rozum robotics Pulse Assembly instructions

ROZUM ROBOTICS PULSE robotic arm
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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

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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.

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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)

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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)

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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.

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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

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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.

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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

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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.