rozum robotics Pulse Assembly instructions

ROZUM ROBOTICS PULSE robotic arm
Page 2 | 23
TABLE OF CONTENTS
INTRODUCTION......................................................................................................................... 3
WARNING SIGNS AND THEIR MEANINGS......................................................................... 3
1. PRODUCT OVERVIEW......................................................................................................... 4
1.1. Basic features and components......................................................................................... 4
1.2. Use restrictions................................................................................................................... 5
1.3. Supply package................................................................................................................... 6
1.4. Specifications of the robotic arm...................................................................................... 6
1.5. Operating conditions ......................................................................................................... 8
1.6. Control box......................................................................................................................... 8
The front panel........................................................................................................................ 9
The back panel...................................................................................................................... 10
1.7. Emergency stop button.................................................................................................... 10
1.8. Wrist.................................................................................................................................. 11
1.9. Control buttons ................................................................................................................ 12
2. INSTALLATION.................................................................................................................... 13
2.1. General requirements...................................................................................................... 13
Continuous power supply requirement................................................................................. 14
2.2. Mechanical integration.................................................................................................... 14
2.2.1. Mounting the robotic arm ........................................................................................... 14
2.2.2. Installing the control box............................................................................................ 15
2.3. Electrical integration....................................................................................................... 15
2.3.1. Power connection........................................................................................................ 16
2.3.3. Digital I/O connectors................................................................................................. 16
2.4. Mounting an end effector................................................................................................ 17
2.5. Integration sequence........................................................................................................ 19
3. COMMISSIONING................................................................................................................ 20
ANNEX I. DIMENSIONAL DRAWING OF THE PULSE ROBOTIC ARM..................... 22
ANNEX II. KINEMATICS OF THE PULSE ARM................................................................ 23

ROZUM ROBOTICS PULSE robotic arm
Page 3 | 23
INTRODUCTION
This manual is intended to assist an integrator in installing and commissioning a system
comprising the PULSE robotic arm (hereinafter, a robotic arm or an arm), an end effector (also, a
work tool), a control box, and an emergency stop button. The document contains the following
information about the system:
basic features and components
operating conditions and use restrictions
dimensions and specifications
requirements and instructions on mechanical and electrical integration
pre-commissioning checks and the commissioning procedure
WARNING SIGNS AND THEIR MEANINGS
Below are the warning symbols used throughout the manual and explanations of their meanings.
The sign denotes important information that is not directly related to safety, but that the
user should be aware of.
The sign indicates important safety precautions the user should follow.

ROZUM ROBOTICS PULSE robotic arm
Page 4 | 23
1. PRODUCT OVERVIEW
1.1. Basic features and components
The PULSE robotic arm is designed for collaborative operation in industrial and commercial
applications, including:
pick-and-place
packing
assembly
machine tending
screwing
gluing
welding, etc.
Although the arm is designed to operate safely in close proximity to humans, the
integrator must conduct risk assessments for specific installations to evaluate the need
for additional safety measures (e.g., safeguards).
Apart from the robotic arm, the supply package includes the hardware and software components
listed in Table 1-1.
Table 1-1: Hardware and software components supplied with the PULSE arm
Component
Intended use
For details,
refer to
Hardware
Control box
To control operation of the PULSE robotic arm
Section 1.6
Emergency
stop button
To ensure Category 1 stop of the robotic arm in an emergency
Section 1.7
Software
PULSE DESK
The software is pre-installed on the PC module integrated into the
control box. It allows for programming the arm to move along a
desired trajectory and perform different kinds of operations with
a work tool.
Pulse Desk.
Operator
Manual
The PULSE robotic arm boasts modular design comprising elements as below (Figure 1-1):
aluminum alloy tubes (1)
Rozum Robotics self-designed servo motors (2)
elbow fittings (3)

ROZUM ROBOTICS PULSE robotic arm
Page 5 | 23
Figure 1-1: Structural elements of the PULSE robotic arm
The modular design allows for assembling individual segments into custom
configurations (e.g., to increase/ decrease the payload or degrees of freedom, to extend
the reach, etc.).
The elements form six interlinked axes (seeFigure 1-2). In addition, the arm includes thefollowing
structural segments:
an end effector mounting flange (a wrist)
an arm base
a mounting plate
Figure 1-2: Structural segments of the PULSE robotic arm
1.2. Use restrictions
Make sure to observe the following use restrictions for the PULSE robotic arm:
Failure to observe the restrictions shall constitute a misuse, making our warranty
void.
1
Mounting plate
2
Arm base
3
Axis 1
4
Axis 2
5
Axis 3
6
Axis 4
7
Axis 5
8
Axis 6
9
Wrist (end effector
mounting flange)

ROZUM ROBOTICS PULSE robotic arm
Page 6 | 23
Never install or operate the PULSE robotic arm in an explosive or flammable environment.
The atmosphere at the operating location of the robotic arm should not contain corrosive
gases or liquids, salt, radioactive substances, oil mist, dust or metal powders.
Always conduct a risk assessment of the operating environment before installing and
operating the PULSE robotic arm.
Avoid using the PULSE robotic arm outside the operating conditions (see Section 1.5).
1.3. Supply package
The supply package of the PULSE robotic arm contains the following components:
a robotic arm assembled with a mounting plate and a wrist
a control box
an emergency stop button pre-assembled with a connection cable
a 220V power cable
a hybrid cable to connect the robotic arm and the control box
user documentation (also available at our website)
1.4. Specifications of the robotic arm
The PULSE robotic arm has the specifications as listed in Table 1-2.
Table 1-2: Specifications of the PULSE robotic arm
Specification
Value
Weight1)
12.6 kg
Payload1)
4 kg
Degrees of freedom1)
6 axes
Reach1)
630 mm
Repeatability
+/-0.3 mm
Non-stop lifetime cycle
20,000+ hours
Protection class
IP20
Noise level
less than 60 dB
Rated voltage
48 VDC
Average power
400 W
Maximum power
1,000 W
Maximum joint speed
0.5 RPS
Joint acceleration
5 rad/s2
Max tool center point (TCP) velocity
2 m/s
Acceleration time 0-1 m/s
0.1 s
1) The specification values can vary, depending on the customer precise requirements. There is a possibility to extend the reach,
increase the weight and the payload, and to add a seventh degree of freedom.

ROZUM ROBOTICS PULSE robotic arm
Page 7 | 23
The dimensions of the arm's six axes are as shown in Figure 1-3 (for detailed dimensions, see also
the dimensional drawing in Annex I).
Figure 1-3: Lengths of the robotic arm axes
The motion ranges for each of the axes are as listed in Table 1-3.
Table 1-3: Motion ranges and maximum speeds of the robot axes
Axis
Motion range
Maximum speed
Axis 1 (base)
-360° to 360°
180°/s
Axis 2
-360° to 360°
180°/s
Axis 3
-160° to 160°
180°/s
Axis 4
-170° to 170°
180°/s
Axis 5
-360° to 360°
180°/s
Axis 6
-360° to 360°
180°/s

ROZUM ROBOTICS PULSE robotic arm
Page 8 | 23
Figure 1-4 illustrates the workspace of the PULSE robotic arm.
Figure 1-4: Workspace of the PULSE robotic arm
The cylinder-shape area of 0.239 m in diameter around the robot base is the infinite
solutions area. It is advisable to avoid programming any arm or work tool moves
within the area.
1.5. Operating conditions
The PULSE robotic arm is intended for indoor use only. When operating it, make sure to also
comply with the following requirements:
Ambient temperature: 0°C to +45°C
1.6. Control box
In the PULSE robotic arm system, the control box monitors and controls operation of the arm,
while providing an interface for communication between the hardware and software components
of the system.
The control box is a case of the dimensions in accordance with Table 1-4. It comprises a personal
computer (PC) module with pre-installed control software (PULSE DESK), as well as other
modules that perform communication, safety, and other essential functions.

ROZUM ROBOTICS PULSE robotic arm
Page 9 | 23
Table 1-4: Specifications of the control box
Specification
Value
Weight
9 kg
Dimensions (D x W x H)
283 x 483 x 91 mm
Noise level
Less than 60 dB
Protection rating
IP20
Interfaces
4 digital inputs, 2 digital outputs
1 USB port
1 Ethernet port (RJ-45, 100 BASE-T)
API implementation options
Python/ REST API
The front panel
On the front panel of the control box, there are two light-emitting diodes (LED)—a green and a
red one (see Figure 1-5).
Figure 1-5: The front panel of the control box
The front panel LEDs signal different states of the robotic arm system as described in Table 1-5.
Table 1-5: LEDs on the front panel of the control box
Purpose
State / event
in the robotic arm system
LED color
Mode
Signals system states
System switched off
Green
LED off
Bootup
blinking
Ready
constantly ON
Work
constantly ON
System shutting down
constantly ON
LED state by default
constantly ON
Error
flickering
Signals errors
System switched off
Red
LED off
LED state by default
LED off
Error
constantly ON

ROZUM ROBOTICS PULSE robotic arm
Page 10 | 23
The back panel
On the back panel of the control box, you can find the following:
all major connectors of the robotic arm system
a power switch
a mains fuse
four holes for rack mounting
Figure 1-6: The back panel of the control box
No.
Intended use
1
4 digital inputs and 2 digital outputs (for details, see Section 2.3.3)
2
USB 2.0 port
3
mains fuse
4
220V power cable connector
5
mains switch to switch on/ off power supply
6
Ethernet port for integrating the robotic arm into an enterprise network (for specifications,
see Table 1.4)
7
Connector for an emergency stop button
8
48V connector for the cable connecting the control box with the robotic arm
9
mounting holes
1.7. Emergency stop button
For the PULSE robotic arm, the emergency stop button is supplied as a standalone device pre-
assembled with a connection cable. The button is designed to provide Category 1 Stop in
accordance with ISO 10218-1—a controlled stop with power supplied to the servo motors in the
arm joints until full stop is achieved.

ROZUM ROBOTICS PULSE robotic arm
Page 11 | 23
Figure 1-7: The emergency stop button
The actual appearance of the emergency stop button can differ from that shown in
Figure 1-7.
Each robotic arm installation should have its own emergency stop button. You can place the button
at any location within the operator's reach. Use the button to immediately stop the robotic arm in
an emergency, when other protective measures have proved to be impracticable or inefficient.
To resume operation of the robotic arm after an emergency shutdown, reset the system as
described below:
1. Wait for the arm to come to a full stop. The LED on the arm's wrist should go off.
2. Unpress the emergency stop button.
3. Flip the power switch on the back panel of the control box to the off position or unplug the
power cord from the mains socket.
4. Switch the system on again as described in Section 3.
Before restarting the system after an emergency shutdown, make sure the emergency
stop button is unpressed. Otherwise, the system fails start, causing the red LED on
the control box to light up.
1.8. Wrist
The robotic arm is supplied pre-assembled with a wrist—a special flange for integrating an end
effector.
An end effector is a tool or a device designed to enable the robotic arm to perform
various operations as required for its intended application. End effectors are beyond
the scope of Rozum Robotics supply.

ROZUM ROBOTICS PULSE robotic arm
Page 12 | 23
Figure 1-8: The wrist of the PULSE arm
The wrist of the PULSE robotic arm features:
a standard ISO 9409-1-50-4-M6 mechanical interface (1)
a cable output (2) for connecting an end effector electrically
a LED indicator (3)
When an installation requires a mechanical interface different from the standard ISO
9409-1-50-4-M6 one, the user (integrator) has to provide a proper adaptor for
integrating an end effector.
The states of the wrist LED are as described in Table 1-6.
Arm state
LED signal
Power off
Off (no indication)
Standby mode (freeze state)
Green on
Operation (in motion)
Blinking green
Learn mode
Steady yellow
Error
Steady red
A control button pressed
Blinking color
1.9. Control buttons
For the current robot design (intended for use together with a gripper work tool), control buttons
are located on the elbow fitting above the wrist (see Figure 1-9).

ROZUM ROBOTICS PULSE robotic arm
Page 13 | 23
Figure 1-9: Control buttons on the PULSE arm
The functions of the buttons are as described in Table 1-6 below. For more details about using the
buttons to operate the arm, refer to “PULSE DESK. OPERATOR’S MANUAL.”
Table 1-6: Functions of the control buttons
Name
Function
Free Drive mode
To enable/ disable Free Drive mode (in the mode, the user can teach an arm
different trajectories by moving its axes by hand)
Point
To add points to a program running in the PULSE DESK software
Open gripper
To open the gripper attached to the wrist
Close gripper
To close the gripper attached to the wrist
2. INSTALLATION
2.1. General requirements
The PULSE robotic arm is partly completed machinery, which means its safe operation largely
depends on the operating environment. Therefore, it is common practice to conduct a risk
assessment of the operating environment for each particular installation. The risk assessment is
the responsibility of the integrator. Based on its results, the integrator determines whether
additional safety measures (e.g., safeguards) are needed to protect the operator working with the
robotic arm in the installation.
Before installation, carry out the following preparatory works:
1. Unpack the robotic arm and other components.
2. Check the supply package against the list in Section 1.3.

ROZUM ROBOTICS PULSE robotic arm
Page 14 | 23
3. Check the appearance of the robotic arm and other components for any damages or defects.
If you find any obvious damages or defects or find out that any of the supply package
components is missing, contact the dealer or the manufacturer.
When unpacking and installing the robotic arm, make sure not to move or rotate the
robot joints manually because this can cause damage to the arm.
Installation of the PULSE robotic arm requires completing the following two steps:
1. Mechanical integration
2. Electrical integration
Continuous power supply requirement
For safety reasons, the integrator shall be obliged to provide continuous power supply to the robotic
arm (e.g., installing an uninterruptible power supply, a redundancy circuit, etc.). Otherwise, we
cannot guarantee that the robotic arm maintains its position during a power outage, which may
result in serious damage to its components.
2.2. Mechanical integration
Pinching hazard! When performing mounting works, keep your fingers away from
the arm joints to avoid entrapment. Do not wear loose clothing or jewelry. Make sure
long hair is tied back.
2.2.1. Mounting the robotic arm
Though the footprint of the PULSE robotic arm is as small as 120 mm (see Figure 2-1), you need
to account for the arm workspace (Figure 1-4) when choosing a mounting location. This is
important to exclude collisions with other equipment or objects.
The recommended mounting position for the PULSE robotic arm is vertical, on a horizontal
immovable surface. The mounting surface should be:
flat, solid, and stable
able to sustain 8 times the weight of the robotic arm (see Table 1-2)
The installation procedure includes the following steps:
1. Position the robot arm vertically.
2. Holding the arm tight, fix it on the mounting surface with four M8 bolts using the four 9-mm
dia. holes in the mounting plate (see Figure 2-1).

ROZUM ROBOTICS PULSE robotic arm
Page 15 | 23
Figure 2-1: The footprint of the PULSE robotic arm
2.2.2. Installing the control box
There are three methods to install the control box:
horizontal positioning on a flat solid surface (e. g., a table)
vertical positioning using a specially designed stand
rack mounting (DIN 19")
The exact installation method depends on the particular operating environment of the PULSE
robotic arm and your requirements. In any case, the distance from the control box to the robotic
arm should not exceed 3 meters—the length of the connection cable. Otherwise, you will have to
use a cable extension.
When installing the control box, provide an air gap of 50 mm from its front and back
panels.
2.3. Electrical integration
Before proceeding to any electrical integration works, make sure no power is supplied
to the robotic arm or the control box.
All major connections required to provide electrical integration of the robotic arm into your
application are located on the back panel of the control box (see Figure 1-6).

ROZUM ROBOTICS PULSE robotic arm
Page 16 | 23
2.3.1. Power connection
The power connection of the control box is in accordance with the IEC 60320-1 C14 standard. The
electrical specifications are as indicated in Table 2-1.
Table 2-1: Electrical specifications of the control box power connection
Parameter
Value/ range
Unit
Input voltage
100–264
VAC
Mains frequency
47–63
Hz
Standby power
10
W
Average operating power
400
W
For enhanced safety, consider installing an external mains switch with a fuse.
2.3.3. Digital I/O connectors
The control box has 4 digital inputs and 2 digital outputs that you can use to connect additional
equipment, including sensors, safety devices, PLC, etc. The connectors are located on the back
panel of the control box (see Figure 1-6).
The cable length from the digital inputs/ outputs to connected equipment should not
exceed 2 m. Otherwise, signal quality may suffer.
For the current control box configuration, the two lower digital I/O connectors have the
RESERVED status. The pin assignment for the two upper ones is as illustrated in Figure 2-2.
Figure 2-2: Pin assignment for digital I/O connectors

ROZUM ROBOTICS PULSE robotic arm
Page 17 | 23
Table 2-3: Specifications of relay outputs
Relay output 1
Relay output 2
Description
Specifications
COM1
COM2
Common
Contact capacity: 48 V, 0.5 A
NC1
NC2
Normally closed
NO1
NO2
Normally open
Table 2-4: Specifications of digital inputs
Digital input
Description
Specifications
12 V DC
Power for an external device
Max current load: 1 A
GND
Ground, 0 V
DI1, DI2, DI3, DI4
Digital input
Max permissible current: 35 mA
Input voltage range (Hi level): 5-12 V
Input voltage range (Low level): 0-1.5 V
2.4. Mounting an end effector
Depending on particular needs, you can use different end effectors with the PULSE robotic arm.
Possible options include grippers for pick-and-place operations, material removal tools for cutting,
drilling, and deburring, welding torches, etc.
Selecting a proper type and model of an end effector is the responsibility of the
integrator.
To attach an end effector to the robotic arm, use the mechanical and electrical interfaces on its
wrist (see Figure 1-8). In its basic design, the wrist of the PULSE robotic arm has the standard
ISO 9409-1-50-4-M6 mechanical interface as shown in Figure 2-3.

ROZUM ROBOTICS PULSE robotic arm
Page 18 | 23
Figure 2-3: Basic mechanical interface on the arm wrist
In case your end effector has a mechanical interface different from the standard ISO
9409-1-50-4-M6 one, make sure to use an appropriate adaptor.
The basic electrical interface of the arm wrist is a socket of the configuration as shown in
Figure 2-4.
Figure 2-4: Basic electrical interface on the arm wrist
The pin assignment in the socket is as described in Table 2-3.
Table 2-3: Pin assignment in the end effector socket
Pin
Wire color
Signal
1
Brown
+24V
2
White
Digital output 1
3
Blue
GND
4
Black
Digital output 2
Figure 2-5 below is the electrical diagram for the digital outputs in the end effector socket on the
wrist. Make sure to observe the specified parameters when selecting and connecting an end
effector.

ROZUM ROBOTICS PULSE robotic arm
Page 19 | 23
Figure 2-5: Electrical diagram for the digital outputs of the end effector socket
2.5. Integration sequence
To integrate the PULSE robotic arm system into your application, it is recommended to follow the
sequence of steps as below:
The sequence of Steps 2 to 7 is for reference only. You can re-arrange the steps at your
convenience. For safety reasons, it is advisable to connect the robotic arm system to
power supply as your last integration step.
Always use the original cables included in the supply package!
1. Mount the robotic arm on a mounting surface at a selected location (refer to Section 2.2).
2. Attach your selected end effector to the wrist of the robotic arm (refer to Section 2.4).
3. Plug the emergency stop button cable into the appropriate connector (No. 7, Figure 1-6)
on the back panel of the control box.
4. Connect the arm with the control box using the 48V hybrid cable from the supply package.
The cable must run from the connector at the bottom of the robotic arm to the 48V
connector (No. 8, Figure 1-6) on the back panel of the control box. This connection not
only supplies power to the arm, but also provide communication between the components
of the robotic arm system—the arm, the control box, and the end effector.
5. (Optional) Connect any required additional equipment (e.g., a sensor, a safeguard, a PLC)
to the robotic arm system using the digital I/Os (No. 1, Figure 1-6) on the back panel of
the control box. For detailed information, see Section 2.3.3.
6. Connect the control box to a power supply (the mains network) using the 220V power
cable included in the supply package. The power supply connector is located on the back
panel of the control box (No. 4, Figure 1-6).

ROZUM ROBOTICS PULSE robotic arm
Page 20 | 23
3. COMMISSIONING
Once you have integrated the PULSE robotic arm system into your application as described in
Section 2.5, you can proceed commissioning the system and actually working with it. Before the
initial and any subsequent starts, make sure to check the following:
The robotic arm is fixed securely on a sturdy mounting surface and can remain stable during
operation.
If the attachments of the robotic arm are not secure enough and the mounting
surface is not sufficiently sturdy, the robot can fall over during operation and
cause an injury.
The end effector is securely attached to the arm wrist and will not fall out during operation.
All cables are intact and connected to appropriate connectors.
The emergency stop button is attached to the control box and is located where the operator
can reach it from his/her workplace at any moment.
The operating conditions comply with the requirements as set forth in Section 1.5.
All risks identified during a risk assessment of the operating environment have either been
eliminated or mitigated by implementing appropriate measures (e.g., safeguards, limiting
access to the arm workspace).
There are no obstacles within the workspace of the robotic arm that could prevent the arm
from moving freely or operating properly.
To start the PULSE robot, follow the sequence as below:
1. Make sure the power cord of the control box is plugged into the mains socket.
2. Flip the external mains switch (if any) to the ON position.
3. Flip the power switch on the back panel of the control box to the ON position. Once you
flip the power switch on, the green LED on the front panel of the control box double-
flashes.
Figure 3-1: The power switch on the back panel of the control box
The control box starts initializing. During the bootup process, the green LED (Figure 1-4)
on the front panel of the control box blinks.