PocketDelta Robot - Asyril · PocketDelta Robot Operating manual Document ROBOT-POC_Operating_Manual_E 000.100.518 ... ARL__ -XXX -XX_Programming_Guide_F Describes in detail the

PocketDelta Robot

Operating manual

Document ROBOT-POC_Operating_Manual_E

000.100.518

Version A3 Date 13.02.2013

PocketDelta Robot - Asyril SA

Operating manual © Copyright Asyril S.A.

Introduction Version: A3

000.100.518 PocketDelta Robot - Operating manual 3/36

Table of Contents

1. INTRODUCTION ............................................................................................................................... 5

1.1. GENERALITIES .......................................................................................................................... 5

1.2. SAFETY PRECAUTIONS ............................................................................................................. 6

1.2.1. General safety precaution ................................................................................................... 6

1.2.2. Specific warnings .................................................................................................................. 7

1.3. WARRANTY INFORMATION ........................................................................................................ 9

1.4. CE INFORMATION ..................................................................................................................... 9

1.5. RELATED MANUALS .................................................................................................................. 9

2. DESCRIPTION ................................................................................................................................ 10

2.1. FIRST GLIMPSE AT THE PRODUCT........................................................................................... 10

2.2. GENERAL CHARACTERISTICS ................................................................................................. 11

2.2.1. Technical features .............................................................................................................. 11

2.2.2. Overall dimensions (in mm) .............................................................................................. 12

2.2.3. Visual signals ...................................................................................................................... 13

2.3. PERFORMANCE ....................................................................................................................... 14

2.3.1. Workspace ........................................................................................................................... 14

2.3.2. Cycle time ............................................................................................................................ 16

2.3.3. Repeatability ........................................................................................................................ 17

2.3.4. Force capability ................................................................................................................... 17

2.4. ELECTRIC INTERFACES .......................................................................................................... 18

2.4.1. Overview .............................................................................................................................. 18

2.4.2. Power connection (A) ......................................................................................................... 19

2.4.3. Main stop switch (B) ........................................................................................................... 19

2.4.4. Input/Output connector (C) ................................................................................................ 20

2.4.5. RJ 45 connector (D) ........................................................................................................... 21

2.5. MECHANICAL INTERFACES ..................................................................................................... 22

2.5.1. Attachment of the robot ..................................................................................................... 22

2.5.2. Mechanical Interface for robot tool ................................................................................... 23

2.6. ACCESSORIES AND OPTIONAL MODULES ............................................................................... 24

2.6.1. Vision-kit .............................................................................................................................. 24

2.6.2. Embedded vertical compliance module .......................................................................... 24

3. TRANSPORTATION, HANDLING AND INSTALLATION ....................................................... 25

3.1. PACKAGING OF THE PRODUCT, TRANSPORTATION AND HANDLING ....................................... 25

3.2. BEFORE UNPACKING ............................................................................................................... 25

3.3. UNPACKING INSTRUCTIONS .................................................................................................... 26

3.4. INSTALLATION AND STORAGE ENVIRONMENT ......................................................................... 28

3.4.1. Installation environment ..................................................................................................... 28





3.4.2. Storage environment .......................................................................................................... 28

4. MAINTENANCE AND REPARATION ......................................................................................... 29

4.1. SAFETY PRECAUTIONS ........................................................................................................... 29

4.1.1. General safety precautions ............................................................................................... 29

4.1.2. Specific warnings ................................................................................................................ 29

4.2. PERSONNEL RESPONSIBLE FOR MAINTENANCE OR REPARATION .......................................... 29

4.3. MAINTENANCE ........................................................................................................................ 30

4.3.1. Periodic maintenance schedule ....................................................................................... 30

4.3.2. Cleaning robot ..................................................................................................................... 31

4.3.3. Optical parts cleaning ........................................................................................................ 31

4.3.4. Controlling the parallel structure ....................................................................................... 32

4.3.5. Controlling the engine group ............................................................................................. 32

4.3.6. Inspection of the control box ............................................................................................. 32

4.4. REPARATION ........................................................................................................................... 33

4.5. TECHNICAL SUPPORT ............................................................................................................. 34

4.5.1. For better service … ........................................................................................................... 34

4.5.2. Contact ................................................................................................................................. 34





1. Introduction

1.1. Generalities

The following document is the property of Asyril S.A. and may not be copied or circulated

without permission. The information contained in this document is subject to change without

notice for the purpose of product improvement. Before operating your product, please read

this document in order to ensure a correct use of the product. Nevertheless, if you meet

difficulties during the operation or the maintenance, please, feel free to contact Asyril

customer service.

In this manual, the safety precautions that you must respect are classified as: “Danger”,

“Warning” and “Note”; the following symbols are used :

DANGER!

Failure to observe the instruction may result in death or serious injury.

DANGER!

Failure to observe the instruction may result in electrocution or serious injury due to

electric shock

WARNING!

Failure to observe the instruction may result in injury or property damage.

NOTE :

The user should read carefully this information to ensure the correct use of the product,

although failure to do so would not result in injury.

REFER TO …

For more information on a specific subject, the reader should read other manual, or refer to

other paragraph.

WARNING!

Asyril shall not be liable whatsoever for any loss or damage arising from a failure to observe

the items specified in “Safety Precautions.” The customer is responsible to provide the

necessary instruction to the persons concerned.

NOTE :

All dimensions in this document are expressed in millimeters





1.2. Safety precautions

1.2.1. General safety precaution

1.2.1.1. Transport

DANGER !

Be aware of the weight and take care when transporting the system. For more

information, please refer to chapter 3 “Transportation, handling and installation”

1.2.1.2. General

DANGER !

Be sure that all power sources and other cables to the unit are disconnected before

working on the product.

DANGER !

Only qualified personnel (trained by Asyril and with professional experience) are

authorized to work on this device.

DANGER !

Do not unscrew the housing of the system controls. Serious injury or death could

result from electric shock. Only authorized personnel from Asyril SA are allowed to

access this part of the system for maintenance or for repair.

DANGER !

Do not plug or unplug cables of the system unless it is switched off.

DANGER !

Never modify the product. Unauthorized modification may cause the product to

malfunction, resulting in injury, electric shock, fire, etc.

DANGER !

Turn off the power to the product in the event of power failure. Failure to do so may

cause the product to suddenly start moving when the power is restored.

DANGER !

Do not use the product in a place where the main unit or controller may come in

contact with water or oil droplets.





1.2.1.3. Disposal

When the product becomes no longer usable or necessary, dispose of it properly as an

industrial waste.

WARNING!

Observe the valid legal regulation for appropriate disposal protecting environment.

1.2.2. Specific warnings

1.2.2.1. Safety Equipment for Operators

No safety equipment is required to use the PocketDelta robot

NOTE :

It is the customer’s responsibility to evaluate the dangers of its specific process and install the

appropriated signs.

1.2.2.2. Intervention groups

The following table defines the roles affected to each professional involved on the machine at

any time during its life cycle.

Operator Fitter Engineer Support

Carrier

agent Dismantler

Construction X

Transportation X

Installation X X

Commissioning X

Use X

Setting & Programming X

Operation X

Cleaning X X

Recherche de défauts X

Maintenance X

Decommissioning

Dismantling X

Table 1-1: Intervention groups





1.2.2.3. Specific warnings concerning this product

(A) mechanical hazard

risk of scratches, cuts, shock, due to

the displacement of moving parts

WARNING !

Is the customer’s responsibility to

install a specific protective

equipment prohibiting access to the

dangerous zone !

(B) Service

There are no user serviceable parts

inside the PocketDelta unit. Contact a

supplier to effect a service. In cases

of non respectation, the product

guarentee will expire.

Figure 1-1 :Specific warnings concerning the

PocketDelta robot



Description Version: A3


1.3. Warranty information

You will find all the Asyril warranty information (duration, scope of warranty …) on the general

conditions of sale.

1.4. CE information

The original CE certificate for your

product is supplied at the time of

product delivery. “Figure 1-2 :

Specimen of a CE certificate”

provides an example of what your CE

certificate should look like.

Figure 1-2 : Specimen of a CE certificate

1.5. Related manuals

As described in the Table 1-2, this manual is an integral part of the Asyfeed documentation

set. This manual covers the installation, a technical description, the maintenance, and the

reparation of your system. Information on the transport and safety precautions are also

included in this manual.

Manual Title Manual reference Description of the

content

PocketDelta

Operating

manual

ROBOT-POC-01_Operating_Manual_E THIS MANUAL

PocketDelta

Programming

guide

ARL__-XXX-XX_Programming_Guide_F Describes in detail the

way of programming a

PocketDelta robot.

Table 1-2 : related manuals





2. Description

2.1. First glimpse at the product

The PocketDelta is a miniature robot ideally suited for applications requiring high-speed and

high-precision. It has a parallel kinematics giving 3 degrees of freedom in translation. A

rotation axis can be mounting on the platform of the robot in order to change the orientation

of the tool about the vertical axis. The robot PocketDelta consists in :

(A) Control box

(B) Electrical interfaces

(C) 3 motors

NOTE :

Each motor is equipped with a

parking brake and a high resolution

incremental position sensor. An

additional sensor is used for finding

the zero reference of the robot during

initialization.

(D) Arms

(E) Forearms

(F) Platform

(G) Workspace

Figure 2-1 : PocketDelta Robot overview

NOTE :

The communication with the robot is realized through an Ethernet interface. The robot has

also some 24V input/output available for interfacing with its periphery.

For more information on the electrical interfaces to the robot, please refer to section 2.4,

Electric Interfaces” on page 18 .

(C)

(A)

(E)

(D)

(F)

(G)

(B)





2.2. General Characteristics

WARNING !

Do not use the product outside the specifications. In particular, observe the maximum loading

capacity. In cases of non-respectation, the product guarantee will expire.

2.2.1. Technical features

Robot PocketDelta 100 Robot PocketDelta 150

Degrees of freedom 3 (x,y,z) 3 (x,y,z)

Multi-directional repeatability + 2.5µm (3σ) + 3.0µm (3σ)

Workspace

øD 100mm 150mm

H 30mm 30mm

Cycle-time :

(path: 30 x 60 x 30 mm)

With a 10 grams payload.

0.33s 0.40s

Force in vertical direction (z) 2.5N 2.0N

Digital I/O 5 inputs (24 V)

5 outputs (24 V)

5 inputs (24 V)

5 outputs (24 V)

Intuitive web interface

Configurable workspace

objects (frames, points, tools)

Program-editor (text format IEC 61131) (text format IEC 61131)

Table 2-1 : technical features





2.2.2. Overall dimensions (in mm)

Figure 2-2 : overall dimensions

Characteristic Robot PocketDelta 100 Robot PocketDelta 150

Footprint 171*171mm 171*171mm

Height on foot : A 270 mm 270 mm

Weight 5.5kg 5.6kg

171

171

145

A

(131)

153

153 (131)





2.2.3. Visual signals

The leds give important information

on the state of the PocketDelta robot :

Led State Meaning

1 Red Drive 1 on

2 Red Drive 2 on

3 Red Drive 3 on

4 X Not wired

5 X Not wired

6 Green Power on

Figure 2-3 : PocketDelta Indicator LED’s

4

5

6

1

2

3





2.3. Performance

2.3.1. Workspace

The accessible workspace of the

robot is represented in Figure 2-4.

The robot workspace is defined by the

space accessible by the midplane of

the robot platform.

Robot

PocketDelta

100

Robot

PocketDelta

150

øD 100mm 150mm

H 30mm 30mm

X 119mm 135mm

Figure 2-4 : Workspace of the PocketDelta Robot

ØD

ØD

H

X

105.5





The robot workspace is defined by the space accessible by the midplane of the robot

platform. When a tool (or compliance) is mounted on the robot, the workspace will be

translated down as much as the length of the tool (or compliance). The following example

illustrates this phenomenon :

Figure 2-5 : Compliance height

9.5





2.3.2. Cycle time

The cycle time is defined as an a/b/c pick and place motion with an elevation of a, an

horizontal motion of b and a down motion on a distance c as defined on the figure below :

Figure 2-6 : Trajectory used for the cycle time measurement

NOTE

The cycle time depends not only on the distance travelled by the robot’s platform but also on

the load carried by the robot.

The table below summarizes the result of these measures:

a/b/c cycle

[mm]

Payload

[gram]

Cycle time

[s]

10/60/10 10 0.250

10/60/10 20 0.300

10/60/10 30 0.500

10/60/10 40 1.000

øD

h

b

ca





2.3.3. Repeatability

The pose repeatability and the multi-directional pose accuracy variation have been measured

as presented in the International Standard (ISO 9283).

2.3.3.1. Pose repeatability

Pose repeatability expresses the closeness of agreement between the attained poses after n

repeat visits to the same command pose in the same direction.

The repeatability of the pocket delta robot is of + 2.5µm

NOTE

The “3σ” mention means that in 99.73% of the cases, the robot repeatability at the point Pi

will be at least equal to the value in the table above.

2.3.4. Force capability

The robot PocketDelta force capability

strongly depends on the point of

application. Thus, we can define three

regions :

(1) Centered in the middle of the workspace ;

(2) Intermediary position;

(3) In the extremity of the workspace.

The general behavior of the force applied

by the gripper is shown on the Figure 2-8

And the associated numerical value are

summarized in the table below :

PocketDelta 150

Application

place

F1

[N]

F2

[N]

Δs

[s]

(1) 4 2.5 1.75

(2) 3.75 2.25 1.5

(3) 3.5 2 1.5

Figure 2-7 : Disposition of the force application

place in the robot workspace

Figure 2-8 : PocketDelta Robot force

x

y

Motor shaft 1

(1)

(2)

(3)

Δs

Time [s]

Force [N]

F1

F2





PocketDelta 100

Application

place

F1

[N]

F2

[N]

Δs

[s]

(1) 5 2.75 2

(2) 4.5 2.5 1.5

(3) 4.5 2.5 1.5

NOTE :

These data correspond to the minimum

achievable forces. It can vary depending

on the height (z) of the point of application

of force.

Figure 2-9 : PocketDelta Robot force

2.4. Electric Interfaces

2.4.1. Overview

All electrical interfaces are located in

the back side of the robot. The

function of the connectors and

indicators are explained on the figure

below.

(A) Power supply

(B) Main switch

(C) IO connector

(D) RJ 45 connector

All these interfaces are described in

detail during the following sections.

Figure 2-10 : Electrical interfaces to the

PocketDelta Robot

Δs

Time [s]

Force [N]

F1

F2

(C)

(D) (B)

(A)





2.4.2. Power connection (A)

The connector plug device is not

delivered with the robot. Its

specifications must be :

Characteristic Value

Description Power Jacks miniatures

Switchcraft

Model on robot

side

712 A

Model on cable

side

760K / S760K

The PocketDelta robot is powered

with 24VDC/4A. These characteristics

are summarized below :

Characteristic Value

Voltage 24V DC

Current 4 A

Figure 2-11 : power supply connector to the

PocketDelta robot (on robot side)

2.4.3. Main stop switch (B)

WARNING !

- Before supplying power to the product, check that your distribution voltage is the same

as the nominal voltage of the robot.

- Never disconnect the power cables. Always turn the machine off and then cut the power

off.





2.4.4. Input/Output connector (C)

A few inputs/outputs are available on

the robot to pilot local sensors or

actuators. The connector s

pecification (on PocketDelta robot’s

side) are :

Characteristic Specification

Description D-sub connector

DIN 41 652

Model on robot side Female 25 pins

Output max current 1A (24V DC)

The pin-out is given in the table

below

Figure 2-12 : I/O connector on robot side

Pins Signal description Pins

1 OUT 4 Vcc (24V) OUT 4 (0V) 14

2 OUT 3 Vcc (24V) OUT 3 (0V) 15

3 OUT 2 Vcc (24V) OUT 2 (0V) 16

4 OUT 1 Vcc (24V) OUT 1 (0V) 17

5 OUT 0 Vcc(24V) OUT 0 (0V) 18

6 GND

GND 19

7 GND

GND 20

8 GND

9 IN 4 IN 4 Vcc (24V) 21

10 IN 3 IN 3 Vcc (24V) 22

11 IN 2 IN 2 Vcc (24V) 23

12 IN 1 IN 1 Vcc (24V) 24

13 IN 0 IN 0 Vcc (24V) 25

Table 2-2: Sub-D for the IO connector

(13) (1)

(25) (14)





Below is a picture explaining the wiring of an input (represented by switch) and an output

(represented by a lamp)

Figure 2-13 : example of an I/O connection

2.4.5. RJ 45 connector (D)

The three RJ 45 connector (A) enables

to communicate with the PocketDelta

robot.

NOTE :

The robot must be wired to a computer

with a category 5 quality ethernet cable

Figure 2-14 : RJ 45 connection

For more information on the way to connect to the robot web page, please refer to the HMI

guide.

OUT 4 Vcc (24V)

OUT 4 (0V)

IN 0 (0V)

IN 0 Vcc (24V)

(A)





2.5. Mechanical Interfaces

2.5.1. Attachment of the robot

The robot can be used on its original legs or integrated in a mechanical setup using the base

plate to attach it mechanically.

Figure 2-15 : Attachment of the PocketDelta robot





2.5.2. Mechanical Interface for robot tool

Tools and grippers are not supplied with the robot. Their design depends on the application

and has to be adapted specifically. Tools and grippers can be attached to the robot’s

platform:

Figure 4.2: Tools and grippers interface





2.6. Accessories and optional modules

2.6.1. Vision-kit

If the option was purchased a specific

mirror (A) is mounted under the

PocketDelta robot control box. Its

specific dimensions are given in the

following table :

Characteristics Value

Length 36 mm

Width 34 mm

Angle 20°

Thickness 5 mm

Figure 2-16 : PocketDelta robot with mirror

For more information on the mirror cleaning, please refer to section 4.3.3 “Optical parts

cleaning” on page 31.

2.6.2. Embedded vertical compliance module

If the option was purchased, the compliance is supplied with the robot, mounted on the robot

platform.

Figure 2-17 : Compliance module

(A)

9.5



Transportation, handling and installation Version: A3


3. Transportation, handling and installation

3.1. Packaging of the product, transportation and handling

The transportation of the product must be made in accordance with the specific terms

indicated on the package (top, bottom and fragile …). In addition, pay particular attention to

the following points :

WARNING !

- Be aware of the weight and take care when transporting the system.

- Always hold the system firmly with two hands on the side bars.

- The operator should not carry heavy shipping boxes by himself.

- If the shipping box is to be left standing, it should be in a horizontal position.

- Do not climb on the shipping box.

- Do not place heavy objects, on top of the shipping box.

The PocketDelta robot is shipped in a cardboard of the following dimensions :

Value

Dimensions l*L*H 23*23*40

Gross weight 6 kg

Table 3-1 : gross weight and dimensions of the product when packaged

3.2. Before unpacking

Before unpacking, look at the ShockWatch Label. As to promote zero-defect shipping, all

Asyril products are shipped with a ShockWatch Label. If this is red, or if any evidence of

damage during transit was to be indicated please :

(A) request that the carrier’s agent be present at the time of

unpacking.

(B) pay special attention to any damage on the exteriors of the product

(C) If any damage has occurred, do not sign the delivery recipit and

contact Asyril

(D) In every cases, make a notation on the delivery recipit

Figure 3-1 : ShockWatch

NOTE :

If the items received do not match to your order, or are damaged, do not sign the receipt,

and contact Asyril as soon as possible.





3.3. Unpacking instructions

NOTE

Do not remove the Robot PocketDelta from its packaging until you are ready to install it.

For more information on the installation environment, please refer to the operating manual.

1. Carefully open the shipping corrugated box by using a cutter

WARNING !

Be careful not to cut too deep failure to do so could damage the Robot PocketDelta !

2. Remove the top protection (A) and set it aside

3. Check that you have all the components

and ensure that there is no visible

damage

(B) PocketDelta robot

4. Remove the down protection (C) and

check that no component dropped to the

bottom of the box during transport

NOTE :

If the items received do not match to

your order, or are damaged, contact

Asyril as soon as possible.

5. Follow the operating manual included in

the shipment to fix the PocketDelta robot

and start using it

WARNING !

Keep the packaging material and the shipment box in case of return

(C)

(A)

(B)





Locate the identification plate at the

back of the product and ensure that

the product you have received is the

appropriate one.

Important information is on this plate;

such as the power consumption or

the serial number that you will need

for any kind of correspondence with

Asyril.

Figure 3-2 : Product key sticker

The product key gives the product designation as follows:

PRODU - TYP - VE - - AA - BB - CC - DD

Product

ROBOT – Robot Delta

Type

POC - Pocket POW - Power DES - Desktop

Version

01 - Version number AA - Customized

Workspace ø

10 - ø100mm 15 - ø150mm

Axes

03 - 3 axes (x,y,z)

Mount

01- floor with legs 02 - Roof without legs

Option

01- Standard

Figure 3-3 : product key

ASYRIL SA - Switzerland

www.asyril.ch

Article n° : X xxx xxx xxx

Type : PRODU-TYP-VE--AA-BB-CC-DD

Input Voltage : 24VDC

Serial n°: xxxxxxx





3.4. Installation and storage environment

WARNING !

The Robot PocketDelta must be mounted on a smooth, flat and strong surface. Ensure

yourself that the Robot PocketDelta is not submitted to excessive vibration or mounting

flexure. Failure to do so would degrade feeder performance.

3.4.1. Installation environment

The PocketDelta robot can be used under following conditions:

- Working temperature: +5°C to +40°C

WARNING !

note that variations of temperature might affect the precision of the robot, especially if

precisions below 10 microns are necessary

- Humidity: 30% to 80% max. non-condensing

WARNING !

In the case of extreme humidity, note that it might affect the global performances of the

cell.

- Avoid extreme electromagnetic waves, ultraviolet rays and radiation.

- Avoid using the product in a place where the main unit or controller may be exposed to

water or oil droplets.

- Clean room application: cleanliness class ISO7 and ISO8

WARNING !

Do not use the product in an atmosphere of corrosive gases. Rust may form and reduce

the structural strength of the product.

3.4.2. Storage environment

The storage environment should be similar to the operating environment. In addition, you

should protect the PocketDelta robot against dust



Maintenance and reparation Version: A3


4. Maintenance and reparation

4.1. Safety precautions

4.1.1. General safety precautions

WARNING !

There are no user serviceable parts inside the product. Contact a supplier to effect

maintenance. In cases of non respectation, the product guarantee will expire.

DANGER !

Do not operate the system when it is damaged. Please ensure yourself before use

that now defects are to be noticed.

DANGER !

Power down the system and unplug it from the mains before any kind of

maintenance.

DANGER !

Do not pour water onto the product. Spraying water over the product, washing it

with water or using it in water may cause the product to malfunction, resulting in

injury, electric shock, fire, etc.

4.1.2. Specific warnings

WARNING !

Be sure that the robot’s platform is unloaded before any kind of maintenance.

4.2. Personnel responsible for maintenance or reparation

Maintenance operation must be done by personnel who has a working knowlage of the

system, nevertheless, we can define three kind of staff :

(A) Maintenance technician without any specific formation from Asyril

(B) Maintenance technician with a specific formation from Asyril

(C) Technician from Asyril’s customer service

Make sure that the person who will be working on the maintenance has received and read

this manual, and will be able to work in the manner specified in the following sections. All

personnel must observe the safety precautions listed in this manual.





4.3. Maintenance

WARNING !

For any kind of maintenance, always use Asyril products.

4.3.1. Periodic maintenance schedule

Our robots are largely maintenance-free, however, simple inspections should be done at

regular intervals to ensure optimum performances, and safety operating of your product.

Item Period Personal Reference

Robot Cleaning the robot Year B 4.3.2

Optical parts cleaning (if option was subscribed) Year B 4.3.3

Inspection of the control box Year C Contact

Asyril

Controlling the engine group Year C Contact

Asyril

Controlling the parallel structure Year C Contact

Asyril

Visual check, clean and lubricate the

articulations of the parallel structure (including

moving platform and compliance)

Year C Contact

Asyril

Table 4-1 : periodic maintenance schedule

NOTE :

The information given in the “Table 4-1 : periodic maintenance schedule” is only

informative, maintenance and times must be modified by the operator in accordance

with your particular system, its operating environment and the amount of usage.





4.3.2. Cleaning robot

Material needed :

- Lint-free cloth

- isopropanol alcohol

- Vaccum-cleaner

Step 1 Clean all exterior surfaces of the

robot with a lint-free cloth. And pay

specific attention to the front arms

(B)

Step 2 Use the vacuum cleaner to remove

dust accumulated in the filter (A)

Figure 4-1 : cleaning the robot PocketDelta

4.3.3. Optical parts cleaning

Material needed :

- microfiber cloth

- isopropanol alcohol (30% in water)

Step 1 Clean the mirror (A) with a lint-free

cloth.

WARNING !

Be careful not to scratch the

reflective surface !

Figure 4-2 : cleaning the mirror

(A)

(B)

(A)





4.3.4. Controlling the parallel structure

- Clean and lubricate the joints of the parallel structure

- Control the front arms wear

- Control the clearance of the robot platform

NOTE :

This maintenance operation can only be performed by a Asyril technician.

For more information on this operation, please contact Asyril customer’s service.

4.3.5. Controlling the engine group

- Control the engine

- Control the brakes

NOTE :



4.3.6. Inspection of the control box

- Clean the air filter

NOTE :





Version: A3


4.4. Reparation

This section gives a list of the replaceable parts in the system with their product key. The

product must be returned to the manufacturer for any repair work. For exceptional cases, and

after acceptation of Asyril S.A. this work can be performed on the costumer’s site by trained

personnel as defined in section 4.2.

WARNING !

For any kind of reparation, always use Asyril products.

Two kind of parts are defined :

(A) Part way that may be changed every year (wear part)

(B) Part way that may be changed every 5 years

Name of the part Type Product key Article

number

Robot platform A Y 660 830 094

Arm 150 A Y 660 830 102

Front-arm 150 A Y 420 830 330

Foam filter plate B Y 160 830 002

Table 4-2 : Replaceable parts for PocketDelta Robot

NOTE :

For more information on the spare parts and delivery time, please contact Asyril

costumer’s service.

IMORTANT NOTE :

The front arms are wear parts that may be changed every years in the case of a normal

use (8 hours per day and 45 weeks a year)



Version: A3


4.5. Technical support

4.5.1. For better service …

You have read the check list and the related manuals without finding answers to your

questions ? Before calling the support service, note the following information for your system:

- serial number and product key of your material

- software version

- alarm or error message displayed on the screen

4.5.2. Contact

You can find lot of information on our website : www.asyril.com

You can also contact us by mail or call our support service :

[email protected]

+41 26 653 71 90

http://www.asyril.ch/

mailto:[email protected]



Version: A3


Review history

Rev. Date Author Comments

A 14.07.09 PeS Initial Version

A1 26.09.12 SiA Update to new model add maintenance, transport, and

unpacking information.

A2 15.10.12 SiA Update replaceable part list

A3 13.02.13 SiA Update Height on foot (§ 2.2.2)

This document is the property of Asyril S.A. and may not be copied or circulated without

permission. The information contained in this document is subject to change without notice for

the purpose of product improvement.

asyril sa

z.i. le vivier 22

ch-1690 villaz-st-pierre

switzerland

tel. +41 26 653 71 90

fax +41 26 653 71 91

[email protected]

www.asyril.com

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