SCARA MANUAL

TABLE OF CONTENTS

Ⅰ. For Safe Use of Robot······························································································ 1

Ⅱ. About the Product······································································································ 4

1. Features············································································································································ 4

2. System Configuration························································································································ 7

Ⅲ. About the Structure·································································································· 8

1. Motion Range and Outline················································································································· 8

2. Internal Structure·························································································································· 13

3. Wiring Diagram································································································································· 15

4. Assignment of Connector Pin········································································································· 17

Ⅳ. About the Installation··························································································· 19

1. Carrying the Robot·························································································································· 19

2. Environments of Installation········································································································ 20

3. Installing the Robot······················································································································· 20

Ⅴ. About the Application················································································································ 21

1. Attaching the Robot Main Body and Work ···················································································· 21

2. Using the Robot Body I/O and the Air Hose················································································· 21

3. W-Axis Allowable Inertia (Moment of Inertia) and Calculation··············································· 22

Ⅵ. About Maintenance and Repair················································································ 32

1. Maintenance And Repair··················································································································· 32

2. Exchange of the Sensor················································································································ 34

3. Exchange of the Motor················································································································· 34

4. Exchange of the Reduction Gear and Ball Screw Spline······················································ 35

5. Exchange of the Timing Belt······································································································ 36

Ⅶ. About Applied Controller······················································································· 37

Ⅷ. Trouble Shooting····································································································· 40 1. Table of Trouble Shooting············································································································· 40

2. Adjustment of Offset(Calibration)··························································································· 42

Thank you for purchasing Robostar ROBOT.

Please read this manual carefully for safe and proper

use of the machine, and keep it handy for future

reference.

Ⅰ. For Safe Use of Robot

- 1 -

Ⅰ. For Safe Use of Robot.

Since this robot is an industrial machine manufactured by the advanced technology,

please be sure to obey the followings to prevent an accident.

Please keep in mind of marks in the documentation, which means that there exists

danger potential for operating.

■ For more safe and effective use, please be sure to run the robot after reading the

manual carefully.

■ Please use the robot within the rated load and power. Specifically, for safe use be

sure to check if the input voltage is AC 220V beforehand.

■ When installing the robot, please fix it up to avoid any shaking.

■ Before turning on the controller power, be sure to check the wiring. The wrong wiring

can cause the malfunction of the robot.

■ To prevent the electric shock, be sure to set up triad ground. (ground resistance

should be below 100Ω)

■ When the robot is in the running or running-enable state, make sure not to enter the

work space of the robot. During the stopping state, be careful at all times.

■ In case of running the multiple robots at the same time, specifically, in case of

power on/off, motor driving, and manual operation, conduct operation after con-

firming mutual safety.

■ When repairing and inspecting the robot, please be sure to pull out the power plug of

the controller.

■ For safe work, please put up the safety guard at the surroundings of the work space

of the robot.

!

WARNING !

Expected wrong maintenance or severe injury

Expected wrong maintenance, light injury or loss of property

CAUTION !


- 2 -

■ For the safety of the operator, please wear the safety helmet and shoes.

■ When running the robot, please be sure to operate it within the rated load weight.

■ In case of setting up the robot cable in the corridor environments, please use the

cover or duct to prevent the damage of the cable.

■ Please attention to the followings, when putting up the safety guard.

- The safety guard should be so

intensive to tolerate the

reactive force or the working

conditions and it should not

easy to move or to cross over

the safety guard.

- The safety guard should be

fixed up and the danger parts

of it like sharp edge or burr

should be removed.

- In case of making an entrance

door at the safety guard,

please set up the sensor to

detect the door open and

command the emergency stop of

the robot.

- The safety guard should be

set up at the minimum 40cm

distance away from the work

space and the body of the robot.

■ Please attach warning label on the easily visible location.

WARNING !You may be injured if you

contact to moving robot.

● Don't go inside of safety

fence

● Press the emergency button

when you should go inside


- 3 -

■ Please pay attention to the followings, when setting up the emergency stop switch.

- The emergency stop switch should be set up at

the operator's convenient place.

- For easy recognition, it is highly desirable

to use the red-colored emergency stop switch

surrounded by the yellow line.

- Please don't use the auto-return switch as

the emergency stop switch.

■ Please set up the warning lamp so as to verify the power input to the robot.

■ Please notice the followings for operating

If you make a touch with robot in motion, you may get severe

injury. To avoid this situation, you should keep following checkpoints.

- It's strictly forbidden to get inside

the robot working area.

- If you should go inside for repair, you

should power off the robot after

pressing emergency button.

■ Please notice the followings for auto run mode

- Action for starting : Check following checkpoints with your staff before you starting a robot.

① No personnel inside robot working area

② Teach pendent and tool on the right position

③ No power to lamp,indicating abnormal message

of system

- Check during auto run mode : Make sure with

lamp that it's in auto run mode.

- Action for malfunction : Make sure that

anyone else operating robot except

operator, when you go inside robot moving area for repair, by making emergency switch

on or stopping a robot.

WARNING !




fence






fence



II. About the product

- 4 -


1. Features

Our RBSA(I)-Series ※SCARA robot adopts AC servo motors and it is the product with high confidence,

high speed, and high precision. It can be applied to the assembly work, the rapid transportation and

handling of the precise components.

■ High Confidence

Structure analysis, dynamics analysis, effective power

transmission mechanism and lightly manufactured arm

help our robot to realize the low inertia and high

stiffness and guarantee high confidence of our robot.

■ High Speed, High Precision And High Payload

Using AC servo motors, precise reduction gear, ball

screw, our robot realize high speed, high precision.

Also, it can realize high payload with compact structure

and high stiffness.

■ The unnecessity of an origin return action

Using AC servo motors with the absolute encoder at

all axis, an origin return action is unnecessary in

RBSA-Series(absolute type SCARA)

■ Outstanding Appearance, Convenient Maintenance

Our robot arm has outstanding appearance with one

line electric wiring. Also, our robot is designed for

convenient maintenance by effective power transmission

mechanism and component arrangement.

■ Model Nomenclature

R B S A 6 0 - 4 A - 200ST

Z-Axis Stroke

Version

Degree Of Freedom

Arm Length / 10

A : Absolute Encoder

I : Incremental Encoder

Robot Body(SCARA)

※ SCARA means "Selective Compliance Automatic Robot Arm"


- 5 -

▣ SCARA machine part specification

■ Basic Performance

footnote 1.※1)There are limitations on the speed and acceleration parameter setting in the maximum. 2.※2)The standard cycle time is the value of the case which the end effect of the robot operated a 300mm round trip to the top and bottom to a 25mm. 3.Please rotate the robot arm, positioning work as close to the lower part of the B-arm as possible. 4.In case of applying the robot whose arm length is over 900mm, there are limitations in working patterns according to the payload and load inertia.

Model Name

Item

700 Arm 800 Arm

RBSA(I)70-4B RBSA(I)80-4A RBSA(I)80-4B

Servo Motor/Degree of freedom Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4

Motion range:

Maximum speed

A-Axis ± 100°: 324°/s ± 125°: 248°/s ± 125°: 225°/s

B-Axis ± 135°: 324°/s ± 145°: 396°/s ± 145°: 360°/s

Z-Axis 200mm,300mm:750mm/s 200mm,300mm:1000mm/s 200mm,300mm:750mm/s

W-Axis ± 180°: 600°/s ± 180°: 720°/s ± 180°: 600°/s

Maximum Operation Speed 5,935mm/s 5,870mm/s 5,340mm/s

PayloadRated 10kg 5kg 10kg

Maximum※1 20kg 10kg 20kg

Repeatability

A,B-Axis Summation ± 0.03mm ± 0.03mm ± 0.03mm

Z-Axis ± 0.01mm ± 0.01mm ± 0.01mm

W-Axis ± 0.04° ± 0.04° ± 0.04°

Arm LengthA-Arm 350mm 450mm 450mm

B-Arm 350mm 350mm 350mm

Motor

Specification

And gear ratio

A-Axis AC 750W, 1/50 AC 750W, 1/80 AC 750W, 1/80

B-Axis AC 400W, 1/50 AC 400W, 1/50 AC 400W, 1/50

Z-Axis AC 200W, Lead:15 AC 200W, Lead:20 AC 200W, Lead:15

W-Axis AC 200W, 1/30 AC 200W, 1/25 AC 200W, 1/30

W-Axis Allowable

Moment of Inertia

Rated 0.573kgfcms2 0.349kgfcms2 0.573kgfcms2

Maximum※1 3.130kgfcms2 0.573kgfcms2 3.130kgfcms2

Standard Cycle Time※2 0.51sec 0.53sec 0.56sec

Signal lines for user 24Pin 24Pin 24Pin

Air horse for user Ø 6x4EA Ø 6x4EA Ø 6x4EA

Weight 73kg 73.5kg 74.5kg

Applied Controller RCMD4(RCM4)-8422 RCMD4(RCM4)-8422 RCMD4(RCM4)-8422

Model Name

Item

500 Arm 600 Arm 700 Arm

RBSA(I)50-4A RBSA(I)60-4A RBSA(I)70-4A

Servo Motor/Degree of freedom Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4

Motion range:

Maximum speed

A-Axis ± 95°: 396°/s ± 125°: 396°/s ± 100°: 360°/s

B-Axis ± 125°: 396°/s ± 140°: 396°/s ± 135°: 360°/s

Z-Axis 200mm,300mm:1000mm/s 200mm,300mm:1000mm/s 200mm,300mm:1000mm/s

W-Axis ± 180°: 900°/s ± 180°: 900°/s ± 180°: 720°/s

Maximum Operation Speed 5,180mm/s 5,870mm/s 6,590mm/s

PayloadRated 2kg 2kg 5kg

Maximum※1 5kg 5kg 10kg

Repeatability

A,B-Axis Summation ± 0.02mm ± 0.02mm ± 0.03mm

Z-Axis ± 0.01mm ± 0.01mm ± 0.01mm

W-Axis ± 0.03° ± 0.03° ± 0.04°

Arm LengthA-Arm 250mm 350mm 350mm

B-Arm 250mm 250mm 350mm

Motor

Specification

And gear ratio

A-Axis AC 400W, 1/50 AC 400W, 1/50 AC 750W, 1/50

B-Axis AC 200W, 1/50 AC 200W, 1/50 AC 400W, 1/50

Z-Axis AC 100W, Lead:20 AC 100W, Lead:20 AC 200W, Lead:20

W-Axis AC 100W, 1/20 AC 100W, 1/20 AC 200W, 1/25

W-Axis Allowable

Moment of Inertia

Rated 0.158kgfcms2 0.158kgfcms2 0.349kgfcms2

Maximum※1 0.268kgfcms2 0.268kgfcms2 0.573kgfcms2

Standard Cycle Time※2 0.45sec 0.47sec 0.48sec

Signal lines for user 24Pin 24Pin 24Pin

Air horse for user Ø 6x4EA Ø 6x4EA Ø 6x4EA

Weight 45kg 46kg 72kg

Applied Controller RCMD4(RCM4)-4211 RCMD4(RCM4)-4211 RCMD4(RCM4)-8422


- 6 -

■ Basic Performance

footnote 1.※1)There are limitations on the speed and acceleration parameter setting in the maximum. 2.※2)The standard cycle time is the value of the case which the end effect of the robot operated a 300mm round trip to the top and bottom to a 25mm. 3.Please rotate the robot arm, positioning work as close to the lower part of the B-arm as possible. 4.In case of applying the robot whose arm length is over 900mm, there are limitations in working patterns according to the payload and load inertia.

Model Name

Item

900 Arm 1000 Arm

RBSA(I)90-4A RBSA(I)90-4B RBSA(I)100-4A RBSA(I)100-4B

Servo Motor/Degree of freedom Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4 Abs.(Inc.)AC / 4

Motion range:

Maximum speed

A-Axis ± 125°: 225°/s ± 125°: 203°/s ± 125°: 225°/s ± 125°: 203°/s

B-Axis ± 145°: 360°/s ± 145°: 324°/s ± 145°: 225°/s ± 145°: 203°/s

Z-Axis 200mm,300mm:1000mm/s 200mm,300mm:750mm/s 200mm,300mm:1000mm/s 200mm,300mm:750mm/s

W-Axis ± 180°: 720°/s ± 180°: 600°/s ± 180°: 720°/s ± 180°: 600°/s

Maximum Operation Speed 5,730mm/s 5,160mm/s 5,690mm/s 5,120mm/s

PayloadRated 5kg 10kg 5kg 10kg

Maximum※1 10kg 20kg 10kg 20kg

Repeatability

A,B-Axis Summation ± 0.04mm ± 0.04mm ± 0.04mm ± 0.04mm

Z-Axis ± 0.01mm ± 0.01mm ± 0.01mm ± 0.01mm

W-Axis ± 0.04° ± 0.04° ± 0.04° ± 0.04°

Arm LengthA-Arm 550mm 550mm 550mm 550mm

B-Arm 350mm 350mm 450mm 450mm

Motor

Specification

And gear ratio

A-Axis AC 750W, 1/80 AC 750W, 1/80 AC 750W, 1/80 AC 750W, 1/80

B-Axis AC 400W, 1/50 AC 400W, 1/50 AC 400W, 1/80 AC 400W, 1/80

Z-Axis AC 200W, Lead:20 AC 200W, Lead:15 AC 200W, Lead:20 AC 200W, Lead:15

W-Axis AC 200W, 1/25 AC 200W, 1/30 AC 200W, 1/25 AC 200W, 1/30

W-Axis Allowable

Moment of Inertia

Rated 0.349kgfcms2 0.573kgfcms2 0.349kgfcms2 0.573kgfcms2

Maximum※1 0.573kgfcms2 3.130kgfcms2 0.573kgfcms2 3.130kgfcms2

Standard Cycle Time※2 0.53sec 0.56sec 0.54sec 0.57sec

Signal lines for user 24Pin 24Pin 24Pin 24Pin

Air horse for user Ø 6x4EA Ø 6x4EA Ø 6x4EA Ø 6x4EA

Weight 75kg 76kg 76.5kg 77.5kg

Applied Controller RCMD4(RCM4)-8422 RCMD4(RCM4)-8422 RCMD4(RCM4)-8422 RCMD4(RCM4)-8422


- 7 -

2. System configuration

P L C

Ⅲ. About the structure

- 8 -


1. Motion range and outline

▣ RBSA(I)50-4A

▣ RBSA(I)60-4A


- 9 -

■ Motion range and outline

▣ RBSA(I)70-4A

▣ RBSA(I)70-4B


- 10 -


▣ RBSA(I)80-4A

▣ RBSA(I)80-4B


- 11 -


▣ RBSA(I)90-4A

▣ RBSA(I)90-4B


- 12 -


▣ RBSA100-4A

▣ RBSA100-4B


- 13 -

2. Internal structure

(1) The internal structure of RBSI-Series SCARA(Incremental Encoder)


- 14 -

(2) The internal structure of RBSA-Series SCARA(Absolute Encoder)


- 15 -

3. Wiring Diagram

(1) Block Diagram Of RBSI-Series SCARA(Incremental Encoder)


- 16 -

(2) Block Diagram Of RBSA-Series SCARA(Absolute Encoder)


- 17 -

4. Pin assignment of connector

(1) Pin assignment Of RBSI-Series SCARA(Incremental Encoder)

X11,X21-X210,X31-X310,X41-X410Signal Connector

Line colorConnect to

(Motor part)

1 EA White → Red

A,B,Z,W-Axks

Motor Encoder

2 /EA Green → Pink

3 EB White → Green

4 /EB Brown → Blue

5 EZ White → Yellow

6 /EZ Blue→Orange

7 EU White→ Flesh

8 /EU Yellow → Brown

9 EV White → Green

10 /EV Gray → Gray

11 EW White → Cyan

12 /EW Orange → Violet

13 +5V White-Red → White

14 GND+ Black-Gray → Black

15FG

[SHIELD]Black → Black

X10,X20-X200,X30-X300,X40-X400Power Connector


(Motor part)

1 U Red → Red

A,B,Z,W-Axis

Motor Power

2 V White → White

3 W Black → Black

4 FG Green → Green(Yellow)

※No.2 Pin is connected with No.4 pin(Blue-Blue).

X12,X22-X220,X32-X320,X42-X420Sensor Connector


(Motor part)

1 +24V Green → Brown-Brown

A,B,Z,W-AxIs

Sensor

2 GND24Black-Black

→ Blue-Blue-Blue

3 SL+ Orange → Black

4 SL- Black → Blue

5 SORG Yellow → Black

6 No Connect

X5Body I/O Connector

Connect to(Connector)

24pin connector can be connected to X50

one to one in regular sequence.X50

X33Brake Connector

Line colorConnect to(Motor part)

22 BRK+ Brown → Yellow Z-Axis

Brake23 BRK- Black → Yellow

※X1 Body Connector is connected directly at motor Connector.

X1, X2, X3, X4Body Connector

(28Pin)Line color

Connect to(linking part)

Connector Pin Number

1 +5V Black -Red→White-Red

X11,X21,X31,X41

Signal Connector

13

2 No Connect -

3 GND5 Black -Red→Black-Gray 14

4 No Connect -

5 EA Brown→ White 1

6 /EA Brown(White) → Green 2

7 EU Violet → White 7

8 /EU Violet(White) → Yellow 8

9 EB Orange → White 3

10 /EB Orange(Black) → Brown 4

11 EV Gray → White 9

12 /EV Gray(Black) → Gray 10

13 EZ Yellow → White 5

14 /EZ Yellow(Black) → White 6

15 EW Pink→ White 11

16 /EW Pink(Black) → Orange 12

17 SL+ White → Orange

X12,X22,X32,X42

Sensor Connector

3

18 SL- White(Black) → Black 4

19 +24V Green → Green 1

20 GND24Green(White)-Blue(White)

→ Black-Black2

21 SORG Blue → Yellow 5

22 BRK+ Brown → Brown X33

Brake Connector

1

23 BRK- Black → Black 2

24FG(Encoder)


X11,X21,X31,X41

Signal Connector15

A U Red → Red

X10,X20,X30,X40

Power Connector

1

B V White → White 2

C W Black → Black 3

D FG(Motor) Green(Yellow) → Green 4


- 18 -

(2) Pin assignment Of RBSA-Series SCARA(Absolute Encoder)

X5Body I/O Connector

Connect to

(Connector)

24pin connector can be connected to

X50 one to one in regular sequenceX50

X33-X330Brake Connector

Line colorConnect to(Motor part)

22 BRK+ Brown → Yellow Z-Axis

Brake23 BRK- Black → Yellow

※1)X1 Body Connector is connected directly at motor Connector.

2)No.10 Pin is connected with No.15 pin in Signal Connectors of X11,

X21,X31,X41(Black-Black).

X1, X2, X3, X4Body Connector

(28Pin)Line color



1 +5V Black -Red→White-Red

X11,X21,X31,X41

Signal Connector

13

2 No Connect -

3 GND5 Black -Red→Black-Gray 14

4 No Connect -

5 EA Brown→ White 1

6 /EA Brown(White) → Green 2

7 No Connect -

8 No Connect -

9 EB Orange → White 3

10 /EB Orange(Black) → Brown 4

11 No Connect -

12 No Connect -

13 EZ Yellow → White 5

14 /EZ Yellow(Black) → White 6

15 RX Pink→ White 11

16 /RX Pink(Black) → Orange 12

17 No Connect

18 No Connect

19 No Connect

20 No Connect

21 No Connect

22 BRK+ Brown → Brown X33

Brake Connector

1

23 BRK- Black → Black 2

24FG(Encoder)

[SHIELD]

Black

→ Black-Black/Black

X11,X21,X31,X41

Signal Connector10/15

A U Red → Red

X10,X20,X30,X40

Power Connector

1

B V White → White 2

C W Black → Black 3

D FG(Motor) Green(Yellow) → Green 4

X11,X21-X210,X31-X310,X41-X410Signal Connector


(Motor part)

1 EA White → Red

A,B,Z,W-Axks

Motor Encoder

2 /EA Green → Pink

3 EB White → Green

4 /EB Brown → Blue

5 EZ White → Yellow

6 /EZ Blue→Orange

7 BAT+ White→ Flesh

8 BAT- Yellow → Brown

9 CLR White → Green

10 FG Gray → Gray

11 EW White → Cyan

12 /EW Orange → Violet

13 +5V White-Red → White

14 GND+ Black-Gray → Black

15FG


X10,X20-X200,X30-X300,X40-X400Power Connector


(Motor part)

1 U Red → Red

A,B,Z,W-Axis

Motor Power

2 V White → White

3 W Black → Black

4 FG Green → Green(Yellow)

X61,X62,X63,X64Encoder BackupBattery Connector

Line color



1 CLR Red → Red

X11,X21,X31,X41Signal Connector

9

2 +5VWhite

→ Black-Red-White13

3 BAT- Black → Black 8

4 BAT+ Green → Green 7

Ⅳ. About the Installation

- 19 -


1. Carrying the Robot

When carrying the robot, please follow the next guidelines.

1) Please fix Base and A-Arm using A-Arm parking bracket and two hexagon socket head cap

screws(M5×10L).

2) Please fix A-Arm and B-Arm using B-Arm parking bracket and two hexagon socket head cap

screws(M5×10L).

3) Please, insert M10 eye bolts at the side of Base and penetrate the eye of eye bolt with the

sling or rope. Then, carry the robot using the hoist or bar.

When carrying the robot, don't apply any excessive force to the robot arm and simply support the

robot in order to keep the horizontal attitude.


- 20 -

2. Environments of Installation

When installing the main body of the robot, pay special attention to the followings. Bad

environments of installation can cause the malfunction or the break down of the machine.

Item Environments of Installation

Working Temperature 0℃ - 40℃

Conserving Temperature -10℃ - 55℃

Working Humidity below (RH) 85% (without dew)

Conserving Humidity below (RH) 95% (without dew)

Working Place

① indoors

② a place without inflammable or corrosive gas

③ a place with little vibration

④ a place without electrical noise

⑤ a convenient place for inspection and disassembly of the robot

3. Installing the Robot

When installing the robot in the work frame, please obey the followings.

1) As the work frame, please use the steel plate over 20mm thick and below 0.2mm flat.

2) Using the level measuring device, keep the horizontal attitude.

3) Please set up the controller part outside the work space of the robot.

4)When fixing the robot to the work frame, please use four hexagon socket head cap screws and

the fixing torque is as follows

Model Name Fixing Bolt Fixing TorqueRBSA(I)50, RBSA(I)60 M10 750kgf cm

RBSA(I)70, RBSA(I)80, RBSA(I)90, RBSA(I)100 M12 1310kgf cm

Ⅴ. About the Application

- 21 -


1. Attaching the Robot Main Body and Work

When attaching the robot main body to work frame or work to the tip of W axis refer the measures

described in the following attachment surface diagram.

2. Using the Robot Body I/O and the Air Hose

In the robot main body, two 24 pin type body I/O connectors (SRCN2A16-24S : Sam Woo company) are

one to one connected in the regular sequence to the base rear cover and B-Arm upper cover

respectively and two Ø 6 pneumatic one-touch pittings(PMM0600) are set up at both two covers.

When using the body I/O, utilize the two 10 pin type body I/O connectors (SRCN2A16-24P : Sam Woo

company) which are provided for user. On the other hand, when using the pneumatic pitting, utilize

the air hose which is suitable for Ø 6.


- 22 -

3. W-Axis Allowable Inertia (Moment of Inertia) and Calculation

(1)W-Axis Allowable Moment of Inertia

When designing the work attached to the tip of W-axis, the Moment of inertia of the

work(Including hand, tool) should be less than the maximum allowable moment of inertia. By

model, the maximum allowable moment of inertia of Robot is as follows.

Model nameThe Rated

Payload[kgf]

W-Axis Maximum Allowable Inertia Jmax

[kgfcms2] [kgm2]

RBSA(I)50-4A, RBSA(I)60-4A 2(Speed 100%) 0.158 0.0155

5(Speed 70%) 0.268 0.0263

RBSA(I)70-4A, RBSA(I)80-4A,

RBSA(I)90-4A, RBSA(I)100-4A

5(Speed 100%) 0.349 0.0343

10(Speed 70%) 0.573 0.0563

RBSA(I)70-4B, RBSA(I)80-4B,

RBSA(I)90-4B, RBSA(I)100-4B

10(Speed 100%) 0.573 0.0563

20(Speed 70%) 3.130 0.3074

(2)The Payload of Work, the distance from Center of W-axis, Moment of Inertia by model

When designing the work attached to the tip of W-axis, Plaese refer the follow

figures which are showing the relationship of the Payload of Work, the distance from

Center of W-axis and moment of Inertia by model.

1) Applied model : RBSA(I)50-4A, RBSA(I)60-4A

① In case of payload : 2[kgf], speed:100[%], W-axis maximum allowable moment of inertia :

0.158[kgfcms2] = 0.0155[kgm2]


- 23 -

② In case of payload : 5[kgf], speed:70[%], W-axis maximum allowable moment of inertia :

0.268[kgfcms2] = 0.0263[kgm2]

2) Applied model : RBSA(I)70-4A, RBSA(I)80-4A, RBSA(I)90-4A, RBSA(I)100-4A


0.349[kgfcms2] = 0.0343[kgm2]


- 24 -


0.573[kgfcms2] = 0.0563[kgm2]

3) Applied model : RBSA(I)70-4B, RBSA(I)80-4B, RBSA(I)90-4B, RBSA(I)100-4B


0.573[kgfcms2] = 0.0563[kgm2]


- 25 -


3.130[kgfcms2] = 0.3074[kgm2]

(3) The Calculation of Moment of Inertia of a Work When caculating the moment of inertia of a work, Plaese refer the follow formulae.

1) The Moment of Inertia of Mass Point

J 0 =Wg

x 2 [ kgf cm s 2 ]

W : Weight of mass point[kgf]

g : Gravitational acceleration[980 cm/s2]

x : Distance between center of rotation

and mass point[cm]

or,

J 0 = m x 2 [kg m 2 ]

m : Mass of mass point [kg]


and mass point[m]


- 26 -

2) The Moment of Inertia of Cylinder

J 0 =Wr 2

2g[ kgf cm s 2 ]

W : Weight of cylinder[kgf]


r : Radius of cylinder[cm]

or,

J 0 =mr 2

2[kg m 2 ]

m : Mass of cylinder[kg]

r : Radius of cylinder[m]

In case the axis of rotational center is differnt,

J 0 =Wg

(r 2

4+

l 2

12)[ kgf cm s 2 ]



r : Radius of cylinder[cm]

l : Length of cylinder[cm]

or,

J 0 = m(r2

4+

l2

12)[kg m 2]

m : Mass of cylinder[kg]


l : Length of cylinder[m]

3) The Moment of Inertia of Cuboid

J 0 =Wg

(b 2 + c 2)12

[kgf cm s 2 ]

W : Weight of cuboid[kgf]


b,c : Length of cuboid[cm]

or,

J 0 =m(b 2+ c 2)

12[kg m 2]

m : mass of cuboid[kg]

b,c : Length of cuboid[m]


- 27 -

4) The Moment of Inertia of Sphere

J 0 =2Wr 2

5g[kgf cm s 2 ]

W : Weight of sphere[kgf]


r : Radius of sphere [cm]

or,

J 0 =2mr2

5[kg m 2]

m : mass of sphere [kg]

r : Radius of sphere [m]

5) In case the center of rotation is away from the center of a work, the Moment of Inertia

If the center of rotation is away from the center of a work, find first the moment of

inertia(J0) at the center of gravity of work, and then it is possible to calulate the

moment of Inertia at the center of rotation by using "Parallel axis theorem about moment

of inertia"

① In case the shape of work is cylinder

J= J0+Wg

x2

=Wr 2

2g+

Wg

x 2 [kgf cm s 2 ]

J0 : Moment of inertia at center

of gravity of cylinder[kgfcms²]



r : Radius of cylinder [cm]


and center of gravity of cylinder[cm]

or,

J= J0+ m x 2

=mr 2

2+ m x 2 [kg m 2 ]


of gravity of cylinder[kgm²]

m : Weight of cylinder[kg]



and center of gravity of cylinder[m]


- 28 -

In case the axis of rotational center is differnt,

J= J0+Wg

x2

=Wg

(r2

4+

l2

12)+

Wg

x 2 [kgf cm s 2]


of gravity of cylinder[kgfcms²]



r : Radius of cylinder [cm]


and center of gravity of cylinder[cm]

l : Length of cylinder [cm]

or,

J= J0+ m x 2

= m(r2

4+

l2

12)+ m x 2 [kg m 2]


of gravity of cylinder[kgm²]

m : mass of cylinder[kg]

r : Radius of cylinder [m]


and center of gravity of cylinder[m]

l : Length of cylinder [m]

② In case the shape of work is cuboid

J= J0+Wg

x2

=Wg

(b 2+ c 2)12

+Wg

x 2 [kgf cm s 2]


of gravity of cuboid[kgfcms²]

W : Weight of coboid[kgf]


b,c : Length of cuboid[cm]


and center of gravity of cuboid[cm]

or,

J= J0+ m x 2

=m(b 2+ c 2)

12+ m x 2 [kg m 2]


of gravity of cuboid[kgm²]

m : mass of cuboid[kg]

b,c : Length of cuboid[m]


and center of gravity of cuboid[m]


- 29 -

③ In case the shape of work is sphere

J= J0+Wg

x2

=2Wr2

5g+

Wg

x 2 [kgf cm s 2]


of gravity of sphere[kgfcms²]

W : Weight of sphere[kgf]


r : Radius of sphere[cm]


and center of gravity of sphere[cm]

or,

J= J0+ m x 2

=2mr2

5+ m x 2 [kg m 2]


of gravity of sphere [kgm²]

m : mass of sphere [kg]

r : Radius of sphere[m]


and center of gravity of sphere[m]


- 30 -

6) Caulation Example of Moment of Inertia

When you need to calculate the moment of inertia of a complecated shape as follows

break up the element into parts for easier calculation that is, cuboid ① and ③, cylinder ②.

- the caculation of moment of inertia around W-axis of cuboid ① :

J① =Wg

(b2+c2)12

+Wg

x2

=0.25980

(152+1.52)12

+0.25980

32=7.13 ×10 - 3[kgf cm s2]

or,

J① =m(b2+c2)

12+m x2

=0.25(0.152+0.0152)

12+0.25×0.032=6.98×10 -4[kg m2]

- the caculation of moment of inertia around W-axis of cylinder ② :

J② =Wr2

2g+

Wg

x2

=0.15×22

2×980+

0.15980

52=4.13×10 - 3[kgf cm s2]

or,

J② =mr2

2+ m x 2

=0.15×0.022

2+0.15×0.052=4.05×10 -4[kg m2]


- 31 -

- the caculation of moment of inertia around W-axis of cuboid ③ :

J③ =Wg

(b2+c2)12

+Wg

x2

=0.2980

(2.52+32)12

+0.2980

82=0.0133[kgf cm s2]

or,

J③ =m(b2+c2)

12+m x 2

=0.2(0.0252+0.032)

12+0.2×0.082=1.31×10 -3[kg m2]

Moment of inertia around entire work :

J= J①+J②+J③ =7.13×10 - 3+4.13×10 - 3+0.0133=0.02456[ kgf cm s2]

or,

J= J①+J②+J③ =6.98×10 -4+4.05×10 -4+1.31×10 -3=0.00241[kg m2]

Ⅵ. About Maintenance and Repair

- 32 -


1. Maintenance And Repair

To maintain the optimal performance of the robot, proper inspection is needed. There are test

inspection (inspection at installing the robot) and periodical inspection in inspection types.

(1) Test Inspection

① Please check if the work frame is horizontal and the robot is set up at the work

perpendicular to the work frame.

② Please check if the movement of each axis is smooth. Specifically, check if there is no

vibration in the movement of the robot, when you see the robot with the naked eye.

③ Please check if the abnormal sound is generated at the reduction gear part of each axis. When

detecting the abnormal sound, please recognize the situation in detail and contact our

company.

④ Please check if the bolts which fix the robot to the work frame are tightened within the

specified torque.

(2) Periodical Inspection

1) The Robot Fixing Bolt and the Tightening Torque

In case of the frame thickness is over 20mm, use the hexagon socket head cap screws of M10× 40L

(Tightening torque=750 kgfcm) and M12× 40L(Tightening torque=1310 kgfcm) to fix the robot to the

work frame. Please verify the fixing bolts again one week after the initial run. Loose bolts can

reduce the position accuracy and can cause the danger at emergency. So, check the bolts every 6

months. To prevent the bolts to be loose, looseproof bolts can be used.

When replacing with the other components, please refer the tightening torque in the following

table.

2) Verify The Horizontal Level

Please verify the horizontal level of the work frame again one week after the initial run and

check it periodically every 6 months. Bad horizontal level can cause poor result, vibration and

trouble of the robot.

Inspection Part Name Inspection Item Inspection Period Remark

Robot Fixing Bolt Tightening Torque 6 MonthsM10 Tightening Torque = 750 kgfcm

M12 Tightening Torque = 1310 kgfcm

Work Frame Horizontal Level 6 Months Measured By The Water Level Meter.

Z,W-Axis Ball Screw Spline Greese Injection 6 Months Lithium Greese No. 2

A, B Axis Decelerator Greese Injection 12 Months Harmonic Greese SK-1A

Z, W Axis Timing Belt Belt Tension 3 Months -

unit : kgfcmMaterial of tapped part M3 M4 M5 M6 M8 M10 M12 Remark

Aluminium 13 30 60 100 250 485 850

Harmonic Drive, Steel, Iron 20 46 92 156 380 750 1,310

Cast-iron 17 39 78 132 320 640 1,110


- 33 -

3) Ball Screw Spline Greese Injection

Since, in ball screw spline, ball screw spline shaft is generally running by rotation of the ball

screw spline nuts, greece is apt to be scattered. Therefore, greese is injected periodically.

- Used greese … Shell Albania No.2 (Lithium greese No.2)

- Used tool … Cross screw driver S type (Cross recessed truss head screw)

L Wrench (Hexagon socket head cap screw)

[Greese Injection Sequence]

① Shut off the controller power.

② As in the following figure, release B-Arm upper cover fixing M3*8L cross recessed truss head

screws and M3*12L hexagon socket head cap screws, and then lift the cover to the upside.

③ Please spread greese to the ball screw spline shaft. At this time, if greese is too much, it

can be scattered. Therefore, spread greese properly.

④ After greese injection is completed, close the B-Arm upper cover and fasten the screws and

bolts again.


- 34 -

2. Exchange of the Sensor

Please contact our company to exchange the poor sensor in RBSI Series(Incremental encoder type). For

the spare stock, the specification of the sensor is as follows.

3. Exchange Of The Motor

Please contact our company to exchange the poor motor. For the spare stock, the specification of

the motor is as follows.

Unit:Piece

Axis Name Product Name Specification Quantity Manufacturer Remark

A-AxisContact Sensor GXL-8FIB 1 SUNX Origin

" GXL-8FB 1 SUNX Limit

B-Axis" GXL-8FIB 1 SUNX Origin


Z-Axis" GXL-8FIB 1 SUNX Origin


W-Axis " GXL-8FIB 1 SUNX Origin

- Motor Spec. of RBSI Series (Incremental Encoder) Unit:PieceProduct

Name

Applied

model

Axis

NameSpecification Quantity Manufacturer Remark

AC Servo

Motor

RBSI50

RBSI60

A-axis MSMZ042B2U(400W) 1 Panasonic Shaft Diameter:Ø 14mm

B-axis MSMZ022B2U(200W) 1 " Shaft Diameter:Ø 1mm

Z-axis MSMZ012B1F(100W) 1 " Shaft Diameter:Ø 8mm(+Brake)

W-axis MSMZ012B1A(100W) 1 " Shaft Diameter:Ø 8mm

RBSI70

RBSI80

RBSI90

RBSI100

A-axis MSMZ082B2U(750W) 1 " Shaft Diameter:Ø 14mm

B-axis MSMZ042B2S(400W) 1 " Shaft Diameter:Ø 14mm

Z-axis MSMZ022B1F(200W) 1 " Shaft Diameter:Ø 11mm(+Brake)

W-axis MSMZ022B1E(200W) 1 " Shaft Diameter:Ø 11mm

- Motor Spec. of RBSA Series(Absolute Encoder) Unit:PieceProduct

Name

Applied

model

Axis

NameSpecification Quantity Manufacturer Remark

AC Servo

Motor

RBSA50

RBSA60

A-axis MSMA042Q2U(400W) 1 Panasonic Shaft Diameter:Ø 14mm

B-axis MSMA022Q2S(200W) 1 " Shaft Diameter:Ø 1mm

Z-axis MSMA012Q2B(100W) 1 " Shaft Diameter:Ø 8mm(+Brake)

W-axis MSMA012Q2E(100W) 1 " Shaft Diameter:Ø 8mm

RBSA70

RBSA80

RBSA90

RBSA100

A-axis MSMA082Q3U(750W) 1 " Shaft Diameter:Ø 14mm

B-axis MSMA042Q2S(400W) 1 " Shaft Diameter:Ø 14mm

Z-axis MSMA022Q2B(200W) 1 " Shaft Diameter:Ø 11mm(+Brake)

W-axis MSMA022Q2E(200W) 1 " Shaft Diameter:Ø 11mm


- 35 -

4. Exchange of the Reduction Gear and Ball Screw Spline

Please contact our company to exchange the poor reduction gear and poor ball screw spline. For the

spare stock, the specification of reduction gear and ball screw spline is as follows.

- Harmonic Drive Spec. Unit:PieceProduct

Name

Applied

model

Axis

NameSpecification Gear

Ratio Quantity Manufacturer Remark

Harmonic

Drive

RBSA(I)50

RBSA(I)60

A-axis CSF-32-50-2UH 1/50 1 Harmonic

Drive

Systems

Shaft Diameter:Ø 14mm

B-axis CSF-25-50-2UH-SP 1/50 1 Shaft Diameter:Ø 11mm

RBSA(I)70A-axis CSF-40-50-2UH 1/50 1

〃Shaft Diameter:Ø 14mm

B-axis CSF-32-50-2UH 1/50 1 Shaft Diameter:Ø 14mm

RBSA(I)80

RBSA(I)90

A-axis CSF-40-80-2UH 1/80 1〃

Shaft Diameter:Ø 14mm


RBSA(I)100A-axis CSF-40-80-2UH 1/80 1

〃Shaft Diameter:Ø 14mm


- Kamo Reduction Gear Spec. Unit:PieceProduct

Name

Applied

model

Axis

NameSpecification Gear

Ratio Quantity Manufacturer Remark

Kamo

Reduction

Gear

RBSA(I)50

RBSA(I)60W-axis BR 65 UH-20-K 1/20 1 KAMO Shaft Diameter:Ø 8mm

RBSA(I)70

RBSA(I)80

RBSA(I)90

RBSA(I)100

〃 BR 85 UH-20-K 1/20 1 〃 Shaft Diameter:Ø 11mm

- Ball Screw Spline Spec. Unit:PieceProduct

Name

Applied

modelStroke Specification

Shaft Diameter Lead Quantity Manufacturer Remark

Ball

Screw

Spline

RBSA(I)50-4A

RBSA(I)60-4A

200mm BNS2020-460L-C5N Ø 20mm 20mm 1 THK

300mm BNS2020-560L-C5N Ø 20mm 20mm 1 〃

RBSA(I)70-4A

RBSA(I)80-4A

RBSA(I)90-4A

RBSA(I)100-4A

200mm BNS2525-485L-C5N Ø 25mm 25mm 1 〃

300mm BNS2525-585L-C5N Ø 25mm 25mm 1 〃

RBSA(I)70-4B

RBSA(I)80-4B

RBSA(I)90-4B

RBSA(I)100-4B

200mm BNS2525-515L-C5N Ø 25mm 25mm 1 〃

300mm BNS2525-615L-C5N Ø 25mm 25mm 1 〃


- 36 -

5. Exchange of the Timing Belt

Please contact our company to exchange the poor Timing Belt . For the spare stock, the specification

of the timing belt is as follows.

Unit:Piece

Product

Name

Applied

model

Axis

NameSpecification

Belt

WidthQuantity Manufacturer Remark

Timing

Belt

RBSA(I)50-4A

RBSA(I)60-4A

Z-axis B120-S3M-327 12mm 1

Mitsuboshi

W-axis B150-S3M-474 15mm 1

RBSA(I)70-4A

RBSA(I)80-4A

RBSA(I)90-4A

RBSA(I)100-4A

Z-axis B150-S3M-432 12mm 1

〃

W-axis B150 S5M 650 15mm 1

RBSA(I)70-4B

RBSA(I)80-4B

RBSA(I)90-4B

RBSA(I)100-4B

Z-axis B150-S3M-432 12mm 1

〃

W-axis B150 S5M 625 15mm 1

Ⅶ. About Applied controller

- 37 -


1. Features

RCM series Robot controller is equipped with 32-Bit RISC CPU and has compact design embedding

servo AMP. The features of the controller is as follows.

- It can construct the Robot system without additional PLC (simple PLC is embedded)

- It has the rich embedded Robot instructions

- It provides the rich input/output interfaces (standard:16/16 points, extended:32/32 points)

- The parameters and the gains of the controller can be easily changed.

- It can monitor the input/output, speed, position and torque while working

- It provides HOST package with various functions (DOS WINDOWS)

- Palletizing, Sealing, etc, available

- 3 dimensional interpolation control with Arc, Circle, high speed and precision

- Parallel processing of the Robot commands while working

- Multi-tasking between Robot operation and simple PLC sequence

2. Controller Specification

Item Contents

PowerPower Input : AC 220V(+10%‾-15%), 50‾60HzPower Capacity : 4.5kVA(4 Axis)

Voltage TolerancePower : ± 1,500Vp-p, 1usec, 1min (COMMON, NORMAL Mode)Motor/Encoder : ± 1,500Vp-p, 1usec, 1min(Induced Noise)Input/Output : ± 1,500Vp-p, 1usec, 1min(Induced Noise)

Insulation Resistance Between Power Input And FG : Over 20㏁

Instantaneous Power Failure Tolerance 1/2 Cycle Per 10 Periods Of Input Power Frequency

Encoder Specification Incremental Encoder (Line Drive Type)

Program Capacity 100JOB(1 JOB = 1,000 STEP + 1,000 POINT)

Position Precision Within ± 1 Pulse Of the Encoder

Servo Capacity RCM4 : 4 Axes Summation 4.0 Kw ( Maximum 1KW/1 Axis)

I/O

Input/Output Voltage : 24V, 500mA(Internal Power)Minimum Input Current : 5 mA/1 PointMaximum Output Current : 50 mA/1 PointSystem Input/Output : 15/17 PointUser Input/Output : 16/16 PointExtended Input/Output : 32/32 Point

Teaching Method Teach Pendant(Direct Teaching, MDI), Host(On-Line)

Memory Back-Up RAM : 128 Kbytes(Extended Option : 512 Kbytes)

Communication Port Teach Pendant, Host(RS232C)

Function and PerformanceOn-Line, Simple Plc Function, Robot Language Function, I/O Parallel Processing, single Step, Automatic Operation, Go-to, Speed Override, PTP, CP, Motion Control Of Arc Motion

Protection Function Self Test, Emergency Stop, Error Recovery, Status Monitoring

Option Host Package, System Unit, I/O Jig, Cable

OthersFront Panel : Switch And Display(7-Segment)Control Axis Structure : 3, 4 AxisBrake Control : Motor Brake Drive For 24 V


- 38 -

3. RCM Controller Nomenclature

RCM4 - 4211 - MI - A - C

(Example)

◎ 4 axis RCM type(A:400W, B:200W, Z:100W, W:100W), Minas 15-wire incremental encoder type, Equipped

with one option I/O board, CE certification item -> RCM4-4211-MI-A-C

4. Teach Pendant

● LCD Display (4Lines × 20 Characters)

● T/P emergency function

● JOG operation function

● Program edit function

● Parameter edit function

5. System UNIT

● 7-Segment Display

● Program selection function

● Mode selection function(Auto-run, Step-Run Mode)

● Program Start, Stop, Reset

Servo motor capacity for A, B, Z, W axis

X : Not Used, F : 50W, 1 : 100W, 2 : 200 W,

4 : 200 W, 6 : 600 W, 8 : 750W(800W)

Option(Selection item)

A : Equipped with one option I/O board

N : Standard(Omitted if not equipped)

Controller type

RCM4 : 4 axis RCM type(Currunt model)

RCMD4 : 4 axis RCM Digital type(New model)

Applied Motor and encoder type

MC : Minas compact absolute encoder type

MI : Minas 15-wire incremental encoder type

Sale break

S : Standard

C : CE certification item


- 39 -

6. External Shape Diagram of RCM4 Controller and Teach Pendant

- External Shape Diagram of RCM4 Controller

- External Shape Diagram of Teach Pendant

Ⅷ. Trouble Shooting

- 40 -


1. Table of Trouble Shooting

No. State Cause Solution

1During set up, the precision can

not be obtained

1) When the fixing bolt of the robot is not

tightly fixed

2) When the robot arm is contacted with the

peripheral device

3) When the vibration is transferred from the

peripheral device

4) When the robot is over loaded

5) When the robot hand is not fixed tightly

6) When the tension of the timing belt is not

proper

1) Fix the robot tightly to the frame

2) Make the robot arm not be contacted with

the peripheral device

3) Set up the robot apart from the vibration

source

4) Adjust the load within the rated payload

and speed

5) Fix the hand tightly

6) Adjust the tension of the timing belt

properly

2

During operation, the precision

can not be obtained and the

position is deviated and the

deviated position can not be

corrected


tightly fixed


proper

3) When turning the power off or operating

the robot manually, the position is

deviated

4) When the reduction gear and ball screw of

each axis is damaged or outworn

5) When there is the noise source in the

surroundings



properly

3) check the bolt for fixing the robot arm

and fix it tightly

4) exchange the reduction gear and ball screw

of each axis

5) remove the noise source

3

The robot arm is vibrated ( there

is large residual vibration during

position determination)

1) When the robot is over loaded


tightly fixed


proper

4) When turning the power off or operating

the robot manually, the position is

deviated



6) When operating the robot delicately (below

10mm) with the arm stretched, the robot

arm is vibrated

7) When operating the robot with the same

frequency as the natural frequency of the

robot arm

1) Adjust the load within the rated payload

and speed



properly

4) check the bolt for fixing the robot arm

and fix it tightly


of each axis

6) increase the acceleration and deceleration

time

7) change the speed and acceleration and

deceleration slightly

4The robot arm is vibrated (at low

speed operation)

1) When the robot arm is vibrated at high

speed operation also

2) When the vibration level is different

according to the position of the robot

arm

1) refer to “1. During set up, the precision

can not be obtained” and 3. The robot

arm is vibrated (there is large

residual vibration during position

determination)”

2) change the speed before use


- 41 -

No. state cause solution

5Abnormal sound generation

(during operation)

Assign the noise source by manipulating the

system via one axis or manually


proper

2) When Z axis brake operates abnormally

3) When the cover or cable is collided with

others

4) When the screw for fixing the cover is

loose

5) When the abnormal sound is generated at

reduction gear

6) When the abnormal sound is generated near

Z axis


properly

2) After release the brake while motor off

state, check the operation of Z axis. Then,

check the brake again. If there is trouble in

the brake, exchange Z axis motor

3) Take care that the cover or cable is not

collided with others

4) Check the cover fixing screw. If the screw

is loose, fix the screw tightly again

5) Exchange greese of the reduction gear. If

there remains the strange noise after greese

exchange, exchange the reduction gear

6) Inject greese to the ball screw and ball

spline shaft. If there remains the strange

noise after greese injection, exchange the

ball screw or ball spline

6Abnormal sound generation

(during stop)

The abnormal noise during stop is caused by

motor vibration in mechanical system

operation


proper




properly


of each axis

7The position is deviated by

abnormal shock

1) When the deceleration of A axis or B axis

get out of gear by excessive torque

1) Adjust the offset of teach pendant using

the triangle origin mark sticker in the

body of A axis and B axis

8 The sensor operation is poor

1) When there is a large gap between the

sensor and the sensor dog

2) When the sensor is damaged

3) When the origin parameter is set

improperly

1) Adjust the gap between sensor and the

sensor dog

2) Exchange the sensor

3) Set the parameter properly again

9The robot performs unstable

operation or over run

1) When the robot cable is poor

2) When the cable is broken by improper use of

Cableveyor

3) When the connection of the body connector

and the internal connector is imperfect

1) Exchange the cable

2) Select the proper Cableveyor

3) Recover the perfect connection

10the robot does not move to the

teached position

1) When Pitch/Rev(Gear Ratio) value is wrong

2) When the origin sensor and encoder Z phase

is equal of close

1) Adjust Pitch/Rev(Gear Ratio) value

2) When Z phase values is not in 1,000‾7,000

after origin operation is completed in Teach

Pendant, adjust the origin sensor or the

position of coupling


- 42 -

2. Adjustment of Offset(Calibration)

When the origin position is changed from the initial origin position by external shock, exchange

adjustment of sensor, exchange of motor and reduction gear, the previously used work points can not

be used.

In case of using the previous work program(JOB file) without changing points, if adjusting as

follows “OFFSET” in the robot controller parameter, the previously used work points can be used.

<The method to modify OFFSET value in the parameter>

[To show an upside's OFFSET screen, press key of Teach Pendant in the sequence following]

1)Modifying the offset value using the number key of Teach Pendant and the user offset value

※1. The method of the Origin execution, refer to the parameter and origin mode in "RCM series user'manual".

Teach Pendant

Screen The offset value set at present

after executing the origin※1 OFFSET

A:1.23 B:-5.25

Z:0.00 W:0.00

EDIT CALIB

Initial

Menu Screen

4

LPARAMETER(0)

Screen

1

QGROUP:BODY

Screen

4

LOFFSET

Screen

① Install hexagon socket head screw(M6x12L) as following illustration.

② Note the position, in which A-axis and B-axis arms keep contact to hexagon socket head

screw(M6x12L).

③ Modify OFFSET value on OFFSET screen.

(Refer to the user offset value indicated on the name plate at the back of the SCARA)

Input the offset value using the

number key (Refer to the user

offset value indicated on the name

plate at the back of the SCARA).

OFFSET

A:1.23 B:-5.25

Z: 0 W: 0

EDIT CALIB

0

V

9

1∼

OFFSET

A: 2.23 B:-15.25

Z: 0 W: 0

EDIT CALIB

OFFSET

A: 1.23 B:-5.25

Z: 0 W: 0

EDIT CALIB

F1 ESC


- 43 -

Offset value modified is applied after executing the Origin and the Origin should be executed

certainly.

2)Modifying the offset value using the CALIBRATION menu

Offset value modified is applied after executing the Origin and the Origin should be executed

certainly.

F2 ESC

ZERO CALIBRATION

A:1.23 B:-5.25

Z: 0 W: 0

A B Z W

ZERO CALIBRATION

A: 5.25 B:-15.25

Z: 0 W: 0

A B Z W

Indicator(▼▲) should be coincided with each other!

ZERO CALIBRATION

A: 5.25 B:-15.25

Z: 0 W: 0

update A?(enter/esc)

F1

ZERO CALIBRATION

A: 5.25 B:-15.25

Z: 0 W: 0

update B?(enter/esc)

F2

ENTER

ZERO CALIBRATION

A: 5.25 B:-15.25

Z: 0 W: 0

A B Z W

OFFSET

A: 5.25 B:-15.25

Z: 0 W: 0

Please ORIGIN

ESC

ESC

OFFSET

A: 2.23 B:-15.25

Z: 0 W: 0

update?(enter/esc)ENTER

OFFSET

A: 2.23 B:-15.25

Z: 0 W: 0

Please ORIGIN


- 44 -

3)Confirming the modification about the offset value

Confirming whether the offset value is modified correctly after it is modified.

1) Executing the ORIGIN.

2) Confirming the offset value at the Point Teaching Screen of the JOB Mode.

1.JOB 2.RUN

3.HOST 4.PARA

5.ORIGIN 6.I/O

7.SYSTEM Select#

JOB EDIT

DIR JEDIT

＊0.A 23 STEP

.-- --

.-- --

COPY REN DEL EDIT

F11

QF2

＊0.A 23 STEP

.-- --

.-- --

PROG POINT PLC

F2 F:A P:0 US B

A:0 B:0

Z:0 W:0

MDI CURR EDIT QUIT

F1 MDI

Teaching

MDI Teaching

F:A P:0 US B L

A:■ B:0

Z:0 W:0

EXCH CORD PJUMP FWRD

0

VENTER

F:A P:0 US B L

A:0 B:0

Z:0 W:■


F1

F:A P:0 US B L

A:0 B:0

Z:0 W:■

Update ? (ENTER/ESC)

ENTER F:A P:0 US B L

A:■ B:0

Z:0 W:0


F:A P:0 US B L

A:0 B:0

Z:0 W:0

Ready ? (ENTER/ESC)


A:0 B:0

Z:0 W:0

pull up = ■

FWRD(Moving Forward )

F:A P:0 US B L

A:0 B:0

Z:0 W:0

pull up = 10■

0

V

1

Q

F4


A:0 B:0

Z:0 W:0

forward complete


- 45 -

1.Set the offset value again correctly in case of executing the Origin of SCARA Robot as the

method except the method 1) "Modifying the offset value using the number key of Teach Pendant".

2.After exchanging the component of the mechanical part, AC servo motor, the reduction gear, the

origin sensor first, confirm the Indicator(▼▲) and if the upper and lower parts are not coincided

with each other, set the offset value again.

3.In case the interpolation motion(LMOV, AMOV) and the palletizing motion(PMOV) is not executed

correctly on the JOB program, please confirm the offset value again.

Confirming that Indicator(▼▲) attached at the Robot is coincided with each other!

Content

The revision historyPrinting

date

Version of user's

manualRevision content Remark

2003.1 Version 1.0 - The first edition printing

Robostar Co.,Ltd.

Robostar Co.,Ltd3F, 07-5, ogye2-dong, Dongan-gu, nyang-city

Kyonggi-do 431-836, Korea

TEL:031-455-0684(Rep.), FAX:031-455-0688

Web Site : www.robostar.co.kr

E-mail : [email protected]

Specifications an appearance are subject to change

without the prior notice

Documents

SCARA MANUAL