Intelitek Scorbot-ER 9 Pro Manuel utilisateur

SCORBOT-ER 9Pro

User Manual

Catalog # 200034 Rev. B

SCORBOT-ER 9Pro

Catalog # 200034 Rev. B

March 2011

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. Intelitek 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.

Intelitek 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.

INTELITEK INC.

444 East Industrial Park Drive

Manchester NH 03109-537

Tel: (603) 625-8600

Fax: (603) 625-2137

website: www.Intelitek.com

Safety

The SCORBOT-ER 9Pro is a potentially dangerous machine. Safety during operation

is of the utmost importance. Use extreme caution when working with the robot.

Precautions

The following chapters of this manual provide complete details for proper installation

and operation of the SCORBOT-ER 9Pro. The list below summarizes the most

important safety measures.

1. Define a safety area as detailed on Figure 4-1.

2. Make sure the robot base is properly and securely bolted in place.

3. Make sure the cable from the body to the base can move freely during all movements

of the robot's base axis.

4. Make sure both the encoder cable and the robot power cable are properly connected to

the controller before it is turned on.

5. Make sure the robot arm has ample space in which to operate freely.

6. Make sure a guardrail or rope has been set up around the SCORBOT-ER 9Pro

operating area to protect both the operator and bystanders.

7. If the distance between the robot and the Controller is greater than 1.5m, ensure that

an EMERGENCY button is easily accessible, either with an external EMERGENCY

button, or from the Teach Pendant.

8. Do not enter the robot's safety range or touch the robot when the system is in

operation.

9. Press the controller's EMERGENCY button before you enter the robot's operating

area.

10. Turn off the controller's POWER switch before you connect any inputs or outputs to

the controller.0.

To immediately abort all running programs and stop all axes of motion, do one of the

following:

•Press the red EMERGENCY button on the controller.

•Press the EMERGENCY button on the Teach Pendant.

Warnings

1. Do not operate the SCORBOT-ER 9Pro until you have thoroughly studied this User

Manual and the Controller USB-Pro and Scorbase for ER 9Pro/ER 14Pro User

Manuals. Be sure you follow the safety guidelines outlined for both the robot and the

controller.

2. Do not install or operate the SCORBOT-ER 9Pro under any of the following

conditions:

•Where the ambient temperature drops below or exceeds the specified limits.

•Where exposed to large amounts of dust, dirt, salt, iron powder, or similar

substances.

•Where subject to vibrations or shocks.

•Where exposed to direct sunlight.

•Where subject to chemical, oil or water splashes.

•Where corrosive or flammable gas is present.

•Where the power line contains voltage spikes, or near any equipment which

generates large electrical noises.

3. Do not abuse the robot arm:0.

•Do not operate the robot arm if the encoder cable is not connected to the

controller.

•Do not overload the robot arm. The combined weight of the workload and gripper

may not exceed 2kg (4.4 lb). It is recommended that the workload be grasped at

its center of gravity.

•Do not use physical force to move or stop any part of the robot arm.

•Do not drive the robot arm into any object or physical obstacle.

•Do not leave a loaded arm extended for more than a few minutes.

•Do not leave any of the axes under mechanical strain for any length of time.

Especially, do not leave the gripper grasping an object indefinitely.

The Scorbot robot is dangerous and can cause severe injury.

Use with extreme caution.

Set up a protective screen or guardrail around the robot to keep people away from its working

range.

Table of Contents

Safety........................................................................................................................................... i

Precautions............................................................................................................................... i

Warnings................................................................................................................................. ii

1 ...................................................................................................................................................1-1

Unpacking and Handling.........................................................................................................1-1

Unpacking the Robot...........................................................................................................1-1

Handling Instructions...........................................................................................................1-2

Acceptance Inspection.........................................................................................................1-2

Repacking for Shipment......................................................................................................1-3

2 ...................................................................................................................................................2-1

Specifications...........................................................................................................................2-1

Structure...............................................................................................................................2-2

Work Envelope....................................................................................................................2-2

3 ...................................................................................................................................................3-1

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

Preparations .........................................................................................................................3-1

Controller and Computer/Terminal Setup.......................................................................3-1

Robot Setup .....................................................................................................................3-1

SCORBOT-ER 9Pro Installation.........................................................................................3-3

Controller Installation......................................................................................................3-3

Robot Installation............................................................................................................. 3-3

Hardware check...............................................................................................................3-4

Homing the Robot............................................................................................................3-4

Peripheral installation..........................................................................................................3-5

Gripper Installation.............................................................................................................. 3-5

Pneumatic Gripper...........................................................................................................3-5

DC Servo Gripper............................................................................................................3-8

Activating the Gripper.....................................................................................................3-9

4 ...................................................................................................................................................4-1

Operating Methods .................................................................................................................. 4-1

Software............................................................................................................................... 4-1

Scorbase Software ...........................................................................................................4-1

Teach Pendant......................................................................................................................4-1

5 ...................................................................................................................................................5-1

Drive System ...........................................................................................................................5-1

Motors..................................................................................................................................5-1

DC Motor Structure.........................................................................................................5-3

SCORBOT-ER 9Pro Motors ...............................................................................................5-4

Harmonic Drive Gears......................................................................................................... 5-5

Harmonic Drive Gear Ratios........................................................................................... 5-6

Axis Gear Ratios..................................................................................................................5-7

6 ...................................................................................................................................................6-1

Position and Limit Devices...................................................................................................... 6-1

Encoders ..............................................................................................................................6-1

Encoder Resolution.......................................................................................................... 6-3

End of Travel (Limit) Switches........................................................................................... 6-3

Hard Stops ...........................................................................................................................6-5

Home Switches....................................................................................................................6-5

7 ...................................................................................................................................................7-1

Wiring......................................................................................................................................7-1

Robot (Power) Cable and Connector................................................................................... 7-2

Encoder Cable and Connector.............................................................................................7-3

8 ...................................................................................................................................................8-1

Maintenance............................................................................................................................. 8-1

Daily Operation ...................................................................................................................8-1

Periodic Inspection ..............................................................................................................8-1

Troubleshooting................................................................................................................... 8-2

Unpacking and Handling

This chapter contains important instructions for unpacking and inspecting the

SCORBOT-ER 9Pro robot arm.

Read this chapter carefully before you unpack the SCORBOT-ER 9Pro robot and

controller. 0.

Unpacking the Robot

The robot is packed in expanded foam, as shown in Figure 1-1.

To protect the robot during shipment, a metal plate holds the gripper- mounting flange

to the robot base. The plate is fixed to the flange with three bolts and to the base with

two bolts. Use a 3mm hex socket wrench to detach these bolts.

Save these bolts and the plate. You will need them should you repack the robot for

shipment.

Save the original packing materials and shipping carton. You may need them later

for shipment or for storage of the robot.

Figure 1-1: SCORBOT-ER 9Pro in packing

User Manual 1-1 SCORBOT-ER 9Pro

Handling Instructions

The robot arm weighs 53.5 kg (117.7 lb). Two people are needed to lift or move it.

Lift and carry the robot arm by grasping its body and/or base. Do not lift or carry

the robot arm by its upper arm or forearm.

Acceptance Inspection

After removing the robot arm from the shipping carton, examine it for signs of

shipping damage. If any damage is evident, do not install or operate the robot. Notify

your freight carrier and begin appropriate claims procedures.

The following items are standard components in the SCORBOT-ER 9Pro package.

Make sure you have received all the items listed on the shipment's packing list. If

anything is missing, contact your supplier.

Table 1-1: SCORBOT-ER 9Pro Items.

Item Description

SCORBOT-ER 9Pro

Robot Arm Includes: Cabling; Hardware for mounting robot: 3 M8x60 bolts;

3 M8 washers; 3 M8 nuts. (Optional air hoses included).

Pneumatic Gripper includes:

Pneumatic solenoid valve;

Hardware for mounting gripper: 4 4M4x10 screws.

Gripper (Optional): 2

options

Electric DC Servo Gripper with encoder includes:

Hardware for mounting gripper: 4 4Mx10 screws.

Controller USB-Pro Includes:

Power Cable;

USB Cable.

TP By-Pass Plug (required when TP not connected) (Preinstalled

on the Controller).

External Emergency By-Pass Plug (Preinstalled on the

Controller.

Teach Pendant

(Optional): Includes:

Teach Pedant – USB-Pro controller cable;

Mounting fixture;

Teach Pendant for Controller USB and USB-Pro User Manual

Software Scorbase for ER 9Pro/ER 14Pro

Controller USB-Pro User Manual

Robocell for ER 9Pro/ER 14Pro User Manual

Scorbase for ER 9Pro/ER 14Pro User Manual

Documentation

SCORBOT-ER 9Pro User Manual

SCORBOT-ER 9Pro 1-2 User Manual

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