CRS F3 User manual

F3 Robot Arm
for C500C Controller
User Guide
UMI-F3-310

ii 99-05-31
F3 Robot Arm for C500C
Revision
Number History Date
001 First issue as F3 for C500C controller (UMI-F3-310). 99-05
Copyright © 1999 CRS Robotics Corporation
RAPL-3 and RAPL are trademarksofCRS RoboticsCorporation and maybe used to describe onlyCRS
Robotics products.
All brand names and product names used in this guide are trademarks, registered trademarks, or trade
names of their respective holders.
The information in this document is subject to change without notice.
CRS Robotics Corporation makes no warranty of any kind with regard to this material, including, but not
limited to, the implied warranties of merchantability and fitness for a particular purpose. CRS Robotics
Corporation assumes no responsibility for any errors that may appear in this document. CRS Robotics
Corporation makes no commitment to update nor to keep current the information contained in this
document.
CRS Robotics Corporation assumes no responsibility for the use of any circuitry other than circuitry
embodied in a CRS product.
CRS Robotics Corporation software products shall remain the property of CRS Robotics Corporation.

99-05-31 iii

iv 99-05-31

99-05-31 v
Preface
About This Guide
This user guide accompanies the CRS Robotics F3 robot system. It contains
general information, system specifications, safety precautions, installation
instructions, and basic operating instructions for the F3 robot arm and
controller.
In this guide, there are references to the layout drawing of the robot on page
iii of this guide. A larger copy of the same drawing is included in the
envelope on the exterior surface of the shipping crate.
To obtain additional copies of this guide, installation guides in other
languages, or other CRS literature, contact the Sales Department or the
Customer Support Department of CRS, or contact an authorized CRS
distributor.
Other Guides
For additional information, refer to the following documentation:
•Application Development Guide
•RAPL-3 Language Reference Guide
•F3t Track User Guide
Training
This user guide is not intended as an independent training tool, but rather
as a guide for those who have received CRS training and have a basic
knowledge of the F3 robot system.
Training is offered at CRS headquarters in Burlington, Ontario, Canada, or
can be conducted at your facility. For additional information, contact the
Training department.

vi 99-05-31
Contact
CRS Robotics Corporation
Mail/Shipping:
5344 John Lucas Drive, Burlington, Ontario L7L 6A6, Canada
Telephone:
1-905-332-2000
Telephone (toll free in Canada and United States):
1-800-365-7587
Facsimile:
1-905-332-1114
E-Mail (General):
[e-mail]
E-Mail (Customer Support):
[e-mail]
E-Mail (Sales):
[e-mail]
E-Mail (Training):
[e-mail]
Web:
www.crsrobotics.com

99-05-31 vii
How to Use This Guide
This user guide is organized so that each chapter covers a different topic.
The following guidelines will assist you in reading through the chapters.
•Refer to the layout drawing for reference to physical parts of the robot.
•Read the chapter on Safety Precautions before installing and using the
robot.
•If you are working with an F3 robot for the first time or wish to review
pertinent information about the system, read the chapters on
Specifications and Installation.
•If you are installing the robot yourself, read the chapters on Installation
and Commissioning.
•If CRS or a distributor has installed the robot, read the chapters on
Commissioning and Operating Basics.
Before attempting to follow any procedure or examples provided in this or
any other manual on CRS products, read the entire section first.
Throughout this user guide, warnings are marked by an “!” icon in the left
margin. Failure to comply with these warnings can result in injury to persons, damage
to the robot, tooling, work pieces, loss in robot memory, or system errors.
Failure to unpack, install, use, and maintain the F3 robot system as instructed
in this user guide may lead to problems including failures and injuries for which
CRS Robotics Corp. cannot be held responsible.
This user guide describes the F3 robot system and only operating instructions
specifically pertinent to this system. You should attend a CRS training course and
read the appropriate documentation before programming the robot to execute any
type of command or application beyond the simple examples offered herein.

viii 99-05-31

99-05-31 ix
Contents
Important Tips ..................................................................xiii
chapter 1...........................................1
Getting Started Quickly........................................................1
Brief Installation and Startup Instructions .......................... 2
Minimum Installation Requirements.............................. 2
Turning On the System ................................................. 2
Turning on Arm Power................................................... 3
chapter 2...........................................5
Introduction.........................................................................5
Component Parts................................................................ 6
F3 Arm............................................................................... 7
Axes.............................................................................. 7
Umbilical Cable .................................................................. 8
F3 Options.......................................................................... 9
Off-Robot Hardware....................................................... 9
End-of-Arm Tools.......................................................... 9
End-of-Arm I/O........................................................... 10
chapter 3..........................................11
Safety Precautions..............................................................11
Safety Principles in Operating Robots................................ 12
F3 Safety Features............................................................ 13
Known F3 Hazards............................................................ 14
Safeguards and Safety Measures in Workcell Design.......... 15
Physical Barriers......................................................... 15
Emergency Stops (E-Stops).......................................... 16
Presence Sensing Interlocks......................................... 17
Other Safety Measures ................................................ 20
Local Regulations........................................................ 20
Environmental Requirements............................................ 21
Indoor Use .................................................................. 21
Temperature ............................................................... 21
Humidity..................................................................... 21
Atmospheric Contaminants ......................................... 21
Ingress Protection........................................................ 21
Vibration and Shock.................................................... 21
Electromagnetic Interference ....................................... 21
Power Requirements ......................................................... 22
AC Power Supply......................................................... 22
Other Energy Sources.................................................. 22
Power Distribution ...................................................... 23
Power Failure.............................................................. 23
Electrical Ground........................................................ 23
Cables and Circuitry ................................................... 24
Robot Handling................................................................. 25
Relocating the Robot ................................................... 25
Live AC Power ............................................................. 26
Electrically Conductive and Live Objects...................... 26
Static Electricity.......................................................... 26
Operator Safety................................................................. 27
Awareness of Robot ..................................................... 27

x99-05-31
Operator Training........................................................ 27
Safety and Operation Checks ............................................ 28
Working Within the Robot’s Workspace ............................. 29
chapter 4..........................................31
Specifications.....................................................................31
Physical Characteristics.................................................... 32
F3 Arm........................................................................ 32
Electrical Power........................................................... 32
Dimensions ...................................................................... 33
Arm ............................................................................ 33
System Control............................................................ 34
Robot Performance Summary............................................ 35
Workspace........................................................................ 36
Reach............................................................................... 37
Torque Ratings ................................................................. 39
Arm Torque................................................................. 39
Wrist Thrust and Torque ............................................. 39
Motion Specifications........................................................ 40
Speed at End-Effector.................................................. 40
Joint Speeds ............................................................... 40
Joint Accelerations...................................................... 40
Slew Time ................................................................... 41
Resolution ........................................................................ 43
Positioning Resolution................................................. 43
Load................................................................................. 44
System Features............................................................... 45
Absolute Encoders....................................................... 45
Arm Power Light.......................................................... 46
Brakes........................................................................ 46
Brake Release ............................................................. 46
Chain Tensioners ........................................................ 46
Embedded Control and Power Electronics.................... 47
chapter 5..........................................49
Installation.........................................................................49
Unpacking the F3 System ................................................. 50
Unpacking the Arm ..................................................... 50
Lifting the Arm............................................................ 51
Collecting the Shipping Materials................................. 52
Mounting the Arm............................................................. 53
Positioning the Arm..................................................... 53
Mounting Platform ...................................................... 54
Preparing a mounting platform.................................... 55
Mounting the arm on the platform............................... 55
Connecting the Umbilical Cable......................................... 57
Disconnecting the Umbilical Cable............................... 57
Grounding the System ...................................................... 58
chapter 6..........................................59
Customizing Installations...................................................59
Installing a Tool on the Robot............................................ 60
Settings of the F3 Robot’s Dual Air Valve Port .............. 61
Connecting a Hose to the Pneumatic Port.......................... 62
Enabling the Gripper................................................... 62