PEITIAN ROBOTICS AIR20-1700 User manual

AIR20-1700 Industrial Robot Manipulator Manual
Foreword
I
Foreword
About this manual
This manual is for technicians to install and use the AIR20-1700A and AIR20-1700B industrial
robot quickly, correctly, and safely, to be familiar with the relevant precautions, and to perform
regular routine maintenance work on the manipulator.
Prerequisites
Before operating the robot, be sure to read the relevant safety instructions and operation
instructions of the product carefully. Users must understand the safety knowledge and basic
operation knowledge before using the robot.
Please read the following documents when necessary:
◼"inCube21 Control Cabinet Manual"
◼"AIR-TP teach pendant operation manual"
◼"ARL Programming Manual"
◼"AIR20-1700A Industrial Robot System Quick Start Manual"
Target groups
◼Operators
◼Product technicians
◼Technical service personnel
◼Robot teachers
Scope of application
This manual is applicable to the following robot models.
Model name
Transportable weight
AIR20-1700A
20kg
AIR20-1700B
20kg

Foreword
AIR20-1700 Industrial Robot Manipulator Manual
II
Meaning of common signs
The signs and their meanings in this manual are detailed in Table 1.
Table 1 Signs used in this manual
Sign
Meaning
Failure to follow the instructions may result in an accident
causing the severe or fatal injury or the great losses of
property.
Failure to follow the instructions may result in an accident
causing the severe or fatal injury or the great losses of
property.
Prompt for the environmental conditions and important
things or shortcuts you shall pay attention to
Prompt for additional literature and instructions for
additional information or more detailed operating
instructions
Manual description
The contents of this manual are subject to supplementation and modification. Please visit
"Download Center" on the website regularly to obtain the latest version of this manual in a
timely manner.
Website URL: http://robot.peitian.com/
Revision history
The revision history contains the instructions for each document update. The latest version of the
document contains updates to all previous versions of the document.
Table 2 Signs used in this manual
Version
Publication date
Modification description
V1.0.0
2021.12.14
1st official release

AIR20-1700 Industrial Robot Manipulator Manual
Foreword
III
Version
Publication date
Modification description
V1.0.1
2022.01.04
2nd official release
Fix known bugs
V1.0.2
2022.02.10
3rd official release
Add wall mounting mode
V1.0.3
2022.12.02
4th official release
Fix known bugs
The model and material of handling rings
are added in Section 9.4
Manual Number and Version
The manual-related information is shown in Table 3.
Table 3 Document-related information
Document name
AIR20-1700 Industrial Robot Manipulator Manual
Document number
UM-P05310000010-002
Document version
V1.0.3
Declaration of applicable with product standards
The requirements for industrial robot system design are detailed in Table 4.
Table 4 Declaration of applicable safety standards
Standard
Description
Version
2006/42/EC
Machinery directive:
Machinery directive 2006/42/EC (new version) issued by European
Parliament and Council on May 17, 2006 to modify 95/16/EC
2006
2014/30/EU
Electromagnetic compatibility directive:
2014/30/EU directive issued by European Parliament and Council on February
26, 2014 to balance the electromagnetic compatibility regulations of member
states
2014
2014/68/EU
Pressure facility directive:
Electromagnetic compatibility directive:
2014/68/EU directive issued by European Parliament and Council on May 15,
2014 to balance the pressure facility regulations of member states
(It is only suitable for the robot with hydraulic balance weight)
2014
ISO 13850
Safety of machinery:
Emergency stop function - Principles for design
2015
ISO 13849-1
Safety of machinery:
Safety-related parts of control systems - Part 1: General principles for design
2015

Foreword
AIR20-1700 Industrial Robot Manipulator Manual
IV
Standard
Description
Version
ISO 12100
Safety of machinery:
General principles for design - Risk assessment and risk reduction
2010
ISO 10218-1
Robots and robotic devices - Safety requirements for industrial robots:
Part 1: Robots
(Prompt: Information is consistent with ANSI/RIAR.15.06-2012, Part 1)
2011
61000-6-2
Electromagnetic compatibility (EMC):
Part 6-2: Generic standards - Immunity for industrial environments
2005
61000-6-4 + A1
Electromagnetic compatibility (EMC):
Part 6-4: Generic standards - Emission standard for industrial environments
2011
60204-1 + A1
Safety of machinery:
Electrical equipment of machines - Part 1: General requirements
2009
IEC 60529
IP rating provided by enclosures (IP Code):
This standard applies to the IP rating for the electrical equipment with
enclosures and the rated voltage exceeding 72.5kv.
2001

AIR20-1700 Industrial Robot Manipulator Manual
General safety description
V
General safety description
Thank you for purchasing our manipulator. This description is required for the safe use of the
manipulator. before using the operator, please read the manual carefully and use the
manipulator correctly on the premise of understanding it.
For the detailed functions of the manipulator, please fully understand its specifications through
the relevant instructions.
Safety considerations
In general, the manipulator cannot be operated by a single operation, and only install the end
effector, and the frame functions as the peripheral equipment and the system to perform the
operation.
When considering its security, the manipulator should not be considered independently, but
should be considered in the system environment.
When using the manipulator, be sure to take corresponding measures to the safety fence.
WARNING, CAUTION AND PROMPTS.
This specification includes matters needing attention to ensure the personal safety of operators
and prevent damage to operators. According to their safety importance, they are described as
"warning" and "caution" in this paper, and the supplementary instructions are described as
"prompts".
Before using the operator, the user must read these "warnings "," cautions" and "prompts ".
In the case of an incorrect operation, it is possible to cause death or serious
injury to the operator or other operator.
If the operation is wrong, it may cause the operator or other operator to slightly
injure or damage the equipment.
General considerations
◼When connecting or disconnecting related peripheral devices (such as
safety fences, etc.) and various signals of the manipulator, be sure to
confirm that the manipulator is in a stopped state to avoid incorrect
connections.
◼Do not use the operator in the situation shown below. Otherwise, it
will not only have a negative impact on operators and peripherals, but
also cause casualties.
⚫Used in flammable environments.

General safety description
AIR20-1700 Industrial Robot Manipulator Manual
VI
⚫Used in explosive environments.
⚫Used in environments where there is a lot of radiation.
⚫Used in water or in high humidity environments.
⚫Used for the purpose of transporting people or animals.
⚫Use as a foot (e.g., on or depending on the operator)
◼Operators who use the operator should wear the safety appliances
shown below before carrying out their work.
⚫Work clothes suitable for the job content
⚫Safety shoes
⚫Safety helmet
Personnel who carry out programming and maintenance operations must
receive appropriate training through the relevant training of the company.
Considerations during installation
◼When handling and installing the machines, they must be carried out
correctly according to the method shown in our manual. If the
operation is carried out in the wrong way, it is possible that the
operator will be killed or injured due to the overturning of the operator.
◼When using the operator for the first time after installation, be sure to
do so at a low speed, and then gradually accelerate the speed and
confirm that there are any anomalies.
Matters needing attention in operation
◼When using the operator, be sure to make sure there are no personnel
in the safety fence before carrying out the operation. At the same time,
check to see if there is a potential danger, and when it is confirmed
that there is a potential danger, be sure to eliminate the danger before
carrying out the operation.
◼When using the instruction device, because there may be errors in the
operation of wearing gloves, it is important to take off the gloves before
carrying out the work.
Information such as programs and system variables can be stored in
storage media such as memory cards. In order to prevent data loss
caused by unexpected accidents, it is recommended that users back up
data regularly.
Considerations in programming
When programming, try to do it outside the safety fence, the following
matters shall be taken into account when the safety fence needs to be
carried out as a last resort:

AIR20-1700 Industrial Robot Manipulator Manual
General safety description
VII
◼Check the safety fence carefully and make sure it is not dangerous
before entering the fence.
◼The emergency stop button can be pressed at any time.
◼The manipulator shall be operated at low speed
◼The operation should be carried out after confirming the state of the
whole system, so as to avoid the operator falling into a dangerous
situation due to the remote-control instructions or actions for the
peripheral equipment.
After the program is finished, it is important to perform the test
operation in accordance with the specified procedure. At this time, the
operator must operate outside the safety fence.
For operators who are programmed, it is important to receive appropriate
training through the company.
Attention should be paid to maintenance work
◼When switching on the power supply, part of the maintenance
operation is in danger of electric shock, as far as possible, the
maintenance operation should be carried out in the state of power off;
professional maintenance personnel should be designated according to
the need to carry out maintenance operation; other personnel should be
avoided to turn on the power supply when maintaining the operation;
even if the power supply must be turned on before the operation can be
carried out, the emergency stop button should be pressed and then the
operation should be carried out.
◼Please consult our company when you need to replace the parts.
◼The replacement of parts by the client may result in unexpected
accidents, which may cause the operator to be damaged and the
operator is injured.
◼When entering the security fence, check the whole system carefully
and make sure it is not dangerous. If there is a dangerous situation and
have to enter the fence, you must grasp the state of the system and be
very careful.
◼If you need to replace the parts, be sure to use our specified parts. If
you use a part other than the specified part, it may cause damage to the
operator.
◼When removing the motor and brake, the crane hoisting and other
measures should be taken to remove the motor and brake, so as to avoid
the falling of the manipulator arm.
◼When carrying out maintenance operations, when it is necessary to
move the operator as a last resort, the following matters should be taken
into account:
⚫It is important to ensure that the escape channel is smooth and that
the operation should be carried out again under the operation of
the whole system in order to avoid blockage of the retreat by the
operator and peripherals.
⚫Always pay attention to the danger around you and be prepared so
that you can press the emergency stop button at any time when
you need it.

General safety description
AIR20-1700 Industrial Robot Manipulator Manual
VIII
◼The auxiliary equipment such as the crane shall be used when the
moving motor and the speed reducer and the like have certain weight
parts, so as to avoid the excessive work load for the operators. At the
same time, it is necessary to avoid the wrong operation, otherwise, the
operation and death of the operation may be caused.
◼Be careful not to fall because of the lubricating oil that falls on the
ground, wipe the lubricating oil that falls on the ground as soon as
possible, and eliminate the possible danger.
◼Do not place any part of the body on any part of the manipulator during
the operation, and it is prohibited to climb on the manipulator, so as to
avoid unnecessary personal injury or adverse effect on the manipulator.
◼The following parts will be hot and need attention. When you have to
touch the equipment when you have to touch it in the event of heat, you
should prepare protective appliances such as heat-resistant gloves:
⚫Servo motor
⚫reducer
⚫Adjacent to motor / reducer
⚫Inside the control cabinet
◼The parts (such as screws, etc.) removed during the replacement of the
parts should be correctly loaded back to their original parts, and if the
parts are found to be insufficient or surplus, they should be reconfirmed
and installed correctly.
◼During the maintenance of the pneumatic system and hydraulic system,
it is important to release the internal pressure to zero and operate again.
◼After replacing the parts, be sure to carry on the test operation
according to the prescribed method. At this point, the operator must
operate outside the safety fence.
◼After the maintenance operation, the grease, debris and water
sprinkled on the ground around the operator and inside the safety fence
should be thoroughly cleaned.
◼When replacing parts, dust and other foreign bodies should be
prevented from entering the manipulator.
◼Operators who carry out maintenance and repair operations must
receive the training of the company and pass the relevant assessment.
◼When carrying out maintenance operations, appropriate lighting
appliances should be equipped, but care should be taken not to make
the lighting appliances a source of new danger.
◼Be sure to refer to this specification for regular maintenance, if not
regular maintenance, will affect the service life of the operator, and may
lead to accidents.

AIR20-1700 Industrial Robot Manipulator Manual
Safety protection measures before use
IX
Safety protection measures before use
Before operating the manipulator and peripheral equipment and the manipulator system
composed of them, the safety precautions of the operators and the system must be fully studied.
Figure 1 is a schematic diagram of the safe work of industrial robots.
Figure 1 Schematic diagram of safe work of industrial robots
Definition of operating personnel
Manipulator operation personnel consist of operator, teacher and maintenance engineer who
shall satisfy the following conditions:
Operator
◼Switch on/off the power supply of manipulator.
◼Start the manipulator program via the operating panel.
◼have no right to operate within the safety barrier
Teacher
◼Execute the functions of operator.
◼Perform the manipulator teaching, etc. outside the safety barrier.
Maintenance Engineer
◼Execute the functions of teacher.
◼Perform the maintenance (repair, adjustment, replacement, etc.) of manipulator.
Safety of operation personnel
Operator, teacher and maintenance engineer shall carefully perform the operation, programming
and maintenance of manipulator, and shall at least wear the following items:

Safety protection measures before use
AIR20-1700A Industrial Robot Manipulator Manual
X
◼Work clothes suitable for task
◼Safety shoe
◼Helmet
When the auto system is used, be sure to protect the operation personnel. The measures shall be
taken to prevent the operation personnel from entering the range of manipulator.
The general precautions are listed below. Please take the appropriate measures to ensure the
safety of operation personnel:
◼The operation personnel running the manipulator system shall receive the training from the
company and pass the relevant assessment.
◼While the equipment is running, even if the manipulator seems to have stopped, the
manipulator is possibly waiting for the start signal and is about to act. The manipulator
shall be regarded as operating at this state. To ensure the safety of operation personnel, it
is necessary to confirm that the manipulator is in the operating state via the audible and
visual alarms such as the warning lamp
◼Be sure to set the safety barrier and safety door around the system so that the operation
personnel cannot enter the safety barrier without opening the safety door. The interlock
switch, safety pin, etc. shall be set on the safety door so that when the operator opens the
safety door, the manipulator will stop.
◼Peripheral equipment shall be electrically grounded.
◼The peripheral equipment shall be set outside the range of manipulator if possible.
◼The range of manipulator shall be clearly marked with the lines on the floor to make the
operator understand the range of manipulator including the mechanical arm and other
tools.
◼A proximity switch or photoelectric switch shall be installed on the floor so that when the
operation personnel are about to enter the range of manipulator, the audible and visual
alarms such as the buzzer are issued to stop the manipulator, thereby ensuring the safety
of operation personnel.
◼A lock shall be set to make sure that the manipulator power cannot be turned on except by
the operation personnel responsible for the operation.
◼Always disconnect the manipulator power when performing the individual commissioning
of peripheral equipment.
Safety of operators
Operators are not authorized to perform jobs within the safety barrier:
◼Disconnect the power supply of manipulator control cabinet or press the emergency stop
button when the manipulator is not operated.
◼Operate the manipulator system outside the safety barrier.

AIR20-1700 Industrial Robot Manipulator Manual
Safety protection measures before use
XI
◼The guard fence and safety door shall be provided to prevent the unrelated personnel from
entering the range of manipulator or to prevent operators from entering a hazardous
location.
◼Emergency stop button shall be set within the reach of operators.
Manipulator controller is designed to be connected to an external
emergency stop button. With this connection, the manipulator will
stop when the external emergency stop button is pressed.
Safety of teachers
In some cases, it is necessary to enter the scope of operation of the operator when carrying out
the operation of the operator, especially at this time, the safety should be paid attention to:
◼If you do not need to enter the operation maneuvering range, be sure to operate outside
the operating maneuvering range.
◼Before proceeding with the teaching, verify that the manipulator or peripheral equipment is
in a safe state.
◼If it is inevitable to enter the range of manipulator to conduct the teaching, first confirm the
positions and states of safety devices (such as the emergency stop button, emergency
automatic stop switching of teach pendant, etc.).
◼Teachers shall pay special attention to make other people away from the range of
manipulator
◼Before starting the manipulator, first confirm that there is no people and no abnormality in
the range of manipulator.
◼After the teaching is over, be sure to perform the test run following the steps below:
Step1. At low speed, execute at least one cycle intermittently to confirm no abnormality.
Step2. At low speed, execute at least one cycle continuously to confirm no abnormality
Step3. At intermediate speed, execute at least one cycle continuously to confirm no abnormality
Step4. At operating speed, execute at least one cycle continuously to confirm no abnormality
Step5. Execute the program in automatic operation mode.
◼The teacher must evacuate outside the safety fence when the operator operates
automatically.
Safety of repair engineer
To ensure the safety of repair engineer, full attention shall be paid to the following items:
◼Never enter the range of manipulator while the manipulator is running.
◼Perform the repair operation while the controller is powered off if possible. Main circuit
breaker shall be locked to prevent other personnel from turning on the power.

Safety protection measures before use
AIR20-1700A Industrial Robot Manipulator Manual
XII
◼If it is Inevitable to enter the range of manipulator when it is powered on, you shall first
press the emergency stop button of control cabinet or teach pendant. In addition, the
operators shall hang the "Repairing" sign to remind other people not to operate the
manipulator.
◼Before performing a repair, verify that the manipulator or peripheral equipment is in a safe
status.
◼Do not perform the automatic operation when there is someone in the range of
manipulator.
◼When working near the walls and appliances, or when several operators are close to each
other, be careful not to block the escape routes of other operators.
◼When the manipulator is equipped with a tool, and there are movable devices such as
conveyor belts in addition to the manipulator, pay attention to the operation of these
devices.
◼A person who is familiar with the manipulator system and is able to detect the danger shall
be assigned next to the operating panel and operating box so that he can press the
emergency stop button at any time.
◼When replacing or reassembling the parts, be sure to prevent the foreign matters from
sticking or entering.
◼In case of the repair inside the controller, If the unit, printed circuit board, etc. may be
contacted, be sure to disconnect the power supply of main circuit breaker of controller to
prevent electric shock.
◼Be sure to replace with the parts designated by us.
◼When the manipulator system is restarted after the repair operation, it shall be confirmed
in advance that there are no people in the range of manipulator, and the manipulator and
peripheral equipment are in a normal status.
Safety of peripheral equipment
Precautions in terms of procedures:
◼The detection devices such as the limit switch shall be used to detect the dangerous
status, and the manipulator shall be stopped as needed according to the signals of
detection device.
◼In case of abnormalities of other manipulators or peripheral equipment, the measures shall
be taken, such as stopping the manipulator, even if there is no abnormality in the
manipulator.
◼For the system of which the manipulator is operating synchronously with the peripheral
equipment, special care shall be taken to avoid the interference with each other.
◼The manipulator may be interlocked with peripheral equipment and the manipulator may
be stopped if required so as to control the status of all devices in the system from the
manipulator.

AIR20-1700 Industrial Robot Manipulator Manual
Safety protection measures before use
XIII
Mechanical precautions:
◼Manipulator system shall be kept clean and the use environments shall be free of grease,
water, dust, etc.
◼Do not use the cutting fluids and cleaning agents of unknown nature.
◼Limit switches and mechanical brakes shall be used to limit the operation of manipulator to
avoid the collisions between the manipulator and peripheral equipment.
◼User cables and hoses shall not be added to the manipulator.
◼When installing the cable outside the manipulator, do not interfere with the movement of
machine.
◼For the models of which the cable is exposed, do not conduct the modification that will
interfere with the exposed part of cable.
◼When installing the external device on the manipulator, be sure not to interfere with other
parts of manipulator.
◼For the manipulator in action, the frequent power-off operation via the emergency stop
button may lead to the fault of manipulator.
Mechanical safety of manipulator
Precautions for operation:
When the manipulator is operated in slow feed mode, the operators shall be highly vigilant
regardless of the circumstances and quickly respond to various problems.
Precautions in terms of procedures:
If the ranges of multiple manipulators overlap, care shall be taken to avoid the interference
between manipulators.
Be sure to specify an operation origin for the manipulator program and create a program that
starts and ends at the origin, so that it is clear from the outside whether the manipulator
operation has ended.
Mechanism precautions:
The working environments of manipulator shall be kept clean and free of grease, water, dust,
etc.
Safety of end effector
When controlling various types of transmissions (pneumatic, hydraulic, and electrical), after
issuing the control command, be sure to fully consider the time difference from the issuance to
the actual action and conduct the control with certain room of extension and retraction.
A detection unit shall be set on the end effector to monitor the status of end effector and control
the action of manipulator.

AIR20-1700 Industrial Robot Manipulator Manual
Contents
i
Contents
Foreword........................................................................................................................................................................... I
General safety description ............................................................................................................................................... V
Safety protection measures before use........................................................................................................................... IX
Contents ............................................................................................................................................................................i
Overview and basic composition of manipulator......................................................................................................1
Overview of industrial robot....................................................................................................................................1
Basic composition ...................................................................................................................................................2
Basic specifications.................................................................................................................................................2
Product Naming Rules ............................................................................................................................................4
Environmental requirements...................................................................................................................................4
The label name and meaning of manipulator ...........................................................................................................5
Safety sign of manipulator......................................................................................................................................5
Manipulator nameplate...........................................................................................................................................5
Direction sign of each axis ......................................................................................................................................6
Preparation before Installation.................................................................................................................................7
Check item...............................................................................................................................................................7
Installation tool and required connectors ...............................................................................................................7
Installation of manipulator.......................................................................................................................................9
Technical specifications ..........................................................................................................................................9
Fixed mode ............................................................................................................................................................10
Electrical connection of manipulator......................................................................................................................13
AIR20-1700A manipulator heavy load type...........................................................................................................13
Definitions of heavy-duty interfaces of AIR20-1700A manipulator ......................................................................13
AIR20-1700B manipulator heavy load type...........................................................................................................15
Definitions of heavy-duty interfaces of AIR20-1700B manipulator ......................................................................15
Adaptation and connection of manipulator and accessories ..................................................................................19
Examples of accessory types.................................................................................................................................19
Connection mode ..................................................................................................................................................20
Performance parameters of manipulator................................................................................................................21
Basic specification ................................................................................................................................................21
Dimension and working range of each axis ..........................................................................................................21
Mechanical limit....................................................................................................................................................23
Speed of each axis ................................................................................................................................................24
Output flange size .................................................................................................................................................24
Load and installation method................................................................................................................................25
Calibration of the axes of the manipulator .............................................................................................................31

Contents
AIR20-1700 Industrial Robot Manipulator Manual
ii
General..................................................................................................................................................................31
When calibration is required.................................................................................................................................31
Calibration position of each axis ...........................................................................................................................31
Manipulator transportation and handling ..............................................................................................................35
Handing dimensions..............................................................................................................................................35
Handing posture....................................................................................................................................................38
Handing with Forklift.............................................................................................................................................40
Handing with swinging ring..................................................................................................................................40
General principles of maintenance.........................................................................................................................43
Maintenance items ................................................................................................................................................45
Daily maintenance.................................................................................................................................................45
First maintenance..................................................................................................................................................45
Regular maintenance ............................................................................................................................................46
Project maintenance process .................................................................................................................................49
Cleaning of manipulator........................................................................................................................................49
Check and repair of cable......................................................................................................................................49
Battery replacement..............................................................................................................................................53
Replace grease......................................................................................................................................................54
Replacement of synchronous belt.........................................................................................................................60
Common faults and treatment ...............................................................................................................................63
Conditions of storage.............................................................................................................................................71
Environmental conditions for long-term storage of manipulator..........................................................................71
Precautions for storage of manipulator.................................................................................................................71
Appendix A Periodic maintenance schedule of AIR20-1700 manipulator........................................................................72
Appendix B Table of screw strength and tightening torque (Nm)....................................................................................75

AIR20-1700 Industrial Robot Manipulator Manual
Overview and basic composition of manipulator
1
Overview and basic composition of manipulator
Overview of industrial robot
Industrial robot consists of the following parts are as shown in Figure 1-1 and Figure 1-2:
◼Manipulator
◼Control cabinet
◼Teach pendant
◼Connecting cable [power supply], etc.
Figure 1-1 Composition of AIR20-1700A robot system
Figure 1-2 Composition of AIR20-1700B robot system

Overview and basic composition of manipulator
AIR20-1700 Industrial Robot Manipulator Manual
2
Basic composition
Manipulator refers to the mechanism of robot system to grab or move the objects (tools or workpieces), also known as
the robot body. This manipulator is the 6-DOF tandem industrial robot that consists of three swing axes and three
rotating axes.
Manipulator and the names of its various parts are as shown in Figure 1-3 and Figure 1-4.
Figure 1-3 AIR20-1700A manipulator and its various parts
Figure 1-4 AIR20-1700B manipulator and its various parts
Basic specifications
The basic specifications of AIR20-1700 robot manipulator are as shown in Table 1-1:
Table 1-1 Basic specifications of AIR20-1700 robot
Parameter
Instruction
Coordinate form
6-DOF articulated robot