Mechanical Manual for GBT-S6A Series Robots
Mechanical Manual for GBT-S6A Series Robots 5 / 49
Table of Contents
Safety instructions................................................................................................................................6
1Handling and mounting .............................................................................................................12
1.1 Handling...............................................................................................................................12
1.2 Mounting..............................................................................................................................14
2Connection to controller............................................................................................................18
2.1 Connection to controller.......................................................................................................18
3Basic specification.....................................................................................................................19
3.1 Composition of robot............................................................................................................19
3.2 Diagram for overall dimensions and action range.................................................................21
3.3 Origin position and range of motion (ROM) ..........................................................................24
3.4 Wrist payload conditions ......................................................................................................25
4Mount the device onto the robot...............................................................................................26
4.1 Mount the end-effector to the front end of the wrist...............................................................26
4.2 Mounting surface..................................................................................................................27
4.3 About payload setting...........................................................................................................28
5Cabling and piping to end-effector ...........................................................................................31
5.1 Air pipe and electrical interfaces...........................................................................................32
6Maintenance and repair .............................................................................................................33
6.1 Maintenance and repair contents .........................................................................................34
6.2 Key points............................................................................................................................37
6.3 Repair..................................................................................................................................38
7Zero calibration method.............................................................................................................40
7.1 Summary .............................................................................................................................40
7.2 General calibration method ..................................................................................................41
7.3 Zero encoded data direct write.............................................................................................42
7.4 Confirmation of zero calibration results.................................................................................43
8Resolution of common faults ....................................................................................................44
Appendice............................................................................................................................................47
A. Regular Maintenance Sheet..............................................................................................................47
B. List of Bolt Strengths and Tightening Torques ...................................................................................48
