Installing the modules
Install the modules in accordance with the following conditions.
- Two people wearing safety shoes are required to install the modules.
- Module couplers must be the same size in order to be secured with a connecting clamp.
Safety notices
Hazards resulting from improper installation
Improper installation of the modules (e.g., incorrect tightening torque, crooked mounting) can cause the modules to suddenly fall and result in injuries.
In addition, the precision of the robot is reduced.
► Establish the module connections as specified.
► Tighten all screws to the specified torque.
Damage to the module contacts during installation
The contacts on the modules can be damaged by mechanical stress during installation.
► Please exercise caution when performing any work with the system modules.
► Do not touch the contacts on the modules.
► Wear protective gloves when handling the modules.
Components for a module connection
- Two modules.
- Two half-terminals in the appropriate size.
- Two screws for the half-terminals, in the correct size for the corresponding terminal size. The sizes and tightening torques are listed in the following table:
| Connecting terminal size | Screw size | Strength class of the screw | Tightening torque |
|---|---|---|---|
| S (86) | M4x20 | 10.9 | 4.2 Nm |
| M (116) | M5x25 | 10.9 | 8.5 Nm |
| L (148) | M6x30 | 10.9 | 14.4 Nm |
| XL (193) | M8x45 | 10.9 | 35 Nm |
Illustration 25: Installation of the module and connecting terminal
- Mounting screw
- Module coupler
- Half-terminal
- Installation position marking
Illustration 26: Installation of the end effector
- Drive module
- End effector flange
Procedure
- ► Position the two module couplers relative to each other so that the flange surfaces are parallel and the mounting position markings are aligned with each other.
- ► Install two matching half-terminals around the module coupler. NOTICE! Make sure that the hole for the screw head is always positioned opposite a thread. NOTICE! Also, make sure that the two clamps on both sides – or the two screw connections – are the same distance apart. An angled connection can lead to inaccuracies.
- ► Tighten both screws alternately to the specified torque using the appropriate torque setting. As you do so, move the modules to prevent any play between them.
End effector flange
- ► Mount the end effector flange to the outer drive module of the kinematic structure as described above.
Fastening the enabling unit holder
The holder for the enabling unit must be fastened to the drive module on which the end effector is mounted.
- ► Fasten the enabling unit holder to the drive module on which the end effector is mounted.
Fastening with an Allen wrench
The Allen wrenches must be mounted near the range of motion of the robot.
- ► Fasten the Allen wrenches using a mounting bracket so that they can be safely reached in emergency situations.