MRMC TX90L User manual

CRANES AND RIGS | BROADCAST | HEADS & DSLR | PRODUCT PHOTOGRAPHY | RENTALS
TX90L Model
Mover
COMPACT LIGHTWEIGHT HIGH SPEED MODEL MOVER
Quick Start Guide
QSG Product Code: MRMC-2092-00
Products Covered: 20359

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TX90L Model Mover Quick Start Guide
QSG Product Code: MRMC-2092-00
Products Covered: 20359
© 2020 Mark Roberts Motion Control Ltd. All rights reserved.
No part of this publication may be reproduced, transmitted, or translated
by any means — graphical, electronic, or mechanical — including
photocopying, recording, taping, or storage in an information retrieval
system, without the express written permission of Mark Roberts Motion
Control.
Although every care has been taken to ensure that the information in this
document is accurate and up to date, Mark Roberts Motion Control
continuously strives to improve their products and may make changes to
the hardware, firmware, and software described in this document. Mark
Roberts Motion Control therefore cannot be held responsible for any
error or omission in this document.
All product names mentioned herein are the trademarks or registered
trademarks of their respective owners.
Contact information
Mark Roberts Motion Control Ltd.
Unit 3, South East Studios
Blindley Heath
Surrey
RH7 6JP
United Kingdom
Telephone: [phone]
E-mail: [email protected]m (sales and general enquiries)
[email protected]m (customer support)
Web: www.mrmoco.com
www.mrmocorentals.com

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TX90L Model Mover Quick Start GuideTX90L Model MoverQuick Start Guide
Contents
Chapter 1 Quick Start..................................................................... 1
Overview .................................................................................1
Safety procedures for using industrial robots.....................2
Assessing a site ..............................................................3
Installation safety..........................................................3
Software setup ...............................................................5
Operational safety.........................................................5
Connecting the cables ..........................................................8
Starting up the TX90L Model Mover system ...................10
TX90L Model Mover start-up summary .................13
Shutting down the TX90L Model Mover system.............14
Moving the TX90L Model Mover arm by hand...............15
Appendix 1 Troubleshooting........................................................... 20
Typical symptoms, causes, and actions .............................20
Checking robot temperature using the pendant..............21
Appendix 2 Specifications............................................................... 25
Rig Weights ........................................................25
Rig Performance ................................................25
Operating Envelope ..........................................25

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TX90L Model Mover Quick Start Guide
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TX90L Model Mover Quick Start GuideTX90L Model MoverQuick Start Guide
Chapter 1 Quick Start
Overview
Thank you for using the TX90L Model Mover from Mark Roberts Motion
Control (MRMC). TX90L Model Mover is designed for reliable day-in,
day-out use in professional studio and Outside Broadcast environments.
It has a small, lightweight robotic arm which can be used either as camera
rig or model mover.
TX90L Model Mover can be
attached to the floor or a
suitable platform.

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Safety procedures for using industrial robots
Note that the words Robot and Rig are completely interchangeable and
identical in meaning, for the purposes of this document.
Motion Control rigs are potentially dangerous. It is important that you
and everyone else on the set understand the safety notes on the following
pages in order to stay safe.
You should use this document in addition to the normal Safety Manual
instructions that are applicable to all motion control rigs, such as Milos.
This section emphasises the safety concerns that are especially important
around high-speed, high-acceleration, industrial-grade robots which can
cause severe injuries, such as TX90L Model Mover.
Unlike traditional motion control equipment, TX90L Model
Mover can get to maximum speed in the blink of an eye - too
fast for someone to be able to quickly move out of the way.
It is ultimately the operator of the rig who is responsible for
the safe use of the equipment so never bypass any of the safety
points listed here.
No one other than a highly trained operator should use the
robot, no matter how simple it looks or is.
This document is for the use of robots for carrying cameras or
props, not people.

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Assessing a site
Before setting up TX90L Model Mover you need to assess the site, paying
particular attention to the following points:
Does the site have access? You need to make sure you can carry
it there using a pallet truck or forklift.
Does the site have a power source with sufficient capacity for
the robot and the correct mains voltage?
– TX90L Model Mover requires a 240 Volts, single-phase
power supply via a 16amps power connector.
– The computer stack that controls TX90L Model Mover
(that is, the desktop computer and the power supply brick
for the RT-14 interface box) are auto-switching and can
run on 120-240 Volts AC.
Does the site have unusual environmental attributes that
require specialised protection from extreme temperatures,
humidity, rain, or dust?
Installation safety
Due to the large mass of the rigs and the accelerations they
achieve it is important that they are securely mounted, with the
recommended plates and bolts to a secure and concrete floor.
Ensure the floor can support the load and the stresses (see
above).
Ensure the power supply is properly earthed (grounded) and of
the correct voltage (see above).
If the rig is mounted to something other than the floor then
the mount should be heavy and strong enough to take the
forces and not move or fall over during sudden starts and
stops. Use the recommended minimum thickness steel plates.
Check with MRMC if you are unsure of the exact requirements
for your robot.
Check that all cables are securely fixed and are not going to
catch during motion.
Ensure the camera, lens, focus motor, accessories, power
supplies/batteries, etc. are all very securely mounted and will

TX90L Model Mover Quick Start Guide
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not come off during sudden motions, to become lethal
missiles.
Ensure all safety accessories are securely attached and in
working order, including emergency stops, safety sensors, etc.
Clearly mark the area around the robot in which no persons
are allowed to enter. As a bare minimum, use brightly marked
tape on the floor, outside the reach of the robot, to indicate the
“No Go Zone”. Ideally, use physical safety barriers, and light
guards/curtains.
Keep stands, lights and accessories out of the No Go Zone, if
possible. If not possible then try to take as much care with their
positioning and the motion of the rig, as if they were a person.
Remember a light, accidentally hit at high speed by the robot,
can be just as dangerous to someone standing outside the No
Go Zone as the robot is to someone standing in the zone.
Where physical safety barriers are impractical, light guards
should be used or similar alternatives such as laser scanners, to
stop anyone entering the No Go Zone during motion.
Ideally have the robot surrounded on all four sides by a safety
barrier, but where that is not practical, ensure that the
maximum number of sides feasible are closed off, and that any
person having to stand within reach of the robot is located as
far away as possible for the shot.

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Software setup
Always ensure you have the right configuration for the robot
you are using, such as maximum axis speeds and accelerations.
Prior to running moves, enter in and keep to a minimum all
software axis and Cartesian limits. For example if the main axis
only needs to travel +/-40 degrees then reduce the limit to +/
-40 degrees even though it could do +/-180 degrees. This keeps
the likelihood of operator or software errors to a minimum.
Also check the Cartesian speed and acceleration limits are set
to reasonable values.
Operational safety
Do not use around flammable gas. All electrical equipment can
generate sparks that can ignite flammable gas.
Keep the equipment dry. The system has not been made
weatherproof. Do not use with wet hands.
Always run moves only when standing within easy reach of the
emergency stop.
Always tell the production company and the crew to keep away
from the robot and not approach it when any of its red lights
are on which indicates it is powered up. Have them sign the
appropriate safety documents and disclaimers to ensure they
understand this and are indemnifying MRMC if anything
happens.
Always loudly and clearly indicate to others when the rig is
about to move. Shout “Rig Moving!” if no other means exists.
Always ensure the rig is disabled when someone has to enter
the No Go Zone.
Always run any move or adjusted move slowly at first to check
the motion. Even if you have checked the move previously, if
you make a minor change to it then you need to recheck it.
Keep the software in “slow mode” unless the move has been
tested and is now specifically doing a high speed pass.
In the event that a person or Actor has to be within the no-go
zone during a move (hand model etc.) ensure that they are

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fully briefed on the safety requirements and that they know not
to change their position or do anything other than the
rehearsed moves without fully warning the operator. Any such
person is to have a clear escape route to allow them to move
safely away from the robot.
During use, repeatedly check the rig mounting points, cables,
camera mount, accessories etc. to ensure nothing has, or is,
working its way loose.
Never bypass any safety hardware or software.

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Notes

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Connecting the cables
J1201
Power Supply: ideally 240V Volt,
1-phase, 3-wire including Ground.
Stäubli CS8
J110
J113
Ethernet
hub
48V DC
J109
5V DC
ETHERNE
T
Safety
PLC
E-STOP
ROBOT
ONLY
Teach pendant
or bypass

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Jumper
[14823]
Power Supply:
120-240 Volts
E-STOP
E-STOP
5V
Ethernet Hub
RT-14
Hand Held
Box
E-STOP
ETHERNET
ROBOT ONLY
INtime
dongle cable
in USB port
Jumper
[19788]
J109 (ROBOT)
Jumper
[15843]

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Starting up the TX90L Model Mover system
Once you have attached all the cables, you power up the rig by switching
on the components in the order described below.
1. Make sure you have secured the area around TX90L
Model Mover. Put up guard rails around TX90L
Model Mover as necessary, and tell others on the set
that you are now powering up the rig.
2. Power up TX90L Model Mover as follows:
The TX90L Model Mover power-up sequence takes about three
minutes.
Turn on the power switch
on the Stäubli CS8.

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3. Power up the Flair computer system and all of its components,
including the RT-14 interface box. You can do this while the robot is
powering up (step 2). Do not start the Flair application yet.
4. After the robot has finished powering up (step 2), the cifX board in
the Flair PC display two steady lights and one blinking light (see
diagram above).
If the cifX board lights do not show as above after about three
minutes, then close Flair and restart INtime as follows:
4.1 In the Windows Taskbar, right-click the INtime icon.
Hint
When the power-up sequence has completed, the Stäubli CS8
shows an “A” on its display.
“A”
2
4
Steady
Blinking
cifX board

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4.2 Select Restart NodeA.
4.3 Wait for steady connection to be established (2 steady green
lights).
5. On the Flair PC, start the Flair application by double-clicking on the
Flair icon on the Desktop.
6. Release the E-stop that is plugged into the computer
stack, by turning the button clockwise until the red
button pops up and then pressing the Enable button.
Also make sure the key on the Safety PLC is in the
vertical position. The horizontal position of the key
bypasses E-stop from Hand Held box and Flair.
Therefore, the key should not be kept in horizontal
position when using TX90L Model Mover except for
testing purposes.
Once all E-stop buttons on the system are up, the Stäubli CS8 display
shows “U”.
7. In Flair, click on the Engage Robot button.
Enable
button
Key in
vertical
position

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8. In Flair, move the TX90L Model Mover arm to its home position
(rotated straight forward and tucked under).
9. Set the soft limits for the rig axes in Flair as required.
TX90L Model Mover start-up summary
1. Secure the area
2. Release the E-stop on the rig
2. Switch on TX90L Model Mover
3. Switch on the Flair PC
4. Check networking lights after three minutes; Restart NodeA if
needed
5. Start Flair
6. Release the E-stop on the computer stack
In Flair:
7. Engage Robot
8. Home the arm, carefully
9. Set the soft limits
The rig is now ready to use.
Hint
If the TX90L Model Mover arm is in a backward or
reversed starting position, the arm might swing
overhead or around the side to reach the home
position, possibly striking the walls, ceiling, or
other rigging! If the rig is in an enclosed space or near other
equipment, it is recommended that you do the following:
•Manually move the arm close to its home position before
Homing it.
•When you home the rig, have one hand ready on the
E-stop in case you need to stop the rig quickly.

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Shutting down the TX90L Model Mover system
1. Move TX90L Model Mover to its Home position.
or...
If you are going to transport TX90L Model Mover to a new location,
put the TX90L Model Mover arm into its transport position. You
can do this either by using Flair (although you might have to reset
the soft limits to reach the transport position) or by moving the arm
manually. For details see page 15.
2. In the Flair software, click on the Disengage Robot button.
3. Press down the E-stop button.
4. Close the Flair software.
5. Shut down Windows on the Flair PC.
6. Turn off TX90L Model Mover as follows:
Turn off the power switch
on the Stäubli CS8.

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Moving the TX90L Model Mover arm by hand
In some circumstance you need to move the TX90L Model Mover arm
manually with your own hands. For example:
•Recovering from a software lock-up. For example if momentum has
carried the arm outside the soft limits, the software might refuse to
move the arm to get back inside the limits.
•Recovering from a hardware lock-up. If momentum or a
programming error moves the arm against its internal hard limits or
if the camera platform gets stuck against another part of the arm, the
motors might not be able to back off from this position without
tripping out.
•Putting the arm into transport position, to make the TX90L Model
Mover volume as small as possible so it will fit into a truck. You can
do this with Flair software (although you will probably need to
change the soft limits) but if you forget to do so before shutting
down the Flair computer then you can do it by hand.
To move the TX90L Model Mover arm by hand:
1. Make sure that robot itself has power and is switched on. The brakes
are on when the unit is switched off, so if you want to move the arm
by hand, TX90L Model Mover must have power and be switched on.
2. If the robot is connected to a running Flair PC, click on the
Disengage Robot button in Flair.
Hint
Moving the TX90L Model Mover arm by hand is usually a
two-person job — one to operate the Brake Release switch and
button and one to move the arm.

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3. Person 1: Use the Brake Release Switch to select which TX90L
Model Mover axis you want to move.
4. Person 2: By hand, securely hold the portion of the arm that you
want to move so it does not fall when you release the brake.
5. Person 1: Press and hold the Brake Release button.
6. Person 2: Move the arm by hand.
7. Person 1: Release the Brake Release button.
8. Repeat steps 3 to 7 to move all the axes you want.
9. When you have finished, turn the Break Release Switch to the ‘0’
position, and power down.
1
2
3
4
5
6
Brake Release Switch should be
in the ‘0’ position when not
moving the robot by hand
Axes positions in the
Staubli arm