YASKAWA RM2-755/1255SL User manual

Part Number: 166006-1CD
Revision: 14
RM2-755/1255SL POSITIONER
INSTRUCTIONS
YASKAWA INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and
retain for future reference
MOTOMAN RM2-755/1255SL POSTIONER INSTRUCTIONS
CONTROLLER INSTRUCTIONS
CONTROLLER OPERATOR’S MANUAL
CONTROLLER MAINTENANCE MANUAL
The Controller operator’s manual above correspond to specific usage.
Be sure to use the appropriate manual.
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Positioner
Copyright © 2019, 2018, 2017, 2015, 2014 Yaskawa America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to Yaskawa
customers to assist in the operation of Motoman robots, related equipment
and software This manual is copyrighted property of Yaskawa and may
not be sold or redistributed in any way. You are welcome to copy this
document to your computer or mobile device for easy access but you may
not copy the PDF files to another website, blog, cloud storage site or any
other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2014
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]
www.motoman.com
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Safety
Summary of Warning Information
RM2-755/1255SL
Positioner
Safety
Summary of Warning Information
This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notice.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by Yaskawa. Address any questions regarding the safe and proper
operation of the equipment to Customer Support.
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the manipulator.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
DANGER Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
WARNING Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
CAUTION Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
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Notes for Safe Operation
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Even items described as “CAUTION” may result in a serious accident in
some situations.
WARNING
• This instruction manual is intended to explain mainly on the
mechanical part of the manipulator for the application to the actual
operation and for proper maintenance and inspection. It describes
on safety and handling, details on specifications, necessary items
on maintenance and inspection, to explain operating instructions
and maintenance procedures. Be sure to read and understand this
instruction manual thoroughly before installing and operating the
manipulator. Any matter not described in this manual must be
regarded as “prohibited” or “improper”.
• General information related to safety are described in Chapter 1.
“Safety” of the Controller instructions. To ensure correct and safe
operation, carefully read Chapter 1. “Safety” of the Controller
INSTRUCTIONS.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
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Notes for Safe Operation
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching
operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the Controller power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
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Notes for Safe Operation
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WARNING
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact customer support
CAUTION
• Read and understand the Explanation of Warning Labels in the
Controller instructions before operating the manipulator.
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product. The drawings
and photos in this manual are representative examples and
differences may exist between them and the delivered product.
Yaskawa is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems with manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the Controller after use.
• The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
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Notes for Safe Operation
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CAUTION
This Robot Cell has Collaborative Motion functionality:
Collaboration is a special type of operation between a person and robot
sharing a common workspace. The following are the guidelines for
collaborative operation.
1. Used for pre-determined tasks.
2. Possible when all protective measures are active.
3. For robots with features specifically designed for collaborative
operation.
• The integrator shall include in the information for use the
safeguards and mode selection required for collaborative operation.
CAUTION
• Always return the programming pendant to the hook on the cabinet
of the Controller after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• Yaskawa may modify this model without notice when necessary due
to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact customer
support to order a new copy. Be sure to tell the representative the
manual number listed on the front cover.
• To ensure safe and efficient operation at all times, be sure to follow
all instructions, even if not designated as “DANGER”, “WARNING”
or “CAUTION”.
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Explanation of Warning Labels
RM2-755/1255SL
Positioner
Explanation of Warning Labels
The following warning labels are attached to the Positioner
(refer to Fig. : "Warning Labels Location").
Always follow the safety labels.
Also, an identification label with important information is placed on the
body of the Positioner. Prior to operating the manipulator, confirm the
contents.
Fig. : Warning Labels Location
Safety Label A:
WARNING
Moving parts
may cause
injury
WARNING
Do not enter
robot
work area.
Safety Label B:
Safety Label C:
WARNING
Arc flash
may injure
Safety Label E:
Safety Label D:
A
B
C
E
D
AB
C
755/1664
1255/2766
18
21
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Programming, Operation, and Maintenance Safety
RM2-755/1255SL
Positioner
Programming, Operation, and Maintenance Safety
CAUTION
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the
operation of this equipment.
Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this equipment
should be permitted to program, or maintain the system. All personnel
involved with the operation of the equipment must understand potential
dangers of operation.
• Inspect the equipment to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil,
debris, etc.
• Be sure that all safeguards are in place. Check all safety
equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Check the E-Stop button on the operator station for proper
operation before programming. The equipment must be in
Emergency Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before
program changes are made. To avoid loss of information,
programs, or jobs, a backup must always be made before any
service procedures are done and before any changes are made to
options, accessories, or equipment.
• Any modifications to the Controller unit can cause severe personal
injury or death, as well as damage to the robot. Do not make any
modifications to the Controller unit. Making any changes without
the written permission from Yaskawa will void the warranty.
• Some operations require standard passwords and some require
special passwords.
• The equipment allows modifications to the software for maximum
performance. Care must be taken when making modifications. All
modifications made to the software will change the way the
equipment operates and can cause severe personal injury or
death, as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the Controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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Safety
Safeguarding Tips
RM2-755/1255SL
Positioner
Safeguarding Tips
Mechanical Safety Devices
CAUTION
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the
operation of this equipment. All personnel involved with the operation of
the equipment must understand potential dangers of operation.
General safeguarding tips are as follows:
Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this
equipment, the operator's manuals, the system equipment, and options
and accessories should be permitted to operate this equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources
of Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
CAUTION
The safe operation of this equipment is ultimately the users
responsibility. The conditions under which the equipment will be
operated safely should be reviewed by the user. The user must be
aware of the various national codes, ANSI/RIA R15.06-2012 safety
standards, and other local codes that may pertain to the installation and
use of this equipment.
Additional safety measures for personnel and equipment may be
required depending on system installation, operation, and/or location.
The following safety equipment is provided as standard:
Additional safety measures for personnel and equipment may be
required depending on system installation, operation, and/or location.
The following safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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Maintenance Safety
RM2-755/1255SL
Positioner
Maintenance Safety
National Safety Standard
We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment.
NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM,
OR REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
WARNING
• Turn the power OFF, disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by
Yaskawa-trained, qualified personnel.
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Safety
Definition of Terms Used Often in This Manual
RM2-755/1255SL
Positioner
Definition of Terms Used Often in This Manual
The MOTOMAN is a Yaskawa industrial robot product.
The MOTOMAN usually consists of the manipulator, the Controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment Manual Designation
DX200 Controller
YRC1000 Controller
Controller
Programming Pendant Programming Pendant
RM2-755SL Positioner
RM2-1255SL Positioner
Positioner
Manipulator Manipulator
Cable between the manipulator and the
Controller
Manipulator cable
Equipment Manual Designation
Programming
Pendant
Character Keys The keys which have characters printed on
them are denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on
them are not denoted with [ ] but depicted
with a small picture.
ex. PAGE key
The Cursor is an exception, and a picture is
not shown.
Axis Keys
Numeric Keys
“Axis Keys” and “Numeric Keys” are generic
names for the keys for axis operation and
number input.
Keys pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with a
“+” sign between them.
ex. SHIFT key +COORD key
Mode Key Three kinds of modes that can be selected
by the mode key are denoted as follows:
REMOTE, PLAY, or TEACH
Button Three buttons on the upper side of the
programming pendant are denoted as
follows:
HOLD button
START button
EMERGENCY STOP button
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
PC Keyboard The name of the key is denoted
ex. Ctrl key on the keyboard
GO BACK
PAGE
SHIFT
TOOL SEL
COORD
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Registered Trademark
RM2-755/1255SL
Positioner
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of ® and TM are omitted.
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Customer Support Information
RM2-755/1255SL
Positioner
Customer Support Information
If assistance is needed with any aspect of the system, please contact
Customer Support at the following 24-hour telephone number:
Customer Support also has an e-mail address for routine technical
inquiries, to contact Customer Support through e-mail use the following
address:
When using e-mail to contact Customer Support, please provide a
detailed description of the issue, along with complete contact information.
Please allow approximately 24 to 36 hours for a response to the inquiry.
[email protected]
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact Customer Support.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
NOTICE
Use e-mail for routine inquiries only. If there is an urgent or emergency
need for service, replacement parts, or information, contact Customer
Support at the telephone number shown above.
[phone]
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Table of Contents
RM2-755/1255SL
Positioner
Table of Contents
1 Introduction ..................................................................................................................................... 1-1
1.1 About This Document ........................................................................................................ 1-1
1.2 System Overview............................................................................................................... 1-2
1.3 Positioner Configuration .................................................................................................... 1-4
1.4 Welding Ground System.................................................................................................... 1-4
1.5 Major Components ............................................................................................................ 1-4
1.5.1 Optional Equipment.............................................................................................. 1-4
1.6 Reference Documentation................................................................................................. 1-5
1.7 Customer Support Information........................................................................................... 1-6
2 Installation....................................................................................................................................... 2-1
2.1 Contents Confirmation....................................................................................................... 2-2
2.1.1 Major Components ............................................................................................... 2-2
2.1.2 Optional Equipment.............................................................................................. 2-2
2.2 Materials Required............................................................................................................. 2-3
2.2.1 Customer-Supplied Items..................................................................................... 2-3
2.2.2 Customer-Supplied Items..................................................................................... 2-3
2.3 Positioner Installation......................................................................................................... 2-4
2.3.1 Site Preparation.................................................................................................... 2-4
2.3.1.1 Location................................................................................................... 2-5
2.3.2 Shipping Bolts and Bracket .................................................................................. 2-7
2.3.3 Transporting Method ............................................................................................ 2-8
2.3.3.1 Using an Overhead Crane....................................................................... 2-9
2.3.3.2 Using Forklifts........................................................................................ 2-10
2.3.4 Mounting Positioner............................................................................................ 2-11
2.3.4.1 Setting Headstock ................................................................................. 2-12
2.3.4.2 Setting Tailstock .................................................................................... 2-13
2.3.4.3 Mounting the Positioner on the Floor .................................................... 2-15
2.4 Customer-Supplied Tooling Fixtures ............................................................................... 2-17
2.5 Installation of Safeguarding ............................................................................................. 2-18
2.5.1 Responsibility for Safeguarding (ISO10218) ...................................................... 2-18
2.6 Adjusting the Hardstops................................................................................................... 2-19
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3 Power Connections......................................................................................................................... 3-1
3.1 Electrical Connections ....................................................................................................... 3-1
3.1.1 Grounding ............................................................................................................. 3-1
3.2 Cable Connection .............................................................................................................. 3-2
3.2.1 Connection to the Positioner................................................................................. 3-2
3.2.2 Connection to the Controller ................................................................................. 3-2
3.2.3 Shop Air Connections ........................................................................................... 3-3
4 Basic Specifications ........................................................................................................................4-1
4.1 Basic Specifications List .................................................................................................... 4-1
4.2 Part Names and Working Axes.......................................................................................... 4-3
4.3 Mounting Dimensions ........................................................................................................ 4-3
4.4 Dimensions and Working Envelope ................................................................................... 4-4
5 Load Specifications and Jig Mounting............................................................................................. 5-1
5.1 Details of Fixture Mounting ................................................................................................5-1
5.2 Fixture Specifications......................................................................................................... 5-1
6 Maintenance and Inspection ........................................................................................................... 6-1
6.1 Inspection Interval.............................................................................................................. 6-2
6.2 Battery Pack Replacement ................................................................................................ 6-4
6.3 Grease Replenishment/Exchange for Speed Reducers .................................................... 6-5
6.3.1 Main Axis .............................................................................................................. 6-5
6.3.1.1 Reducer...................................................................................................6-5
6.3.1.2 Slewing Bearing Raceway....................................................................... 6-6
6.3.1.3 Gear and Pinion Teeth Lubrication.......................................................... 6-6
6.3.2 Tooling Axes Reducer ........................................................................................ 6-10
6.3.3 Tailstock Lubrication ........................................................................................... 6-11
6.3.3.1 Swingarm Main Swing Axis ................................................................... 6-11
6.3.3.2 Motomount Lubrication (If equipped)..................................................... 6-11
6.4 General Cleaning.............................................................................................................6-12
6.5 Sigma-5 Servomotors ......................................................................................................6-12
6.6 Servo Pack....................................................................................................................... 6-12
6.7 Main (Sweep) Axis Reduction Gear Unit (RV–320E–X) .................................................. 6-13
6.7.1 Setting (Sweep) Axis Backlash...........................................................................6-13
6.7.1.1 Positioner Assembled from August 2018 or later .................................. 6-13
6.7.1.2 Positioner Production Prior to October 2018......................................... 6-17
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6.8 Tooling Axis Reduction Gear Units (RV–80E–X)............................................................. 6-17
6.9 Main (Swing) Axis Hardstops........................................................................................... 6-17
6.10 Welding Ground System................................................................................................ 6-18
6.10.1 Inspection and Cleaning of Carbon Brushes .................................................... 6-18
6.10.2 Ground Brush Replacement............................................................................. 6-18
6.11 AC Servomotor Encoder Back-Up Battery..................................................................... 6-20
6.12 Positioner Home Position .............................................................................................. 6-21
6.12.1 RM2-755 Headstock......................................................................................... 6-21
6.12.1.1 Setting the Main Axis (S1) to Home (Zero) Position ........................... 6-21
6.12.1.2 Defining Trunnion Axis (S1) “A-Side” .................................................. 6-21
6.12.2 RM2-1255 Headstock....................................................................................... 6-23
6.12.2.1 Setting the Main Axis (S1) to Home (Zero) Position ........................... 6-23
6.12.3 Setting the Tooling Axis (S2 & S3) to Home (Zero) Position ............................ 6-25
6.12.3.1 “Re-Homing” Tooling Axes S2 & S3 to Flat at the Manipulator
and Operator: ...................................................................................... 6-26
6.13 Troubleshooting............................................................................................................. 6-27
6.13.1 Positioner ......................................................................................................... 6-27
6.13.2 MotoMount ....................................................................................................... 6-27
7 Recommended Spare Parts............................................................................................................ 7-1
Appendix A .......................................................................................................................................A-1
A.1 Performance Charts ..........................................................................................................A-1
A.1.1 Positioner Assembly.............................................................................................A-1
Appendix B .......................................................................................................................................B-1
B.1 Illustrated Parts List...........................................................................................................B-1
B.1.1 Illustrated Parts List Layout..................................................................................B-2
B.1.2 Parts List Table Structure.....................................................................................B-2
B.1.3 Illustrated Parts List for RM2-755SL and 1255SL with Grease Fittings
(Prior to August 2018) ..........................................................................................B-3
B.1.4 Illustrated Parts List for RM2-755SL with MultiPort Lubricator
(August 2018 or Later) .......................................................................................B-14
B.1.5 Illustrated Parts List for RM2-1255SL with MultiPort Lubricator
(August 2018 or Later) .......................................................................................B-24
B.1.6 Illustrated Parts List for Tailstock .......................................................................B-36
Appendix C .......................................................................................................................................C-1
C.1 Glossary............................................................................................................................C-1
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1 Introduction
1.1 About This Document
RM2-755/1255SL
Positioner
1 Introduction
1.1 About This Document
This manual provides the following information:
Chapter 1 “Introduction”
Provides general information about the Manual, Positioner and its
components.
Chapter 2 “Installation”
This chapter provides installation procedures.
Chapter 3 “Power Connections”
This chapter provides information concerning wiring and cable installation.
Chapter 4 “Basic Specifications”
Provides general specifications that may be required during installation
and setup.
Chapter 5 “Load Specifications and Jig Mounting”
This chapter provides guidelines for customer-supplied tooling design.
Chapter 6 “Maintenance and Inspection”
This chapter provides preventive maintenance requirements and
troubleshooting information.
Chapter 7 “Recommended Spare Parts”
This chapter provides parts that is recommended to keep in stock.
Appendix A
This appendix provides performance charts for the Positioner.
Appendix B
This appendix contains the Illustrated Parts List (IPL). The IPL provides
detailed views (with part numbers).
Appendix C
This appendix contains a list and terms that may be needed to know with
this system.
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1.2 System Overview
RM2-755/1255SL
Positioner
1.2 System Overview
The Positioner can be used with a variety of applications that require
precise parts movement. Typically, the Positioner is integrated with one or
more Manipulators and Controllers in a work cell arrangement.
The Positioner is a two station headstock/tailstock (HS/TS) Positioner.
Because of certain operational dynamics, this type of Positioner is often
referred to as a “Ferris wheel” Positioner.
The main (sweep) axis and both tooling plate (orbital) axes are rotated by
individual Sigma-5 servomotors (working through gear reduction units)
that are controlled by circuitry in the Controller.
All three axes can be driven simultaneously during a sweep motion. In
addition, movement of the Positioner can be coordinated with Manipulator
motion to allow complex jobs such as the welding of circumferential joints.
Fig. 1-1: Positioner Assembly
The Headstock Drive Assembly, Headstock Swing Arm, and the Arc
Shield Assembly rotate around a main (sweep) axis and are limited in
rotation by hardstops located on the tooling drive swing arm.
HEADSTOCK
ASSY
FORK LIFT POCKETS
HEADSTOCK
DRIVE ASSY
HEADSTOCK
SWING ARM
ASSY
FACE PLATE
ARC SHIELD ASSY
TAILSTOCK ASSY
TAILSTOCK
SWING ARM ASSY
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1.2 System Overview
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Positioner
A tooling plate multiple angle control feature allows the programmer to
define the angle of the tooling presented to the operator (with a resolution
of infinite degrees). This improves load station ergonomics and part
tacking (see 1-2).
Fig. 1-2: Tooling (Orbital) Axis “S” — Tooling Plate Multiple Angle Control
Components
All Positioner tooling plates are fitted with the MotoMount™ flexible tool
mounting system as the tooling interface (see 1-1 and 1-2).
Each AC servomotor incorporates a small Lithium-Ion “keep alive” battery
pack that maintains servo positioning data in memory, should the main
cables between the Positioner and Controller be disconnected. This
battery pack is a part of each cable assembly (internal to the Positioner)
that connects each AC servomotor to its associated multi-pin plug on the
Positioner base. These battery packs have a very long life. However, if
they drop below a certain charge level, a “low battery” indication appears
on the Programming Pendant LCD display screen.
Refer to Table 4-1 “RM2-755/1255SL Positioner Technical Specifications”
on page 4-1.
TOOLING DRIVE
AXIS, 2 PLCS
SWINGARM ASSY
TOOLING DRIVE
TOOLING
PLATE (REF)
POSITIONING
SLOT (TYP)
A-B POSITION
ACTUATOR
(Non FSU part)
HEADSTOCK
RUBBER WIPER
SENSOR
ACTUATOR
RING
MOTOMOUNT (REF)
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