Standard specifications ST100-01-AX ST70L-01-AX 1st edition: Feb 2008 NACHI-FUJIKOSHI CORP. Robot Production Plant
Table of contents 1. Outline...1 1.1. Robot...1 1.2. AX controller...1 2. Characteristic...2 2.1. Robot...2 2.2. AX controller...2 3. Basic specifications...3 4. Robot dimensions and working envelope...4 5. Detail of tool mounting plate...6 6. Application mounting hole pattern on Forearm...7 7. Installation dimensions...8 8. Maximum wrist load...10 8.1. Torque map... 11 8.2. Wrist axis load conditions...12 8.3. How to calculate inertia moment of wrist axes...13 9. Maximum Forearm Load...14 10. Option specifications...15 11. Application wiring and piping diagram for standard...16 11.1. Spot welding specification (Option)...16 11.2. Handling specification (Option)...20 12. Bypass cable (Option)...24 13. Installation (specification which contains a robot)...25 14. Paint color...25 15. Warranty...25
Page-1 1. Outline NACHI ROBOT has used mechatronic techniques, cultivated throughout the last few decades, to supply robots suited for industries utilizing welding, spray painting and the material handling techniques. 1.1. Robot The ST100 robot and the ST70L robot are robots of simple highly rigid structure, which is optimal for spot welding, handling and other applications. Table 1.1 Robot specifications Robot model ST100-01 ST70L-01 Load weight 100 kg 70 kg Installation Floor mount Floor mount 1.2. AX controller The AX controller is high performance robot controller based on open concept, which used the personal computer as the base. A de facto standard OS (Windows NT embedded + RTOS) is adopted as an operating system. Moreover, safe equipment, such as double emergency stop circuit and 3 position enable switch, is carried as standard. AX controller AX20-0000 Domestic specification (for Japan) AX20-1101 Overseas specification
Page-2 2. Characteristic 2.1. Robot 1. Due to the compact body, high- density installation is possible. 2. Because the hight of the robot is small, a multi-layer installation with other robots is possible. 3. The ST100 robot and the ST70L robot feature a powerful wrist that can support a large tool. 4. Due to a wide operation area, it is possible to use for various production process. 5. Due to the powerful arm and concentration on acceleration, rapid short-pitch motion is possible allowing shorter cycle times to be obtained. 6. The ST100 robot and the ST70L robot feature the largest wrist bend angle in its class due to the slim compact wrist. The reduction of restriction due to wrist operation opens the robot to more diverse applications. 7. The required installation area has been reduced by routing water, air and cables through the swivel base. 2.2. AX controller 1. It is compact even if it adds abundant functions. 2. Large-sized LCD of a color graphic display was adopted as the Teaching pendant. Thereby more easy and intelligible operation is attained and large shortening of teaching time can be aimed at. 3. It is possible to build the optimal operating environment for a robot's work system by the customize function of menus, such as various parameter setup and a peripheral equipment setup, or a screen. 4. It has equipped with safe equipment, such as double emergency stop circuit limit switch and 3 position enable switch, as standard, and ANSI/RIA 15.06-1999 is supported.
Page-3 3. Basic specifications Robot model: ST100-01, ST70L-01 Table 3.1 Basic specifications Item Specifications Robot model ST100-01 ST70L-01 Construction Articulated Number of axis 6 Drive system AC servo motor J1 axis ± 2.62 rad J2 axis + 2.09 ~ - 1.05 rad Max. working envelope J3 axis + 1.57 ~ - 2.18 rad J4 axis ± 6.28 rad J5 axis ± 2.36 rad Max. speed Max. pay load Allowable static load torque J6 axis J1 axis J2 axis J3 axis J4 axis J5 axis J6 axis ± 6.28 rad 1.57 rad / s 1.57 rad / s 1.57 rad / s 2.27 rad / s 2.27 rad / s 3.14 rad / s Wrist 100 kg 70 kg *1, *2 Forearm Max. 25 kg J4 axis 818 N m 584 N m J5 axis 818 N m 584 N m J6 axis 441 N m 294 N m J4 axis 96.3 kg m 2 85.1 kg m 2 Allowable moment of inertia *3 J5 axis 96.3 kg m 2 85.1 kg m 2 J6 axis 43.0 kg m 2 36.7 kg m 2 Position repeatability ± 0.3 mm Ambient temperature 0 ~ 45 C Installation parameter Ambient humidity 20 to 85 % RH (No dew formation) Vibration value Below 0.5 G Robot type Floor mount Robot mass 760 kg 790 kg 1 [rad] = 180 / π [ ], 1 [N m] = 1 / 9.8 [kgf m] *1 : Varies with installation locations or wrist load mass. *2 : The maximum load mass applies only to the upper part of forearm and the upper part of the J3. *3 : The Allowable moment of inertia of a wrist changes with load conditions of a wrist.
Page-4 4. Robot dimensions and working envelope Robot model: ST100-01 Fig. 4.1 Robot dimensions and working envelope (ST100-01)
Page-5 Robot model: ST70L-01 Fig. 4.2 Robot dimensions and working envelope (ST70L-01)
Page-6 5. Detail of tool mounting plate Please use Installation P.C.D of Fig. 5.1 when you tighten the end effector installation bolt. Installation P.C.D other than Installation P.C.D of Fig. 5.1 are also available. Please inquire our company service section. CAUTION Don t screw in installation bolts over thread tap depth. Installation bolts over thread tap depth may damage the wrist. Robot model: ST100-01, ST70L-01 Fig. 5.1 Detail of tool mounting plate
Page-7 6. Application mounting hole pattern on Forearm Fig. 6.1 Detail of forearm peripheral equipment mounting risers
Page-8 7. Installation dimensions Fix the robot swivel base for the robot installation. CAUTION A mechanical stopper is mounted 5 degrees over the J1 working envelope (software limit). When installing a guard fence (safety fence), please make sure to consider the motion range, wrist posture, and the shape of the end effector. DANGER To operate safely, range of the motion can be restricted in the J1, J2, and J3. Robot model: ST100-01 Fig. 7.1 Robot installation dimensions (ST100-01)
Page-9 Robot model: ST70L-01 Fig. 7.2 Robot installation dimensions (ST70L-01)
Page-10 8. Maximum wrist load CAUTION A mass limit, allowable load torque and allowable moment of inertia restrict the load attached to the robot wrist tool flange. Moreover, the allowable static load torque value changes by the actual load inertia moment. Keep strictly that the wrist load should be less than the allowable values. If used outside the allowable values, robot operations shall not be guaranteed. 1. Allowable maximum payload mass (weight) Table 8.1 Allowable maximum payload mass Robot model ST100-01 ST70L-01 Maximum pay load mass 100 kg 70 kg 2. Allowable static load torque Table 8.2 Allowable static load torque Robot model Maximum static load torque About the J4 About the J5 About the J6 ST100-01 818 N m 818 N m 441 N m ST70L-01 584 N m 584 N m 294 N m 3. Allowable moment of inertia Table 8.3 Allowable moment of inertia Robot model Maximum moment of inertia About the J4 About the J5 About the J6 ST100-01 96.3 kg m 2 96.3 kg m 2 43.0 kg m 2 ST70L-01 85.1 kg m 2 85.1 kg m 2 36.7 kg m 2 Use the load center of gravity point by the condition that enters within the range of the wrist axis torque map referring to Fig. 8.1, Fig. 8.2. Use the static load torque and the inertia moment by the condition that enters in the line chart of the graph referring to Fig. 8.3, Fig. 8.4.
Page-11 8.1. Torque map Robot model: ST100-01 Fig. 8.1 Wrist axis torque mapping (ST100-01) Robot model: ST70L-01 Fig. 8.2 Wrist axis torque mapping (ST70L-01)
Page-12 8.2. Wrist axis load conditions Robot model: ST100-01 Robot model: ST70L-01 Fig. 8.3 Wrist axis load conditioning (ST100-01) Fig. 8.4 Wrist axis load conditioning (ST70L-01)
Page-13 8.3. How to calculate inertia moment of wrist axes The method of calculating the inertia moment around a general each axis is shown below. I Z I z Z I y I x x y z m (X m,y m,z m ) I Y Y I X X Fig. 8.5 Wrist load outline chart X: Axis for J5 rotation in the basic wrist configuration Y: Axis for J6 and J4 rotation in the basic wrist configuration Z: Axis at right angles to the X and Y axes in the basic wrist configuration x: Axis parallel to the X axis in the load gravity center y: Axis parallel to the Y axis in the load gravity center z: Axis parallel to the Z axis in the load gravity center I x : Inertia moment around the X axis passing through the load gravity center I y : Inertia moment around the Y axis passing through the load gravity center I z : Inertia moment around the Z axis passing through the load gravity center m: Load mass (X m, Y m, Z m ):Gravity center coordinates of load 1. Inertia moment around the J6 The inertia moment around the J6 becomes the following expressions. J 6 Y 2 m 2 m I = I = m ( X + Z ) + I y 2. Inertia moment around the J4 and J5 The value changes into the inertia moment around the J4 and J5 depending on the posture of the J6. The maximum value around X axis and Z axis in Fig. 8.5 is assumed to be an inertia moment. I = max (, I J 4 J 5 X Z Q I Q I X Z = m ( Y = m ( X 2 m I 2 m + Z + Y 2 m 2 m ) ) + I ) + I x x
Page-14 9. Maximum Forearm Load The application equipment can be installed on the upper part of forearm. Use the load condition in the forearm referring to Fig. 9.1 and Fig. 9.2, when the wrist load is the maximum by the condition that the load center of gravity point enters within the slash area. And, if the load mass on the wrist is small, it is possible to install those equipments up to 45kg (at maximum). For more technical information/materials, please contact our engineering department. Robot model: ST100-01 Fig. 9.1 Forearm load conditioning (ST100-01) Robot model: ST70L-01 Fig. 9.2 Forearm load conditioning (ST70L-01)
Page-15 10. Option specifications Table 10.1 Option specifications No. Item Specifications 1 Encoder connector protector Encoder connector cover for the J1, J2 and J3. Robot type ST100-01 ST70L-01 Parts No. OP-P6-001 2 Transfer jig Fork bracket OP-S2-031 3 4 5 Zeroing pin & Zeroing block Additional equipment for spot welding Additional equipment for handling Hose φ8 X 6 (Water supply X3, Drainage X 3) Gun primary cable 22 mm 2 X 3 Application cable 0.3 mm 2 X 40 wires Servo gun control cable (Motor) X 1 Servo gun control cable (Encoder) X 1 Hose φ8 X 1 (Air X 3) Application cable 0.3 mm 2 X 40 wires Servo gun control cable (Motor) X 1 Servo gun control cable (Encoder) X 1 OP-T2-040 OPJ-WAC-0043 OPJ-WAC-0044 6 Flange adaptor (For P.C.D.92) OP-W3-001 7 Bypass cable BCUNIT20-20 :Possible to correspond/-:impossible to correspond
Page-16 11. Application wiring and piping diagram for standard 11.1. Spot welding specification (Option) Robot model: ST100-01 (OPJ-WAC-0043) Fig. 11.1 Wiring and piping diagram (spot welding specification)
Fig. 11.2 Wiring and piping diagram (spot welding specification) Page-17
Page-18 Fig. 11.3 BJ3 side servo gun control cable connector Connector form (CNR010) Housing: JFM2MDN-22V-K (JST) Contact: SJ2M-01GF-M1.0S (JST) Wire-side shell: JFM-PSA-4 (JST) Guide plate A kit: JFM-GPAK-4 (JST) Partner connector form Housing: JFM2FDN-22V-K (JST) Contact: SJ2F-01GF-P1.0 (JST) (Wire of Application:AWG#24~20) Wire-side shell: JFM-WSA-4-A (JST) φ26.2 φ28.0 Wire-side shell: JFM-WSA-4-C (JST) φ15.5 φ16.5 Guide plate A kit: JFM-GPAK-4 (JST) Fig. 11.4 BJ1 side application cable connector (40 wires)
Page-19 Connector form (CN61, CN63) Housing: SMP-10V-BC (JST) Partner connector form Housing: SMR-10V-B (JST) Contact: SYM-001T-P0.6 (Wire of Application:AWG#22~28) Pressure tool: YRS-121 Connector form (CN62, CN64) Housing: SMP-11V-BC (JST) Partner connector form Housing: SMR-11V-B (JST) Contact: SYM-001T-P0.6 (Wire of Application:AWG#22~28) Pressure tool: YRS-121 Fig. 11.5 BJ3 side application cable connector (spot welding specification)
Page-20 11.2. Handling specification (Option) Robot model: ST100-01, ST70L-01 (OPJ-WAC-0044) Fig. 11.6 Wiring and piping diagram (handling specification)
Fig. 11.7 Wiring and piping diagram (handling specification) Page-21
Page-22 Fig. 11.8 BJ3 side servo gun control cable connector Connector form (CNR010) Housing: JFM2MDN-22V-K (JST) Contact: SJ2M-01GF-M1.0S (JST) Wire-side shell: JFM-PSA-4 (JST) Guide plate A kit: JFM-GPAK-4 (JST) Partner connector form Housing: JFM2FDN-22V-K (JST) Contact: SJ2F-01GF-P1.0 (JST) (Wire of Application:AWG#24~20) Wire-side shell: JFM-WSA-4-A (JST) φ26.2 φ28.0 Wire-side shell: JFM-WSA-4-C (JST) φ15.5 φ16.5 Guide plate A kit: JFM-GPAK-4 (JST) Fig. 11.9 BJ1 side application cable connector (40 wires)
Page-23 Connector form (CN61, CN63) Housing: SMP-10V-BC (JST) Partner connector form Housing: SMR-10V-B (JST) Contact: SYM-001T-P0.6 (Wire of Application:AWG#22~28) Pressure tool: YRS-121 Connector form (CN62, CN64) Housing: SMP-11V-BC (JST) Partner connector form Housing: SMR-11V-B (JST) Contact: SYM-001T-P0.6 (Wire of Application:AWG#22~28) Pressure tool: YRS-121 Fig. 11.10 BJ3 side application cable connector (handling specification)
POWER Page-24 12. Bypass cable (Option) CNE cable CNMB cable Bypass cable Standard wireharness Robot Bypass cable box Fig. 12.1 Bypass cable connection outline figure Controller Fig. 12.2 Bypass cable box
Page-25 13. Installation (specification which contains a robot) 1. Delivery condition Because the expense is different, which form to choose be sufficiently examined. Style Condition Details 1 Delivery on the truck 2 3 Delivery after installation and test-run Delivery after installation and test-run with work piece 2. Operation and maintenance education Robot is delivered on the truck near the entrance of customer s plant. Robot is installed and test-run done. After style 2, teaching with work piece is done. The special spot operation guide and the special spot preservation guide are the outside of the estimation. Also, there is schooling system in the Toyama factory, too. Consult with each NACHI-FUJIKOSHI office for the details. 3. The earth wire construction of controller is class 3 earthing things above mentioned are necessary. 14. Paint color Standard color 15. Warranty Elapse of 1 year after delivery. Controller cabinet Munsell 10GY9/1 Robot body Munsell 2.5YR-5.5/14 <Note> The specifications and the external view of the products on this document are subject to modifications without any advance notice for improvements.