ST Robotics ATHENA Manuel utilisateur

R19 robot manual page 1

R19man.doc 2021-01-11

ATHENA

R19 ROBOT SYSTEM

User manual

R19 robot manual page 2

System Components

A basic R19 robot system comprises the following -

1 R19 Robot arm

fitted with any options

Electric or pneumatic gripper

Quickstop sensor

Tool changer

1 Optional track

1 Controller K11R

1 Teach box

1 Cable 9-way D-type each end (M-M) - K11R to teach box

1 Motor cable - K11R MS connector to robot 25-way D-type

or for track, MS connector to track MS connector.

1 Sensor and encoder cable - 25-way each end (M-F)

1 Cable, D-type 25-way male to 9-way female - K11R to PC RS232

or USB converter, K11R to PC USB.

1 Power cable to K11R

1 Pack of CONNECTORS

1 output connector (unless already used for gripper)

1 input connector

1 stop circuit jack

1 Disk or USB drive with software and manuals.

1 optional USB/serial adaptor

1optional gripper pneumatics kit

1optional Quickstop pneumatics kit

R19 robot manual page 3

1. INTRODUCTION

The R19, ATHENA is a robot arm of the cylindrical format i.e. its workspace is cylindrical.

It is hi hly suitable for bench top handlin and is more accurate than other formats.

Athena has a nominal reach of 550mm. Athena is driven by steppin motors controlled by

intelli ent micro-steppin MOS power drives with incremental encoder feedback. A choice

of rippers is available: pneumatic or electric. If fitted the pneumatic ripper is operated by

compressed air from 5 to 7 bar. This may be supplied by a compressor supplied with the

kit, or from another air supply.

The R19 robot system comprises 3 main units:- the robot, the controller, the computer or

terminal. The computer is used to pro ram the controller. Once pro rammed the controller

will run the robot independently without the need for the terminal or computer but it is a

ood idea to have a low cost terminal connected while the robot is in use.

OVERVIEW

All movement of the robot is controlled by the controller. As the controller may be both

readin sensors and si nals from and controllin associated equipment it follows that all

decisions about robot activity are usually made by the controller which is capable of

runnin without any host computer. The function of the computer is to (a) pro ram the

controller, (b) to copy (back up) the contents of controller RAM to disk and optionally (c) to

perform a supervisory role sendin commands to the controller throu h the RS232

interface. The function of a terminal is to display information or questions and for the

operator to enter answers or commands (e. . part type selection).

To pro ram the controller with a computer you need to run the utility ROBWIN.EXE.

When ROBWIN is executed it immediately opens a communications window. Once

communication is established all your commands o to the controller not to the computer

you are typin on. Pro rammin the controller involves pro rammin the robot and the

interaction with other equipment. The robot and interfacin are pro rammed usin

ROBOFORTH II © and FORTH. There are two HTML manuals, ROBOFORTH coverin

robot pro rammin and the system manual, which describes the controller and interfacin .

You can use the dynamic links to see connected concepts. There is also a lossary on

disk, which ives a brief description of every command. Some commands are used only

by ROBWIN or are not very useful and these are in the lossary but not in the

ROBOFORTH manual. In particular you should start off with the “ ettin started” manual

which is a pdf.

All FORTH and ROBOFORTH commands are in UPPER CASE (press caps lock). You

can add commands written in lower case but these would be different

commands from those spelled in upper case.

R19 robot manual page 4

2. IMPORTANT DOS AND DON'TS

(1) DON'T ever disconnect or connect the robot while the controller is switched on. This

will result in dama e to the electronics and the connectors themselves. Warranty claims

will not be accepted for dama e resultin from this.

(2) DON'T back-drive the 5th axis if fitted. It can dama e the earbox. Actually you can

backdrive it very slowly if the robot is dosconnected but be very careful.

(3) DO be very careful not to "crash" i.e. drive any joint a ainst a solid object so that it

stalls. Dependin on the speed dama e may result. At lower speeds the motors enerate

hi her torques so can do more dama e. DON'T drive the waist a ainst the stop.

(4) For the above reason DON’T use CALIBRATE unless you are sure the robot will not

crash into somethin in the workspace.

(5) DON'T use CALIBRATE unless you are sure the robot is in the valid position for

calibration includin takin into account any complex end effector fitted.

(6) DO have your hand poised over the emer ency stop button whenever testin a

pro ram. Remember that because of its eometry the arm may describe wide arcs from

far apart points, and may collide with objects within its reach.

(7) DO make a back-up of the computer disk supplied as soon as possible.

R19 robot manual page 5

SAFETY IS YOUR RESPONSIBILITY

Risks

Because steppin motors raise more torque at low speeds a substantial low speed force

can be brou ht to bear especially on fin ers, which may become trapped under or

between axes. Robot end effectors typically have sharp ed es or fin ers made of thin

metal, which can cause injury at the low speed hi h forces or at the hi her speeds.

The bi est risk comes from the element of surprise. If the system is active and receives

a command from a supervisin scheduler or a si nal from an associated machine the

robot will appear to move unpredictably. A human bein cau ht in the way can receive

injury.

However, because the robot is stepper motor driven, once stalled the system raises an

error and does not attempt further motion.

Safet measures

Where possible a robot system should be uarded. Any ate in the uardin can

be fitted with a switch, which is connected to the controller stop circuit.

If physical uards cannot be provided then li ht curtains are easily connected to the

robot controller

Where uardin is not appropriate and bench-top robots work closely with human

workers interlocks should be provided. For example if the user has access to the

workspace then he/she should be required to press a switch or keyboard key after

clearin the area.

A ood rule is that the robot should not be allowed to move outside an area

desi nated by the ed e of the bench on which it is mounted.

As an additional precaution the workin area should be marked out with painted

lines or black/yellow striped tape.

Statistically the hi hest incidence of contention between human and robot is when

both are accessin the same object. End effectors often have sharp ed es, which

can cause injury. This hazard can be minimized by fittin a collision sensor.

At the end of this manual you will find a form with which to do your own risk

assessment of the robot in your application. There are two concepts to consider:

hazard, which is the robot or robot fin ers or the product etc. and risk, which is the

probability of someone bein harmed by the hazard. The form enables you to

identify the hazards, the risks and ways of minimizin the risks. After completin

the form and carryin out any safety measures that the form has helped you

identify, do the assessment all over a ain.

R19 robot manual page 6

3. SETTING UP

Assembl :

The robot is packed with the extend axis (with hand) separated from the lift axis (with

waist). They are connected with a permanent cable hose.

1. Set the robot up in the desired location.

2. Remove all from the case. Place the waist unit on a level surface with the lift axis

vertical.

3. You can see where the extend axis carria e plate mounts to the lift axis carria e plate

with 4 holes. Offer the extend axis up to the lift axis with the slot and the carria e plate

uppermost.

4. Line up the 4 holes and insert the 4 screws provided. Make sure the steel cones are

between the axes. Use nuts and washers accordin to this dia ram.

5. Ti hten the four screws. An Allen key (wrench) and 8mm spanner (wrench) are

provided.

6. Make sure the robot is bolted down so it can’t slip or fall over. Rotate the waist by hand

to feel out the limits of rotation and set the waist in it’s mid position

Assembl to track

7. Mount the robot on to the track carria e plate. Orient it so that the connector plate of

the robot should be nearest to the drive box of the track. Use the four lar e bolts provided

with flat washers under the heads. Ti hten usin the Allen key (wrench) provided.

8. Connect the two cables which emer e from the track on to the connectors at the read

of the robot arm.

R19 robot manual page 7

Setting up for use

Connect up all cables - their positions should be self-evident. Cables to the robot connect

to the rear of the controller.

There are 5 basic cables:

Motor power – the metalized cable from rear of controller to robot base, 26wMS to

26wMS.

When there is a track this cable oes to the connector plate of the track.

Sensor cable – from rear of controller to robot base (25wD male to 25wD female)

When there is a track this cable is doubled i.e. two cables end to end for extra len th.

Connect it to the 25-w D connector on the end of the track.

Gripper cable (if supplied) - from rear of controller to ripper valve (9wD to DIN)

Serial cable – from front of controller to computer (usually 25wD male to 9wD fem) or

USB adaptor.

Teach pad cable – from front of controller to teach pad (9wD to 9wD male to male).

There is also a Stop Jack for connectin an external stop circuit. Even if there is no

external stop circuit the jackplu must be plu ed in at the rear of the controller. The plu

has a shortin link, which is removed when connectin an external circuit.

The serial (RS232 null modem) cable from a computer to the controller should plu into

the 25-way D connector on the front of the controller. The other end (usually 9wD)

connects to the rear COM1 serial connector of the computer. If COM1 is already in use

you can use any COM port or the USB serial adaptor (usually COM3). The serial speed is

19200 Baud, 8 bits, 1 stop bit.

DOS utilities only work with COM1.

Pneumatic connections

Connect the air line by pushin it into the push-fit connectors on the air valve and two from

the valve to the rear of the robot. If there is no compressor supplied then connect the shop

air supply to the air valve. The air supply must have a bowl filter and a pressure re ulator.

Pneumatic gripper or vacuum pickup

If a pneumatic ripper or vacuum pickup is fitted the robot will have two airlines fitted

throu h it, emer in on the forearm on two push-fit connectors. Two external lines

loop to the ripper/vacuum pickup. The control valve is usually external. The valve is

controlled from port PA bit 0.

The pneumatic ripper or vacuum is optionally fitted with a sensor to detect if the ripper

is holdin an object or has closed completely without an object or if there is no

vacuum because no object is held.. This sensor usually connects to port PB bit 5.

Electric gripper

If the electric ripper is fitted this is wired throu h the robot and requires no installation by

the customer. The ripper is controlled from port PA bit 0. Therefore you can not use

this output line for any other purpose.

R19 robot manual page 8

Pneumatic Gripper connections

Programming the confirmation sensor.

The confirmation sensor is normally connected to PB 5. There is a RoboForth word

GRIPCHECK which checks to see that the ripper has closed on a part. This is best

used after the robot has withdrawn from the active area, for example insert this word

at a suitable place for the robot to check it has a valid pick e. .

JIG GRIP WITHDRAW GRIPCHECK

Adjusting the optional grip sensor.

It has already been set at the factory but should it require further adjustment proceed as

follows. Disconnect the air supply so you can move the ripper jaws by hand.

1. Type PP to display the input port. You should see 11111111

2. As you close the jaws you should see the sensor o from 11111111 to 11011111 and

back to 11111111 a ain.

3. Put the object to be handled in the jaws and close the jaws by hand. The screen

should show 11011111

4. Adjust the sensor by slackenin the small screw on the side and slidin it up and down

the slot as necessary until you see the 11011111. The objective is that you only see

the zero on the object but with no object (jaws fully closed) or with the jaws fully open

the screen should show 11111111

If you wish to move the rip sensor to another port, for example to PB 7 then you can

patch the definition of GRIPSENSE. Check the existin value with

‘ GRIPSENSE 2+ ? (answer shoul be 5)

Patch with

7 ‘ GRIPSENSE 2+ !

R19 robot manual page 9

Vacuum pick-up connections:

Programming the vacuum sensor.

The vacuum switch is connected to PB 5. You can quickly check this with

GRIPCHECK

Insert this word at a suitable place for the robot to check it has a valid pick e. .

JIG GRIP WITHDRAW GRIPCHECK

If there is no vacuum (object not picked) you will et “Grip fail” error.

Adjusting the vacuum sensor.

It has already been set at the factory but should it require further adjustment proceed as

follows:

1. type GRIP (remember that this consumes a reat deal of air and you may need to

UNGRIP then allow the compressor to rechar e before tryin a ain.

2. Type PP to display the input port. You should see 11111111

3. Adjust the sensor usin the 1.5mm Allen key supplied until you see 11011111 then

back off a ain until you see 11111111.

4. Cover the vacuum cups and the display should chan e back to 11011111

R19 robot manual page 10

4. COMPUTER

Note: Commands to computer or controller are in the form of a strin of characters

followed by the enter key. In all my examples of dialo between man and machine I will

underline text typed in by the user. I won't keep mentionin the need for the enter key. A

machine response will be in upper case but not underlined. My comments will be in lower

case.

Before switchin on the controller switch on the terminal or computer and proceed as

follows:-

WINDOWS

1. Create a directory (folder) ROBOT on C: drive

2. Copy all the files to your ROBOT directory

3. If you have a USB-serial converter first install its software. It should install itself.

4. Plu in the USB converter and use either the serial cable or the adaptor to connect

to the controller. Windows 7 will probably want to o online for the drivers, select

skip for both drivers, USB serial converter and USB serial port. Once installed it

should tell you what port number it has selected. If less than 10 then skip step 5.

5. Go to control panel, system, hardware, device mana er, ports. You will see USB

serial port - note the port COM number.

6. RobWin will only work up to com9 so if your converter has been mapped to hi her

than com9 then double-click that port, then o to settin s, advanced. You will see

COM Port Number click the drop-down. You will see a lot of COM ports marked "in

use". It's not so. Pick com3 anyway (or up to 9 as indicated in the device mana er).

It will say it's in use do you want to continue, click Yes.

Whatever com number you choose, make a note. When you run RobWin7 click

comm at the top, then confi ure and make that the same number.

7. Find robwin7.1.20.msi (or later) and install RobWin 7. You may also use earlier

versions robwin6x.exe on the CD

8. Double-click robwin.exe to run.

9. RobWin defaults to COM1. If you need to chan e the port number (for USB port,

see step 5) click Comm, confi ure. Baud rate should be 19200

10.Click Settin s, Open file then enter R19.cf

Also click settin s > joint names and settin s > Cartesian axes and make sure both are

set to 4. For the 5-axis version set them to 5. See RobWin7 manual for more information.

You are now ready to use RobWin7

Note:

If usin RobWin6 please ensure that in settin s, confi uration, bank memory is checked.

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