ar series robot robot use instruction manual

AR series robot

Robot use instruction manual

--- AR series robot

Robot installation and maintenance

Copyright statement

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Technology Co., Ltd. (hereinafter referred to as Adtech).Without the permission of

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All rights reserved，do not copy.

Shenzhen zhongweixing technology Limited by Share Ltd


Catalog First robot installation and maintenance ................... Error! Bookmark not defined.

1 Preface ............................................................................................................................... - 1 -

2 Warning, note .................................................................................................................... - 1 -

3 Installation considerations ................................................................................................. - 4 -

3.1Make sure there is a proper installation environment. ............................................ - 4 -

3.2To ensure that the operating space .......................................................................... - 5 -

3.3The controller is installed outside the robot movable limit ..................................... - 5 -

3.4Instrument installation ............................................................................................. - 5 -

3.5Wiring, trachea protection ....................................................................................... - 5 -

3.6To ensure that the D ground wiring ......................................................................... - 5 -

3.7Install emergency stop switch ................................................................................. - 5 -

3.8Install running status display light .......................................................................... - 5 -

3.9Install security fence .................................................. Error! Bookmark not defined.

3.10 Set robot mobile field .............................................. Error! Bookmark not defined.

3.11 Prohibition of modified robot .................................. Error! Bookmark not defined.

3.12 Cleaning of operation tools ..................................... Error! Bookmark not defined.

3.13 Ensure lighting ........................................................ Error! Bookmark not defined.

3.14 Prevent the flying out of clip ................................. Error! Bookmark not defined.

3.15 Paste warning labels ................................................ Error! Bookmark not defined.

4.Operation attention ............................................................................................................ - 8 -

4.1To develop the "Regulations" and ensure the effective implementation ................. - 8 -

4.2Ensure that the operator work safetyly on the movable limit field ......................... - 9 -

4.3Check before inspection guidance work ................................................................. - 9 -

4.4 Release residual pressure ....................................................................................... - 9 -

4.5 To confirm the notes of the running time ............................................................... - 9 -

4.6 The note of Automatic operation time .................................................................. - 10 -

4.7 Attention of repair ................................................................................................ - 10 -

5.The implementation of the daily inspection, regular inspection ..................................... - 10 -

6.Safety regulations ............................................................................................................ - 10 -

Second Robot body ................................................... Error! Bookmark not defined.

1 Configuration and technical parameters of AR series robot ............................................ - 11 -

2 Structure of robot ............................................................................................................ - 22 -

2.1Structure of robot .................................................................................................. - 22 -

2.2Robot coordinate system ....................................................................................... - 23 -

3 Robot installation ............................................................................................................ - 24 -

3.1 Ensure proper installation environment ............................................................... - 24 -


3.2 Installation method of robot body ........................................................................ - 26 -

3.3 Installation method of robot controller ................................................................. - 28 -

3.4 Method of electrical wiring or air piping of robot ................................................ - 28 -

3.5 Installation method of fixture ............................................................................... - 29 - 4 Change robot specification ............................................................................................ - 30 -

4.1 The meaning of change the robot's specifications ................................................ - 30 -

4.2 Software limit ....................................................................................................... - 30 - 5 Maintain .......................................................................................................................... - 32 -

5.1 Maintain the type and purpose of inspection work .............................................. - 32 -

5.2 Daily check. ......................................................................................................... - 32 -

5.3 Three months check ............................................................................................. - 34 - 6 Robot body electrical ...................................................................................................... - 35 -

6.1 Robot body appearance ........................................................................................ - 35 -

6.2Internal electrical wiring diagram of mechanical body ......................................... - 36 -


First Robot installation and maintenance Safety precautions

In order to use this product safely, please follow the following。

"warning, attention"：In order to use the AR series robot correctly and

effectively，ensure the operator and other staff's personal safety，at the same time to

avoid the occurrence of other machinery and equipment damage and other production

accidents, design the warning label。

The meaning of the tag is shown in the following figure. Please read the

instruction manual (manual) after fully understanding its meaning.。

warning If you ignore this identification when operate robot, it will lead to casualties。

caution If you ignore this identification when operate robot，it may cause

serious consequences for personal injury and damage to the goods.。

Terms and definitions

Maximum space ：The largest space range refers to the end of the device, the

work piece, the attachment device and other parts of the robot can move。The range is

only expected from the design.

Restricted space ：The robot's movable range limited by the mechanical device,

such as a limiter. Soft limit space ：The robot's movable range limited by the software limit.

Operating space：When the robot is actually operated by the program, the

movable field limited.

1 Preface

This part mainly explains the safety information that should be obeyed when

operate robot system. Robot and the installation of the machine according to the

national laws and regulations, by qualified professional personnel to carry out the

installation work。

Series：AR Series（Horizontal multi joint robot）

2 Warning, note

Warning labels to be applied to the robot and its controller, affixed with a


warning label near the exits specific risk, please obey the warning label. The

following table 2.1：

Warning, note tab

Table 2.1 Warning, note tab


3 Installation considerations

3.1Make sure there is a proper installation environment

AR series robot does not belong to explosion-proof, dust, splash specifications, so

cannot be installed in the following environment:


(1) Flammable gases, flammable liquids, etc.

(2)The environment caused by scattering metal chips such as conductive material

(3) Acid, alkali and other corrosive gases in the environment

(4) Cutting fluid, grinding fluid, etc..

(5) In the environment of cutting fluid, grinding fluid and so on.

(6) Large transformers, large output high frequency generator, large electromagnetic

contactor, electric welding machine and other electromagnetic interference sources

3.2To ensure that the operating space

Make sure to check, repair and do other operations safely in the teaching space,

and then install the robot Ontology and peripheral equipment.

3.3The controller is installed outside the robot movable limit

The suspension of robot controller, multi - function display device should be in

the field of mobile robot, and must be installed in the place where the robot’s running

state can be recognized.

3.4Instrument installation

The pressure gauge, the oil pressure gauge and other instruments must be installed in

the place where the operator can always be confirmed.

3.5Wiring, trachea protection

In order to avoid damage to wire, trachea, please use the protective cover or

similar goods for its protection

3.6To ensure that the D ground wiring

Power for the robot to the ground, please use D kind of grounding（The grounding

resistance of 100Ω below）。

3.7Install emergency stop switch In order to stop the robot immediately in case of emergency, the emergency stop

switch is installed in the operation where is easy to operate.

(1)Emergency stop switch is red.

(2)Emergency stop switch must be this, when press the switch, even if the other

staff to operate the fault, the robot cannot automatically restore the state.

(3)Please install the emergency stop switch and the power switch separately

3.8Install running status display light

Please install the display light where the operator can confirm that the robot is in a


temporary stop, or an emergency stop, or an abnormal stop.

3.9Install security fence

Do the installation of safety protection, to ensure that the operator or the third cannot

easily enter the field of mobile robot. Please press the following items to set the

security fence.

(1) To ensure that the security fence cannot be easily moved or removed.

(2) Make the security fence to be the structure that is not easy to cause damage or

deformation caused by the external force

(3) To protect the entry and exit of the security fence and to make the structure of the

operator or the third that can enter the place only from the entrance

(4) Make a structure that any part of the body, such as hand, foot and other body

cannot enter the guard

(5) Please take the following measures in the safety bar

①Install safety doors at the entrance, and set up the lock device that the

emergency stop device of the security fence which can automatically start when the

safety door is opened.

②In the security fence of the entry and exit, "The robot is running, it is forbidden

to enter" and "Working, forbid to start robot" ，and allow the operator to strictly

comply with its provisions.

In case of not installing security fence, due to the need to start the robot before

trial operation, in order to prevent worker to enter the field, must equip supervision

person outside the field of movable limit to see that the robot running state any time,

to ensure the safety of staff.

3.10 Set robot mobile field

The field that a robot is required to perform a job is called operation field. If the

robot moveable field is greater than the field, in order to prevent collisions with other

devices, it is recommended to set the movable field smaller.

3.11 Prohibition of modified robot

No modification of the robot body, controller and teaching device options and so

on.

3.12 Cleaning of operation tools

The robot which has a welding gun, or spray nozzle working tools at the front

part, if is need to be cleaned, it is best not to use manual cleaning, instead of using the


automatic cleaning method

3.13 Ensure lighting

To ensure the lighting level necessary for safe operation 3.14 Prevent the flying out of clip

The robot's gripper has the danger of flying out and falling. Therefore, to consider

the size, weight, temperature, chemical nature of the folder to take protective

measures to ensure the safety of the operator.

3.15 Paste warning labels

Please paste the "warning label" of the robot component to the location awaked in

the security fence


4. Operation attention

warning：If you touch the running robot, it will cause serious casualties. Therefore,

please be sure to comply with the following items and in accordance with the attention followed 4.1

points.

① When the robot runs and the motor power supply is on, do not enter the

movable area of the robot.

② In the case of the abnormal condition in the work processing, it is required to

enter the mobile field of the robot. Please be sure to turn off the motor power supply

of the robot by means of an emergency stop device.

③ In order to carry out the teaching and repair inspection shall have to operate in

the field of robot’s movable limit, please be sure to take "4.2 to ensure that the

operator records the movable limit field work safety measures".

4.1To develop the "Regulations" and ensure the effective implementation

Within the robot movable restricted areas to do teaching, inspection and

maintenance operations, conscientiously please "jobs provisions” are formulated

according to the following matters, and supervision of the work personnel earnestly

fulfill.

(1) Necessary steps when start the robot.

(2) Robot teaching speed and so on.

(3) The connection way in a joint operation (two or more operating persons)

(4) When an exception occurs, the operator should take the measure to deal the

abnormal situation.

(5) After the use of emergency stop switches and other devices to stop the robot

running, to restart the robot, must take the confirmation, security ensure, and other

measures to deal the abnormal conditions.

(6) In addition to the above, in order to prevent the robot from unexpected

operation or due to the risk of false operation, it is necessary to take the following

measures

1，Able to confirm the position and posture of the robot at any time, when the

robot is running ,the abnormal situation can be avoided.

2，Countermeasures to prevent interference


3，The contact information way used by the operating person of the relevant

machine

4，Classification and discrimination method of abnormal situation

Please formulate corresponding regulations according to the type of robot, the

installation location, and work content.

4.2Ensure that the operator work safely on the movable limit field

When operating in the field of mobile robot, please take the following measures

to stop the operation of the robot in an abnormal condition.

Supervisors must strictly observe the following.

1，An emergency stop device is opened immediately when an exception occurs.

2，Prohibit the non-operating person into the robot's movable limit.

3，Operators in the restricted area must carry an emergency stop switch（If it is a

multifunctional display device or a small teaching device ,means an emergency stop

button)

4.3Check before inspection guidance work

Before the start of operation to carry out teaching, must confirm the inspection to

the following matters, and found that the abnormal situation, please take immediate

maintenance and other necessary measures.

(1) The outer wire is coated and the outer package is not damaged；

(2) There is no exception in the operation of the robot（If there is an abnormal

sound, vibration）?

(3)Whether emergency stop device function is normal；

(4) There is no leakage of air or leakage of piping

There are no obstacles in the field of robot's movable restriction

4.4 Release residual pressure

When the partial or replacement parts of the air pressure system is decomposed,

the residual pressure in the cylinder must be released.


4.5 To confirm the notes of the running time

To do confirm operation, the operators must try to outside the moving field limit.

4.6 The note of Automatic operation time

(1) When the robot is started, to confirm that the following matters, use the

contact information decided in advance, and to contact the relevant person.

① No person in the field of robot movement

② Multiple functions and tools are in the specified position.

③ The robot and the related equipment malfunction indicator light has no

abnormal display.

(2) During automatic operation, check and confirm whether the automatic

operation indicator light is on.

When an abnormal situation occurs, when the robot or the related machine is

abnormal, and must do immediate dealing in the field of the movable restriction,

please start the emergency stop device to stop the robot.。At the same time, tip “now is

in operation” and other similar information on the start switch, to prevent other staff

to operate the robot.

4.7 Attention of repair

(1) Beyond the scope of the provisions shall not be repaired

(2) Under no circumstances shall the mutual lock switch device be removed

(3) Parts required for maintenance shall be specified by the company.

5. the implementation of the daily inspection, regular

inspection

Please be sure to carry out daily inspection and regular inspection, and to confirm

before the work. Please be sure to carry out daily inspection and regular inspection,

and before operation to confirm whether there is abnormal in robot or the related

equipment. If there is an exception, repair and other necessary measures should be

carried out immediately. Please record the specific contents of the periodic inspection

and the implementation of the maintenance, and save file for more than 3 years.

6. Safety regulations

Related safety standards for industrial robots. Reference to the implementation of industrial robot safety standards GB/T20867-2007”

Robot body

Second Robot body

1 Configuration and technical parameters of AR series robot

AR3215 Robot motion space and configuration map

Figure 1.1.1 AR3215 Robot motion space

Figure 1.1.2 AR3215 Robot outline dimension

ROBOT BODY

Figure 1.1.3 AR3215 Robot installation size chart


Figure 1.1.4 AR4215Robot motion space

Instrument installation details

The base installation hole details

ROBO T BODY

Figure1.1.5 AR4215 Robot outline dimension


Tools installation position Detailing

The number of the base installation detail

ROB OT BOD Y


Figure1.1.7 AR5215 Robot motion space


ROB OT BOD Y




The number of the base installation detail

Tools installation position Detailing

R OBO T BO DY


Figure1.1.12 AR6520 Robot installation size chart

Tools installation position Detailing The number of the base installation detail

ROB OT BOD Y



Figure 1.1.14 AR7520 Robot outline dimension

ROB OT BOD Y



Figure 1.1.16 AR8520 Robot motion space


R OBO T BO DY

Figure 1.1.17 AR8520Robot outline dimension



Robot body

AR Series robot technology parameters Table1.1 AR Series robot technology parameter list

Model ADT-AR3215 ADT-AR4215 ADT-AR5215 ADT-AR6520 ADT-AR7520 ADT-AR8520

species SCARA SCARA SCARA SCARA SCARA SCARA Number of axes 4 4 4 4 4 4

Arm length 300mm 400mm 500mm 600mm 700mm 800mm

Axis specification

X axis


Rotation range ±127° ±127° ±127° ±130° ±130° ±130°

Y axis


Rotation range ±142° ±142° ±141° ±140° ±140° ±140°

Z axis route 150mm 150mm 150mm 200mm 200mm 200mm

R axis Rotation range ±360° ±360° ±360° ±360° ±360° ±360°

Highest speed

X axis 600°/S 600°/S 600°/S 375°/S 300°/S 250°/S Y axis 375°/S 375°/S 375°/S 600°/S 600°/S 600°/S

X, Y-axis synthesis 4.45m/s 5.5m/s 6.5m/s 7.1m/s 6.8m/s 6.6m/s

Z axis 1.3m/s 1.3m/s 1.3m/s 1.1m/s 1.1m/s 1.1m/s R axis 1667°/s 1667°/s 1667°/s 1500°/s 1500°/s 1500°/s

Standard Cycle Time 0.5s 0.45s 0.4s 0.55s 0.6s 0.6s

Repeat positioning accuracy X,Y axis ±0.01mm ±0.01mm ±0.01mm ±0.015mm ±0.015mm ±0.015mm

Z axis ±0.01mm ±0.01mm ±0.01mm ±0.01mm ±0.01mm ±0.01mm R axis ±0.005° ±0.005° ±0.005° ±0.005° ±0.005° ±0.005°

Rated / max load 2Kg/5kg 2Kg/5kg 2Kg/5kg 5Kg/10kg 5Kg/10kg 5Kg/10kg

R axis allows load moment of inertia (Rated / max)

0.01 kg·m2 0.01 kg·m2 0.01 kg·m2 0.05 kg·m2 0.05 kg·m2 0.05 kg·m2

0.04 kg·m2 0.04 kg·m2 0.04 kg·m2 0.2 kg·m2 0.2 kg·m2 0.2 kg·m2

User signal line 0.2sq × 16 lines, 8 outputs, 6 inputs

0.2sq × 16 lines, 8 outputs, 6 inputs





ROB OT BOD Y

Users pipe Ф6×2 根 Ф6×2 根 Ф6×2 根 Ф6×2 根 Ф6×2 根 Ф6×2 根

Limit protection 1, the software limit 2, the mechanical limit (X, Y, Z axis)

1, the software limit 2, the mechanical limit

(X, Y, Z axis)


(X, Y, Z axis)


(X, Y, Z axis)


(X, Y, Z axis)


(X, Y, Z axis)

Robot body

2 Structure of robot

2.1Structure of robot

Map 2.1.1 Robot joint structure diagram

The AR series robot has 3 rotating joints, which are parallel to each other, and are carried

out in the plane. The other joint is a moving joint, which is used to complete the movement of

the end member in a vertical plane. The robot's joints are shown in Figure 2.1.1，J1 for the

horizontal rotation of the first joint, J2 for the horizontal rotation of the second joint, J3 for

the vertical translation of the third joint, J4 for horizontal rotation of the fourth joint.

ROB OT BOD Y

2.2Robot coordinate system

Map2.2.1 Robot coordinates system AR series robot coordinate system can be divided into joint coordinate system and

cartesian coordinate system, work-piece coordinate system and tool coordinate system, every

coordinate according to the right-hand rule.

joint coordinate system：As shown in Figure 2.1.1 and figure 2.2.1, the coordinates are

determined by the moveable joints. Among them, J1, J2 and J4 joint are rotation joints, when

robot suits are projected to the ground, counterclockwise is positive, clockwise is negative; J3

joint is a translational joint, vertical upward is positive, vertical downwards is the negative.

Cartesian coordinate system：As shown in Figure 2.2.1, the coordinate system is

determined by the robot base mounting surface as a reference (also known as the base

coordinate system). Among them, X/Y positive is shown in the figure, Z direction is

determined by the right-hand rule.

Work-piece coordinate system：The Descartes coordinate system fixed on the work-piece

is a three dimensional Cartesian coordinate which is defined on each working space of the

target object that is to be operated by the robot. Its working origin and axis direction can be

determined according to the actual need of the work-piece. If the coordinate system is not

defined, it means the base coordinate system.

ROB OT BOD Y

tool coordinate system：The coordinate system, whose control point is the tool tip, the Z

axis is tool effective direction.

3 Robot installations

3.1 Ensure proper installation environment

When install robot body and robot controller, make sure that the environment accord to

"3 Precautions for installation", according to the following instructions to confirm the

environment around is suite to the specifications of the machine. Also consider the machine

not to be subjected to vibration.

If the installation environment is not appropriate, not only cannot give full play to the

function of the robot, but also shorten the service life of the machine, and even a serious

accident.

3.1.1 Condition of installation

AR series robot is not explosion-proof, dust, splash specifications, and therefore cannot

be installed in the following environment.

(1) Flammable gases, flammable liquids, etc.

(2) Metal chips and other conductive materials scattered in the environment

(3) In the environment of acid, alkali, corrosive gases

(4) The cutting fluid, grinding fluid, etc.

(5) The smoke environment of the cutting fluid, grinding fluid, etc.

(6) Large scale converter, large output high frequency generator, large contactor, welding

machine and other electromagnetic interference source

Note: in the electronic components, food, medical and other related work, such as the use

in the environment of oil ingredients, please discuss the individual. Although the use of the

robot body grease, but not confined structure. Because of the leakage of oil components, so

please choose component kind according to the use of the environment.

3.1.2 Environment temperature and humidity

The temperature of the environment is controlled in the range of 0 ~ 40. Ensure that

the humidity below 90% and no condensation.

3.1.3 Vibration

Please avoid the installation in excessive vibration and impact environment.

3.1.4 The connection between robot body and robot controller

Robot body and robot controller, supporting the adjustment after the factory. When the

purchase of multi robot, do not mix the robot body and robot controller assembly.

Note: robot body and robot controller have the same serial number.

ROB OT BOD Y

3.1.5 Installation environment of robot body

The installation environment of the robot body is shown as follow page. Please refer to

the picture on the next page, ready to have a mounting bracket with sufficient rigidity.

Note：Do not do electric welding to equipments including robots. Because of the

current passing through the motor encoder and the robot controller is too large, it is

possible to make malfunction. For the case of electric welding, the robot body and robot

controller must be temporarily removed from the equipment.

Installation environment and condition of robot body. Table3.1.5.1 Robot installation sketch map

Project Environment and condition

The plane of the

installation 0.1 / 500mm

The rigidity of the

mounting bracket To use iron and steel materials

Installation direction Ground setting

Ambient temperature Run time：0～40 Storage, transportation：-10～60

Humidity Run time：90% bellow（No condensation）Storage, transportation：

<=75%（No condensation）

Vibration Run time：4.9 m/s2 (0.5G) bellow Storage, transportation：29.4

m/s2 (3G) bellow

Non flammable gas flammable liquids, etc.

Non acid, alkali and other corrosive gases in the environment

Non - sour cutting fluid, grinding fluid, etc.

Non large scale converter, large output high frequency generator,

large contactor, welding machine and other electromagnetic

interference sources

Safe installation

environment

Non metal processing chip and conductive material scattered in the

environment

Non containing cutting fluid, grinding fluid, etc.

The environment of non - water - oil - cut - chip direct splash

Working space, etc.

·To ensure full inspection, dismantling space and in robot back set

aside wiring space (standard is more than 190 mm, to avoid dust

and splash or clean with more than 230 mm), not the cable weight

applied directly on the connector, the wiring is fixed on the

ROB OT BOD Y

installation surface or Beam

Installation condition D ground（The grounding resistance of 100 below）

Example of the installation of a ground mounted robot

Figure3.1.5.1 mounting table size chart

caution：

① When the robot moves at high speed, it will exert a large counter force to the

mounting bracket. In order not to cause the platform to cause vibration or deviation from the

position, the platform must have enough rigidity. The mechanical connection between the

other equipments and the robot is an effective method.

② When the robot moves, sometimes it makes a sound (WOW sound). When the

resonance sound is increased, it is to adjust the rigidity of the machine and reduce the speed

of the robot.

3.2 Installation method of robot body

(1) For the robot to carry, install, please be sure to read the "safety precautions".

(2) The rotating shaft and the frame of the Z axis of the body are to be coated with grease

to lubricate and prevent rust.

If you just use hand to touch the rotating shaft and frame parts or wipe the grease, it will

lose the effect of rust, please pay attention to this.

[1] Installation of robot body

Basic operating standards are shown below. The installation operation of robot body is

carried out with the standard of operation. This explanatory premise is ready for the robot

mounting pedestal and the installation pedestal has opened a robot is fixed with a screw hole.

(1) Must be more than 2 operators. The weight of the robot body is about 16kg.

(2)Operator must use a safety helmet, safety boots, protective glasses, gloves.

ROB OT BOD Y

Step 1 check the packaging is intact, open the box, confirm that the robot is in good

condition.

Step 2 press the second axis to the end of the machine to form a safe handling state,

remove the retaining screw and remove the robot body from the wooden case.

• Note: when the fixed screw is removed, it is to hold the first axis arm to prevent the

robot from tipping.

Figure3.2.1 Robot installation sketch map Step 3

The robot is moved to the A panel of Installation platform, accord to the installation hole,

using 4 screws for temporary fixation.

Step 4

Fix robot body with 4 fixed Screw and washer, fixed the main body with the screw: use

M8 * 25MM (intensity to distinguish 12.9) for fixation.

Step 5

Screw fastening torque：38±5N·m

[2] Grounding of robot body

The ground terminal of the robot body is connected with the wiring of 5.5mm2 or more.

Note: Earthing and grounding must be special products. Do not share with other electric

power, power, and welding machine.

ROB OT BOD Y

3.3 Installation method of robot controller

The robot controller is moved to the B panel of the robot mounting stand, and the

connecting cable between the robot body and the controller, the male head is inserted into the

controller on the corresponding female head.

3.4 Method of electrical wiring or air piping of robot

It is installed in the robot's front clamping fixture; tools, electrical wiring, and air piping

please reference robot body obligate vacancy for installation.

Robot body

3.5 Installation method of fixture

The installation method of tooling fixture is shown in the following diagram. There is a

flange (user design), a fixed screw (recommended by M5 screws), etc... Please install with

the following steps.

①Please erase the robot grease peripheral flange outside part of the R axis.

②The designed hold good lower flange along the shaft into the robot R, and fasten by

screws.

③Install air chuck, chuck, or other tools on the tool mounting hole.

Figure3.5.1 Installation method of fixture

R Axis

Z axis limit block

Tool mounting hole

Hold type flange mounting holes

Robot body

4 Change robot specification

4.1 The meaning of change the robot's specifications

The software of the control robot set the upper limit as the mechanical action range, and

if it is within the scope of the robot, it can decide the boundary of the action. The action

limits of this kind of software are called the software limit, and the change of standard setting

is called the robot's specification change.

In order to prevent interference from other devices and prevent involve of wiring and

piping which are used for clamping fixture, according to need to set appropriate action limits.

4.2 Software limit

4.2.1 The meaning of the software limit

The action scope of the robot is determined by the software. The robot is effective only

when it enters the range that is set by the software limit.

The mechanical action is called a mechanical end, which is set by a mechanical actuator

(mechanical actuator). In order to prevent conflicts with the mechanical limit, the software

limit is set at the end of the machine at the end of the machine, as shown in the following

diagram.

In manual operation and automatic operation of the robot to reach the software limit, it

will display the error message (see software operation instructions), stop running.

In all the axes, software limits are set at the positive and negative direction of the range

of motion. The software limit position in the positive direction is known as the positive

direction software limit, and the negative direction software limit is set to the negative

direction.

ROB OT BOD Y

4.2.2 Setting value of the software limit

In the following table lists the setting values for the software limit. Set of software limits

（AR series：Ground mounted type）

Table 4.2.2.1 Factory soft limit set value

Robot model type AR series

AR3215、AR4215、AR5215 AR6520、AR7520、AR8520

First

axis

positive 120° 120°

negative -120° -120°

Second

axis

positive 135 ° 135 °

negative -135 ° -135 °

Third

axis

positive 10 mm 10 mm

negative -125 mm -170 mm

Fourth

axis

positive 360 ° 360 °

negative -360 ° -360 °

4.2.3 Software limit change

When interference with other devices, can change the software limit of the robot, reduce

the scope of the action.

Due to the action of the robot and the fixture with air piping and wiring is stretched, but

also need to change the software limit, narrow the scope of action.

Note: when the software limit is changed, the scope of the robot's action must be within

the range of the initial values.

4.2.4attention on the change of software limit

1) Please confirm that the scope of the robot moves in the actual operating environment.

2) Please note not to put the unit wrong.

3) If the error is reduced too more, the robot will not run.

4.2.5Software limit change steps

The change steps of the software limit are described in the software operation

instructions.

Robot body

5 Maintain

5.1 Maintain the type and purpose of inspection work

Please do the listed maintenance inspection work. Table5.1.1 Maintain the type and purpose of inspection work

No Type Purpose

1 Daily check In order to safely use the robot, every day first do the inspection work

before you start to work.

2 3 months

check

Every three months a tally finishing job. In order to maintain the

accuracy of the robot and to prevent failures caused by overheating of

the controller.

3 6 months

check

In order to prevent the happen easily lead to major accidents loss,

damage, finishing a tally job on the robot's rotation, sliding parts of the

wear every six months.

4 2 years check Synchronous belt inspection

Note: maintenance inspection work, mostly in the movable range of the robot operation,

because of the occurrence of the accident probability is bigger, so to in accordance with

national laws and regulations and by qualified professionals to operate. In the maintenance

inspection operation, please read the "safety precautions" in the "4. operation notice" and this

chapter.

5.2 Daily check

5.2.1 Daily check project

Before you start work every day, please follow the implementation of the following

table. Table5.2.1 Daily check list

No. Site inspection or

operation

Controller

power state

Inspection

method

Decision

criteria

Disposal method

when there is a

bad situation

1 Connector part and its

connection object OFF Eye check

No loose,

pull off, dirt

Regular insertion

and

implementation of

cleaning

ROB OT BOD Y

2 Cable parts and robot

external cable OFF Eye check

No damage,

crack Check, repair

3 Multifunctional

display device ON Eye check Display Check, repair

4

Multifunctional

display device’s

emergency stop button

ON

Press

emergency

stop button

Emergency

stop Check, repair

5 Motor ON indicator

for robot body ON Eye check

Light when

the motor

ON

Check, repair

Robot body

5.3 Three months check

3 months check, please in accordance with the implementation of the following table. Table5.3.1 3 month check list

No.

Site

inspection or

operation

Controller

power state

Inspection

method Decision criteria

Disposal

method when

there is a bad

situation

1

Screws for

fixing the

base of a

robot

OFF

Torque wrench for

the determination

of fastening torque

No loose required

torque：35±8N·m

Fastening with

prescribed

torque

5.4 Maintain

Synchronous belt inspection inspection project Table5.4.1 List of years

No

. Check kind

State of

controller

power

Inspection

method

Decision

criteria

Treatment method of

adverse

circumstances

1

3,4 Axis’s

Synchronous

belt

OFF Visual check

Non tooth

defect and

significant

wear

Please contact our

robot service

department.

Robot body

6 Robot body electrical

6.1 Robot body appearance

Figure6.1 Ontology sketch map

ROB OT BOD Y

6.2Internal electrical wiring diagram of mechanical body

A. Power line wiring diagram

B. The encoder wiring diagram

ROB OT BOD Y

C. 26 pin I/O

Figure6.2 Internal electrical wiring diagram of mechanical body

ar series robot robot use instruction manual

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