Iai-america ZR-M Manual de usuario

IAI America, Inc. Small Type : ZR-S Medium Type : ZR-M Third Edition Operating Manual ZR Unit

Indication of Cautionary Information The operation manual for each model denotes safety guides under “Danger,” “Warning,” “Caution” and “Note,” as

9 Handling Precautions 1. Handling the Actuator Unit 1.1 Handling the Packed Actuator Unless otherwise specified, the actuator of single-axis c

2. Handling the Actuator Assembly Pay attention to the following instructions when transporting the assembled actuator axes. 2.1 When Shipped

11 Table of Content 1. Names of the Parts ...1 2.

11. Operation Adjustment ...27 11.1 Guide for Acceleration

1 1. Names of the Parts * For the detailed dimensions, refer to 2, "External Dimensions."

2 Coordinate system Z-axis (vertical axis): The downward direction represents the positive direction. R-axis

3 2. External Dimensions 2.1 ZR-S (Same on both sides) Depth 7 from back side 4 (Mechanical e

4 B-B section Detail View of Tip 35 11 (inner diameter) 16h7

5 2.2 ZR-M (Same on both sides) Depth 8 from back side 2-6H74-9, 14, counterbore 5 (Mechani

6 Detail View of Tip B-B section 14 (inner diameter)20h744

7 3. Accessories Brake box [4] Actuator 1 Connector [5] Actuator 2 Connector [6] Controller 1 Connector

8 [1] 24-V power connector This connector is used to supply 24-V power to the external brake box. Applicable cable AWG28~16 24 V +24-V power in

9 4. Options 4.1 Flanges Use a flange to install a work at the tip of the Z-axis.  ZR-S flange: IX-FL-2  ZR-M flange: IX-FL-1

10 4.2 Absolute Reset Adjustment Jigs These jigs are used if an absolute reset is required due to loss of absolute encoder data. * For the ab

11 5. Cable Drawings 5.1 Types of Encoder Cables Different encoder cables are used for the absolute encoder and incremental encoder types.  Incr

12 5.3 Motor cable Model CB-X-MA 6. Product Check Check the condition of the unpacked product as well as the included items. No

13 6.2 How to Read Model Nameplate 6.3 ZR Unit model Series Type Encoder type Z-axis motor type Z-axis lead

14 7. Specifications Item Specification Model ZR-S ZR-M Z-axis (vertical axis) - AC servo motor with brake + Belt + Ball screw spline Drive met

15 8. Installation Environment, Storage Environment 8.1 Installation Environment Install the unit in an environment meeting the conditions listed b

1 Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of

16 9. Installation 9.1 Installation of the Unit  Each mounting flange has mounting holes (refer to "Names of the Parts"). Install t

17 9.3 Installation of Tool and Load (1) Installing the tool  The tool mounting part must have sufficient strength and rigidity, along with ade

18 (2) Conditions of transferring load Transferring mass Type Rated transferring mass Maximum transferring mass ZR-S 1 kg 3 kg ZR-M 2 kg 6

19 9.4 Installation of User Components Tapped holes are provided on the side faces of the unit for installing user components. [Refer to 1, &quo

20 10. Wiring 10.1 Wiring Diagram (Incremental) ZR unit Brake box Encoder cable Encoder cable Motor cable

21 10.2 Wiring Diagram (Absolute) ZR unit Brake box Encoder cable Encoder cable Motor cable Motor cable Br

22 10.3 Wiring Method (1) Determine the control axis number (Axis No.) of each actuator according to the system (program) and connect the actuato

23 (3) Connect a 24-VDC power supply to the brake box and controller and supply the power. Caution:  Before connecting ea

24 Steel band (piano wire)Bundle loosely. 10.4 Prohibited Wiring Practices Connect the connector at the end of the cable, to the controller. For

25  Do not pinch, drop a heavy object onto or cut the cable.  When fixing the cable, provide a moderate slack and do not tension it t

Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety Guides provided below and taking the necessary

26 Power line Signal lines (flat cable etc.) Duct CableCable track  Do not let the cable got tangled or kinked in a cable track or flexible tube

27 Continuous operation of the Z-axis (vertical axis) Continuous operation of the R-axis (rotational axis) Acceleration Acceleration Load Allowabl

28 11.2 Notes on Transferring Load  Set an appropriate acceleration according to the mass and inertial moment at the tip. Failure to do so may

29 24-VDC power input Brake release switch Controller (brake-type specification) 12. Notes on Operation 12.1 About Brake  The brake is provid

30 12.3 Position Gain If the position gain is different for each axis during CP operation (interpolated operation) involving an orthogonal axis an

31 13. Maintenance and Inspection Daily and periodic inspections are needed to make sure the actuator you purchased can be used safely and effic

32 13.2 Visual Inspection of Exterior Inspect the following items before and after operating the robot every day. Inspection location Inspectio

33 13.5 Greasing Greasing procedure for the R-axis (How to remove the cover)  Procedure [1] Remove the hexagonal soc

34 14. Appendix 14.1 Absolute Reset Method (Absolute Type Only) When the ZR unit is connected to the controller for the first time, an absolute

35 14.1.2 Starting the Absolute Reset Menu (Ball Screw Spline Adjustment Window) (1) Open the ball screw spline adjustment window in the PC soft

3 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure Art

36 14.1.3 Absolute Reset (Ball Screw Spline Adjustment) Procedure (1) Select the “Linear Movement Axis No.” to implement an absolute reset (ball

37 (3) When the dialog box appears, click the “Yes” button. (4) When the dialog box appears, click the “Yes” button.

38 (5) Click the “Reset Controller Error” button. (6) Click the “Servo ON (Linear Movement Axis, Rotational Movement A

39 (7) Click the "Wait in Tentative Reference Position (Linear Movement Axis)” Button.  Exercise caution because the linear movement axis (

40 (9) Click the “Servo OFF (Linear Movement Axis, Rotational Movement Axis)” button. (10) Press the emergency stop swi

41 (12) Set the plate and pin constituting the adjustment jig as shown below to affix the axis in the reference position.

42 (13) Click the “Confirm” button. (14) Click the “Reset Encoder Rotation Data 2 (Rotational Movement Axis)” button.

43 (15) When the dialog box appears, click the “Yes” button. (16) When the dialog box appears, click the “Yes” button.

44 (17) Click the “Auto Refresh of Home Preset (Required) (Rotational Movement Axis)” button. (18) Remove the adjustment j

45 (22) Click the “Servo ON (Linear Movement Axis, Rotational Movement Axis)” button. (23) Click the “Wait in Reference Pos

Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to Notice

46 (24) Click the “Servo OFF (Linear Movement Axis, Rotational Movement Axis)” button. (25) Click the “Reset Encoder Rotat

47 (26) When the dialog box appears, click the “Yes” button. (27) Click the “Auto Refresh of Home Preset (Required) (Linear

48 (28) When the ball screw spline adjustment window is closed after performing ball screw spline adjustment, the following screen appears. Click th

49 15. Warranty The ZR-series robot you have purchased passed IAI's strict shipping inspection. The warranty information is provided below.

50 16. Change History Revision Date Description of Revision January 2009 December 2009 April 2010 First edition Added 14, “Appendix” and 14.1,

Catalog No.: ME3668-3A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago

5 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note 1 Mo

No. Task Note (2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc.  Do not dam

7 No. Task Note 6 Confirmation operation  After teaching or programming, carry out step-by-step confirmation operation before switching to automat