Syntec R Series User manual

LA906-7 Product Manual
匯出日期：2023-12-04
修改日期：2023-09-04

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About this user manual
Thank you for buying our robot products.
The manual records the precautions for correct installation and use of the solution.
Please read the manual and other related manuals carefully before install and use the
solution.
Please keep properly after reading the manual for future accessible anytime.
Unauthorized copy or reproduction of partial or full contents of this manual is prohibited.
The contents of this manual are subject to change at any time without prior notice.
Please correct us if you found any wrong contents or anything which is needed for
improvement.
Except as expressly stated in this manual, any contents in this manual shall not be construed
as any warranty or guarantee by the Company for personal loss, damage to property, or
specific applicability, etc.
The Company shall not be liable for accidental or consequential injury arising out of the use of
this manual and the products described therein.
Manual content
This manual contains the following instructions：
Installation of robots
The use of robots
Maintenance of robots
Reading object
This manual is oriented toward：
Installers
Technician
Warranty
The robot and its optional components are delivered after go through the company's strict
quality control, testing and inspection, and the performance is confirmed to meet the
company's standards.
Within the warranty period of the delivered products, the company will provide free repairs
for malfunctions that occurred during normal use. (For warranty period, please consult your
regional salesperson.)
However, the customer will be charged for repairs (even within the warranty period) if:
1.Damages or failures caused by improper use and incorrect use without following the
manual.
2.Failures caused by the customer's unauthorized disassembly.

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3.Damages caused by improper adjustment or unauthorized repair.
4.Damages caused by natural disasters such as earthquake and flood.
Warning
1.If the use of robots or related equipment exceeds the conditions of use and product
specifications described in this manual, the warranty will be invalid.
2. The Company shall not be liable for any fault or accident, or even personal injury or death
caused by the use of the products.
3. The Company cannot foresee all possible risks and consequences. Therefore, this manual
cannot warn the user of all possible risks.
Inquiry
For the repair/inspection/adjustment of the robot, please contact our after-sales department.
If no after-sales department is recorded, please contact your local distributor.
To save your time, please prepare the following items before contacting:
- Controller name/serial number
- Robot name/serial number
- Software name/version
- Problems with the system

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Contents–5
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1 Contents
Contents
Safety
Operate the teach pendant
Recovery From Emergency Stop
Safety Considerations For Manual Mode
Safety Considerations For Automatic Mode
Emergency Handle
Product overview
Overview of Robot System
Load capacity
Function and purpose
Basic principles and main technologies applied
Overview of Robot Structure
Technical parameters
Specifications
The workspace
Output flange
Electronic Control Box Specification
The installation
Environmental Conditions
On-site installation
Transportation
Installation
Mechanical Interface
Electrical connections
Wiring connection
Grounding Instructions
User Wiring
IO Wiring Definition
Function test
Check before Power-on
Power-on abnormality check
Check the Mastering position, direction and soft limit of each axis of the robot
Test procedure of Automatic Mode
Maintenance
About safety during maintenance
Troubleshooting
Maintenance plan
Check interval
Tightening of hexagon socket screws
The maintenance of synchronous belt
2nd-axis synchronous belt maintenance
3rd-axis synchronous belt maintenance
4th axis synchronous belt maintenance
5/6th axis synchronous belt maintenance
Battery Change Description
Zero Point
About mechanical home
Zero point calibration
Calibration steps

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Contents–6
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Appendix
Appendix 1: IP67 Reinforcement Kit Installation
1.1 Corresponding Model
1.2 Part List
1.3 Pneumatic Wiring Schematic
1.4 Installation Procedure
1.5 Mounting
1.6 Maintenance Precautions

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Safety–7
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2 Safety
Personal Safety
Basic Principle
There are a few simple principles that must be followed in order to operate a robot
safely：
All of the operating procedures must be professionally evaluated and based on
relevant industrial safety regulations.
Operators who work with robots must wear safety equipment suitable for the
working environment before performing operations, such as safety vests, safety
shoes and safety helmets.
When personnel encounter danger or other emergency and abnormal
situations due to the robot, please press the emergency stop button for the first
time, and use the manual mode to move the robot away from the dangerous
situation at low speed.
A safety area must be set outside the working area of the robot, and
appropriate safety devices must be used to prevent unauthorized personnel
from entering.
The operator must be outside the safe area to operate the robot.
When a worker is in the safe area of the robot, the robot can only be
operated in manual mode.
When you enter the secure area of the robot, you must hold the teach
pendantin your hand to ensure that the robot is under your control.
Keep an eye out for moving tools, such as drills, saws, etc. installed on the
robot. Make sure the tools stop working before approaching the robot.
Be aware of work piece surface or robot body. The temperature of robot motor
and outer shell may be very high after working for long time.
Pay attention to the robot's gripper and the objects it is holding. If the gripper is
opened, the workpiece may fall and cause injury to personnel or damage to
equipment. In addition, the grippers used by the robot can be very powerful
and can cause damage if not used properly.
Pay attention to the electrical components inside the robot and control
cabinet. Even if the power has been cut, the energy retained in the device can
be very dangerous.
Climbing on robot is prohibited.
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Warning
Relevant education training and permission is a must for the person installing the robot.
In order to protect personal safety, the installation procedures in this manual and related industrial
safety regulations must be followed.
Control box should be away from high voltage and other component that generate electromagnetic
field, to prevent the electromagnetic interference which may cause deviation or malfunction of the
robot.
The robot may damage or malfunction if non-original manufacture components used.
Be careful of the heat source generated by the controller and servo motor.
Do not excessively bend the power signal cable. Otherwise, it may cause unexpected danger.

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Precautions for using hydraulic and pneumatic
2.1 Operate the teach pendant
Instruction
The teachpendantequipped with Syntec system is manufactured with advanced electronic
components. In order to avoid failure or damage during use, please follow the following
requirements.
Handheld teach pendants are developed, manufactured and tested in accordance with
relevant industry standards and are intended for use only as described in this manual. If you
follow the requirements in this manual, the teach pendant controller will not cause personal
injury or damage in normal use.
Operation and cleaning
Handle it lightly to avoid falling, throwing or a strong impact on teach pendant.
Otherwise, it may cause obstacles.
If the teach pendantexperiences a strong shock, verify that the enable switch and
emergency stop button are still in normal working conditions before using again.
When you do not use the teaching device, please store it properly to avoid accidental
dropping.
Avoid tripping over your own cable when using the teach pendant.
Do not operate the touch screen with sharp objects, such as a screwdriver, pen tip,
etc.. Otherwise, the touch screen may be damaged. Operate with a finger or a stylus on
top of the pointer.
Clean the touch screen often, dust and small particles of impurities may cause the
touch screento malfunction.
Do not use chemical solvents, detergents or washing surfaces to clean the teach
pendant. Use a softcloth and a small amount of water to scrub.
•The teach pendant removed from the control cabinet should be properly stored in a safe place away
from the robot workstation or control cabinet. The operator should not be misled to think that the teach
pendant is still connected to the control cabinet and try to use the unconnected teach pendant to stop
the robot when facing dangerous situation.
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Danger
When using hydraulic and pneumatic in operation, the clamped workpiece may fall due to insufficient
pressure or gravity.
The hydraulic and pneumatic systems need to be equipped with safety valves for emergency use.
Danger
The programming must be performed outside the safety fence. If you need to enter the safety fence for
operation, you must press the emergency stop button.

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When not using the USB interface, the protective adhesive cap must be properly
fastened. Otherwise, exposure to dust may cause interface failure.
Pendant cable
Ensure that the staff does not trip over the teach pendant cable and causes the teach
pendantto fall.
Do not squeeze the teach pendantcable. Otherwise, it may damage the inner core.
Do not place the teach pendantcable at sharp edges, as this may damage the cable
sheath.
2.2 Recovery From Emergency Stop
Instruction
The reset operation must be performed when the system is in an emergency stop state
in order to return to the normal state. The reset process is very simple but very
important to ensure that the robot system is not put into production operation in a
dangerous state.
Reset emergency stop button
All button-type emergency stop devices have a safety lock mechanism that must be
manually released after being pressed to reverse the emergency stop state of the device.
Most emergency stop buttons are released by rotation, with the direction of rotation
marked on the surface of the button. There are also some buttons that support a direct
uppull release method.
Reset the external stop device
All external safety devices such as safety gates, safety light curtains, etc. have some type
of safety locking mechanism. If your robot workstation uses an external safety device,
consult your system integrator for moredevice reset information.
Recovery from E-Stop
Operate
1 Confirm that the hazardous condition causing the emergency stop has been addressed and that the hazard
source is no longer present.
2 Reset a safety device that causes an emergency stop.
3 Press the "Servo Ready" button on the teach pendant to restore the system from a non-ready state.

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2.3 Safety Considerations For Manual Mode
About manual mode
 In manual mode, the movement of the robot is under manual control. The robot can be
jog or   run only if the enable switch is in the middle position.
Manual mode is used for robot program writing and debugging and participating in the
commissioning of the workstation.
Bypass external safetysignals
In manual mode, signals from external safety devices such as safety doors and safety
light curtains will be bypassed. The system will not be in emergency stop state even if
the safety door is opened in manual mode to facilitate commissioning.
2.4 Safety Considerations For Automatic Mode
About automatic mode
The automatic mode is used to run the robot program during the formal production
process.
The enable switch will be bypassed in automatic mode, so the robot can operate
automatically without personnel involved.
Enable external safetysignals
External safety signals such as safety gate and safety grating will be enabled in
automatic mode, and an emergency stop will be triggered when the safety gate is
opened.
Safe fault recoveryin processing production
In most cases, robots are part of a production line. Therefore, when robots malfunction,
it not only affects the robot workstation itself but also may impact other parts of the
production line when issues occur in those areas. Therefore, failures recovery plan
should be designed by personnel who is very familiar with the production line to
improve safety.
For example, on a production line, the robot needs to grab the workpiece from a
conveyor belt. In case of a robot failure, in order to ensure that the production process is
not interrupted, the conveyor belt should be kept in operation while the robot is being
repaired. At this time, the robot maintenance personnel should consider additional
safety measures for working beside the conveyor belt in operation.
Another example, when a welding robot is removed from a production line for routine
maintenance, other robots associated with the same process must also be stopped to
prevent human injury.

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Safety–11
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2.5 Emergency Handle
Handling of light fire
In the event of imminent fire danger or fire that has already started but not yet spread,
do not panic, remain calm and extinguish the flames with the fire extinguishing
equipment provided at the scene. Do not use water to extinguish the fire caused by a
short circuit.
Measures to deal with severe fire
When the fire has spread and is out of control, site staff should not try to put out the fire,
but should immediately notify other staff, give up personal belongings, and evacuate
from the emergency exit as soon as possible. Elevators are not allowed during an
evacuation, and the fire brigade should be called during evacuation.
If a person or clothing is on fire, do not let him/her run away. Instead, let him/her quickly
lie down on the ground and put out the fire with clothes or other suitable objects and
means.
Handling of electric shock accident
When someone gets an electric shock, don't panic. First, cut off the power as soon as
possible.
Appropriate methods and measures should be taken decisively according to the specific
conditions on the spot. Generally speaking, there are several methods and measures
shown below:
If the power switch or button is close to the shock point, pull the switch quickly
and cut off the power.
If the power switch or button is far away from the electric shock location,
insulated pliers or axes, knives and shovels with dry wooden handle can be
used to cut off the power side (i.e., where the electricity is coming from). The
cut wire should not touch the human body.
When the wire is attached to or under the body of the electrocute, dry wooden sticks,
wooden boards, bamboo poles or other tools with an insulating handle (holding the
insulated handle) can be used to quickly remove the wire. Do not use any metal bar or
wet things to pick up the wire, so as to avoid the electrocute.
Treatment of electrocuted wounded person
Warning
The user shall provide the fire extinguishing device for the robot in the working site. The user shall select the
appropriate fire extinguishing device according to the actual situation on the site.
Warning
Do not contact the electrocuted person directly. Otherwise, the rescue personnel may also be electrocuted!

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Safety–12
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If the electrocuted victim is conscious, lay him/her on his/her back and watch
him/her closely. Do not stand or walk for a while.
If the contact person is unconscious, lay him/her on his/her back to make sure
the airway is clear, and call or pat him/her on the shoulder at a 5-second
interval to determine if he/she is unconscious. Do not swing the victim's head
to call the victim. Contact the ambulance as soon as possible while rescuing on
the spot.
If the electrocuted victim loses consciousness, the patient's breathing and
heartbeat should be judged within 10 seconds. If there is no breathing and no
pulsation of the artery, it can be determined that the respiratory heart has
stopped, and it should be rescued by cardiopulmonary resuscitation
immediately.

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Product overview–13
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3 Product overview
3.1 Overview of Robot System
System overview
A complete robot system includes the robot body, controller, pendant, connecting
cables, software, end effectors and other accessories, as shown in the figure below.
The figures are illustrated below：
1 = robot
2 = teach pendant
3 = control cabinet
4 = teach pendant cable
5 = cabinet cable
3.2 Load capacity
Load capacity of the joint robot

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Product overview–14
Label Name
①Load capacity（KG）
②Work space（mm）
③Four joints robot
④Six joints robot
3.3 Function and purpose
Function and purpose
An industrial robot is a mechanical and electronic device that anthropomorphizes arms,
wrists and hand functions; it can move any object or tool according to the time-variant
requirements of spatial position-pose (position and orientation) to complete the operation
requirements of a certain industrial production. Some of the applications of Leantec
industrial robot include: To carry out spot welding or arc welding on the body of cars or
motorcycles using welding guns or welding torches
to carry parts or components formed by die casting or stamping, laser cutting, spray and to
assemble mechanical parts and etc.

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Product overview–15
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3.4 Basic principles and main technologies applied
Principles and technologies
The working principle of the Leantec robotic arm consists of three main components:
the six-joint arm body, a distribution cabinet, and the 81R handheld controller. The
handheld controller sends commands to two new-generation three-in-one drivers,
which in turn drive the six motors on the arm body to rotate in a systematic manner. This
control enables the movement path of the sixth-axis end rotational center to be
managed.
Main technologies：
1. High-speed, high-precision control:
After the user has programmed through the human-machine interface of the teach
pendant, the corresponding robot program will be generated. After the program is
planned for highspeed and high precision offset time, the position command will be
transmitted to the Servo Motor Driver through serial communication at each offset time,
so that the lower machine does the command planning of the servo motor.
2. Servo motor control:
Upon receiving position commands from the upper-level controller, the driver performs
further motor command planning. It sends motor commands for each interpolation time
to the servo motors, driving them to operate through the servo motor system.
3. After completing the above, the arm body is driven by the servo motor system to
execute the user-edited actions. This fulfills applications such as welding, picking and
placing, and other usage scenarios.
3.5 Overview of Robot Structure
Structure
The main structural parts of the robot body are made of cast aluminum alloy, with a
total of 6 degrees of freedom. Each joint motor is equipped with a brake. A mechanism
consists of the following parts：
Wrist -- The wrist has three degrees of freedom and is located at the
output end of the robot, including axis 4th, axis 5th, and axis 6th.
Forearm -- The forearm is located between the upper arm and the wrist
and is driven by the 3rd motor.
Upper arm -- The upper arm is located between the lower arm and the
lumbar joint and is drive by the 2nd motor.
Waist -- The waist is located between the upper arm and the base and is
driven by the 1st motor.

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Base -- The base is the foundation of the robot, with electrical and
pneumatics connections for the robot at itsrear.
Each axis motion：
A1 axis：whole mechanical arm rotation
A2 axis：upper arm pitching
A3 axis：small arm pitching
A4 axis：small arm rotation
A5 axis：wrist swing
A6 axis：wrist rotation

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Technical parameters–17
4 Technical parameters
4.1 Specifications
Performance parameter table
The performance parameters of the robot are shown in the table
Model LA906-7
DOF 6
Drive mode AC servo drive
Maximum arm reach 906mm
Positioning repeatability ±0.03mm
Maximum wrist load 7kg
Range of motion Axis 1 +170°~-170°
Axis 2 +130°~-96°
Axis 3 +65°~-195°
Axis 4 +170°~-170°
Axis 5 +120°~-120°
Axis 6 +360°~-360°
Maximum speed Axis 1 355°/s
Axis 2 355°/s
Axis 3 355°/s
Axis 4 480°/s
Axis 5 450°/s

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Technical parameters–18
Model LA906-7
Axis 6 705°/s
Operating temperature 0°~+45°
Storage temperature -10°~+55°
Protection Grade Standard IP54, optional IP67
Method of Installation Floor, upside, tilt
Base Dimension 223mm×223mm
Base Mounting Hole 180mm×180mm
Noise Level ≤70dB(A)
Noise Level approx 50kg
4.2 The workspace
Robot workspace
LRA906-7-6A-R The working space of the robot is shown in the following figure:

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Technical parameters–19
Reminder
In practice, consider the impact of installation on the workspace.

联达产品/LEANTEC Products
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Technical parameters–20
4.3 Output flange
Instructions
Please make the robot end fixture by yourself according to actual needs and connect it to the output
flange of the wrist. The size of the output flange is shown below. The strength of the fixed hexangular set
screw is grade 12.9. The shape and size of the fixture installed on the output flange may affect the
rotation range of the robot axes. Please pay attention to the interference area at the end of the fixture in
the design.
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4.4 Electronic Control Box Specification
The standard specifications of the electric control box are listed below.