Eshed Robotec SCORBOT-ER III Manual de usuario

SCORBOT-ER III

User’s Manual

6th Edition

Catalog No. 100038 Rev.A

Catalog #100038 Rev.A

(December 1995) Sixth Edition; March 1999 Reprinted/PDF version

SBN 965-291-052-X

Every effort has been made to make this book as complete and accurate as possible.

However, no warranty of suitability, purpose, or fitness is made or implied. Eshed

Robotec is not liable or responsible to any person or entity for loss or damage in

connection with or stemming from the use of the software, hardware and/or the

information contained in this publication.

Eshed Robotec bears no responsibility for errors which may appear in this

publication and retains the right to make changes to the software, hardware and

manual without prior notice.

Read this manual thoroughly before attempting to install or operate the robot,

controller or computer. If you have any problems during installation or operation,

call your agent for assistance.

Save the original carton and all packing material. You may need them later for

shipment.

SCORBOT is a registered trademark, and SCORBASE a trademark, of Eshed

Robotec (1982) Ltd.

Table of Contents

CHAPTER 1

General Information . . . . . . . . . . . . . . . . . . . . . 1-1

Unpacking and Handling Instructions . . . . . . . . . . . . . . . . . . 1-2

Repacking for Shipment . . . . . . . . . . . . . . . . . . . . . . 1-2

Acceptance Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Standard Items . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Optional Accessories . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

CHAPTER 2

Components and Specifications . . . . . . . . . . . . . . . . 2-1

The Robot Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Microswitches . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Robot Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

The Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

Controller Housing . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

Main Controller Circuitry (PC 010) . . . . . . . . . . . . . . . . . 2-6

Display and Input/Output Circuitry (PC 310) . . . . . . . . . . . . . 2-7

Display Circuitry . . . . . . . . . . . . . . . . . . . . . . . . 2-7

I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

Motors 6 and 7 . . . . . . . . . . . . . . . . . . . . . . . . 2-9

Drive Circuitry: NPN and PNP (PC 200N and PC 200P) . . . . . . . . 2-9

Power Supply Circuitry (PC 410) . . . . . . . . . . . . . . . . . . 2-9

CHAPTER 3

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Connecting the Equipment . . . . . . . . . . . . . . . . . . . . . . . 3-1

Installing the Robot . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Connecting the Robot to the Controller . . . . . . . . . . . . . . . . 3-2

Connecting the Computer/Terminal to the Controller . . . . . . . . . . 3-2

Testing the Controller Display Panel . . . . . . . . . . . . . . . . . . 3-3

Testing the Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

USER’S MANUAL SCORBOT-ER III v

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CHAPTER 4

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

SCORBASE Software . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Loading SCORBASE . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

SCORBASE Level 1 . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Main Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Teach Positions Menu . . . . . . . . . . . . . . . . . . . . . . . 4-4

List / Delete Positions Screen . . . . . . . . . . . . . . . . . . . . 4-7

Edit Program Menu . . . . . . . . . . . . . . . . . . . . . . . . 4-9

List / Delete Program Screen . . . . . . . . . . . . . . . . . . . . 4-11

Program Handling Menu . . . . . . . . . . . . . . . . . . . . . . 4-13

Run Program Menu . . . . . . . . . . . . . . . . . . . . . . . . 4-15

SCORBASE Level 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

Main Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

Teach Positions Menu . . . . . . . . . . . . . . . . . . . . . . . 4-18

List / Delete Positions Screen . . . . . . . . . . . . . . . . . . . . 4-18

Edit Program Menu . . . . . . . . . . . . . . . . . . . . . . . . 4-19

List / Delete Program Screen . . . . . . . . . . . . . . . . . . . . 4-20

Program Handling Menu . . . . . . . . . . . . . . . . . . . . . . 4-20

Run Program Menu . . . . . . . . . . . . . . . . . . . . . . . . 4-20

Home Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

SCORBASE Level 3 . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

Main Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

Operating Keys . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

Teach Positions Menu . . . . . . . . . . . . . . . . . . . . . . . 4-25

Coordinates Display . . . . . . . . . . . . . . . . . . . . . . 4-28

List / Delete Position Screen . . . . . . . . . . . . . . . . . . . . 4-29

Edit Program Menu . . . . . . . . . . . . . . . . . . . . . . . . 4-31

Additional Editing Commands . . . . . . . . . . . . . . . . . . 4-35

Editing Functions . . . . . . . . . . . . . . . . . . . . . . . . 4-36

List / Delete Program Screen . . . . . . . . . . . . . . . . . . . . 4-37

Program Handling Menu . . . . . . . . . . . . . . . . . . . . . . 4-39

Run Program Menu . . . . . . . . . . . . . . . . . . . . . . . . 4-41

Home Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43

Command Line Options . . . . . . . . . . . . . . . . . . . . . . . . 4-46

Size Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

Device Options . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

Automatic Run Options . . . . . . . . . . . . . . . . . . . . . . . 4-47

Programs on the SCORBASE Diskettes . . . . . . . . . . . . . . . . . . 4-48

HOME# Program . . . . . . . . . . . . . . . . . . . . . . . . . 4-48

DEMO Program . . . . . . . . . . . . . . . . . . . . . . . . . . 4-48

Position Tables . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

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CHAPTER 5

The Teach Pendant . . . . . . . . . . . . . . . . . . . . . . 5-1

Connecting the Teach Pendant to the Controller . . . . . . . . . . . . . . 5-2

Teach Pendant Functions . . . . . . . . . . . . . . . . . . . . . . . . 5-3

TEACH Key (Teach Mode) . . . . . . . . . . . . . . . . . . . . 5-4

EDIT Key (Edit Mode) . . . . . . . . . . . . . . . . . . . . . . 5-7

MODE Key (Select Mode) . . . . . . . . . . . . . . . . . . . . . 5-10

RESET Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

BRAKE Key . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

SCORBASE Level 4 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

Main Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

Other Menus . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15

Saving Programs from Teach Pendant to Computer Disk(ette) . . . . . . 5-15

Computer Editing of Programs Written on the Teach Pendant . . . . . . 5-15

Loading Programs from Computer Disk(ette) to Teach Pendant . . . . . 5-16

CHAPTER 6

Maintenance and Repairs . . . . . . . . . . . . . . . . . . . 6-1

Routine Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

CHAPTER 7

Parts Lists and Exploded Views . . . . . . . . . . . . . . . . 7-1

APPENDIX A

Writing Software for SCORBOT-ER III . . . . . . . . . . . . . A-1

The SCORBOT-ER III Operating System . . . . . . . . . . . . . . . . . A-1

Controller Operating System Commands . . . . . . . . . . . . . . . . . A-1

Uni-Directional Commands . . . . . . . . . . . . . . . . . . . . . . . A-2

Motor Movement . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Set Speed of Motors . . . . . . . . . . . . . . . . . . . . . . . . A-3

Set Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

Reset Output . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

Stop Motor Movement (with Loss of Information) . . . . . . . . . . . A-3

Emergency Brake all Motors (without Loss of Information) . . . . . . . A-4

Resume Motor Movement (following Emergency Brake) . . . . . . . . A-4

Set a New Offset . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

Disable Interrupt Mode . . . . . . . . . . . . . . . . . . . . . . . A-4

Regular Bi-Directional Commands . . . . . . . . . . . . . . . . . . . A-5

Check Input Status . . . . . . . . . . . . . . . . . . . . . . . . . A-5

Check Limit Switch Status . . . . . . . . . . . . . . . . . . . . . A-5

Check Completion of All Motor Movement . . . . . . . . . . . . . . A-6

Check Expected Completion of All Motor Movement (Offset of 14 Pulses) A-6

Check Status of Motors . . . . . . . . . . . . . . . . . . . . . . . A-7

USER’S MANUAL SCORBOT-ER III vii

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Enable Interrupt Mode . . . . . . . . . . . . . . . . . . . . . . . A-7

Special Bi-Directional Commands . . . . . . . . . . . . . . . . . . . . A-8

Check Remainder of Motor Movement . . . . . . . . . . . . . . . . A-8

Check Remainder of Motor Movement (following Emergency Brake) . . A-9

Switching the Communication Ports . . . . . . . . . . . . . . . . . . . A-9

APPENDIX B

Controller-Computer RS232 Setup . . . . . . . . . . . . . . . B-1

SCORBOT-ER III RS232 Specifications . . . . . . . . . . . . . . . . . . B-1

RS232 Cable Connections . . . . . . . . . . . . . . . . . . . . . . . B-1

RS232 Card Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2

APPENDIX C

Input/Output Applications . . . . . . . . . . . . . . . . . . . C-1

Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

Relay Outputs (Outputs 1–4) . . . . . . . . . . . . . . . . . . . . . . C-3

Open Collector Outputs (Outputs 5–8) . . . . . . . . . . . . . . . . . . C-4

APPENDIX D

Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1

Controller Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1

Robot – Controller Connections . . . . . . . . . . . . . . . . . . . . . D-1

Single Axis Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . D-5

APPENDIX E

The Optical Encoders . . . . . . . . . . . . . . . . . . . . . E-1

APPENDIX F

The Motor Kit . . . . . . . . . . . . . . . . . . . . . . . . F-1

APPENDIX G

The Rotary Table . . . . . . . . . . . . . . . . . . . . . . . G-1

APPENDIX H

The Conveyor . . . . . . . . . . . . . . . . . . . . . . . . H-1

APPENDIX I

The Experiment (Microswitch) Table . . . . . . . . . . . . . . . I-1

APPENDIX J

The Linear Slidebase . . . . . . . . . . . . . . . . . . . . . J-1

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List of Figures

Figure 1-1: SCORBOT–ER III in Packing . . . . . . . . . . . . . . . . 1-1

Figure 2-1: Robot Joints . . . . . . . . . . . . . . . . . . . . . . . 2-1

Figure 2-2: Robot Arm Segments . . . . . . . . . . . . . . . . . . . 2-2

Figure 2-3: Gripper (Removal of Rubber Pads) . . . . . . . . . . . . . 2-2

Figure 2-4: Robot Arm Transmissions . . . . . . . . . . . . . . . . . 2-4

Figure 2-5: Controller Housing . . . . . . . . . . . . . . . . . . . . 2-6

Figure 2-6: Controller Front Panel . . . . . . . . . . . . . . . . . . 2-7

Figure 2-7: Input/Output Terminals . . . . . . . . . . . . . . . . . . 2-8

Figure 2-8: Power Drive Card (PC 200) Circuitry . . . . . . . . . . . 2-10

Figure 2-9: Power Supply Card (PC 410) Circuitry . . . . . . . . . . . 2-11

Figure 3-1: Base Plate Layout . . . . . . . . . . . . . . . . . . . . 3-1

Figure 3-2: Controller Rear Panel . . . . . . . . . . . . . . . . . . 3-2

Figure 3-3: RS232 Setup for Computer as COM1 . . . . . . . . . . . . 3-3

Figure 3-4: Recommended Starting Position for Motor Test . . . . . . . 3-4

Figure 4-1: Hard Home Position . . . . . . . . . . . . . . . . . . . 4-22

Figure 5-1: Teach Pendant . . . . . . . . . . . . . . . . . . . . . . 5-1

Figure 5-2: Teach Pendant – Keyboard . . . . . . . . . . . . . . . . 5-3

Figure 6-1: Checking Belt Tension . . . . . . . . . . . . . . . . . . 6-1

Figure 6-2: Tightening Belts in Forearm . . . . . . . . . . . . . . . . 6-2

Figure 6-3: Tightening Belts in Upper Arm . . . . . . . . . . . . . . 6-2

Figure 6-4: Tightening Belts in Robot Base . . . . . . . . . . . . . . 6-2

Figure 6-5: Spring and Washers between Encoder and Motor . . . . . . 6-7

Figure 6-6: The Encoder Signals . . . . . . . . . . . . . . . . . . . 6-8

Figure 7-1: Gripper Assembly . . . . . . . . . . . . . . . . . . . . 7-8

Figure 7-2: Robot Arm Assembly . . . . . . . . . . . . . . . . . . . 7-9

Figure 7-3: Anti-Backlash Assembly . . . . . . . . . . . . . . . . . 7-10

Figure 7-4: Base and Motors Assembly . . . . . . . . . . . . . . . . 7-11

Figure C-1: Input – Application 1 . . . . . . . . . . . . . . . . . . . C-1

Figure C-2: Input – Application 2 . . . . . . . . . . . . . . . . . . . C-2

Figure C-3: Input – Appication 3 . . . . . . . . . . . . . . . . . . . C-2

Figure C-4: Relay Output States . . . . . . . . . . . . . . . . . . . C-3

Figure C-5: Relay Output – Application . . . . . . . . . . . . . . . . C-3

Figure C-6: Open Collector Output – Application 1 . . . . . . . . . . . C-4

Figure C-7: Open Collector Output – Application 2 . . . . . . . . . . . C-4

Figure C-8: Open Collector Output – Application 3 . . . . . . . . . . . C-4

Figure D-1: Controller Internal Wiring . . . . . . . . . . . . . . . . D-2

Figure D-2: Motor Wiring . . . . . . . . . . . . . . . . . . . . . . D-5

Figure E-1: Encoder Disks . . . . . . . . . . . . . . . . . . . . . . E-1

Figure E-2: Encoder Circuitry . . . . . . . . . . . . . . . . . . . . E-1

USER’S MANUAL SCORBOT-ER III ix

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Figure E-3: Height of Electronic Components . . . . . . . . . . . . . E-2

Figure E-4: Encoder Assembly . . . . . . . . . . . . . . . . . . . . E-2

Figure F-1: The Motor Kit . . . . . . . . . . . . . . . . . . . . . . F-1

Figure G-1: The Rotary Table . . . . . . . . . . . . . . . . . . . . G-1

Figure H-1: The Conveyor . . . . . . . . . . . . . . . . . . . . . . H-1

Figure I-1: The Experiment Table . . . . . . . . . . . . . . . . . . . I-1

Figure I-2: Lamp and Buzzer Connections . . . . . . . . . . . . . . . . I-2

Figure J-1: The Linear Slidebase . . . . . . . . . . . . . . . . . . . J-1

x SCORBOT-ER III USER’S MANUAL

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