CKD KBB Series User manual

SM-396065-A
INSTRUCTION
MANUAL
ELECTRIC SLIDER
KBB Series
KBB-10
（Belt-Driven Slider）
SLIDER INSTRUCTION
MANUAL
●Read this manual carefully and
thoroughly before using this product.
●Pay extra attention to the instructions
concerning safety.
●After reading this manual, keep it in a
safe and convenient place.
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Introduction
Before using the Electric Slider KBB series, read through and completely understand
this instruction manual to assure correct use.
For general details on the Electric Slider KBB series, see the instruction manual (basic)
provided separately.
Cautions
1. The contents of this manual are subject to change without prior notice.
2. The contents of this manual are subject to change without prior notice to effect
improvements.
3. All efforts have been made to assure the contents of this manual. If you have any
questions, or find any mistakes, however, please contact CKD.
4. CKD will not be held responsible for any effects caused by using this equipment,
regardless of Item 3 above.
5. This equipment does not have an explosion-proof structure. Take utmost care of
the operating environment.
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Table of Contents
Page
General Descriptions .....................................................................................................1
Section 1 Safety .........................................................................................................1
1.1 Safety Instructions .........................................................................................1
1.2 To Use the Equipment Safely ........................................................................5
Section 2 List of Shipment..........................................................................................6
2.1 List of Shipment .............................................................................................6
Section 3 Axis Specifications .....................................................................................7
3.1 Type of Axis and Name of Each Part.............................................................7
3.2 Single Axis Specifications ..............................................................................8
Section 4 Installing Actuator (Axis)...........................................................................25
4.1 Installing Actuator (Axis) ..............................................................................26
4.2 Connecting Cable ........................................................................................27
4.3 Setting Type of Robot ..................................................................................29
4.4 Setting Parameters ......................................................................................30
4.4.1 Parameter 1 Assigned by Type of Robot.......................................30
4.4.2 Parameter 2 Assigned by Type of Robot.......................................31
Section 5 Maintenance.............................................................................................32
5.1 Maintenance of Motor and Belt ....................................................................32
5.1.1 Replacing Motor ............................................................................32
5.1.2 Replacing Timing Belt....................................................................34
5.2 Adjusting Home Position..............................................................................59
5.3 Replacing Linear Guide ...............................................................................59
Section 6 Spare Parts ..............................................................................................60
6.1 Spare Parts..................................................................................................60
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– 1 –
General Descriptions
• This manual describes the axis type expression method, specifications and motor
replacement procedures, etc., according to the type of axis.
• For the installation, see the instruction manual (installation of actuator) provided
separately.
Section 1 Safety
1.1 Safety Instructions
• Before the installation, programming, operation, maintenance and inspection of
the equipment, be sure to read through this manual so that you can use the
Electric Slider with safety.
• After you have read this manual, keep it nearby for future reference.
Be sure to strictly observe the following safety instructions to assure
correct use of the Electric Slider KBB.
This manual contain the important information to prevent injury to the operators and
persons nearby, to prevent damage to assets and to assure correct use of the
equipment.
Make sure that you have well understood the following details (indications and
symbols) before reading this manual. Always observe the information that is noted.
!WARNING
This means that "incorrect handling will lead to fatalities or
serious injuries."
!CAUTION
This means that "incorrect handling" may lead to personal
injuries or physical damage (i.e., damages to building,
household goods, domestic animals and pets).
Note Briefly describes the points and notices for the operating
procedures, and the points for using the equipment
efficiently.
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!
WARNING
• Install the safety fences to prevent anyone from entering the working
envelope of the robot.
When the door is attached to the safety fence, the robot should be stopped at
emergency at the same time that the door has opened.
• Connect the EMERGENCY STOP pushbutton switch to the emergency stop
input terminal of the controller and mount the same switch at an
easy-to-operate place in an emergency.
The EMEGENCY STOP switch must not be reset automatically and cannot be reset
negligently by any person.
• Wiring should be done safely and completely according to the Electrical
Installations Technical Requirements and Interior Wiring Requirements of
Japan.
Incorrect wiring will result in an electric shock or a fire.
• The equipment MUST NOT be repaired or modified without prior written
permission from the manufacturer.
Otherwise, an accident or damage will be caused.
• Before the maintenance and inspection, be sure to turn off the controller main
power switch. Take all necessary measures to prevent anyone other than
the worker engaged in adjustment of the robot from negligently turning the
power on. (Lock the switch and put a tag showing "DO NOT turn the power
on.")
Also, DO NOT touch the controller interior three (3) minutes after the power is
turned off.
Otherwise, you may get an electric shock due to residual voltage of the capacitor.
• DO NOT touch the motor, heat sink and cement resistor in the controller.
They are too hot and you may get burnt. Before performing inspection, take
enough time to cool them off.
• DO NOT pour water on the equipment interior or exterior, or drain water from
it. Otherwise, you may get an electric shock, or the equipment will be
damaged.
When the equipment has contaminated, wipe it off with a hard squeezed cloth. DO
NOT use a thinner, benzine or other organic solvent.
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• DO NOT throw away metals, combustibles or other contaminant into the
opening of this equipment.
A fire or an electric shock will be caused.
• DO NOT put your finger or hand on the movable part or opening of the
equipment.
Otherwise, you may get injured.
• When using the actuator in other than the horizontal state, select the vertical
actuator.
This actuator (belt-driven) cannot be used for the vertical application.
• As the equipment is heavy, make sure of its weight and gravity center
position and disconnect the cables when carrying the equipment.
Also, DO NOT carry the equipment with the slider. Otherwise, the slider will move
and you will get injured.
• DO NOT use this equipment for the living body as a massaging machine.
Otherwise, you will be injured due to incorrect teaching or mis-operation.
• This equipment has not a sealed structure. During use, grease or wear of the
belt may scatter from the opening of the equipment.
When using this equipment for food and chemical applications, take appropriate
measures against entry of them.
• Enter the robot type and initialize the memory correctly.
Otherwise, the robot may move unexpectedly and you will be injured.
• DO NOT use this equipment in an atmosphere of inflammable gas or an
atmosphere inducing an explosion.
As this equipment is not explosion-proof, it may explode in the worst occasion.
• DO NOT damage, break, process, forcibly bend, stretch, place a heavy object
on or pinch the cables (power cable, controller cable).
Otherwise, an electric shock or a fire will be caused.
• Should an abnormality such as smoke or nasty smell occur, turn the power
off immediately and stop using the equipment.
If the equipment is used continuously, an electric shock or a fire will be caused.
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!
CAUTION
• DO NOT place the equipment at a place where the ambient temperature
exceeds 40°C, or where the temperature changes sharply, causing
condensing, or where it is exposed to direct sunlight.
Additionally, if the equipment is installed at a narrow place, the ambient temperature
rises due to heat generation in the controller itself or external device, which will
result in malfunction or mis-operation of the equipment.
• DO NOT use the equipment at a place where an impact or vibration is
involved. Also, DO NOT use the equipment in an atmosphere where
conductive dust, corrosive gas or oil mist generates.
Otherwise, a fire, electric shock, malfunction or mis-operation will be caused.
• DO NOT use the equipment at a place where too much dust or dirt exists.
If the equipment is used at such a place, it may malfunction because this equipment
is not dust-proof.
• DO NOT use repair parts other than those designated by the manufacturer.
Otherwise, the equipment cannot be operated to its full capacity and will cause
malfunction.
• Mount the robot on a highly rigid frame.
If rigidity of the frame is not enough, vibration (or resonance) may be caused during
the robot operation, adversely affecting the operation.
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Attention:
For the safety instructions which seem especially important, relevant warning label is
attached to the equipment.
When the label attached to the equipment has peeled off or the characters are defaced
and unreadable, please procure it from our sales agent in your territory by specifying
the part number, and attach it to the original place.
Warning label for actuator
Part number: KBB-55620157
!
WARNING
• Before the installation, programming, operation,
maintenance and inspection of the equipment, be sure
to read through this manual so that you can use the ROI
BOT with safety.
• Install the safety fences to prevent anyone from
entering the working envelope of the robot.
• DO NOT put your finger or hand on the movable part or
opening of the equipment. Otherwise, you may get
injured.
• When using the actuator in other than the horizontal
state, be sure to select the actuator with brake.
Otherwise, the slider will drop at power OFF, and you
will be injured.
1.2 To Use the Equipment Safely
The details of this paragraph are the same as those in Para. 1.2 of the KBB series
instruction manual (basic) provided separately. Read through this paragraph
before using the equipment.
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Section 2 List of Shipment
2.1 List of Shipment
The actuator to be shipped normally consists of the following parts.
(1) Actuator
(2) Oval head bolts (M6 ×30)
• The following bolts are attached per each axis (i.e., actuator).
Axis stroke (mm) Attached quantity
100 ~ 200 12
250 ~ 600 16
650 ~ 1,000 20
1,050 ~ 1,300 26
1,350 ~ 1,850 32
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Section 3 Axis Specifications
3.1 Type of Axis and Name of Each Part
• Type of axis
The type of axis is as shown below.
Series name
Frame number
10 S size
Type of motor (Note)
E 100 W absolute
F 200 W absolute
Type of axis
BT Top side mounted
motor axi s
BR Right side mounted
motor axi s
BL Left side mounted
motor axi s
BU Bottom side mounted
motor axi s
Nominal lead
(Note)
21 21 mm
42 42 mm
Type of slider
S Short slider
M Medium slider
Brake
NNone
Axis stroke
00 100 mm
15 150 mm
20 200 mm
: :
A0 1,000 mm
A5 1,050 mm
: :
J0 1,800 mm
J5 1,850 mm
KBB–10F–BT–M21N–40
Note: When the 100 W motor is used, the nominal lead is 21 mm alone.
• Name of each part
Motor cover cap
Motor cover
End plate End block Frame cover
Frame
Slider
Motor block
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3.2 Single Axis Specifications
• Specifications
Type of axis: KBB–10□–B□–□□□N–□□A
Values in parentheses are applied when 200 W AC servo motor is used.
Motor 100 W absolute AC servo motor
(200 W absolute AC servo motor)
Drive system Timing belt
Lead: 21 mm, 42 mm
Guide system Use of linear guide (single rail)
Short slider: One (1) bearing block
Medium slider: Two (2) bearing blocks
Lead HorizontalMaximum payload
mass (Note 1) 21 mm 15 (20) kg
42 mm (Note 2) (10) kg
Maximum speed Lead 21 mm 1,000 mm/s
Lead 42 mm 2,000 mm/s
Short slider MR: 49 N·m, MP: 14 N·m, MY: 13 N·mPermissible static
moment (Note 3) Medium slider MR: 59 N·m, MP: 59 N·m, MY: 54 N·m
Repeatability ±0.05 mm
Resolution 0.01 mm
Rated thrust Lead 21 mm 76 (152) N
Lead 42 mm (76) N
Note 1: When the lead is 21 mm, the acceleration/deceleration time is 0.3 s or
over.
When the lead is 42 mm, the acceleration/deceleration time is 0.5 s or
over.
Note 2: When the 200 W motor is used, the nominal lead is 42 mm alone.
!CAUTION
DO NOT set the acceleration/deceleration time of under
0.3 s and under 0.5 s for the 21 mm lead axis (actuator) or
42 mm lead axis (actuator), respectively.
Otherwise, the timing belt may disengage from the pulley.
Note 3:
MR: Rolling moment
MP: Pitching moment
MY: Yawing moment
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• Axis dimensions
(1) Top side mounted motor axis
[KBB–10*–BT–M**N] (Stroke: 1,000 mm or less)
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[KBB–10*–BT–M**N] (Stroke: 1,100 mm or over)
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– 11 –
[KBB–10*–BT–S**N] (Stroke 1,050 mm or less)
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[KBB–10*–BT–S**N] (Stroke: 1,150 mm or over)
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(2) Bottom side mounted motor axis
[KBB–10*–BU–M**N] (Stroke: 1,000 mm or less)
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[KBB–10*–BU–M**N] (Stroke: 1,100 mm or over)
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[KBB–10*–BU–S**N] (Stroke 1,050 mm or less)
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[KBB–10*–BU–S**N] (Stroke: 1,150 mm or over)
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– 17 –
(3) Right side mounted motor axis
[KBB–10*–BR–M**N] (Stroke: 1,000 mm or less)
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