Beruflich Dokumente
Kultur Dokumente
REL. 1.X/2.X/3.X
USER MANUAL
SCHEDA AGGIORNAMENTI
NOTA: La presente edizione del manuale, rispetto alla precedente, ha subito interventi di modi-
fica dei contenuti tecnici per aggiornamento del prodotto. Le parti aggiornate sono di se-
guito riportate.
Titolo: MANUALE UTENTE SMART S4 REL. 1.X/2.X/3.X
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UPDATING LIST
B
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SAFETY REGULATIONS
SAFETY REGULATIONS
RESPONSIBILITY
• The "integrator" shall be responsible for introducing the robot system into a manufacturing
or research environment, issuing the declaration of conformity and applying the EC label to
the system in accordance with the safety standards referred to in the "Machines Directive".
• COMAU S.p.A. disclaims all responsibility for injury or damage arising from the incorrect or
improper use of the robot system, from the use of any unspecified spare parts and from
tampering with circuits, components and system software.
• The foremen who manage / supervise the operations specified in point 3 are responsible for
ensuring that these safety rules are enforced. They must make sure that all authorized
personnel have been instructed as regards the rules contained in this document and the
general safety rules applicable to the robot system and that the aforesaid personnel comply
with all these rules.
• Failure to observe safety standards may cause personal injury and damage to control system
components.
SAFETY REGULATIONS
1. PURPOSE
1.1 The purpose of these safety regulations is to define a series of behaviour rules and duties to be observed
when performing the activities listed in point 3, to ensure the safety of personnel, equipment and the
surrounding environment.
2. DEFINITIONS
2.1 Robot System
The term Robot System refers to the functional assembly consisting of: control unit, robot, portable
programming and/or emergency terminal and any options.
2.2 Protected Area
Protected Area is the area that is enclosed by protective barriers, in which the robot is to be installed
and operated.
2.3 Authorised Personnel
Authorised Personnel is the group of persons that have been appropriately trained and delegated to
perform the activities listed in point 3.
2.4 Foremen
Foremen are personnel who direct or supervise the activities assigned to subordinate workers as defined
in the previous paragraph.
2.5 Installation and commissioning
The term installation refers to the integration of the robot system mechanics and electrics into a
manufacturing situation or research environment in accordance with the safety requirements laid down
in the Machines Directive.
The term commissioning refers to the operations involved in verifying system operation once the system
has been installed.
2.6 Operation during Programming
Operating mode under operator control. This mode excludes automatic operation and permits the
following activities: manual movement in the various different modes, programming of work cycles at
reduced speed, programmed cycle testing at reduced speed and when permitted, at working speed.
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SAFETY REGULATIONS
3. FIELD OF APPLICATION
3.1 These regulations must be complied with when performing the following activities:
• installation and commissioning;
• operation during programming;
• automatic operation;
• emergency manual operation;
• maintenance and repairs;
• removal from service and dismantling;
4. OPERATING MODES
4.1 Installation and Commissioning
4.1.1 Commissioning is allowed only when the robot system is incorporated in a manufacturing system or in
a research environment that guarantees the use of safety conditions.
4.1.2 Installation and commissioning of the system must be performed by authorized personnel only.
4.1.3 The system must only be installed and commissioned inside a protected area of a suitable size to house
the robot and its relative dressing, without any part of these being outside the safety guards. Also, make
sure that during normal robot movements this does not collide with other parts inside the protected area
(for instance, structural pillars, mains, etc.). If necessary, restrict the robot work area by means of
mechanical stops.
4.1.4 The robot installation area must be kept free, as far as possible, from any materials that may obstruct or
limit visibility.
4.1.5 During installation, handle the robot and control unit as specified in the Product User Manual; if they
must be lifted, check that the eyebolts are secured correctly and use only suitable slings and equipment.
4.1.6 Secure the robot to the support with all the bolts provided.
4.1.7 Remove any anchoring brackets from the axes and check that the robot fixtures are secured correctly.
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INTRODUCTION
INTRODUCTION
The definitions which follow apply to all the CAUTIONS, WARNINGS and NOTES to be found in
this manual.
WARNING
☞ Operating procedures, technical information and precautions which, if not respected and/or
carried out correctly, may cause injury to personnel.
CAUTION
☞ Operating procedures, technical information and precautions which, if not respected and/or
carried out correctly, may cause damage to the equipment.
OPERATIONAL PROCEDURES
This manual contains operational procedures described using lists and sub-lists.
These procedures are used when the information they contain is descriptive and concerns actions to
be performed, and the procedure requires complex explanatory diagrams.
NOTE: This manual concerns the SMART S4 robot. For information about the control system
with which operation is controlled, refer to the appropriate Operations and Maintenance
Manual.
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INTRODUCTION
TRAINING COURSES
COMAU Robotica organizes special training courses for the personnel responsible for the use,
programming and maintenance of the robot systems.
Further courses may be prepared to meet particular requirements and to supply technical and practical
information, depending on the knowledge of the participants.
REFERENCE DOCUMENTATION
For further information on the SMART S4 robot consult the following documentation:
☞ Caratteristiche Tecniche/Technical Features;
☞ SMART S4 Manuale di Manutenzione/Maintenance Manual;
☞ C3G-901 Operations and Maintenance Manual;
☞ C3G Plus Operations and Maintenance Manual;
☞ C3G Plus Specifiche Tecniche/Technical Specifications;
☞ C3G Operations Manual (C3G-901 Control System);
☞ C3G Programming Guide (C3G Plus Control System);
☞ EZ Programming Environment;
☞ PDL2 Programming Language Manual.
These manuals are supplied by COMAU Robotics at list price.
FIRST EDITION:
October 1996
UPDATING:
01 December 1997
02 Aprile 1998
03 Aprile 2000
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SUMMARY
SMART S4 TRANSPORT
SMART S4 INSTALLATION
OPERATOR’S POSITIONS
JUMPERS ON SMART S4
CHAPTER 4 - CALIBRATION
SMART S4 CALIBRATION
PRELIMINARY OPERATIONS
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SUMMARY
LUBRICATION
LUBRICANT TOPPING-UP
EXTRAORDINARY MAINTENANCE
DISPOSAL OF PARTS
GENERAL
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CHAPTER 1
SYSTEM OVERVIEW
SMART S4 ROBOT
The SMART S4 is a six-axis robot with an anthropomorphic structure which has been designed by
COMAU to handle medium loads. It can perform the execute applications such as:
☞ light handling;
☞ mounting.
SMART S4 Robot
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SMART S4 ROBOT
The high technology solutions adopted guarantee exceptional performance in all applications. This
performance is expressed in:
☞ one of the largest work envelopes in its category;
☞ a wrist with a extremely extended work envelope which allows more flexibility in the operating
area;
☞ maximum load capacity on wrist: 147.1 N (15 kg);
☞ maximum additional load capacity: 147.1 N (15 kg) and total load capacity: 245.2 (25 kg);
CAUTION
☞ The maximum load on wrist and the maximum additonal load MUST NOT BE applied
together.
For further information consult the Technical Features of the Robot.
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SMART S4 ROBOT
CAUTION
☞ The information relating to:
✎ CELL CONTROLLER
✎ OPERATIONS TO BE PERFORMED ON FIRST INSTALLATION
is to be found in the specific Cell Controller documentation.
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SMART S4 ROBOT
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CAPITOLO 2
TRASPORTO E INSTALLAZIONE
SAFETY STANDARDS
F The insertion of the cell controller into a production unit must be carried out in compliance
with the Machines Directive with particular attention paid to the safety interlocks which
the control system is designed to handle. The failure to use or the incomplete use of these
interlocks means that the control system does not meet these standards.
F Installation operations on both the robot and the cell controller must be performed while
the system is off: the main circuit breaker MUST be in the OFF position.
F Operate with care during installation. On power up of the drives, an error in the robot’s wi-
ring may provoke uncontrolled movements. If this occurs, immediately press the
EMERGENCY STOP push-button on the operator panel or on the programming termi-
nal, then check the connections which have been made and the corresponding wires.
F Before performing any transport and/or installation operations carefully read the Safety
Regulations listed at the beginning of this manual.
SMART S4 TRANSPORT
The robot is shipped to the customer in a wooden pallet or in a wooden box.
Dimensions and weights are indicated in the table below:
Box for
Robot Robot + Pallet Wooden box
robot and controller
49.21 x 31.5 x 81.89 in 51.18 x 31.5 x 84.64 in 92.52 x 45.27 x 86.61 in
SMART S4: 936.95 lb (L x D x H) (L x D x H) (L x D x H)
1041.82 lb
The packaging must be raised using a lift truck or by means of a hoist and cables which pass transver-
sally under the wooden base and which are long enough not to demage the upper stringers of the case.
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TRANSPORT AND INSTALLATION SMART S4
CAUTION
F When raising the robot, check that the belts do not become entangled with components in-
stalled on the robot (motors, flexible sheaths, etc.) and that they are strong enough to sup-
port the weight of the robot.
After unpacking, the robot may be moved by means of ropes, as shown in the following picture, or by
means of a fork lift truck, provided the robot is equipped with the suitable optional unit on its base.
The overall dimensions of the robot when in transport position are: L = 46.06 in
D = 25.6 in
H = 73.62 in
SMART S4 INSTALLATION
The operating environment of the system which incorporates the SMART S4 robot is the normal
workshop environment. Obviously places containing corrosive vapours or sources of excess heat sho-
uld be avoided.
The temperature of the environment should be between 0°C and 45°C.
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SMART S4 TRANSPORT AND INSTALLATION
CAUTION
F The information relating to:
. robot work envelope and overall dimension,
. robot base and centering plate,
. stress transmitted to the floor,
. definition of max load on the flange,
. defining the maximum additional load,
. tool mounting flange,
is to be found in the Technical Features of the Robot.
- to the floor;
- to the ceiling.
The foundations on which the robot is placed must not be subject to vibrations caused by other machi-
nes (for example hammers, presses etc.).
When installed on the floor, the robot is secured to a centering plate (optional) by three screws and is
centred using two pins: this solution allows the robot to be positioned accurately and easily replaced.
If the robot is installed on the floor, the centering plate (optional) must be secured in a trench using sui-
table braces sunk into the cement foundation. The plate must be levelled using a centesimal level ( 0.05
mm for a length of 1 m) before the cement sets.
The preparation of the foundation and the support structure of the robot is the responsibility of the cu-
stomer.
Proceed with the installation of the robot as follows:
a. Clean the base of the robot.
b. Transport the robot to its installation site, then carefully position it on the centering plate so that it is
level. When lowering it, precentre and centre the bushings on the fixed base of the robot with the
pins of the robot attachment base.
c. Tighten the robot securing screws on the fixed base.
d. Remove the two blocking brackets (A) secured with two TCEI M10x20 screws and two split wa-
shers 10x20x2, with as shown in the following figure.
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TRANSPORT AND INSTALLATION SMART S4
The “joint position” with the robot in trasport position is the following:
. axis 1: 0°;
. axis 2: -30°;
. axis 3: -150°;
. axis 4: -90°;
. axis 5: -90°;
. axis 6: 0°.
An optional steel plate is available on which the 3 threaded holes and the 2 holes per pin for correct robot
fastening are machined. To fasten the plate to the floor, use 4 Rawlplugs or chemical bolts. The condi-
tions which guarantee interchangeability are provided.
The recommended components are indicated in the table below:
(1) When using chemical bolts the concrete floor can be drilled directly through the existing 14 mm diam. holes.
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SMART S4 TRANSPORT AND INSTALLATION
A. Blocking Bracket
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TRANSPORT AND INSTALLATION SMART S4
To connect up the robot’s internal line to the compressed air distribution network, attach the external
compressed air supply tube to the 3/8" gas union located on the robot distribution signal assembly (loca-
ted wiht X1 and X2 connectors). The outlet of the robot’s internal air tube is located on the top of the fo-
rearm where there is 3/8" gas union.
NOTE: the unions terminate with a cap which should only be removed if the pneumatic line is
used.
Two electrical connectors are provided on the forearm upper part, near the pneumatic connection: X91
for optional services and X92 for safety flange connection. All signals available on their pins are sent to
the X1 connector in the distribution signals unit from where they are input to the control system through
the service/resolver cable.
1. X91 connector
2. X92 connector
3. Compressed air outlet
4. X1 connector
5. Compressed air inlet
6. Earth point
7. X2 connector
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SMART S4 TRANSPORT AND INSTALLATION
- Install cable raceways bearing in mind minimum curvature radii (minimum 10 times cable diame-
ter).
- In robots mounted on raised supports, cable supports must never be installed in the vicinity of con-
nectors. These must be placed at a minimum distance of approximately 600 mm from connector
glands.
- In floor-mounted robots, raceways must never be placed in the vicinity of the robot distribution box
and there must be sufficient space to allow connectors to be connected and disconnected correctly.
- When installing cables take care not to allow cable sheathing to come into contact with sharp edges,
as this could damage the sheath; protect the sharp edges of the end of raceways to prevent damage to
sheathing.
- Make sure that the polarizations on the cable connector and relative counterpart correspond.
- When making connections, keep the mobile connector on the cable parallel to the fixed connector to
which this is to be connected.
- Avoid axial and/or lateral movements when making the connections between connectors in order to
avoid damage to polarizations and contacts.
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TRANSPORT AND INSTALLATION SMART S4
NOTE: An example of these connections is supplied in the cell controller Circuit Diagrams.
Before installing the enclosure it is necessary to know the robot’s work envelope, including the tools
mounted on the flange, and to take into account the following spaces:
- maximum space: this is the space which can be crossed by the robot’s moving parts, as defined by
COMAU, plus the space which can be crossed by the end device and the work piece.
- restricted space: this is the portion of the maximum space which has been reduced by means of li-
mitation devices (for example software limit switch) which determine the limits which cannot be
exceeded during the normal work cycle or in the event of a break down in the robot system;
WARNING
F The cell controller must be installed outside the safety enclosure.
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SMART S4 TRANSPORT AND INSTALLATION
OPERATOR’S POSITIONS
WARNING
F When the control system is powered, safety devices MUST be connected and working pro-
perly.
The area in which the operator MUST be depends on the operations to be performed and on the cell con-
trol status:
- When the control system is in the HOLD state, DO NOT approach the robot operating area since
HOLD
any pressure of the key and then the key will start the cycle with the consequent
movement of the robot.
- During calibration and programming operations, the operator can enter the protected area ONLY
IF he has the programming terminal.
- During robot maintenance operations the operator can enter the protected area ONLY IF the cell
controller is powered off.
- Control system maintenance operations MUST BE performed with the power grid cable di-
sconnected.
The RPT module (option for release 1.X and 2.X and not installed in release 3.X) contains a back-up
battery, which is used to supply the module when there is a failure in the grid power supply so that the
absolute position of the robot is retained.
WARNING
F The battery must be connected while the cell controller and the robot are power supplied:
proceed with the greatest care in order to avoid short-circuit caused by not insulated equip-
ment or human contact.
- The robot may move if the keys on the programming terminal are pressed accidentally.
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TRANSPORT AND INSTALLATION SMART S4
- check that all the wiring has been carried out correctly;
- switch on the cell controller by moving the main circuit breaker into the ON position;
- find the switch (S1 BATTERY) located on the front of the distribution assy, under a protection;
- switch on the battery by moving the switch to ON;
- switch off the cell controller s by moving the main circuit breaker into the OFF position.
CAUTION
F The RPT module (option for release 1.X and 2.X and not installed in release 3.X) back-up
battery can retain data for 600 consecutive hours when there is no power supply. If the con-
trol system has to be switched off for more than 25 days, save the data which is safeguarded
by the back-up battery (as described in the following paragraphs), then disconnect the bat-
tery, to prevent it going flat. Batteries MUST be replaced after 3 years of operation.
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INSTALLATION OF OPTIONAL DEVICES
The standard configuration robot is equipped with fixed, mechanical limit stops on all axes except for
axis 6, which has no limit stop.
The limit stop is a pad made of energy-absorbing material against which specially finished surfaces
on the robot’s moving parts strike.
The limit stops on axes 1, 3 and 5 are fixed, while the stop on axis 2 is adjustable. The stop for axis 4
is fixed and is located inside the forearm.
Optional adjustable mechanical stops are available for axes 1 and 3 to limit the run of these axes.
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INSTALLATION OF OPTIONAL DEVICES
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INSTALLATION OF OPTIONAL DEVICES
AXIS 1 (see figure Adjustment of Axis 1 Limit Switch): if electrical limit switches as well as
mechanical limit stops (3) are present, adjust the screws (2) so that during rotation of axis 1 the
microswitch button is operated without being damaged.
If electrical limit switches are present, they are operated by a pin (see figure Limit Stops Location, item
9).
reference dimension A = 163 mm
1. Microswitch
2. Adjustment screw
3. Axis 1 mechanical limit stop
AXIS 1 (see figure Adjustment of Axis 1 Limit Switch): mount strikers (3) in their seats at intervals
of 22°30’ for both right and left rotation.
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INSTALLATION OF OPTIONAL DEVICES
AXIS 2 (see figure Adjustment of Axis 2 Mechanical Stop): the movement of the axis can be stopped
by moving pad (1) to the alternative seat provided (2).
1. Pad
2. Seat
AXIS 3 (see figure Adjustment of Axis 3 Mechanical Stop): the movement of the axis can be stopped
by inserting an optional pad (1) in seat (2) on the arm.
1. Optional pad
2. Seat
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CHAPTER 3
ROBOT I/O
SMART S4 INPUTS/OUTPUTS
Each robot is fitted with connectors to which the user can connect equipment. The SMART S4 robot
has the connectors X92 and X91. Their pin-outs are shown below.
Connector X92 Signal Assignment
PIN
SIGNAL
X92
1 Safety flange Output
2 0 V (+24 Vdc)
3 Safety flange Input
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SMART S4 INPUTS/OUTPUTS
CAUTION
☞ The information relating to:
✎ CONTROL SYSTEM INPUTS/OUTPUTS
is to be found in the Control System User Manual.
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CHAPTER 4
CALIBRATION
SMART S4 CALIBRATION
The SMART S4 robots are calibrated at the COMAU factory after assembly. Reference indices are
installed on the six axes.
CAUTION
☞ For most applications, these indices bring the robot to its zero position with a sufficient
degree of accuracy; if, however, the robot has to be calibrated or reset after disassembly
that alters the robot’s geometry, use the special tools.
NOTES: For both global calibration and for calibration of individual axes, the axes must be
calibrated in increasing numeric order (Axis 1, Axis 2, Axis 3, ...) without varying the
position reached axis after axis.
The procedure that follows is only to be performed if the controller system software
version is a release prior to 5.0X. For software versions from 5.0X onwards only the
CAC command is necessary and the saving of the ASCII calibration file for the user
backup.
In the case of new calibration, it is necessary to save the new calibration data in the RPT
module (option for release 1.X and 2.X and not installed in release 3.X) and in file
C3G.SYS and then update the file containing the calibration data on system disk
1/3, using programme CAL_TP. Follow the "CREA-TION OF FILE CONTAINING
CALIBRATION DATA" procedure given in the Cell Controller Operations and
Maintenance Manual.
PRELIMINARY OPERATIONS
CAUTION
☞ The calibration of all the robot axes, with the exception of the axis 1, has to be executed
without the application of loads
a. Activate the PROGRAMMING operating mode on the control system by means of the state
selector.
b. Extract the programming terminal from its seat, press continously the Enabling push-button in
intermediate position and then press the DRIVE ON key for the insertion of the driving units
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SMART S4 CALIBRATION
CAUTION
☞ It allows the check of the calibration position with a limited precision. But such a precision
is sufficient for the normal applications and for the TURN-SET operations.
NOTE: All the commands given from the keyboard must be confirmed by pressing the
ENTER
key. Some of them require further confirmation from the operator, on being
asked ARE YOU SURE?; in these cases Y (Yes) must be entered and confirmed with
ENTER
the key.
a. Move the robot axes in sequence until the calibration indices correspond.
b. By means of the DAR (Display Arm Resolver) command, display, on the terminal, the axis
position and only when the value is quite stable (usually it is necessary to wait for some seconds),
execute the following procedure:
✎ Select the command CAC (Configure Arm Calibrate) on the programming terminal key-
board.
ENTER
✎ Select the axis in question and confirm with . (By entering * all the axes are selected).
CAUTION
☞ At the end of the calibration operations, the user can, by means of the CAV (Configure
Arm View Call), detect the value of the resolver axis dimension and update the machine
board
☞ Steps c. and d. of the procedure are only to be performed when the controller system
software version is prior to 5.0X.
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SMART S4 CALIBRATION
c. Store the calibration data in the RPT ( optional for release 1.X and 2.X and not installed in release
3.x) 1.module by proceeding as follows:
✎ Select the command CARS on the programming terminal keyboard.
ENTER
✎ Select the Servo module in question and confirm with (an operation which only needs
to be performed if more that one robot is handled by a single control system).
d. Store the calibration data in the C3G.SYS file, proceeding as follows:
Calibration indice
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SMART S4 CALIBRATION
NOTE: The calibration using tools is executed in the case of mechanical dismounting actions
that change the robot geometry or if it is necessary to execute a specific check of the
calibration position.
All the axes of the robot are provided by precision mechanical machining to allow calibration level
bubble (No. 81.7267.00) tool and dial gauge support tool (81.9091.00).
Accurately clean the housing calibration axes (A, B, C, D, E and F) shown in the Axes Calibration
Robot .
Axes positioning
The releasing of the enabling push-button placed on the programming terminal (DRIVE OFF) can
cause light movements of the axes caused by the gravity of the applied masses. Such movements are
highly pointed out if the DRIVE ON / OFF functions are quickly executed.
The system automatically recovers such movements moving the axes on their correct calibration
position if they have already been calibrated.
CAUTION
☞ During the calibration procedure, limit at the minimum value the number of the driving
unit activation /deactivation actions (DRIVE ON / DRIVE OFF) in such a way to prevent
some possible light movements of the axes.
The new positioning of the axes can be checked on the programming terminal detecting the joint
dimensions by means of the Dispay - Arm - Joint ( F2; F1; F4) commands.
CAUTION
☞ After each DRIVE ON of the system, check on the programming terminal that the axes
return on their calibration position.
It the axes do not return on the correct positions it is necessary to re-start the calibration
procedure from the beginning.
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SMART S4 CALIBRATION
CAUTION
☞ Proceed with calibration using tools following the axis 1, 2, 3, 4, 5, and 6 sequence without
changing the position of the single axes after calibration.
✎ Move the robot axes on the calibration notches with the maximum allowable visual precision.
1 6
b. Execute the calibration of the single axis by means of the CAC command (refer to the paragraph
Calibration using Indexes)
NOTA Example: If it has to be calibrated the axis 5, move the axes 2 and 3 on their exact
calibration positions.
All commands entered on the keyboard must be confirmed with the ENTER key. Some of these
commands request further confirmation by the operator displaying the Are you sure? prompt. In these
cases, enter Y (yes) and confirm with ENTER.
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SMART S4 CALIBRATION
AXIS 1
a. Using the teach pendant, position the column of the robot so that the axis 1 mobile reference index
coincides with the fixed index.
b. Fasten the dial gauge holder in the housing provided on the column
c. Preload the rod of the dial gauge by few millimeters and rotate axis 1, at slow speed, from the
negative to the positive direction, until the minimum point on the index of the dial gauge is
reached
45 0 45 0
40 5 40 5
35 10 35 10
30
25 20
15
MINIMUM POINT 30
25 20
15
45 0
40 5
35 10
- + 30
25 20
15
- +
CAUTION
☞ If the minimum point has been exceeded, it is necessary to return on the beginning position
and to repeat the detection moving the robot axis from the negative direction to the positive
one in such a way to recover the possible mechanic backlash of the axis
c. Calibrate axis 1 according to the procedures described in the Calibration using indexes paragraph
from step b.
d. If the fixed and mobile index do not coincide, correct the position of the mobile index until it
matches. Tighten the lock screws and seal them.
AXIS 2
a. Position the level holder tool on the machined surface on the base in the lengthwise direction (L);
then adjust it until the level bubble is centred to compensate for any inclination in the robot’s base.
b. Move the level holder tool, for axis 2 calibration on the machined surface on the arm (B), and fix
it with M6x15 fixing screws.
NOTE: When performing these operations, do not alter the position of the calibration tool
assumed in step a, and do not turn it 180°.
c. Use the programming teminal to move the axis being calibrated until the level bubble is centred.
d. Calibrate the axis in accordance with the procedures described in the paragraph entitled: "Calibra-
tion Performed by means of Indices", steps b.
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SMART S4 CALIBRATION
AXIS 3
a. Move the level holder tool on the machined surface of the wrist body (C) and fix it with M6x15
fixing screws.
NOTE: When performing these operations, do not alter the position of the calibration tool
assumed in step a, and do not turn it 180°.
b. Use the programming teminal to move the axis being calibrated until the level bubble is centred.
c. Calibrate the axis in accordance with the procedures described in the paragraph entitled: "Calibra-
tion Performed by means of Indices", steps b.
AXIS 4
^C
a. Activate the character menu by pressing the CHAR key on the programming terminal keyboard
and then write MOVE ARM TO [1] {0, 0, -90, 90, 0, 0} and confirm the command by pressing the
ENTER
key;
b. Position the level holder tool on the machined surface in the robot’s base in the crosswise direction
(T); then adjust it until the bubble is centred to compensate for any inclination in the robot’s base.
c. Move the level holder tool on the machined surface on the forearm front part (D) and fix it with
the M6x15 fixing screws.
NOTE: When performing these operations, do not alter the position of the calibration tool
assumed in step a, and do not turn it 180°.
d. Use the programming teminal to move the axis being calibrated until the level bubble is centred.
e. Calibrate the axis in accordance with the procedures described in the paragraph entitled: "Calibra-
tion Performed by means of Indices", steps b.
AXIS 5
a. Position the level holder tool on the machined surface on the base in the lengthwise direction (L)
and rotate it by 180° with respect to its previous longitudinal position; adjust it until the level bubble
is centred to compensate for any inclination in the robot’s base.
TOP
b. Press the key to return to the main menu.
F3
c. Press the key to activate the EXEC (Execute) command.
d. Bring axis 4 to 0° position as described below:
^C
✎ activate the character menu by pressing the key on the programming terminal keyboard
CHAR
and then write MOVE ARM TO [1] {0, 0, -90, 0, 0, 0} and confirm the command by pressing
ENTER
the key;
START
✎ keep the key and the HOLD TO RUN CONTROL DEVICE button pressed to move
the robot to the required position.
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SMART S4 CALIBRATION
6
e. Press the - +
key for manual movement and keep the HOLD TO RUN CONTROL
DEVICE button pressed: rotate axis 6 until the two holes for the calibration level pins on the tool
mounting flange are vertically aligned.
f. Move the level holder tool on the tool mounting flange (E) and fix it with the M6x15 fixing screws.
g. Use the programming teminal to move the axis 5 until the level bubble is centred.
h. Calibrate axis 5 in accordance with the procedures described i the paragraph entitled: "Calibration
Performed by means of Indices", steps b.
AXIS 6
a. Position the level holder tool on the machined surface in the robot’s base in the crosswise direction
(T); then adjust it until the bubble is centred to compensate for any inclination in the robot’s base.
b. Insert the two pins into the calibration level holes on the tool mounting flange;
c. Move level holder tool on to the two pins (F).
NOTE: When performing these operations, do not alter the position of the calibration tool
assumed in step a, and do not turn it 180°.
d. Use the programming teminal to move the axis being calibrated until the level bubble is centred.
e. Calibrate the axis in accordance with the procedures described in the paragraph entitled: "Calibra-
tion Performed by means of Indices", steps b.
NOTE: Mount the calibration indices if they have been involved in robot disassembly.
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SMART S4 CALIBRATION
AXIS 3
AXIS 4
AXIS 1
AXIS 5
AXIS 2 AXIS 6
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SMART S4 CALIBRATION
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CHAPTER 5
PREVENTIVE MAINTENANCE
WARNING
☞ Before carrying out any operation, carefully read the Safety Regulations listed at the
beginning of this manual.
☞ Maintenance operations on the robot and on the system must be carried when the system
is off: the main circuit breaker MUST be in the OFF position.
LUBRICATION
This paragraph describes the preventive maintenance operations necessary to keep the robot in perfect
working order.
A general lubrication and mechanical check must be carried out after the first 150 hours of robot
operation. This check must be carried out on the Manufacturer’s premises after the initial running-in.
Subsequent interventions must be carried out by the Customer at the prescribed intervals.
The following figures show the lubrication points, marked with appropriate symbols, and the position
of the lubricant top-up/drainage plugs; the quantity of lubricant needed and the prescribed intervals are
listed in table form.
NOTE: If the robot is used for light work cycles, maintenance can be carried out at greater
intervals than those specified in this chapter.
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SMART S4 PREVENTIVE MAINTENANCE
Lubrication
Ref.
Lubrication points Interval (h) Quantity Symbol
•
1 Axis 1 reducer 10000 3.5 kg
2 Axis 2 reducer 10000 3.5 kg
3 Axis 3 reducer 10000 1.75 kg
4 Axis 4 reducer 10000 0.6 kg
5 Axes 5 and 6 reducer 10000 0.6 kg
Lubrication Points
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SMART S4 PREVENTIVE MAINTENANCE
Recommended Lubricants
Symbol Class ISO FUCHS SHELL KLUBER ELF
Oil Renep Omala Lamora Reductelf
Compound 108 320 320 320
CAUTION
☞ These lubricants cannot be mixed together.
1. Axis 1 top-up
2. Axis 1 drainage
3. Axis 2 top-up
4. Axis 2 drainage
5. Axis 3 top-up
6. Axis 3 drainage
7. Axis 4 top-up
8. Axis 4 drainage
9. Axis 5 and 6 top-up/drainage
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SMART S4 PREVENTIVE MAINTENANCE
LUBRICANT TOPPING-UP
Lubrication of mechanical components is necessary every 10000 hours of operation or after a partial
drainage of the lubricant following mechanical interventions. The Lubrication table gives the prescri-
bed quantities of lubricant.
Refer to the "Position of the Lubricant Top-up/Drainage Plugs" figure for the necessary lubricating
procedures.
NOTE: Apply a layer of LOCTITE 572 to the threads before screwing the lubricant fill/drain
plugs back in.
To top up the lubricants proceed as follows:
AXIS 1
a. Position axis 2 so as to insert the funnel on the robot’s base.
b. Undo the plug on top-up hole (1).
c. Undo the plug on drainage hole (2) and drain the oil.
d. Then screw the plug back into the drainage hole and pour the prescribed quantity of oil into the
top-up hole using a funnel provided with an air breather hole.
e. Screw the plug back into the top-up hole.
AXES 2, 3 AND 4
a. Position the axes so as to bring the drainage hole to a lower position with respect to the robot’s
base and drain the lubricant.
b. Separately lubricate axes 2, 3 and 4.
c. Undo the plug on top-up hole (3) for axis 2, (5) for axis 3 or (7) for axis 4.
d. Undo the plug on drainage hole (4) for axis 2, (6) for axis 3 or (8) for axis 4 and drain the oil.
e. Screw the plugs back into the drainage holes.
f. Position the axes so as to bring the top-up hole to a higher position with respect to the robot’s base
and pour the prescribed quantity of oil into the top-up hole for axis 2, axis 3 or axis 4; use a pipe
with an air breather hole.
g. Screw the plug back into top-up hole for axis 2, axis 3 or axis 4.
AXES 5 AND 6
a. Position axis 5 so as to bring top-up/drainage hole (9) to a higher or a lower position with respect
to the robot’s base, according to the operation to be performed.
b. Bring the top-up/drainage hole to the lowest position, undo the plug on the hole and drain the oil.
Rotate axis 5 so as to bring the hole to the highest position and top up with the prescribed quantity
of oil.
c. Screw the plug back into the top-up/drainage hole.
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SMART S4 PREVENTIVE MAINTENANCE
EXTRAORDINARY MAINTENANCE
All extraordinary maintenance operations that can be carried out on the SMART S4 robot are described
in the SMART S4 Manuale di Manutenzione/Maintenance Manual.
DISPOSAL OF PARTS
All used grease/oils and dead batteries MUST be disposed of in accordance with the current legislation
of the country in which the robot and the control unit have been installed.
If the robot or the control unit is partially or completely disposed of, the various parts MUST be grou-
ped together according to their nature (e.g. all iron together and all plastic together), and disposed of ac-
cordingly. These parts MUST also be disposed of in accordance with the current legislation of the
country in which the robot and control unit have been installed.
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PREVENTIVE MAINTENANCE SMART S4
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APPENDIX A
WIRING DIAGRAMS
The wiring diagrams for the standard configuration of SMART S4 robot are an enclosure of this manual,
for any other configurations/options installed refer to the specific documentation and wiring diagrams.
APPENDIX B
ERROR CODES
For CAUSES and REMEDIES of error codes, refer to the control unit Use and Maintenance manual.
This page has been left intentionally blank
APPENDIX C
TECHNICAL FEATURES
SMART S4
CARATTERISTICHE TECNICHE
TECHNICAL FEATURES
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SMART S4
(1) Vedere figura Capacità di Carico sul Polso (Assi 5 e 6) / See figure Loading Capacity on Wrist (Axes 5 and 6).
(2) Vedere i limiti di applicazione del carico nella figura Distribuzione Carichi / See load application limits in figure Load Distribution.
2 02/0400
VOLUME DI LAVORO ED INGOMBRO ROBOT / ROBOT WORK ENVELOPE AND OVERALL DIMENSION
02/0400
SMART S4
3
SMART S4
DETERMINAZIONE DEL CARICO MAX. ALLA DEFINITION OF MAX LOAD ON THE TOOL
FLANGIA DI ATTACCO ATTREZZI (QF) MOUNTING FLANGE (QF)
Il seguente diagramma riporta le curve di carico max QF The following diagram shows the curves of the max. load
applicabile alla flangia di attacco attrezzi in funzione di QF that can be applied to the tool mounting flange. This
Ly e Lz definite nelle figure seguenti. Tutti i punti compresi load depends on Ly and Lz defined in the figures. All
nell’area sottesa alle curve rappresentano le distanze Ly points within two curves represent the Ly and Lz dis-
e Lz baricentriche ammesse per il carico corrispondente tances of the centre of gravity allowed for the load
a ciascuna curva. corresponding to each curve.
Esempio: con baricentro del carico P posto a Example: with centre of gravity of load P at
Lz = 100 mm Lz = 100 mm
Ly = 150 mm Ly = 150 mm
risulta un carico max. alla flangia QF = 88,27 N (9 kg). max. load QF allowed on flange = 88.27 N (9 kg).
• Ly = Distanza baricentro carico P dall’asse flangia • Ly = Distance of centre of gravity of load P from flange axis
• Lz = Distanza baricentro carico P dall’asse 6 • Lz = Distance of centre of gravity of load P from axis 6
• Ly = L1 - L2 in cui: • Ly = L1 - L2 where:
L1 = Distanza baricentro carico P dall’asse 5 L1 = Distance of centre of gravity of load P from axis 5
L2 = Distanza tra asse 5 e asse flangia L1 = Distance between axis 5 and flange axis
• Lz = Distanza baricentro carico P dall’asse 6 • Lz = Distance of centre of gravity of load P from axis 6
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SMART S4
ATTENZIONE WARNING
Il massimo carico al polso 147 N (15 kg) ed il massimo The maximum load on wrist 147 N (15 kg) and the
carico supplementare 147 N (15 kg) NON DEVONO maximum additional load 147 N (15 kg) MUST NOT BE
coesistere. applied together.
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SMART S4
FLANGIA ATTACCO ATTREZZI (ISO 9409-1-A63) / TOOL MOUNTING FLANGE (ISO 9409-1-A63)
02/0400 7
SMART S4
8 02/0400
SMART S4
Fv ≡ 5300 N
Fo ≡ 2000 N
Mr ≡ 1500 Nm
Mk ≡ 3800 Nm
02/0400 9
SMART S4
10 02/0400
APPENDIX D
SPARE PARTS LIST
GENERAL
The following table lists the spare parts, in alphanumeric order, relating to the SMART S4 robot; the
following information are given:
☞ The CODE column contains the identity code of the components.
☞ The DESCRIPTION column contains the names of the units and components.
☞ The Q.TY column indicates the number of units or of components.
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SPARE PARTS LIST
NOTE: For location of spare parts and any replacement procedures, refer to the Maintenance
Manual
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