Agilebot GBT-P7A Series User manual

Product Manual
Mechanical Manual for GBT-P7A Series Robots

Product Manual
Mechanical Manual for GBT-P7A Series Robots
V1.2
Copyright, 2022 Agilebot Robotics Co., Ltd. All rights reserved!

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The information in this Manual must not be considered as a commitment of Agilebot and may be
changed without prior notice. Agilebot assumes no responsibility for errors (if any) in this Manual.
Except as expressly specified in this Manual, nothing in this Manual shall be construed as any warranty
or guarantee made by Agilebot for personal loss, property damage or specific applicability.
Agilebot assumes no responsibility for any accidents or indirect injuries caused by the use of this
Manual or the product described therein.
This Manual and any parts thereof must not be reproduced or duplicated without written permission
from Agilebot.
Additional copies of this Manual may be obtained from Agilebot.
The original language of this Publication is Chinese.
International standard units are adopted in all publications. GB means Chinese national standard.
© Copyright, 2022 Agilebot Robotics Co., Ltd. All rights reserved!
Agilebot Robotics Co., Ltd.
Shanghai, China

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Revision
Ver.
Date
Status
V1.2
Nov. 10, 2023
Release

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Table of Contents
Safety instructions..............................................................................................................................6
1Handling and mounting ...........................................................................................................12
1.1 Handling.............................................................................................................................12
1.2 Mounting............................................................................................................................15
2Connection to controller..........................................................................................................20
2.1 Connection to controller .....................................................................................................20
3Basic specification...................................................................................................................21
3.1 Composition of robot..........................................................................................................21
3.2 Diagram for overall dimensions and action range...............................................................23
3.3 Origin position and ROM....................................................................................................25
3.4 Wrist payload conditions ....................................................................................................26
4Mount the device onto the robot.............................................................................................27
4.1 Mount the end-effector to the front end of the wrist.............................................................27
4.2 Mounting surface................................................................................................................28
4.3 About payload setting.........................................................................................................29
55 Cabling and piping to end-effector.......................................................................................32
5.1 Air pipe and EE interface....................................................................................................33
6Maintenance and repair ...........................................................................................................34
6.1 Maintenance and repair contents .......................................................................................35
6.2 Repair................................................................................................................................38
7Zero calibration method...........................................................................................................43
7.1 Summary ...........................................................................................................................43
7.2 General calibration method ................................................................................................44
7.3 Zero encoded data direct write...........................................................................................47
7.4 Confirmation of zero calibration results...............................................................................49
8Resolution of common faults..................................................................................................50
Appendice..........................................................................................................................................53
A. Regular Maintenance Sheet...............................................................................................53
B. List of Bolt Strengths and Tightening Torques....................................................................54

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Safety instructions
It is necessary to read and understand the contents described in this chapter before using robots.
In this Manual, the robot system refers to an integrated system integrating the industrial robot and its
controller, teach pendant, cables, software and other accessories. So, it is required to fully consider the
safety precautions of the user and the system.
Nobody is allowed to modify the industrial robot without authorization from Agilebot Robotics Co., Ltd.
Agilebot Robotics Co., Ltd. shall assume no responsibility for any damage to the industrial robot or its
components due to the use of any other components (software, tools, etc.) not provided by Agilebot.
Agilebot Robotics Co., Ltd. assumes no responsibility for any consequences caused by misuse of the
industrial robot. The misuse includes:
➢Use the robot beyond the specified parameter range
➢Use it as a carrier for humans or animals
➢Use it as a climbing tool
➢Use it in explosive environments
➢Use it without safety protection
Besides safety precautions in this chapter, this Manual contains other safety instructions, which must
be followed as well.

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Definition of user
The operators are defined as follows:
➢Operator
Perform power-on/off operation on the robot.
Start the robot program from the panel board.
➢Robot Engineer
Operate the robot.
Perform teaching and programming debugging of the robot within the safety fence.
➢Maintenance Engineer
Operate the robot.
Perform teaching of the robot within the safety fence.
Carry out maintenance (repair, adjustment, replacement) operations on the robot.
The “Operator” is not allowed to enter the safety fence.
The "Robot Engineer" and "Maintenance Engineer" can carry out operations within the safety fence.
The operations within the safety fence include handling, setting, teaching, adjustment, maintenance, etc.
To carry out the operations within the safety fence, it is necessary to receive professional training on
the robot.
When operating, programming and maintaining the robot, the operator, programmer and maintenance
engineer must give a safety warning and wear at least the following protective articles.
➢Work clothes suitable for operations
➢Safety shoes
➢Safety helmets

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Definition of safety records
This Manual includes safety warnings to ensure personal safety of the users and avoid any damage to
the machine tool and describes them with "Danger" and "Warning" in the main text based on their
importance in safety.
In addition, relevant supplementary explanations are described as "Caution".
Before use, the user must thoroughly read the precautions described in "Danger", "Warning" and
"Caution”.
Identification
Definition
Danger
It indicates dangerous situations possibly resulting in serious injury or death to the
user during incorrect operation.
Warning
It indicates dangerous situations possibly resulting in mild or moderate personal injury
or property damage during incorrect operation.
Caution
It provides supplementary explanations outside the scope of danger or warning.
Please read this Manual carefully and keep it secure for easy reference at any time.

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Steps for robot axis operation in emergency and abnormal
situations
In emergency and abnormal situations where a person is trapped or surrounded by the robot, it is
required to immediately cut off the power supply to the robot controller, directly move the robot arm and
change its posture to help the operator get out of danger. When the robot controller is powered on,
press the axis brake release button as shown in the figure to release the brake.
Caution
Press the axis brake release button. All axis brakes of the robot will be released simultaneously. Please
ensure that all axes of the robot are properly supported to avoid injury accidents.
Axis brake
release
button

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Safety warning label
Both the robot and the controller bear several safety and information labels, which contain important
information related to the product. This information is very useful for all persons operating the robot
system, e.g. during mounting, maintenance or operation.
The safety labels are only graphical and applicable to all languages.
Caution
It is required to observe the safety and health signs on the product label. In addition, it is also necessary
to comply with the supplementary safety information provided by the system builder or integrator.
Sign
Description
An electric shock may occur if the internally energized parts of the
controller are touched when powered on.
Operation against the instructions may result in an accident of
injury and/or product damage. This is a warning message
applicable to certain functional requirements.
Grounding sign of controller
Electric shock

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Sign
Description
Keep your hand away from moving parts, otherwise your hand or
fingers may get stuck between the axis and the cover.
The robots equipped with telescopic covers do not pose the risk of
pinching hands or fingers. Therefore, they do not have this label.
Never enter the work area while the robot is moving. Otherwise,
the robot may collide with the operator. This is very dangerous and
may cause serious safety issues.
Beware of burns due to high temperature.
Handling and hoisting
Beware of collision in the work area.

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1 Handling and mounting
1.1 Handling
Unpack the robot before handling:
1. Safety measures: gloves, work shoes and safety helmets
2. Tools: claw hammer, crowbar
During transportation and handling, ensure that the robot is fixed firmly and kept at the transportation
posture, and that its end fixtures and peripheral devices are removed. Otherwise, the robot may lose its
balance and flip over, causing serious injury or significant damage.
Before the robot is lifted and transported, it is required to confirm that the screws and locating pins
fixing the robot have been removed. The robot can be handled for a short distance by two adults or
transported for a long distance by a forklift.
Robot model
Weight
GBT-P7A-700
45.6kg
GBT-P7A-900
49kg
Table 1.1 Weights of P7A Series Robots
Handling
1. Safety measures: gloves, work shoes and safety helmets
2. Tools: 2 adjustable wrenches
3. Devices: Forklift (over 2t) or crane (over 2t)
4. Jointly use two adjustable wrenches to remove the nuts fixing the robot to the bottom plate of the
wooden box (see Fig. 1.1)
5. Use a forklift or crane (or assign two adults) to move (lift) the robot and controller to the mounting
position
Fig. 1.1 Nuts Fixing the Robot to Wooden Tray
Nuts fixing the robot
to the bottom plate of
the wooden box

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Caution
Properly choose the pickup points when manually handling the robot. Unsuitable pickup points may
easily result in finger pinching or other injuries as well as damage to the robot.
When a forklift is used, the robot must be firmly fixed on the forklift and must not shake or move relative
to the forklift during transportation.

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The transport posture of GBT-P7A robot is shown in Fig. 1.2:
Fig. 1.2 Transport Posture of GBT-P7A Robot
Axis No.
1
2
3
4
5
6
Angle/stroke
0°
20°
-70°
0°
-40°
0°
Table 1.2 Axis Data at Transport Posture

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1.2 Mounting
Requirements for mounting ground
When mounting on the ground, the payload requirements for the reference base coordinate system are
shown in Table 1.3, and the direction is shown in Fig. 1.3. For other mounting forms, please consult
Agilebot.
Force or moment
Persistent payload
Maximum payload (emergency
stop)
Force on xy
±900N
±1600N
Force on z
-500±950N
-500±1600N
Moment on xy
±550Nm
±1500Nm
Moment on z
±250Nm
±550Nm
Table 1.3 Load Requirements in Base Coordinate System
Fig. 1.3 Moment Directions of GBT-P7A
Mounting preparation and steps:
1. Safety measures: gloves, work shoes and safety helmets
2. Tools: Allen wrench, mounting bolts, nuts and washers

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3. Mounting the robot to the floor or base (see Fig. 1.4)
Fig. 1.4 Nuts Fixing Robot to Base or Bottom Plate
Parts required for mounting the robot:
S/N
Name
Number (pcs)
1
Hexagon socket screw M10x20~25 (GB/T 70.1-
2008[NOTE])
4
2
Flat washer M10
4
3
Cylindrical pin φ6M6
2
Nuts fixing the
robot to the base
or bottom plate
[NOTE]
GB/T 70.1-2008 Correspondence standard: ISO 4762:1997 Hexagon socket head cap screws

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The mounting dimensions are shown in Fig. 1.5.
Fig. 1.5 Mounting Dimensions of GBT-P7A Robot
Mounting requirements:
Requirements
for mounting
ground base
Permissible flatness
≤0.5mm
Allowable inclination angle
≤0.5°
Allowable resonance frequency
100-150Hz (vibration acceleration 0.5G)
Storage
conditions
Storage temperature range
-20℃~50℃
Allowable maximum humidity
90% RH (non-condensation)
Operating
conditions
Operation temperature range
0℃~40℃
Allowable maximum humidity
80% RH (non-condensation)
Environmental
conditions
Indoors; avoid direct sunlight, dust, salt, metal powder or other pollutants; stay away
from water, flammable or other highly corrosive liquids and gases; avoid shock and
vibration.
Completely
through
Completely through
Completely
through
Completely through

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Warning
Those designing or manufacturing the robot system with this product must read this Manual to
understand basic precautions before work. Otherwise, it is very dangerous and may result in serious
injury or significant damage.
Please use the robot system under the environmental conditions recorded in the Manual. This product
is designed and manufactured firstly for the purpose of typical indoor environments. Operation in an
environment unsatisfying the environmental conditions may not only shorten the service life, but also
cause serious safety issues.
Please use the robot system within the specified specifications. Operation beyond the specifications
may not only shorten the service life, but also cause serious safety issues.
When mounting the robot system, you must wear at least the following protective devices.
- Work clothes suitable for operations
- Safety helmets
- Protective shoes
Be sure to mount an emergency stop device so that the operator can immediately stop the system.
Otherwise, it is very dangerous and may cause serious injury or significant damage to the robot system.
Ensure that the emergency stop switch of the teach pendant connected to the TP port can operate
properly when safety doors and other emergency stop or safety input signals are connected to the
emergency stop circuit connector.
Mount the robot in a position with sufficient space and ensure that the surrounding area of the end
fixture or the workpiece does not collide with walls or safety guards when the robot moves the
workpiece and is extending. A collision (if any) may cause serious personal injury or significant
equipment damage.
Fix the robot firmly before power-on or operation. Otherwise, it is very dangerous - the robot may fall,
resulting in serious injury or significant damage to the robotic arm system.
Before mounting and operation, please ensure that all components of the robot are in place and free
from external defects. Missing or defective components may lead to improper operation of the robot. It
is very dangerous and may cause serious injury or significant damage.
Never use the robot near the devices generating powerful electromagnetic forces. Otherwise, it may
cause malfunction or defect of the robot.
Never use the robot in places subject to electromagnetic interference, electrostatic discharge or radio
frequency interference risk. Otherwise, it may cause malfunction of the robot.
Never use the robot in places exposed to flammable gases, dust, gasoline or solvents that may explode
or catch fire. Otherwise, it may cause serious accidents or fires involving injury (including death).
Never place your hands or fingers near the moving parts of the robot. Otherwise, it may cause hand
pinching and other injuries.
Never mount the robot controller upside down or tilted.

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Warning
Make sure to connect the power cable to an electrical component that can be quickly disconnected.
Never connect it directly to the main power supply of the factory or share the same electrical protector
with other equipment at the first connection point.
Do not open the controller or robot cover except for maintenance. It is very dangerous when the
controller cover is opened. Even if the main power is turned off, the internal high-voltage charging unit
may cause electric shock as well.
Before connecting or disconnecting the cable, ensure that the power to the upper port of the connection
point is turned off. It is very dangerous to connect or disconnect the cable in the power-on state. It may
lead to electric shock or controller failure.
Ensure that the power supply is connected by a qualified operator.
The robot must be grounded properly or provided with a residual current protector to ensure safety
according to field conditions.
Make sure to disconnect the power when opening the front cover of the controller. It is very dangerous
to touch the power terminal inside the controller during power-on. It may cause electric shock or serious
safety issues.
Make sure to mount the controller and connect its cable when mounting the robot. Prevent the
connector from being impacted or loaded during cabling. Never forcefully pull the cable during
connection.
Please make sure to turn off the power of the controller and related equipment and pull up the warning
sign (e.g. no power-on) before wiring. It is very dangerous for wiring in the power-on state. It may lead
to electric shock or robot system malfunction. (Wiring refers to all wiring actions related to the robot.)
Caution
The corresponding robot S/N is indicated on the controller label. Connect the controller and the robot
correctly. In case of a mistake in the connection relationship, not only the robot system may not function
properly, but also it may cause safety issues.
According to the rigidity of the mounting platform, vibration (resonance) may occur during operation. In
case of vibration, increase the rigidity of the platform or change the speed or acceleration and
deceleration settings.
Please confirm that the pins are not bent before the connector is connected. If the pins are bent during
connection, it may damage the connector or cause the robot system to malfunction.

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2 Connection to controller
2.1 Connection to controller
The connecting cables between the robot and the controller include power cables and signal cables.
Please connect each cable to the connector on the back of the mounting base.
Warning
Before connecting the power of the controller, please connect the robot and the controller with a ground
wire. Electric shock may occur if the ground wire is not connected.
Warning
The connection of cables must be performed after disconnecting the power.
Do not wind the excess part (over 10m) of the robot cable into a loop. Otherwise, it may cause a
significant increase in cable temperature during certain robot actions, resulting in adverse effects on
cable sleeve.
Fig. 2.1 Diagram for Connection between GBT-P7A Robot and Controller
Power and encoder
cables