,2025 Release Mechanical Manual for GBT-C7A/C12A/C16A Robots 4 / 59...
  • Page 5 Mechanical Manual for GBT-C7A/C12A/C16A Robots Table of Contents Safety instructions ............6 1 HANDLING AND MOUNTING ..........12 HANDLING ............12 MOUNTING ............14 MOUNTING PREPARATION AND STEPS ......15 2 CONNECTION TO CONTROLLER .......... 20 3 BASIC SPECIFICATION ..........21 COMPOSITION OF ROBOT...........
  • Page 6 Mechanical Manual for GBT-C7A/C12A/C16A Robots Safety instructions GBT-C5A series collaborative robots can be used to operate tools, end-effectors or fixtures, or process and transport workpieces. Meanwhile, the GBT-C5A series collaborative robots are provided with safety features. After thorough risk assessment, this series of robots can work without safety fences or with people.
  • Page 7 Mechanical Manual for GBT-C7A/C12A/C16A Robots Definition of user The operators are defined as follows: ➢ Operator Perform power-on/off operation on the robot. Start the robot program from the panel board. ➢ Robot Engineer Operate the robot. Perform teaching and programming debugging of the robot.
  • Page 8 Mechanical Manual for GBT-C7A/C12A/C16A Robots Definition of safety signs This Manual includes safety warnings to ensure personal safety of the users and avoid any damage to the machine tool and describes them with "Danger" and "Warning" in the main text based on their importance in safety.
  • Page 9 Mechanical Manual for GBT-C7A/C12A/C16A Robots Robot training The operator, robot engineer and maintenance engineer must receive the following operation and maintenance training. ➢ Fundamentals of robots ➢ Safety precautions for robots ➢ Jogging of robots ➢ Manual operation and teaching of robots ➢...
  • Page 10 Mechanical Manual for GBT-C7A/C12A/C16A Robots Steps for robot axis operation in emergency and abnormal situations When an emergency occurs, press the E-stop button on the control handle to immediately stop all motions of the robot. Emergency shutdown cannot be used as a risk reduction measure, but can be considered as a secondary protective device and is only used in emergency.
  • Page 11 Mechanical Manual for GBT-C7A/C12A/C16A Robots Safety warning label The robot body bears several safety and information labels, which contain important information related to the product. This information is very useful for all persons operating the robot system, e.g. during mounting, maintenance or operation.
  • Page 12 Mechanical Manual for GBT-C7A/C12A/C16A Robots 1 HANDLING AND MOUNTING 1.1 HANDLING During transportation, please fix the robot in the packaging box according to the packing posture (as shown in Fig. 1.1). The data of each axis under the packing posture is shown in Table 1.1. The purpose is to avoid robot collisions or damages due to unexpected movements during transportation.
  • Page 13 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig. 1.2 C12A and C16A Packing Posture Joint Angle Model C12A -90° 90° -160° 70° 0° 0° C16A -90° 90° -150° 60° 0° 0° Table 1.2 C12A and C16A Axis Data at Packing Posture The weight of Cobot series robot is shown in Fig. 1.3:...
  • Page 14 Refer to the direction of the base coordinate system during ground mounting. The moment direction is shown in Fig. 1.3. For other mounting forms, please consult Agilebot. Mount the robot on a sturdy, vibration-free surface sufficient to bear at least 10 times the maximum moment of the base joint and at least 5 times the weight of the robot arm.
  • Page 15 Mechanical Manual for GBT-C7A/C12A/C16A Robots 1.3 MOUNTING PREPARATION AND STEPS Safety measures: gloves, work shoes and safety helmets Tools: Allen wrench, mounting bolts, nuts and washers Mounting the robot to the floor or base (see Fig. 1.10) Screws fixing the robot to the base or bottom plate Fig.
  • Page 16 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig. 1.5 C7A Base Mounting Dimensions Mechanical Manual for GBT-C7A/C12A/C16A Robots 16 / 59...
  • Page 17 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig. 1.6 C12A and C16A Base Mounting Dimensions Mechanical Manual for GBT-C7A/C12A/C16A Robots 17 / 59...
  • Page 18 Mechanical Manual for GBT-C7A/C12A/C16A Robots Mounting requirements: ≤0.2mm Flatness requirements Mounting base required Any angle Inclination angle -20℃ Minimum environmental temperature Storage conditions 60℃ Maximum environmental temperature 0℃ Minimum temperature Operating conditions 50℃ Maximum temperature Indoors; avoid direct sunlight, dust, salt, metal powder or other Environmental conditions pollutants;...
  • Page 19 Mechanical Manual for GBT-C7A/C12A/C16A Robots cause malfunction or defect of the robot. Never use the robot in places subject to electromagnetic interference, electrostatic discharge or radio frequency interference risk. Otherwise, it may cause malfunction of the robot. Never use the robot in places exposed to flammable gases, dust, gasoline or solvents that may explode or catch fire.
  • Page 20 Mechanical Manual for GBT-C7A/C12A/C16A Robots 2 CONNECTION TO CONTROLLER The connecting cables between the robot and the controller include power cables and signal cables. Please connect each cable to the connector on the back of the mounting base. as shown in Fig. 2.1.
  • Page 21 Mechanical Manual for GBT-C7A/C12A/C16A Robots 3 BASIC SPECIFICATION 3.1 COMPOSITION OF ROBOT Wrist Assembly Axis 6 Assembly Axis 5 Assembly Axis 4 Assembly Forearm Assembly Axis 3 Assembly Upper arm Assembly Axis 2 Assembly Axis 1 Assembly Base Assembly Fig. 3.1 Diagram for Robot Joints...
  • Page 22 Mechanical Manual for GBT-C7A/C12A/C16A Robots Table 3.1 for details of the shaft models of the collaborative series robots Axis Assembly Model Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 SIZE3 SIZE3 SIZE3 SIZE1 SIZE1 SIZE1 C12A...
  • Page 23 Mechanical Manual for GBT-C7A/C12A/C16A Robots Model GBT-C7A GBT-C12A GBT-C16A 150° /s 120° /s 120° /s 150° /s 120° /s 120° /s 150° /s 150° /s 150° /s Axis motion speed 180° /s 180° /s 180° /s 180° /s 180° /s 180°...
  • Page 24 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig. 3.3 Overall Dimensions of GBT-C7A Series Mechanical Manual for GBT-C7A/C12A/C16A Robots 24 / 59...
  • Page 25 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig. 3.4 Overall Dimensions of GBT-C12A Series Mechanical Manual for GBT-C7A/C12A/C16A Robots 25 / 59...
  • Page 26 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig. 3.5 Overall Dimensions of GBT-C16A Series Mechanical Manual for GBT-C7A/C12A/C16A Robots 26 / 59...
  • Page 27 Mechanical Manual for GBT-C7A/C12A/C16A Robots Caution The workspace shown in this figure is the maximum space that can be theoretically reached. It may vary depending on the mounting method during actual operation. In practical application, please consider the impact of mounting method on the workspace.
  • Page 28 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig.3.6 Operating Space of GBT-C7A Mechanical Manual for GBT-C7A/C12A/C16A Robots 28 / 59...
  • Page 29 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig.3.7 Operating Space of GBT-C12A Mechanical Manual for GBT-C7A/C12A/C16A Robots 29 / 59...
  • Page 30 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig.3.8 Operating Space of GBT-C16A Mechanical Manual for GBT-C7A/C12A/C16A Robots 30 / 59...
  • Page 31 Overload may lead to excessive operation of the motor, the gearbox and relevant structures. It may also affect their service life, seriously damage the robot and even cause injury. Offset distance (mm) Fig. 3.9 Payload Curve of GBT-C7A Mechanical Manual for GBT-C7A/C12A/C16A Robots 31 / 59...
  • Page 32 Mechanical Manual for GBT-C7A/C12A/C16A Robots Offset distance (mm) Fig. 3.10 Payload Curve of GBT-C12A Offset distance (mm) Fig. 3.11 Payload Curve of GBT-C16A Note: The offset distance is the distance from the barycenter of the payload to the center point of the end flange face of the robot.
  • Page 33 Mechanical Manual for GBT-C7A/C12A/C16A Robots 4 MOUNT THE DEVICE ONTO THE ROBOT 4.1 MOUNT THE END-EFFECTOR TO THE FRONT END OF THE WRIST Fig.4.1 Dimensions of C7A Fig.4.2 Dimensions of C12A、C16A Mechanical Manual for GBT-C7A/C12A/C16A Robots 33 / 59...
  • Page 34 Mechanical Manual for GBT-C7A/C12A/C16A Robots Parts required for mounting of end-effector Name Hex socket cap screws M6X15 Parallel pins with internal thread 4.2 MOUNTING SURFACE The required flatness of the mounting surface is ≤ 0.2mm. Caution Never increase machining holes or screw holes on the robot body, for it may cause adverse effects on the safety and functionality of the robot.
  • Page 35 Mechanical Manual for GBT-C7A/C12A/C16A Robots Successively click "Menu Button" → "System Setting" → "Basic Setting" → "Payload Setting" to enter the screen as shown in Fig. 2.38. The payload activated at default is set to [Payload: 0] and cannot be edited.
  • Page 36 Mechanical Manual for GBT-C7A/C12A/C16A Robots Fig. 2.40 Payload Position Reference The setting of activated payload is shown in Fig. 2.40, with a "√" mark in front of the activated load. Mechanical Manual for GBT-C7A/C12A/C16A Robots 36 / 59...
  • Page 37 Mechanical Manual for GBT-C7A/C12A/C16A Robots 4.3.1 Automatically measure the load The automatic load measurement is an expansion of the original load setting function, and its location is at Load Setting/Automatic Measurement. Caution It is recommended that when using the automatic measurement function, the load mass is greater than 20% of the robot's maximum load.
  • Page 38 Mechanical Manual for GBT-C7A/C12A/C16A Robots Mass: Unknown: Select this option when the specific value of the mass is unknown. It is recommended to choose this one in such a case; Known: Select this option when the exact mass is known. The numerical value should be reserved to one decimal place, and there is no limit on the maximum value.
  • Page 39 Mechanical Manual for GBT-C7A/C12A/C16A Robots 1）Interference Check: When the parameter settings are correct, the 3-axis is level, and in the manual mode, if all these conditions are met, the interference check option will be highlighted and can be clicked to proceed with the next operation (see the figure below). Otherwise, the interference check option will be displayed in grayscale and clicking on it will be ineffective.；...
  • Page 40 Mechanical Manual for GBT-C7A/C12A/C16A Robots 1）During the interference check: The robot moves slowly to conduct the interference check. During this process, the interference check can be stopped by releasing the deadman switch or pressing the emergency stop button. Mechanical Manual for GBT-C7A/C12A/C16A Robots...
  • Page 41 Mechanical Manual for GBT-C7A/C12A/C16A Robots 2）Confirm: The interference check is successful, with no interference. Click it and return to the previous interface. Any interruption of the inspection actions during the interference check process is regarded as a failure of the interference check. Click it and return to the previous interface.
  • Page 42 Mechanical Manual for GBT-C7A/C12A/C16A Robots 3、Automatic measurement 1）Automatic measurement: If the most recent interference check is successful and there is no change in parameters (it is sufficient to state that writable parameters remain unchanged and read-only parameters are at the horizontal level), switch to the automatic mode, and the automatic measurement option will be highlighted.
  • Page 43 Mechanical Manual for GBT-C7A/C12A/C16A Robots 1）During the automatic measurement: The movement of the robot can be stopped in a timely manner by pressing the emergency stop button during this process. 2）Save: Confirm that the result is correct, update the parameters to the load setting interface and save them.
  • Page 44 Mechanical Manual for GBT-C7A/C12A/C16A Robots Caution When the interference check is completed, the robot will automatically reset to its initial position and posture. 1）Confirm: Ignore the measurement result. Caution If the automatic measurement fails, all the specific measurement result parameters will be displayed as 0.
  • Page 45 Mechanical Manual for GBT-C7A/C12A/C16A Robots The main interface for setting the load after the automatic measurement is completed Mechanical Manual for GBT-C7A/C12A/C16A Robots 45 / 59...
  • Page 46 Mechanical Manual for GBT-C7A/C12A/C16A Robots 5 CABLING AND PIPING TO END-EFFECTOR Warning ⚫ Do not add cables or hoses inside the robot mechanism. ⚫ When mounting cables outside the robot mechanism, take care not to obstruct the motion of the robot.
  • Page 47 Mechanical Manual for GBT-C7A/C12A/C16A Robots The light ring on the 6th axis Color Flash Flash steady light (once per second) (twice per second) 1.The Servo on process Blue 2.The Servo off process Servo off, no fault, and the Servo off, no fault, and the...
  • Page 48 Mechanical Manual for GBT-C7A/C12A/C16A Robots 1 Record Position Button 2 Drag Button 3 Pause/Resume Button Fig. 5.2 Button Position Diagram Record Position Button The record position button needs to be used in conjunction with the robot operation software COBOT. When the record position button is pressed, the operation software will record the corresponding position (for specific operations, please refer to the collaborative robot system manual).
  • Page 49 Mechanical Manual for GBT-C7A/C12A/C16A Robots 5.3 WRIST - TOOL I/O INTERFACE There is a wrist - tool I/O interface at the tool flange, which provides power and control signals for the end - effector connected to the robot and receives input signals from external sensors.
  • Page 50 Mechanical Manual for GBT-C7A/C12A/C16A Robots Definition of wrist I/O function Pin No. Function Description TDIO2 Digital input / output 2 (NPN and PNP switchable) TDIO3 Digital input / output 3(NPN and PNP switchable) TDIO4 Digital input / output 4(NPN and PNP switchable)
  • Page 51 Mechanical Manual for GBT-C7A/C12A/C16A Robots Figure 5.5 Single-pin Power Supply Double-pin Power Supply In the double-pin power supply mode, the output current can be increased according to what is listed in (Tool I/O Previous Page Table 5.2). Connect the power line (Gray) with the TDO1 line (Blue), and connect the ground line (Red) with the TDO2 line (Pink), as shown in Figure 5.6.
  • Page 52 Mechanical Manual for GBT-C7A/C12A/C16A Robots MAINTENANCE AND REPAIR It is possible to maintain the performance of the robot in a stable state through maintenance and repair. Warning The cumulative operating time of the GBT robot is assumed to be 3000h in a year. If the annual operating time is longer than 3000h, it is necessary to shorten the maintenance cycle according to the operating time.
  • Page 53 Mechanical Manual for GBT-C7A/C12A/C16A Robots 6.2 REGULAR MAINTENANCE · REPAIR Carry out maintenance and repair for the items below according to the shorter term of the specified period or cumulative operating time. Robot Maintenance Schedule Category Inspection items Interval Contents...
  • Page 54 Mechanical Manual for GBT-C7A/C12A/C16A Robots ZERO CALIBRATION METHOD 7.1 SUMMARY Zero calibration is an operation associating the angle of each robot joint with the pulse count. The zero calibration operation is to obtain the pulse count corresponding to the zero position.
  • Page 55 Mechanical Manual for GBT-C7A/C12A/C16A Robots 7.3 DIRECT WRITING METHOD OF ZERO ENCODING DATA As for the direct input encoder calibration, the zero calibration data can be directly entered into the system variables. This operation is used in the situations where zero calibration data is lost while pulse data is still maintained.
  • Page 56 Mechanical Manual for GBT-C7A/C12A/C16A Robots RESOLUTION OF COMMON FAULTS A fault in the mechanism is sometimes caused by multiple different causes together. So, it is often difficult to thoroughly investigate them. In addition, incorrect measures (if taken) may actually lead to further deterioration of the fault.
  • Page 57 Mechanical Manual for GBT-C7A/C12A/C16A Robots don’t match the model of the into the controller have parameters changed, causing motor robot overheating. For each axis, confirm whether the bolts in the following positions are loose. loose, When cutting off the power...
  • Page 58 Mechanical Manual for GBT-C7A/C12A/C16A Robots APPENDICE LIST OF BOLT STRENGTHS AND TIGHTENING TORQUES List of Recommended Screw Tightening Torques (Nm) Specification Base material of steel parts Base material of aluminum parts M1.6 0.15± 0.05 0.1± 0.05 0.35± 0.1 0.25± 0.1 M2.5...
  • Page 59 Mechanical Manual for GBT-C7A/C12A/C16A Robots Contact us Agilebot Robotics Co., Ltd. (Shanghai Headquarters): Floor 8, Tower 6, Zhongjian Jinxiu Plaza, No. 50, Lane 308, Xumin Road, Qingpu District, Shanghai Agilebot Operation and Technical Service Center: Building 1, No. 338 Jiuye Road, Qingpu District, Shanghai Service hotline: +86-21-5986 0805 Website: www.sh-agilebot.com...

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Gbt-c12aGbt-c16a