D28045104F - 02/2008 3
© Stäubli Faverges 2008
TABLE OF CONTENTS
1 - INTRODUCTION....................................................................................9
1.1. FOREWORD ........................................................................................................................... 11
1.1.1. Objective of this manual .............................................................................................. 11
1.1.2. Special messages concerning warnings, alerts, and information................................ 11
1.2. DEFINITION OF THE ELEMENTS AROUND THE ROBOT CELL ........................................ 12
1.3. REMINDER CONCERNING THE SAFETY STANDARDS ..................................................... 13
1.4. SAFETY DIRECTIVES CONCERNING TO THE WORK ENVIRONMENT ............................ 14
1.4.1. Analysis of safety around the robot cell....................................................................... 14
1.4.2. Rules concerning the robot's work area ...................................................................... 14
1.5. SAFETY DIRECTIVES CONCERNING TO STAFF PROTECTION ....................................... 15
1.5.1. Mechanical and electrical dangers. ............................................................................. 15
1.5.2. Robot cell safety devices............................................................................................. 16
1.5.3. Safety directives concerning to protection of the equipment....................................... 17
2 - DESCRIPTION.....................................................................................21
2.1. IDENTIFICATION.................................................................................................................... 23
2.2. GENERAL PRESENTATION.................................................................................................. 25
2.3. DESIGNATION OF ROBOTS OF THE RX SERIES 90B FAMILY ......................................... 27
2.4. GENERAL CHARACTERISTICS............................................................................................ 27
2.4.1. Overall dimensions...................................................................................................... 27
2.4.2. Work environment ....................................................................................................... 27
2.4.3. Weight ......................................................................................................................... 29
2.5. PERFORMANCE .................................................................................................................... 29
2.5.1. Torque limits................................................................................................................ 29
2.5.2. Amplitude, speed and resolution ................................................................................. 29
2.5.3. Modification of amplitudes........................................................................................... 31
2.6. LOAD CAPACITY – MECHANICAL INTERFACE ................................................................. 33
2.6.1. Load capacity .............................................................................................................. 33
2.6.2. Attachment of additional load on forearm.................................................................... 35
2.6.3. Additional load diagrams ............................................................................................. 37
2.7. USER CIRCUIT ....................................................................................................................... 39
2.8. RELEASING JOINT BRAKE .................................................................................................. 39
2.9. PNEUMATIC AND ELECTRIC CIRCUITS (EXCEPT FOR CLEAN ROOM APPLICATION) ... 41
2.9.1. Pneumatic circuit ......................................................................................................... 41
2.9.2. Electric circuit .............................................................................................................. 41
2.10. PNEUMATIC AND ELECTRIC CIRCUITS CLEAN ROOM APPLICATION........................... 43
2.10.1. Pneumatic circuit ......................................................................................................... 43
2.10.2. Electric circuit .............................................................................................................. 43
