Post on 15-May-2017
TABLE OF CONTENTS
Ⅰ. For Safe Use of Robot······························································································ 1
Ⅱ. About the Product······································································································ 4
1. Features············································································································································ 4
2. System Configuration························································································································ 7
Ⅲ. About the Structure·································································································· 8
1. Motion Range and Outline················································································································· 8
2. Internal Structure·························································································································· 13
3. Wiring Diagram································································································································· 15
4. Assignment of Connector Pin········································································································· 17
Ⅳ. About the Installation··························································································· 19
1. Carrying the Robot·························································································································· 19
2. Environments of Installation········································································································ 20
3. Installing the Robot······················································································································· 20
Ⅴ. About the Application················································································································ 21
1. Attaching the Robot Main Body and Work ···················································································· 21
2. Using the Robot Body I/O and the Air Hose················································································· 21
3. W-Axis Allowable Inertia (Moment of Inertia) and Calculation··············································· 22
Ⅵ. About Maintenance and Repair················································································ 32
1. Maintenance And Repair··················································································································· 32
2. Exchange of the Sensor················································································································ 34
3. Exchange of the Motor················································································································· 34
4. Exchange of the Reduction Gear and Ball Screw Spline······················································ 35
5. Exchange of the Timing Belt······································································································ 36
Ⅶ. About Applied Controller······················································································· 37
Ⅷ. Trouble Shooting····································································································· 40 1. Table of Trouble Shooting············································································································· 40
2. Adjustment of Offset(Calibration)··························································································· 42
Thank you for purchasing Robostar ROBOT.
Please read this manual carefully for safe and proper
use of the machine, and keep it handy for future
reference.
Ⅰ. For Safe Use of Robot
- 1 -
Ⅰ. For Safe Use of Robot.
Since this robot is an industrial machine manufactured by the advanced technology,
please be sure to obey the followings to prevent an accident.
Please keep in mind of marks in the documentation, which means that there exists
danger potential for operating.
■ For more safe and effective use, please be sure to run the robot after reading the
manual carefully.
■ Please use the robot within the rated load and power. Specifically, for safe use be
sure to check if the input voltage is AC 220V beforehand.
■ When installing the robot, please fix it up to avoid any shaking.
■ Before turning on the controller power, be sure to check the wiring. The wrong wiring
can cause the malfunction of the robot.
■ To prevent the electric shock, be sure to set up triad ground. (ground resistance
should be below 100Ω)
■ When the robot is in the running or running-enable state, make sure not to enter the
work space of the robot. During the stopping state, be careful at all times.
■ In case of running the multiple robots at the same time, specifically, in case of
power on/off, motor driving, and manual operation, conduct operation after con-
firming mutual safety.
■ When repairing and inspecting the robot, please be sure to pull out the power plug of
the controller.
■ For safe work, please put up the safety guard at the surroundings of the work space
of the robot.
!
WARNING !
Expected wrong maintenance or severe injury
Expected wrong maintenance, light injury or loss of property
CAUTION !
Ⅰ. For Safe Use of Robot
- 2 -
■ For the safety of the operator, please wear the safety helmet and shoes.
■ When running the robot, please be sure to operate it within the rated load weight.
■ In case of setting up the robot cable in the corridor environments, please use the
cover or duct to prevent the damage of the cable.
■ Please attention to the followings, when putting up the safety guard.
- The safety guard should be so
intensive to tolerate the
reactive force or the working
conditions and it should not
easy to move or to cross over
the safety guard.
- The safety guard should be
fixed up and the danger parts
of it like sharp edge or burr
should be removed.
- In case of making an entrance
door at the safety guard,
please set up the sensor to
detect the door open and
command the emergency stop of
the robot.
- The safety guard should be
set up at the minimum 40cm
distance away from the work
space and the body of the robot.
■ Please attach warning label on the easily visible location.
WARNING !You may be injured if you
contact to moving robot.
● Don't go inside of safety
fence
● Press the emergency button
when you should go inside
Ⅰ. For Safe Use of Robot
- 3 -
■ Please pay attention to the followings, when setting up the emergency stop switch.
- The emergency stop switch should be set up at
the operator's convenient place.
- For easy recognition, it is highly desirable
to use the red-colored emergency stop switch
surrounded by the yellow line.
- Please don't use the auto-return switch as
the emergency stop switch.
■ Please set up the warning lamp so as to verify the power input to the robot.
■ Please notice the followings for operating
If you make a touch with robot in motion, you may get severe
injury. To avoid this situation, you should keep following checkpoints.
- It's strictly forbidden to get inside
the robot working area.
- If you should go inside for repair, you
should power off the robot after
pressing emergency button.
■ Please notice the followings for auto run mode
- Action for starting : Check following checkpoints with your staff before you starting a robot.
① No personnel inside robot working area
② Teach pendent and tool on the right position
③ No power to lamp,indicating abnormal message
of system
- Check during auto run mode : Make sure with
lamp that it's in auto run mode.
- Action for malfunction : Make sure that
anyone else operating robot except
operator, when you go inside robot moving area for repair, by making emergency switch
on or stopping a robot.
WARNING !
WARNING !You may be injured if you
contact to moving robot.
● Don't go inside of safety
fence
● Press the emergency button
when you should go inside
WARNING !You may be injured if you
contact to moving robot.
● Don't go inside of safety
fence
● Press the emergency button
when you should go inside
II. About the product
- 4 -
II. About the product
1. Features
Our RBSA(I)-Series ※SCARA robot adopts AC servo motors and it is the product with high confidence,
high speed, and high precision. It can be applied to the assembly work, the rapid transportation and
handling of the precise components.
■ High Confidence
Structure analysis, dynamics analysis, effective power
transmission mechanism and lightly manufactured arm
help our robot to realize the low inertia and high
stiffness and guarantee high confidence of our robot.
■ High Speed, High Precision And High Payload
Using AC servo motors, precise reduction gear, ball
screw, our robot realize high speed, high precision.
Also, it can realize high payload with compact structure
and high stiffness.
■ The unnecessity of an origin return action
Using AC servo motors with the absolute encoder at
all axis, an origin return action is unnecessary in
RBSA-Series(absolute type SCARA)
■ Outstanding Appearance, Convenient Maintenance
Our robot arm has outstanding appearance with one
line electric wiring. Also, our robot is designed for
convenient maintenance by effective power transmission
mechanism and component arrangement.
■ Model Nomenclature
R B S A 6 0 - 4 A - 200ST
Z-Axis Stroke
Version
Degree Of Freedom
Arm Length / 10
A : Absolute Encoder
I : Incremental Encoder
Robot Body(SCARA)
※ SCARA means "Selective Compliance Automatic Robot Arm"
II. About the product
- 5 -
▣ SCARA machine part specification
■ Basic Performance
footnote 1.※1)There are limitations on the speed and acceleration parameter setting in the maximum. 2.※2)The standard cycle time is the value of the case which the end effect of the robot operated a 300mm round trip to the top and bottom to a 25mm. 3.Please rotate the robot arm, positioning work as close to the lower part of the B-arm as possible. 4.In case of applying the robot whose arm length is over 900mm, there are limitations in working patterns according to the payload and load inertia.
Model Name
Item
700 Arm 800 Arm
RBSA(I)70-4B RBSA(I)80-4A RBSA(I)80-4B
Servo Motor/Degree of freedom Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4
Motion range:
Maximum speed
A-Axis ± 100°: 324°/s ± 125°: 248°/s ± 125°: 225°/s
B-Axis ± 135°: 324°/s ± 145°: 396°/s ± 145°: 360°/s
Z-Axis 200mm,300mm:750mm/s 200mm,300mm:1000mm/s 200mm,300mm:750mm/s
W-Axis ± 180°: 600°/s ± 180°: 720°/s ± 180°: 600°/s
Maximum Operation Speed 5,935mm/s 5,870mm/s 5,340mm/s
PayloadRated 10kg 5kg 10kg
Maximum※1 20kg 10kg 20kg
Repeatability
A,B-Axis Summation ± 0.03mm ± 0.03mm ± 0.03mm
Z-Axis ± 0.01mm ± 0.01mm ± 0.01mm
W-Axis ± 0.04° ± 0.04° ± 0.04°
Arm LengthA-Arm 350mm 450mm 450mm
B-Arm 350mm 350mm 350mm
Motor
Specification
And gear ratio
A-Axis AC 750W, 1/50 AC 750W, 1/80 AC 750W, 1/80
B-Axis AC 400W, 1/50 AC 400W, 1/50 AC 400W, 1/50
Z-Axis AC 200W, Lead:15 AC 200W, Lead:20 AC 200W, Lead:15
W-Axis AC 200W, 1/30 AC 200W, 1/25 AC 200W, 1/30
W-Axis Allowable
Moment of Inertia
Rated 0.573kgfcms2 0.349kgfcms2 0.573kgfcms2
Maximum※1 3.130kgfcms2 0.573kgfcms2 3.130kgfcms2
Standard Cycle Time※2 0.51sec 0.53sec 0.56sec
Signal lines for user 24Pin 24Pin 24Pin
Air horse for user Ø 6x4EA Ø 6x4EA Ø 6x4EA
Weight 73kg 73.5kg 74.5kg
Applied Controller RCMD4(RCM4)-8422 RCMD4(RCM4)-8422 RCMD4(RCM4)-8422
Model Name
Item
500 Arm 600 Arm 700 Arm
RBSA(I)50-4A RBSA(I)60-4A RBSA(I)70-4A
Servo Motor/Degree of freedom Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4
Motion range:
Maximum speed
A-Axis ± 95°: 396°/s ± 125°: 396°/s ± 100°: 360°/s
B-Axis ± 125°: 396°/s ± 140°: 396°/s ± 135°: 360°/s
Z-Axis 200mm,300mm:1000mm/s 200mm,300mm:1000mm/s 200mm,300mm:1000mm/s
W-Axis ± 180°: 900°/s ± 180°: 900°/s ± 180°: 720°/s
Maximum Operation Speed 5,180mm/s 5,870mm/s 6,590mm/s
PayloadRated 2kg 2kg 5kg
Maximum※1 5kg 5kg 10kg
Repeatability
A,B-Axis Summation ± 0.02mm ± 0.02mm ± 0.03mm
Z-Axis ± 0.01mm ± 0.01mm ± 0.01mm
W-Axis ± 0.03° ± 0.03° ± 0.04°
Arm LengthA-Arm 250mm 350mm 350mm
B-Arm 250mm 250mm 350mm
Motor
Specification
And gear ratio
A-Axis AC 400W, 1/50 AC 400W, 1/50 AC 750W, 1/50
B-Axis AC 200W, 1/50 AC 200W, 1/50 AC 400W, 1/50
Z-Axis AC 100W, Lead:20 AC 100W, Lead:20 AC 200W, Lead:20
W-Axis AC 100W, 1/20 AC 100W, 1/20 AC 200W, 1/25
W-Axis Allowable
Moment of Inertia
Rated 0.158kgfcms2 0.158kgfcms2 0.349kgfcms2
Maximum※1 0.268kgfcms2 0.268kgfcms2 0.573kgfcms2
Standard Cycle Time※2 0.45sec 0.47sec 0.48sec
Signal lines for user 24Pin 24Pin 24Pin
Air horse for user Ø 6x4EA Ø 6x4EA Ø 6x4EA
Weight 45kg 46kg 72kg
Applied Controller RCMD4(RCM4)-4211 RCMD4(RCM4)-4211 RCMD4(RCM4)-8422
II. About the product
- 6 -
■ Basic Performance
footnote 1.※1)There are limitations on the speed and acceleration parameter setting in the maximum. 2.※2)The standard cycle time is the value of the case which the end effect of the robot operated a 300mm round trip to the top and bottom to a 25mm. 3.Please rotate the robot arm, positioning work as close to the lower part of the B-arm as possible. 4.In case of applying the robot whose arm length is over 900mm, there are limitations in working patterns according to the payload and load inertia.
Model Name
Item
900 Arm 1000 Arm
RBSA(I)90-4A RBSA(I)90-4B RBSA(I)100-4A RBSA(I)100-4B
Servo Motor/Degree of freedom Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4
Motion range:
Maximum speed
A-Axis ± 125°: 225°/s ± 125°: 203°/s ± 125°: 225°/s ± 125°: 203°/s
B-Axis ± 145°: 360°/s ± 145°: 324°/s ± 145°: 225°/s ± 145°: 203°/s
Z-Axis 200mm,300mm:1000mm/s 200mm,300mm:750mm/s 200mm,300mm:1000mm/s 200mm,300mm:750mm/s
W-Axis ± 180°: 720°/s ± 180°: 600°/s ± 180°: 720°/s ± 180°: 600°/s
Maximum Operation Speed 5,730mm/s 5,160mm/s 5,690mm/s 5,120mm/s
PayloadRated 5kg 10kg 5kg 10kg
Maximum※1 10kg 20kg 10kg 20kg
Repeatability
A,B-Axis Summation ± 0.04mm ± 0.04mm ± 0.04mm ± 0.04mm
Z-Axis ± 0.01mm ± 0.01mm ± 0.01mm ± 0.01mm
W-Axis ± 0.04° ± 0.04° ± 0.04° ± 0.04°
Arm LengthA-Arm 550mm 550mm 550mm 550mm
B-Arm 350mm 350mm 450mm 450mm
Motor
Specification
And gear ratio
A-Axis AC 750W, 1/80 AC 750W, 1/80 AC 750W, 1/80 AC 750W, 1/80
B-Axis AC 400W, 1/50 AC 400W, 1/50 AC 400W, 1/80 AC 400W, 1/80
Z-Axis AC 200W, Lead:20 AC 200W, Lead:15 AC 200W, Lead:20 AC 200W, Lead:15
W-Axis AC 200W, 1/25 AC 200W, 1/30 AC 200W, 1/25 AC 200W, 1/30
W-Axis Allowable
Moment of Inertia
Rated 0.349kgfcms2 0.573kgfcms2 0.349kgfcms2 0.573kgfcms2
Maximum※1 0.573kgfcms2 3.130kgfcms2 0.573kgfcms2 3.130kgfcms2
Standard Cycle Time※2 0.53sec 0.56sec 0.54sec 0.57sec
Signal lines for user 24Pin 24Pin 24Pin 24Pin
Air horse for user Ø 6x4EA Ø 6x4EA Ø 6x4EA Ø 6x4EA
Weight 75kg 76kg 76.5kg 77.5kg
Applied Controller RCMD4(RCM4)-8422 RCMD4(RCM4)-8422 RCMD4(RCM4)-8422 RCMD4(RCM4)-8422
II. About the product
- 7 -
2. System configuration
P L C
Ⅲ. About the structure
- 8 -
Ⅲ. About the structure
1. Motion range and outline
▣ RBSA(I)50-4A
▣ RBSA(I)60-4A
Ⅲ. About the structure
- 9 -
■ Motion range and outline
▣ RBSA(I)70-4A
▣ RBSA(I)70-4B
Ⅲ. About the structure
- 10 -
■ Motion range and outline
▣ RBSA(I)80-4A
▣ RBSA(I)80-4B
Ⅲ. About the structure
- 11 -
■ Motion range and outline
▣ RBSA(I)90-4A
▣ RBSA(I)90-4B
Ⅲ. About the structure
- 12 -
■ Motion range and outline
▣ RBSA100-4A
▣ RBSA100-4B
Ⅲ. About the structure
- 13 -
2. Internal structure
(1) The internal structure of RBSI-Series SCARA(Incremental Encoder)
Ⅲ. About the structure
- 14 -
(2) The internal structure of RBSA-Series SCARA(Absolute Encoder)
Ⅲ. About the structure
- 15 -
3. Wiring Diagram
(1) Block Diagram Of RBSI-Series SCARA(Incremental Encoder)
Ⅲ. About the structure
- 16 -
(2) Block Diagram Of RBSA-Series SCARA(Absolute Encoder)
Ⅲ. About the structure
- 17 -
4. Pin assignment of connector
(1) Pin assignment Of RBSI-Series SCARA(Incremental Encoder)
X11,X21-X210,X31-X310,X41-X410Signal Connector
Line colorConnect to
(Motor part)
1 EA White → Red
A,B,Z,W-Axks
Motor Encoder
2 /EA Green → Pink
3 EB White → Green
4 /EB Brown → Blue
5 EZ White → Yellow
6 /EZ Blue→Orange
7 EU White→ Flesh
8 /EU Yellow → Brown
9 EV White → Green
10 /EV Gray → Gray
11 EW White → Cyan
12 /EW Orange → Violet
13 +5V White-Red → White
14 GND+ Black-Gray → Black
15FG
[SHIELD]Black → Black
X10,X20-X200,X30-X300,X40-X400Power Connector
Line colorConnect to
(Motor part)
1 U Red → Red
A,B,Z,W-Axis
Motor Power
2 V White → White
3 W Black → Black
4 FG Green → Green(Yellow)
※No.2 Pin is connected with No.4 pin(Blue-Blue).
X12,X22-X220,X32-X320,X42-X420Sensor Connector
Line colorConnect to
(Motor part)
1 +24V Green → Brown-Brown
A,B,Z,W-AxIs
Sensor
2 GND24Black-Black
→ Blue-Blue-Blue
3 SL+ Orange → Black
4 SL- Black → Blue
5 SORG Yellow → Black
6 No Connect
X5Body I/O Connector
Connect to(Connector)
24pin connector can be connected to X50
one to one in regular sequence.X50
X33Brake Connector
Line colorConnect to(Motor part)
22 BRK+ Brown → Yellow Z-Axis
Brake23 BRK- Black → Yellow
※X1 Body Connector is connected directly at motor Connector.
X1, X2, X3, X4Body Connector
(28Pin)Line color
Connect to(linking part)
Connector Pin Number
1 +5V Black -Red→White-Red
X11,X21,X31,X41
Signal Connector
13
2 No Connect -
3 GND5 Black -Red→Black-Gray 14
4 No Connect -
5 EA Brown→ White 1
6 /EA Brown(White) → Green 2
7 EU Violet → White 7
8 /EU Violet(White) → Yellow 8
9 EB Orange → White 3
10 /EB Orange(Black) → Brown 4
11 EV Gray → White 9
12 /EV Gray(Black) → Gray 10
13 EZ Yellow → White 5
14 /EZ Yellow(Black) → White 6
15 EW Pink→ White 11
16 /EW Pink(Black) → Orange 12
17 SL+ White → Orange
X12,X22,X32,X42
Sensor Connector
3
18 SL- White(Black) → Black 4
19 +24V Green → Green 1
20 GND24Green(White)-Blue(White)
→ Black-Black2
21 SORG Blue → Yellow 5
22 BRK+ Brown → Brown X33
Brake Connector
1
23 BRK- Black → Black 2
24FG(Encoder)
[SHIELD]Black → Black
X11,X21,X31,X41
Signal Connector15
A U Red → Red
X10,X20,X30,X40
Power Connector
1
B V White → White 2
C W Black → Black 3
D FG(Motor) Green(Yellow) → Green 4
Ⅲ. About the structure
- 18 -
(2) Pin assignment Of RBSA-Series SCARA(Absolute Encoder)
X5Body I/O Connector
Connect to
(Connector)
24pin connector can be connected to
X50 one to one in regular sequenceX50
X33-X330Brake Connector
Line colorConnect to(Motor part)
22 BRK+ Brown → Yellow Z-Axis
Brake23 BRK- Black → Yellow
※1)X1 Body Connector is connected directly at motor Connector.
2)No.10 Pin is connected with No.15 pin in Signal Connectors of X11,
X21,X31,X41(Black-Black).
X1, X2, X3, X4Body Connector
(28Pin)Line color
Connect to(linking part)
Connector Pin Number
1 +5V Black -Red→White-Red
X11,X21,X31,X41
Signal Connector
13
2 No Connect -
3 GND5 Black -Red→Black-Gray 14
4 No Connect -
5 EA Brown→ White 1
6 /EA Brown(White) → Green 2
7 No Connect -
8 No Connect -
9 EB Orange → White 3
10 /EB Orange(Black) → Brown 4
11 No Connect -
12 No Connect -
13 EZ Yellow → White 5
14 /EZ Yellow(Black) → White 6
15 RX Pink→ White 11
16 /RX Pink(Black) → Orange 12
17 No Connect
18 No Connect
19 No Connect
20 No Connect
21 No Connect
22 BRK+ Brown → Brown X33
Brake Connector
1
23 BRK- Black → Black 2
24FG(Encoder)
[SHIELD]
Black
→ Black-Black/Black
X11,X21,X31,X41
Signal Connector10/15
A U Red → Red
X10,X20,X30,X40
Power Connector
1
B V White → White 2
C W Black → Black 3
D FG(Motor) Green(Yellow) → Green 4
X11,X21-X210,X31-X310,X41-X410Signal Connector
Line colorConnect to
(Motor part)
1 EA White → Red
A,B,Z,W-Axks
Motor Encoder
2 /EA Green → Pink
3 EB White → Green
4 /EB Brown → Blue
5 EZ White → Yellow
6 /EZ Blue→Orange
7 BAT+ White→ Flesh
8 BAT- Yellow → Brown
9 CLR White → Green
10 FG Gray → Gray
11 EW White → Cyan
12 /EW Orange → Violet
13 +5V White-Red → White
14 GND+ Black-Gray → Black
15FG
[SHIELD]Black → Black
X10,X20-X200,X30-X300,X40-X400Power Connector
Line colorConnect to
(Motor part)
1 U Red → Red
A,B,Z,W-Axis
Motor Power
2 V White → White
3 W Black → Black
4 FG Green → Green(Yellow)
X61,X62,X63,X64Encoder BackupBattery Connector
Line color
Connect to(linking part)
Connector Pin Number
1 CLR Red → Red
X11,X21,X31,X41Signal Connector
9
2 +5VWhite
→ Black-Red-White13
3 BAT- Black → Black 8
4 BAT+ Green → Green 7
Ⅳ. About the Installation
- 19 -
Ⅳ. About the Installation
1. Carrying the Robot
When carrying the robot, please follow the next guidelines.
1) Please fix Base and A-Arm using A-Arm parking bracket and two hexagon socket head cap
screws(M5×10L).
2) Please fix A-Arm and B-Arm using B-Arm parking bracket and two hexagon socket head cap
screws(M5×10L).
3) Please, insert M10 eye bolts at the side of Base and penetrate the eye of eye bolt with the
sling or rope. Then, carry the robot using the hoist or bar.
When carrying the robot, don't apply any excessive force to the robot arm and simply support the
robot in order to keep the horizontal attitude.
Ⅳ. About the Installation
- 20 -
2. Environments of Installation
When installing the main body of the robot, pay special attention to the followings. Bad
environments of installation can cause the malfunction or the break down of the machine.
Item Environments of Installation
Working Temperature 0℃ - 40℃
Conserving Temperature -10℃ - 55℃
Working Humidity below (RH) 85% (without dew)
Conserving Humidity below (RH) 95% (without dew)
Working Place
① indoors
② a place without inflammable or corrosive gas
③ a place with little vibration
④ a place without electrical noise
⑤ a convenient place for inspection and disassembly of the robot
3. Installing the Robot
When installing the robot in the work frame, please obey the followings.
1) As the work frame, please use the steel plate over 20mm thick and below 0.2mm flat.
2) Using the level measuring device, keep the horizontal attitude.
3) Please set up the controller part outside the work space of the robot.
4)When fixing the robot to the work frame, please use four hexagon socket head cap screws and
the fixing torque is as follows
Model Name Fixing Bolt Fixing TorqueRBSA(I)50, RBSA(I)60 M10 750kgf cm
RBSA(I)70, RBSA(I)80, RBSA(I)90, RBSA(I)100 M12 1310kgf cm
Ⅴ. About the Application
- 21 -
Ⅴ. About the Application
1. Attaching the Robot Main Body and Work
When attaching the robot main body to work frame or work to the tip of W axis refer the measures
described in the following attachment surface diagram.
2. Using the Robot Body I/O and the Air Hose
In the robot main body, two 24 pin type body I/O connectors (SRCN2A16-24S : Sam Woo company) are
one to one connected in the regular sequence to the base rear cover and B-Arm upper cover
respectively and two Ø 6 pneumatic one-touch pittings(PMM0600) are set up at both two covers.
When using the body I/O, utilize the two 10 pin type body I/O connectors (SRCN2A16-24P : Sam Woo
company) which are provided for user. On the other hand, when using the pneumatic pitting, utilize
the air hose which is suitable for Ø 6.
Ⅴ. About the Application
- 22 -
3. W-Axis Allowable Inertia (Moment of Inertia) and Calculation
(1)W-Axis Allowable Moment of Inertia
When designing the work attached to the tip of W-axis, the Moment of inertia of the
work(Including hand, tool) should be less than the maximum allowable moment of inertia. By
model, the maximum allowable moment of inertia of Robot is as follows.
Model nameThe Rated
Payload[kgf]
W-Axis Maximum Allowable Inertia Jmax
[kgfcms2] [kgm2]
RBSA(I)50-4A, RBSA(I)60-4A 2(Speed 100%) 0.158 0.0155
5(Speed 70%) 0.268 0.0263
RBSA(I)70-4A, RBSA(I)80-4A,
RBSA(I)90-4A, RBSA(I)100-4A
5(Speed 100%) 0.349 0.0343
10(Speed 70%) 0.573 0.0563
RBSA(I)70-4B, RBSA(I)80-4B,
RBSA(I)90-4B, RBSA(I)100-4B
10(Speed 100%) 0.573 0.0563
20(Speed 70%) 3.130 0.3074
(2)The Payload of Work, the distance from Center of W-axis, Moment of Inertia by model
When designing the work attached to the tip of W-axis, Plaese refer the follow
figures which are showing the relationship of the Payload of Work, the distance from
Center of W-axis and moment of Inertia by model.
1) Applied model : RBSA(I)50-4A, RBSA(I)60-4A
① In case of payload : 2[kgf], speed:100[%], W-axis maximum allowable moment of inertia :
0.158[kgfcms2] = 0.0155[kgm2]
Ⅴ. About the Application
- 23 -
② In case of payload : 5[kgf], speed:70[%], W-axis maximum allowable moment of inertia :
0.268[kgfcms2] = 0.0263[kgm2]
2) Applied model : RBSA(I)70-4A, RBSA(I)80-4A, RBSA(I)90-4A, RBSA(I)100-4A
① In case of payload : 5[kgf], speed:100[%], W-axis maximum allowable moment of inertia :
0.349[kgfcms2] = 0.0343[kgm2]
Ⅴ. About the Application
- 24 -
② In case of payload : 10[kgf], speed:70[%], W-axis maximum allowable moment of inertia :
0.573[kgfcms2] = 0.0563[kgm2]
3) Applied model : RBSA(I)70-4B, RBSA(I)80-4B, RBSA(I)90-4B, RBSA(I)100-4B
① In case of payload : 10[kgf], speed:100[%], W-axis maximum allowable moment of inertia :
0.573[kgfcms2] = 0.0563[kgm2]
Ⅴ. About the Application
- 25 -
② In case of payload : 20[kgf], speed:70[%], W-axis maximum allowable moment of inertia :
3.130[kgfcms2] = 0.3074[kgm2]
(3) The Calculation of Moment of Inertia of a Work When caculating the moment of inertia of a work, Plaese refer the follow formulae.
1) The Moment of Inertia of Mass Point
J 0 =Wg
x 2 [ kgf cm s 2 ]
W : Weight of mass point[kgf]
g : Gravitational acceleration[980 cm/s2]
x : Distance between center of rotation
and mass point[cm]
or,
J 0 = m x 2 [kg m 2 ]
m : Mass of mass point [kg]
x : Distance between center of rotation
and mass point[m]
Ⅴ. About the Application
- 26 -
2) The Moment of Inertia of Cylinder
J 0 =Wr 2
2g[ kgf cm s 2 ]
W : Weight of cylinder[kgf]
g : Gravitational acceleration[980 cm/s2]
r : Radius of cylinder[cm]
or,
J 0 =mr 2
2[kg m 2 ]
m : Mass of cylinder[kg]
r : Radius of cylinder[m]
In case the axis of rotational center is differnt,
J 0 =Wg
(r 2
4+
l 2
12)[ kgf cm s 2 ]
W : Weight of cylinder[kgf]
g : Gravitational acceleration[980 cm/s2]
r : Radius of cylinder[cm]
l : Length of cylinder[cm]
or,
J 0 = m(r2
4+
l2
12)[kg m 2]
m : Mass of cylinder[kg]
r : Radius of cylinder[m]
l : Length of cylinder[m]
3) The Moment of Inertia of Cuboid
J 0 =Wg
(b 2 + c 2)12
[kgf cm s 2 ]
W : Weight of cuboid[kgf]
g : Gravitational acceleration[980 cm/s2]
b,c : Length of cuboid[cm]
or,
J 0 =m(b 2+ c 2)
12[kg m 2]
m : mass of cuboid[kg]
b,c : Length of cuboid[m]
Ⅴ. About the Application
- 27 -
4) The Moment of Inertia of Sphere
J 0 =2Wr 2
5g[kgf cm s 2 ]
W : Weight of sphere[kgf]
g : Gravitational acceleration[980 cm/s2]
r : Radius of sphere [cm]
or,
J 0 =2mr2
5[kg m 2]
m : mass of sphere [kg]
r : Radius of sphere [m]
5) In case the center of rotation is away from the center of a work, the Moment of Inertia
If the center of rotation is away from the center of a work, find first the moment of
inertia(J0) at the center of gravity of work, and then it is possible to calulate the
moment of Inertia at the center of rotation by using "Parallel axis theorem about moment
of inertia"
① In case the shape of work is cylinder
J= J0+Wg
x2
=Wr 2
2g+
Wg
x 2 [kgf cm s 2 ]
J0 : Moment of inertia at center
of gravity of cylinder[kgfcms²]
W : Weight of cylinder[kgf]
g : Gravitational acceleration[980 cm/s2]
r : Radius of cylinder [cm]
x : Distance between center of rotation
and center of gravity of cylinder[cm]
or,
J= J0+ m x 2
=mr 2
2+ m x 2 [kg m 2 ]
J0 : Moment of inertia at center
of gravity of cylinder[kgm²]
m : Weight of cylinder[kg]
r : Radius of cylinder[m]
x : Distance between center of rotation
and center of gravity of cylinder[m]
Ⅴ. About the Application
- 28 -
In case the axis of rotational center is differnt,
J= J0+Wg
x2
=Wg
(r2
4+
l2
12)+
Wg
x 2 [kgf cm s 2]
J0 : Moment of inertia at center
of gravity of cylinder[kgfcms²]
W : Weight of cylinder[kgf]
g : Gravitational acceleration[980 cm/s2]
r : Radius of cylinder [cm]
x : Distance between center of rotation
and center of gravity of cylinder[cm]
l : Length of cylinder [cm]
or,
J= J0+ m x 2
= m(r2
4+
l2
12)+ m x 2 [kg m 2]
J0 : Moment of inertia at center
of gravity of cylinder[kgm²]
m : mass of cylinder[kg]
r : Radius of cylinder [m]
x : Distance between center of rotation
and center of gravity of cylinder[m]
l : Length of cylinder [m]
② In case the shape of work is cuboid
J= J0+Wg
x2
=Wg
(b 2+ c 2)12
+Wg
x 2 [kgf cm s 2]
J0 : Moment of inertia at center
of gravity of cuboid[kgfcms²]
W : Weight of coboid[kgf]
g : Gravitational acceleration[980 cm/s2]
b,c : Length of cuboid[cm]
x : Distance between center of rotation
and center of gravity of cuboid[cm]
or,
J= J0+ m x 2
=m(b 2+ c 2)
12+ m x 2 [kg m 2]
J0 : Moment of inertia at center
of gravity of cuboid[kgm²]
m : mass of cuboid[kg]
b,c : Length of cuboid[m]
x : Distance between center of rotation
and center of gravity of cuboid[m]
Ⅴ. About the Application
- 29 -
③ In case the shape of work is sphere
J= J0+Wg
x2
=2Wr2
5g+
Wg
x 2 [kgf cm s 2]
J0 : Moment of inertia at center
of gravity of sphere[kgfcms²]
W : Weight of sphere[kgf]
g : Gravitational acceleration[980 cm/s2]
r : Radius of sphere[cm]
x : Distance between center of rotation
and center of gravity of sphere[cm]
or,
J= J0+ m x 2
=2mr2
5+ m x 2 [kg m 2]
J0 : Moment of inertia at center
of gravity of sphere [kgm²]
m : mass of sphere [kg]
r : Radius of sphere[m]
x : Distance between center of rotation
and center of gravity of sphere[m]
Ⅴ. About the Application
- 30 -
6) Caulation Example of Moment of Inertia
When you need to calculate the moment of inertia of a complecated shape as follows
break up the element into parts for easier calculation that is, cuboid ① and ③, cylinder ②.
- the caculation of moment of inertia around W-axis of cuboid ① :
J① =Wg
(b2+c2)12
+Wg
x2
=0.25980
(152+1.52)12
+0.25980
32=7.13 ×10 - 3[kgf cm s2]
or,
J① =m(b2+c2)
12+m x2
=0.25(0.152+0.0152)
12+0.25×0.032=6.98×10 -4[kg m2]
- the caculation of moment of inertia around W-axis of cylinder ② :
J② =Wr2
2g+
Wg
x2
=0.15×22
2×980+
0.15980
52=4.13×10 - 3[kgf cm s2]
or,
J② =mr2
2+ m x 2
=0.15×0.022
2+0.15×0.052=4.05×10 -4[kg m2]
Ⅴ. About the Application
- 31 -
- the caculation of moment of inertia around W-axis of cuboid ③ :
J③ =Wg
(b2+c2)12
+Wg
x2
=0.2980
(2.52+32)12
+0.2980
82=0.0133[kgf cm s2]
or,
J③ =m(b2+c2)
12+m x 2
=0.2(0.0252+0.032)
12+0.2×0.082=1.31×10 -3[kg m2]
Moment of inertia around entire work :
J= J①+J②+J③ =7.13×10 - 3+4.13×10 - 3+0.0133=0.02456[ kgf cm s2]
or,
J= J①+J②+J③ =6.98×10 -4+4.05×10 -4+1.31×10 -3=0.00241[kg m2]
Ⅵ. About Maintenance and Repair
- 32 -
Ⅵ. About Maintenance and Repair
1. Maintenance And Repair
To maintain the optimal performance of the robot, proper inspection is needed. There are test
inspection (inspection at installing the robot) and periodical inspection in inspection types.
(1) Test Inspection
① Please check if the work frame is horizontal and the robot is set up at the work
perpendicular to the work frame.
② Please check if the movement of each axis is smooth. Specifically, check if there is no
vibration in the movement of the robot, when you see the robot with the naked eye.
③ Please check if the abnormal sound is generated at the reduction gear part of each axis. When
detecting the abnormal sound, please recognize the situation in detail and contact our
company.
④ Please check if the bolts which fix the robot to the work frame are tightened within the
specified torque.
(2) Periodical Inspection
1) The Robot Fixing Bolt and the Tightening Torque
In case of the frame thickness is over 20mm, use the hexagon socket head cap screws of M10× 40L
(Tightening torque=750 kgfcm) and M12× 40L(Tightening torque=1310 kgfcm) to fix the robot to the
work frame. Please verify the fixing bolts again one week after the initial run. Loose bolts can
reduce the position accuracy and can cause the danger at emergency. So, check the bolts every 6
months. To prevent the bolts to be loose, looseproof bolts can be used.
When replacing with the other components, please refer the tightening torque in the following
table.
2) Verify The Horizontal Level
Please verify the horizontal level of the work frame again one week after the initial run and
check it periodically every 6 months. Bad horizontal level can cause poor result, vibration and
trouble of the robot.
Inspection Part Name Inspection Item Inspection Period Remark
Robot Fixing Bolt Tightening Torque 6 MonthsM10 Tightening Torque = 750 kgfcm
M12 Tightening Torque = 1310 kgfcm
Work Frame Horizontal Level 6 Months Measured By The Water Level Meter.
Z,W-Axis Ball Screw Spline Greese Injection 6 Months Lithium Greese No. 2
A, B Axis Decelerator Greese Injection 12 Months Harmonic Greese SK-1A
Z, W Axis Timing Belt Belt Tension 3 Months -
unit : kgfcmMaterial of tapped part M3 M4 M5 M6 M8 M10 M12 Remark
Aluminium 13 30 60 100 250 485 850
Harmonic Drive, Steel, Iron 20 46 92 156 380 750 1,310
Cast-iron 17 39 78 132 320 640 1,110
Ⅵ. About Maintenance and Repair
- 33 -
3) Ball Screw Spline Greese Injection
Since, in ball screw spline, ball screw spline shaft is generally running by rotation of the ball
screw spline nuts, greece is apt to be scattered. Therefore, greese is injected periodically.
- Used greese … Shell Albania No.2 (Lithium greese No.2)
- Used tool … Cross screw driver S type (Cross recessed truss head screw)
L Wrench (Hexagon socket head cap screw)
[Greese Injection Sequence]
① Shut off the controller power.
② As in the following figure, release B-Arm upper cover fixing M3*8L cross recessed truss head
screws and M3*12L hexagon socket head cap screws, and then lift the cover to the upside.
③ Please spread greese to the ball screw spline shaft. At this time, if greese is too much, it
can be scattered. Therefore, spread greese properly.
④ After greese injection is completed, close the B-Arm upper cover and fasten the screws and
bolts again.
Ⅵ. About Maintenance and Repair
- 34 -
2. Exchange of the Sensor
Please contact our company to exchange the poor sensor in RBSI Series(Incremental encoder type). For
the spare stock, the specification of the sensor is as follows.
3. Exchange Of The Motor
Please contact our company to exchange the poor motor. For the spare stock, the specification of
the motor is as follows.
Unit:Piece
Axis Name Product Name Specification Quantity Manufacturer Remark
A-AxisContact Sensor GXL-8FIB 1 SUNX Origin
" GXL-8FB 1 SUNX Limit
B-Axis" GXL-8FIB 1 SUNX Origin
" GXL-8FB 1 SUNX Limit
Z-Axis" GXL-8FIB 1 SUNX Origin
" GXL-8FB 1 SUNX Limit
W-Axis " GXL-8FIB 1 SUNX Origin
- Motor Spec. of RBSI Series (Incremental Encoder) Unit:PieceProduct
Name
Applied
model
Axis
NameSpecification Quantity Manufacturer Remark
AC Servo
Motor
RBSI50
RBSI60
A-axis MSMZ042B2U(400W) 1 Panasonic Shaft Diameter:Ø 14mm
B-axis MSMZ022B2U(200W) 1 " Shaft Diameter:Ø 1mm
Z-axis MSMZ012B1F(100W) 1 " Shaft Diameter:Ø 8mm(+Brake)
W-axis MSMZ012B1A(100W) 1 " Shaft Diameter:Ø 8mm
RBSI70
RBSI80
RBSI90
RBSI100
A-axis MSMZ082B2U(750W) 1 " Shaft Diameter:Ø 14mm
B-axis MSMZ042B2S(400W) 1 " Shaft Diameter:Ø 14mm
Z-axis MSMZ022B1F(200W) 1 " Shaft Diameter:Ø 11mm(+Brake)
W-axis MSMZ022B1E(200W) 1 " Shaft Diameter:Ø 11mm
- Motor Spec. of RBSA Series(Absolute Encoder) Unit:PieceProduct
Name
Applied
model
Axis
NameSpecification Quantity Manufacturer Remark
AC Servo
Motor
RBSA50
RBSA60
A-axis MSMA042Q2U(400W) 1 Panasonic Shaft Diameter:Ø 14mm
B-axis MSMA022Q2S(200W) 1 " Shaft Diameter:Ø 1mm
Z-axis MSMA012Q2B(100W) 1 " Shaft Diameter:Ø 8mm(+Brake)
W-axis MSMA012Q2E(100W) 1 " Shaft Diameter:Ø 8mm
RBSA70
RBSA80
RBSA90
RBSA100
A-axis MSMA082Q3U(750W) 1 " Shaft Diameter:Ø 14mm
B-axis MSMA042Q2S(400W) 1 " Shaft Diameter:Ø 14mm
Z-axis MSMA022Q2B(200W) 1 " Shaft Diameter:Ø 11mm(+Brake)
W-axis MSMA022Q2E(200W) 1 " Shaft Diameter:Ø 11mm
Ⅵ. About Maintenance and Repair
- 35 -
4. Exchange of the Reduction Gear and Ball Screw Spline
Please contact our company to exchange the poor reduction gear and poor ball screw spline. For the
spare stock, the specification of reduction gear and ball screw spline is as follows.
- Harmonic Drive Spec. Unit:PieceProduct
Name
Applied
model
Axis
NameSpecification Gear
Ratio Quantity Manufacturer Remark
Harmonic
Drive
RBSA(I)50
RBSA(I)60
A-axis CSF-32-50-2UH 1/50 1 Harmonic
Drive
Systems
Shaft Diameter:Ø 14mm
B-axis CSF-25-50-2UH-SP 1/50 1 Shaft Diameter:Ø 11mm
RBSA(I)70A-axis CSF-40-50-2UH 1/50 1
〃Shaft Diameter:Ø 14mm
B-axis CSF-32-50-2UH 1/50 1 Shaft Diameter:Ø 14mm
RBSA(I)80
RBSA(I)90
A-axis CSF-40-80-2UH 1/80 1〃
Shaft Diameter:Ø 14mm
B-axis CSF-32-50-2UH 1/50 1 Shaft Diameter:Ø 14mm
RBSA(I)100A-axis CSF-40-80-2UH 1/80 1
〃Shaft Diameter:Ø 14mm
B-axis CSF-32-80-2UH 1/80 1 Shaft Diameter:Ø 14mm
- Kamo Reduction Gear Spec. Unit:PieceProduct
Name
Applied
model
Axis
NameSpecification Gear
Ratio Quantity Manufacturer Remark
Kamo
Reduction
Gear
RBSA(I)50
RBSA(I)60W-axis BR 65 UH-20-K 1/20 1 KAMO Shaft Diameter:Ø 8mm
RBSA(I)70
RBSA(I)80
RBSA(I)90
RBSA(I)100
〃 BR 85 UH-20-K 1/20 1 〃 Shaft Diameter:Ø 11mm
- Ball Screw Spline Spec. Unit:PieceProduct
Name
Applied
modelStroke Specification
Shaft Diameter Lead Quantity Manufacturer Remark
Ball
Screw
Spline
RBSA(I)50-4A
RBSA(I)60-4A
200mm BNS2020-460L-C5N Ø 20mm 20mm 1 THK
300mm BNS2020-560L-C5N Ø 20mm 20mm 1 〃
RBSA(I)70-4A
RBSA(I)80-4A
RBSA(I)90-4A
RBSA(I)100-4A
200mm BNS2525-485L-C5N Ø 25mm 25mm 1 〃
300mm BNS2525-585L-C5N Ø 25mm 25mm 1 〃
RBSA(I)70-4B
RBSA(I)80-4B
RBSA(I)90-4B
RBSA(I)100-4B
200mm BNS2525-515L-C5N Ø 25mm 25mm 1 〃
300mm BNS2525-615L-C5N Ø 25mm 25mm 1 〃
Ⅵ. About Maintenance and Repair
- 36 -
5. Exchange of the Timing Belt
Please contact our company to exchange the poor Timing Belt . For the spare stock, the specification
of the timing belt is as follows.
Unit:Piece
Product
Name
Applied
model
Axis
NameSpecification
Belt
WidthQuantity Manufacturer Remark
Timing
Belt
RBSA(I)50-4A
RBSA(I)60-4A
Z-axis B120-S3M-327 12mm 1
Mitsuboshi
W-axis B150-S3M-474 15mm 1
RBSA(I)70-4A
RBSA(I)80-4A
RBSA(I)90-4A
RBSA(I)100-4A
Z-axis B150-S3M-432 12mm 1
〃
W-axis B150 S5M 650 15mm 1
RBSA(I)70-4B
RBSA(I)80-4B
RBSA(I)90-4B
RBSA(I)100-4B
Z-axis B150-S3M-432 12mm 1
〃
W-axis B150 S5M 625 15mm 1
Ⅶ. About Applied controller
- 37 -
Ⅶ. About Applied controller
1. Features
RCM series Robot controller is equipped with 32-Bit RISC CPU and has compact design embedding
servo AMP. The features of the controller is as follows.
- It can construct the Robot system without additional PLC (simple PLC is embedded)
- It has the rich embedded Robot instructions
- It provides the rich input/output interfaces (standard:16/16 points, extended:32/32 points)
- The parameters and the gains of the controller can be easily changed.
- It can monitor the input/output, speed, position and torque while working
- It provides HOST package with various functions (DOS WINDOWS)
- Palletizing, Sealing, etc, available
- 3 dimensional interpolation control with Arc, Circle, high speed and precision
- Parallel processing of the Robot commands while working
- Multi-tasking between Robot operation and simple PLC sequence
2. Controller Specification
Item Contents
PowerPower Input : AC 220V(+10%‾-15%), 50‾60HzPower Capacity : 4.5kVA(4 Axis)
Voltage TolerancePower : ± 1,500Vp-p, 1usec, 1min (COMMON, NORMAL Mode)Motor/Encoder : ± 1,500Vp-p, 1usec, 1min(Induced Noise)Input/Output : ± 1,500Vp-p, 1usec, 1min(Induced Noise)
Insulation Resistance Between Power Input And FG : Over 20㏁
Instantaneous Power Failure Tolerance 1/2 Cycle Per 10 Periods Of Input Power Frequency
Encoder Specification Incremental Encoder (Line Drive Type)
Program Capacity 100JOB(1 JOB = 1,000 STEP + 1,000 POINT)
Position Precision Within ± 1 Pulse Of the Encoder
Servo Capacity RCM4 : 4 Axes Summation 4.0 Kw ( Maximum 1KW/1 Axis)
I/O
Input/Output Voltage : 24V, 500mA(Internal Power)Minimum Input Current : 5 mA/1 PointMaximum Output Current : 50 mA/1 PointSystem Input/Output : 15/17 PointUser Input/Output : 16/16 PointExtended Input/Output : 32/32 Point
Teaching Method Teach Pendant(Direct Teaching, MDI), Host(On-Line)
Memory Back-Up RAM : 128 Kbytes(Extended Option : 512 Kbytes)
Communication Port Teach Pendant, Host(RS232C)
Function and PerformanceOn-Line, Simple Plc Function, Robot Language Function, I/O Parallel Processing, single Step, Automatic Operation, Go-to, Speed Override, PTP, CP, Motion Control Of Arc Motion
Protection Function Self Test, Emergency Stop, Error Recovery, Status Monitoring
Option Host Package, System Unit, I/O Jig, Cable
OthersFront Panel : Switch And Display(7-Segment)Control Axis Structure : 3, 4 AxisBrake Control : Motor Brake Drive For 24 V
Ⅶ. About Applied controller
- 38 -
3. RCM Controller Nomenclature
RCM4 - 4211 - MI - A - C
(Example)
◎ 4 axis RCM type(A:400W, B:200W, Z:100W, W:100W), Minas 15-wire incremental encoder type, Equipped
with one option I/O board, CE certification item -> RCM4-4211-MI-A-C
4. Teach Pendant
● LCD Display (4Lines × 20 Characters)
● T/P emergency function
● JOG operation function
● Program edit function
● Parameter edit function
5. System UNIT
● 7-Segment Display
● Program selection function
● Mode selection function(Auto-run, Step-Run Mode)
● Program Start, Stop, Reset
Servo motor capacity for A, B, Z, W axis
X : Not Used, F : 50W, 1 : 100W, 2 : 200 W,
4 : 200 W, 6 : 600 W, 8 : 750W(800W)
Option(Selection item)
A : Equipped with one option I/O board
N : Standard(Omitted if not equipped)
Controller type
RCM4 : 4 axis RCM type(Currunt model)
RCMD4 : 4 axis RCM Digital type(New model)
Applied Motor and encoder type
MC : Minas compact absolute encoder type
MI : Minas 15-wire incremental encoder type
Sale break
S : Standard
C : CE certification item
Ⅶ. About Applied controller
- 39 -
6. External Shape Diagram of RCM4 Controller and Teach Pendant
- External Shape Diagram of RCM4 Controller
- External Shape Diagram of Teach Pendant
Ⅷ. Trouble Shooting
- 40 -
Ⅷ. Trouble Shooting
1. Table of Trouble Shooting
No. State Cause Solution
1During set up, the precision can
not be obtained
1) When the fixing bolt of the robot is not
tightly fixed
2) When the robot arm is contacted with the
peripheral device
3) When the vibration is transferred from the
peripheral device
4) When the robot is over loaded
5) When the robot hand is not fixed tightly
6) When the tension of the timing belt is not
proper
1) Fix the robot tightly to the frame
2) Make the robot arm not be contacted with
the peripheral device
3) Set up the robot apart from the vibration
source
4) Adjust the load within the rated payload
and speed
5) Fix the hand tightly
6) Adjust the tension of the timing belt
properly
2
During operation, the precision
can not be obtained and the
position is deviated and the
deviated position can not be
corrected
1) When the fixing bolt of the robot is not
tightly fixed
2) When the tension of the timing belt is not
proper
3) When turning the power off or operating
the robot manually, the position is
deviated
4) When the reduction gear and ball screw of
each axis is damaged or outworn
5) When there is the noise source in the
surroundings
1) Fix the robot tightly to the frame
2) Adjust the tension of the timing belt
properly
3) check the bolt for fixing the robot arm
and fix it tightly
4) exchange the reduction gear and ball screw
of each axis
5) remove the noise source
3
The robot arm is vibrated ( there
is large residual vibration during
position determination)
1) When the robot is over loaded
2) When the fixing bolt of the robot is not
tightly fixed
3) When the tension of the timing belt is not
proper
4) When turning the power off or operating
the robot manually, the position is
deviated
5) When the reduction gear and ball screw of
each axis is damaged or outworn
6) When operating the robot delicately (below
10mm) with the arm stretched, the robot
arm is vibrated
7) When operating the robot with the same
frequency as the natural frequency of the
robot arm
1) Adjust the load within the rated payload
and speed
2) Fix the robot tightly to the frame
3) Adjust the tension of the timing belt
properly
4) check the bolt for fixing the robot arm
and fix it tightly
5) exchange the reduction gear and ball screw
of each axis
6) increase the acceleration and deceleration
time
7) change the speed and acceleration and
deceleration slightly
4The robot arm is vibrated (at low
speed operation)
1) When the robot arm is vibrated at high
speed operation also
2) When the vibration level is different
according to the position of the robot
arm
1) refer to “1. During set up, the precision
can not be obtained” and 3. The robot
arm is vibrated (there is large
residual vibration during position
determination)”
2) change the speed before use
Ⅷ. Trouble Shooting
- 41 -
No. state cause solution
5Abnormal sound generation
(during operation)
Assign the noise source by manipulating the
system via one axis or manually
1) When the tension of the timing belt is not
proper
2) When Z axis brake operates abnormally
3) When the cover or cable is collided with
others
4) When the screw for fixing the cover is
loose
5) When the abnormal sound is generated at
reduction gear
6) When the abnormal sound is generated near
Z axis
1) Adjust the tension of the timing belt
properly
2) After release the brake while motor off
state, check the opera- tion of Z axis. Then,
check the brake again. If there is trouble in
the brake, exchange Z axis motor
3) Take care that the cover or cable is not
collided with others
4) Check the cover fixing screw. If the screw
is loose, fix the screw tightly again
5) Exchange greese of the reduction gear. If
there remains the strange noise after greese
exchange, ex- change the reduction gear
6) Inject greese to the ball screw and ball
spline shaft. If there remains the strange
noise after greese injection, exchange the
ball screw or ball spline
6Abnormal sound generation
(during stop)
The abnormal noise during stop is caused by
motor vibration in mechanical system
operation
1) When the tension of the timing belt is not
proper
2) When the reduction gear and ball screw of
each axis is damaged or outworn
1) Adjust the tension of the timing belt
properly
2) exchange the reduction gear and ball screw
of each axis
7The position is deviated by
abnormal shock
1) When the deceleration of A axis or B axis
get out of gear by excessive torque
1) Adjust the offset of teach pen- dant using
the triangle origin mark sticker in the
body of A axis and B axis
8 The sensor operation is poor
1) When there is a large gap between the
sensor and the sensor dog
2) When the sensor is damaged
3) When the origin parameter is set
improperly
1) Adjust the gap between sensor and the
sensor dog
2) Exchange the sensor
3) Set the parameter properly again
9The robot performs unstable
operation or over run
1) When the robot cable is poor
2) When the cable is broken by improper use of
Cableveyor
3) When the connection of the body connector
and the internal connector is imperfect
1) Exchange the cable
2) Select the proper Cableveyor
3) Recover the perfect connection
10the robot does not move to the
teached position
1) When Pitch/Rev(Gear Ratio) value is wrong
2) When the origin sensor and encoder Z phase
is equal of close
1) Adjust Pitch/Rev(Gear Ratio) value
2) When Z phase values is not in 1,000‾7,000
after origin operation is completed in Teach
Pendant, adjust the origin sensor or the
position of coupling
Ⅷ. Trouble Shooting
- 42 -
2. Adjustment of Offset(Calibration)
When the origin position is changed from the initial origin position by external shock, exchange
adjustment of sensor, exchange of motor and reduction gear, the previously used work points can not
be used.
In case of using the previous work program(JOB file) without changing points, if adjusting as
follows “OFFSET” in the robot controller parameter, the previously used work points can be used.
<The method to modify OFFSET value in the parameter>
[To show an upside's OFFSET screen, press key of Teach Pendant in the sequence following]
1)Modifying the offset value using the number key of Teach Pendant and the user offset value
※1. The method of the Origin execution, refer to the parameter and origin mode in "RCM series user'manual".
Teach Pendant
Screen The offset value set at present
after executing the origin※1 OFFSET
A:1.23 B:-5.25
Z:0.00 W:0.00
EDIT CALIB
Initial
Menu Screen
4
LPARAMETER(0)
Screen
1
QGROUP:BODY
Screen
4
LOFFSET
Screen
① Install hexagon socket head screw(M6x12L) as following illustration.
② Note the position, in which A-axis and B-axis arms keep contact to hexagon socket head
screw(M6x12L).
③ Modify OFFSET value on OFFSET screen.
(Refer to the user offset value indicated on the name plate at the back of the SCARA)
Input the offset value using the
number key (Refer to the user
offset value indicated on the name
plate at the back of the SCARA).
OFFSET
A:1.23 B:-5.25
Z: 0 W: 0
EDIT CALIB
0
V
9
1∼
OFFSET
A: 2.23 B:-15.25
Z: 0 W: 0
EDIT CALIB
OFFSET
A: 1.23 B:-5.25
Z: 0 W: 0
EDIT CALIB
F1 ESC
Ⅷ. Trouble Shooting
- 43 -
Offset value modified is applied after executing the Origin and the Origin should be executed
certainly.
2)Modifying the offset value using the CALIBRATION menu
Offset value modified is applied after executing the Origin and the Origin should be executed
certainly.
F2 ESC
ZERO CALIBRATION
A:1.23 B:-5.25
Z: 0 W: 0
A B Z W
ZERO CALIBRATION
A: 5.25 B:-15.25
Z: 0 W: 0
A B Z W
Indicator(▼▲) should be coincided with each other!
ZERO CALIBRATION
A: 5.25 B:-15.25
Z: 0 W: 0
update A?(enter/esc)
F1
ZERO CALIBRATION
A: 5.25 B:-15.25
Z: 0 W: 0
update B?(enter/esc)
F2
ENTER
ZERO CALIBRATION
A: 5.25 B:-15.25
Z: 0 W: 0
A B Z W
OFFSET
A: 5.25 B:-15.25
Z: 0 W: 0
Please ORIGIN
ESC
ESC
OFFSET
A: 2.23 B:-15.25
Z: 0 W: 0
update?(enter/esc)ENTER
OFFSET
A: 2.23 B:-15.25
Z: 0 W: 0
Please ORIGIN
Ⅷ. Trouble Shooting
- 44 -
3)Confirming the modification about the offset value
Confirming whether the offset value is modified correctly after it is modified.
1) Executing the ORIGIN.
2) Confirming the offset value at the Point Teaching Screen of the JOB Mode.
1.JOB 2.RUN
3.HOST 4.PARA
5.ORIGIN 6.I/O
7.SYSTEM Select#
JOB EDIT
DIR JEDIT
*0.A 23 STEP
.-- --
.-- --
COPY REN DEL EDIT
F11
QF2
*0.A 23 STEP
.-- --
.-- --
PROG POINT PLC
F2 F:A P:0 US B
A:0 B:0
Z:0 W:0
MDI CURR EDIT QUIT
F1 MDI
Teaching
MDI Teaching
F:A P:0 US B L
A:■ B:0
Z:0 W:0
EXCH CORD PJUMP FWRD
0
VENTER
F:A P:0 US B L
A:0 B:0
Z:0 W:■
EXCH CORD PJUMP FWRD
F1
F:A P:0 US B L
A:0 B:0
Z:0 W:■
Update ? (ENTER/ESC)
ENTER F:A P:0 US B L
A:■ B:0
Z:0 W:0
EXCH CORD PJUMP FWRD
F:A P:0 US B L
A:0 B:0
Z:0 W:0
Ready ? (ENTER/ESC)
ENTER F:A P:0 US B L
A:0 B:0
Z:0 W:0
pull up = ■
FWRD(Moving Forward )
F:A P:0 US B L
A:0 B:0
Z:0 W:0
pull up = 10■
0
V
1
Q
F4
ENTER F:A P:0 US B L
A:0 B:0
Z:0 W:0
forward complete
Ⅷ. Trouble Shooting
- 45 -
1.Set the offset value again correctly in case of executing the Origin of SCARA Robot as the
method except the method 1) "Modifying the offset value using the number key of Teach Pendant".
2.After exchanging the component of the mechanical part, AC servo motor, the reduction gear, the
origin sensor first, confirm the Indicator(▼▲) and if the upper and lower parts are not coincided
with each other, set the offset value again.
3.In case the interpolation motion(LMOV, AMOV) and the palletizing motion(PMOV) is not executed
correctly on the JOB program, please confirm the offset value again.
Confirming that Indicator(▼▲) attached at the Robot is coincided with each other!
Content
The revision historyPrinting
date
Version of user's
manualRevision content Remark
2003.1 Version 1.0 - The first edition printing
Robostar Co.,Ltd.
Robostar Co.,Ltd3F, 07-5, ogye2-dong, Dongan-gu, nyang-city
Kyonggi-do 431-836, Korea
TEL:031-455-0684(Rep.), FAX:031-455-0688
Web Site : www.robostar.co.kr
E-mail : robostar@robostar.co.kr
Specifications an appearance are subject to change
without the prior notice