Estun TRIO SCARA RX3 User manual

RX
SCARA ROBOT
MECHANICAL UNIT OPERATOR’S MANUAL

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
ii
Thank you for purchasing TRIO robots.
Before using the robot, be sure to read the SAFETY PRECAUTION and understand the content.
TRIO endeavours to improve the products. All specifications and designs are subject to change
without notice.
In this manual, all specifications and information are checked on a regular basis. Nevertheless,
discrepancies cannot be precluded, for which reason we are not able to guarantee total
conformity. TRIO assumes no responsibility for any direct or indirect losses arising from use of this
manual and products described herein.
Always keep this manual handy for easy access.
No part of this manual may be reproduced in any form.
TRIO Motion Technology, All Rights Reserved Copyright.
ADDR. : Shannon Way, Tewksbury, Gloucestershire GL20 8ND United Kingdom
TEL. : [phone]
WEB. : www.triomotion.uk
Email : [e-mail]

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
iii
Safety
Installation and transportation of robots and robotic equipment shall be performed by qualified
personnel and should conform to all national and local standards. Please read this manual and other
related manuals before installing the robot system or before connecting cables. Always keep this manual
handy for easy access.
Conventions
Important safety considerations are indicated throughout the manual by the following symbols. Be sure
to read the descriptions shown with each symbol.
Symbol
Description
DANGER
Indicates a hazard with a high level of risk that, if not avoided, may result in
death or serious injury.
WARNING
Indicates a hazard with a medium or low level of risk which, if not avoided,
could result in minor or moderate injury.
CAUTION
Indicates a potentially hazardous situation that, if not avoided, could cause
equipment damage, loss of data, performance degradation, or unexpected
results.
IMPORTANT
Indicates precautions or restrictions that must be observed.
Also indicates alarm displays and other precautions that will not result in
machine damage.
NOTE
Provides additional information to emphasize or supplement important points
of the main text.
Design and Installation Safety
Only trained personnel should design and install the robot system. Trained personnel are defined as
those who have taken robot system training and maintenance training classes held by the manufacturer,
dealer, or local representative company, or those who understand the manuals thoroughly and have the
same knowledge and skill level as those who have completed the training courses.
To ensure safety, a safeguard must be installed for the robot system.

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
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WARNING
Personnel who design and/or construct the robot system with this product
must read the Safety chapter to understand the safety requirements before
designing and/or constructing the robot system. Designing and/or constructing
the robot system without understanding the safety requirements is extremely
hazardous, may result in serious bodily injury and/or severe equipment
damage to the robot system, and may cause serious safety problems.
CAUTION
The Robot and the Controller must be used within the environmental
conditions described in their respective manuals. This product has been
designed and manufactured strictly for use in a normal indoor environment.
Using the product in an environment that exceeds the specified environmental
conditions may not only shorten the life cycle of the product but may also
cause serious safety problems.
The robot system must be used within the installation requirements described
in the manuals. Using the robot system outside of the installation
requirements may not only shorten the life cycle of the product but also cause
serious safety problems.
Operation Safety
(1) Please carefully read the safety-related requirements in the Safety chapter before operating the
robot system. Operating the robot system without understanding the safety requirements is
extremely hazardous and may result in serious bodily injury and/or severe equipment damage to
the robot system.
(2) Do not enter the operating area of the Robot while the power to the robot system is turned ON.
Entering the operating area with the power ON is extremely hazardous and may cause serious safety
problems as the Robot may move even if it seems to be stopped.
(3) Before operating the robot system, make sure that no one is inside the safeguarded area. The robot
system can be operated in the mode for teaching even when someone is inside the safeguarded
area. The motion of the Robot is always in restricted (low speeds and low power) status to secure
the safety of an operator. However, operating the robot system while someone is inside the
safeguarded area is extremely hazardous and may result in serious safety problems in case that the
Robot moves unexpectedly.
(4) Immediately press Emergency Stop switch (if available) whenever the Robot moves abnormally
while the robot system is operated. Continuing the operation while the Robot moves abnormally is
extremely hazardous and may result in serious bodily injury and/or severe equipment damage to
the robot system.
(5) To shut off power to the robot system, pull out the power plug from the power source. Be sure to
connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power
source.

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
v
(6) Before performing any replacement procedure, turn OFF the robot control system and then pull out
the power plug from the power source. Performing any replacement procedure with the power ON
is extremely hazardous and may result in electric shock and/or malfunction of the robot system.
(7) Do not insert or pull out the motor connectors while the power to the robot system is turned ON.
Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may
result in serious bodily injury as the Robot may move abnormally and may result in electric shock
and/or malfunction of the robot system.
(8) Whenever possible, only one person should operate the robot system. If it is necessary to operate
the robot system with more than one person, ensure that all people involved communicate with
each other as to what they are doing and take all necessary safety precautions.
(9) Joint #1, #2 and #4: repeatedly operating the joint in a motion angle less than 5 degrees may result
in shortage bearing oil film and shorten the service life of joint. To avoid shortening the service life
of joint, please move the joint over 50 degrees for about 5 to 10 times per day.
(10) Joint #3: if arm’s vertical move distance is shorter than 10mm, please move the joint over half of
the maximum motion range for about 50 times per day.
(11) When the robot is operating at a low speed (about 5~20% of rated speed), continuous vibration (or
sympathetic vibration) may occur as the direction of arm and end effector load. The following
measures may reduce vibration caused by natural vibration frequency of arm.
•Change operating speed
•Change teaching point
•Change the load of end effector
(12) Vibration of the front end of the arm may increase when J3-axis upper side or lower side is moving,
according to the weight and inertia of the grippers. This is due to an increased distance between
the end and head of the shaft, which leads to a change in inertia. Adjust speed etc. according to
item 11 when this vibration causes a negative effect on robot operation.
(13) Do not touch Joint #3 and Joint #4 directly by hand during greasing and teaching. Touching Joint #3
and Joint #4 frequently may cause rust.
(14) Please remove any tape of seal on oil paint surface with care, as this might incur damage to the
paint.
(15) Please be advised that robot joints and parts may become hot after operation with high payload or
speed that can cause minor skin burn. Only perform maintenance once these parts have cooled
down.

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
vi
Emergency Stop (if available)
There may be several Emergency Stop buttons in a robot system to stop the
robot in case of emergencies. The red button, as shown in the left figure, shall
be mounted on the teach pendant. Certainly, the emergency buttons can be
mounted by your requirement.
Emergency stop button shall be located on the place where is easy to reach, so
that the buttons can be pressed down immediately in case of emergencies.
WARNING
Operators must be fully aware of the danger of electric shock from cables of
servo motor, gripper, chuck, and other devices.
CAUTION
The Emergency Stop switch should be used to stop the Robot only in case of
emergencies. Avoid pressing the Emergency Stop switch unnecessarily while
the Robot is running normally.
Emergency Movement without Drive Power
When the system is placed in emergency mode, push the arm or joint of the Robot by hand as shown
below:
Joint #1 Push the arm by hand.
Joint #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the solenoid brake applied to the
joint has been released. Move the joint up/down while pressing the brake release switch.
Joint #4 RX3: move the shaft by hand.
RX6: The shaft cannot be rotated by hand until the solenoid brake applied to the
shaft has been released. Move the shaft while pressing the brake release switch.
CAUTION
The brake release switch affects both Joints #3 and #4. When the brake
release switch is pressed in emergency mode, the brake for both Joints #3 and
#4 are released simultaneously. Be careful of the shaft falling and rotating
while the brake release switch is pressed because the shaft may be lowered by
the weight of an end effector.

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
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TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
viii
Robot Labels
（1）Electric Shock Warning
Fig A Electric shock warning
This label indicates hazardous voltage or electric shock. Do not touch any electronic parts inside.
（2）Personal Injury Warning
Fig B Personal injury warning
Never enter the operation area while the Robot is moving. This is extremely hazardous and may result in
serious safety problems.
（3）Hand Pinch Warning

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
ix
Fig C Hand pinch warning
Never touch the robot when it is moving. This is extremely hazardous and may injury your hand.
（4）Manual Reading Warning
Fig D Manual reading warning
Be sure to read and understand the content of the manual and the labels before installation and
operation. Read the content again when operate the robot the next time. Information not included in
this manual is not allowed.

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: 1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
x
Preface
This manual describes the following robots.
Robot Type
Load Capacity
RX3
RX3-400-SR
3kg
RX6
RX6-500-SR
6kg
RX6-600-SR
RX6-700-SR
Related manuals
Trio SCARA Assembly and Wiring Manual

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: 1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
xi
Contents
Safety ............................................................................................... iii
Preface............................................................................................... x
Related manuals ......................................................................................................x
1. Specifications ...............................................................................1
1.1. Model Number ................................................................................................1
1.2. Part Names and Outer Dimensions.........................................................................2
1.3. Specifications.................................................................................................6
2. Environment and installation ............................................................9
2.1. Environmental Conditions...................................................................................9
2.1.1. Special Environmental Conditions ................................................................. 10
2.2. Base Table .................................................................................................. 11
2.3. Mounting Dimension ....................................................................................... 12
2.4. Unpacking and Transportation ........................................................................... 16
2.5. Installation Procedure ..................................................................................... 19
2.6. Connecting the Cables .................................................................................... 21
2.7. User Wires and Pneumatic Tubes ........................................................................ 22
2.7.1. Electrical Wires....................................................................................... 23
2.7.2. Pneumatic Tubes ..................................................................................... 24
2.8. Relocation and Storage.................................................................................... 26
2.8.1. Precautions for Relocation and Storage........................................................... 26
2.8.2. Relocation............................................................................................. 27
3. Setting Off End Effectors ............................................................... 28
3.1. Attaching an End Effector ................................................................................ 28
3.1.1. Shaft ................................................................................................... 29
3.1.2. Brake release switch................................................................................. 30
3.1.3. Layouts ................................................................................................ 31
3.2. Attaching Cameras and Valves ........................................................................... 32
3.2.1. Equivalent weight .................................................................................... 34
4. Motion Range.............................................................................. 36
4.1. Motion Range Setting by Mechanical Stops ............................................................. 36
4.1.1. Setting the Mechanical Stops of Joints #1 and #2 ............................................... 38
5. Maintenance............................................................................... 40
5.1. Schedule for Maintenance Inspection ................................................................... 41
5.1.1. Inspection While Power is OFF (Robot is not operating)........................................ 43
5.1.2. Inspection While the Power is ON (Robot is operating)......................................... 44

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: 1.8
© 2022 TRIO MOTION TECHNOLOGY
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xii
5.2. Greasing ..................................................................................................... 45
5.2.1. Greasing Procedures ................................................................................. 46
5.3. Tightening Hexagon Socket Head Cap Bolts ............................................................ 47
5.4. Maintenance of the Belt .................................................................................. 49
5.4.1. Belt specifications ................................................................................... 50
5.4.2. Failure mode of timing belt ........................................................................ 51
6. Calibration and battery ................................................................. 52
6.1. Introduction................................................................................................. 52
6.2. Finding calibration position .............................................................................. 53
6.2.1. Battery Replacement Steps ......................................................................... 54
6.2.2. Calibration Values Reset ............................................................................ 56
6.2.3. SCARA Definition ..................................................................................... 59
Appendix .......................................................................................... 60
Appendix A RX3 Maintenance Parts List ......................................................................... 60
Appendix B RX6 Maintenance Parts List ......................................................................... 62
Revision History.................................................................................. 64

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
1
1. Specifications
1.1. Model Number

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
2
1.2. Part Names and Outer Dimensions
WARNING
Be careful of the shaft while the brake release switch is being pressed
because the shaft may be lowered by the weight of the end effector.
While the LED lamp is on, the current is being applied to the robot.
Performing any work with the power ON is extremely hazardous and it may
result in electric shock and/or improper function of the robot system.
CAUTION
The brake release switch affects both Joints #3 and #4. When the brake
release switch is pressed in emergency mode, the brakes for both Joint #3 and
Joint #4 are released simultaneously.
Fig 1.1 Part name (RX3)

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
3
Fig 1.2 Dimension of RX3 robot

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
4
Fig 1.3 Part name (RX6)

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
5
Fig 1.4 Dimension of RX6 (STANDARD) robot
a
b

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
All right reserved.
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1.3. Specifications
Item
RX3-XXX-SR
RX6-XXX-SR
400
500
600
700
Arm length
Arm#1 & #2 (mm)
400
500
600
700
Arm#1 (mm)
225
225
325
425
Arm#2 (mm)
175
275
Max. operating speed
Joint#1, #2 (mm/s)
5400
6000
6650
5900
Joint#3 (mm/s)
960
1000
Joint#4 (°/s)
2250
1730
Repeatability
Joint#1, #2 (mm)
±0.025
±0.025
Joint#3 (mm)
±0.015
±0.015
Joint#4 (°)
±0.01
±0.01
Payload (Load)
Rated (kg)
1
2
Max. (kg)
3
6
Joint #4 allowable
moment of inertia
Rated（kg·m2）
0.005
0.01
Hand
Shaft diameter (mm)
16
20
Through hole (mm)
11
14
Mounting hole
120×120
150×150
4-M8
4-M8
Colour of the robot
Traffic white (No: RAL 9016)
Weight (3m cables included) (kg)
15
18
18
19
Max. power consumption (kW)
(at max. load & max. speed)
0.214
0.244
0.248
0.246

TRIO SCARA Robot Mechanical Unit Operator's Manual
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Power consumption (kW)
(Servo ON at zero position)
0.09
0.12
0.12
0.12
Power consumption (kW)
(Servo OFF at zero position)
0.07
0.07
0.09
0.09
Driving method
All joints
AC servo motor
Motor energy
consumption
Joint #1 (W)
200
400
Joint #2 (W)
100
200
Joint #3 (W)
100
100
Joint #4 (W)
100
100
Joint #3 down force (N)
100
100
Installed wire for customer use
15 pins: D-sub
Installed pneumatic tube for customer use
2 pneumatic tubes (ø6 mm):
0.59 Mpa (6 kgf/cm2: 86 psi)
1 pneumatic tube (ø4 mm):
0.59 Mpa (6 kgf/cm2: 86 psi)
Environmental
requirements
Ambient Temp.
5 to 40 degrees C (with minimum
temperature variation)
Ambient relative humidity
10 to 80% (no condensation)
Noise level (*1)
LAeq=70dB（A）
Applicable Controller
TRIO EtherCat controllers. See TRIO
website for details.
Tab 1.1 Specifications for SCARA robots
(*1) Conditions of Robot during measurement as follows:
Operating conditions: Under rated load, 4-joints simultaneous motion, maximum speed, maximum
acceleration, and duty 50%.
Measurement point: In front of the Robot, 1000 mm apart from the motion range, 50 mm above the base-
installed surface.

TRIO SCARA Robot Mechanical Unit Operator's Manual
Document Version: V1.8
© 2022 TRIO MOTION TECHNOLOGY
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8
Item
Max. motion range
Joint#1 (°)
Joint#2 (°)
Joint#3 (mm)
Joint#4 (°)
RX3-400-SR
±132
±141
150
±360
RX6 series
±132
±150
200
±360