Robot Systems 5150-00 - LabVolt Series by Festo Didactic98-5150)_en_… · Teach Pendant, Model 5150-2. The Robot System, Model 5150-1, can be controlled and programmed from a host

LabVolt Series

Datasheet

Robot Systems5150-00

Festo Didactic

en 120 V - 60 Hz

07/2020

Robot Systems, LabVolt Series

2 © Festo Didactic

Table of ContentsGeneral Description ________________________________________________________________________________ 2Equipment Utilization Chart _________________________________________________________________________ 3Topic Coverage____________________________________________________________________________________ 4Features & Benefits ________________________________________________________________________________ 4List of Available Training Systems ____________________________________________________________________ 4Additional Equipment Required to Perform the Exercises__________________________________________________ 4Optional Equipment ________________________________________________________________________________ 5Available Training Systems __________________________________________________________________________ 6Equipment Description _____________________________________________________________________________ 7Optional Equipment Description______________________________________________________________________ 9

General DescriptionThe Robot System is a complete and affordable training program for the programming and operation of industrial robots. Through the curriculum and hands-on experience with the Robot System, students learn to create automated work cells.

The precision-built, articulated arm of the Robot represents an important step in automation and handling. A stepper motor, located in the base of the unit, provides horizontal rotation while five additional stepper motors, located in the shoulder, provide precision movements of the articulations and end effector.

The Robot has five axes of rotation plus a gripper and is able to use all joints simultaneously to perform a programmed move sequence. Each articulation can be controlled and moved independently. Movements of the joints are accomplished by belts through a series of gears, while the gripper mechanism is activated by cables and belt-driven pulleys.

The Robot System is available in two models: the Robot System, Model 5150-1, and the Robot System with Teach Pendant, Model 5150-2. The Robot System, Model 5150-1, can be controlled and programmed from a host computer running the RoboCIM 5150 Software. The Robot System with Teach Pendant, Model 5150-2, includes all the equipment of the Robot System, Model 5150-1, with the addition of a teach pendant that can be used to control and program the Robot. Optional devices include a Magnetic Gripper, a Rotary Carousel, Belt Conveyors, Gravity Feeders, Pneumatic Feeders, and a Signal Tower.

The control/simulation software program – RoboCIM 5150 – provides students with a virtual environment and an easy-to-use interface allowing them to easily learn the fundamentals of robotics. The software gives students the opportunity to prepare their sequence within the 3D environment, simulate it, and then switch to control mode to perform the sequence with the real equipment.

Both models come with student and instructor manuals, user guides, all leads and cables required to operate the system, and a solid-metal perforated Work Surface that can be put atop a regular work table or installed on one of the optional benches.

Festo's modular approach allows connection with other equipment to further expand the training capabilities.


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The Robot and its optional external devices are equipped with location pins (or push-lock fasteners). These pins insert into the perforations of the metallic work surfaces. This easy-to-use mechanism ensures the accurate positioning of the equipment when repeating programs.

Equipment Utilization ChartThe following equipment is required to perform the practical sections of the included courseware. As the chart shows, some of the equipment is only required to perform particular units.

RoboCIM 5150 Software

Location pin on a Gravity Feeder

Robot Calibration Tools


4 © Festo Didactic

Topic Coverage

• Introduction and Familiarization• Programming• Program Editing and Control Instructions• Industrial Activity Simulation

Features & Benefits

• Training program that allows easy learning of robotics basics• Curriculum supported by a precision-built robot (six-step motor drives, two-finger gripper, power transferred from

the stepper motor to the joints through mini HTP timing belts, etc.)• Durable steel and aluminum construction that requires minimal maintenance• Includes a large base that allows the robot to stay in place on a regular work table• Provided with student and instructor manuals, user guides, and all required leads and cables• Color-coded input and output connection ports for ease of setup• Optional components allow the creation of personalized work cells• Control/simulation software that uses 3D representations to simulate and control the mechanical and electrical

characteristics of the equipment• Available Robotics System Software Development Kit intended for developers who are interested in developing their

own applications for the Robot System• Can be provided in an optional solid protective carrying case

List of Available Training Systems

Qty DescriptionModel number

1 Robot System _________________________________________________________________ 582490 (5150-10)

Additional Equipment Required to Perform the Exercises


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2 Required only to perform Units 8 and 9 (Optional Industrial Applications 5 and 6) of the courseware.3 Required only to perform Unit 7 (Optional Industrial Application 4) of the courseware. Alternately, this item can be replaced by Models 5121, 5122-A, or 5142-A.4 Required only to perform Unit 7 (Optional Industrial Application 4) of the courseware. Alternately, this item can be replaced by Models 5119, 5122-A, or 5142-A.5 Required only to perform Unit 7 (Optional Industrial Application 4) of the courseware. Alternately, this item can be replaced by Models 5119, 5121, or 5142-A. The Pneumatic Feeder Kit requires compressed air. The Air Compressor, Model 6410-C, is available in the Optional Equipment for this

purpose.6 Required only to perform Unit 7 (Optional Industrial Application 4) of the courseware. Alternately, this item can be replaced by Models 5119, 5121, or 5122-A. The Pneumatic Feeder Kit requires compressed air. The Air Compressor, Model 6410-C, is available in the Optional Equipment for this

purpose.7 Refer to the Computer Requirements in the System Specifications section of this datasheet if the computer is to be provided by the end-user.8 Additional software license for 1 user.1 Required only to perform Unit 6 (Optional Industrial Application 3) of the courseware.


1 Rotary Carousel ________________________________________________________________ 587703 (5113-10)1 Belt Conveyor _________________________________________________________________ 587704 (5118-00)1 Gravity Feeder for Square Parts ___________________________________________________ 587710 (5119-00)1 Gravity Feeder for Cylindrical Parts ________________________________________________ 587711 (5121-00)1 Pneumatic Feeder Kit for Square Parts _____________________________________________ 588532 (5122-A0)1 Pneumatic Feeder Kit for Cylindrical Parts ___________________________________________ 588536 (5142-A0)1 Personal Computer _____________________________________________________________ 579785 (8990-00)

Optional Equipment


1 Microswitch ___________________________________________________________________ 587700 (5102-10)1 Magnetic Gripper _______________________________________________________________ 587702 (5111-00)1 Storage Case __________________________________________________________________ 587719 (5167-00)1 RoboCIM 5150 Software (International Market) - 1 User _______________________________ 587738 (5173-P0)1 Robotics System Software Development Kit _________________________________________ 587771 (5174-00)1 Belt Conveyor _________________________________________________________________ 587775 (5210-00)1 Signal Tower Kit with Control Relay ________________________________________________ 588558 (5924-B0)1 Storage/Work Surface __________________________________________________________ 582357 (6309-00)1 Air Compressor ________________________________________________________________ 588108 (6410-C0)1 Spacer ______________________________________________________________________ 582141 (39035-00)1 Work Bench for 1 Work Surface __________________________________________________ 579820 (46601-10)1 Work Bench for 2 Work Surfaces _________________________________________________ 579821 (46601-20)1 Work Bench for 3 Work Surfaces _________________________________________________ 579822 (46601-30)1 Square Part - Plexiglass ________________________________________________________ 789676 (96474-00)1 Square Part - Wax _____________________________________________________________ 789752 (96942-00)

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6 © Festo Didactic

Available Training Systems

Robot System582490 (5150-10)

The Robot System provides complete and affordable training in the programming and operation of industrial robots. Through the curriculum and hands-on experience with the Robot System, students learn to create automated work cells. The Robot System can be controlled and programmed from a host computer running the RoboCIM 5150 Software.

The precision-built, articulated arm of the Robot represents an important

step in automation and handling. A stepper motor, located in the base of the unit, provides horizontal rotation while five additional stepper motors, located in the shoulder, provide precision movements of the articulations and end effector. The Robot has five axes of rotation plus a gripper and is able to use all joints simultaneously to perform a programmed move sequence. Each articulation can be controlled and moved independently. Movements of the joints are accomplished by belts through a series of gears, while the gripper mechanism is activated by cables and belt-driven pulleys. The base of the unit includes one connector for an external stepper motor which can be used for further experimentation, such as operating the Rotary Carousel.

The Robot System comes with the RoboCIM 5150 Software which allows students to control or simulate the motion of the Robot. The software provides a three-dimensional, virtual environment and an easy-to-use interface allowing students to easily learn the fundamentals of robotics. This training system includes student and instructor manuals, user guides, all leads and cables required to operate the system, and a solid-metal perforated Work Surface that can be put atop a regular work table or installed on one of the optional benches.

Many optional devices can be added to the system to perform more complex tasks. The optional devices include a Magnetic Gripper, a Rotary Carousel, Belt Conveyors, Gravity Feeders, Pneumatic Feeders, and a Signal Tower.

List of Equipment


1 Work Surface - Large ___________________________________________________________ 579848 (46604-00)1 Power Supply __________________________________________________________________ 582213 (5105-00)1 Robot ________________________________________________________________________ 582217 (5150-A0)

List of Manuals

DescriptionManual number

RoboCIM 5150 Software (User Guide) _________________________________________________ 580451 (39376-E0)Introduction to Robotics (Student Manual) _____________________________________________ 580454 (39411-00)Introduction to Robotics (Instructor Guide) _____________________________________________ 580457 (39411-10)Robot System (User Guide) _________________________________________________________ 580461 (39411-E0)


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Table of Contents of the Manual(s)

Introduction to Robotics (Student Manual) (580454 (39411-00))• 1-1 Control of the Robot, Using RoboCIM• 1-2 Control of the Robot, Using the Teach Pendant• 2-1 Programming, Using RoboCIM• 2-2 Programming, Using the Teach Pendant• 3-1 Program Editing, Using RoboCIM• 3-2 Program Editing, Using the Teach Pendant• 4-0 Industrial Application 1• 5-0 Industrial Application 2• 6-0 Industrial Application 3• 7-0 Industrial Application 4• 8-0 Industrial Application 5• 9-0 Industrial Application 6

System SpecificationsParameter Value

Physical Characteristics

Intended Location On a table able to support the weight of the equipment

Dimensions (H x W x D) 800 x 590 x 890 mm (31.5 x 23.2 x 35 in)

Net Weight TBE

Equipment Description

Power Supply 582213 (5105-00)

The Power Supply converts the ac line voltage into a 13.8-V dc voltage that is used to power the Robot, Model 5150-A. The Power Supply has current limiting and overvoltage protection.

SpecificationsParameter Value

Power Requirement

Service Installation Standard-single phase ac outlet

Current 3 A

Output 13.8 V – 10 A – DC

Protection Current limiting/overvoltage


Dimensions (H x W x D) 57 x 152 x 248 mm (2.3 x 6.0 x 9.8 in)

Net Weight 1.2 kg (2.7 lb)


8 © Festo Didactic

Robot 582217 (5150-A0)

The Robot has five axes of rotation plus a gripper. It is driven by stepper motors that provide precision movements of the articulations. All joints can be used simultaneously to perform a programmed move sequence. Movements of the joints are accomplished by belts through a series of gears, while the gripper mechanism is activated by cables and belt-driven pulleys. The Robot comes with a large base which allows it to be placed on a regular work table.


Load Capacity 0.44 kg (15.6 oz)

Number of Axes of Rotational Freedom 5

Reach 432 mm (17 in)

Repeatability 3.2 mm (0.125 in)

Maximum Speed 152 mm/s (6 in/s)

Actuators

Type DC stepper motor

Number of steps per revolution 200

Transmission Gears and timing belts

Working Envelope

Base 338°

Shoulder Joint 181°

Elbow Joint 198°

Pitch Joint 185°

Roll Joint 360°

Power Input

Voltage 13.8 V – DC

Device Outputs

Number 4

Voltage 12 V – DC

Maximum Current 0.6 A

TTL Outputs

Number 4

Level 0-5 V – DC, TTL compatible

Maximum Current 0.02 A

End Effector Two-finger gripper


Dimensions (H x W x D) TBE



© Festo Didactic 9

Work Surface - Large 579848 (46604-00)

The Work Surface - Large is a perforated metal surface on which the equipment can be installed. The Work Surface can be put atop a regular work table or on one of the optional benches.





Optional Equipment Description

Microswitch (Optional) 587700 (5102-10)

The Microswitch is an SPDT switch with a wireform actuator. The Microswitch can be used alone or can be installed on a belt conveyor.


Switch

Type Momentary

Actuator Wireform

Contacts SPDT, 12 V - 0.06 A - DC

Magnetic Gripper (Optional) 587702 (5111-00)

The Magnetic Gripper can be fixed to the wrist of the Robot in place of the two-finger gripper. The electromagnet is powered via the external device output connector mounted on the shoulder of the Robot. The Magnetic Gripper comes with a connection cable and an installation guide.


10 © Festo Didactic

Manual


Magnetic Gripper Model 5111 (User Guide) ____________________________________________ 585408 (93379-00)


Holding Force 0.9 kg (2 lb)


Magnet Diameter 19 mm (0.75 in)


Rotary Carousel (Optional) 587703 (5113-10)

The Rotary Carousel is used to demonstrate how parts can be transferred to and from a robot in a repetitive, rotational pattern. Its platter is driven by a dc servo motor. The carousel has a closed loop feedback system and a limit switch feedback for hard home capabilities.

The operation of the Rotary Carousel is controlled by the Robot Controller.


Platter Diameter 298 mm (11.7 in)

Motor DC stepper motor

Switch

Type Momentary

Actuator Wireform

Contacts SPDT, 12 V – 0.06 A – DC




Belt Conveyor (Optional) 587704 (5118-00)

The Belt Conveyor is used in material-handling experiments. It has a self-contained power supply and interface electronics. The control panel has inputs for interfacing with the Robot Controller. The inputs enable the conveyor to be remotely controlled. It can also be used as a stand-alone unit.

The Belt Conveyor comes with a movable limit switch to detect the presence of parts on the belt. The conveyor belt has a length of 1880 mm (74 in) and a width of 127 mm (5 in).

Specifications


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Parameter Value

Motor DC stepper motor

Conveyor Belt

Length 959 mm (37.8 in)

Width 102 mm (4 in)

Inputs

Number 3 (to control motor operation, engage/disengage motors, direction)

Type TTL input

Switch (movable)

Type Momentary

Actuator Wireform



Dimensions (H x W x D) 165 x 965 x 260 mm (6.5 x 38 x 10.3 in)


Gravity Feeder for Square Parts (Optional) 587710 (5119-00)

The Gravity Feeder for Square Parts is designed to feed square parts. It has a sensor switch and feedback cables for connection to the Robot Controller.


Storage Capacity 6 square parts

Part Characteristics

Dimensions 51 x 51 mm (2 x 2 in)

Thickness 13-38 mm (0.5-1.5 in)

Switch

Type Momentary

Actuator Wireform



Dimensions (H x W x D) 279 x 203 x 241 mm (11 x 8 x 9.5 in)




Gravity Feeder for Cylindrical Parts (Optional) 587711 (5121-00)

The Gravity Feeder for Cylindrical Parts is designed to feed small cylindrical parts. It has a sensor switch and feedback cables for connection to the Robot Controller.


Storage Capacity 8 cylindrical parts

Parts Characteristics

Dimensions (Length x Diameter) 51 x 35 mm (2 x 1.375 in)

Switch

Type Momentary

Actuator Wireform





Pneumatic Feeder Kit for Square Parts (Optional) 588532 (5122-A0)

The Pneumatic Feeder Kit for Square Parts is designed to feed square parts and includes a pneumatic feeder and controller. It consists of storage and feeder sections and a pneumatic cylinder. Both sections have microswitches to send feedback to the Pneumatic Feeder Controller. When the Pneumatic Feeder Controller detects that the feeder section is empty, it supplies compressed air to the pneumatic cylinder to push a part from the storage section into the

feeder section.


Storage Capacity 10 square parts



Switch

Type Momentary

Actuator Standard-type, integral-hinged lever




Parameter Value

Pneumatic Cylinder

Type Double-acting cylinder

Stroke 76 mm (3 in)

Bore Size 19 mm (0.75 in)




Pneumatic Feeder Kit for Cylindrical Parts (Optional) 588536 (5142-A0)

This Pneumatic Feeder Kit for Cylindrical Parts is designed to feed cylindrical parts and includes a Pneumatic Feeder (Cylindrical Parts) and controller. It consists of storage and feeder sections and a pneumatic cylinder. Both sections have microswitches to send feedback to the Pneumatic Feeder Controller. When the Pneumatic Feeder Controller detects that the feeder section is empty, it supplies compressed air to the pneumatic cylinder to push a part from the storage section into the feeder section.


Storage Capacity 8 cylindrical parts


Dimensions (Length x Diameter) 63.5 x 19 mm (2.5 x 0.75 in)

Switch

Type Standard-type, integral-hinged lever

Actuator Momentary


Pneumatic Cylinder

Type Double-acting cylinder

Stroke 76 mm (3 in)

Bore Size 19 mm (0.75 in)






Storage Case (Optional) 587719 (5167-00)

The Storage Case is a molded case designed to transport and protect the Robot System. The Storage Case is impact-resistant and its interior is padded with foam specially cut to match the Robot shape.



Inner Dimensions (H x W x D) 241 x 673 x 381 mm (9.5 x 26.5 x 15 in)

Outer Dimensions (H x W x D) 254 x 699 x 406 mm (10 x 27.5 x 16 in)


RoboCIM 5150 Software (International Market) - 1 User (Optional) 587738 (5173-P0)

The RoboCIM 5150 Software is used to simulate and control the operation of the Robot System, Model 5150, and optional external devices such as Gravity Feeders and Belt Conveyors. One of the key features of the RoboCIM 5150 Software is that it simulates the actual equipment with three-dimensional representations. Sophisticated mathematical models accurately simulate the mechanical and electrical characteristics of the equipment. The RoboCIM 5150

Software allows users to interactively control and view the motion of the system. Programs can be created with the RoboCIM 5150 Software to control the equipment using either the text programming mode or the icon programming mode.

Manual


RoboCIM 5150 Software (User Guide) _________________________________________________ 580451 (39376-E0)



Robotics System Software Development Kit (Optional) 587771 (5174-00)

The Robotics System Software Development Kit (SDK) is intended for developers who are interested in developing their own applications for the Robot System. It includes a CD-ROM with all the files required to use the dynamic-link library (DLL) as an abstraction layer between the end-user application and the low-level communication protocol from and to the USB Controller. The Robotics System Software Development Kit comes with a User Guide giving the details of each function in the library. However, since the Robotics System Software Development Kit is intended for developers, no instructional material is provided.

Manual


5150 Robotics System Software Development Kit (User Guide) ____________________________ 584870 (39644-E0)


Computer RequirementsA currently available personal computer running under one of the following operating systems: Windows® 7 or

Windows® 8.

Belt Conveyor (Optional) 587775 (5210-00)

The Belt Conveyor is used in material-handling experiments. It has a self-contained power supply and interface electronics. The control panel has inputs for interfacing with the Robot Controller. The inputs enable the conveyor to be remotely controlled. It can also be used as a stand-alone unit. The Belt Conveyor comes with a movable limit switch to detect the presence of parts on the belt.

Specifications



Parameter Value

Motor

Type DC servo motor with closed-loop control

Encoder Optical

Conveyor Belt

Length 1880 mm (74 in)

Width 127 mm (5 in)

Inputs

Number 3 (to control motor operation, engage/disengage motors, direction)

Type TTL Input

Switch (Movable)

Type Momentary

Actuator Wireform





Signal Tower Kit with Control Relay (Optional) 588558 (5924-B0)

The Signal Tower Kit with Control Relay is one of the available external accessories for the Servo Robot, Model 5150. The signal tower consists of three lights displaying visual signals that indicate the Robot Controller states. Up to five light modules can be stacked one upon another. Each module can be programmed without the need for special wiring or tools. The DC Power Supply, Model 6360,

and Connection Leads, Model 5259-C, required to operate the Signal Tower, are included, as well as a Control Relay used to control external devices. It consists of a relay (12 V dc solenoid and DPDT contacts) and connecting cables.


Control Relay

Contacts NO (2), NC (2), 30 V – 10 A – DC, Resistive


Signal Tower

Lights 3 (green, red, and yellow)

Inputs (6) 24 V dc



Electrical Leads

Quantity and Color, Length One black, five red, 3 white; 60 cm (24 in)

Connectors 2-mm banana plugs

Current Rating 10 A

Power Requirement

Current 1.25 A

Service Installation Standard single-phase ac outlet

Output 24 V – 2.4 A – DC

Short-Circuit Protection Automatic current/limit foldback





Parameter Value


Storage/Work Surface (Optional) 582357 (6309-00)

The Storage/Work Surface is a perforated metal plate on which the equipment is placed. Two work surfaces can be joined using Spacers, Model 39035.



Dimensions (H x W x D) 30 x 590 x 590 mm (1 x 23 x 23 in)

Net Weight 5 kg (11 lb)

Air Compressor (Optional) 588108 (6410-C0)

The Air Compressor is a quiet device well suited for classroom and school laboratories. The Air Compressor can be used to provide compressed air to different components. A conditioning unit, Model 6411-A, must be connected to the compressor for certain applications.

The Circulator Pump is available in different variants depending on ac power network voltages and frequencies. Because of this, the actual module may vary from the one shown in the picture.


Power Requirements

Current 4.8 A


Tank Capacity 15.1 L (4 gal)

Flow Rate 42.5 L/min at 620 kPa (1.5 SCFM at 90 psi)

Maximum Pressure 800 kPa (120 psi)

Noise Level 40 dB(A) (about as quiet as a refrigerator)


Dimensions (H x W x D) TBE



Parameter Value

Net Weight TBE

Personal Computer (Optional) 579785 (8990-00)

The Personal Computer consists of a desktop computer running under

Windows® 10. A monitor, keyboard, and mouse are included.


Power Requirements

Current 2 A


Spacer (Optional) 582141 (39035-00)

The Spacer is a small metal piece with four push-lock fasteners that can be used to join two perforated work surfaces.




Net Weight 169 g (6 oz)



Work Bench for 1 Work Surface (Optional) 579820 (46601-10)

The Work Benches, Models 46601-1, 46601-2, and 46601-3, are solid metal benches that can accommodate one, two, and three work surfaces, respectively. The work surfaces are not included with the Work Benches. Each bench is mounted on four heavy-duty, swivelling, lockable casters. Optional equipment is available for each bench.



1 Work Surface - Large ___________________________________________________________ 579848 (46604-00)




Net Weight TBE

Work Bench for 2 Work Surfaces (Optional) 579821 (46601-20)

The Work Benches, Models 46601-1, 46601-2, and 46601-3, are solid metal benches that can accommodate one, two, and three work surfaces, respectively. The work surfaces are not included with the Work Benches. Each bench is mounted on four heavy-duty, swivelling, lockable casters. Optional equipment is available for

each bench.




Specifications



Parameter Value



Net Weight TBE

Work Bench for 3 Work Surfaces (Optional) 579822 (46601-30)

The Work Benches, Models 46601-1, 46601-2, and 46601-3, are solid metal benches that can accommodate one, two, and three work surfaces, respectively. The work surfaces are not included with the Work Benches. Each bench is mounted on four heavy-duty, swivelling, lockable casters. Optional equipment is available for each bench.







Net Weight TBE

Square Part - Plexiglass (Optional) 789676 (96474-00)The Square Part - Plexiglass is a block of clear plexiglass used for various manipulations with the Servo Robot, Model 5250.



Dimensions (H x W x D) 13 x 51 x 51 mm (0.5 x 2 x 2 in)

Net Weight 39 g (1.4 oz)

Square Part - Wax (Optional) 789752 (96942-00)The Square Part - Wax is a block of blue File-A-Wax used for various manipulations with the Servo Robot, Model 5250.



Dimensions (H x W x D) 13 x 51 x 51 mm (0.5 x 2 x 2 in)

Net Weight 31 g (1.1 oz)



Reflecting the commitment of Festo Didactic to high quality standards in product, design, development, production, installation, and service, our manufacturing and distribution facility has received the ISO 9001 certification.

Festo Didactic reserves the right to make product improvements at any time and without notice and is not responsible for typographical errors. Festo Didactic recognizes all product names used herein as trademarks or registered trademarks of their respective holders. © Festo Didactic Inc. 2020. All rights reserved.

Festo Didactic SE

Rechbergstrasse 373770 DenkendorfGermany

P. +49(0)711/3467-0F. +49(0)711/347-54-88500

Festo Didactic Inc.

607 Industrial Way WestEatontown, NJ 07724United States

P. +1-732-938-2000F. +1-732-774-8573

Festo Didactic Ltée/Ltd

675 rue du CarboneQuébec QC G2N 2K7Canada

P. +1-418-849-1000F. +1-418-849-1666

www.labvolt.com

www.festo-didactic.com

Documents

Robot Systems 5150-00 - LabVolt Series by Festo Didactic98-5150)_en_… · Teach Pendant, Model 5150-2. The Robot System, Model 5150-1, can be controlled and programmed from a host