Arm - TX series 90 family

Characteristics
© Stäubli Faverges 2005

D18327604B - 08/2005
 The specifications contained in the present document can be modified without notice. Although
all necessary precautions have been taken to ensure that the information contained in this
document is correct, STÄUBLI cannot be held responsible for any errors or omissions found in
the illustrations, drawings and specifications contained in the said document.

2 D18327604B - 08/2005
 TABLE OF CONTENTS
1 - DESCRIPTION ....................................................................................... 7
1.1. IDENTIFICATION...................................................................................................................... 9

1.2. GENERAL PRESENTATION .................................................................................................... 9

1.3. DESIGNATION OF ROBOTS OF THE TX SERIES 90 FAMILY ............................................ 13

1.4. GENERAL CHARACTERISTICS............................................................................................ 15

1.4.1. Dimensions.................................................................................................................. 15
1.4.2. Work environment ....................................................................................................... 15
1.4.3. Weight ......................................................................................................................... 15

1.5. PERFORMANCE .................................................................................................................... 17

1.5.1. Amplitude, speed, resolution, repeatability.................................................................. 17

1.6. LOAD CAPACITY – MECHANICAL INTERFACE ................................................................. 19

1.6.1. Load capacity .............................................................................................................. 19
1.6.2. Torque limits................................................................................................................ 21
1.6.3. Attachment of additional load on forearm.................................................................... 21
1.6.4. Fixing the auxiliary harness on the arm casing ........................................................... 23
1.6.5. Additional load diagrams ............................................................................................. 25

1.7. LOGIN USER .......................................................................................................................... 27

1.8. PNEUMATIC CIRCUITS (USING COMPRESSED AIR) AND ELECTRIC CIRCUITS WITH
STANDARD ROBOT EQUIPMENT (OR CLEAN ROOM AS AN OPTIONAL EXTRA)......... 29
1.8.1. Pneumatic circuit ......................................................................................................... 29
1.8.2. Electric circuit .............................................................................................................. 29

1.9. PNEUMATIC CIRCUITS (USING VACUUM) AND ELECTRIC CIRCUITS WITH CLEAN
ROOM ROBOT EQUIPMENT (OR STANDARD EQUIPMENT AS AN OPTION).................. 31
1.9.1. Pneumatic circuit ......................................................................................................... 31
1.9.2. Electric circuit .............................................................................................................. 31

1.10. PRESSURIZATION SYSTEM FOR DUSTY SURROUNDINGS OR SPATTERING WITH

LIQUIDS .................................................................................................................................. 33
1.10.1. Purpose ....................................................................................................................... 33
1.10.2. Installation ................................................................................................................... 33

1.11. RELEASING JOINT BRAKE .................................................................................................. 34

1.12. SAFETY .................................................................................................................................. 34

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4 D18327604B - 08/2005
2 - ON-SITE PREPARATION.................................................................... 35
2.1. WORKING SPACE ................................................................................................................. 37

2.2. ATTACHMENT........................................................................................................................ 37

3 - STORAGE, TRANSPORT AND INSTALLATION ............................... 39

3.1. ARM PACKAGING ................................................................................................................. 41
3.1.1. Conditions of storage and transport ............................................................................ 41

3.2. HANDLING OF PACKING ...................................................................................................... 41

3.3. UNPACKING AND INSTALLATION OF ARM ....................................................................... 41

3.4. INSTALLATION OF ARM ....................................................................................................... 43

3.4.1. Installation of arm on floor ........................................................................................... 43
3.4.2. Installation of arm on ceiling........................................................................................ 43
3.4.3. Mounting floor quality .................................................................................................. 44

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6 D18327604B - 08/2005
Chapter 1 – Description

CHAPTER 1 –

DESCRIPTION

D18327604B - 08/2005 7
 6

5
F

D C

Figure 1.1

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Chapter 1 – Description

1.1. IDENTIFICATION

Manufacturer's plate on each robot.

There is a plate riveted on the controller and arm (see figure 1.2).

Figure 1.2

For all requests concerning information, replacement part orders, or requests for intervention, please state
the type and the serial number of the machine concerned, as set out on the manufacturer's plate.

1.2. GENERAL PRESENTATION

The arm consists of segments or members interconnected by joints (figure 1.1).

Movements on the arm joints are generated by servomotors coupled with position sensors. Each of these
motors is equipped with a parking break.
This reliable and robust assembly associated with an innovative counting system allows the absolute
position of the robot to be known at all times.
The arm assembly is sufficiently flexible and is able to perform a great variety of applications.
Example: Handling of loads, assembly, process, application of adhesive beads, control/check and clean
room applications. This list is not restrictive: for further information, please consult us.
The various elements of the robot’s arm are: the base (A), the shoulder (B), the arm (C), the elbow (D), the
forearm (E) and the wrist (F) (figure 1.1).

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 Figure 1.3 - Standard arm

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Chapter 1 – Description

Figure 1.4 - Long arm

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 Figure 1.5 - Arm XL

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Chapter 1 – Description

1.3. DESIGNATION OF ROBOTS OF THE TX SERIES 90 FAMILY

TX 9 0 CR

(1) (2) (3) (4)

(1) TX family arm

(2) Maximum reach between joints 1 and 5 expressed in decimeters:

dimension A + dimension B + dimension C .

(3) Number of active joints:

• 0 = 6 active axis.

(4) Upper case letters to indicate an option.

• L = long version.
• XL = extra-long version.
• CR = clean room application.
• SCR = ultra-clean room application.

These letters can be combined.

Example: LCR = Long arm for clean room applications.

In the manual, the following terminology is used:

Standard arm: for arm with standard geometry (figure 1.3).

Arm L: arm with a different shape where the forearm and the arm are longer (figure 1.4).
Arm XL: extra long arm (figure 1.5).

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14 D18327604B - 08/2005
Chapter 1 – Description

1.4. GENERAL CHARACTERISTICS

1.4.1. DIMENSIONS
See figures 1.3, 1.4 and 1.5.

1.4.2. WORK ENVIRONMENT

• Working temperature: + 5°C to + 40°C (in accordance with standard directive NF EN 60 204-1).

CAUTION:
It may be necessary to perform a warm-up cycle before nominal performances are
obtained.

• Humidity: 30% to 95% max. non-condensing (in accordance with standard directive NF EN 60 204-1).
• Altitude: 2000 m max.
• Vibrations: please consult us.
Clean room application:
• CR: cleanness class 4 in accordance with standard 14644-1.
• SCR: cleanness class 3 in accordance with standard 14644-1.
IP65 arm protection and IP67 wrist protection in accordance with standard NF EN 60529 with electric
connectors or plugs in place.

CAUTION:
If the robot is used in dusty surroundings or in the presence of spattered liquids, we
strongly recommend use of the pressurization system as described in chapter 1.10, page
33.

1.4.3. WEIGHT
Standard arm Long arm Arm XL

111 kg 114 kg 116 kg

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 Figure 1.6

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Chapter 1 – Description

1.5. PERFORMANCE
See figure 1.6 1 Brake release access area

Standard arm Long arm Arm XL

Work envelope
R.M max. reach between axis 1 and 5 900 mm 1100 mm 1350 mm
R.M max. reach between axis 2 and 5 850 mm 1050 mm 1300 mm
R.m1 min. reach between axis 1 and 5 200 mm 272 mm 327 mm
R.m2 min. reach between axis 2 and 5 256 mm 320 mm 391 mm
R.b reach between axis 3 and 5 425 mm 525 mm 650 mm
Maximum speed at load center of gravity 10.42 m/s 10.54 m/s 11.09 m/s
Repeatability at constant temperature ± 0.03 mm ± 0.035 mm ± 0.040 mm

1.5.1. AMPLITUDE, SPEED, RESOLUTION, REPEATABILITY

Axis 1 2 3 4 5 6
Amplitude (°) 360 277.5 280 540 255 540 (1)
Working range A B C D E F
distribution (°) ± 180 + 147.5 ± 145 ± 270 + 140 ± 270
- 130 - 115
Nominal speed (°/s) 250 200 300 430 350 600
(1) Can be configured
TX90 by software up to
Nominal speed (°/s) 215 170 255 430 350 600 ±18 000°. See the
TX90 L "Software
configuration"
Nominal speed (°/s) 190 160 230 400 345 600 chapter in the
TX90 XL "Controller"
documentation
Maximum speed (°/s) (2) 400 400 400 500 450 720
(2) Maximum speed for
Angular resolution 0.057 0.057 0.057 0.057 0.122 0.183 reduced conditions
(°.10-3) of load and inertia.

Low speed in manual mode: 250 mm/s at tool centre point and 45 °/s on each joint.
Maximum Cartesian speed: 2.5 m/s.

D18327604B - 08/2005 17
 Figure 1.7
1 Mechanical interface

2 End-effector

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Chapter 1 – Description

1.6. LOAD CAPACITY – MECHANICAL INTERFACE

See figure 1.7.
The end-effector is not supplied with the robot arm assembly; its design depends on the robot’s specific
applications. All studies can be undertaken in cooperation with STÄUBLI to obtain optimum performance
without exceeding the robot arm assembly load limits.
The end-effector is installed on the mechanical interface of the wrist dimensions of which are given on
figure 1.7.
Secured by 4 class 12-9 screws M6 (4), tightening torque 16.7 Nm ± 1.2 Nm.
Indexing via pin (3), diameter 6.
Mechanical interface designation:
ISO 9409 - 1 as per Standard ISO 9409 - 1 : 1996 (F)
(except the localization of the 4 M6 threaded holes)

CAUTION:
Length of end-effector attaching screws is limited to avoid all interference with the wrist
(figure 1.7).

1.6.1. LOAD CAPACITY (figure 1.7)

Load characteristics:
1 Load center of gravity position : z = 195 mm as compared with axis 5 and x = 80 mm.
2 Load center of gravity position : z = 165 mm as compared with axis 5 and x = 75 mm.

Load capacity Standard arm Long arm Arm XL

Floor or Wall Floor or Wall Floor or Wall
ceiling configuration ceiling configuration ceiling configuration
configuration configuration configuration
At nominal
1 6 kg 5 kg 4 kg
speed

2 7 kg 6 kg 5 kg
At reduced speed 14 kg 12 kg 9 kg
(1)

(1) in all configurations and taking maximum inertias into account. See table below.

Nominal inertias (kg.m²) Maximal inertias (kg.m²) (2)

Standard arm Long arm Arm XL Standard arm Long arm Arm XL

For joint 5 0.3 0.25 0.2 1.5 1.25 1

For joint 6 0.05 0.04 0.03 0.25 0.20 0.15
(2) under reduced speed and acceleration conditions.
Generally: VEL = 60%, ACC = 30%, DEC = 30% (consult us)

CAUTION:
The nominal values can be exceeded to a certain extent but imply a limitation to the
speed and the acceleration of the arm. If these limits are to be exceeded, please consult
STÄUBLI.

D18327604B - 08/2005 19
 Detail : B
Scale : 1:2

Detail B

Figure 1.8

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Chapter 1 – Description

1.6.2. TORQUE LIMITS

Reference axis

Axis 4 Axis 5 (Z6) Axis 6 (Z7)

Static torque (Nm) 36 30 11

Note:
These pairs are available for a load carried equal to 0 kg.

1.6.3. ATTACHMENT OF ADDITIONAL LOAD ON FOREARM

See figure 1.8.
An additional load can be attached to the forearm using 4 M6 screws; maximum torque is 7 Nm.
Position of 4 M6 tapped holes: See figure 1.8.

Dimensions Standard arm Long arm Arm XL

A 62.6 mm 187.6 mm 287.6 mm

CAUTION:
The additional load depends on nominal load (see next page). In all cases, do not exceed
load characteristics.

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 Detail : C
Scale : 1:2

Detail C

Figure 1.9

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Chapter 1 – Description

1.6.4. FIXING THE AUXILIARY HARNESS ON THE ARM CASING

See figure 1.9.

Dimensions Standard arm Long arm Arm XL

B 320 mm 400 mm 550 mm

C 31.6 mm 30 mm 30 mm

D18327604B - 08/2005 23
 Figure 1.10 Figure 1.11

Figure 1.12 Figure 1.13

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Chapter 1 – Description

1.6.5. ADDITIONAL LOAD DIAGRAMS

See figures 1.10, 1.11, 1.12 and 1.13.
These diagrams can be used to determine the additional load which can be attached to the forearm
depending on its center of gravity position from joint 3 and the load attached to the mechanical interface of
the wrist.

M
1
B Additional load center of gravity position (m) from centerline of joint 3.

M
2
B Additional load (kg).

3
B Load carried fixed on the mechanical interface of the wrist at a distance of 195 mm as compared
with axis 5 and 80 mm as compared with axis 6.

Figure 1.10: for standard TX90

Figure 1.11: for standard TX90 with reduced speeds (1)
Figure 1.12: For TX90 L
Figure 1.13: For TX90 L at low speeds(1)

(1) Reduced speeds:

For CS8C: VEL = 60%, ACC = 30%, DEC = 30%

D18327604B - 08/2005 25
 A1 B1
A2 B2
P2

J1203

EV1

EV1

EV2

EV2
2
3

P1

P2

4
J1201

Figure 1.14

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Chapter 1 – Description

1.7. LOGIN USER

See figure 1.14.

The electric wiring of the arm is assembled into a harness including several cables supplying the motors
(power, brakes, resolvers), the solenoid valves, the limit switches and login user. These components are
connected by means of removable connectors.
The harness also includes pneumatic hoses which supply air to the solenoid valves (EV1 and EV2).
The robot also has a pressure source (P2) close to the tool clamp.
The outlets of the solenoid valves EV1 and EV2 are on the forearm:
• A1 and B1 for solenoid valve EV1.
• A2 and B2 for solenoid valve EV2.
The wiring is inside the structure and routed through the centre of the joints. It is connected to the arm base
on a plate which includes several electrical and pneumatic components such as (figure 1.14) :
• Arm/(1) controller interconnection socket.
• R23 connector intended for the user for possible electrical connection of grip (J1201).
• Brake release selector (2).
• Brake release pushbutton (3).
• Pneumatic connections to the P1 and P2 compressed air networks.
• Pneumatic exhaust muffler .
• Arm ground connection (4).

CAUTION:
Do not add wires or cables to arm wiring as this may cause premature wear of the arm
electrical wiring and lead to loss of the warranty.

D18327604B - 08/2005 27
 Figure 1.15

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Chapter 1 – Description

1.8. PNEUMATIC CIRCUITS (USING COMPRESSED AIR) AND ELECTRIC

CIRCUITS WITH STANDARD ROBOT EQUIPMENT (OR CLEAN ROOM AS AN
OPTIONAL EXTRA)

1.8.1. PNEUMATIC CIRCUIT

1 Plate attached to base
2
1 Forearm

Solenoid valves (EV1 and EV2):

• 5/2-way monostable.
• Electrically controlled (24 VDC).
• Working pressure: 1.5 to 7 bar.
• Flow coefficient KV 8.6.
• Clip-on connector.
• Overvoltage protective circuit and indicator diode.
Description (figure 1.15):
• The arm is connected to the compressed air network (7 bars max., lubricated or not) via the base P1.

CAUTION:
The air must be filtered by a 10 µm filter.

• There is a direct line between the base and the forearm (P2).
• The centralized solenoid valve exhaust is directed to the base and through a muffler .

1.8.2. ELECTRIC CIRCUIT

The electrical circuit consists of:

• A male 19-contact socket at the bottom of the arm.
• A female 19-contact socket on the forearm.
These 19 contacts include 3 power contacts and 16 command contacts.
The 3 power contacts in each socket are connected by a 3-wire conductor with cross-section AWG18
(contacts 6-12-19).
The 16 command contacts in each socket are connected in the following way:
• 2 shielded twisted pairs, cross-section AWG24 connecting contacts 3-9-10 and 1-2-18 in each
socket.
• 5 twisted pairs, cross-section AWG24 for the other contacts.
Supply voltage: 60 VDC - 25 VAC.
Permissible current:
• 3-wire conductor AWG18: 4.5 A per contact.
• Pairs and shielded pairs AWG24: 2 A per contact.

CAUTION:
Do not use the shields as a conductive cable.

• Connection to forearm (J1203) by R23 elbow male cylindrical connector.

• Connection to base (J1202) by R23 straight female cylindrical connector.

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 VACUUM

Figure 1.16

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Chapter 1 – Description

1.9. PNEUMATIC CIRCUITS (USING VACUUM) AND ELECTRIC CIRCUITS WITH

CLEAN ROOM ROBOT EQUIPMENT (OR STANDARD EQUIPMENT AS AN
OPTION)

1.9.1. PNEUMATIC CIRCUIT

1 Plate attached to base
2
1 Forearm

Solenoid valves (EV1 and EV2):

• 3/2-way monostable.
• Electrically controlled (24 VDC).
• Max. working pressure: vacuum only ~ - 0.8 bar.
• Flow coefficient KV 12.6.
• Clip-on connector.

Description (figure 1.16):

• The arm is connected to the vacuum network via the base (P1).
• There is a direct line between the base and the forearm (P2).
• Max. working pressure: vacuum only.

CAUTION:
Cleanliness of sucked in air must be equivalent to 10 µm filtered air.

1.9.2. ELECTRIC CIRCUIT

The electrical circuit consists of:

• A male 19-contact socket at the bottom of the arm.
• A female 19-contact socket on the forearm.
These 19 contacts include 3 power contacts and 16 command contacts.
The 3 power contacts in each socket are connected by a 3-wire conductor with cross-section AWG18
(contacts 6-12-19).
The 16 command contacts in each socket are connected in the following way:
• 2 shielded twisted pairs, cross-section AWG24 connecting contacts 3-9-10 and 1-2-18 in each
socket.
• 5 twisted pairs, cross-section AWG24 for the other contacts.
Supply voltage: 60 VDC - 25 VAC.
Permissible current:
• 3-wire conductor AWG18: 4.5 A per contact.
• Pairs and shielded pairs AWG24: 2 A per contact.

CAUTION:
Do not use the shields as a conductive cable.

• Connection to forearm (J1203) by R23 elbow male cylindrical connector.

• Connection to base (J1202) by R23 straight female cylindrical connector.

D18327604B - 08/2005 31
 Figure 1.17

11

Figure 1.18

32 D18327604B - 08/2005
Chapter 1 – Description

1.10. PRESSURIZATION SYSTEM FOR DUSTY SURROUNDINGS OR SPATTERING

WITH LIQUIDS

1.10.1. PURPOSE
For very severe applications in dusty surroundings or with spattered liquids, the objective is to keep the
pressure inside the arm above atmospheric pressure in order to avoid migration of dust and liquids.

CAUTION:
The overpressure must never exceed 20 mbar.

1.10.2. INSTALLATION (figures 1.17 and 1.18)

• If the hose (P2) between (9) and (10) is not used, cut the pipe (P2) at (9) and plug (P2) at (10).
• If (P2) is used for another function, add a pressure sealed union to the connector mount (black plate at
base of arm to which the electrical connector is attached).
• Attach the unit with 4 screws (Ø 6 max.) at item (8) (screws not supplied) to a rigid vertical wall in direction
shown by arrow; the air inlet (1) being to the left of the regulator (2).
• Provide for air inlet at (1), this is a G1/4 tapped hole; the air pressure is 10 bar maximum. Before the
pressure arrives at (1), make sure that the regulator (2) is completely screwed out and that the valve (3)
is completely screwed in. Before pressurizing the arm, also make sure that the arm is correctly connected
and correctly sealed (covers closed, plugs in hoisting ring tapped hole, pipe connected at (6) and at (9),
etc.).
• Install a pipe with an outside Ø 8 between the unit (output 6) and the arm (input P2). Provide a male G1/4
union for the pipe with an outside Ø 8. At (P2), the hole is a G1/4 tapped hole for the complete RX range.
• Pressurize the arm.
1) Slowly screw in the regulator. First adjust the pressure to 1 bar max. (pressure shown on pressure
gage 11).
Note:
At this stage, the low pressure gage (5) must remain at 0 mbar.
2) Very slowly screw out the valve (3); the value on the pressure gage (5) must increase
progressively. When this value reaches 5 to 10 mbar and remains stable, adjustment is
considered as correct.

CAUTION:
An excessive value (above 40 mbars) will make the pressure gage (5) unusable.

• If however the valve (3) is completely screwed out and it is impossible to reach 5 mbar, check that:
a) The circuit is tight (unit, arm, pipe, etc.).
b) The pressure gage (5) is not unserviceable (damaged by a pressure greater than 40 mbar).
If the 2 points a and b are correct, the pressure can be increased by means of the (2) regulator without
however exceeding 2 bar.
Note:
It is preferable for safety reasons (valve 4 opens between 15 and 25 mbars) and
consumption reasons to work with minimum pressures (high and low pressures).

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1.11. RELEASING JOINT BRAKE

CAUTION:
Make sure that the arm and load relevant to this joint are suitably supported.

The controller must be connected to the power supply.

Place the brake release selector in position corresponding to the joint to be released.
When the pushbutton is pressed to free the brakes, the brake on the joint under consideration is freed and
the motor is put into short-circuit on the amplifier to brake the arm drop speed.

1.12. SAFETY

DANGER:
None of the joints are equipped with a balancing system. Short-circuiting of the
motors is the only system used to limit the drop speed.

DANGER:
• TX90L and TX90XL arms
If the arm is kept immobile under full load while disconnected from the power
supply, in certain configurations it is possible for the brake on joint 2 to slip
under the external force thus applied, causing the arm to drop slowly.

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Chapter 2 – On-site preparation

CHAPTER 2 –

ON-SITE PREPARATION

D18327604B - 08/2005 35
 Figure 2.1

36 D18327604B - 08/2005
Chapter 2 – On-site preparation

2.1. WORKING SPACE

The user is responsible for performing all preparatory work required to complete the on-site installation of
the robot. Working space must be sufficient, installation surface appropriate; the power supplies must be
available (for the electric power supplies, see the characteristics of the controller).

DANGER:
The arm's working area must be surrounded by a closed safety enclosure in
compliance with the country's safety legislation preventing personnel
accessing the dangerous area.
International standard: ISO 10218 (1992).
French standard: NF EN 775 (1993).
European Directive: machine directive CEE 89-392.

CAUTION:
There must be no obstacles within the robot work envelope.

2.2. ATTACHMENT (figure 2.1)

The arm must be installed vertically, with the base underneath (floor-mounted configuration), the base
uppermost (ceiling-mounted configuration), or the base horizontal (wall-mounted configuration). In all
cases, it must be securely attached by 3 class 12.9 M12 hex. socket head screws.
Attachment surface shall be flat and metallic. A deformable support will greatly reduce robot’s performance
in speed and accuracy.

When calculating the size of the support, it is necessary to take into account the maximum forces
transmitted by the arm in movement at point 0, which are as follows for the standard arm:
Floor or ceiling mounted arm
• FV = 1767 N
• FG = 1144 N
• CB = 1350 Nm
• CP = 735 Nm
under following load conditions:

Load position (mm)

Load (kg) Axis 5 Axis 6

Standard arm 6 195 80
Long arm 5 195 80
Arm XL 4 195 80

The user can accurately position the robot by means of two 10h8 diameter centering pins (not supplied).

D18327604B - 08/2005 37
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Chapter 3 – Storage, transport and installation

CHAPTER 3 –

STORAGE, TRANSPORT AND INSTALLATION

D18327604B - 08/2005 39
 6

5
H

7
1

3 2
3

Y P
L

Figure 3.2

Figure 3.1

Figure 3.3

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Chapter 3 – Storage, transport and installation

3.1. ARM PACKAGING (figure 3.1)

Standard packaging:

Standard arm Long arm Arm XL

Case (1) L x H x D 1000 x 1520 x 800 mm

Gross weight 156 kg 159 kg 161 kg

International packaging:

Standard arm Long arm Arm XL

Case (1) L x H x D 1060 x 1520 x 830 mm

Gross weight 171 kg 174 kg 176 kg

The arm is packed in the vertical position. It is attached to the pallet (2) by 3 M12 bolts.

3.1.1. CONDITIONS OF STORAGE AND TRANSPORT

• Temperature for storage and transport : -20°C to +60°C

3.2. HANDLING OF PACKING

By pallet truck under base (2):
• X = 100 mm
• Y = 840 mm

3.3. UNPACKING AND INSTALLATION OF ARM

DANGER:
According to European Directive CEE 89-392, the hoisting ring’s (6) threaded
hole (M20) used for the robot hoisting is defined according to the ISO 262
standard.

• Move the packing case as near as possible to the installation site (figure 3.1).
• Remove the cardboard packaging (1), remove the packing material (5) and the plastic cover (7)
(figure 3.1).
• Pass the hook of the hoist through the hoisting ring (6) and hold slightly tensioned to stop the arm from
tipping (figure 3.3).
• Remove the 3 M12 (3) bolts from the arm.
• Slowly raise the arm using the hoist.

CAUTION:
The robot will swing when raised and moved (figure 3.2).

A Attachment point
M
B Center of gravity

D18327604B - 08/2005 41
 5
6

7
3

Figure 3.4 Figure 3.5

Figure 3.6 Figure 3.7

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Chapter 3 – Storage, transport and installation

3.4. INSTALLATION OF ARM

CAUTION:
The arm can be fixed with its base facing downwards (floor-mounted version), upwards
(ceiling-mounted version), or against a wall, without requiring any mechanical
modifications. However, it is necessary to configure the controller accordingly. To do
so, see the "Software configuration" chapter in the controller manual.

CAUTION:
Throughout all handling and installation operations concerning the arm, it is essential
to keep the protection on the main connector at the foot of the robot in place at all times
to avoid damaging and soiling the electrical and optical contacts.

3.4.1. INSTALLATION OF ARM ON FLOOR (figure 3.4)

• Position the arm on the support at its final attachment points.

• Attach the arm with 3 class 12.9 M12 hex. socket head screws (3), tightened to 132 Nm ± 9 Nm.
• Unscrew the hoisting ring (6) and install the plug (5).

DANGER:
For safety reasons, keep the sling slightly tensioned until the arm is securely
attached to the floor.

3.4.2. INSTALLATION OF ARM ON CEILING (figure 3.5)

CAUTION:
Do not rotate joint 2.

• Carefully lay down the arm on a flexible support as shown on figure 3.6.
• Place the fabric sling (7) around joint 2 as shown on figure 3.5.

CAUTION:
500 kg fabric sling.

• Position the arm on the support at its final attachment points.

• Attach the arm with 3 class 12.9 M12 hex. socket head screws (3), tightened to 132 Nm ± 9 Nm.

DANGER:
For safety reasons, hold the sling slightly tensioned until arm is securely
attached to the ceiling.

D18327604B - 08/2005 43
3.4.3. MOUNTING FLOOR QUALITY

The user has to make sure that the mechanical caracteristics of the floor and the means of fixture allow to
hold up the maximum forces caused by the moving arm (see chapter 2).

CAUTION:
The height of the robot support can strongly influence the forces on the floor
(figure 3.7).

44 D18327604B - 08/2005