Mechanical Manual for GBT-P7A Series Robots
Mechanical Manual for GBT-P7A Series Robots 5 / 55
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
