Festo EXPT 45 Bedienungsanleitung

Description

Mechanical assembly

8003784

1204a

Tripod kinematics

EXPT

2 Festo – GDCP-EXPT-KM-KOMP-EN – 1204a –

Translation of the original instructions

GDCP-EXPT-KM-KOMP-EN

CoDeSys

is a registered trademark of its respective trademark holder in certain countries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

Text designations:

• Activities that may be carried out in any order.

1. Activities that should be carried out in the order stated.

– General lists.

EXPT

Festo – GDCP-EXPT-KM-KOMP-EN – 1204a – English 3

Table of Contents – EXPT

1 Safety and requirements for product use 5......................................

1.1 Safety 5..................................................................

1.1.1 General safety regulations 5..........................................

1.1.2 Intended use 5.....................................................

1.2 Safety conditions 6.........................................................

1.2.1 Technical requirements 6............................................

1.2.2 Qualification of trained personnel 6....................................

1.2.3 Areas of application and approval by authorities 6........................

2Overview 7................................................................

2.1 Features 7................................................................

2.2 Function and application 9....................................................

2.3 Overview of interfaces 9.....................................................

2.4 Control elements and connections 10............................................

3 Assembly and installation 11..................................................

3.1 Transport 11................................................................

3.2 Storage conditions 11........................................................

3.3 Unpacking 12...............................................................

3.4 Checking tripod kinematics and scope of delivery 13................................

3.5 Preparations for assembly 14..................................................

3.5.1 Dimensions 14......................................................

3.5.2 Requirements for the assembly site 14..................................

3.6 Assembly on a frame 15.......................................................

3.7 Mounting options 16.........................................................

3.7.1 Direct mounting with screws 16........................................

3.7.2 Mounting with slot nuts 17............................................

3.8 Preparing tripod kinematics for mounting 19......................................

3.9 Mounting of attachments 23...................................................

3.9.1 Attachment for EXPT-...-T0 23..........................................

3.9.2 Attachment for EXPT-...-T1 to T4 23.....................................

3.10 Installation 24..............................................................

3.10.1 Overview 24........................................................

3.10.2 Overview of connections 25...........................................

3.10.3 Connect compressed air 25............................................

3.10.4 Installing motor cables and sensor cable 25..............................

3.10.5 Earthing 27........................................................

EXPT

4 Festo – GDCP-EXPT-KM-KOMP-EN – 1204a – English

4 Commissioning 28...........................................................

5 Operation and diagnostics 29..................................................

5.1 Maintenance and care 29......................................................

5.2 Troubleshooting 31..........................................................

6 Disassembly and repair 32....................................................

6.1 Dismantling 32..............................................................

6.1.1 Dismounting the tripod kinematics from the frame 32.......................

6.1.2 Dismounting motors 35...............................................

6.1.3 Dismounting the front unit 36..........................................

6.1.4 Dismantling the protective conduit 38...................................

6.1.5 Dismounting a pair of rods 39..........................................

6.2 Repair 40..................................................................

6.3 Accessories 40..............................................................

6.4 Disposal 40................................................................

A Technical appendix 41........................................................

A.1 Technical data for tripod kinematics EXPT-...-T0 to T4 41.............................

A.1.1 General 41.........................................................

A.1.2 Mechanical 41......................................................

A.1.3 Dynamic 42........................................................

A.1.4 Operating and environmental conditions 42...............................

A.2 Technical data of front unit for EXPT-...-T1 to T4 43.................................

A.2.1 General 43.........................................................

A.2.2 Mechanical 43......................................................

A.2.3 Electrical 43........................................................

1 Safety and requirements for product use

Festo – GDCP-EXPT-KM-KOMP-EN – 1204a – English 5

1 Safety and requirements for product use

1.1 Safety

1.1.1 General safety regulations

• Follow the general safety instructions in the relevant chapters.

Specific safety instructions can be found immediately before the task instructions.

1.1.2 Intended use

The EXPT tripod kinematics are intended for installation in machines and automation systems and are

to be used as follows:

– in excellent technical condition

– in original status without unauthorised modifications

– within the limits of the product defined by the technical data (Appendix A.1)

– in an industrial environment.

Note

The removal of mechanical components (e.g. motor, axis, pair of rods) causes

referencing to be lost and thus results in a reduction in absolute positioning accuracy.

When commissioning, referencing or calibration must be carried out again.

Note

In the event of damage caused by unauthorised manipulation or other than intended

use, the guarantee is invalidated and the manufacturer is not liable for damages.

1 Safety and requirements for product use

6 Festo – GDCP-EXPT-KM-KOMP-EN – 1204a – English

1.2 Safety conditions

• Make this documentation available to the design engineer, installer and personnel responsible for

commissioning the machine or system in which this product is used.

• Make sure that the specifications of the documentation are always complied with. Also read and

follow all accompanying documentation and the documentation for any associated accessories.

• Take into consideration the legal regulations applicable for the destination, as well as:

– regulations and standards

– regulations of the testing organizations and insurers

– national specifications.

1.2.1 Technical requirements

• All warnings and instructions in this documentation for the correct and safe use of the product must

be observed at all times.

• Comply with the connection and environmental conditions of the product (Appendix A.1) and all

connected components.

Only compliance with the limit values or load limits permits operation of the product in accordance

with the relevant safety regulations.

1.2.2 Qualification of trained personnel

The product should only be installed by properly trained personnel in accordance with these instruc-

tions. The trained personnel must be must be familiar with:

– the applicable regulations on accident protection and industrial safety, and

– the documentation for the product.

1.2.3 Areas of application and approval by authorities

Standards and test values, which the product complies with and fulfils, can be found in the “Technical

data” section (Appendix A.1).

2Overview

Festo – GDCP-EXPT-KM-KOMP-EN – 1204a – English 7

2Overview

2.1 Features

Tripod kinematics feature Code Specification

Working space –45 ∅450 mm, height 100 mm

–70 ∅700 mm, height 100 mm

–90 ∅900 mm, height 100 mm

– 120 ∅120 mm, height 100 mm

Attachment components –T0 Front unit without attachment component

–T1 Front unit with rotary drive, size 8

–T2 Front unit with rotary drive, size 8, and pneumatic

rotary through-feed

–T3 Front unit with rotary drive, size 11

–T4 Front unit with rotary drive, size 11, and pneumatic

rotary through-feed

Motor attachment position

(Fig. 3.12)

– HHH Motor axis A1, A2, A3 rear

–HHV Motor axis A1 rear

Motor axis A2 rear

Motor axis A3 front

–HVH Motor axis A1 rear

Motor axis A2 front

Motor axis A3 rear

–HVV Motor axis A1 rear

Motor axis A2 front

Motor axis A3 front

–VHH Motor axis A1 front

Motor axis A2 rear

Motor axis A3 rear

–VHV Motor axis A1 front

Motor axis A2 rear

Motor axis A3 front

– VVH Motor axis A1 front

Motor axis A2 front

Motor axis A3 rear

– VVV Motor axis A1, A2, A3 front

Particle protection Standard

–P Protected version

Tab. 2.1

2Overview

8 Festo – GDCP-EXPT-KM-KOMP-EN – 1204a – English

Accessories feature Code Specification

Control system Without control system

–C Control system on a mounting plate for installation in a

control cabinet

–CC Complete control system with control cabinet

Multi-axis controller Without control system

–C1 Control system with multi-axis controller CMXR-C1

–C2 Control system with multi-axis controller CMXR-C2 and

integrated PLC

Operator terminal Without operator unit

–B With operator unit CDSA

Cable length No cables or tubing included

–5 Connecting cable and 5 m long tubing included

–10 Connecting cable and 10 m long tubing included

–15 Connecting cable and 15 m long tubing included

Calibration Standard

–S With calibration

Tab. 2.2

2Overview

Festo – GDCP-EXPT-KM-KOMP-EN – 1204a – English 9

2.2 Function and application

The EXPT is a tripod kinematics unit with three servo motors, each powering a toothed belt axis. The

linear movements of the axes are transferred to the front unit by the principle of parallel kinematics.

A rotary drive is mounted on the front unit for variants T1 to T4. Suction cups or grippers can either be

attached to these directly or via the corresponding adapter kits. In addition, variants T2 and T4 are also

equipped with a pneumatic rotary through-feed for an air connection.

Variant P8 with particle protection is functionally identical to the other variants. The only difference

being that the axes are rotated by 180° and the toothed belt faces upwards. This prevents abrasion in

the working space.

The optional control system includes a higher-order multi-axis controller. This controls the interplay of

movements for the three motor controllers.

The EXPT tripod kinematics are intended for installation in machines and automation systems.

2.3 Overview of interfaces

Interface Documentation Description

Motors Accompanying user manual

for the motors

Connections of the motors

Pneumatic

components

Chapter 3.10. Compressed air supply for rod loss detection

Air supply for actuators (T2 and T4)

Sensors Chapter 3.10. Sensor connection for rod loss detection

Sensor connection for position sensing of the

rotary drive on the front unit (T1 to T4)

Tab. 2.3

2Overview

10 Festo – GDCP-EXPT-KM-KOMP-EN – 1204a – English

2.4 Control elements and connections

Note

The attachment position of the motors will vary according to the configuration of the

tripod kinematics and depends on the order code (www.festo.com/catalogue).

• Be mindful of the following during assembly and installation:

– the motor attachment position (Fig. 3.12).

The illustrated variant is an example and corresponds to the variant T1 to T4 with

rotary drive and motors in attachment position HHH.

– the position of the electrical and pneumatic connections.

The interface housing is located opposite the motor of axis 1 on the mounting

frame.

The EXPT has the following components, connections and display components:

6 7

1Front unit

(Variant T1 to T4 with rotary drive)

2Rod pair

3Joint

4Toothed belt axis

5EarthconnectionM6(6x)

6Mounting frame

7Motor (standard alignment HHH)

8Interface housing

9Manifold block (different for variant P8)

aJ Protective conduit

Fig. 2.1

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