User Manuals: CRS F3 6-Axis Robot Arm

User Manuals: CRS F3 6-Axis Robot Arm

Manuals and User Guides for CRS F3 6-Axis Robot Arm. We have 1 CRS F3 6-Axis Robot Arm manual available for free PDF download: User Manual

CRS F3 User Manual

CRS F3 User Manual (128 pages)

Robot Arm for C500C Controller

Brand: CRS | Category: Robotics | Size: 1 MB

Table of Contents

Table of Contents
9
Important Tips
13
Chapter 1

15
- Getting Started Quickly
  15
  - Brief Installation and Startup Instructions
    16
    
    Minimum Installation Requirements
    16
    
    Turning on the System
    16
    
    Turning on Arm Power
    17
Chapter 2

19
- Introduction
  19
  - Component Parts
    20
  - F3 Arm
    21
    
    Axes
    21
  - Umbilical Cable
    22
  - F3 Options
    23
    
    Off-Robot Hardware
    23
    
    End-Of-Arm Tools
    23
    
    End-Of-Arm I/O
    24
Chapter 3

25
- Safety Precautions
  25
  - Safety Principles in Operating Robots
    26
  - F3 Safety Features
    27
  - Known F3 Hazards
    28
  - Safeguards and Safety Measures in Workcell Design
    29
    
    Physical Barriers
    29
    
    Emergency Stops (E-Stops)
    30
    
    Presence Sensing Interlocks
    31
    
    Other Safety Measures
    34
    
    Local Regulations
    34
  - Environmental Requirements
    35
    
    Indoor Use
    35
    
    Temperature
    35
    
    Humidity
    35
    
    Atmospheric Contaminants
    35
    
    Ingress Protection
    35
    
    Vibration and Shock
    35
    
    Electromagnetic Interference
    35
  - Power Requirements
    36
    
    AC Power Supply
    36
    
    Other Energy Sources
    36
    
    Power Distribution
    37
    
    Power Failure
    37
    
    Electrical Ground
    37
    
    Cables and Circuitry
    38
  - Robot Handling
    39
    
    Relocating the Robot
    39
    
    Live AC Power
    40
    
    Electrically Conductive and Live Objects
    40
    
    Static Electricity
    40
  - Operator Safety
    41
    
    Awareness of Robot
    41
    
    Operator Training
    41
  - Safety and Operation Checks
    42
  - Working Within the Robot's Workspace
    43
Chapter 4

45
- Specifications
  45
  - Physical Characteristics
    46
    
    F3 Arm
    46
    
    Electrical Power
    46
  - Dimensions
    47
    
    Arm
    47
    
    System Control
    48
  - Robot Performance Summary
    49
  - Workspace
    50
  - Reach
    51
  - Torque Ratings
    53
    
    Arm Torque
    53
    
    Wrist Thrust and Torque
    53
  - Motion Specifications
    54
    
    Speed at End-Effector
    54
    
    Joint Speeds
    54
    
    Joint Accelerations
    54
    
    Slew Time
    55
  - Resolution
    57
    
    Positioning Resolution
    57
  - Load
    58
  - System Features
    59
    
    Absolute Encoders
    59
    
    Arm Power Light
    60
    
    Brakes
    60
    
    Brake Release
    60
    
    Chain Tensioners
    60
    
    Embedded Control and Power Electronics
    61
Chapter 5

63
- Installation
  63
  - Unpacking the F3 System
    64
    
    Unpacking the Arm
    64
    
    Lifting the Arm
    65
    
    Collecting the Shipping Materials
    66
  - Mounting the Arm
    67
    
    Positioning the Arm
    67
    
    Mounting Platform
    68
    
    Preparing a Mounting Platform
    69
    
    Mounting the Arm on the Platform
    69
  - Connecting the Umbilical Cable
    71
    
    Disconnecting the Umbilical Cable
    71
  - Grounding the System
    72
Chapter 6

73
- Customizing Installations
  73
  - Installing a Tool on the Robot
    74
    
    Settings of the F3 Robot's Dual Air Valve Port
    75
  - Connecting a Hose to the Pneumatic Port
    76
    
    Enabling the Gripper
    76
Chapter 7

77
- Commissioning the Robot
  77
Chapter 8

85
- Operating Basics
  85
  - Units
    86
  - Coordinate Systems and Reference Frames
    87
  - Motion Modes
    88
    
    F3 Joint Command
    88
    
    F3 Motor Control
    88
    
    Cartesian Motion Commands in the Tool Frame
    88
  - System Operation
    90
    
    Brake Release
    90
    
    Point of Control
    90
    
    Delay after Turning on Arm Power
    91
    
    Abnormal Process Termination
    91
Chapter 9

93
- Troubleshooting
  93
  - Arm Power Failure
    94
  - Amplifier Communications Failure
    95
  - F3 Calibration & Re-Homing
    96
    
    F3 Calibration
    96
    
    Restoration of Calibration File
    96
    
    F3 Re-Homing
    96
Chapter 10

99
- Preventive Maintenance
  99
  - Regular Inspection
    100
    
    Weekly Inspection
    100
    
    Monthly Inspection
    100
    
    After Collision
    101
  - Lubricating the Chain
    102
    
    Re-Lubricating Joint 2
    102
    
    Re-Lubricating Joint 3
    103
    
    Re-Lubricating Joint 5
    103
    
    Replace and Update
    104
  - Battery Maintenance
    105
    
    Background
    105
    
    Shutting down the System for Less than 6 Weeks
    105
    
    Extended Shutdown
    106
    
    Six Month Battery Check
    106
    
    Battery Replacement
    106
    
    Log Update
    107
  - Chain Replacement
    108
  - Harmonic Drive Lubrication
    109
  - Wire Harness Replacement
    110
  - Cleaning the Robot System
    111
Appendix A

113
- Umbilical Cable Connector
  113
Appendix B

115
- System Fuses
  115
- Glossary
  117
- Index
  127

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