PUSHCORP AFD620 Adjustable Force Device Instructions

Dispositivo di forza regolabile PUSHCORP AFD620

Istruzioni per l'uso

ATTENZIONE: Active Force Devices contain calibrated electronics. HANDLE WITH CARE. DO NOT DROP.

NON UTILIZZARE ARIA LUBRIFICATA.

This device requires a dry, non-lubricated 80 psi (5.5 bar) maximum air supply filtered to 5 µm and a 0.3 micron oil mist separator. Non-compliance with these requirements will void the manufacturer’s warranty (See Section 3.4).

Gestione dei cavi

Tutti i cavi elettrici PushCorp, Inc. sono classificati per applicazioni robotiche ad alta torsione e flessibilità, con un raggio di curvatura minimo di 125 mm (5 pollici). I danni ai cavi derivanti dal mancato rispetto di questa specifica non saranno coperti da garanzia.

• ATTENZIONE
  • Active Force Devices contain calibrated electronics. HANDLE WITH CARE. DO NOT DROP
• NON UTILIZZARE ARIA LUBRIFICATA.
  • Questo dispositivo richiede un'alimentazione d'aria secca e non lubrificata di massimo 80 psi (5.5 bar) filtrata a 5 µm e un separatore di nebbie d'olio da 0.3 micron.
  • Il mancato rispetto di questi requisiti invaliderà la garanzia del produttore.
• All fasteners, mounting holes, and pipe threads on this tool are METRIC
  • Tutti i cavi elettrici PushCorp, Inc. sono classificati per applicazioni robotiche ad alta torsione e flessibilità, con un raggio di curvatura minimo di 125 mm (5 pollici). I danni ai cavi derivanti dal mancato rispetto di questa specifica non saranno coperti da garanzia.

GARANZIA LIMITATA

Durata

• Un anno dalla data di consegna all'acquirente originale.

Chi fornisce questa garanzia

• SpingereCorp
• Telefono: (972) 840-0208
• Indirizzo aziendale:
• Casella postale 181915
• Dallas, Texas 75218
• Indirizzo di spedizione:
• 3001 W. Kingsley Road.
• Ghirlanda, Texas 75041

Chi fornisce questa garanzia (acquirente)

• L'acquirente originale (diverso da quello per la rivendita) del prodotto PushCorp

Quali prodotti sono coperti da questa garanzia

• Any PushCorp industrial equipment or accessory supplied of manufactured by the Warrantor.

What is covered under this warranty

• • Defects in material and/or workmanship that occur within the duration of the warranty period

Cosa non è coperto da questa garanzia

• 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.
• ANY INCIDENTAL, INDIRECT, OR CONSEQUENTIAL LOSS, DAMAGE, or EXPENSE THAT MAY RESULT FROM ANY DEFECT, FAILURE, MALFUNCTION OF THE PUSHCORP, INC. 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.
• 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.

Responsabilità del Garante ai sensi della presente garanzia

• Riparare o sostituire, a discrezione del Garante, prodotti o componenti che si sono guastati entro la durata del periodo di garanzia.

Responsabilità dell'acquirente ai sensi della presente garanzia

• Deliver or ship the PushCorp, Inc. product or component to the PushCorp, Inc. Service Center, Dallas, TX. Freight and insurance costs, if any, must be borne by the purchaser.
• Usare la dovuta cura nel funzionamento e nella manutenzione del prodotto, come descritto nel/nei manuale/i del proprietario.

When the warrantor will perform repair or replacement under this warranty

• La riparazione o la sostituzione saranno programmate e gestite secondo il normale flusso di lavoro presso il centro assistenza e in base alla disponibilità dei pezzi di ricambio. Gli acquirenti che necessitano di una riparazione più rapida potranno riceverla dietro pagamento di una tariffa di accelerazione predeterminata da PushCorp, Inc.
• Questa Garanzia Limitata ti conferisce diritti legali specifici e potresti anche avere altri diritti che variano da stato a stato.

SOPRAVIEW

• The PushCorp, Inc. 620 Series Adjustable Force Device (US Patent No. 5,448,146) provides a superior force application system for robots and other automated equipment. The device can be placed in any position to enable a variety of manufacturing operations requiring a consistently applied force with 1.6 in. (40 mm) of compliant stroke. The AFD is designed to withstand continuous use in harsh industrial grinding, polishing, and drilling operations.
• The 620 Series compliant tools utilize a pneumatic actuator to provide the force and provide closed-loop feedback. The 620 Series can apply up to a maximum 115 lbs. (512 N) of force. The AFD contains an accelerometer that monitors orientation and allows the unit to automatically compensate for gravitational and inertial effects. A linear potentiometer is also present within the AFD to sense the position of the Carriage.
• The only external connection that is required to operate the 620 Series is a filtered, non-lubricated, 80 – 90 psi (5.5 – 6.2 bar) supply air provided through flexible tubing. An optional Purge Port is also provided for applications where great amounts of fine dust particles are created. The Purge Port connection provides additional airflow and internal positive pressure to help minimize the amount of contamination infiltrating the interior of the AFD. The AFD’s sliding Carriage has threaded mounting holes to provide easy process equipment attachment.
• It is recommended that the user read the entire manual before beginning any operations to fully understand all the aspects and features of the 620 Series. All these features combine to make the PushCorp 620 Series Adjustable Force Device a rugged, state-of-the-art technology capable of providing reliable, precise, and consistent results in a variety of industrial applications.

AVVIO RAPIDO

Questa sezione contiene istruzioni dettagliate su come mettere rapidamente in funzione il dispositivo di forza regolabile serie 620 per testarne rapidamente le capacità. I ​​dettagli completi su tutte le funzionalità sono descritti nelle sezioni seguenti.

1. Carefully unpack the 620 Series Force Device and verify that all parts indicated on the packing list are present and in good condition. If there is a problem, please notify the factory immediately so that corrective action may be promptly initiated.
2. Fase 2: Fissare saldamente la staffa di montaggio serie 620 alla flangia di montaggio del manipolatore o al tavolo di supporto come indicato nella Sezione 4.2.
3. Step 3: Connect a dry, non-lubricated, 5 µm filtered 80 to 90 psi (5.5 to 6.9 bar) air supply to the 620 Series per Section 4.4.
4. Fase 4: Consultare il manuale FCU-FLEX per informazioni sui collegamenti elettrici e sulla configurazione del software.

Si prega di leggere le sezioni seguenti per scoprire tutte le potenzialità e le caratteristiche del dispositivo di forza regolabile PushCorp serie 620.

INSTALLAZIONE

Attrezzatura di processo di montaggio

• The 620 Series Adjustable Force Device can accommodate many different types of process equipment. PushCorp provides a variety of standard process equipment, such as weld shavers, high-speed motors, plus other specialized tooling. Many end users also develop process equipment for their own applications. The AFD can be oriented parallel or perpendicular to the robotic manipulator mounting flange, although it is important to note that the AFD can apply force only in the direction of Carriage translation.
• 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 surface, 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 Guides 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, Inc. 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 (14) fourteen M8x1.25 mounting holes with a depth of 0.51 inch (13 mm) to provide secure attachment points. The mounting holes are spaced 6.5 inches (165.1 mm) across and on 1 inch (25.4 mm) and 2 inch (50.8mm) centers along the length of the Carriage. (See Figure 1) The Carriage also has (2) four 5mm dowel pin holes to facilitate alignment. (See Figure 1 for location) These dowel pin holes are oversized to allow the pins to be glued into place using Loctite 609, or equivalent. Only utilize 4 of the M6x1 mounting holes; using more than 4 may cause warping of the carriage.
• 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 a tooling plate for the stock material or blanchard grinding the mounting faces.
• If these options are not practical for your design, machined steps or the use of shims under bolted surfaces are also suitable. We recommend a height of 0.02” to ensure enough clearance between the carriage and the mounting plate.
• AVVERTIMENTO: DO NOT press pins into the AFD Carriage as this will likely damage the bearing Linear Guides.
• ATTENZIONE: The Fastener Tightening Torque Specs chart in Section 6.0 should be used to determine proper fastener length and torque for fasteners into the Carriage. This is to prevent the pull-out of the Carriage helicoil inserts.

Mounting the AFD620 Series

• La configurazione di base del dispositivo di forza Serie 620 consente il fissaggio a un dispositivo fisso o a una flangia di montaggio di un manipolatore robotico. La staffa di montaggio fornita dipende dal modello AFD620 -1, -2 o -3. Per il montaggio è possibile utilizzare anche piastre adattatrici o attacchi a "scambio rapido". La Serie 620 è dotata di (2) due perni di centraggio da 4 mm inseriti a pressione nella base per il posizionamento e l'allineamento del coperchio e delle staffe di montaggio.

Montaggio dell'AFD620-1 verticale e dell'AFD620-2 orizzontale

• The AFD620-1 and AFD620-2 are supplied with a standard Mounting Bracket with a 90 mm three-hole mounting pattern, see Figure 4. All three holes should be utilized to secure the Mounting Bracket to the robot mounting flange. If the Mounting Bracket is supplied blank or additional holes are required, it must first be removed from the device before drilling. Four cap screws are used to attach the Mounting Bracket to the 620 Series. Once the Mounting Bracket is removed, mounting holes may be placed anywhere within the crosshatched area shown in Figure 4. PushCorp, Inc. will supply engineering support to determine the mounting hole locations at no cost.
  Dopo aver eseguito la foratura secondo lo schema desiderato, rimuovere eventuali bave e pulire eventuali residui di lavorazione dalla staffa di montaggio. La staffa di montaggio può quindi essere rimontata.

Calcolo del carico massimo del carrello

• The Linear Guide bearings that support the 620 Series sliding 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 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 may require adding two or more of the scenarios shown below. If your tooling is not similar to any of the designs listed here, or if the information is not clear, please contact PushCorp Technical Support for assistance.
• Se l'AFD è stato acquistato prima di gennaio 2023, fare riferimento al documento disponibile all'indirizzo: https://pushcorp.com/product/obsolete-products/ per calcoli appropriati del carico del carrello.
  • W = Maximum Force (N) (max. applied force + process equipment weight)
  • D = Load Overhang distance (mm) 1 lbf. = 4.45 N
  • Bearing Load (N) 1 in. = 25.4 mm
  • = Concentrated Load Position I N -0.102 kg
    

Collegamento pneumatico

• The 620 Series Adjustable Force Devices require a dry, non-lubricated, 5 µm filtered, 80 to 90 psi (5.5 – 6.2 bar) air supply. Failure to provide supply air to these specifications can degrade performance and will void any warranty repairs concerning pneumatic components. Filtered air is required since the high-speed servo spool valve used in the AFD cannot tolerate ANY foreign material in the supply air. Additionally, a minimum 80 psi (5.5 bar) air pressure must be maintained at the supply air port for the device to operate within published specifications. Operating at lower air pressure can cause inferior force control performance and possibly instability. Operating the AFD at pressures over 90 psi (6.2 bar) will activate a pressure relief valve inside the tool. This valve prevents damage to the internal load cell due to operating the tool with excessive pressure. This relief valve is strictly a protective mechanism and should not be used as a pressure regulator device.
• The pneumatic supply system should be configured as shown in
• 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 force device will cause premature failure that will not be covered under warranty.
• Under most circumstances, the standard internal purge will provide sufficient air to keep the 620 Series free of contaminants. In applications where the environment contains very small suspended particulate matter, additional purge air flow must be used to ensure that the AFD remains clear of foreign matter. An auxiliary Purge Port on the 620 Series (See Figure 6) provides a pneumatic connection to supply this additional 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 theapplication. The purge air must be dry and non-lubricated; it needs only to be filtered to 20 microns.
• La linea di alimentazione e la linea di spurgo del dispositivo devono essere realizzate in tubi flessibili in poliuretano da 1 mm di diametro o 4/6 di pollice. Il tubo deve essere instradato verso l'AFD in modo che non vi siano pieghe e che vi sia ampio gioco per consentire il movimento del manipolatore. Prima di inserire la linea di alimentazione nel raccordo aria del dispositivo di forza, aprire la valvola di intercettazione per eliminare eventuali contaminanti presenti nella linea. Il tubo può ora essere inserito nel raccordo autobloccante situato sul lato dell'AFD. Caricare la linea di alimentazione con aria compressa e verificare che non vi siano perdite d'aria e che vi sia una pressione minima di 80 bar (5.5 PSI) all'AFD. Se non è possibile raggiungere una pressione minima dell'aria, è necessario installare un compressore d'aria ausiliario o una pompa booster con almeno 2 l/min (56 SCFM).

NOTA:

• PushCorp consiglia vivamente l'uso di tubi flessibili in poliuretano anziché tubi in nylon. Questo perché i tubi in nylon tendono a arricciarsi quando vengono piegati. Ciò limita notevolmente il flusso d'aria all'AFD e causa instabilità.
• To remove the Supply Line, first discharge all air pressure in the system, then while pushing inward on the fitting’s plastic ring, simultaneously pull the tubing out. Cover or plug the self-locking fitting anytime the Supply Line is not connected. This will keep any contaminants from entering the AFD.

Filtro a cartuccia dell'aria interna

The 620 Series contains a Cartridge Filter in the base housing. The Cartridge Filter is designed to be the last line of defense to protect the AFD from contamination. The Cartridge Filter is not designed to be the sole means of AFD supply air filtration. The pneumatic supply system must be configured as described in Section 4.4. If the filter becomes clogged, the 620 Series will not function properly. Replacement Cartridge Filters may be purchased from PushCorp (Part No. PAR01943-1) or from the manufacturer directly (Parker, Part No. 050-05-DQ). To remove the Cartridge Filter, loosen the Cartridge Filter Holder located on the side of the AFD base housing. See Figure 6. Remove the Cartridge Filter and perform a visual inspection. The condition of the Cartridge Filter will give an indication of the quality of your supply air system. Place a new Cartridge Filter on the Cartridge Filter Holder and insert it into the AFD base housing. Tighten the Cartridge Filter Holder to a torque of 11.6 lb-ft. (15.8 N-m).

INTERFACCIA ETHERNET

• L'AFD ha una connessione di rete Ethernet che può essere utilizzata per configurare e controllare tutti gli aspetti dello strumento. La configurazione di rete predefinita di fabbrica è impostata su:
• Indirizzo IP: 192.168.0.10
• Maschera di rete: 255.255.255.0
• Per utilizzare la connessione Ethernet al posto del controller FCUFLEX, è necessario acquistare un cavo adattatore appropriato da PushCorp per fornire una connessione di rete Ethernet RJ45 standard. L'alimentazione deve essere fornita a questo connettore tramite un iniettore PASSIVO Power-Over-Ethernet (POE) esterno. L'iniettore POE deve fornire alimentazione al connettore RJ45 sui pin 4,5: +24 VDC, pin 7,8: -24 VDC. Il nome host AFD predefinito di fabbrica è "AFD-xxxxx" dove "xxxxx" è il numero di serie del controller AFD.

Console Command Interface

The Console Command Interface can be accessed via the USB serial interface or over Ethernet via a standard Telnet session (TCP Port 23). All commands are standard ASCII strings. Upon powering up, the following sign message is transmitted:

• AFD Console Interface[CR][LF]
• HW Version: 1.0 SW Version: 1.0[CR][LF] Build Date: Jan 01 2018, 00:00:00[CR][LF]revision.
• This message is then followed by the command prompt: “>>”. This prompt follows all commands and indicates that the previous command is complete and that the unit is ready to accept additional commands.
• Tutti i comandi devono essere nel seguente formato:
• Command [Arguments][LF]  where “Command” is a command mnemonic and “Arguments” is optional data representing any necessary arguments for the given command. Each character of the transmitted string is echoed back to the sender (including the terminating [LF]). This provides a mechanism to verify accurate data transmission.
• Dopo aver ricevuto il segnale di terminazione [LF], l'unità può rispondere a un comando in uno dei tre modi possibili:

1. A successful command with no returned data: Response String: OK[CR][LF]
2. A successful command returning parameter data: Response String: Data[CR][LF]
3. An unsuccessful command: Response String Error: Error Object [Error No]: Error Description[[CR][LF]

Nella sezione seguente vengono descritti i vari comandi per controllare e configurare il controller AFD.

Web e interfaccia di comando UDP

• L'AFD può essere configurato e controllato tramite web (TCP Port 80) and UDP (Port 1993) socket requests. For both of these interfaces, all returned data will be formatted as a JSON object.
• The returned JSON object will always have two top-level keys: “status” and “data”. The “status” key will always have one of two values. A value of “success” indicates that the command was successful, and the “data” value will be either the requested parameter value or “OK” for commands that return nothing.
• A “status” value of “fail” indicates that there was an error. In this case, the “data” key will contain a string describing the failure.
• Presa UDP Example
• Un messaggio UDP con una stringa di testo ASCII (UTF-8) contenente il comando da eseguire deve essere inviato alla porta 1993 dell'AFD.

1. Richiesta di un parametro Invia stringa:
   1. /afd/comandoForza
   2. Stringa di risposta:
   3. {“dati”:{“/afd/commandForce”:12.0000},”stato”:”successo”}
2. Impostazione di un parametro Invia stringa: 
   1. /afd/nomedispositivo=fred
   2. Stringa di risposta:
   3. {“data”:{“/afd/deviceName”:”OK”},”status”:”successo”}
3. Errore comando Invia stringa: 
   1. /afd/cattivocomando=24.2
   2. Stringa di risposta:
   3. {“data”:{“/afd/badCommand”:”Errore: RpcObject[1]: Metodo sconosciuto”},”status”:”fail”}

Web Richiedi esample

• Una richiesta può essere inviata da un web browser to the AFD with a URL stringa contenente il comando da eseguire.
• Richiesta di un parametro
  • Invia stringa:
  • http://afd-00000/afd/commandForce
  • Stringa di risposta:
  • {“data”:{“commandForce”:12.0000},”stato”:”successo”}
• Impostazione di un parametro Invia stringa: 
  • http://afd-00000/afd/deviceName=fred
  • Stringa di risposta:
  • {“data”:{“/afd/deviceName”:”OK”},”status”:”successo”}

AFD Command Descriptions

• The parameters and commands of the AFD are organized in a hierarchical directory tree structure to access various system components, as shown below: /afd (or “/”) /afd/net
• The top-level or root is the initial working directory and allows access to the AFD top-level commands. The root directory can also be accessed either explicitly by “/afd” or by its default alias “/”.
• A command or parameter can always be accessed by specifying its complete canonical name starting from the root. For example, to access the AFD’s Serial Number, the canonical command would be “/afd/serialNo”.

I parametri e i comandi stessi sono stringhe descrittive "Camel Case" (parole singole delimitate da lettere maiuscole, ad esempio "camelCase") e che iniziano con una lettera minuscola. Il comando o il parametro possono essere abbreviati utilizzando la prima lettera seguita da ciascuna delle lettere maiuscole rimanenti. Ad esempioample, the “weighingInProgress” parameter is abbreviated “wip”. If there are no capital letters, then the entire parameter or command name must be used.

AFD Root Commands

AFD Network Commands

SPECIFICHE TECNICHE

PROGRAMMA DI MANUTENZIONE PREVENTIVA

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

Risoluzione dei problemi

Specific troubleshooting steps are not detailed in the provided text. However, the following general advice applies:

• Invalidazione della garanzia: Non-compliance with air supply requirements (dry, non-lubricated, filtered 80 psi max, 0.3 micron oil mist separator) will void the manufacturer’s warranty.
• Danni al cavo: Cable damage due to exceeding the minimum bending radius (125mm / 5 in) will not be covered under warranty.
• Malfunzionamenti generali: For issues not related to air supply or cable damage, refer to the full owner’s manual or contact PushCorp, Inc. for support.