PUSHCORP AFD62 Endeeffektor EOAT

Produktbrugsvejledning

• Follow the guidelines provided in Section 3 of the manual for proper installation of the AFD62 Adjustable Force Device.
• Ensure that all electrical connections, especially the Carriage Position Feedback Connection as detailed in Section 5.1, are securely in place to avoid any issues during operation.
• Refer to Section 6 of the manual for instructions on how to adjust the force settings to achieve the desired force output with the AFD62 device.

HANDLE WITH CARE. DO NOT DROP

• BRUG IKKE SMØRET LUFT.
• Denne enhed kræver en tør, ikke-smurt 90 psi (6.2 bar) maksimal lufttilførsel filtreret til 5 µm og en 0.3 mikron olietågeudskiller.
• Manglende overholdelse af disse krav vil ugyldiggøre producentens garanti.
• Alle fastgørelseselementer, monteringshuller og rørgevind på dette værktøj er METRISKE.
• Alle PushCorp elektriske kabler er klassificeret til high twist og flex robotapplikationer med en minimum kabelbøjningsradius på 125 mm (5 tommer). Kabelskader som følge af manglende overholdelse af denne specifikation vil ikke være dækket af garantien.

Begrænset garanti

Varighed:

• Et år fra leveringsdatoen til den oprindelige køber.

Hvem giver denne garanti (garantigiver):

• PushCorp
• Telefon: 972-840-0208
• Virksomhedens adresse:
• Postboks 181915
• Dallas, Texas 75218
• Forsendelsesadresse:
• 3001 W. Kingsley Rd.
• Garland, Texas 75041

Hvem modtager denne garanti (køber):

• Den oprindelige køber (bortset fra med henblik på videresalg) af PushCorp-produktet

What products are covered by this warranty

• Enhver PushCorp Justerbar Force Device eller Justerbar Force Device tilbehør leveret eller fremstillet af garantigiveren.

What is covered under this warranty

• Materiale- og/eller fabrikationsfejl, der opstår inden for garantiperioden.

Hvad er IKKE dækket af denne garanti:

• A. IMPLIED WARRANTIES, INCLUDING THOSE OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE,ARE LIMITED TO ONE YEAR FROM THE DATE OF ORIGINAL PURCHASE. Some states do not allow limitations on how long an implied warranty lasts, so the above limitations may not apply to you.
• B. ANY INCIDENTAL, INDIRECT, OR CONSEQUENTIAL LOSS, DAMAGE or EXPENSE THAT MAY RESULT FROM ANY DEFECT, FAILURE, MALFUNCTION OF THE PUSHCORP PRODUCT. Some states do not allow the exclusion or limitation of incidental or consequential damages so the above limitation or exclusion may not apply to you.
• C. Any failure that results from an accident, purchaser’s abuse, neglect, unauthorized repair or failure to operate the products in accordance with the instructions provided in the owner’s manual(s) supplied with the product.

Garantistens ansvar under denne garanti:

• Repair or replace, at Warrantor’s option, products or components that have failed within the duration of the warranty period.

Købers ansvar under denne garanti:

• A. Deliver or ship the PushCorp product or component to the PushCorp Service Center, Dallas, TX. Freight and insurance costs, if any, must be borne by the purchaser.
• B. Use reasonable care in the operation and maintenance of the product as described in the owner’s manual(s).

Hvornår garantigiveren udfører reparation eller udskiftning under denne garanti:

• Repair or replacement will be scheduled and serviced according to the normal workflow at the service center, and depending on the availability of replacement parts. Purchasers requiring quicker repair may receive such with payment of a PushCorp predetermined expediting fee.

Denne begrænsede garanti giver dig specifikke juridiske rettigheder, og du kan også have andre rettigheder, som varierer fra stat til stat.

Generelt overview

• The PushCorp, 62 Series AFD was designed to be a small, lightweight passive compliance device. It fits into the Passive lineup between AFD52 & AFD72. As such, the 62 Series is a great fit for small to medium-sized robots. To reduce operating friction and increase force accuracy, the 62 Series uses glass pneumatic cylinders with graphite pistons and linear guide rails. The AFD62 incorporates an internal linear potentiometer that allows the monitoring of the carriage position during operation. It has two robot mounting configurations. The AFD62 may be supplied to apply both positive and negative forces.
• The 62 Series requires the user to supply at least one pressure regulator to control the force output. The device’s low-friction components mean that the force output resolution and repeatability is highly dependent on the regulator accuracy. The regulator can be manually or electrically adjustable based on the user’s application requirements. If only one force level is required and the AFD orientation does not change, a manual regulator is sufficient. If the force and/or AFD orientation changes during the process, then an electrically controlled proportional regulator is required. In some cases, the process equipment weight must be taken into account so that a constant force can be applied regardless of the AFD orientation. This situation requires the calculation of the regulator pressure based on the process equipment weight and AFD orientation. To monitor the Carriage position the AFD62 must be connected to a DC power source and an analog input device through a PushCorp high-flex cable.
• Alle disse funktioner gør tilsammen PushCorp 62-seriens justerbare kraftenheder til robuste og pålidelige enheder, der er i stand til at levere ensartede resultater i et hvilket som helst antal industrielle applikationer.

Installation

Montering af procesudstyr
AFD62 justerbar kraftenhed er designet til at passe til PushCorp SM1202 og RPS100. Mange slutbrugere udvikler dog også procesudstyr til deres egne proprietære applikationer. AFD'en kan orienteres parallelt eller vinkelret på manipulatorens monteringsflange, selvom det er vigtigt at bemærke, at AFD'en kun kan påføre kraft i retning af slædens lineære bevægelse.
When mounting process equipment to the carriage, extreme care should be taken while designing and installing the brackets. Correctly designed brackets will increase the stiffness of the carriage by becoming an external superstructure for the carriage. The carriage can gain a tremendous amount of rigidity if this approach is executed correctly. Incorrectly designed brackets will deform the carriage, causing internal linear rail misalignment. A symptom of carriage deformation is “slop” or “binding” of the Carriage. A deformed or loose Carriage will damage the Linear Rails and affect the consistency of your process. If the Carriage becomes loose or binds after installing the process equipment, then the brackets must be removed and the problem corrected. PushCorp can design and fabricate brackets to user-supplied specifications as an option.

• The bolt pattern on the Carriage has been designed to facilitate process equipment installation. The Carriage has 6) six M4x0.7 mounting holes with a depth of 0.26 inch (6.5 mm) to provide secure attachment points. The mounting holes are spaced 100mm across and on 50mm centers along the length of the Carriage. (See Figure 1)
• Care must be taken when designing and manufacturing brackets that will be mounted to the linear carriage. It is essential that these brackets maintain a face to face parallelism of at least 0.001” in order to prevent binding, which can lead to inaccurate applied force. As a result, we recommend using tooling plate for the stock material, or blanchard grinding the mounting faces.
• Hvis disse muligheder ikke er praktiske for dit design, er bearbejdede trin eller brug af shims under boltede overflader også velegnede. Vi anbefaler en højde på 0.02” for at sikre tilstrækkelig afstand mellem slæden og monteringspladen.

Montering af AFD62

• The basic configuration of the AFD62 force device allows attachment to a stationary fixture or a robotic manipulator mounting flange. Specifying an AFD62 1 or -2 determines how the Mounting Bracket is mounted to the AFD.

Montering af AFD62-1 vertikal og AFD62-2 horisontal

• AFD62-1 og AFD62-2 leveres med et standard monteringsbeslag vist i figur 2. Alle 4 monteringshuller skal bruges til at fastgøre monteringsbeslaget til robotmonteringsflangen. Hvis din robotflange ikke har et ISO 50 boltmønster, kan en adapterplade bruges. Din PushCorp salgsrepræsentant kan hjælpe med at vælge de nødvendige komponenter.

• Afhængigt af applikationen kan en -1 eller -2 monteringskonfiguration specificeres ved ordreafgivelse. AFD62-1 kan ses i figur 3, og AFD62-2 kan ses i figur 4. -1-konfigurationen placerer det lineære, kompatible slaglængde på linje med robotarmen, hvorimod -2-konfigurationen er vinkelret. Afhængigt af delens geometri kan -1 eller -2 give adgang til flere funktioner og muliggøre nemmere robotprogrammering. Hvis du har spørgsmål vedrørende din specifikke proces, bedes du kontakte din salgsrepræsentant.
• Both the -1 and -2 are attached to the robot in the exact same manner. The AFD62 mounting bracket shown in Figures 3 & 4 is mounted to joint 6 of the robot first. Then, the
• 1 or -2 mounting flanges is aligned and positioned into the mounting bracket such that the THRU holes are aligned. At that point, the M8x1.25 shoulder bolt should be inserted and threaded into the AFD62 mounting bracket to tighten the assembly as shown in Figure 6. This bolt should be torqued to 40N-m (30ft-lbs).

Maksimal vognbelastningsberegninger

• The Linear Rail bearings that support the AFD62 Carriage have been selected to provide optimal performance with respect to capacity, size, and low friction. To ensure continued optimal performance, it is very important not to overload these bearings. The following diagrams and associated equations are provided to check your application for excessive loading.
• It is important to note that these equations require the use of Metric units. The necessary conversions are provided for your convenience. Insert your maximum applied force and process equipment weight (W) and Load Overhang Distances (D) to calculate an actual Bearing Load (L) that must be less than the maximum Bearing Load shown on the right side of the equation. The life of the bearings is 100,000 meters of linear motion, at the maximum allowable
• Bearing Load value. Exceeding this value (L) will reduce the life, and operating at less than this value (L) will increase the life. It is common to have combined weight and force loads on the Carriage. These situations will require adding two or more of the scenarios shown below. The sum of the different weight and force loads must be less than the Bearing Load (L). If the AFD62 is placed in multiple orientations, then the Bearing Load (L) should be checked for each one. If your application is not similar to any of the designs listed here, or if the information is not clear, please contact PushCorp Technical Support for assistance.

Pneumatisk tilslutning

• AFD62 justerbare kraftanordninger kræver en tør, ikke-smurt, 5 µm filtreret, 90 psi (6.2 bar) maksimal luftforsyning. Hvis der ikke leveres luft i overensstemmelse med disse specifikationer, kan det forringe ydeevnen og ugyldiggøre eventuelle garantireparationer vedrørende pneumatiske komponenter. Filtreret luft er nødvendig for at forhindre fremmedlegemer i at trænge ind i AFD'en.
• Det pneumatiske forsyningssystem skal konfigureres som vist i figur 6.

• To apply force in the positive + direction, on an AFD62, a Supply Line must be connected to the + Supply Air Port. To apply force in the negative – direction, on an AFD62, a Supply Line must be connected to the – Supply Air Port.

• If water condensation is a problem in your air supply system, an air dryer device is highly recommended. The ideal solution is an industrial chiller dryer capable of reducing the dew point to less than 32° F (0°C). Moisture inside the AFD will cause premature failure that will not be covered under warranty.
• In applications where the environment contains suspended particulate matter, purge air flow must be used to ensure that the inside of the AFD remains clear of foreign matter. A Purge Port on the AFD62 (See Figure 7.) provides a pneumatic connection to supply this air flow. The port accepts a metric R 1/8 tapered pneumatic fitting. PushCorp can provide fittings for English or metric tubing. The input pressure to the purge port can range from 10 PSI to 60 PSI (0.7 – 4.1 bar) with a flow rate of 0.5 to 2.0 SCFM (14 – 56 l/min) depending on the application. The purge air must be dry and non-lubricated; however, it needs only be filtered to 20 microns.
• Forsynings- og udluftningsledningen til enheden skal være et fleksibelt polyurethanslange med en diameter på 6 mm eller 1/4 tomme. Slangen skal føres til AFD'en, så der ikke er knæk, og at der er rigeligt med slæk til, at manipulatoren kan bevæge sig. Før forsynings- eller udluftningsledningen sættes i kraftenhedens luftfitting, skal du åbne afspærringsventilen for at blæse eventuelle forurenende stoffer ud, der måtte være i ledningen. Slangen kan nu skubbes ind i den selvlåsende fitting, der er placeret på siden af ​​AFD'en. Fyld forsyningsledningen med trykluft, og kontrollér, at der ikke er luftlækager.
• NOTE: PushCorp anbefaler kraftigt brugen af ​​fleksible polyurethanslanger i stedet for nylonslanger. Dette skyldes, at nylonslanger har tendens til at krympe, når de bøjes. Dette begrænser luftstrømmen til AFD'en betydeligt.
• For at fjerne forsyningsledningen skal du først udlade alt lufttryk i systemet, og derefter trække slangen ud, mens du trykker indad på fittingens plastikring. Dæk eller tilslut den selvlåsende fitting, når forsyningsledningen eller udrensningsledningen ikke er tilsluttet. Dette vil forhindre forurenende stoffer i at trænge ind i AFD'en.

Elektriske forbindelser

Tilslutning til feedback på slædeposition
AFD62 er udstyret med et internt potentiometer, der giver en lydstyrketagSignalet er baseret på slædens lineære bevægelse. VolumentagSignalet er minimalt, når slæden er i den fulde negative position, og maksimalt, når slæden er i en fulde positiv position. Et High-Flex-kabel bruges til at forbinde DC-spændingen.tage-forsyning og analoge signaler til kraftenheden. Stikket er specielt designet til at minimere belastningen på kablet. Stikket og fatningen er konfigureret til at gøre det umuligt at forbinde dem forkert.
Det lineære positionssignal skal kalibreres for hver installation. Brugerkalibrering udføres nemt ved hjælp af følgende trin.

1. Attach the High-Flex Cable to the Carriage Position Feedback Connector as shown in Figure 8.
2. Attach a female M12 4-pin A-code connector to the other side.
3. Flyt slæden til den fulde negative position.
4. Læs bindtage-signal på POSN-positionssignaludgangen. Optag denne bindtage til fremtidig reference. Dette vil blive omtalt som Vnegativ.
5. Flyt slæden til fuld positiv position.
6. Læs bindtage-signal på POSN-positionssignaludgangen. Optag denne bindtage til fremtidig reference. Dette vil blive omtalt som Vpos.
7. Vognens position kan nu bestemmes ved at måle strømmen voltage på POSN-positionssignaludgangen (Vm) og indsættelse af værdien i følgende ligning:

Hvor

• p= Carriage Position (in. , mm )
• Vm = Voltage målt på POSN-signalledning (V)
• V negative = Calibrated voltage at fully negative Carriage position (V ), ( 0 inch, 0 mm )
• V pos= Calibrated voltage at fully positive Carriage position (V ), (0 .8 inch, 20 mm)

• Forsyning Voltage – Forsyningen voltage input for the AFD62. The supply should be well-regulated to +/- 10%. The load resistance is 1500Ω ±30%. The supply voltage bør ikke overstige 24VDC. En 12VDC forsyning vil give et POSN signal output voltage mellem 0 og 10VDC.
• Forsyningsfælles – Forsyningsfællesindgangen for AFD62. Den skal tilsluttes den fælles terminal for forsyningen samt den analoge fælles terminal for positionssignalet.
• Positionssignal – Det lineære potentiometersignaludgang. Denne bindtage signal represents the Carriage position. The device connected to this output should have an input impedance of equal to or greater than 100kΩ. The linear potentiometer signal is not calibrated from the factory but is linear to ±1.0%.

NOTE: Man skal sørge for, at alle signaler og voltage source commons er forbundet sammen på brugersiden for at undgå DC offset fejl.

At opnå ønsket kraft

• AFD62 er en passiv kraftenhed, der kræver, at brugeren forsyner den pneumatiske aktuator med lufttryk. Trykket i aktuatoren resulterer i en udgangskraft ved slæden. Hvis AFD'en altid er i vandret position eller ikke ændrer retning, er det nemt at opnå den ønskede udgangskraft. Men hvis AFD'en ændrer retning, og udgangskraften skal forblive konstant, skal trykket varieres langs robottens bane.
• Two system variables must be known to achieve a desired output force: the Weight carried by the AFD, and the angle of the Carriage with respect to gravity. The angle of the Carriage is required so that the Weight can be compensated for. The Weight is the sum of the process equipment and the AFD Carriage itself. This value can be back-calculated from the area and pressure in the pneumatic actuator. The best method to determine the Weight is with a calibrated load cell. The angle of the Carriage to the Gravity Vector is defined as shown below in Figure 10.

• The AFD62 is available with two identical single-acting actuators acting in opposite directions. This allows the AFD62 to apply both positive and negative forces. The area of the cylinders is 0.3 in2 (193.6 mm2) so for every one psi (0.07 bar) of supply pressure, the AFD applies 0.3 lbs (1.33 N) of force. This makes the AFD62 very easy to set up. To apply a 20 lbs. (89 N) force while in a horizontal orientation, just set the supply pressure to 66.7 psi (4.6 bar). This, however, does require the user to supply two precision pressure regulators to accurately adjust the applied force. The pressure regulator may be either a manually or electrically controlled proportional pressure regulator. The force output repeatability and resolution are directly related to the accuracy of the pneumatic regulator.
• Følgende er ligninger, der definerer den påførte kraft fra hver AFD62.

AFD62 (dobbeltvirkende) anvendt kraft:

Hvor

Tekniske specifikationer

• Maksimal påført kraft: 27 lbs. (120 N)
• Maksimal nyttelast: 27 lbs. (12.25 kg)
• Vægt: 4.3 lbs. (2.0 kg)
• Kraftskalafaktor: 0.3 lbs/psi (19.4 N/bar)
• Overensstemmende slaglængde: 0.8 tommer (20 mm)
• Temperature: 50° to 122° F (10° to 50° C)
• Fugtighed: 5% til 95%, ikke-kondenserende
• Indblæsningsluft: Ikke-smurt, tør, 5μm filtreret, 90 psi (6.2 bar) maks.
• Forsyning Voltage: 24 VDC ±10% Maksimum

Specifikationer kan ændres uden varsel.

Fastener Tilspændingsmoment Specs
Befæstelsesstørrelse	Moment			Mindste dybde
	I.-lbs.	ft.-lbs.	N·m	i.	mm
M4 x 7	50	4.2	5.6	0.17	4.3
M5 x 8	85	7.1	9.6	0.21	5.3
M6 x 1	140	11.7	15.8	0.25	6.3
M8 x 1.25	348	29.0	39.3	0.33	8.4
M10 x 1.5	600	50.0	67.8	0.41	10.5

Forebyggende vedligeholdelsesplan

• It is highly recommended to adhere to the preventative maintenance schedule in order to help extend the longevity of the specified PushCorp equipment.
• Failing to do so could cause a loss in functionality as well as a decrease in product life.

PUSHCORP AFD
Opretholdelse	Ugentlig	Månedlig	3 måneder	6 måneder
Fjern snavs fra AFD	X
Kontroller, at stikkene ikke er bøjet/beskadiget	X
Kontroller, om slæden bevæger sig let frem og tilbage	X
Measure the supply and purge lines at the tool for recommended pressure/flow, and ensure no losses in the pneumatic supply		X
Kontroller filtrene for forurening – udskift dem, hvis de er mørkegule/brune		X
Udskift filterpatron(er)				X

• Agentur/organisation:________________________________________________
• Afsluttelsesdato:_____________________________________________________

FAQ

• Q: Hvad er dækket af den begrænsede garanti?
  • A: The limited warranty covers defects in material and/or workmanship occurring within one year from the date of delivery to the original purchaser.
• Q: Hvad er ikke dækket af garantien?
  • A: The warranty does not cover implied warranties, incidental, indirect, or consequential loss, damage, or expenses resulting from defects, failures, or malfunctions. It also does not cover failures due to accidents, abuse, neglect, unauthorized repair, or improper operation.

Dokumenter/ressourcer

PUSHCORP AFD62 Endeeffektor EOAT [pdfBrugermanual AFD62-1, AFD62-2, AFD62 Endeeffektor EOAT, AFD62, Endeeffektor EOAT, Effektor EOAT, EOAT

Referencer

• Brugermanual