Beruflich Dokumente
Kultur Dokumente
INSTRUCTION MANUAL
MANIPULATOR
2nd edition
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with safety
issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to
any of the service centers listed on the back cover.
This manual explains the specifications, structure of each part and the basic handling precautions for
inspection and maintenance to maintain function of the utility written on the cover page for a long period.
It is recommended that this manual is read by robot utilization planners and installation staff as well as
inspectors and maintenance staff for robot operation and the robot is handled only after understanding
this manual completely.
Prior to utilize these utilities, please read the instruction manual “MANIPULATOR” of corresponding
robot and understand clearly the basic cautions to handle robot.
A-Trac4 is an on-arm cable support used for spot welding application. Applicable robots on
which A-Trac4 can be mounted are listed below.
Model name for the robot on which A-trac4 is mounted has “A” at the last of it. For example,
SRA166-01 is changed to SRA166-01A.
Following list shows the basic specifications which has been changed, by mounting A-Trac4,
from standard specifications.
Item Specifications
Robot model SRA166T-01A SRA210T-01A
Axis 4 ±3.67 rad (±210°)
Max. working envelope Axis 5 ±2.09 rad (±120°)
Axis 6 ±3.58 rad (±205°)
Max. pay load on forearm 15Kg (Maximum 60 kg) *1
Robot mass 1,310 kg 1,350 kg
1[rad] = 180/π[°], 1[N・m] = 1/9.8[kgf・m]
*1: This value changes by placement and load conditions of a wrist.
1-1
■ Torque map for wrist load
[SRA166-01A]
[SRA166T-01A]
[SRA210-01A]
[SRA210T-01A]
1-2
■ Load on the forearm
Load on the forearm 15kg (And wrist load is 166kg)
[SRA166-01A] Load on the forearm 60kg (And wrist load is 145kg)
When wrist load
is 166kg or
145kg
1-3
1.3 Outline dimensions and operating area of robot
[SRA166-01A]
Axis 6 spring
Axis 5 guide
Axis 6 movable portion Axis 6 fixed portion Axis 4 movable portion Axis 4 fixed portion
1-4
[SRA210-01A]
1-5
[SRA166T-01A]
1-6
[SRA210T-01A]
1-7
1.4 Details of load mounting face
■ Wrist
Be sure to use the bolts of adequate length and P.C.D. to mount the tool.
Be sure to screw the M10 end effecter fixing bolts in the wrist not deeper than the screw
depth in the mounting face. Screwing the bolts deeper than the screw depth may damage
CAUTION the wrist.
[SRA166-01A] [SRA166T-01A]
1-8
[SRA210-01A] [SRA210T-01A]
1-9
■ Upper part of forearm
1-10
1.5 Wiring and piping diagram for application
Red 1:
Red 2:
Green 1:
Green 2:
White 1:
White 2:
1-11
NOTE
1-12
Chapter 2 Setting
Normally software setting is completed before shipment, so no additional setting is required to
customer. But if A-Trac4 is mounted after shipment, mechanism type needs to be registered.
If “+A” is displayed at the last of mechanism name, proper mechanism type on which A-
Trac4 is mounted is selected. (Best software limit and servo parameters are already
registered.)
If “+A” is not displayed, mechanism type needs to be registered (changed). Please
proceed with “2.2 Registering the mechanism type”.
For this operation, the operator needs to have the SPECIALIST or above qualification.
This operation must be done at the beginning of robot usage, because all of application
parameters such as servo gun parameters are initialized when formatted.
1 Pres f key <Constant Setting> -> [12 Format and Configuration] -> [1 Format].
≫ Following dialog will appear.
2-1
4 Choose the mechanism whose last character is “+A” from the list displayed on
the right side of screen, as the manipulator mechanism (mechanism 1 in
following sample), and press [Enter].
5 Continue other mechanism setting such as servo gun and travel unit, and then
finally press f12 <Complete>.
≫ Following procedure is same as that of normal robot.
2-2
Chapter 3 Inspection
To perform daily inspection, repair, or part replacement of the robot, be sure to turn OFF
the power supply. Furthermore, in order to prevent other workers from improperly turning
WARNING ON the power supply, post the warning signs such as “DON’T POWER ON” at the primary
power supply switch and others.
3-1
■ Inspection of cable and tube
3-2
3.2 Replacement of cable and tube
When abnormalities have found in the cables or tubes of A-Trac4, replace the cable or tube sub-
assemblies concerned.
3-3
3.2.1 Removing cable and tube sub-assembly
Cover
Bracket
AT3ー034
AT4-341
2-M6X10
2-M6X10
3-M6X12
3-M6
Flat washer
Cover
Cover AT3ー030
AT4ー329 1-M6X15
1-M6
Flat washer
1-M6X10
3-M6X10
1-M6
3-M6
Flat washer
Flat washer
3-4
Removing cable and tube sub-assembly <1>
(1) Remove the saddle of the flange area.
(Do not lose or misplace the rubber sheet wrapped around AT4-023 since it will be re-used.)
4-M6X15
FCD-51
Saddle AT4-023
(2) Draw out the cable and tube sub-assembly from the flange, and then draw it out from axis 5 support.
Pull the parts out following the flow indicated by the arrows.
2-M8X15
Plate AT4-022
3-5
Removing cable and tube sub-assembly <3>
(1) Remove the bracket and plate.
4-M6X12 4-M6X12
(2) Take out the cable and tube sub-assembly from axis 4 cover.
AT3-021
AT3-035
AT4-022
3-6
3.2.2 Mounting cable and tube sub-assembly
(2) Insert the cable and tube sub-assembly into axis 4 cover.
4-M6X12 4-M6X12
3-7
Mounting cable and tube sub-assembly <2>
(1) Pass the cable and tube sub-assembly through the axis 5 support, and then pass the tubes followed by
the cables through the flange (AT4-001) at the tip of the wrist. When passing the cables and tubes
through the parts, take care not to twist them
Flow of passing the cable and tube sub-assembly through the parts
4-M6X15
FCD-51
Saddle AT4-023
3-8
Mounting cable and tube sub-assembly <3>
(1) Fix the plate.
Plate AT4-022
2-M8X15
(2) Apply 10 to 13 cc of Multemp PS No.2 grease. Apply the grease evenly over the entire spring.
3-9
Fixing axis 4 cover parts
(1) Fix the bracket and cover.
Cover
Bracket
AT4-341 AT3ー034
2-M6X10
2-M6X10
3-M6X12
3-M6
Flat washer
Cover
AT3ー030
Cover
AT4ー329 1-M6X15
1-M6
Flat washer
3-M6X10 1-M6X10
3-M6 1-M6
Flat washer Flat washer
Mounting completed
3-10
Chapter 4 Appendix
4.1 Reference position of wrist axes
Even when A-Trac4 is mounted on the robot arm, reference position can be aligned by using
same tool and by same method as the robot without A-Trac4.
Sample of SRA166-01A
It is recommended to keep the cable and tube assemblies as spare parts. To purchase it, check
the manufacturing No. and date of the robot, and then contact our Service Department.
4-1
http://www.nachi-fujikoshi.co.jp/
Training Office Phone: 248-334-8250 Fax: 248-334-8270 22213 Roethel Drive, Novi, Michigan 48375 U.S.A.