Ae Air50-2230a User manual

Peitian Robot

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Equipment manufacturing industry

AIR50-2230A | Operation Manual

AIR50-2230A

Operation Manual

V 1.4

AIR50-2230A Operation Manual

Sign

Before using an industrial robot, be sure to read the manual carefully and use it correctly while understanding

its content.

Nothing in this manual shall be reproduced or transmitted in any

way.

All parameters and design may be changed at any time without

notice.

There may be no liability for any errors that may occur in this

manual.

We try to describe as many cases as possible in this manual.

However, for various reasons that do not have to be done and

are not possible, we have not described it for a variety of

reasons.

Therefore, for those situations that are not described in the

manual, the "impossible" can be regarded as the case.

The products described in this specification are subject to the

limitations of the Foreign Trade Law of the People undefined

Republic of China.

The export of the product from China to other countries must be

subject to the export license of the Chinese Government.

In addition, when the product is re-exported to other countries,

the Government undefined permission to re-export the product

should be obtained.

To export or re-export such products, please contact the AE

Group.

AIR50-2230A Operation Manual

The identity used in this article

The marks and their meanings are shown in Table 1.

Table 1 Common identifiers in this article

Sign

Name

specification

Danger

Failure to operate in

accordance with the

instructions will cause an

accident, cause serious or fatal

injury to the person, or serious

damage to the item

Warning

Failure to follow the

instructions may result in an

accident causing the severe or

fatal injury or the great losses

of property

Caution

Prompt for the environmental

conditions and important

things or shortcuts you shall

pay attention to

Prompt

Prompt for additional literature

and instructions for additional

information or more detailed

operating instructions

AIR50-2230A Operation Manual

General safety description

III

General safety description

Thank you for purchasing our operator. this description is required for the safe

use of the operator. Before using the operator, please read the manual carefully

and use the operator correctly on the premise of understanding it.

For the detailed functions of the operator, please fully understand its

specifications through the relevant instructions.

Safety considerations

In general, the operation machine cannot be operated by a single operation,

and only the upper end effector is installed, and the frame functions as the

peripheral equipment and the system to perform the operation.

When considering its security, the operator should not be considered

independently, but should be considered in the system environment.

When using the operating machine, it is important to take corresponding

measures to the safety fence.

WARNING, CAUTION AND PROMPTS.

This specification includes matters needing attention to ensure the personal

safety of operators and prevent damage to operators. According to their safety

importance, they are described as "warning" and "caution" in this paper, and

the supplementary instructions are described as "prompts".

Before using the operator, the user must read these "warnings "," cautions"

and "prompts ".

Warning

◼In the case of an incorrect operation, it is possible to cause death or

serious injury to the operator or other operator.

Caution

◼If the operation is wrong, it may cause the operator or other operator to

slightly injure or damage the equipment.

Prompt

AIR50-2230A Operation Manual

General safety description

◼The State party points out a supplementary note other than warning and

attention.

General considerations

Warning

◼When connecting or disconnecting relevant peripheral equipment(such as

safety fence, etc.)and various signals of the operator, make sure that the

operator is in the stop state to avoid wrong connection.

Warning

◼Do not use the operator in the situation shown below. Otherwise, it will

not only have a negative impact on operators and peripherals, but also

cause casualties.

1. Used in flammable environments.

2. Used in explosive environments.

3. Used in environments where there is a lot of radiation.

4. Used in water or in high humidity environments.

5. Used for the purpose of transporting people or animals.

6. Use as a foot (e.g., on or depending on the operator).

Warning

◼Operators who use the operator should wear the safety appliances shown

below before carrying out their work.

1. Work clothes suitable for homework content

2. Safety shoes

3. Safety helmet

Prompt

◼Personnel who carry out programming and maintenance operations must

receive appropriate training through the relevant training of the company.

AIR50-2230A Operation Manual

General safety description

Considerations during installation

Warning

◼When handling and installing the machines, they must be carried out

correctly according to the method shown in our manual. If the operation

is carried out in the wrong way, it is possible that the operator will be

killed or injured due to the overturning of the operator.

Warning

◼When using the operator for the first time after installation, be sure to do

so at a low speed, and then gradually accelerate the speed and confirm

that there are any anomalies.

Matters needing attention in operation

Warning

◼When using the operator, be sure to make sure there are no personnel in

the safety fence before carrying out the operation. At the same time,

check to see if there is a potential danger, and when it is confirmed that

there is a potential danger, be sure to eliminate the danger before

carrying out the operation.

Warning

◼When using the instruction device, because there may be errors in the

operation of wearing gloves, it is important to take off the gloves before

carrying out the work.

Prompt

◼Information such as programs and system variables can be stored in

storage media such as memory cards. In order to prevent data loss caused

by unexpected accidents, it is recommended that users back up data

regularly.

AIR50-2230A Operation Manual

General safety description

Considerations in programming

Warning

◼When the safety fence is to be programmed, as much as possible outside

the safety fence, the following matters shall be taken into account when

the safety fence needs to be carried out as a last resort:

1. Check the safety fence carefully and make sure it is not dangerous

before entering the fence.

2. The emergency stop button can be pressed at any time.

3. The operating machine shall be operated at low speed

4. The operation should be carried out after confirming the state of the

whole system, so as to avoid the operator falling into a dangerous

situation due to the remote control instructions or actions for the

peripheral equipment.

Caution

◼After the program is finished, it is important to perform the test operation

in accordance with the specified procedure. At this time, the operator

must operate outside the safety fence.

Prompt

◼For operators who are programmed, it is important to receive appropriate

training through the Company undefined relevant training.

AIR50-2230A Operation Manual

General safety description

VII

Attention should be paid to maintenance work.

Warning

◼When switching on the power supply, part of the maintenance operation

is in danger of electric shock, as far as possible, the maintenance

operation should be carried out in the state of disconnecting the operator

and the system power supply; professional maintenance personnel should

be designated according to the need to carry out maintenance operation;

other personnel should be avoided to turn on the power supply when

maintaining the operation; even if the power supply must be turned on

before the operation can be carried out, the emergency stop button

should be pressed and then the operation should be carried out.

Warning

◼Please consult our company when you need to replace the parts.

◼The replacement of parts by the client may result in unexpected accidents,

which may cause the operator to be damaged and the operator is injured.

Warning

◼When entering the security fence, check the whole system carefully and

make sure it is not dangerous. If there is a dangerous situation and have

to enter the fence, you must grasp the state of the system and be very

careful.

Warning

◼If you need to replace the parts, be sure to use our designated parts. If

you use a part other than the specified part, it may cause damage to the

operator.

Warning

◼When removing the motor and brake, the crane hoisting and other

measures should be taken to remove the motor and brake, so as to avoid

the falling of the manipulator arm.

AIR50-2230A Operation Manual

General safety description

VIII

Warning

◼When carrying out maintenance operations, when it is necessary to move

the operator as a last resort, the following matters should be taken into

account:

1. It is important to ensure that the escape channel is smooth and that

the operation should be carried out again under the operation of the

whole system in order to avoid blockage of the retreat by the operator

and peripherals.

2. Always pay attention to the danger around you and be prepared so

that you can press the emergency stop button at any time when you

need it.

Warning

◼The auxiliary equipment such as the crane shall be used when the moving

motor and the speed reducer and the like have certain weight parts, so as

to avoid the excessive work load for the operators. At the same time, it is

necessary to avoid the wrong operation, otherwise, the operation and

death of the operation may be caused.

Warning

◼Be careful not to fall because of the lubricating oil that falls on the ground,

wipe the lubricating oil that falls on the ground as soon as possible, and

eliminate the possible danger.

Warning

◼Do not place any part of the body on any part of the manipulator during

the operation, and it is prohibited to climb on the operating machine, so

as to avoid unnecessary personal injury or adverse effect on the operating

machine.

Warning

◼The following parts will be hot and need attention. When you have to

touch the equipment when you have to touch it in the event of heat, you

should prepare protective appliances such as heat-resistant gloves:

1. Servo motor

AIR50-2230A Operation Manual

General safety description

2. Decelerator

3. Adjacent to motor / reduce

4. Inside the control cabinet

Warning

◼The parts (such as screws, etc.) removed during the replacement of the

parts should be correctly loaded back to their original parts, and if the

parts are found to be insufficient or surplus, they should be reconfirmed

and installed correctly.

Warning

◼During the maintenance of the pneumatic system and hydraulic system, it

is important to release the internal pressure to zero and operate again.

Warning

◼After replacing the parts, be sure to carry on the test operation according

to the prescribed method. At this point, the operator must operate outside

the safety fence.

Warning

◼After the maintenance operation, the grease, debris and water sprinkled

on the ground around the operator and inside the safety fence should be

thoroughly cleaned.

Warning

◼When replacing parts, dust and other foreign bodies should be prevented

from entering the manipulator.

Warning

◼Operators who carry out maintenance and repair operations must receive

the training of the company and pass the relevant assessment.

AIR50-2230A Operation Manual

General safety description

Warning

◼When carrying out maintenance operations, appropriate lighting

appliances should be equipped, but care should be taken not to make the

lighting appliances a source of new danger.

Warning

◼Be sure to refer to this specification for regular maintenance, if not

regular maintenance, will affect the service life of the operator, and may

lead to accidents.

AIR50-2230A Operation Manual

Safety Protection Measures before Use

Before running the manipulator and peripheral equipment and the whole

system, be sure to fully study the safety protection measures of operator and

system. Safe operation of industrial robot is as shown in Figure 1-1.

Figure 1-1 The figure of safe operation of industrial robot Schematic Diagram of Safety

Operation of Industrial Robot

Definition of operating personnel

Manipulator operation personnel consist of operator, teacher and maintenance

engineer who shall satisfy the following conditions:

Operator

◼Switch on/off the power supply of manipulator.

◼Start the manipulator program via the operating panel.

◼No right to operate within the safety barrier

Teacher

◼Execute the functions of operator。

◼Perform the manipulator teaching, etc. outside the safety barrier.

Maintenance Engineer

◼Execute the functions of teacher.

◼Perform the maintenance (repair, adjustment, replacement, etc.) of

manipulator

AIR50-2230A Operation Manual

Safety Protection Measures before Use

XII

Safety of Operation Personnel

Operator, teacher and maintenance engineer shall carefully perform the

operation, programming and maintenance of manipulator, and shall at least

wear the following items:

◼Work clothes suitable for task

◼Safety shoe

◼Helmet

When the auto system is used, be sure to protect the operation personnel. The

measures shall be taken to prevent the operation personnel from entering the

range of manipulator.

The general precautions are listed below. Please take the appropriate measures

to ensure the safety of operation personnel:

◼The operation personnel running the manipulator system shall receive the

training from the company and pass the relevant assessment.

◼While the equipment is running, even if the manipulator seems to have

stopped, the manipulator is possibly waiting for the start signal and is

about to act. The manipulator shall be regarded as operating at this state.

To ensure the safety of operation personnel, it is necessary to confirm

that the manipulator is in the operating state via the audible and visual

alarms such as the warning lamp

◼Be sure to set the safety barrier and safety door around the system so

that the operation personnel cannot enter the safety barrier without

opening the safety door. The interlock switch, safety pin, etc. shall be set

on the safety door so that when the operator opens the safety door, the

manipulator will stop.

◼Peripheral equipment shall be electrically grounded。

◼The peripheral equipment shall be set outside the range of manipulator if

possible.

◼The range of manipulator shall be clearly marked with the lines on the

floor to make the operator understand the range of manipulator including

the mechanical arm and other tools.

◼A gasket switch or photoelectric switch shall be installed on the floor so

that when the operation personnel are about to enter the range of

manipulator, the audible and visual alarms such as the buzzer are issued

to stop the manipulator, thereby ensuring the safety of operation

personnel.

◼A lock shall be set if possible to make sure that the manipulator power

cannot be turned on except by the operation personnel responsible for

the operation.

◼Always disconnect the manipulator power when performing the individual

commissioning of peripheral equipment.

AIR50-2230A Operation Manual

Safety Protection Measures before Use

XIII

Safety of Operators

Operators are not authorized to perform jobs within the safety barrier:

◼Disconnect the power supply of manipulator control cabinet or press the

emergency stop button when the manipulator is not operated.

◼Operate the manipulator system outside the safety barrier.

◼The guard fence and safety door shall be provided to prevent the

unrelated personnel from entering the range of manipulator or to prevent

operators from entering a hazardous location.

◼Emergency stop button shall be set within the reach of operators

Prompt

◼Manipulator controller is designed to be connected to an external

emergency stop button. With this connection, the manipulator will stop

when the external emergency stop button is pressed.

Safety of Teachers

In some cases, it is necessary to enter the scope of operation of the operator

when carrying out the operation of the operator, especially at this time, the

safety should be paid attention to:

◼If you do not need to enter the operation maneuvering range, be sure to

operate outside the operating maneuvering range.

◼Before proceeding with the teaching, verify that the manipulator or

peripheral equipment is in a safe state。

◼If it is inevitable to enter the range of manipulator to conduct the

teaching, first confirm the positions and states of safety devices (such as

the emergency stop button, emergency automatic stop switch of teach

pendant, etc.).

◼Teachers shall pay special attention to make other people away from the

range of manipulator

◼Before starting the manipulator, first confirm that there is no people and

no abnormality in the range of manipulator.

◼After the teaching is over, be sure to perform the test run following the

steps below:

1. At low speed, execute at least one cycle intermittently to confirm no

abnormality.

2．At low speed, execute at least one cycle continuously to confirm no

abnormality

3．At intermediate speed, execute at least one cycle continuously to

confirm no abnormality

4．At operating speed, execute at least one cycle continuously to

confirm no abnormality

AIR50-2230A Operation Manual

Safety Protection Measures before Use

XIV

5．Execute the program in automatic operation mode。

◼The teacher must evacuate outside the safety fence when the operator

operates automatically.

Safety of Repair Engineer

To ensure the safety of repair engineer, full attention shall be paid to the

following items:

◼Never enter the range of manipulator while the manipulator is running.

◼Perform the repair operation while the controller is powered off if possible.

Main circuit breaker shall be locked if necessary to prevent other

personnel from turning on the power.

◼If it is inevitable to enter the range of manipulator when it is powered on,

you shall first press the emergency stop button of control cabinet or

teach pendant. In addition, the operators shall hang the "Repairing" sign

to remind other people not to operate the manipulator.

◼Before performing a repair, verify that the manipulator or peripheral

equipment is in a safe status.

◼Do not perform the automatic operation when there is someone in the

range of manipulator.

◼When working near the walls and appliances, or when several operators

are close to each other, be careful not to block the escape routes of other

operators.

◼When the manipulator is equipped with a tool, and there are movable

devices such as conveyor belts in addition to the manipulator, pay

attention to the operation of these devices.

◼A person who is familiar with the manipulator system and is able to

detect the danger shall be assigned next to the operating panel and

operating box so that he can press the emergency stop button at any

time.

◼When replacing or reassembling the parts, be sure to prevent the foreign

matters from sticking or entering.

◼In case of the repair inside the controller, If the unit, printed circuit board,

etc. may be contacted, be sure to disconnect the power supply of main

circuit breaker of controller to prevent electric shock.

◼Be sure to replace with the parts designated by us.

◼When the manipulator system is restarted after the repair operation, it

shall be confirmed in advance that there is no people in the range of

manipulator, and the manipulator and peripheral equipment are in a

normal status.。

Safety of Peripheral Equipment

Precautions in terms of procedures:

◼The detection devices such as the limit switch shall be used to detect the

dangerous status, and the manipulator shall be stopped as needed

according to the signals of detection device.

AIR50-2230A Operation Manual

Safety Protection Measures before Use

◼In case of abnormalities of other manipulators or peripheral equipment,

the measures shall be taken, such as stopping the manipulator, even if

there is no abnormality in the manipulator.

◼For the system of which the manipulator is operating synchronously with

the peripheral equipment, special care shall be taken to avoid the

interference with each other.

◼The manipulator may be interlocked with peripheral equipment and the

manipulator may be stopped if required so as to control the status of all

devices in the system from the manipulator。

Mechanical Precautions:

◼Manipulator system shall be kept clean and the use environments shall

be free of grease, water, dust, etc.

◼Do not use the cutting fluids and cleaning agents of unknown nature.

◼Limit switches and mechanical brakes shall be used to limit the operation

of manipulator to avoid the collisions between the manipulator and

peripheral equipment.

◼User cables and hoses shall not be added to the manipulator.

◼When installing the cable outside the manipulator, do not interfere with

the movement of machine.

◼For the models of which the cable is exposed, do not conduct the

modification that will interfere with the exposed part of cable.

◼When installing the external device on the manipulator, be sure not to

interfere with other parts of manipulator.

◼For the manipulator in action, the frequent power-off operation via the

emergency stop button may lead to the fault of manipulator

Mechanical Safety of Manipulator

Precautions for Operation:

When the manipulator is operated in slow feed mode, the operators shall be

highly vigilant regardless of the circumstances and quickly respond to various

problems.

Precautions in terms of procedures:

If the ranges of multiple manipulators overlap, care shall be taken to avoid the

interference between manipulators.

Be sure to specify an operation origin for the manipulator program and create a

program that starts and ends at the origin, so that it is clear from the outside

whether the manipulator operation has ended.

Mechanism Precautions:

The working environments of manipulator shall be kept clean and free of

grease, water, dust, etc.

Safety of End Effectiom

When controlling various types of transmissions (pneumatic, hydraulic, and

electrical), after issuing the control command, be sure to fully consider the time

AIR50-2230A Operation Manual

Safety Protection Measures before Use

XVI

difference from the issuance to the actual action and conduct the control with

certain room of extension and retraction.

A detection unit shall be set on the end effector to monitor the status of end

effector and control the action of manipulator。

AIR50-2230A Operation Manual 
Catalogue 
 
i 
 
Catalogue 
Sign...................................................................................................................................................I 
The identity used in this article .......................................................................................................... II 
General safety description ................................................................................................................III 
Safety Protection Measures before Use .............................................................................................XI 
catalogue ........................................................................................................................................... i 
1Product overview ....................................................................................................................... 1 
1.1 Product purpose and content ..........................................................................................................................1 
1.2 Product version, release number (software) or file version .................................................................................1 
1.3 Product use objects........................................................................................................................................1 
1.4 Relevant documentation information ...............................................................................................................1 
1.5 Declaration of compliance with product standards............................................................................................2 
2AIR50-2230A robot overview and basic composition ..................................................................... 4 
2.1 Overview of Industrial Robot...........................................................................................................................4 
2.2 Basic Composition .........................................................................................................................................5 
2.3 Basic Specifications .......................................................................................................................................6 
2.4 Environmental Requirements for Operation ......................................................................................................7 
3The label name and meaning of AIR50-2230A .............................................................................. 8 
3.1 Safety sign of manipulator ..................................................................................................................................8 
3.2 Manipulator nameplate.......................................................................................................................................8 
3.3 Direction Sign of Each Axle .................................................................................................................................9 
4AIR50-2230A Transport and Handing......................................................................................... 10 
4.1 Handing Posture..........................................................................................................................................10 
4.2 Handing Dimensions ....................................................................................................................................11 
4.3 Handing with Forklift ...................................................................................................................................12 
4.4 Handing with Swinging Ring ........................................................................................................................13 
5Preparation before Installation .................................................................................................. 14 
5.1 check item ..................................................................................................................................................14 
5.2 Installation Tool and Required Connectors .....................................................................................................14 
6Installation of AIR50-2230A manipulator.................................................................................... 16 
6.1 Technical specifications ...............................................................................................................................16 
6.2 Fixed mode .................................................................................................................................................16 
7Electrical connection of AIR50-2230A manipulator ..................................................................... 21 

AIR50-2230A Operation Manual 
Catalogue 
 
ii 
 
1 Electrical Interface Type for Manipulator.......................................................................................................21 
2 Definitions of Heavy-duty.............................................................................................................................21 
8Adaptation and connection of AIR50-2230A manipulator and accessories .....................................23 
1 Examples of accessory types ........................................................................................................................23 
2 Connection mode ........................................................................................................................................24 
9Performance parameters of AIR50-2230A manipulator.................................................................25 
1 Basic specification ......................................................................................................................................25 
2 Dimension and working range of each axis....................................................................................................25 
3 Mechanical limit .........................................................................................................................................26 
4 Speed of each axis ......................................................................................................................................27 
5 Output flange size .......................................................................................................................................27 
6 Load and installation method .......................................................................................................................29 
Calibration of the axes of the AIR50-2230A manipulator ..............................................................33 
1 General ......................................................................................................................................................33 
2 When calibration is required ........................................................................................................................33 
3 Calibration position of each joint .................................................................................................................. 33 
4 Calibrate the direction of motion of each axis.................................................................................................37 
General principles of maintenance .............................................................................................39 
Maintenance Items...................................................................................................................41 
1 Daily maintenance.......................................................................................................................................41 
2 First maintenance........................................................................................................................................41 
3 regular maintenance ...................................................................................................................................43 
Project Maintenance Process.....................................................................................................47 
1 Cleaning of Manipulator ..............................................................................................................................47 
2 Check and Repair of Cable ...........................................................................................................................47 
3 Battery Replacement ...................................................................................................................................51 
4 Grease replacement.....................................................................................................................................52 
5 Replacement of Synchronous Belt ................................................................................................................ 60 
Common Faults and Treatment ..................................................................................................62 
Conditions of Storage................................................................................................................68 
1 Environmental Conditions for Long-term Storage of Manipulator .....................................................................68 
2 Precautions for Storage of Manipulator ......................................................................................................... 68 
Options List of Product..............................................................................................................70 
Appendix A Periodic Maintenance Schedule of AIR20-1700A Manipulator ............................................72 