AMrsuBtsHlINDUSTRIAL MICROROBOT SYSTEM

RV-M1a

Model

I

MOVEMASTERtrX

THIS MANUAL IS DIVIDEDUP AS FOLLOWS

f sercrrrcnrrorusmain specifications, Givesoverallof construction, using instrucread this oart first. tions. etc. Please

p oernarroruprocedures, basicfunctions of Givesinstallation connection and powering-up position to settingprocedures, systemcomponents, procedures. and execution and programgeneration 1 3 I D E S C R I P T I O N T H EC O M M A N D S OF which have commands Givesformatsand usagesof intelligent with functions.The commands been classified accordance in appearin alphabetical order. I4 MAINTENANCE D INSPECTION AN partsreplacement procedures and Givesmaintenance, inspection, servrcepans.

@ neeeNorcrsGives interfacing with a personalcomputer and external l/O positionsetequipment, cartesian coordinate system reference programs, ting, command list, application etc.

CONTENTS I 1 I SPECIFICATIONS 1, UNPACKING AND ACCEPTANCE INSPECTION 1.11.2

Un p a c ikn g I n s t r u c t i o n sAcceptancelnspection'' t-5

2. SYSTEM CONSTRUCTTON OF 2.1 2.2 Overall Construction of Standard and Optional

1-3

1-5J. I

3.1.3 Externaldimensions . 3 . 1 4 O p e r a t i os p a c e . .. . .. .. . . . . n3 . 1 . 5 B a s i c p e r a t i o n s. . . . . . . . . o .J.Z

......1-7' '' ' '' t-lt

' " ' . ' .. . . .... . . . . .. .. . . .1 - 9 . . . . . . . . -1 _ ' t ' l .. . . . . .. . . . .. . . . . . - 1 1 1t-tJ

DriveU nit 3.2.1 Nomenclature. 3.2.3 Exte I dimensions rna Teaching Box (Option) 3.3.1 Nomenclature.. 3.3.2 Externaldimensions M o t o r - o p e r a t Hd n d( O p t i o n ) . . ea

3.3

1-14 1-'t4

3.4

. . . . . . . . . . .- 1 5 1 . . . . . . . . . . . . . . . . . . . . . .1 - . . 6 .. 1 .

4. USINGINSTRUCTIONS4.1A '

4.3 4.4A F

. L i n e o l t a g e. . . . . . V

4.6 4.7 5. WARRANTY PERIOD AND PAINTCOLORS

1-17 1-17 1-17 1-18 1-18 1-19 1-19

iz ] onennrom1. 1.'l 1.2 'l.3 Transportation f the Robot o l n s t a l l a t i oo f t h e R o b o t n T r a n s p o r t a t i oa n d I n s t a l l a t i oo f t h e D r i v eU n i t . . . . . . . . . .. . . . n n l n s t a l l a t i o n h e l / OC a r d . . . . . . . . tof 2-1 2-3 . . . . 2-5 . . . . . . . . . . .. .' . . . . 2 - 5 2-6 2-7 .. .. . .. .. ....2-8 " " " '2-10 .. .. .. . . 2-10 " '2-11 " "

1.4 1.5 Grounding 1 . 6 C a b l eC o n n e c t i o n s 1 . 7 l n s t a l l a t i o n t h e H a n d( O p t i o n ).. . . . . of '1.8 I n s t a l l a t i oo f t h e T e a c h i n g o x ( O p t i o n ) n 8 1 . 9 l n s t a l l a t i oo f t h e B a c k u p a t t e r y O p t i o n ) n B { 1 . 1 0 i n s t a i l a t r oo f t h e E m e r g e n c y t o p S w i t c h n S

2.2

. . . . . . . . ' . 2.- 1 2 ' Drive nit U ' " " "'2-12 2 . 1 . 1 F u n c t i o n s o f f r o n t c o n t r o lw i t c h e s n d L E D s" a s " " " ' 2-13 2 . 1 . 2 F u n c t i o n so f s i d e s e t t i n gs w i t c h e sa n d L E D s 2 . 1 . 3 F u n c t i o n so f c o n n e c t o r s s w i t c h e s ,a n d t e r m i n a l b l o c k o n r e a r p a n e l " " " " " 2 - 1 6 , . " """ 2-18 Teaching ox " B "" " """""2-18 2 . 2 . 1 F u n c t i o n s tohf es w i t c h e s "" """" ""2-18 2,2.2 Functionsofeachkey " "" " " "" " "" '2-21 i r 2 . 2 . 3 F u n c t i o n s o f t h en d i c a t o L E D ' ' '' '' '' '' ''''''2-22 2.2.4 Eeleasinthe brakes g """"" 2-22 2 . 2 . 5 l r r r e l i i g e n to m m a n d sc o r r e s p o n d i ntg e a c hk e y " " " o c

J. l

"" 2-23 r S y s t e mC o n t i g u a t i o n "" """""'2-23 l a 3 . 1 . 1 S y s t e mc o n f i g u r a t i o c e n t e r i n g r o u n da p e r s o n ac o m p u t e r " n 3 . 1 . 2 S y s t e mc o n f i g u r a t i o c e n t e r i n g r o u n dt h e d r i v eu n i t " " " " " " " " " " " " ' 2 - 2 4 n a R o b o t - C o m p u t e L i nk r 3 . 2 . 1 C e r rrto ni c s i n t e r f a c e i 3 . 2 . 2 R S 2 3 2 Cn t e r f a c e C o n t r o lM o d e s h 3 . 3 . 1 P e r s o n a l c o m p u tre ro d e" 3 . 3 . 2 D r i v eu n i t m o d e 2-25 2-25 " "'2-25 "" " " "" 2-26 ''' 2-26 ' ' '2-24

3.2

3.3

" """

4 . 1 S e t t i ntg eS i d e e t t i n S w i t c h e s h S g 4.2 Turning oweON P r 4.3 Origin etting S

"

''

'''2-29 2-29 """'2-29

5. POSITION PROCEDURE SETTING ' .-3 5 . 1 S e t t i n gh eC a r t e s i aC o o r d i n a t ey s t e m e f e r e n c eo s i t i o n. . . . . . . . . . . . . . . . . . . . . . . . . .2 . . 0 t n R S P . .. ..... ... 2-30 5 . 2 S e t t i n g t h e T o o ln g t h . Le "t 'i o n s " ...'..2-31 5.3 Defining,Verifying,Changing,andDeletingthePosi 6.o. l

6 . 2 Executing Program the' 6.2.1 Stepexecution 6.2.2 Starting program the 6 . 2 . 3 S t o p p i n g / r e s t ia g h e p r o g r a m r n t g/resetting program 6.2.4 Stoppin the 7. WRITINGTHE PROGRAM/POSITION DATA IN EPROM . . . ( P E R S O N A L C O M P U T E R M O D.E ) . . . . . 7.1 7.2 7.3 8. 8.1 8.2 8.3 8.4 lnserting EPROM the .......... Setting SideSetting the Switches TurningPower ON Executing Program the 8.4.1 Stepexecution 8.4.2 Starting program the 8.4.3 Stopping/resta the program rting 8.4.4 Stopping/resetting program the I n s e r t i nE r a s e d P R O M g E W r i t i n g a t a n t oE P R O M D i Preca nsfor Storag of EPROM utio e

" " 2-34 " " " "... ... 2-31 . .2-34 . . . . . .. . . . . . . . .2 - 3 5

. . . .. . . . . 2 - 3 6 .'. .....'.....2-36 . . . . .. . . . . . . 2 - 3 6 "" "" " "" " " 2-36

' 2-37 . . . . .. . ' ' ' ' ' """ " " " "" " " 2-37 2-37 2-37 2-37 2-37 2-38 2-38

9. OPERATION USINGTHEEXTERNAL SIGNALS

10. 1 0 . 1 E r r o r M o dIe " 10.2 ErrorMode II " """""" 2-4O " 2-41

OF El DESCBTPTTON THE COMMANDS1.

2.1

z.z

. . . . . . . ' . '.. . . . . . . . . . . .3 - 3 .. P o s i t i o n / M o tCo n t r o ln s t r u c t i o n s . . .... . . . . . i on I D P{ D e c r e m e Pto s i t i o n ) " M o v i n g o a p o s i t i o n u m b e o n es m a 1 | e r . . . . . . . . . . ......... 3 - 3 t r . n 'Moving a distance (Draw) DW specified the cartesian in coordinate ...........3-4 system . . . . . . . . . . .. . - 5 (Here) HE T e a c h i ntg ec u r r e np o s i t i o n h t 3 HO {Home) " posiSettingthe cartesian coordinate systemreference .........3-6 tion....'..... nt l P( l n c r e m e P o s i t i o n.). . . M o v i n g t o a p o s i t i o n n u m b e r o n e g r e a t e r . . . . . . . . . . . . . . . . . . . 3 - 7 . (Move pproach) MA A M o v i n g o a s p e c i f i eid c r e m e n td ilm e n s i o n . . . . . . . . . . . . . - 8 t n a 3. ") " M o v i n g h r o u g hn t e r m e d i a pe i n t s o n t i n u o u s l y ........ .3 - 9 M C{ M o v e o n t i n u o u s C t i to c " " . ' . . T u r n i ne a c ho i n t a s p e c i f i e d a n g l e . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 1 1 g j MJ(MoveJoint) MO (Move) position articulated Movingto a specified by interpola" .......3-12 tion MP (MovePosition) Movingto a position whosecoordinates specified... are 3-13 (Move traight) MS S M o v i n g t o s p e c i f i ep o s i t i o n y l i n e a i n t e r p o l a t i o n .3 .-.' 1 4 a d b r . MT (MoveTool) Moving an incremental distance in specified the tool """" ""'3-16 direction .Returningtherobottoorigin........'..'.......'...'.'...'...3-17 N T( N e s t ) OG (Origin) Moving to the cartesian coordinate system reference " " "" positlon 3-18 ' .. Defining numberof columnand row grid points a (Pallet PA Assign) the for ' . . . . . . . . . . . . . . . ' -. 9 specified llet oa 3.1 " "' 3-20 position PC(Position Clear) " " Clearing specified a " n P D( P o s i t i oD e f i n e ) D e f i n i ntg ec o o r d i n a t e s a s p e c i f i e d p o s i t i o n . . . . . . . . . . 3 - 2 1 h of " Asslgning positionto PL(Position Load) the positiondata of a specified """ " " "' 3-22 position another specified PT(Pallet) Calculating coordinates a grid pointon a specified the of ... . . . . . . .........3-23 na||et PX (Position Exchange)" Exchanging coordinates a positionfor those of the of "" " " "" 3-2'l another" position" " " SF(Shift) " Shifting coordinates a specified the 3-28 of SP{Speed) Settingthe operating velocityand acceleration/decel" "" 3-29 eration time" " Halting motionfor a specified periodof time " Tl {Timer) the 3-30 " S e t t i ntg e t o o ll e n g t h ....'...."" "'3-31 TL(Tool) h " ' """""'3-32 P r o g r a m o n t r olln s t r u c t i o n " C s "" "" CP(Compare Counter) Loading counter dataintothe comparison register " 3-32 "" DA (Disable Act) Disabling interrupt an externalsignal "" " " 3-33 the by " Subtracting from a valuein a specified "" DC(Decrement Counter) 1 counter " 3-34 "'3-35 "e) " " " D e l e t i nags p e c i f i e d r t f a p r o g r a m " """" pa o DL(DeleteLin

" "' 3-36 the by signal "" Enabling interrupt an external " E n d i n gh e p r o g r a m t 3-38 a of Causing jump to occurif the contents the compari"" " "" ' 3-39 son register equala specified value " " GS(GoSub) Executing specified a subroutine ' 3-40 " ' 3-41 i GT(GoTo) C a u s i n a l u m p t oo c c u r t o s p e c i f i eldn en u m b e r " g a "" " ' 3-42 lC (lncrement Counter) " 'Adding 1 to the valuein a specified counter"" . L G( l fL a r g e r.)" . . . . . . . . . . . . . . .C.a u s i n g j u m pt o o c c u ri f t h e c o n t e n t o f t h e c o m p a r i s a thana specified value"" " " " 3-43 son register greater are " Causing jump to occurif the contents the compariNEllf Not Equal) " " of a value " "" " " 3-44 son register not equalaspecified do " ' 3-45 . . D e l e t i na l l p r o g r a m a n dp o s i t i o d a t a" " " g n s N W( N e w ) " " " " " " " ' S p e c i f y i ntg er a n g e o a l o o pi n a p r o g r a m " " " " " ' 3 - 4 6 NX(Next)" h f ( R e p e a t y c l e ) ' ' ' ' S p e c i f y i n g t h e n u m b e r o fp e a t ec y c l e s f a l o o p " " ' 3 - 4 7 re d RC C o """""" r 3-48 R N{ R u n ) " " ' E x e c u t i na s p e c i f i ep ar t o f p r o g a m " " g d (Return)" program after completinga RT Returningto the main "" """3-49 subroutine " " S C ( S e t C o u n t e " )" ' ' ' r L o a d i n g a v a l u e i n a s p e c i f i e d c o u n t"e r " " " " " ' 3 - 5 0 of SM (lf Smaller)" Causing jump to occurif the contents the comparia value " " " " ' 3-5i son register smaller are thana specified " "'3-52 ' 2 . 3 H a n d o n t r oIln s t r u c t i o n s." C " "" 3-52 " G C( G r i p C l o s e )" " " " ' C l o s i n g t h eh a n dg r i p " " " " " " "" " " " 3-53 '). . . . . . .. . . . . ' . D e f i n i ntg eo p e n / c l o s e a t e f t h eh a n d F h st o G F( G r i p l a g """" " 3-54 " " " " " Openingthe nd rip (Grip pen) " ha g GO O " "" " Definingthe gripping force/timewhen the hand is GP(GripPressure)" 3-55 3-56 2.4 " " " " F e t c h i na n e x t e r n a l s i g n a l " " ' t 3-56 l D( l n p u D i r e c t ) " g " " ' 3-57 " F e t c h i na n e x t e r n a l s i g ns y n c h r o n o u s"l y" " lN(lnput) g al e o O B ( O u t p u t B i " ) " " " " " S e t t i n gh eo u t p u s t a t e f a s p e c i f db i t " " " " " " ' 3-58 t" t t " "" " " "" " 'Outputting 3-59 specified data OD (Output Direct).." " " " ' 3-60 " " " ' O u t p u t t i n g e c i f i e d t a y n c h r o n o u s l y" sp da s OT(Output) """" " " " " "'Causinga jump to occurdepending the condition of on TB (Test Bit) " "" " " "" "" " " 3-6' external signalbit" " a specified " 3-62 2.5 RS232C Readlnstructions " "" " " " ' 3-62 Reading datain a specified the counter CR(Counter Read)" "" ' 3-63 "" " " " Reading datain the external (Data port " input the DR Read) " "'3-64 " " . ) E R ( E r r o r R e a d" " " " R e a d i n g t h e s t a t u s o etrh e r " f ro " line LR(LineRead) Reading program a specified number" " " 3-65 the on " " Reading coord position " "'3-67 inates a specified PR(Position the of Read)"position " ' 3-68 the of WH (Where) Reading coordinates the current " "'3-69 2.6 Miscellaneous RS(Reset) "" ""'3-70 " " " Transferring ROMatao RAM EP d t T R( T r a n s f e r ) """""" 3-7 writing RAMdataintoEPROM wR (write) ' ( C o m m e n t")" " ""'3-72 " ' W r i t i n g c o m m e n t" a EA {Enable Act) (End) ED EO(lf Equal)

AND TNSPECTTON l!l MATNTENANCE

2.1 2.2 2.3 3.J. I

3.2

3.4

..........4-g C o n s t r u c t i oo f t h e R o b o t . . . . n . . . . . . . . . . . 4.-.1 0 . R e m o v ao f t h e C o v e r s . . . . l .......-..-..4-j2 R e p l a c e m e o f t h e M o t o rB r u s n . . . . . . . . . . . . nt ..........4-12 3 . 3 . 1 C h e c k i n g n d r e p l a c i n gh e w a i s td r i v em o t o r b r u s h e s . . a t . 3 . 3 . 2 C h e c k i n g n d r e p l a c i n gh e s h o u l d e r / e l b o d r i v em o t o r b r u s h e s. . . . . . . . . . . . . . . . .4.-.1 5 a t w . ...... . . . . . . . . . . . . . . . . . . .4.-.1 6 . 3 . 3 . 3 R e p l a c i n t h e w r i s t p i t c hd r i v em o t o r . . . . . g . . . . . . . . . . . . . . . . . . . . . . . . 4 -1g 3 . 3 . 4R e p l a c i n g t h e w r i s t r o l l d r i v e m o t o r . . . . . . . . . . . . . ......'........ . . . . . . . . . .4 - 2 0 . A d j u s t m e n a n d R e p l a c e m e n tf t h e T i m i n gB e l t t o . . . . .4 - 2 0 3 . 4 . 1 R e p l a c e m e nr e q u e n c y . . . ft 3 . 4 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e s h o u l d e r d r i v e t i m i n g b e l t . . . . . . . . . . . . . . . . . . 4 - 2 1 3 . 4 . 3 C h e c k i n ga d j u s t i n ga n d r e p l a c i n gh e e l b o wd r i v et i m i n g b e 1 t . . . . . . . . . . . . . . . . .4 - 2 4 , , t .. 3 . 4 . 4 C h e c k i n ga d j u s t i n ga n d r e p l a c i n gh e w r i s t p i t c hd r i v et i m i n g b e l t . . . . . . . . . . . . . . .4 . .2 7 , , t .. . . . . . . . . . .4 - 3 0 . R e p l a c e m e n tf t h e C u r l e dC a o r e s. . . . . . . . . . . . o . . . . . . . .4 - 3 2 . l n s p e c t i o n , d j u s t m e n ta n d R e p l a c e m e n tf t h e B r a k e s . . . . . . . . . A , o . 3 . 6 . 1 C h e c k i n ga d . j u s t i n g , d r e p l a c i n gh e s h o u l d e r r a k e. . . . . . . . . . . . ...... . . .. . . . . . . . . . . .4 - 3 2 , an t b ... ....4-34 3 . 6 . 2C h e c k i n g , a d j u s t i n g , a n d r e p l a c i n g t h e e l b o w b r a k e . . . .. 4-36

3.5J.O

4.A 1

4.2 4.3

@ neeeruorcesAPP-11.1 1.2 1.4 1.5

2.1 1

APP.5

2 . 2 F u n c t i oo f E a c h i g n aL i n e . . .. . . . . . . . . . . . . n S l2.5

RS232C Settings R S 2 3 2 C a b l e. . RS232C Interfacing Examples

2.5 2.6

3 . 1 . A x t e r n a /l OC o n n e c t o ri nA s s l g n m e n ltT y p e l / OC a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 1 5 E l P s A 3 . 1 8 E x t e r n a /l OC o n n e c t o ri nA s s i g n m e n ( T y p e l / OC a r d . . . ' . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 1 6 . l P ts B ) l/OCircuitSpecifications(TypeAl/OCard).............. ..........'.....App-l7 . ..................App-18 T 3 . 2 . 8l / OC i r c u iS p e c i f i c a t i o(n sy p e l / OC a r d ) . . . . . . . . . . . t B . ...........App-19 ( 5 . 5 . 4 F u n c t i o n s o/fO S i g n a l i n e s T y p e l / OC a r d . . . . .. . . . . . . l L A ) ....... . . . .............App-20 ( 3 . 3 . 8F u n c t i o n sf l / OS i g n aL i n e s T y p e l / OC a r d ) o l B .) 3.4.AE x a m p l e o f o n n e c t i o n t o l / O C i r c u i t s ( T y p e A l / O C a r d . .. .. .. .. .. .. .. '.. . . . . . . . . . . . . . . . A p p - 2 1 C 3 . 4 . 8E x a m p lo f C o n n e c t i o n t o l / O C i r c u i t s ( T y p e B l / O C a r d ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A p p - 2 e . ............App-23 3 . 5 l / OS i g n aL i n e i m i n g h a r ( S y n c h r o n o u/ s ) . . . . . . . . . l T C t l O 3.5.1.ASynchronousinputtiming(TypeAl/Ocard)............... ...App-23 .........App-23 ( 3 . 5 . ' l . B y n c h r o n o un p u t t i m i n gT y p e l / Oc a r d ) . . . . . . ... . S is B ..App-24 3.5.2.A ynchronousoutputtiming(TypeAl/Ocard)................ S . .....App-24 3.5.2.8 ynchronousoutputtiming(TypeBl/Ocard)........ S ............App-25 3 . 5 . 3 . A e d i c a t el dOt i m i n g( T y p e t / Oc a r d ) . . . . . . . . . . . . . . . . D / A .....App-26 3.5.3.8Dedicated timinglTypeB l/Ocard) l/O . . . . . ' . . . .A P P - 2 7 J.O E x t e r n a/l O C a b 1 e . . ...... l a'7 ....................APP-28 P r e c a u tno f o r C o n e c t i o t o E x t e r n a Iq u i p m e n t is n n E 4. CARTESIAN COORDINATE SYSTEM REFERENCE 4.1 4.2 4.3 4.4 M o v i n g t h e o b o t t o e f e r e n c eo s i t i o n . . .. .. . . . R B P S e t t i n gh e R e f e r e n c eo s i t i o . . . . . . . . . t P n StoringReference Position Datain EPROM L o a d i n g t hR e f e r e n c eo s i t i o D a t a . . . ' . . . ..... . e P n ..App-29 . . . . . . . . . . . .A.p p - 2 9 . .........App-30 ..APp-31

5. PROGRAMMING SYSTEM USING PERSONALCOMPUTER 5. SAMPLE ROGRAMS.... P . 7 . C O M M A N D 1 | S T . . . . ...... . . 8. TIM|NG ELTTENSTON B 9. DEFINITIONOFWEIGHTCAPAC|TY............. . . .. . . 1 0 . R O B O T A R M S T O R A G E P O S | T | O.N . . . . . . . ...... 1 1 . O P E R A T | O N A L S P A C E D | A G R A M .. . . . . . . . 1 2 .W | R | N G D I A G R A M 1 3 .D R | V E U N | T W t R t N G D | A G R A M . . . . . . .

..."".......APP-32 ...............App-36 ...........App-44 ...........'.. pp-48 A ........App-49 .....App-50 . . . .. . . A p p - 5 1 . . . . . . . . . . . . . .....A.p p - 5 2 . ............'......App-54

1.SPEC|F|CATI0N2. OPERATIOl{

TIII OT 3. DESCRIPTIONCOt|MANDS4. MAIl{TEI{ANCT A1{D INSPECTION 5. APPENDICTS

(SPECIFICATIONS} CONTENTS

INSPECTION AND ACCEPTANCE 1. UNPACKING n 1 . 1 U n p a c k i nIg s t r u c t i o n s " Ie 1.2 Acceptancnspection OF 2. SYSTEM CONSTRUCTION " ofConstruction " ""' 2 . 1 OverallS t a n d a r da n d O p t i o n a lE q u i p m e n t "

' ' '' 1-1 """ "'1-2t-J

"

"

. . . .' t- 4 1-5

3.1

" Robo""" t ' 3.1.1 Nomenclature d 3 . 1 . 2 S t a n d a r s p e c i f i c a t i o n' s 3.1.3 Externaldimensions ' 3 . 1 . 4O p e r a t i o n s p a c " " e c s" 3 . 1 . 5 B a s io p e r a t i o n " " " " o s 3 . 1 . 6 O r i g i n e t( R e t u r tn o r i g i n ) " " U 3.2 Drive nit 3.2.1 Nomenclature" p 3 . 2 . 2 S t a n d a rsd e c i f i c a t i o 'n s 3.2.3 Externaldimensions Box(Option) Teaching ' 3.3.1 Nomenclature rnaldimensions 3.3.2 Exte 3.4

" " '

" """""'1-5 " " "" 1-5 "" 1-7 """ "" """' " "1-7 " " "" ""'1-8 "" " """"1-9 " "" 1-10 "" "" " 1-11 "" "" " "' 1-11 ''l-12 " """"""1-13 1-14 1-14 1-1 5 1-1 6

4.1.+.J

Robot

""'

4.41+.3

4.6 4.7

N o i s e" ' Position

1-17 1-17 1-'t7 1- 8 1 1-18 1-19 1-19

..... PERIOD AND PAINTCOLORS 5. WARRANTY3. 1

5.2

1-21 1-21

1. SPECIFICATIONS1. UNPACKINGAND ACCEPTANCE INSPECTION 1.1 Unpacking Instructions11)Carefullyread "Section 1.1 Robot Transportation, Vol. 2,, beforeremovingthe robot from the package. ( 2 ) D o n o t h o l dt h ec o v e r a r e a i n F i g .1 . 1 . 1 w h e nr e m o v i n gh e ( A .) t robot. (3) The origin limit switchesand dogs (areasB, C) have been factory-adjusted. not touch them to ensurehigh repeataDo bility. (4) Brakeis being appliedto the arms (areasD. E) Do not force these arms to extend. (5) Do not removethe arrn fixing plate (areaF) until the robot installation complete, is This plate protects the arm during transportation.

Do nol force the arm.

Do not force the arm,

'Do not ho d tlie cover,

Do t h e I mil swltch.

Do not louch the imlt swilch.

Robot weight: approx. 1gkg

Fig. 1.1.1 Robot Attitude in the Package

The arm fixing platemust be reinstalled beforetransporting the robot.

1. SPECTF|CAT|ONSproduct to order. 1.2 Acceptance Inspection Check conforms your purchase thatthe received purchased as follows: whichvou have are Ihe basiccomponentsTvpeRV,Ml D/U t\,'11 IVISM 1 t\,1P- 1 t\,1 POW-M1

No. Robot

Description

Ouantity 1 1l

2 34 5 6 1 8 I

Dflve unit lMolorsignai cable {5m) Motor power cable {5m) Power cord (2.5m)

,I 1 1

S p a r ef u s e ( 1 0 A )Instructron anua m

11

Warranty cardInstallation olt b

M8x30

4 4 4

1011

Spring washer for installation For Mg bolt F l a tw a s h e r { o r i n s t a l l a t i o n o l t b l/O card

ForM8 A 8 o r 4 1 6 ( 8 8o r 8 1 6 )

12

1

Table 1.1.1 Standard Components

The following options are available.

No.1

DescriptionT e a c h i n gb o x lMotor operated hand

Type T/8,M1 Htvl-01 256K,ROMl/O-CBL {5m) NilULTl16, PC9801 (Note)

2 34 5

EP-RO I\,4External l/O cable P e r s o n a lc o m p u t e r c a b l e

6

Backupbattery

BAT-M1Table 1.1.2 Options

1. SPECIFICATIONS2. SYSTEMOF CONSTRUCTION 2.1 Overallof Construction

Motor power cable(MPM]) 5m

c o m p u t e rc a b l e *

M o t o r s i g n a lc a b l e ( M SM l ) 5 m Drive unit I D / UM 1 )

Robot (RV,M1) ( P O WM 1

OPersonalcomputer (MUtTtl6lll)Teaching ox' b ( T / BM l ) C a b l el e n g t h3 m + indicales an option. OThe equipment indicated by should be prepared by the customer.

Fig. 1.2.1Ovelall of Construction

1. SPECIFICATIONS2 . 2 S t a n d a r da n d OptionalEquipment

Division Robot

Description

Type RV-t\,11 D/U M1 MS.t\,4 1 t\,1P- 1 M P O WM 1

RemarksVertical articulated robot with 5 degrees of freedom. Pobot controller. G i v e sc o n t r o ls l g n a l sf r o m t h e d r i v e u n i t t o the robot. S u p p l i e sp o w e r f r o m t h e d r i v e , J n i tt o t h e robot.

e;

Drive unit Molor siEnalcable (5m)

E

l M o t o rp o w e r c a b l e ( 5 m ) Power cord (2.5m )

p S u p p l i e s o w e rt o t h e d r i v e u n i t . 8 inputs/B utputs. o 16 lnputs/16utpurs. oHandy cont.ol switch box with a cable for t e a c h n g , c h e c k i n g ,c o r r e c t i n gp o s i t r o n s i Hand which is only used with the RV-M1 a n d a l l o w s 1 6 s t e p h o l d i n gp o w e r c o n t r o l .

l/O card A8 (or BB) l/O card416 (or B16iT e a c h i n gb o x { C a b l el e n g t h 3 m ) Motor operatedhand

to-A8 (r/o-88) ( v o - A 1 6 t / o8 1 6 )T/B Ml

HM O1 2 5 6 KR O M BAT II1

EP,ROM Backupbattery

Stores writtenprograms andset positions.B a c k su p l " e m e m o r y d u l n g p o w e r o f f . , C o n n e c t s i t h a n e x t e r n a lp e r i p h e r a l e . g . w p r o g r a m m a b l ec o n t r o l l e r . RS 232C cable used to MULTI'I6. connect the

E

External l/O cable

r/o-cBLR S ' M U L T I - C B3 m ) {L

c

MULTIl6Centronicsf

L L C-MU TI-CB(2m) (3 RS'PC-CBL m)

Centronicscable used to connect the

MULr16.RS 232C cable used to PC9801. connect the

EPC9801

RS-232C

( Centronics C-PC-CBL1.5m)

Centronicscable used to connect the PC9801 . RS-232C cable wiih one free end. C e n t r o n i c sc a b l e w i t h o n e { . e e e n d .

RS-232CFree cable

R SF R E E B L ( 3 m ) C (L C - F R E E - C B1 . 5 m )

Centronics

Table 1.2.1 Standard and Optional Equipment

Note: l/O card A8 or 416 is for sink ioad. B8 or 816 is for sourceload.

1. SPEC|F|CAT|ONS3. MAIN SPECIFICATIONS 3.1 Robot 3.1.1 Nomenclature

F o r ea r m upper armElbow (J3 axis)

u"j"i:i-/A -+f

\-tHand installation surface

S ho u l d e r (J2 axis)

S h o u l d e rc o v e r (upperl

W r i s tp i t c h( J 4 a x i s )

Shoulder cover {lower) Curl cable

W a i s t{ J 1 a x i s )

--S=:?

Molor siqnal cable

(to the upper conneclorl

Motor power cable (to the lower connector)

Base side cover (R) * {L) Left sideFig. 1.3.1 Nomenclature (External Viewl

1. SPECIFICATIONS

J5 axismotorJ4 axis motor J4 axis timing belt J2 axis timing belt J3 axis limit switch

J2 axismotor

J4 axis limit switch

J5 axis limit switch

J2 axis brake

J3 axis brake

J2 axis limit switch

J'l axis limit switch

J1 axis motor

Relay card

Fig. 1.3.2Nomenclature (lnternalView)

1. SPECTFTCAT|ONS3.1.2 Standard specificationsItern Mechanical Structure

Specifications5 degrees of freedom, venical articulated robot

Remarks

Waist rotation Shoulder otation Operation rangeElbow rotation

300' (max. 120"/sec) 130"lmax. 727sec) 1'10'(max. 109'/sec) 190" (max. 1001sec) 1 1 8 0 ' ( m a x .1 6 3 7 s e c ) 250mm 160mmM a x . 1 . 2 k g f ( i n c l u d i n gt h e h a n d w e i g h t ) 1000mm/sec (wrist tool surface)

J1 axis

J2 ax;s J3 axis J4 axis J5 axis

Wrist pitchro tl

upper armArm length

F o r ea r mWeight capacity Maximum path velocity

75mm from the mechanical interface (center of gravity) Speedat point P in Fig. 1.3.4 Accuracy at point P in Fig. 1. 3 . 4

Positionrepeatability Drive systemRobot weight Motor capacity

0.3mm (roll centerof the wrist tool surface) Electrical servodrive usinqDC servomotors Approx. 1gkgf J l t o J 3 a x e s :3 0 W ; J 4 , J 5 a x e s r1 l WTable 3.1.1 Standard Soecifications

3.1.3 External dimensions

-LMechanical interface

-

?

I I r+st68

60 a2

254

180"

Frange deraiLs

lP c

968)

Fig. 1.3.3 Fxternal Dimensions

1. SPECTFTCATIONS3.1.4 Operationspace

Fig. 1.3.4OperationSpace

indicated Fig.1.3.4 in assume thatthe Note1: Theoperation space hand is not installed the robot. (Traceof point P) to may be restricted some area in Note2: The wrist pitchoperation positions.For depending the upper arm and fore arm i d e t a i l ss e e F i g . 5 . 1 1 . 1n t h e a p p e n d i x . , Note3: Jog operation mustbe performed with special careas the robotbaseand floor surface. wrist mav interfere with the REMARKS Jog operation indicates a manual operation using the teachingbox.

1. SPECIFICATIONS3.1.5 Basicoperations in system. Fig. 1.3.5shows axis operations the articulated

#

lJ:lr 'E

S r r o ! d e . r o r a ro .

.rzr9

Fig. 1.3.5 Operations in Articulated System

is Note I: The positive direction the J1 and J5 axisoperations of clockwise viewedfrom arrowsA and B, respectively. as direction the J2, J3 and J4 axisoperations of Note2: The positive is the uoward directionof the arm and wrist.

system. in coordinate Fig. 1.3.6shows operations the cartesian

*4)>J+;z'; : -\, M/ 1 , ' y 7//'

, r *, l*. /f