PushCorp SBS81 Series User manual

SBS81
Series
May, 2013
PUSHCORP, INC.
Dallas,

DO NOT USE LUBRICATED AIR.
This device requires a dry, non lubricated
100 psi (6.9 bar) maximum air supply
filtered to 5 µm and a 0.3 micron oil mist
separator.
Non compliance with these requirements
will void the manufacturer’s warranty.
(See Section 3.4)
All fasteners, mounting holes and pipe
threads on this tool are METRIC.
NEVER OPERATE THE
SBS81 MANUALLY
NEVER OPERATE THE SBS81 WITH
PERSONEL IN THE WORKCELL
All PushCorp, Inc. electrical cables are rated for
high twist and flex robotic applications with a
minimum cable bending radius specification of
125mm (5 in). Cable damage resulting from
failure to abide by this specification will not be
covered under warranty.

PUSHCORP, INC. SBS81 Series Manual 1
Table of Contents
1.0 LIMITED WARRANTY.............................................................................................2
2.0 GENERAL OVERVIEW...........................................................................................4
3.0 INSTALLATION.......................................................................................................5
3.1 Mounting the SBS81.......................................................................................................................... 5
3.2 Electrical Connections....................................................................................................................... 5
3.3 Electrical Control Box........................................................................................................................ 8
3.4 Pneu atic Connections..................................................................................................................... 8
4.0 OPERATION............................................................................................................10
4.1 Belt Media Installation and Re oval..................................................................................................10
4.2 Belt Media Tracking........................................................................................................................... 11
4.3 Achieving Desired Force.................................................................................................................... 11
4.4 Achieving Desired Belt Media Speed................................................................................................. 11
4.5 Servo Motor Drive Belt Replace ent................................................................................................. 12
4.6 Contact Wheel Replace ent............................................................................................................. 12
4.7 Contact Wheel Position Feedback..................................................................................................... 12
5.0 TECHNICAL SPECIFICATIONS.............................................................................13
Copyright  PushCorp, Inc. 2019. All rights reserved

PUSHCORP, INC. SBS81 Series Manual 2
1.0 Limited Warranty
Duration:
One year fro date of delivery to the original purchaser.
Who gives this warranty (warrantor):
PushCorp, Inc.
Telephone: [phone]
Corporate Address:
P. O. Box 181915
Dallas, Texas 75218
Shipping Address:
3001 W. Kingsley Rd.
Garland, Texas 75041
Who receives this warranty (purchaser):
The original purchaser (other than for purposes of resale) of the PushCorp, Inc.
product
What products are covered by this warranty:
Any PushCorp, Inc. Adjustable Force Device or Adjustable Force Device
accessory supplied or anufactured by the Warrantor.
What is covered under this warranty:
Defects in aterial and/or work anship which occur within the duration of the
warranty period.
What is NOT covered in this warranty:
A. IMPLIED WARRANTIES, INCLUDING THOSE OF MERCHANT-ABILITY
AND FITNESS FOR A PARTICULAR PURPOSE ARE LIMITED TO ONE
YEAR FROM THE DATE OF ORIGINAL PURCHASE. So e states do not
allow li itations on how long an i plied warranty lasts, so the above
li itations ay not apply to you.
B. ANY INCIDENTAL, INDIRECT, OR CONSEQUENTIAL LOSS, DAMAGE or
EXPENSE THAT MAY RESULT FROM ANY DEFECT, FAILURE,
MALFUNCTION OF THE PUSHCORP, INC. PRODUCT. So e states do not
allow the exclusion or li itation of incidental or consequential da ages so
the above li itation or exclusion ay not apply to you.
C. Any failure that results fro an accident, purchaser's abuse, neglect,
unauthorized repair or failure to operate the products in accordance with the
instructions provided in the owner's anual(s) supplied with the product.
Responsibilities of the Warrantor under this warranty:
Repair or replace, at Warrantor's option, products or co ponents which have
failed within the duration of the warranty period.
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PUSHCORP, INC. SBS81 Series Manual 3
Responsibilities of the purchaser under this warranty:
A. Deliver or ship the PushCorp, Inc. product or co ponent to PushCorp, Inc.
Service Center, Dallas, TX. Freight and insurance costs, if any, ust be
borne by the purchaser.
B. Use reasonable care in the operation and aintenance of the product as
described in the owner's anual(s).
When warrantor will perform repair or replacement under this warranty:
Repair or replace ent will be scheduled and serviced according to the nor al
work flow at the service center, and depending on the availability of replace ent
parts. Purchasers requiring quicker repair ay receive such with pay ent of a
PushCorp, Inc. predeter ined expediting fee.
This Li ited Warranty gives you specific legal rights and you ay also have other rights
which vary fro state to state.
Copyright  PushCorp, Inc. 2019. All rights reserved

PUSHCORP, INC. SBS81 Series Manual 4
2.0 General Overview
The PushCorp SBS81 Series Servo Belt Stand co bines passive co pliant force
control and closed-loop servo otor speed control technology. The SBS81 has been
designed fro the ground up as a belt stand for robotic finishing with any new and
unique features. Accurate force and speed control allows you to achieve unprecedented
levels of quality and consistency. The SBS81 enables axi u flexibility for any part-
in-hand grinding, sanding, buffing or polishing application. Linear co pliance with 1.6
inches (40 ) of travel and excellent access allow a robot to easily anipulate parts
over the Belt Media. An i portant feature of the SBS81 Belt Stand is the high torque
servo otor and belt drive. The belt drive syste provides a 2:1 increase in torque at
the contact wheels for heavy aterial re oval.
The force control technology in the SBS81 is based on the PushCorp Passive AFD80
Series Force Devices. This technology has proven itself in thousands of hours of
production robotic applications. A basic regulator supplied with SBS81 allows the
SBS81’s force to be varied fro 0 to 50 lbs. (0 to 222 N). This regulator has a coarse
adjust ent and ust be anually set to the desired force output. If the force ust vary
during the finishing process, then an electrically controlled proportional regulator is
required. Very accurate force output requires a precision regulator that operates in a
narrow pressure range.
The SBS81 has a nu ber of notable features that contributes to ease-of-use, and
greater throughput. The Belt Media can be tracked re otely outside the work cell for
convenience and user safety. When the Belt Media needs replacing the operator
anually releases the tension using a lever ounted right on the unit. A belt tension
sensor is provided to notify the user that the Belt Media has not been tensioned. A belt
break sensor is also provided to notify the user if the Belt Media should break. These
sensors can be used by the custo er to progra faults to prevent the syste fro
starting should the Belt Media not be tensioned, or to ove the robot away, and stop the
syste should a belt break. These features protect the user and equip ent, while also
reducing downti e.
In ost any finishing process, consistency is of para ount i portance. For this reason
the SBS81 is powered by a high torque servo otor with adjustable speed control that
can be varied at any ti e during the finishing process. The SBS81 has a 5.7
horsepower (4.28 kW) otor that supplies 14.7 lbft (20 N) of torque and a axi u
speed of 2000 RPM at the contact wheels. This provides a range of Belt Media surface
speeds up to 7330 SFPM (Surface Feet Per Minute). The SBS81 requires 14 inch (356
) dia eter Contact Wheels with a width of 2”, 3”, or 4”. The unit is setup to use
standard 132 inch long Belt Media. For ulti- edia finishing applications, the rubber
contact wheel can be replaced with Scotchbrite, or cloth wheels. This flexibility allows
the SBS81 to perfor a wide variety of finishing applications.
Copyright  PushCorp, Inc. 2019. All rights reserved

PUSHCORP, INC. SBS81 Series Manual 5
3.0 Installation
3.1 Mounting the SBS81
The SBS81 Servo Belt Stand is secured by four (4) fasteners passing through ounting
holes located in the Base Plate (See Figure 4). The Base Plate ounting hole locations
are shown in Figure 1. The SBS81 ust be securely ounted to keep the unit fro
oving during operation. The unit ust be ounted level to achieve the desired force
output at the Contact Wheels. A spirit level can be place on the top of the Belt Stand
and shi s can be inserted under the Base Plate as required.
WARNING: Do NOT operate the unit without first mounting it securely.
Figure 1. SBS81 Base Plate
The SBS81 attaches with four (4) fasteners, 1/2 inch (12 ) in dia eter. These
fasteners are to be provided by the installer.
3.2 Electrical Connections
The SBS81 requires 208 - 480 VAC 3-Phase 50-60 Hz. power to operate. This should
be supplied to the Power Connector on the Control Box. The electrical interface for
servo otor control, AFD feedback, and Belt Media tracking is operated through the
User Interface Connector. Figure 2 shows a typical anual interface sche atic, which
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PUSHCORP, INC. SBS81 Series Manual 6
the custo er could i ple ent. The unit is supplied with plugs for both the Power
Connector and User Interface Connector
Figure 2. SBS81 Typical User Interface Sche atic
The circuit diagra in Figure 2 shows the SBS81 wired for stand-alone panel operation.
All circuitry on the SBS81 is designed for 24 VDC control voltages.
The switch ele ents connected to Pins 16, 17, and 18 control the re ote belt tracking
feature of the unit. The right and left side are defined by viewing the unit fro the front
facing the Contact Wheels. The selector switch connected to Pin 16, deter ines which
side will be controlled for the belt tracking operation. The push button switches on Pins
17 and 18 turn on the selected belt tracking actuator to track the belt outward and
inward respectively. These custo er panel ount push buttons ay be replaced with
relays if re ote robot teach pendent operation is desired.
The Belt Media/Contact Wheel speed is controlled via a 0 - 10 VDC analog signal
applied to Pins 9 and 10. Providing a positive analog voltage will rotate the Contact
Wheels in a downward direction when facing the unit fro the front. The SBS81 is
nor ally rotated in this direction to direct dust to the floor or into a user supplied dust
collection syste . The analog input is a true floating differential signal connected
directly to the servo a plifier. The circuit shown in Figure 2 is an exa ple of how the
Contact Wheel speed ay be controlled with a si ple panel ount linear potentio eter.
If re ote robot teach pendent adjust ent is desired, the potentio eter would be
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PUSHCORP, INC. SBS81 Series Manual 7
replaced with a 0 - 10VDC analog signal fro a robot or PLC analog output card
connected directly to Pins 9 and 10.
WARNING: The differential voltage applied to Pins 9 and 10 should not exceed 10
VDC or damage will occur to the servo amplifier.
Ter inal 7, shown in Figure 2 provides the servo a plifier enable signal. Connecting
Ter inal 7 to +24VDC enables the servo a plifier and applies voltage to the servo
otor. Re oving voltage fro ter inal 7 disables the a plifier.
The “DRIVE OK” output on Ter inal 11 should be continuously onitored by the End-
user control syste . This signal should be “ON” during nor al operation. An “OFF”
condition indicates a drive fault. The cause of the fault will be indicated by a flashing
code on the servo drive a plifier.
OPERATION SHOULD CEASE UNTIL THE FAULT CONDITION IS CORRECTED.
The Electrical Control box includes a built-in E-Stop push button switch that, when
pressed, i ediately re oves all electrical power fro the otor. If desired, the SBS81
can be connected to an external, dual-channel, E-Stop circuit by connecting to the STO1
and STO2 signal on Ter inals 3, 4, 5, and 6 as shown.
It is the responsibility of the System Integrator or End user to follow all applicable
electrical codes and OSHA safety standards when wiring the SBS81. This
includes the proper and judicious use of fuses, contactors, cut off switches, lock
out switches, and Emergency Stop circuits. PushCorp, Inc. assumes no
responsibility or liability for the electrical system design and implementation of
the SBS81 in the End user application. Refer to OSHA rules and regulations, as
well as the CE Machinery (IEC 204 1), when designing systems that include
motors and drives to ensure that the user is protected.
PushCorp will provide answers to any questions regarding the servo drive syste and
will be responsible for any warranty issues.
Copyright  PushCorp, Inc. 2019. All rights reserved

PUSHCORP, INC. SBS81 Series Manual 8
3.3 Electrical Control Box
The SBS81 Electrical Control Box is designed to be wall ounted outside the robot work
area in a relatively clean environ ent. Figure 4 shows the ounting di ensions of the
electrical enclosure.
Figure 3. Electrical Control Box Mounting
It is the responsibility of the installer to punch holes in the enclosure for conduit and/or
cord grips as required for the electrical supply power wiring and low-voltage control
signals.
3.4 Pneumatic Connections
The SBS81 Belt Stand requires a dry, non-lubricated, 5 icron filtered, 80 to 100 psi (5
to 7 Bar) air supply with a 0.3 icron oil ist separator. Failure to provide supply air to
these specifications can degrade perfor ance and will void any warranty repairs
concerning pneu atic co ponents. Additionally, a minimum 80 psi (5 Bar) air pressure
ust be aintained for the device to operate within published specifications. Low air
pressure will cause inferior force control perfor ance and not allow the Belt Media to be
properly tensioned.
The pneu atic supply syste should be configured as shown in Figure 3.
Copyright  PushCorp, Inc. 2019. All rights reserved