functional robotic arm parts

robotic arm parts This robot can help you to do much machnical jobs which is precision and effciency.

Robotic Arm Parts

 

 

1.1.2 CEThe UR euromap67 interface is part of the internal circuitry of the UR controllerbox, and it can only be purchased in conjunction with a UR controller box. TheUR euromap67 interface is therefore falling under the Declaration of Incorporation,which is found in the user manual of the robot.The interface is constructed with the same components and principles, andunder the same test requirements, as the controller box. Therefore, it does notadd any changes to the Declaration of Incorporation of the robot.The safety functions are PLd, category 3, conforming to ISO 13849-1 and ENISO 13849-1.

 

1.2 Robot and IMM integrationThe following subsections contain important information for the integrator.

 

1.2.1 Emergency stop and safeguard stopThe emergency stop signals are shared between the robot and the IMM. Thismeans that a robot emergency stop also emergency stop the IMM and viceversa.The safeguard stop signals (Safety devices [ZA3-ZC3][ZA4-ZC4]) ensuresthat the robot is safeguard stopped when a door on the IMM is open. Notethat it is not a part of the euromap67 standard to stop the IMM if the robot issafeguard stopped. This means that if an operator enters the workspace of therobot then he must not be able to reach into the IMM without causing a safestop condition.If a safety device shall safeguard stop both the robot and the IMM thenconnect it to the IMM.

 

NOTE: The special ”external emergency stop” input [EEA-EEB] can be used toconnect the robot to a third machine. If so, only the robot will emergency stopif an emergency stop button is pushed on the third machine, not the IMM!NOTE: Always verify the functionality of safety related functions.

1.2.2 Connecting a MAF light guard

 

The MAF signal [A3-C3] in the euromap67 cable enables the powerful movementof the mould. Care must be taken to prevent the mould from closingwhen the robot is inside the machine.

 

1.2. ROBOT AND IMM INTEGRATION 7The euromap67 interface is supplied without a MAF light guard. This meansthat an error in the robot program could cause the IMM mould to close andcrush the robot. However, it is possible to connect a light guard as shown belowto prevent these accidents. A category 1 light curtain can be purchased for afew hundred Euro (e.g. the BPCX series from Infra).

 

1.2.3 Mounting the robot and toolBefore constructing a tool and a mounting surface, the integrator must considerhow joint 4 (wrist 2) is orientated during pick and place. Joint 1, 2 and 3 hasparallel axes and if joint 4 orientates joint 5 to the left or to the right then joint 5 isparallel to the other three axes, which forms a singularity. It is generally a goodidea to place the robot in a 45 degree angle or constructing a tool where thesurface of the tool flange of the robot points down when gripping the items fromthe vertical mould surface.

 

1.2.4 Using the robot without an IMMTo operate the robot without an IMM, a by-pass plug must be used to close theemergency and safety signals. The only alternative is to permanently uninstallthe interface as described in section 1.4.1.

 

1.2.5 Euromap12 to euromap67 conversionTo interface an IMM with euromap12 interface an E12 - E67 adaptor must beused. Several adaptors is available on the marked from different manufacturers..Unfortunately most adaptors are constructed for specific robots or IMMsassuming specific designs choices. This means that some adaptors will not connectthe UR robot and your IMM correctly. It is recommended to read boththe euromap12 and euromap67 standard whenever using or constructing anadaptor.A list with common errors is shown below:1. Do you measure 24V between A9 and C9? The IMM must supply 24V to enable the I/O signals. If the robot and the IMM has common minus/0V then the robot 24Vcan be used by connecting A9 to ZA9 and C9 to ZC9. IMM 24V is oftenpresent at euromap12 pin 32.2. Is the adaptor switching both robot emergency channels and both robotsafety devices channels? This is typically accomplished using 4 relays.

 

 

 

functional robotic arm parts