Instruction Manual. 3-Claws Type Electric Gripper. Standard Type ESG 1 ST. For safe use of product TAIYO

Transcription

1 取説 16-T011 Aug 2016 Instruction Manual ESG1-ST Series 3-Claws Type Electric Gripper Standard Type ESG 1 ST For safe use of product Wrong operation of the product may result in sub-optimal performance of the product or lead to a serious accident. To prevent occurrence of an accident, be sure to read the Instruction Manual of the product carefully to completely understand the contents given therein before operating the product. If you find any unclear point, contact us. TAIYO Kitaeguchi Higashiyodogawa-ku, Osaka Japan URL 1

2 Table of contents 1. Preface For Safe Use Danger General Design Operating Environment Installation Operation Maintenance and Inspection Warning Operating Environment Installation Operation Maintenance and Inspection Disposal Caution General Operating Environment Installation Operation Maintenance and Inspection Storage Environment Disposal Handling Instructions Preparations Product Type Option Explanation Names of Parts Design Design of Fingers Selection Gripping Force vs Instruction Value Installation Location Gripper Installation Fixing of Fingers Fastening Installation Surface Connecting the Motor Cable System Configuration Trial Run and Adjustment Setting Operation Mode and Operation Removing a Workpiece Maintenance and Inspection Inspection Timings and Items Procedure for External Inspection Conducting Operation Check Reapplication of Grease

3 Cleaning Outside of the Gripper Specifications External Dimensions

4 1. Preface Thank you for purchasing our ESG 1 series Electric Gripper. The ESG1-series gripper is a small and high-performance product designed based on our highlevel control engineering and abundant experience. This Instruction Manual provides information necessary for using the ESG1 series. Be sure to thoroughly read and understand the instruction manual for gripper, controller and support software, before using the product. After reading, carefully store the manual and keep it handy for of future reference. Related instruction manuals Electric gripper/controller Electric gripper/support software Electric gripper/rs 485 communication 4

5 2. For Safe Use Cautionary descriptions given here are for correct use of the products and for prevention of hazard on the user and other people in the vicinity. These descriptions have been classified into 3 categories as DANGER, WARNING and CAUTION depending on the severity of hazard or damage and level of urgency. All bear important descriptions pertaining to safety. Strictly observe the instructions in addition to those of JIS B ) and other safety rules. DANGER WARNING Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Indicates a potentially hazardous situation which could result in death or serious injury, if the equipment is operated incorrectly. Indicates a potentially hazardous situation which may result in injury and CAUTION machine damage, if the equipment is operated incorrectly. 1) JIS B 8433: General safety rules for industrial robot This product is designed and manufactured as a component for use in general industrial machinery. Product must be selected and handled by a system designer or personnel in charge with adequate knowledge and experience. Be sure to read the catalogue and instruction manual before handling the product. Mishandling of the product poses a risk. Please read the instructions manuals for gripper, controller and support software. It is the user s responsibility to verify and determine the compatibility of this product with the user s system. After reading the catalog and this instruction manual, be sure to keep it where those using this product have easy access to it. All situations are not included in the items of DANGER, WARNING and CAUTION of For safe use. Please read the catalog and instruction manual for the given device, particularly for descriptions unique to it, to ensure its safe and proper handling. If the gripper embedded in a system (machine, robot, etc.) is to be used, then system needs to meet the regulations and standards for safety measures. Check if the system satisfies the regulations and standards first. If so, properly handle the product in accordance with the regulations and standards. This gripper is not applicable to miniature robots. Do not use the product for the following applications: 1. Medical equipment used to maintain, control or otherwise having impact on human life or physical health 2. Mechanisms and machinery designed for the purpose of moving or transporting people 3. Important safety parts of machinery This product has not been planned or designed for applications requiring high levels of safety. It may carry risk for human life. 5

6 2.1. Danger General Do not use the product outside the scope of its specifications. Using the product outside specification scope may cause it to fail, stop functioning or result in damage. It may also significantly reduce the life span of the product Design In cases where the product stops due to system errors such as emergency stop or power failure etc., have a safety circuit or design the device such that damage to the device or injury to personnel may be avoided. Be sure to provide Class D grounding (formerly Class 3 grounding: Grounding resistance at 100Ω or less) for gripper and controller. Current leakage may cause electric shocks or malfunction Operating Environment Do not use this product in a place exposed to inflammable or explosive gases. The product has not been designed with explosion protection. There is a risk of explosion or fire hazard, which may lead to damage of machinery and equipment or injury to personnel. Do not use this product in a place where it might come in contact with water or oil droplets Installation Wire the product correctly by referring to the Instruction Manual. Securely connect the cables and connectors so that they will not be disconnected or come loose. Failure to do so may cause the product to malfunction or catch fire Operation When operating or adjusting the gripper after mounting it to the system, be sure to observe safety measures for the system. Failure to do so may result in serious injury. Before supplying power to and operating the product, check the operation area of the equipment to ensure safety. Supplying power to the product without adequate care may cause electric shock or injury due to contact with moving parts. Do not touch the connectors or other parts when power is being supplied to the product. It may result in electric shock or malfunction. People using pacemaker should not come within the area of 1 meter from product. The strong magnetic field generated by the product may cause the pacemaker to malfunction. Do not pour water onto the product. Spraying water over the product, washing it with water or using it in water may cause the product to malfunction, resulting in injury, electric shock, fire, etc Maintenance and Inspection When using the gripper embedded in a system (machinery, robot etc.), strictly observe the regulations and standards for safety measures of the system. Do not disassemble or reassemble the components in any location other than those specified. Doing so may result in injury, electric shock, fire, etc. Do not alter the product. Never cut and/or re-connect its cables with the intention of extending or shortening the cable length. Doing so may result in fire. 6

7 2.2. Warning Operating Environment Do not expose the product to direct sunlight or ultraviolet rays. Do not expose the product to radiant heat generated from a heat source. Use the product at a place where ambient temperature is within 0 to 40 C. Use the product in the place having humidity range of 35% to 90%, with no dew condensation. Do not use this product in an environment having corrosive gasses or at places exposed to corrosive chemicals or solutions. Rust may form and reduce the structural strength of the product. Do not use the product in a place exposed to dust and iron powder. If dust enters the product through small openings and gaps, the product may suffer damage. Do not use the product at the places where it may come in contact with water droplets, cutting oil, cleaning liquid, organic solvents or hydraulic oil. Protect the product with a cover or panel if there are chances that the product would come in contact with such items. Since the product does not have waterproof design, contact with water droplets or other liquids may result in product damage. Do not use the product in places subject to strong vibrations or impact (5m/s 2 ). Do not use the product in places where strong electromagnetic waves may cause electromagnetic interference. Failure to do so may result in malfunction. Do not use the product in places strong current or magnetic field is present; where welding or other operations that cause arc discharge are performed; places subject to electrostatic noise; places with potential exposure to radiation. Provide adequate shielding if the product has to be used in such places. Failure to do so may result in malfunction Installation Provide an emergency-stop device in a readily accessible position so the device can be stopped immediately in case of hazard occurrence during operation. Failure to do so may result in injury. When installing gripper or when installing the fingers on finger mounts, be sure to securely fix them using the specified bolts. Failure to do so may cause the product or any of its workpieces to tip over, drop or malfunction, resulting in injury. Provide for sufficient maintenance space when installing the product. Routine inspection and maintenance cannot be performed without sufficient space, which will eventually cause the equipment to stop or result in damage to the product. In order to ensure no one inadvertently turns ON the power when installing or adjusting the product, display a sign that reads, WORK IN PROGRESS. DO NOT TURN ON POWER.. If power is turned ON inadvertently, injury may result due to electric shock or sudden activation of the product. Do not hold the moving parts of the product or its cables during installation. It may result in product damage Operation Do not touch the product during operation. Your fingers may get trapped in the devices and result in injury. Do not touch the connectors or exposed terminals of controller. There is a risk electric shock. Turn off the power to the product in the event of a power failure. Failure to do so may cause 7

8 the product to suddenly start moving when power is restored, thus resulting in injury or product damage. Before operating the moving parts of the product by hand for the purpose of manual positioning, etc., confirm that the servo is turned off (using the support software). Failure to do so may result in injury. If the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing to use the product may result in product damage or fire. Turn off the power immediately if the protective mechanism (alarms) of the product gets activated. Continued use may cause the product to malfunction, resulting in product damage or injury. Once the power supply is cut off, investigate and eliminate the cause and then turn on the power again Maintenance and Inspection Before conducting various tasks such as maintenance inspection, adjustments or parts replacement, completely shut down the power supply and take the following measures: 1. Display a sign that reads WORK IN PROGRESS. DO NOT TURN ON POWER. at a conspicuous place in order to prevent a person other than the operator from accidentally turning on the power during maintenance. 2. When multiple operators are to perform maintenance and inspection, ensure safety by always calling out every time the power is turned on/off or a moving part is shifted. Perform maintenance and inspection with a thorough understanding of the tasks. Do not neglect the inspection. This may reduce the service life of the driving parts and lead to malfunctioning. If any abnormalities are detected during inspection, stop the operation immediately Disposal Do not throw the product into fire. The product may explode or generate toxic gases Caution General If you are planning to use the product under a condition or environment not specified in the catalogs or instruction manual, or in an application requiring strict safety such as aircraft facility, combustion system, entertainment machine, clean room, safety device, or other equipment having significant impact on human life or property, design operating ranges with ample margins from the ratings and design specifications, or provide sufficient safety measures such as fail-safes. Whatever you do, always consult us. Always use the cable supplied with the product for connection between the gripper and controller. The gripper must be combined with our designated components, including the gripper, controller, motor cable and serial converter Operating Environment Provide sufficient space for safely conducting maintenance inspection. Do not bring a floppy disk or other magnetic media within one meter of the product. The magnetic field generated by the magnet may corrupt the data inside the floppy disk. 8

9 Installation Use safety gear when handling the product. Protect the product from excessive impact such as bumping and throwing, even when the product is packed. Do not step onto the package or place heavy objects on the package, which may add excessive load. After opening the package, hold the main body of the gripper. Do not hold with cables or connectors when carrying it. Though the motor cables have superior flexibility, do not store the cables in movable wiring ducts (cable bear etc.) that bend more than the specified bending radius. Do not scratch the motor cable. Scratching, forcible bending, stretching, winding, and pinching may cause short circuit and conduction failure, which results in electric shock and malfunction. Do not place any objects that block ventilation around the controller. Doing so may result in damage to the controller. Do not configure a control circuit that will cause the workpiece to drop in case of power failure. Configure a control circuit that will prevent the workpiece from dropping when the power to the machine is cut off or an emergency stop is activated. The motor encoder cable that comes out of the main body does not have bending resistance. Fix it in such way that repeated stress would not be added at the time of wiring Operation Turn on the power to individual equipment one by one, starting from the equipment at the highest level in the system hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or product damage. Do not insert a finger or object in the openings in the product. It may cause fire, electric shock, or injury. The motor generates heat during operation, and the product surface temperature is high. Take care not to affect workpieces or other objects around the gripper Maintenance and Inspection Do not touch the terminals while performing insulation resistance test. Doing so may result in electric shock. Do not perform dielectric strength test, since DC power is being supplied to the product Storage Environment When storing the product, protect it from direct sunlight and moisture and store it at the cool and dark place which is at least 30cm above the floor so as to prevent condensation. Keep the product free from strong vibration and impact Disposal When the product is no longer usable or necessary, dispose of it appropriately as an industrial waste. 9

10 3. Handling Instructions 3.1. Preparations Product Type ESG1-ST-2013-C13 Set arrangement symbols Blank:Gripper C13: Gripper set (motor cable: 3m) C15: Gripper set (motor cable: 5m) Nominal size Structure ST: 3 claws type, parallel open/close type Set arrangement details Note, values in () indicate quantities. Gripper (1) Controller ESC 11-B (1) Motor cable ESA C1 3 (1) Cable length 3:3m 5:5m I/O cable ESA-F1 (1) Support software ESA-S01 (1) 10

11 Option Explanation Motor cable ESA-C13/C15 Use a cable having high flex resistance and connect the gripper and controller. Controller side Discrete wire part length Discrete wire part length Gripper side Serial Converter Converts the serial symbol RS485 of the controller to RS232C symbol for computer or to the USB symbol. Use this device when using support software for computer. Power is supplied from controller. User has to arrange the RS232 cable (straight) or a USB cable to connect the serial converter to computer. With the insulation type, safe operation is possible even in the unfavorable power supply environment such as overseas etc. Also use with + side earthing specifications is possible (USB only). RS232C-RS485 serial converter ESA-R1 USB-RS485 serial converter ESA-R2 USB-RS485 Insulation type serial converter ESA-R3 Dsub 9 pin B type connector Jog switch ESA-J1 Fingers can be opened/closed easily without setting point data and parameters. Emergency stop button has been provided. DIN rail adapter ESA-D1 Used when installing to controller and assembling with DIN rail. When installing DIN rail adapter, use round head screw (M3 8L), fasten with appropriate torque (fastening torque: 0.45N m). 11

12 Names of Parts ESG1-ST-2004 Cable Positioning hole Installation tap Linear guide Finger mount Installation tap Positioning hole Positioning pin Connector ESG1-ST Installation tap Cable Connector Linear guide Installation tap Positioning pin Finger mount Finger rotation center Positioning hole 12

13 3.2. Design Design of Fingers Caution Carry out setting in such way that thrust load, moment load for the guide part would not exceed the values in below table. Make sure that value of finger mass and the distance from finger mount to gripping point, is not exceeding the values in below table. Keep the fingers short and light weight as much as possible. Set the parameters, operation mode in such way that there would not be any transient impact on the fingers, during operation. Design should be such that the mass of a gripped workpiece is between 1/10 to 1/20 of the gripping force. Set further margin if gripper has to be moved or turned while gripping the work piece. Mass of a workpiece that the fingers can grip greatly differs depending on the material quality, shape, and gripping surface condition of the fingers. Product Type Items Allowable Load (N) Allowable Moment (N.m) Maximum gripping position (mm) Maximum finger mass pair (g) ESG1 -ST Load (F) and moment (M) when external forces Fa and Fb are to be added at distance L from the finger mounting surface, are calculated as per the below. External force F = Fa + W g M = Fb L External force Workpiece Gripping point F : Load [N] M : Moment [N. m] L : External force operating point distance [m] Fa : External force [N] Fb : External force [N] W : Mass of workpiece [Kg] g : Gravity acceleration [m/s 2 ] H : Gripping point distance [m] Finger 13

14 3.3. Selection Gripping Force vs Instruction Value Gripping force can be adjusted freely according to instruction value. Refer to the graphs in below figures. Instruction value (%) Gripping force (N) Gripping force (N) Instruction value (%) Caution Use the graph indicating relation between gripping force and instructed value as reference. For actual gripping value, there is a variation of about ± 15% (F.S.). Design should be such that the mass of a gripped workpiece is between 1/10 to 1/20 of the gripping force. Further margins are required when the gripper has to be rotated and moved. Mass of a workpiece that the fingers can grip greatly differs depending on the material quality, shape, and gripping surface condition of the fingers. 14

15 Installation Location Caution Actuator has been designed, manufactured as general industrial machinery part. Installation location should be airy. Also, it should be easily possible to carry out maintenance and inspection Gripper Installation Installation direction There are no restrictions regarding the installation direction of gripper. Installation method Fix the gripper with installation bolts by using installation screws. Rotation center position of the gripper can be fixed with the positioning pin hole of gripper head part. (Except for ESG1-ST-2004) Positioning pin hole 15

16 Fixing of Fingers Fix the fingers with installation bolts by using finger fixing female screws for finger mounting. Finger position can be fixed as per positioning pin of finger mouting. Installation bolts Finger Linear guide Positioning pin Finger mounting Installation screws Fastening Warning Fastening the taps with excessively high torque can damage them and result in improper fixing of the taps. This may result in damage to device during operation, or may result in injuries. Apply proper torque for fastening. Take measures to prevent loosening of the bolts by using loosening prevention material When installing and uninstalling the fingers, fasten the bolts while securely supporting the fingers such that there is no excessive force or impact on the finger mounts. Do not use the bolts having excess thrust length than effective thread length. Screw fastening torque chart (standard T series) Screw Recommended fastening size torque (N m) M3 0.56~0.69 M4 1.35~1.65 M5 2.70~3.30 M6 4.68~5.72 Gripper グリッパ本体 effective screw 有効ネジ長さ length Installation 取付ボルト bolts Maximum length 最大長さ Warning Recommended fastening torque is the general value. Decide the value by considering the installation bolts that are used and material of screw seating suface. 16

17 Installation Surface Warning Install onto a flat surface Connecting the Motor Cable Connect the gripper and dedicated motor cable (ESA-C1 ) and firmly connect it with the connector ACT on the controller. Warning Turn off the controller power before connecting or disconnecting the motor cable. Failure to do so may result in malfunctioning of gripper, damage of device or injury. Before connecting the motor cable, check for scratches on the cable and bent connector pins. Be sure to use the dedicated motor cable. Never cut and/or reconnect the cables for the purpose of extending or shortening the cable length. Motor cable connection connector ACT Caution A highly flexible motor cable has been used for the product. Take the following precautions when routing and connecting the cable. 1. Minimize the curvature and do not let the cable flex at a single point. 2. Do not let the cable get tangled or kinked. 3. Do not stretch the cable with force. 4. When fixing the cable, be sure not to tighten it too much. 5. Avoid getting any scratches on the cable. 17

18 System Configuration Set arrangement details Motor cable Gripper Controller Power for control 26 pin I/O cable Network cable Jog switch Serial converter Serial converter USB cable (Commercial product) RS232 cable (Commercial product) Personal computer Connectable with maximum 16 stations Support software (with controller) 18

19 3.4. Trial Run and Adjustment Setting Operation Mode and Operation Carry out the setting of each parameter, operation mode with the dedicated support software. For details of operation method, refer to the instructions manuals for controller and support software. Warning Set the parameters and operation mode such that there is no excessive impact or moment on the fingers during operation. The product may otherwise get damaged or its service life shortened. Operating with support software With the support software on the computer, each of the point operations can be carried out individually. For more details, refer to the instructions manual of controller Removing a Workpiece Caution Remove the workpiece of gripper when it is not in use for a long time. If the gripper is left unused for a long time with the gripper holding a workpiece, the ball slide may be negatively affected. Self-lock function is not available. The fingers can be moved by hand when the power is off Maintenance and Inspection Inspection Timings and Items Inspection Time Details Daily Inspection Daily (at start of operation) Visual inspection Operation status confirmation Periodic Every six months Grease supply Inspection Others As needed External cleansing Procedure for External Inspection Confirm the below points. Inspection point Inspection Confirmation Details Response at the Time of Error Gripper Cable Installation bolts are not loose. Load has been fixed securely.connectors are securely connect ed There are no damages There are no scratches on the moving parts If loose bolts are detected, then tighten them by applying the specified torque and take measu res to prevent loosening. If there are flaws and/or scratches on a cable, then replace it with new cable and eliminate the cause. 19

20 Conducting Operation Check Check for abnormal noise or vibrations and that operation is smooth. If any abnormalities are detected, stop operation immediately Reapplication of Grease Warning Apply appropriate amount of grease on the specified points. High-precision electronic devices exist in the gripper. Adequate performance cannot be achieved if grease is applied to such points. This may also lead malfunctioning, resulting in damage to devices and injury. Do not use spray grease. Flying grease may come in contact with the encoder. Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of grease will drop and the machine may get damaged. Do not use spray oil. It may cause grease to wash out, resulting in lubrication failure. It may also spread to other unexpected parts and cause them to malfunction. Applicable grease Multemp PSNo.2 (Kyodo Yushi) or equivalent product (lithium grease) Applying grease to the linear guide part Caution Apply the appropriate amount of specified grease at the space between linear guide block and guide rail (ball parts 2 surfaces x 3 places) of the finger, with an injection device. After application of grease, wipe off unnecessary grease around the guide part. Grease application (2 surfaces x 3 points) Cleaning Outside of the Gripper Caution Wipe the dirt with soft cloth to prevent scattering of dust. For stubborn stains, use mild detergents instead of solvents etc. Take precautions to avoid accumulation of moisture contents as this may lead to rusting. Avoid air-blowing to the extent possible, or avoid strong air-blowing as it may result in dust and dirt entering the gripper body. 20

21 4. Specifications Gripping force Items Max. continuous Type rating [N] Minimum setting Resolution [%] (N) [%] (N) 30 (0.75) 1 (0.025) 30 (0.6) 1 (0.02) 30 (3) 1 (0.1) Open/close stroke [mm] Max (Rating) [mm/sec] (6) 1 (0.2) Speed Min. setting [%] (mm/sec) 20 (20) [%] Resolution (mm/sec) (1) (1) (1) (1) Constant-speed [%] move and grip Repeatability [mm] ±0.03 Max. finger mass (1 pair)) [g] Fingers Allowable load [N] Allowable moment [N m] Guide structure Max. gripping position [mm] Linear guide Max. gripping workpiece mass [Kg] Operating temperature range [ ] 0~+40(there should be no freezing) Operating humidity range [%] RH35~90(there should be no condensation) Storage temperature [ ] -10~+60(there should be no freezing) Mass [g]

22 5. External Dimensions ESG1-ST-2004 Connector Effective depth 1.5 Effective depth 1.5 For installation Effective depth 3 Effective depth 3 For installation Same dimensions for reverse side For installation Effective depth 3 Effective depth 1.5 Same dimensions for reverse side Effective depth 4 For claw installation 22

23 ESG1-ST Depth 2 Depth 2 Depth V Connector Depth L Depth R (Including reverse surface) Depth L Depth BG Note: This drawing indicates ESG1-ST-2820 Symbol Type A B C D E F G H J K L M N P M M M Symbol Type Q R S T U V W (1 claw stroke) AA BA BB BC M M ~ M M ~ Symbol M M ~ BD BE BF BG BH BJ BK Type *** 3X1-M3 8 2 φ ± X2-M3 6 2 φ ± X2-M4 8 3 φ ±

24 TAIYO, LTD. Head Office International division Kitaeguchi, Higashiyodogawa-ku Osaka JAPAN Tel: Fax: URL: TAIYO AMERICA, INC. Head Office / Plant (Ohio) 1702 East Spring Street St.Marys, Ohio PHONE:+1 (877) Fax: FAX : +1 (419) OHIO Office PHONE:+1 (419) Illinois Office PHONE:+1 (630) Tennessee Office PHONE:+1 (615) Kentucky Office PHONE:+1 (502)