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UNIROB R8
Battenfeld UNIROB R8 User Manual
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Operating Manual
UNIROB R8 – UNILOG B2
V
ersion R82GBV00 04/03
Read before using the robot and
keep it near the robot for reference purposes.
Robot
-
T
ype
R8 / B2 6-10-20
Controller type
UNILOG
B2
Robot No.:
26358
Model:
2003
2
Table of Contents
Maintenance
3
Table of Contents
5
General
11
Introduction
11
Use
11
Symbols
12
Copyright
13
Confirmation of Receipt
13
Safety
17
General
17
Installation
18
Operation and Maintenance
19
Safety - Personnel
20
Specifications
23
UNIROB B2 Industrial Robot
23
Kinematics
23
Linear Axles
24
Auxiliary Axes
24
Performance Data / Mechanical Interfaces / Technical Features
25
Linear Axes (Main Axes) Main Axis Paths - Axis Lengths
25
Drives / Repeat Accuracy
25
Maximum Speeds of Main and Linear Axes
25
Maximum Speeds of Rotating and Auxiliary Axes
25
Pneumatic System
26
Compressed Air Connection
26
Creating a Vacuum
26
Pneumatic Valves
26
Pressure Monitoring
26
Central Configuration
26
Guideways on Main Axes
27
Motors / Gearing
27
Maintenance-Free Servo Three-Phase A.C Motors for Main Linear Axes
27
Planetary Gearing for the
27
(Z) and y and Z Axis Drive
27
Drive Elements on Main Axes
28
Y-Axis Immersion Pipe
28
Mechanical Interfaces
28
Manual Gripper Quick Change
28
R8/B2 Robot Options
29
Euromap
29
Robot / Injection Moulding Machine Interface
29
Injection Moulding Machine Signals
29
Handling Device Signals
30
Transport - Installation
33
General
33
Storage
33
Unloading
33
Securing Devices
34
Crane Transportation
34
Transport Weight
34
Injection Moulding Machine
34
Installation Layout
34
External Stand
35
Removing Protective Coatings
35
Connecting to the Power Supply
35
Harting Connector
36
Lubrication Points
37
Compressed Air Supply
37
EMERGENCY STOP Test
37
Power on
37
Assembly and Operation
39
Modules
39
Pneumatic System
39
Terminal Box 1
43
Unirob B2 Controller
47
Manual Control Device (MCD)
47
PCS General
48
CP476 Status Display
48
CAN CP476 Node Number
49
Handbook
51
Manual Control Device (MCD) - Key Functions
53
Start-Up Display
56
Status
57
Teach, Edit, Save, Load
61
Creating Token Programs
64
Token Commands: Gripper
66
Injection Moulding Device
70
Token Commands for Additional Devices
74
Palletising Program
78
Examples of Programs
81
Lock Areas
84
Error Messages
87
Operation
93
Referencing
95
Manual Operation
97
Single Step Mode
98
Automatic Operation
100
Stopping the Program
101
Automatic Mode STOP
102
Emergency Stop
102
Maintenance General
103
Transport, Storage and Waste Disposal
104
Lubricants
104
Electrical Components
104
Electrical Systems
104
Electromechanical Limit Switch
104
Proximity Switches
105
Indicator Lights
105
Control Cabinet
105
Battery Change
105
Pneumatic System
106
Compressed Air Servicing Unit
106
Pneumatic Connections
106
Pneumatic C-Axes
106
Settings C - Axis (Tilting)
107
Settings: B - Axis (Swivel)
108
Pneumatic Installation Components
108
Sound Absorbers
108
Linear Axis Guideways
109
X,Y and Z Axis Greasing Points
111
Drive Units
112
Belt Tension - X, Y, Z Axes
112
And Z Axis Belt Drive
113
Toothed Belt Replacement
113
Noise
113
Gears
114
Maintenance Catalogue
115
Spare Parts / Diagrams
119
Customer Services
121
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Battenfeld UNIROB R8 Specifications
General
Manufacturer
Battenfeld
Model
UNIROB R8
Payload
8 kg
Repeatability
±0.05 mm
Protection class
IP54
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