CRS A255 Manual de usuario
A255 Robot Arm
User Guide
For use with C500C Controller
UMI-33-255-A
ii
Revision History
Number Details Date
001 Original issue as A255 for C500C.
Updated to CROS 1.16. 99-05
Copyright © 1999 CRS Robotics Corporation
RAPL-3 is a trademark of CRS Robotics Corporation and may be used to describe only CRS Robotics products.
Any brand names and product names used in this guide are trademarks, registered trademarks, or trade names
of their respective holders.
The information in this document is subject to change without notice.
CRS Robotics Corporation makes no warranty of any kind with regard to this material, including, but not limited
to, the implied warranties of merchantability and fitness for a particular purpose. CRS Robotics Corporation
assumes no responsibility for any errors that may appear in this document. CRS Robotics Corporation makes no
commitment to update nor to keep current the information contained in this document.
CRS Robotics Corporation assumes no responsibility for the use of any circuitry other than circuitry embodied in
a CRS product.
CRS Robotics Corporation software products shall remain the property of CRS Robotics Corporation.
iii
Preface
This user guide accompanies the A255 robot arm used with the C500C controller.
This Guide
This user guide contains general information, arm specifications, safety
precautions, installation instructions, startup procedures, and basic operation
instructions for the CRS Robotics A255 robot arm.
This A255 User Guide is available in English.
Other Guides
Additional information is available in the following documents.
•C500C Controller User Guide
•Application Development Guide
•RAPL-3 Language Reference Guide
Additional copies of this arm user guide, or other CRS Robotics literature, may be
obtained from your distributor or the CRS Robotics Sales Department.
Training
This installation guide is not intended as a self-teaching tool. It is intended as a
guide for those who have attended a CRS Robotics robot training course and have
a basic knowledge of CRS Robotics robots.
Training courses are offered at our facility in Burlington, Ontario, Canada, or can
be conducted at your facility. For additional information, contact the Customer
Support Group.
Contact
CRS Robotics Corporation
Mail/Shipping:
5344 John Lucas Drive, Burlington, Ontario L7L 6A6, Canada
Telephone:
1-905-332-2000
Telephone (toll free in Canada and United States):
1-800-365-7587
Facsimile:
1-905-332-1114
E-Mail (General):
info@crsrobotics.com
E-Mail (Customer Support):
support@crsrobotics.com
E-Mail (Sales):
sales@crsrobotics.com
E-Mail (Training):
training@crsrobotics.com
Web:
www.crsrobotics.com
iv
E-Mail (Sales):
sales@crsrobotics.com
E-Mail (Training):
training@crsrobotics.com
Web:
www.crsrobotics.com
How to Use This User Guide
This user guide is organized with each chapter covering a different topic.
•If you are installing or using the robot, read the Safety Precautions chapter.
•If you have received a robot for the first time, read the Specifications and
Installation chapter.
•If you are installing the robot yourself, read the Installation and
Commissioning chapter.
•If the robot was installed by CRS or a distributor, read the chapters on
Commissioning and Operation Basics.
Before attempting to follow a procedure or examples, read the entire section first.
Throughout this user guide, warnings are marked by an “!” icon in the left margin.
Failure to comply with these warnings can result in injury to persons; damage to the robot,
tooling, or work pieces; loss in memory; or errors in the system.
v
Contents
Chapter 1 1
Introduction .............................................................................1
Optional Equipment ............................................................2
Chapter 2 3
Specifications ...........................................................................3
Range of Motion, Dimensions, and Weight............................4
Reach .................................................................................6
Torque Ratings....................................................................8
Joint Speeds and Acceleration Rates....................................8
Payload...............................................................................9
Resolution.........................................................................11
Brakes ..............................................................................12
Gripper .............................................................................13
Chapter 3 15
Safety Precautions ..................................................................15
Physical Barriers...............................................................15
Emergency Stops (E-stops) ................................................17
Presence Sensors...............................................................18
Other Safeguards ..............................................................19
Power................................................................................20
Environment.....................................................................21
Robot Handling .................................................................21
Operator Safety.................................................................22
Safety and Operation Checks.............................................23
Working Within the Robot’s Workspace..............................24
Chapter 4 25
Installation.............................................................................25
Required Tools and Supplies..............................................26
Component Parts...............................................................26
Designing a Work Cell .......................................................27
Unpacking the Arm ...........................................................28
Preparing the Mounting Platform.......................................31
Mounting the Arm on the Platform.....................................34
Grounding the Arm ...........................................................34
Connecting the Umbilical Cables........................................35
Next Steps.........................................................................36
Chapter 5 37
Commissioning.......................................................................37
Check the Installation of Arm and Controller......................38
Check the Installation of Other Components......................38
Check Encoder Feedback...................................................39
Check All E-Stops..............................................................40
Move Out of the Shipping Position .....................................41
Check the Live-man Switch ...............................................44
Chapter 6 45
Basic Operation ......................................................................45
Homing the Arm................................................................46
Moving with the Teach Pendant .........................................51
Moving with Terminal Commands......................................52
vi
Moving by Limping One Joint at a Time .............................54
Chapter 7 56
Gripper Installation.................................................................56
Installing the Gripper ........................................................57
Connecting the Cable or Hose............................................58
Chapter 8 61
Calibration .............................................................................61
Restoring Factory Calibration Values .................................62
Recalibrating the Robot Arm..............................................63
Calibrating an Extra Axis...................................................67
Glossary .................................................................................69
Index......................................................................................73
1
99-04-23
CHAPTER 1
Introduction
The A255 arm is articulated with five joints or axes, providing it with five degrees
of freedom. This allows the arm to move a gripper or other tool to cartesian spatial
coordinates and orientation defined by X, Y, Z, Z-rotation, Y-rotation, and X-
rotation.
The A255 robot system consists of an A255 arm and a C500C controller. The
controller runs the CROS-500C operating system and programs written in the
RAPL-3 programming language.
You can operate the A255 by a teach pendant, a terminal, or a RAPL-3 program.
For standard applications, you can edit programs, move the arm, teach locations,
and run programs from either the teach pendant or the terminal.
For advanced applications, you can also edit and compile programs off line on a
computer and use advanced tools through the terminal.
The A255 is designed for laboratory automation, machine loading, product testing,
parts assembling, material handling, education and research, and other tasks.
The A255 arm has five axes of motion (joints): 1 (waist), 2 (shoulder),
3 (elbow), 4 (wrist pitch), and 5 (tool roll).
2 A255 Robot Arm User Guide
99-04-23
Optional Equipment
The following options are available from CRS or an authorized CRS distributor.
End Effectors
•Servo Gripper and Adapter
•Pneumatic Gripper and Adapter
•Microplate Fingers for Servo Gripper
Hardware and Equipment
•Teach Pendant
•Extra-Length Umbilical Cables
•Linear Track
•Remote Operator Panel
•End Effector Custom Cabling
•Homing Bracket
•Force Sensor
•Pressurized Suit
Software
•Robcomm3 (RAPL-3 Program Development Environment and Interface to
C500C)
•POLARA (Laboratory Automation Software)
3
99-04-23
CHAPTER 2
Specifications
This chapter describes the A255 arm:
•Range of Motion, Dimensions, and Weight
•Reach
•Torque Ratings
•Joint Speed and Acceleration Rates
•Payload
•Resolution
•Brakes
•Gripper
4 A255 Robot Arm User Guide
99-04-23
Range of Motion, Dimensions, and Weight
The arm’s range of motion depends on the dimensions of each arm section (base,
links, tool flange) and the extent of travel of each joint. These measurements
determine the shape of the arm’s workspace. See the following figures and tables.
Note: A dimension involving a joint is measured to the joint axis.
The arm weighs approximately 37 lb [17 kg].
Weight (approx.) lb kg
Arm 37 17
Joint Axis Range of Motion
Waist 1 +175°to –175°
Shoulder 2 +110°to 0°
Elbow 3 0°to –125°
Wrist pitch 4 +110°to –110°
Tool roll 5 +180°to –180°
Note: The range of motion of the elbow (joint 3) is dependent on the positions of
the shoulder (joint 2) and the wrist pitch (joint 4).
Section Dimensions
inch mm
Base mounting surface to shoulder 10 254.0
Shoulder to elbow 10 254.0
Elbow to wrist pivot (joint 5) 10 254.0
Wrist pivot to tool flange surface 2 50.8
Tabla de contenidos
Otros manuales de Robótica de CRS
Manuales populares de Robótica de otras marcas
STEMCenter USA
STEMCenter USA Pi-Bot v2.00 Manual de usuario
SunFounder
SunFounder PiDog Manual de usuario
Universal Robots
Universal Robots UR5 Manual de usuario
Universal Robots
Universal Robots E Series Manual de usuario
YASKAWA
YASKAWA MOTOMAN-MPL80 II Manual de usuario
EFORT
EFORT ECR5 Manual de instrucciones
