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    Scorbot ER-III Arm Calibration & Testing (EDM)

    Uploaded by

    paulo
    The document provides instructions for adjusting and calibrating the home position of mechanical arms using a home jig. It describes positioning pins on the jig to align with screw caps on the arm and adjusting cam screws to align the home switches for each axis. Maintenance procedures are also outlined, such as checking belts, screws and backlash between gears.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Scorbot ER-III Arm Calibration & Testing (EDM)

    Uploaded by

    paulo
    159 views15 pages
    The document provides instructions for adjusting and calibrating the home position of mechanical arms using a home jig. It describes positioning pins on the jig to align with screw caps on the arm and adjusting cam screws to align the home switches for each axis. Maintenance procedures are also outlined, such as checking belts, screws and backlash between gears.

    Original Description:

    Teste e Calibração do Robô Scorbot ER III

    Original Title

    20120303 - Scorbot ER-III Arm Calibration & Testing (EDM)

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    © © All Rights Reserved

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    The document provides instructions for adjusting and calibrating the home position of mechanical arms using a home jig. It describes positioning pins on the jig to align with screw caps on the arm and adjusting cam screws to align the home switches for each axis. Maintenance procedures are also outlined, such as checking belts, screws and backlash between gears.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    159 views15 pages

    Scorbot ER-III Arm Calibration & Testing (EDM)

    Uploaded by

    paulo
    The document provides instructions for adjusting and calibrating the home position of mechanical arms using a home jig. It describes positioning pins on the jig to align with screw caps on the arm and adjusting cam screws to align the home switches for each axis. Maintenance procedures are also outlined, such as checking belts, screws and backlash between gears.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 15

    HOW TO ADJUST AND CALIBRATE THE HOME POSITION OF MECHANICAL

    ARMS ERIII, ERV, ERV+ ,ER4PC USING THE HOME JIG

    (Adapted from various Scorbot docs found on the Internet. Revised by Eric Mack, 3/3/2012)

    For this procedure you will need:


    Inch Allen wrench 5/32
    Small Philips screwdriver.
    Scorbot Home Jig (See appendix for dimensions to make your own)
    Scorbot Boot Floppy and Scorbase Software
    Read the following instructions before starting the procedure

    • Home the robot if you can. If not move it manually to a position similar to the above drawing.

    • The Homing micro-switches are located on the left hand side of the robot. The
    Homing cams press against the micro-switch and that is how the robot reaches the home position.

    • The cams that we will move are only the ones next to the micro-switches. The cams on the other side of
    the robot are for cosmetics only.

    • Axis 1- BASE home position should not be changed as the micro-switch is in a


    prefixed position.

    Homing points on arm.

    NOTE:
    Positions 1 and 5 are Allen screws.
    Positions 2, 3 and 4 are screws in the middle of the homing cams.

    HOME JIG ALIGNMENT PINS:


    HOMING OF AXIS 2 – SHOULDER

    1. Place Pin A of the jig in screw cap 1.

    2. Change the speed in the software to a very slow speed.

    3. Move axis 2 slowly so that pin D will be placed in screw cap 3.

    4. Look at the position of the cam 2. It should be just touching the micro-switch. The microswitch should
    not be pushed in.

    5. Using the Allen wrench, unscrew the screw that tightens cam 2 and move it so that it is just touching
    the micro-switch. (you can hear the switch clicking when it changes state to not pushed).

    6. Tighten the screw and run the home procedure from the software.

    7. Repeat from step 1 until the jig fits smoothly in the screw cap.
    HOMING OF AXIS 3 – ELBOW

    1. Place Pin A of the jig in screw cap 2.

    2. Move axis 3 slowly so that pin C will be placed in screw cap 4.

    3. Look at the position of the cam 3. It should be just touching the micro-switch. The microswitch should
    not be pushed in.

    4. Using the Allen wrench, unscrew the screw that tightens cam 3 and move it so that it is just touching
    the micro-switch (you can hear the switch clicking when it changes state to not pushed).

    5. Tighten the screw and run the home procedure from the software.

    6. Repeat from step 1 until the jig fits smoothly in the screw cap.
    HOMING OF AXIS 4 – PITCH

    1. Close the Gripper.

    2. Place Pin A of the jig in screw cap 2.

    3. Move axis 4 slowly so that pin B will be placed in screw cap 5.

    4. Look at the position of the cam 3. It should be just touching the micro-switch. The microswitch should
    not be pushed in.

    5. Using the Allen wrench, unscrew the screw that tightens cam 4 and move it so that it is just touching
    the micro-switch (you can hear the switch clicking when it changes state to not pushed).

    6. Tighten the screw and run the home procedure from the software.

    7. Repeat from step 1 until the jig fits smoothly in the screw cap.
    HOMING OF AXIS 5 – ROLL
    1. Open the gripper.

    2. Move the axis 2 and 3 until the gripper is close to the base plate of the arm.

    3. The distance between the 2 fingers to the base plate should be the same.

    4. Move the robot to approximately the home position.

    5. Move the pitch until the gripper is facing up.

    6. Use a screwdriver to loosen the 2 Philips screws slightly and move the micro-switch to the side that the
    gripper finger was closest to the base plate.

    7. Tighten the screws and home the robot

    8. Repeat from step 1


    Scorbot ER-III Test & Calibration Procedures (by Eric Mack 12/30/2005)
    1. Place robot arm on a solid work surface, away from all obstructions
    2. Connect robot arm to controller
    3. Connect a serial cable between COM1: of the computer (must be a hardware serial port) and the
    "Computer" Serial port on the back of the controller (Do not connect teach pendant at same
    time)
    4. Power up controller
    5. Boot computer from DOS Scorbot floppy
    6. Enable the robot arm motors by pressing the MOTOR switch; light will come on
    7. From the DOS prompt, run Scorbase, level 3 (Type: "SCOR3")
    8. Press "5" to bring up the "Home" menu
    9. Press "A" to begin the arm calibration procedure; wait for all 10 iterations and
    acknowledgement that arm has been successfully calibrated. (I usually do this cycle 3 times to
    exercise all motors and sensors)

    10. After successful calibration, press "G" to home the robot arm

    11. Press the "Motor" switch to remove power to the robot arm
    12. You may now proceed with programming, or other robot control
    Maintenance and Repairs (Scorbot Manual)

    Routine Maintenance
    Monthly inspection and maintenance of the SCORBOT-ER III should include the following:
    1. Check all screws and bolts in the robot arm. Tighten any loose ones.

    2. Check all leads and rubber components in the robot arm. Replace any worn ones.

    3. Check the tension of the robot arm belts. When you press on a belt, it should give 2 mm (0.08")
    (see Figure 6-1).

    Tighten the belts only if you are absolutely certain they are slipping or retarding the motors (see
    Figures 6-2, 6-3 and 6-4).
    Figure 6-2 shows how to tighten the belts in the forearm which move the wrist axes (pitch & roll).
    Loosen the two screws (1) which hold the tension shaft.
    Press down on the shaft and retighten the two screws.

    Figure 6-3 shows how to tighten the belts in the upper arm which move the wrist axes (2) and the
    belt which moves the elbow (3).
    Figure 6-4 shows how to tighten the two belts in the robot base which move the wrist axes. First
    loosen the screw (5), and then loosen either one or both screws (4). Then, to tighten the belts,
    simultaneously pull the appropriate motor and retighten the screw/s (4). Finally, retighten the
    screw (5).

    4. Check the backlash between the pinion (60) and the main drive (toothed gear) (32) of the
    elbow and shoulder motors (the two motors attached to the side plate of the robot body). Refer to
    Figures 7-2 and 7-4.

    If the backlash is excessive, loosen the two screws (S22) which hold the motor bracket onto the
    side plate, and push the motor (and its pinion) towards the drive gear. Then retighten the screws.

    5. Check for excessive backlash in the base axis. Refer to Figures 7-3 and 7-4 The anti-backlash
    unit has four gears. Two gears (22 and 27) are on top of one other with a spring (23) fitted in
    between. To stretch the spring, do the following:
     Make sure the robot is bolted to the work surface.
     Undo the screw holding the gear (20) closest to you. Remove this gear.
     Note the small unused hole on the base plate located near the gears (22 and 27). It will
    enable you to lock the gear (22) in the next step.
     To prevent the gear (22) from moving during the following steps, lock the gear by
    inserting a short pin through this hole and in between two teeth in this gear. Make sure
    the pin does not touch the lower gear (27) and that the gear (27) is free to rotate.
     Mark the two teeth which are directly above one another on the gears (22 and 27), one on
    the upper gear and one on the lower gear.
     Manually turn the robot body counterclockwise a distance of six to eight teeth between
    the marked teeth. The spring should now be correctly stretched.
     Return the gear (20) to its position and fasten the screw.
     Remove the locking pin.
    SCORBOT HOME JIG (Dimensions in MM)

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