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Agilebot GBT-S20A Series Product Manual

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Mechanical Manual for GBT-S20A Series Robots
Mechanical Manual for GBT-S20A Series Robots

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Summary of Contents for Agilebot GBT-S20A Series

  • Page 1 Product Manual Mechanical Manual for GBT-S20A Series Robots Mechanical Manual for GBT-S20A Series Robots...
  • Page 2 Product Manual Mechanical Manual for GBT-S20A Series Robots V1.2 Copyright,2022AgilebotRoboticsCo.,Ltd.Allrightsreserved Mechanical Manual for GBT-S20A Series Robots...
  • Page 3 Mechanical Manual for GBT-S20A Series 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 in this Manual, 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-S20A Series Robots Revision Ver. Date Status V1.0 2023.05.22 Canceled V1.1 2023.07.21 Canceled V1.2 2023.12.11 Released Mechanical Manual for GBT-S20A Series Robots 4 / 52...
  • Page 5 Mechanical Manual for GBT-S20A Series Robots Table of Contents Safety instructions ......................6 1 Handling and mounting ....................12 1.1 Handling ........................12 1.2 Mounting ........................14 2 Connection to controller ....................18 2.1 Connection to controller ..................... 18 3 Basic specification ......................19 3.1 Composition of robot ....................
  • Page 6 Nobody is allowed to modify the industrial robot without authorization from Shanghai Agilebot Robotics Co., Ltd. Shanghai Agilebot Robotics Co., Ltd. shall assume no responsibility for any damage to the industrial robot or its components due to the use of any other components (software, tools, etc.) not provided by Agilebot.
  • Page 7 Mechanical Manual for GBT-S20A Series 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. ➢ Debugging Engineer Operate the robot. Perform teaching and programming debugging of the robot within the safety fence.
  • Page 8 Mechanical Manual for GBT-S20A Series Robots Definition of safety records 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-S20A Series Robots Steps for robot axis operation in emergency and abnormal situations In emergency and abnormal situations where a person is trapped or surrounded by the robot, it is required to immediately cut off the power supply to the robot controller, directly move the robot arm and change its posture to help the operator get out of danger.
  • Page 10 Mechanical Manual for GBT-S20A Series Robots Safety warning label Both the robot and the controller bear 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 11 Mechanical Manual for GBT-S20A Series Robots Sign Description Keep your hand away from moving parts, otherwise your hand or fingers may get stuck between the axis and the cover. The robots equipped with telescopic covers do not pose the risk of pinching hands or fingers. Therefore, they do not have this label.
  • Page 12 The robot can be handled for a short distance by two adults or transported for a long distance by a forklift. The weights of GBT-S20A series robots (excluding cables) are shown in the table below: Robot model...
  • Page 13 Mechanical Manual for GBT-S20A Series Robots The transport posture of GBT-S20A robot is shown in Fig. 1.1: Fig. 1.1 Transport Posture of GBT-S20A Robot Axis No. Angle/stroke -134° 155° 0° Table 1.2 Axis Data at Transport Posture of GBT-S20A Robot...
  • Page 14 Mechanical Manual for GBT-S20A Series Robots 1.2 Mounting Parts required for mounting the robot: Name Number (PCS) Hexagon socket screw M12*40 or M14*40 [NOTE 1] (GB/T 70.1-2008 Spring washer M12 or M14 GB/T Flat washer M12 or M14 ( [NOTE 2] 97.1-2002...
  • Page 15 Mechanical Manual for GBT-S20A Series Robots Mounting requirements: Maximum surface 0.5mm roughness Mounting base Maximum tilt angle 0.5° required Minimum resonance 30Hz frequency Minimum -20℃ environmental temperature Storage conditions Maximum 50℃ environmental temperature Maximum humidity 90% RH (non-condensation) Minimum 5℃...
  • Page 16 Mechanical Manual for GBT-S20A Series Robots Those designing or manufacturing the robot system with this product must read this Manual to understand basic precautions before work. Otherwise, it is very dangerous and may result in serious injury or significant damage.
  • Page 17 Mechanical Manual for GBT-S20A Series Robots For the power cable, make sure touse a power plug or disconnector. Never connect it directly to the power supply in the factory. Never open the controller or robot cover except during maintenance. It is very dangerous when the controller cover is opened.
  • Page 18 Mechanical Manual for GBT-S20A Series Robots 2 Connection to controller 2.1 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.
  • Page 19 3 Basic specification 3.1 Composition of robot The GBT-S20A series robot is composed of a base, a large arm, a small arm, a screw and a pipeline package. Totally, 4 servo motors can drive the movement of 4 joints to achieve different forms of motion.
  • Page 20 Mechanical Manual for GBT-S20A Series Robots Do not move Axis 1 and 2while the ball screw splines are under stress. Otherwise, it may cause damage. Model GBT-S20A-1000 Axes Maximum reach 1000 mm Rated 10kg Payload Maximum 20kg Axis 4 Moment of Rated 0.05 kgm...
  • Page 21 Mechanical Manual for GBT-S20A Series Robots 3.2 Diagram for overall dimensions and action range 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 22 Mechanical Manual for GBT-S20A Series Robots Space reserved for cables over 100 Model GBT-S20A-1000 1023.5 1100 Fig. 3.3 Overall Dimensions of GBT-S20A Series Mechanical Manual for GBT-S20A Series Robots 22 / 52...
  • Page 23 Mechanical Manual for GBT-S20A Series Robots Model GBT-S20A-1000 260.7 1000 Fig. 3.4 Operating Reach of GBT-S20A Series Mechanical Manual for GBT-S20A Series Robots 23 / 52...
  • Page 24 Upper hard limit of Axis 3 Lower hard limit of Axis 3 Hard limit of Axis 2 Hard limit of Axis 1 Fig. 3.5 Diagram for Hard Limits of GBT-S20A Series Mechanical Manual for GBT-S20A Series Robots 24 / 52...
  • Page 25 Mechanical Manual for GBT-S20A Series Robots 3.4 Wrist payload conditions Before use, it is necessary to set the correct payload data for the robot. It is important to carefully confirm the mass and inertia of the payload before operation. Overload may lead to excessive operation of the motor, the reducer and relevant structures.
  • Page 26 Mechanical Manual for GBT-S20A Series Robots 4 Mount the device onto the robot 4.1 Mount the end-effector to the front end of the wrist The following figure shows the mounting surface of the end-effector at the front end of the wrist.
  • Page 27 Mechanical Manual for GBT-S20A Series Robots 4.2 Mounting surface 1. 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. 2. When mounting the device onto the robot, it is warned to avoid interference with the cables inside the mechanism.
  • Page 28 Mechanical Manual for GBT-S20A Series Robots 4.3 About payload setting Before operation, it is important to correctly set the payload for the robot. Do not operate under payloads inconsistent with the set payload or under overload conditions. The weight of the payloads, including cables connecting surrounding devices, cannot exceed the transportable weight of the robot.
  • Page 29 Mechanical Manual for GBT-S20A Series Robots System Button Fig. 4.4 Basic Setting Fig. 4.5 Mechanical Manual for GBT-S20A Series Robots 29 / 52...
  • Page 30 Mechanical Manual for GBT-S20A Series Robots Payload Setting Fig. 4.6 Fig. 4.7 Payload Setting Screen Mechanical Manual for GBT-S20A Series Robots 30 / 52...
  • Page 31 Mechanical Manual for GBT-S20A Series Robots 5 Cabling and piping to end-effector  Do not add cables or hoses inside the robot mechanism.  When installing cables outside the robot mechanism, take care not to obstruct the motion of the robot.
  • Page 32 Mechanical Manual for GBT-S20A Series Robots 5.1 Air pipe and electrical interfaces The following figure indicates the positions of air pipe and electrical interfaces on the robot. The interface serves as an extended gas path and extended signal. It can be customized by customers and does not do signal processing internally.
  • Page 33 Mechanical Manual for GBT-S20A Series Robots 6 Maintenance and repair It is possible to maintain the performance of the robot in a stable state through maintenance and repair. 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 34 Mechanical Manual for GBT-S20A Series Robots 6.1 Maintenance and repair contents Daily maintenance Before daily maintenance, please read this chapter carefully to fully understand safe maintenance methods. Only those who have passed robot system training of our company and the distributors are allowed to maintain the robot system.
  • Page 35 Mechanical Manual for GBT-S20A Series Robots Please use alcohol, liquid gasket and adhesive carefully according to respective instructions  and the following descriptions. Improper use of alcohol, liquid gasket or adhesive may lead to fire or safety issues.  It is prohibited to keep alcohol, liquid gasket or adhesive near fire sources.
  • Page 36 Mechanical Manual for GBT-S20A Series Robots Regular maintenance Carry out maintenance and repair for the items below according to the shorter term of the specified period or cumulative operating time. (Please refer to Appendix A for detailed documents) Maintenance Maintenance · repair...
  • Page 37 Mechanical Manual for GBT-S20A Series Robots 6.2 Key points Maintenance of hard limit If the hard limit is deformed or damaged, please contact us for repair and replacement. Fig. 6.1 Hard Limits of GBT-S20A Series Mechanical Manual for GBT-S20A Series Robots 37 / 52...
  • Page 38 Mechanical Manual for GBT-S20A Series Robots 6.3 Repair Battery replacement (1-year regular maintenance period for specified built-in battery) The position data of the robot axes is saved through a backup battery. The built-in battery (if used) should be replaced regularly every year. In addition, the battery should be replaced as well when the voltage-drop alarm is displayed Do not set the power supply to OFF state.
  • Page 39 Mechanical Manual for GBT-S20A Series Robots About grease for reducer The reducer is maintenance-free for life and should not be re-greased. Re-greasing of ball screw splines Re-greasing of ball screw splines (3-month (750h) regular maintenance) Move Axis 3 to the lower limit and apply a small amount of grease evenly to the exposed surface of the lead screw.
  • Page 40 Mechanical Manual for GBT-S20A Series Robots 7 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 41 Mechanical Manual for GBT-S20A Series Robots 7.2 General calibration method Select one or several axes and record their current readings as new zero data in the parameter file of the robot's Flash. The recording objects include main axis and additional axes of the robot (if any).
  • Page 42 Mechanical Manual for GBT-S20A Series Robots The steps for general calibration method are as follows： 1.The SCARA robot aligns the zero-point reference marks of each axis（referring Fig.7.8 and Fig.7.9） 2.Successively click "Menu Button" → "System" → "Basic Setting" → "Zero-point Setting" to enter the screen as shown in Fig.
  • Page 43 Mechanical Manual for GBT-S20A Series Robots Fig 7.4 Selection of Multi-axis Screen Fig 7.5 Selection Single-axis Screen Mechanical Manual for GBT-S20A Series Robots 43 / 52...
  • Page 44 Mechanical Manual for GBT-S20A Series Robots 5.After selecting the axis to be calibrated, click the "Calibration Button". If the “Calibration success" message pops up, the zero-point status of the calibrated axis may change to "To be Saved". shown in Fig.7.6 .
  • Page 45 Mechanical Manual for GBT-S20A Series Robots 7.3 Zero encoded data direct write As for the direct writing of zero calibration data, 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 46 Mechanical Manual for GBT-S20A Series Robots 7.4 Confirmation of zero calibration results Confirm whether the zero calibration is carried out normally: Usually, it is required to determine whether the zero calibration has been completed normally and check whether the current position display is consistent with the actual position of the robot by the following method.
  • Page 47 Mechanical Manual for GBT-S20A Series Robots 8 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. Therefore, it is important to analyze the fault in detail and clarify its true cause.
  • Page 48 Mechanical Manual for GBT-S20A Series Robots The temperature rises in The motor temperature Reduce environmental the operating environment rises due to an increase in temperature, enhance of the robot or its heat environmental temperature heat dissipation and dissipation is influenced for...
  • Page 49 Mechanical Manual for GBT-S20A Series Robots [Mechanical fault] Unstable accuracy of repetitive positioning may be caused by abnormal driving systems, loose bolts The robot moves in a or other faults on the position deviating from the mechanical part. teach position.
  • Page 50 Mechanical Manual for GBT-S20A Series Robots Appendice A Regular Maintenance Sheet Robot Maintenance Schedule Category Inspection items Interval Contents Wipe away dirt and clear away accumulated Inspection Clean the body 3 months splashes, dust, chips, etc. Tighten all exposed bolts...
  • Page 51 Mechanical Manual for GBT-S20A Series Robots B. List of Bolt Strengths and Tightening Torques Please use the following strengths for bolts: Bolts below M22 (inclusive): tensile strength higher than 1200 N/mm² Bolts above M24 (inclusive): tensile strength higher than 1000 N/mm²...
  • Page 52 Mechanical Manual for GBT-S20A Series 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...

This manual is also suitable for:

Gbt-s20a-1000