installation, operation, and maintenance 설치, 운영, 보전 manual v3 · 2008. 8. 25. ·...

© October 2005, STANLEY ASSEMBLY TECHNOLOGIES, ALL RIGHTS RESERVED

STANLEY ASSEMBLY TECHNOLOGIES , the Stanley logo, and the “MAKE SOMETHING GREAT” tagline are registered trademarks or trademarks of STANLEY ASSEMBLY TECHNOLOGIES . Microsoft, Windows, and Windows NT are registered trademarks or trademarks of Microsoft in the U.S. and other countries. DeviceNet is a trademark of Rockwell International Corporation. Pentium is a registered trademark of Intel Corporation. All other trademarks are the property of their respective owners.

The design concepts and engineering detail embodied in this manual and this manual are the property of STANLEYASSEMBLY TECHNOLOGIES Assembly Technologies and are to be maintained in strict confidence; no element or detail of this manual is to be disclosed nor reproduced or used without the express written permission of STANLEYASSEMBLY TECHNOLOGIES , and this manual is to be returned to STANLEY ASSEMBLY TECHNOLOGIES on demand.This product is protected by the following U.S. patents, and several U.S. & International patents pending: U.S. 6,668,668; U.S. 6,813.542; U.S. 6,738,691

USA from global components

STANLEY ASSEMBLY TECHNOLOGIES: Applications Productivity Center, 5800 Enterprise Court, Warren, MI 48092 USA

Tel: +1(586)393 -1100 Fax: (586)393-1200 www.StanleyAssembly.com

Installation, Operation, and Maintenance Manual v3.10Hardware Model(s): iLiftSoftware Version:Manual Number: 3.10

Important Safeguards

For your protection, please read these instructions completely before using product, and keep this manual for futurereference. This manual contains important safety, installation, operation and maintenance information. Make this manual available to all persons responsible for the installation, operation and maintenance of these products. Carefully observe and comply with all warnings, cautions and instructions placed on the equipment or described in this manual.

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설치, 운영, 보전 V 3.10

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I L I F T M A N U A L

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ContentsChapter 1: iLift Manual.....................................................................................1-1

1.1 Introduction ................................................................................................................................... 1-11.1.1 Safety......................................................................................................................................... 1-11.1.2 Design Standards.......................................................................................................................... 1-21.1.3 Features ..................................................................................................................................... 1-31.1.4 Specifications............................................................................................................................... 1-5

1.2 Installation..................................................................................................................................... 1-61.2.1 Component Identification................................................................................................................. 1-61.2.2 iLift Connector Bracket ................................................................................................................... 1-91.2.3 Mounting................................................................................................................................... 1-121.2.4 Connecting Cables ...................................................................................................................... 1-14

1.3 Operation ....................................................................................................................................1-161.3.1 Theory of Operation..................................................................................................................... 1-161.3.2 Common Tasks........................................................................................................................... 1-17

Chapter 2: Operator Interface.........................................................................2-202.1 Introduction .................................................................................................................................2-20

2.1.1 Design Standards........................................................................................................................ 2-202.1.2 Specifications............................................................................................................................. 2-20

2.2 Installation...................................................................................................................................2-202.2.1 Component identification............................................................................................................... 2-212.2.2 Mounting................................................................................................................................... 2-232.2.3 Connecting cables....................................................................................................................... 2-232.2.4 Installing a Hook......................................................................................................................... 2-242.2.5 Installing End-Effector E-Stop Switch............................................................................................... 2-25

2.3 Operation ....................................................................................................................................2-262.3.1 Theory of operation...................................................................................................................... 2-262.3.2 Startup sequence........................................................................................................................ 2-272.3.3 Common Tasks........................................................................................................................... 2-272.3.4 RS-232 Interface......................................................................................................................... 2-28

Chapter 3: Intent Sensors ..............................................................................3-293.1 Introduction .................................................................................................................................3-29

3.1.1 Design Standards........................................................................................................................ 3-293.1.2 Specifications............................................................................................................................. 3-29

3.2 Inline Handle...............................................................................................................................3-303.3 Pendant Handle ..........................................................................................................................3-30

3.3.1 Operation.................................................................................................................................. 3-30

Chapter 4: iLift User Interface Software ...........................................................4-334.1 Physical connection....................................................................................................................4-334.2 Operation ....................................................................................................................................4-33

4.2.1 Load Cell Calibration................................ ................................ ................................ .................... 4-334.2.2 Display Current Weight................................................................................................................. 4-344.2.3 Error Condition........................................................................................................................... 4-344.2.4 Float Mode Parameters................................................................................................................. 4-354.2.5 Float Weights............................................................................................................................. 4-354.2.6 Help................................ ................................ ................................ ................................ ......... 4-364.2.7 Handle Parameters ...................................................................................................................... 4-364.2.8 Changing Interlock Parameters....................................................................................................... 4-364.2.9 Inactivity Timeout........................................................................................................................ 4-374.2.10 Setting Overload Parameters................................ ................................ ................................ ......... 4-374.2.11 Password .................................................................................................................................. 4-374.2.12 Setting User Profiles................................ ................................ ................................ .................... 4-374.2.13 Save Parameters ........................................................................................................................ 4-384.2.14 Software Version Number.............................................................................................................. 4-384.2.15 iTrolley Menu ............................................................................................................................. 4-384.2.16 Units ........................................................................................................................................ 4-384.2.17 Setting Unload Parameters............................................................................................................ 4-39


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4.2.18 Virtual Limits .............................................................................................................................. 4-40

Chapter 5: Maintenance................................ ................................ .................5-415.1 Upgrading iLift Software.............................................................................................................5-41

5.1.1 Description ................................................................................................................................ 5-415.1.2 Physical Connection..................................................................................................................... 5-415.1.3 Upgrade Process ........................................................................................................................ 5-41

5.2 iLift Maintenance ................................ ................................ ................................ ........................5-425.2.1 Replacing Wire Rope and Wire Rope Guide....................................................................................... 5-425.2.2 Replacing Computer Plate Cover ................................ ................................ ................................ .... 5-465.2.3 Replacing Motor Amplifier.............................................................................................................. 5-475.2.4 Replacing Power supply................................................................................................................ 5-535.2.5 Replacing Motor.......................................................................................................................... 5-545.2.6 Replacing Coil Cord..................................................................................................................... 5-555.2.7 Replacing Button LED/Lens........................................................................................................... 5-55

5.3 Hub Maintenance .......................................................................................................................5-565.3.1 Replacing Wire Rope ................................................................................................................... 5-565.3.2 Replacing Hook.......................................................................................................................... 5-56

5.4 System Preventive Maintenance................................................................................................5-565.5 System Recommended Spare Parts ..........................................................................................5-58

Chapter 6: Troubleshooting ............................................................................6-59Possible Symptoms............................................................................................................................6-59System Error Code Table ...................................................................................................................6-60

System Messages................................................................................................................................. 6-61iTrolley/ iTractor Error Codes .................................................................................................................... 6-62iLift Error Codes................................ ................................ ................................ ................................ .... 6-64Intent Sensor Error Codes....................................................................................................................... 6-65Cobot Error Codes................................................................................................................................. 6-65

Chapter 7: System Schematics.......................................................................7-67Chapter 8: Part Drawings ...............................................................................8-80


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FiguresFigure 1 – Illustration of a typical system of three iTrolleys and an iLift (Line Filter and customer supplied

Master Power Switch are not shown).......................................................................................... 1-6Figure 2 – Illustration of an iLift. ..................................................................................................................1-6Figure 3 – Illustration of the iLift computer plate and sub-components (left – 150 lb iLift; right – 500 lb iLift;).

....................................................................................................................................................1-7Figure 4 – Illustration of line filter box.......................................................................................................... 1-8Figure 5 – Illustration of the iLift connector bracket.....................................................................................1-9Figure 6- iLift properly prepared for shipping.............................................................................................1-11Figure 7- iLift in box on lower foam...........................................................................................................1-11Figure 8 - iLift boxed with top protective foam in place..............................................................................1-12Figure 9 – Illustration of electrical connections for a 150 lb lift capacity iLift/iTrolley system. ....................1-14Figure 10 – Illustration of electrical connections for a 500 lb lift capacity iLift/iTrolley system. ..................1-15Figure 11 – Illustration of the front view of a Hub with button module and hook interface. ........................2-21Figure 12 – Illustration of the back view of a hub with button module........................................................2-22Figure 13 – Illustration of how to install a hook on a Hub..........................................................................2-24Figure 14 – Illustration for how to install a hook and Hub hook interface assembly into the Hub. .............2-24Figure 15 – Illustration of how to install a hook with inline handle. ............................................................2-25Figure 16 – Illustration of end-effector E-Stop switch (Part # 9904-2001) connection to Hub....................2-26Figure 17 – Hub mounted E-Stop switch (Part # 9904-2202)....................................................................2-26Figure 18 – Illustration of Hub with inline handle assembly and hook interface................................. ........3-30Figure 19 – (left) Illustration of Hub with Pendant handle connector and hook interface. (right) Illustration of

the Pendant handle. ..................................................................................................................3-30Figure 20 – Illustration of the iLift reel mechanism. ................................ ................................ ...................5-42Figure 21 – Illustration of lash-up..............................................................................................................5-44Figure 22 – Illustration of yarding..............................................................................................................5-45Figure 23 – Manually driving iLift reel........................................................................................................5-45Figure 24 – Illustration of how to remove the computer plate cover – 150 lbs iLift. ...................................5-46Figure 25 – Illustration of how to remove the computer plate cover – 500 lbs iLift. ...................................5-46Figure 26 – Illustration of how to remove the motor amplifier – 150 lbs iLift..............................................5-47Figure 27 – Illustration of how to remove the motor amplifier – 500 lbs iLift..............................................5-47Figure 28 – Motor amplifier and its connectors..........................................................................................5-48Figure 29 – Motor amplifier power connector............................................................................................5-48Figure 30 – Motor amplifier signal cable connector...................................................................................5-48Figure 31 – Motor amplifier 3 motor phase leads......................................................................................5-49Figure 32 – Motor amplifier shunt resistor connector.................................................................................5-49Figure 33 – Illustration of how to remove the motor amplifier – 500 lbs iLift..............................................5-50Figure 34 – 500 lbs motor amplifier and its connectors.............................................................................5-50Figure 35 – 500 lbs motor amplifier power connectors..............................................................................5-51Figure 36 – 500 lbs motor amplifier shunt resistor connector....................................................................5-51Figure 37 – 500 lbs. motor amplifier signal cable connector......................................................................5-51Figure 38 – 500 lbs motor amplifier three motor phase leads....................................................................5-52Figure 39 – Illustration of how to remove the computer power supply.......................................................5-53Figure 40 – Power supply module.............................................................................................................5-53Figure 41 – Power output connector in power supply module...................................................................5-53Figure 42 – Power source connector in power supply module. .................................................................5-54Figure 43 – Illustration of how to remove the motor...................................................................................5-54Figure 44 – Illustration of connector placements on electronic components..............................................7-67Figure 45 – Illustration of jumper settings..................................................................................................7-68Figure 46 – Illustration of board stack. ......................................................................................................7-69Figure 47 – Illustration of power connections............................................................................................7-70Figure 48 – Illustration of motor / amplifier interconnections for 150 lb unit...............................................7-71Figure 49 – Illustration of motor / amplifier interconnections for 500 lb unit...............................................7-72Figure 50 - Illustration of communications and EStop relay interconnections............................................7-73Figure 51 - Illustration of Hub / iTrolley / reel monitor interconnections.....................................................7-74Figure 52 – iLift Computer Plate Interconnect - Basic E-Stop Circuit. .......................................................7-75Figure 53 – Coil cord pin connection................................. ................................ ................................ ........7-76Figure 54 – Remote inline handle connection. ..........................................................................................7-77Figure 55 – Pendant handle connection....................................................................................................7-78Figure 56 – Force sensing module button wire connection to Hub connector...........................................7-79Figure 57 – Overall dimensions for 150 lbs iLift.........................................................................................8-80Figure 58 – iLift reel assembly (150 lbs)....................................................................................................8-81Figure 59 – iLift computer plate assembly.................................................................................................8-82


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Figure 60 – Hub housing assembly (150 lbs)............................................................................................8-83Figure 61 – Overall dimensions for 500 lbs iLift................................. ................................ ........................8-84Figure 62 – Overall assembly dimensions for 500 lbs iLift.........................................................................8-85Figure 63 – iLift reel assembly (500 lbs)................................. ................................ ................................ ...8-86Figure 64 – iLift hub housing assembly (500 lbs)......................................................................................8-87Figure 65 – iLift computer plate assembly (500 lbs)..................................................................................8-88Figure 66 – iLift reel cover assembly (500 lbs)..........................................................................................8-89Figure 67 – iLift cable angle sensor assembly (500 lbs)............................................................................8-90Figure 68 – iLift reeving plate kit (500 lbs).................................................................................................8-91Figure 69 – Coil cord assembly (both 150 lbs and 500 lbs lift capacity)....................................................8-92Figure 70 – Force sensing module assembly............................................................................................8-93Figure 71 – Hub assembly with hook. .......................................................................................................8-94Figure 72 – Hub with inline handle assembly............................................................................................8-95Figure 73 – Hub e-stop mounting box assembly.......................................................................................8-96


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TablesTable 1 – Hub terminal block pin out. ................................ ................................ ................................ ........2-23Table 2 – iLift preventive maintenance inspection schedule......................................................................5-57Table 3 – Recommended spare parts list..................................................................................................5-58Table 4 – Troubleshooting table................................................................................................................6-59

I L I F T M A N U A L 1 . 1 I N T R O D U C T I O N

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Chapter 1: iLift Manual

1.1IntroductionThe iLift is an intelligent lifting and balancing device designed to lift payloads either standalone or as part of a multi-axis IAD material handling system. It takes inputs such as operator intent, applies speed and position rules, and raises or lowers the payload accordingly. The iLift uses a closed loop feedback system to precisely raise and lower the suspended load. The control algorithm runs on an on-board computer that is in constant communication with input/feedback sensors and other Stanley Cobotics products such as iTrolleys.

This manual is intended to promote proper and safe use and give guidance to owners, employers, supervisors, and others responsible for training and safe use by operators and maintainers. Please contac t your Stanley Sales Engineer for further information or assistance on Stanley training or assembly tool operations.

1.1.1 Warnings and Cautions

To Avoid Injury:• Read and understand all the safety recommendations and all operating instructions before

operating tools and controllers. Save these instructions for future reference.• Train all operators in the safe and proper use of power tools. Operators should report any

unsafe condition to their supervisor.• Follow all safety recommendations in the manual that apply to the tools being used and

the nature of the work being performed.• Verify that all warning labels illustrated in this manual are readable. Replacement labels

are available at no additional cost from STANLEY ASSEMBLY TECHNOLOGIES .

Qualified PersonnelTo Avoid Injury:• Only allow suitably qualified personnel to install, program, or maintain this equipment and

or system.• These persons must be knowledgeable of any potential sources of danger and

maintenance measures as set out in the Installation, Operations, and Maintenance manual.

• This product must be transported, stored, and installed as intended, and maintained and operated with care to ensure that the product functions correctly and safely.

• Persons responsible for system planning and design must be familiar with the safety concepts of automation equipment.

1.1.2 SafetyThroughout this manual are NOTES, CAUTIONS, and WARNINGS. They are defined as follows:

NOTES are general in nature and are intended to emphasize information.

CAUTIONS are to alert personnel to actions that could cause equipment damage, resulting in the equipment becoming unsafe.

상해를 피하기 위해 • 틀과 컨트롤러를 작업하기전에 안전에 대한 권장사항과 모든 작업 지시서를 읽고 이해하시오. • 파워툴의 안전과 적합한 사용에 대한 사용자 교육을 하시오. 작업자는 감독관에게 안전하지 못한 사항에 대해 항상 보고 하여야 한다. • 메뉴얼에서 툴과 작업 실행 환경에 권장하는 안전사항을 따르시오. • 메뉴얼의 경고 라벨을 읽을수 있는지 확인 하시오. 라벨 교체는 어떠한 추가 비용없이 스텐리를 통해 교체 가능하다.

상해를 피하기 위해 • 적합한 권한을 갖은자만이 이 장비와 시스템을 인스톨, 프로그램, 유지보수 할 수 있다. • 장비를 측정할때 권한자는 위험요소와 유지보수와 같은 잠재적 요소에 대한 지식을 갖고 있어 야 한다. • 상품의 기능을 올바르고 안전하게 검증하고 주의깊게 유지보수되고 다루기 위해 의도적으로 배송하고 저장하며 설치 하여야 한다. • 시스템을 기획하고 디자인해야하는 책임있는 사람은 자동장비의 안전개텸에 대해 친숙해져 있어야 한다.

iLift IAD payload. iLift ,

payload .iLift .

iTrolley / Stanley Cobotics- .

이메뉴얼은사용에대한안전과사용자의사용환경향상을꾀한다.그리고장치의소유주와작업자감독과그리고여타책임을갖는사람들에게운영유지보수에대한트레이닝과안전한사용을하게함을목적으로한다.이상의자료를원할시스텐리 Sales Engineer에게연락하시오.

자격요건을갖춘사람에의해작업되야함.

전반적으로 Note, Caution, Warning으로표기되었다.이러한것들은아래와같이정의되었다.

Note :일반적인정보를강조한다.

Caution :장비에손상을주거나장비의불안전한결과를초래할수있는개인적 행동에대한경고를하는것이다.


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WARNINGS serve to make personnel aware of potentially hazardous actions that may result in personal injury or death.

This equipment must be installed and servi ced only by duly qualified service personnel. All information in this manual is directed towards such persons only. Individuals responsible for the installation of the equipment described in this user’s manual must ensure the following:

1) Only technically qualified individuals should work on the installation

2) These qualified individuals must have the accompanying documentation available at all times when working on the installation

3) Work performed on, or close to, the installation is prohibited for non-technically qualifiedindividuals.

1.1.3 Design Standards

The iLift conforms to the following standards where applicable:

BSR/T15.1 Standard for Intelligent Assist Device (IAD) – Personnel Safety RequirementsAmerican National Standards Institute

ANSI B30.11 Monorail Systems & Underhung CranesANSI B30.17 Overhead and Gantry Cranes

Crane Manufacturers Association of AmericaCMAA Specification 70

National Electric CodeNEC Article 610 Cranes and Hoists

Occupational Safety & Health AdministrationOSHA CRF 1910.179

Monorail Manufacturers AssociationMG 27.2 Specification for Underhung Cranes and Monorail Systems

The CE version of the iLift conforms to the following standards where applicable:

M a c h i n e r y D i r e c t i v e

BS EN ISO 12100-1:2003 Safety of machinery. Basic concepts, general principles for design. Technical principles

BS EN ISO 12100-2:2003 Safety of machinery. Basic concepts, general principles for design. Technical principles

BS EN 349:1993 Safety of machinery. Minimum gaps to avoid crushing of parts of the human body

BS EN 418 Safety of machinery. Emergency stop equipment, functional aspects. Principles for design

..

.1) .2) .3)작업의수행시설치는기술적자격이없는사람은피해야한다.

Warning :사람에게상해나사망의결과를초래할지도모르는잠재적위험한행동 을 나타낸다.



BS EN 614-1:1995 Safety of machinery. Ergonomic design principles. Terminology and general principles

BS EN 953:1998 Safety of machinery. Guards. General requirements for the design and construction of fixed and movable guards

BS EN 981:1997 System of auditory and visual danger and information signals

BS EN 1050:1997 Safety of machinery. Principles for risk assessment

BS EN 61131: 2003 Programmable controllers. Equipment requirement and tests

BS EN 61508-1 Functional safety of electrical/electronic/programmable electronic safety-related systems. General requirements

BS EN 61508-2 Functional safety of electrical/electronic/programmable electronic safety-related systems. Requirements for electrical/electronic/programmable electronic safety-relatedsystems

BS EN 61508-3 Functional safety of electrical/electronic/programmable electronic safety-related systems. Software requirements

BS EN 60204-32:1998 Safety of machinery - Electrical equipment of machines – Part 32 – Requirements for hoisting machines

E M C D i r e c t i v e

BS EN 61000-6-4:2001 Electromagnetic compatibility (EMC). Generic standards. Emission standard for industrial environments

BS EN 61000-6-2:2001 Electromagnetic compatibility (EMC). Generic standards. Immunity standard for industrial environments

L o w V o l t a g e D i r e c t i v e

BS EN 60204-32:1998 Safety of machinery - Electrical equipment of machines – Part 32 –Requirements for hoisting machines

1.1.4 Features

Stanley Cobotics iLift, the most advanced lifting and balancing system available, allows operator to manipulate loads with greater speed and precision than ever before. By simply grasping the slide handle or the load itself and gently applying force in the desired direction, the operator can manipulate payloads as if they weighed ounces.

Operators can meet productivity goals while reducing ergonomic strain, with programmable virtual limits, user-selectable operating profiles, and vertical speed up to 2.3 ft/s (500 lb lift capacity unit) or 4.9 ft/s (150 lb lift capacity unit) (1.5 m/s). Offering a blend of power assist and hands-on (“float mode”) load position, the iLift combines computerized control with human manipulation. The iLift maximizes the capability of end effectors with a programmable hub featuring internal logic for control of end effector functions via air cylinders, interlocks, proximity switches, and a locally mounted E-Stop.

가장 발전되고 발란싱 시스템을 이용하는 Stanley의 Cobotics iLift는 작업자가 이전의 어떤 장치보다도 훨씬 더 빠른 속도와 높은 정확도로 부하물을 컨트롤 할 수 있게한다. iLift는 굉장히 작은 힘으로 작업자는 슬라이드 핸들이나 부하 를 가볍게 쥐고 원하는 방향으로 Payload를 조종할 수 있게 한다.

작업자가 가상한계를 프로그램하고, 프로파일을 선택 할 수 있고 수직속도를 2.3ft/s(500 lb)or 4.9ft/s(150 lb)사이에서 조정하여 생산 목표를 충족 시킬 수 있다. 보조전원과 수동 로드 포지션의 혼합을 제공하는 iLift는 사람의 조작과 컴퓨터화된 제어를 조합한다. iLift는 에어실린더와 interlock, 근접 스위치와 허브에 설치된 E-Stop스위치를 통해 지그의 기능을 컨트롤 하고 허브 내 기능 프로그램함으로써 지그의 능력을 최대화 한다.



Allowing easy installation on existing or new rail configurations, quick programmability, and semi -automation, the iLift is the highest performing lift assist available today.

Slide or Pendant handleChoose from two handles for direct or proportional push-button control.

Float modeFeaturing the most advanced patented float mode available, the iLift allows:

• Hands-on (“float mode”) fine tuning of load position• Movement of loads without the need to push buttons from the central control

position⎯shaving seconds from cycle times

Unload modeBy pressing a single but ton, the user can initiate a gentle set down mode that lowers the load at a programmable rate until the system meets a user selectable criterion, either:

• The user releases the button that activates Unload mode, or• The system senses the load has decreased below a programmable level or the load

has traveled more than a user defined distance.

Gentle Setdown: When the load moves down past a user defined point, the iLift limits the downward acceleration and velocity to gently set the payload down.

IAD System FunctionalityWhen coupled to a Stanley Cobotics iTrolley system, the iLift empowers the operator by enabling advanced features like:

• Autonomous Return To Home (RTH) – the system will automatically move to one of 8 user defined positions based on various inputs to the system

• Turbo Mode – To assist in moving heavy loads, turbo mode keeps an iTrolley system moving without requiring any operator effort.

Programmable Hub with RS232 interfaceAs the high-speed communication link and main operator interface, the Hub allows you to:

• Program the system using a laptop computer or PDA ⎯eliminating the need to configure hoses or valves

• Program in and switch between operator preferences for speed, acceleration, and sensitivity

• Configure PLC type end effector functions with a simple interface

Virtual limitsEasily programmable virtual limits prevent load damage and enhance productivity by constraining up/down movement.

Advanced Safety FeaturesTo protect the operator, parts, and fixtures in the workplace, the iLift continuouslymonitors internal variables to protect against unsafe conditions:

• Overload detection – when the iLift detects that the system lifts a load exceeding a user programmable maximum or the end effector or payload is caught onsomething in the environment preventing normal motion, the system only allows the load to move downward

• Cable Slack Detection – the iLift limits upward velocity and acceleration when it detects a cable slack condition

Access to system information

쉬운설치를가능하게한다.빠른프로그램설정기능과반자동모드는 iLift가리프팅하는데서가장 .

•• 중

•• 시스템은 프로그램 가능한 수준아래에서 부하가 감소되는 것이나 부하가 사용자가 정의한 거리보

다 많이 이동하는 것을 감지한다.

IAD System FunctionalityCobotics iTrolley시스템에연결되었을때 iLift는운영자가진보된아래와같은특성을이용가능하게한다.

• 원위치로의 자유로운 리턴(RTH)시스템은시스템에서여러가지입력을근거로사용자가정의한 8가지위치중 1곳으로자동으로이동한다.

• 터보모드는 무거운 부하를 움직이는 것을 돕기 위해 터보 모드는 어떠한 운영자의 노력을 요구하지 않고 iTrolley시스템을지속적으로움직인다.



Valuable features for analyzing real-time conditions of the IAD system. Examples include:• Maintenance⎯tracking preventative maintenance schedules• Error-proofing⎯Comparing actual load weight against an expected value• Optional Ethernet connection⎯allows communication with plant information

systems

Dump modePermits load dumping without drift.

Self-contained unitThe iLift is completely self-contained, with on-board controls requiring 120 VAC power (150 lb lift capacity unit) and 220 VAC power (500 lb lift capacity unit).

1.1.5 Specifications

150 lb L i f t C a p a c i t y U n i t

Temperature range: 0 °C to +60 °C, operating (-10 °C to +85 °C non-operating)Humidity: 10 to 90% non-condensing, operating (5 to 95% non condensing, non-operating)AC supply voltage: 90 to 125 VAC @ 50 to 60 HzCurrent draw: 15 A maxiLift weight: 65 lbLoad at rated acceleration: 150 lb (68 kg) max @ 32 ft/s2 (9.8 m/s2)Maximum iLift load capacity: 150 lb (68 kg)Velocity: 295 ft/min (1.5 m/s)Vertical Travel: 120 in (300 cm)Wire Rope: 7x19, 1/8”, 20 ft, pre-stretched wire rope, (can be shortened), must be purchased from Stanley Cobotics (part # 1121-1001)

5 0 0 l b L i f t C a p a c i t y U n i t

Temperature range: 0 °C to +60 °C, operating (-10 °C to +85 °C non-operating)Humidity: 10 to 90% non-condensing, operating (5 to 95% non condensing, non-operating)AC supply voltage: 200 to 240 VAC @ 50 to 60 HzCurrent draw: 13 A maxiLift weight: 133 lbLoad at rated acceleration: 500 lb (226 kg) max @ 16 ft/s2 (4.9 m/s2)Maximum iLift load capacity: 500 lb (226 kg)Velocity: 138 ft/min (0.7 m/s)Vertical Travel: 120 in (300 cm)Wire Rope: 7x19, 3/16”, 20 ft, pre-stretched wire rope, (can be shortened), must be purchased from Stanley Cobotics (part # 23R201300)

iLift는 120VAC(150lb)과 220VAC(500lb)동력을 필요로하는 on-board 제어를 가진 완전한 독립장치이다.

I L I F T M A N U A L 1 . 2 I N S T A L L A T I O N


1.2 InstallationThe following outlines components and installation of a typical system of three iTrolleys and an iLift.

Figure 1 – Illustration of a typical system of three iTrolleys and an iLift (Line Filter and customer supplied Master Power Switch are not shown).

1.2.1 Component Identification

Figure 2 – Illustration of an iLift.

1 Bridge iTrolley #12 End Truck iTrolley #23 End Truck iTrolley #34 Runway Rail Magnet5 Bridge Rail Magnet6 iLift7 Cable Angle Sensor8 Hub

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1 Servo Motor2 Heat Sink3 Reel

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S e r v o M o t o r

The servo motor supplies the necessary torque to move the payload. It is connected to the reel through a gear box.

Reel

The wire rope wraps around the reel. The reel is mounted on a fixed ball screw so that it translates horizontally as it turns, keeping the load inline as it raises and lowers.

H e a t S i n k

As the load is lowered, wire rope is paid out and the servo motor acts as a generator. Power is dissipated through shunt resistors mounted on the heat sink.

WARNING: Short cycle times can cause the heat sink to become very hot. Allow the heat sink to cool before performing any service to avoid burns.

C o n t r o l l e r P o w e r S u p p l y

The power supply provides power to the computer stack, the brake, and indicator lights. It does not provide power to the motor amplifier. The motor amplifier is powered directly from power source (120/220 VAC model dependent).

C o m p u t e r S t a c k

Three components connected over a PC/104 bus make up the stack. The computercommunicates with on-board components and sensors as well as allowing the user to program settings through an RS-232 interface which is connected to the Hub (see Chapter 7: System Schematics).

M o t o r A m p l i f i e r

The motor amplifier amplifies the command from the control software to drive the motor.

Figure 3 – Illustration of the iLift computer plate and sub-components (left – 150 lb iLift; right – 500 lb iLift;).

1 Power Supply2 Motor Amplifier3 Computer Stack

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L i n e F i l t e r B o x

Figure 4 – Illustration of line filter box.

The line filter removes any electromagnetic interference introduced by the AC line. The line filter box input connects to the Master Power Switch (customer supplied ) and the line filter output feeds the Power In connector for both the 150 lb and the 500 lb lift capacity standalone iLift units (seeFigure 10 for details).

CAUTION: When the Master Power Switch (customer supplied) is depressed, the brake will take a few milliseconds to engage fully. The suspended load may continue to drop a few inches depending on the downward speed of the payload when the switch is depressed.

1 120 VAC/220 VAC Power Input from Master Power Switch (Customer Supply)

2 Power Output to iTrolleys

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라인 필터는 AC라인에서 발생된 노이즈를 제거한다.라인 필터 박스 입력은 메인 파워와 연결되어 있고 파워를 받은 라인 필터는 iTrolley나 iLift의 전원컨넥터와 연결되어 있다.(그림 10 참조)



1.2.2 iLift Connector Bracket

Figure 5 – Illustration of the iLift connector bracket.

i T r o l l e y C o m m u n i c a t i o n s C o n n e c t o r

The iLift and iTrolley computers communicate with each other over a communications bus.

P o w e r I n C o n n e c t o r

The iLift receives grounded AC power from a line filter box and a customer supplieddisconnect/tagout (Master Power Switch).

M o t o r P o w e r a n d B r a k e C o n n e c t o r

This connection provides power to the motor and the controller sends the brake release signal through this connector.

NOTE: This connection is installed at the factory and should not be removed with power on.

M o t o r E n c o d e r a n d H a l l S e n s o r C o n n e c t o r

The motor encoder and hall sensor send feedback through this connector.

NOTE: This connection is installed at the factory and should not be removed with power on.

1 Limit Set Push Button2 Clear Limits Push Button

3Junction Box (cable angle sensor and hub present)

4 Power On Indicator5 iTrolley Communications6 Power In

7 Motor Encoder & Hall Sensor

8 Motor Power & Brake9 Fuse Holder10 Fault Indicator

11Coil Cord (not used if cable angle sensor present)

12 Brake Override Switch

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C o i l C o r d C o n n e c t o r

On a standalone iLift, this connects the iLift directly to the Hub through the coil cord. If the iLift is part of an iTrolley system this connector is not used.

J u n c t i o n B o x C o n n e c t o r

This connects the iLift to the Cable Angle Sensor junction box. Communications signals are sent and received from the Hub and Cable Angle Sensor. If the iLift is a standalone lift, this connector is not used (see the iTrolley User Manual).

F u s e H o l d e r

This fuse holder holds a 16Amp (5x20mm) slow blow fuse for the motor amplifier.

F a u l t I n d i c a t o r

This red light illuminates if there is a fault in the system or if the system is stopped. It is equivalent to the red status indicator light on the Hub.

P o w e r O n I n d i c a t o r / B r a k e O v e r r i d e P u s h B u t t o n

This green light illuminates when the iLift has AC power. When the brake override key switch is turned, this button can be depressed to release the motor brake for maintenance functions.

B r a k e O v e r r i d e K e y S w i t c h

This brake override key switch is used to release the motor brake when there is a need to move the wire rope manually such as replacing wire rope. Power must be applied to the iLift to release the brake. See § Overriding/Releasing Brake.

C l e a r L i m i t P u s h B u t t o n

This amber light is illuminated when vertical travel limits are not set. This button is used to set initial or new travel limits. Once limits are set the light will turn off and it will remain off after subsequent system power applications provided the limits are not cleared by pressing this button.

L i m i t S e t P u s h B u t t o n s

These green lights are illuminated when limits are active. The limits are not active following system start up until the iLift has determined its absolute location, which can require travel up to 10 inches. The upper button applies to the upper limit and the lower button applies to the lower limit.

I n t e r l o c k L o ad P u s h B u t t o n

This feature is available on systems with an end effector that has an integrated interlock switch connected to the terminal strip on the hub. It is used to set the threshold load to automatically toggle the interlock. See § Setting the Interlock Load Threshold.



1.2.3 Shipping

Each iLift arrives in a sealed cardboard box, protected by shipping foam. If used correctly, the container reliably protects the iLift from damage during normal handling and shipping. If unpacked carefully, the foam inserts and box can be retained and reused for any future required transport.

Before packing the iLift for shipment, all electrical cables should be removed from the iLift as well as the Hub and Coil Cord. Any excess wire rope should be coiled and attached to the iLift, as shown in Figure 6- iLift properly prepared for shipping.

Figure 6- iLift properly prepared for shipping

Figure 7- iLift in box on lower foam

When shipped from the factory, the iLift is carefully packaged between two foam inserts. If unpacked carefully, these foam inserts can be saved and reused. The iLift normally rests on the lower foam insert as shown in Figure 7- iLift in box on lower foam.



The upper foam insert fits over the top of the iLift and the box closes over the upper foam insert, as shown in Figure 8 - iLift boxed with top protective foam in place.

Figure 8- iLift boxed with top protective foam in place

WARNING: Shipping the iLift in the same box as the Hub and Inline handle or Pendant handle could result in damage to either or both units.

The Hub and Inline handle along with any accessories normally arrive in separate packaging.

While the 150 lb iLift can be safely shipped in the box alone, the 500 lb unit should be strapped to a shipping pallet to facilitate handling, due to the weight of the device.

WARNING: Any damage resulting from inappropriate packing will not be warranted.

1.2.4 Mounting

M o u n t i n g t h e i L i f t u n d e r a n i T r o l l e y

The iLift is mounted under the iTrolley so that the lights, buttons and connectors on each are facing the same direction. This reduces the likelihood of cables interfering with each other or otherhardware. (Deformed locknuts should be used.)



M o u n t i n g t h e i L i f t u n d e r a p a s s i v e t r o l l e y o r o t h e r f i x t u r e

It is recommended that the iLift be mounted so that the lights, buttons, and connectors are all facing the path of the power cord. This reduces the likelihood of cables interfering with other hardware. Should existing conditions make this impossible, care must be taken to prevent any interference of cables and other hardware. (Deformed locknuts should be used.)

CAUTION: It is important that the passive trolley that supports the iLift does not collide with rigid end stops on a repeated basis. If this situation is unavoidable shock absorbers should be considered in place of rigid end stops.

M o u n t i n g a C a b l e A n g l e S e n s o r o n a n i L i f t

The Cable Angle Sensor is mounted under the iLift using the supplied brackets such that the junction box is on the side of the computer plate. This reduces the likelihood of cables interfering with each other or other hardware. (Nylok screws or locktite should be used.)

1.2.5 Electrical Installation

The filter box depicted in Figure 4 typically ships from the factory with an unterminated power cable. In some cases, such as a stand alone iLift, the power consumption is less than 16 Amps, and the power cord can be terminated with an appropriately sized plug. In an industrialenvironment, it is recommended that the power cable terminate in a box that includes a disconnect switch with lock out / tag out capability for servicing. In this case, the disconnecting mechanism canbe one of the following types:

1. a switch-disconnector, with or without fuses, in accordance with IEC 60947-3 Table III, utilization category AC-23B or DC-23B.

2. a disconnector, with or without fuses, in accordance with IEC 60947-3, that has anauxiliary contact that breaks the load circuit before opening the mains contact of the disconnector.

3. a circuit breaker suitable for isolation in accordance with IEC 60947-2.

All electrical connection work should be carried out by a qualified electrician. The 150 lb (68 kg) iLiftand iTrolley systems accept 120 VAC (50-60 Hz) single phase input while the 500 lb (227 kg) accepts 208-240 VAC (50-60 Hz) single phase input. The power connectors of the two units are not interchangeable. Care should be taken to insure that the correct power is connected to each unit before turning the power on.

WARNING: Before applying power to the iLift, verify the power information on the serial number sticker. Connecting to a non compatible power source could result in damage to the iLift.



1.2.6 Connecting Cables

Figure 9 – Illustration of electrical connections for a 150 lb lift capacity iLift/iTrolley system.



Figure 10 – Illustration of electrical connections for a 500 lb lift capacity iLift/iTrolley system.

Power CableCommunication CableJunction Box CableCoil Cord CableE-Stop Cable

1 EmergencyStop Switch 6 iLift Power In

2Cable Angle Sensor with Junction Box

7 Line Filter 120 VAC

3 iLift 8 Line Filter 220 VAC

4 iTrolley 9 Master Power Switch 120 VAC (Customer Supply)

5 iTrolley PowerIn

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Master Power Switch 220 VAC (Customer Supply)

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I L I F T M A N U A L 1 . 3 O P E R A T I O N


The power and communications cables are designed to prevent installing them incorrectly. Before beginning, ensure the power line is de-energized and the emergency stop switch is depressed.

WARNING: failure to disconnect line power and depress the emergency stop switch may result in electric shock.

Install the power cord using the longer cord originating from the emergency stop switch.

CAUTION: When running the power cable from an iTrolley to the iLift, ensure that thecable remains above the plane of the Cable Angle Sensor (CAS). If the power cable runs parallel to the wire rope below the CAS and in the vicinity of the wire rope, it can introduce interference and cause the CAS to function improperly.

The coil cord and junction box connectors will not be utilized until the Cable Angle Sensor and/or Hub are installed. If the iLift is installed under an iTrolley then a communications cord is installed, otherwise the iTrolley communications connector is unused. Verify that all connectors are properly seated and screwed in place. Ensure all cables are guided to avoid any entanglement with other equipment.

1.2.7 Machine Disposal

At the completion of the iLift’s useful life, it should be removed from service in accordance with the national guideline’s applicable at that time. Please consult a disposal specialist.

1.3OperationThis section details the operation of the iLift. Operator interaction with the iLift is mainly limited to the use of the Hub and intent sensors such as inline handle (Chapter 3: Intent Sensors). The iLift’smovement control functions are mainly transparent to the operator. The following information is primarily useful for better system understanding and troubleshooting.

1.3.1 Theory of Operation

The iLift uses a closed loop feedback system to precisely position the suspended load. The control algorithm runs on an on-board computer that is in constant communication with input/feedback sensors and other Stanley Cobotics products in the system such as iTrolleys, Hub, and intentsensors. The iLift takes inputs such as operator intent, applies speed and position rules, and moves the load accordingly in the Z axis.

I n p u t / F e e d b a c k S o u r c e s

The iLift receives its primary input from the operator through an intent sensor. This sensordetermines the direction and speed the operator desires to move the load.

After initial power up, the system determines the absolute vertical position of the cable bymeasuring the position of the reel. Thereafter, position feedback comes from the motor encoder.

이 섹션은 iLift의 운영을 상세히 설명한다. iLift와 운영자 상호작용은 인라인 핸들과 같은 허브와 인텐드 센서의 사용을 제한한다.(Chapter 3 : 인텐드 센서). iLift의 움직임 제어 기능은 작업자에게 주로 알기 쉬운 것이다. 다음의 정보는 본질적으로 더 좋은 시스템 이해와 문제 해결에 유용하다.

iLift는 부하를 정확히 의치시키기 위해 닫힌 루프 피드백 시스템을 이용한다. 제어 알고리즘은 그 시스템에서 입력/피드백 센서와 iTrolley, 허브 그리고 인텐드 센서와 같은 시스템에서 다른 Stanley Cobotics 제품가 연속적인 통신에 있는 온-보드 컴퓨터를 운영한다. iLift는 운영자 의도와 Z축을 따라 부하를 움직이는 속도와 위치 규칙 같은 입력을 가진다.

iLift는 인텐드 센서를 통해 운영자로부터 초기의 입력을 수신한다. 이 센서는 운영자가 부하를 움직이고자 하는 방향과 속도를 결정한다.

초기에 전원을 켠 후 시스템은 얼레의 위치를 측정하여 케이블의 절대적인 수직 위치를 결정한다. 그후 위치 피드백은 모터 엔코더에서 온다.

I L I F T MA N U A L 1 . 3 O P E R A T I O N


C o n t r o l F u n c t i o n s

The control algorithm applies various rules to the operator intent measured by the intent sensor. These rules include position, speed, and acceleration limits, and intent sensor sensitivity. Position limits or virtual stops can be programmed any time by means of buttons located on the iLift. They depend on the installed height above the ground and maintaining a minimum distance between the Hub and iLift or the Hub and the Cable Angle Sensor. Intent sensor sensitivity can be set to makemoving a particular load as comfortable and efficient as possible. Higher sensitivity provides faster payload movement while lower sensitivity allows easier positioning.

M o v e m e n t

The iLift mechanism responds to signals from the control algorithm to raise or lower the load. The servo motor drives the cable reel through a gearbox. The cable reel is mounted on a fixed ball screw. This forces the reel to translate horizontally as the wire rope winds or unwinds to keep the wire rope and suspended load in a fixed horizontal position.

The 150 lb lifting capacity iLift system can move up to 295 fpm (1.5 m/s) in either direction and can accelerate a 150 lb (68 kg) load at 1g or 32 ft/s2 (9.8 m/s2). The 500 lb lifting capacity iLift systemcan move up to 138 fpm (0.7 m/s) in either direction and can accelerate a 500 lb (226 kg) load at 0.5g or 16 ft/s2 (4.9 m/s2).

1.3.2 Common Tasks

These tasks can only be accomplished on a system with at least an iLift, a Hub, and an intent sensor.

S y s t e m P o w e r U p

When power is first applied, the green power indicator on the iLift will illuminate, all the indicator lights on the Hub will illuminate, and the Hub display will read “CO.” The computer is initializing and establishing communications with other components in the system. In approximately 50 seconds the Hub display will read “P1,” and only the red indicator on the Hub will be illuminated.

O p e r a t i o n a l C h e c k s

When power is first applied, neither the amber light nor the green limit lights on the iLift will be illuminated. Once the wire rope has traveled at least 10 inches, it will give an indication of whether the limits are active. If one or both limits have been set in the past, the amber light will stay off and one or both green lights will illuminate. This indicates the limits are active and the system is ready for normal operation. If the limits have not previously been set, the amber light will illuminate, showing that no limits are set, see § Setting Vertical Limits.

S e t t i n g V e r t i c a l L i m i t s

Apply power to the system and wait for the “P1” indication on the Hub. The limits are set using the amber and two leftmost green buttons. The amber button clears the travel limits and each green button sets one of two travel limits.

To set the limits, move the Hub at least 12 inches and press the amber button. The amber light will illuminate indicating that the limits have been cleared. Next, move the iLift to its first limit of travel. Press the top green button to set the top limit or the bottom green button to set the bottom limit..

제어 알고리즘은 인텐드 센서에 의해 측정된 운영자 목적을 위해 여러가지 법칙을 적용한다. 이런 법칙은 위치, 속도와 가속도 한계 및 인텐드 센서의 민감도를 포함한다. 위치 제한이나 가상의 멈춤은 iLift위에 설치된 버튼에 의하여 어떤 시간에든 프로그램될 수 있다. 그것은 그라운드에서의 선치된 높이와 허브와 iLift나 허브와 케이블 앵글 센서사이의 최소 거리를 유지하는 것에 의존한다. 인텐트 센서 민감도는 특별한 부하를 가능한 편안하고 효과적으로 움직일 수 있도록 설정될 수 있다. 더 높은 민감도는 더 빨리 Payload를 움직이게 하고 더 낮은 민감도는 더 쉬운 위치선정을 하게한다.

iLift 메커니즘은 제어 알고리즘에서 부하를 올리거나 내리기 위한 신호에 반응한다. 서보 모터는 기어 박스를 통하여 케이블 얼레를 움직인다. 케이블 얼레는 고정된 볼 스크류 위에 설치된다. 이것은 와이어 로프가 휘감기거나 풀릴 때 수평으로 변환하여 얼레가 고정된 수평의 위치에서 와이어 로프와 매달린 부하가 유지되도록 한다.

이런 작업은 단지 적어도 하나의 iLift, 허브와 인텐드 센서를 가진 시스템에서 수행될 수 있다.

전원이 처음 공급되었을때 iLift 위의 녹색 전원 지시기는 점등될 것이다. 허브 위의 모든 지시등은 점등될 것이고 허브 디스플레이는 "Co"를 읽을 것이다. 컴퓨터는 초기화하고 스스템에서 다른 구성품과 통신을 설정할 것이다. 대략 50초안에 허브 디스플레이는 "P1"을 읽을 것이고 단지 허브 위의 빨간 지시기는 점등될 것이다.

전원공급이 되면 주황색이나 녹색 LED는 켜지지 않을 것이다. 와이어 로프가 최소한 10인치를 이동하면 한계가 활성화되는지 여부를 지시할 것이다. 하나나 두개의 한계가 과거에 설정되었다면 주황색 등은 꺼진 상태일 것이고 하나나 두개의 녹색등은 점등될 것이다. 이것은 한계가 활성화되었고 시스템이 정상적인 운영준비가 되었음을 지시한다. 한계가 이전에 설정되지 않았다면 주황색 LED가 켜지고 한계가 설정되지 않았음을 보여준다. 섹션 수직 한계 설정을 참조한다.

iLift에 전원을 공급하고 허브의 창에 "P1"이 표시 될 때 까지 기다리시오. 한계점은 황색 버튼과 왼쪽의 상하 버튼을 통해서 셋팅 할 수있다. 한계 설정을 위해 적어도 12인치 이상의 거리를 상 하로 움직이고 황색 버튼을 누르시오. 황색 등은 한계가 깨끗이 지워졌음을 나타낸다. 황색 버튼은 이동 한계점 값을 지운다. 그리고 상하의 녹색 버튼은 각각의 한계점을 설정한다.



Move the iLift to its second limit of travel, and press the other green button to set the other limit of travel. The amber light will extinguish indicating that the new limits have been set. Verify this by moving the iLift up and down between its limits. Vertical limits may be set as close to one another as desired. The upper limit may not be lower than the lower limit.

NOTE: Limits are for position only and should not be used for safety.

S e t t i n g t h e I n t e r l o c k L o a d T h r e s h o l d

This feature is available on systems that use the Hub to enable or disable an un-clamp or a vacuum blow off circuit. In this case the Hub I/O is used to control a solenoid. The interlock will prevent the end effector from releasing the load if the system measures a force at the Hub over this threshold. Below this threshold, i.e. with no load on the end effector or with the load in a rack or fixture, the end effector can be given an open or release command.

The load is measured continuously at rest and in motion. It is accurate to within 1 pound. The measurement is compensated for vertical and horizontal motion, so the interlock will continue to prevent release of a load if it is accelerating downward. The threshold may be increased ordecreased from the measured value using the serial interface. This may serve either as anadditional factor of safety or enable the load to be released when it is only partially resting on a rack or fixture.

To set this threshold, configure the system with an empty end effector. The system may be in either stop or reset mode (green or red lights on the Hub) but no error codes may be present. The Hub and end effector must not be swinging when the load is measured. Press the red button on the iLift and the threshold load will be measured (make sure hands are not resting on payload when setting). The red light will illuminate indicating that the threshold has been set and the interlock load function is active.

O v e r r i d i n g / R e l e a s i n g B r a k e

WARNING: Remove any loads and end effectors from device before releasing brake as they will rapidly fall creating the risk of injury or damage.

WARNING: Slowly pull out wire rope for inspection/maintenance. Be careful not to exceed mechanical limit as damage to the adjusting disc will occur.

Power must be applied to the iLift to release the brake. Connect line power and reset theemergency stop switch. Use the key provided to turn the brake override switch and press the brake override push button (the green power on lamp). This will release the motor brake. To set thebrake, turn off the brake override switch and remove the key.

NOTE: The key can only be removed if the brake is set. It cannot be removed in override.

두번째 이동 한계점을 셋팅하기 위해 iLift를 움직이시오. 그리고 나머지 녹색 버튼을 누르시오. 황색등은 새로운 한계점을 셋팅해줄 것이다. 한계점 사이에서 iLift를 상하로 움직여서 한계점을 검증하시오. 수직 한계점은 요구되는 다른 것에 가깝게설정될 수 있다. 상단의 한계는 하단의 한계보다 더 낮을 수는 없다.

This feature is available on systems that use the Hub to enable or disable an un-clamp or a vacuum blow off circuit. 이런 경우엔 허브 I/O가 솔레노이드를 제어하기 위해 사용된다. 시스템이 허브에서 이런 쓰레쉬홀드를 넘는 힘을 감지했을 때 인터록은 엔드 이펙트가 부하를 릴리즈하는 것을 방지한다. 이런 쓰레쉬홀드 밑에서, 즉, 엔드 이펙트에 부하가 없거나 랙이나 기구에 부하가 이을 경우 엔드 이펙트는 열리거나 릴리즈 명령을 받을 수 있다.

부하는 움직이지 않거나 움직일 때 지속적으로 측정된다. 1파운드 이내로 정확하다. 아래쪽으로 가속되어지면 인터록이 부하의 릴리즈를 계속 방지하기 위해 측정은 수직과 수평 움직임을 보정한다. 쓰레쉬홀드는 시리얼 인터페이스를 사용하여 측정된 값으로부터 증가되거나 감소될 수 있다. 부하가 부분적으로 랙이나 기구 위에 있을 때 부하가 릴리즈 될 수 있거나 안전의 추가적인 요소로서 이용할 수 있다. 이런 쓰레쉬홀드를 설정하기 위해서는 빈 엔드 이펙트를 가진 시스템을 숭성한다. 시스템은 멈춤이나 휴식 모드(허브 위의 녹색이나 빨간색 등)에 있ㅇ야 하고 에러 코드가 존재하지 않아야 한다. 허브아 엔드 이펙트는 부하가 측정될 때 회전하지 말아야 한다. iLift 위에 빨간색 버튼을 부르면 쓰레쉬홀드 부하가 측정될 것이다. (측정될 때 손이 Payload 위에 있지 않아야 한다.) 빨간색 등은 쓰레쉬홀드가 측정되었음을 표시하기 위해 점등될 것이고 인터록 부하 기능은 활성화된다.

Warning : 부하와 엔드 이펙트가 빠르게 낙하하여 상해나 손상을 야기할 수 있으므로 브레이크를 릴리즈하기 전에 엔드 이팩트와 로드를 제거해야한다.

Note : 키는 브레이크가 설정되면 제거될 수 있다. 오버라이드에서는 제거될 수 없다.

Warning : 정검과 유지보수를 위해 와이어 로프를 천천히 당겨서 빼시오. 기계적 한계를 넘지 않게 주의 하시오.

전원은 브레이크를 릴리즈하기 위해 iLift에 공급되어야 한다. 전원선을 연결하고 긴급 멈춤 스위치를리셋한다. 브레이크 오버라이드 스위치를 회전하기 위해 제공된 키를 사용하고 브레이크 오버라이드 푸쉬 버튼을 누른다.(녹색 램프에 전원이 들어온다.) 이것은 모터 브레이크를 릴리즈할 것이다. 브레이크를 설정하기 위해 브레이크 오버라이드 스위치를 끄로 키를 제거한다.



N o r m a l O p e r a t i o n

The 150 lb capacity iLift is capable of handling a suspended load of 150 lb (68 kg) if un-reeved or 300 lb (136 kg) reeved. The 500 lb capacity iLift is capable of handling a suspended load of 500 lb (226 kg) if un-reeved or 1,000 lb (452 kg) reeved.

WARNING: Do not exceed stated weight capacity. Injury or death could occur.Warning : 표기된 무게 이상을 사용하지 마라. 상해나 사망의 결과를 초래할 수 있다.

O P E R A T O R I N T E R F A C E 2 . 1 I N T R O D U C T I O N


Chapter 2: Operator Interface

2.1 IntroductionThe operator interface (Hub) is the primary operator interface and the single point of control for the system. It receives commands using five pushbuttons and provides system status indications with four colored lights and a two character LED display.


The hub conforms to the following standards:

BSR/T15.1 Draft Standard for Intelligent Assist Device (IAD) – Personnel Safety RequirementsAmerican National Standards Institute

ANSI B30.11 Monorail Systems & Underhung CranesANSI B30.16 Overhead HoistsANSI B30.17 Overhead and Gantry CranesANSI/ASME B30.20b Below the Hook Lifting Device, 1996 Addenda to ASMEB30.20-1993


Hoist Manufacturers Institut eHMI 100-74 Specification for Electric Wire Rope Hoist



Monorail Manufacturers AssociationSpecifications for Underhung Cranes and Monorail Systems


Temperature range: 0 °C to +60 °C, operating (-10 °C to +85 °C non-operating)

Humidity: 10 to 90% non-condensing, operating (5 to 95% non condensing, non-operating)Load: 300 lbs max for 150 lbs iLift/iTheta; 1000 lbs max for 500 lbs iLift/iTheta

2.2 InstallationThis section describes the procedure for hanging the hub on the wire rope. If an additional end effecter will be used there will be additional wiring to accomplish. Instructions for this are provided separately.

적정 온도 : 0 °C to +60 °C,작동(-10 °C to +85 °C비작동)적정습도 : 10 to 90% non-condensing,작동(5 to 95% non condensing, non-operating)로드 : 150lbs iLift/iTheta최대 300lbs, 500 lbs iLift/iTheta최대 1000lbs

허브는 주요한 사용자 인터페이스이고 시스템 제어 수단중 하나이다. 5개의 버튼을 사용하여 명령을 받고 시스템 상태 지시는 4개의 컬러LED 등과 2개 문자가 표기되는 LED 화면을 제공한다.

이 섹션은 로프에 허브를 거는 과정을 설명하고 있다. 추가로 엔드 이펙트가 사용되면 이를 수행하기 위해 와이어가 추가로 필요할 것이다. 이를 위한 지침은 개별적으로 제공된다.

O P E R A T O R I N T E R F A C E 2 . 2 I N S T A L L A T I O N


2.2.1 Component identification

Figure 11 – Illustration of the front view of a Hub with button module and hook interface.

L E D D i s p l a y

The two-character LED display shows system messages, including error codes.

S t a t u s i n d i c a t o r l i g h t s

The lights have the following meanings:

RED: A red indicator means the device has been halted, or that it has faulted. For an IAD system composed of both an iLift and one or more iTrolleys, a flashing red indicator in combination with the green LED shows that the system was initialized with the cable slack. In this state, the iLift is initialized but the iTrolleys do not function. To bring the system to full functionality, use the iLift to remove the cable slack condition, then stop and restart the system.

GREEN: A green indicator means the system is ready, and may be operated in hands-on-controls mode.

BLUE: A blue indicator means that vertical system motion may be caused by operator forces applied to the payload or tooling, also known as hands-on-payload or float mode.

FLASHING YELLOW : A flashing yellow indicator means that the system may move automatically without operator force applied to the control-interface, payload, or end-effector, also know as hands-off mode.

A u x b u t t o n

The black aux mode button is an application specific button.

1

2

3

45

6

7

8

9

10 1 LED Display

2 Status Indicator Lights

3 Aux Button

4 Stop Button

5 Start/Reset Button

6 Profile Select

7 RS232 Serial Port

8 Hub Connector

9 Hook

10 Swivel Rod

2개문자를 제공하는 디스플레이는 에로코드와 시스템 메시지를 나타낸다.

LED는 다음의 의미를 나타낸다.

빨간 등은 장치가 멈추거나 에러가 있음을 나타낸다. IAD시스템이 iLift와 한 개 이상의

녹색등은 지시기가 시스템 준비 상태임을 나타내고 Hands-on-controls모드에서 작동

될 것이다.

iTrolley로 구성된 경우 녹색 LED와 함께 반짝이는 빨간 등은 시스템이 케이블 슬랙을 가지고 초기화되는 것을 보여준다. 이 상태에서 iLift는 초기화되지만 iTrolley는 제 기능을 하지 않는다. 시스템이 완전한 기능을 가지기 위해서는 케이블 슬랙 조건을 제거하기 위해 iLift를 사용하고 시스템을 멈추고 재시작한다.

녹색등은 Hands-on-pay나 Float모드 방식을 사용한 작동이 부하나 툴에 적용된 운영자의

힘에 의해 발생되었음을 나타낸다.

부하나 엔드 이펙트에 운영자의 힘이 가해지지 않고 자동으로 움직일 수 있음을 의미한다.

반짝이는 노란 지시기는 Hands-off모드로 알려진 시스템이 제어 인터페이스,

검정색 보조 보튼은 특정 기능을 적용 해서 사용하는 버튼이다.



S y s t e m h a l t b u t t o n

These red buttons, one each on the front and back of the Hub, cause controller system motion to cease. On systems with an iLift, the vertical brake will be engaged. On iTrolley systems, thesystem will behave like an unpowered bridge crane system: any velocity at the time the system is stopped will continue.

This button should be the primary means of stopping the system.

S y s t e m r e s e t b u t t o n

This green button is used to enter normal operation.

U s e r p r o f i l e s e l e c t b u t t o n s

These buttons may be used to select one of eight different user profiles while the system is halted.

S e r i a l C o n n e c t o r

User programmable settings may be changed using this RS-232 serial interface (see § 1.3.4 RS-232 Interface).

T e r m i n a l B l o c k

Figure 12 – Illustration of the back view of a hub with button module.

Removing the back cover of the hub reveals a 16 pin pluggable terminal block intended forapplication specific features. These features might include interfacing a custom end-effector or an additional emergency stop switch. Below is a table of the pins and their functions. Digital inputs require TTL compatible levels and the range for the analog inputs is 0 to 5 Volts DC.

1 Terminal Block2 Pin 13 Swivel Rod

1

2

3

녹색 버튼은 iLift 기능의 기능을 시작하기 위한 버튼이다.

이 버튼은 허브 iLift정지 상태일때 지정된 8개의 프로파일 중 하나를 선택하기 위한 버튼이다.

사용자가 프로그램 할 수 있는 셋팅은 RS-232 Serial 인터페이스를 이용하여 바꿀 수 있다.

허브 뒷면 커버를 제거하면 특별한 용도의 목적을 가진 16핀 플러그 터미널 블록이 나타난다. 이런 특성은 사용자 엔드 이펙트 인터페이스나 추가적인 이머젼시 스톱 스위치를 포함한다. 아래는 핀과 기능에 대한 표이다. 디지털 입력은 적절한 TTL레벨을 요구하고 아날로그 입력의 범위는 0에서 5VDC이다.



Table 1 – Hub terminal block pin out.

Pin Description AvailableRequireCustom

Prog.1 12 VDC – source up to 3 Amps total to 4, 5, and 6 �2 Power ground �3 Emergency stop switch – jumper to pin 2 if not used �4 iLift Interlock – sink up to 1 Amp from pin 1 �5 Power output – sink up to 1 Amp from pin 1 �6 Power output – sink up to 1 Amp from pin 1 �7 Digital Ground �8 Digital Input (TTL compatible levels) �

9Digital Input (TTL compatible levels) (default: turbo mode or deadman switch) �

10 Digital Input (TTL compatible levels) (default: semi -autonomous mode) �11 Analog Ground �12 Analog Input (0 to 5 VDC) �13 Analog Input (0 to 5 VDC) �14 Analog Input (0 to 5 VDC) �15 -5 VDC Analog reference voltage �16 +5 VDC Analog reference voltage �

2.2.2 Mounting

Place the thimble in the bracket on the top of the hub. Route the wire rope around the thimble leaving a tail approximately three inches long past the thimble. Use at least two wire clips (Crosby clamps) or one barrel clip to secure the tail, ensuring the nuts are on the side away from the tail.

WARNING: Wire rope tail end must be cut so that it does not touch any other part of the hub or coil cord connector. Failure to do so may result in erratic motion of the system leading to damage or injury. Error code 22 may be an indication that this is happening.

WARNING: Use only Stanley Cobotics approved wire rope fittings sized for the wire rope being used. Failure to do so may lead to failure of the wire rope, injury, or death.

WARNING: Use Stanley Cobotics approved thimble or non-galvanized type of thimble. Failure to do so may lead to failure of the wire rope, injury, or death.

2.2.3 Connecting cables

Wrap the umbilical coil cord around the wire rope and plug it into the connector on top of the hub.

WARNING: DO NOT plug or unplug coil cable while power is on. Failure to do so may damage the Hub.

허브 상단의 브라켓에 부싱을 놓는다. 부싱을 지나 약 3인치 길이를 남기고 부싱 주위에 와이어 로프를 라우팀 한다. 끝단을 고정하기 위해 적어도 2개의 와이어 클립이나 한개의 배럴 킬립을 사용하고 너트가 끝단에서 떨어진 곳에 있는지를 확인한다.

Warning : 와이어 로프 끝단은 허브의 다른 부분이나 코일 코드 컨넥터와 접촉하지 않도록 절단되어 있어야만 한다. 그렇게 하지 않으면 시스템에 손상이나 상해를 주는 이상 움직임을 초래할 수 있다. 에러 코드 22는 이런 문제를 나타낸다.

Warning : 와이어 로프를 위해 Stanley Cobotics가 승인한 와이어 로프 피팅을 사용한다. 그렇지 않으면 와이어 로프의 실패나 상해 또는 죽음을 초래할 수 있다.

Warning : Stanley Cobotics 가 승인한 부싱이나 비전도체 타입의 부싱을 사용한다. 그렇지 않으면 와이어 로프의 실패나 상해 또는 죽음을 초래할 수 있다.

Warning : 전원이 공급되는 동안 전원을 뽑거나 빼지 말아라.

와이어 로프 주위의 코일 코드를 묶고 허브 상단의 컨넥터에 꽂는다.



2.2.4 Installing a Hook

Hook must be installed with a 1/8" roll (alignment) pin in order to prevent it from unscrewing.

Step 1. Screw the hook in the Hub hook interface (T-Portion) and align the hook and the T-Portion in parallel, and make sure the hook is not tightened completely otherwise the hook can not be opened. Then drill a 1/8" hole through the threaded rod using the existing hole in the T-Portion as a guide and insert the roll pin.

Figure 13 – Illustration of how to install a hook on a Hub.

Step 2. Insert the hook and T-Portion assembly into the bottom of the Hub, rotate it 90 degrees and install 4 self-locking and dog point screws. The hook should beperpendicular to the Hub LED surface .

Figure 14 – Illustration for how to install a hook and Hub hook interface assembly into the Hub.

1 Hook

2 Hook Interface (T-Portion)

3 Threaded Rod

4 Roll Pin

1 Hook

2 Hook Interface (T-Portion)

3 Hub

4 Dog Point5 Button Module

1

2

3

1

2

3

5

4

4

1

2

3

후크가 풀리는 것을 방지 하기 위해 1/8'롤핀을 사용 해야 한다.

Step 1. 허브 후크 인터페이스에 후크를 조이고 후크와 T-Portion 을 평행하게 한다. 그리고 나서 후크가 완전히 조여지지 않았는지 확인 한다. 다시 말해서 후크가 열리지 않아야 한다. 그때 가이드 처럼 T-Portion에 있는 홀을 사용하여 나사산이 있는 로드를 통하여 1/8" 홀을 내고 롤 핀을 삽입한다.

Step 2. 후크와 T-Portion을 허브 바닥면에 조립하여 삽입하시오. 90도정도 돌리고 4개의 샐프 락킹을 설치하시오. 그리고 나서 도그 포인트를 조이시오. 후크는 허브 LED 표면과 수직이어 야만 한다.



If a force sensing module and an inline handle (see iLift Manual Chapter 3) are installed, steps to install the hook are similar as shown in the following figure. Also make sure the hook can be opened and the hook is perpendicular to the hub LED surface.

Step 3. Install the button module or force sensing module. The button/force sensingmodule is fastened to the Hub by 2 M4x35/M4x50 bolts and 2 M4x16 bolts hold the two halves of the button/force sensing module together. First make the electrical connection between the button/force sensing module and the Hub board. Second, attach the rear half of the button/force sensing module to the Hub with the longer M4 bolts. On the force sensing module, ensure that the groove on the plastic end cap attached to the potentiometer engages the lip on the inline handle. Finally, attach the front half of the button/force sensing module using the shorter M4 bolts.

Figure 15 – Illustration of how to install a hook with inline handle.

WARNING: Load should not be lifted without securing the hook with the roll pin. The hook is not pinned in the factory and must be done in the field following Step 1 above during system installation. Failure to do so may result in injury.

2.2.5 Installing End-Effector E-Stop Switch

A local E-Stop switch can be installed by wiring the contactor’s conductors to Pins 2 and 3 of the terminal block located in the back of the Hub. The E-Stop can be mounted on the end effector or on the side of the Hub using a Stanley Cobotics provided bracket. IAD Safety Standard T-115requires an E-Stop.

1 Force Sensing Module

2 Inline Handle3 Hook

4 Roll Pin5 Hub

1

2

3

5

4

힘 센싱 모듈과 인라인 핸들(iLift 메뉴얼의 쳅터 3을 보시오)이 설치 된다면 후크의 설치 단계는 아래 그림과 같다. 또한 후크가 열리고 허브 LED표면과 평행해야 할 것이다.

Step 3. 버튼 모듈이나 포스 센싱 모듕을 설치한다. 버튼/힘 센싱 모듈은 2개의 M4 X 35M/M4 X 16볼트에 의해 허브에 체결된다. 2개의 M4 X 16볼트는 버튼/힘 센싱 모듈 반쪽 2개를 함 께 잡아준다. 첫째, 버튼/포스 센싱 ㅁ듈과 허브 보드를 전기적으로 연결한다. 둘째, 버튼/포스 센싱 모듈과 허브 보드를 전기적으로 연결한다. 둘째, 버튼/포스 센싱 모듈의 뒤쪽 반을 허브 에 긴 M4볼트를 사용하여 부착한다. 포스 센싱 모듈에서 포텐시오미터에 부착된 플라스틱 엔드 캡의 홈이 인라인 핸들의 가장자리와 맞물렸는지를 확인한다. 마지막으로, 짧은 M4 볼트를 사용하여 버튼/포스 센싱 모듈의 앞쪽 반을 부착한다.

Warning : 후크를 고정시키지 않고는 부하를 올리지 말아야 한다. 후크는 공장에서 고정되지 않고 시스템을 설치하는 동안 위의 단계 1에서 고정되어야만 한다.

로컬 E-Stop 스위치는 허브의 뒤에 위치한 터미널 블록의 2번과 3번 핀에 와이어링 접촉 도체를 사용하여 설치될 수 있다. E-Stop은 엔드 이펙트 위에 설치되거나 Stanley Cobotic이 제공한 브라켓을 사용하여 허브의 사이드에 설치될 수 있다. IAD 안전 기준 T-115는 E-Stop을 요구한다.

O P E R A T O R I N T E R F A C E 2 . 3 O P E R A T I O N


Figure 16 – Illustration of end-effector E-Stop switch (Part # 9904-2001) connection to Hub.

Figure 17 – Hub mounted E-Stop switch (Part # 9904-2202).

2.3 OperationThis section details the operation of the hub as installed in an iTrolley system. The hub is the main input/output device for the operator, so the following sections are important both for systemunderstanding and operating the system effectively.

2.3.1 Theory of operationThe hub is the primary operator interface and the single point of control for the system. It receives commands from five pushbuttons and provides system status indications with four colored lights and a two character LED display. A terminal block on the back of the hub provides connections custom features and allows for a secondary emergency stop, digital and analog inputs, digital outputs, and additional custom features are also available to interface with a user supplied end effecter. The hub has an upper attachment point that swivels.

Hub with E-Stop Hub Mounted E-Stop with BracketBack

이 섹션은 iTrolley시스템에 설치될때 허브의 운영에 대해 자세히 기술한다. 허브는 작업자의 주요 입/출력 장치이다. 그래서 다음의 섹션은 시스템의 이해와 효과적인 시스템 운영 둘 모두에 주요하다.

허브는 작업자의 주요 인터페이스이며 하나의 시스템 제어 수단이다. 허브는 다섯개의 버튼으로 부터 명령을 받고 4개 컬러의 등과 두개의 문자를 디스플레이하는 시스템을 공급한다. 뒷면의 터미널 블럭은 사용자의 특성에 맞는 연결을 공급하고 보조 E-Stop 스위치, 디지털 아날로그 입력, 디지털 출력을 가능하게 한다. 추가적으로 사용자 특성은 제공된 사용자 end effecter로서 사용하여 연결 될수 있다 허브는 회전하는 상단의 부착 포인트를 가진다.

O P E R A T O R I N T E R F A C E 2 . 3 O P E R A TI O N


NOTE: Ensure that swivels are always able to feely rotate or premature cable wear will result.

2.3.2 Startup sequence

When power is first applied, all the indicator lights will illuminate and the display will read “CO.” The computer is initializing and establishing communications with other components in the system. In approximately 50 seconds the display will read “P1,” and only the red indicator will be illuminated.

2.3.3 Common Tasks

S y s t e m s t o p b u t t o n

The two red system halt buttons will cause system motion to cease. The red indicator light will illuminate and the display will show “P1.” In this state the load may be attached or removed and different user profiles may be selected.

WARNING: Do not exceed the lower of the maximum capacity of the vertical lift device or 450 lbs. Injury or death could occur.

S y s t e m r e s e t b u t t o n

The system reset button enables the Stanley Cobotics IAD, changing the state from halted to the hands-on-controls mode of operation. After the button is pressed the red light will remainilluminated and the green light will flash for approximately five seconds if the system contains at least one iTrolley with a Cable Angle Sensor (CAS). During this time the Cable Angle Sensor is calibrated, so it is important that there be no motion in the wire rope either from pressing the button or otherwise disturbing the payload. If there is movement during this calibration the green light will stop flashing, the red light will remain on, and the display will show “21”. Also, care must be taken to ensure that neither the payload nor end effector is hooked on anything, preventing the wire rope from hanging straight down. Once the calibration is complete, the red light will extinguish and the green light will illuminate indicating the system is ready for operation. For systems without a CAS, such as a standalone iLift, the system will skip the initialization stage and go directly to the running state with the green status lamps illuminated. The system performs various other safety checks during the transition from halted to running. If the system detects any errors, it will display an error code on the Hub LED display and remain in the halted state. For an IAD system composed of an iLift with at least one iTrolley, if the iLift detects a cable slack state, it will enable the iLift and leave the iTrolley system disabled. The Hub indicates this state with a flashing red and constant green status lamp display on the Hub. To fully activate the IAD system, use the iLift to remove the cable slack state, then stop and restart the system.

S y s t e m m e s s a g e s

See § Troubleshooting.

Note : 스위블이 항상 자유롭게 회전되는지 빠른 케이블 마모가 있는지 확인 하시오.

전원이 처음 공급될때 모든 지시등이점등되고 화면은 "CO"를 나타낼 것이다. 컴퓨터는 초기화되고 시스템 내의 다른 부품들과 통신을 시작할 것이다. 대략 50초 내에 디스플레이창에 "P1"이 나타날 것이고 그리고 나서 빨간색 등이 켜질 것이다.

두개의 빨간색 시스템 정지 버튼은 시스템 움직임을 정지하게 할 것이다. 빨간색 지시등은 켜질 것이고 디스플레이는 "P1"을 나타낼 것이다. 이러한 상태에서 부하는 장착되거나 제거될수 있다 그리고 다른 사용자 프로파일은 선택 될 수도 있다.

Warning : 수직 리프트 장치의 최대 용량이나 450lbs하단점을 넘지 말아라. 상해나 사망을 초래 할 수 있다.

시스템 리셋 버튼은 멈추어진 상태에서 운영을 위한 hands-on-control 모드로 상태를 변경하는 Cobotics IAD를 가능하게 한다. 버튼을 누른 후 빨간색 등이 점등된 상태로 남아있고 시스템이 케이블 엥글센서(CAS)를 가진 iTrolley를 적어도 한 개 가지고 있다면 녹색 등은 대략 5초정도 깜박거릴 것이다. 이 시간동ㄷ안 케이블 앵글 센서는 눈금조정을 하는데 버튼을 누르거나 그렇지 않으면 부하를 방해하므로 와이어 로프에서의 움직임이 없는 것이 중요하다. 이 켈리브레이션 동안 움직임이 있다면 녹색등은 반짝거리지 않을 것이다. 빨간 등은 정등되어 있고 화면은 "21"을 보여줄 것이다. 또한, 부하나 엔드 이팩트가 어떤 것도 매달고 있지 않음을 확인하고 와이어 로프가 숙직으로 걸려있지 않도록 하는 것이 중요하다. 캘리브레이션이 완료된 후 빨간색 등은 꺼지고 시스템이 운영준비가 되었음을 지시하는 녹색 등이 켜질 것이다. 독립적인 iLift와 같은 CAS가 없는 시스템의 경우 시스템은 초기화 단계를 건너뛰고 녹색 등이 켜지고 운영할 수 있는 상태로 간다. 시스템은 멈춤에서 운영으로 변경되는 동안 여러가지 다른 안전을 확인한다. 시스템이 어떤 에러를 확인하며 허브 LED 화면에 에러 코드를 표시하고 멈춰진 상태에 남겨질 것이다. 적어도 iTrolley를 가진 iLift로 구성된 IAD 시스템의 경우 iLift는 케이블 스택 상태를 감지하면 iLift를 활용하게 하고 iTrolley를 사용하지 못하도록 한다. 허브는 빨간 등을 깜박거리고 허브 위의 녹색 등을 점등하여 이 상태를 표시한다. IAD 시스템을 완전 활성화시키기 위해서 케이블 스택 상태를 제거하기 위해 iLift를 사용한 다음 멈추고 시스템을 재시작한다.

섹션 문제해결을 참조한다.

O P E R A T O R I N T E R F A C E 2 . 3 O P E R A T I O N


2.3.4 RS-232 Interface

The RS-232 interface at the bottom of the hub is used to communicate with the iTrolleyconfiguration software. The following are commands for programming some user settings using a terminal program and the serial interface. Any terminal program that can connect over a serial port, such as Windows Hyper-terminal, may be used. Set the terminal program to communicate over Com Port 1. See § Chapter 4: User Interface Software.

Bits per second: 9600Data bits: 8

Parity: noneStop bits: 1Flow control: none

허브 밑의 RS-232 인터페이스는 iTrolley구성 시스템과 통신한다. 다음은 터미널 프로그램과 시리얼 인터페이스를 사용하여 사용자 설정을 프로그램하는 명령이다. 원도우 하이퍼 터미널과 ㄱㅌ은 시리얼 포트를 통해 연결할 수 있는 터미널 프로그램이 사용될 수 있다. 9600 baud, 8N1, 플로우 제어 : None에서 컴 포트 1을 통해 통신하기 위해 터미널 프로그램을 설정한다. Chapter4 사용자 인터페이스 소프트웨어를 참조 하시오.

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Chapter 3: Intent Sensors

3.1 IntroductionThe intent sensors for the iLift consist an inline handle and a pendant handle. These handles are the primary operator input sensors for payload motion. They provide the controller with input signals proportional to the operators intent.


The intent sensors conform to the following standards where applicable:

BSR/T15.1 Draft Standard for Intelligent Assist Device (IAD) – Personnel Safety RequirementsAmerican National Standards Institute

ANSI B30.11 Monorail Systems & Underhung CranesANSI B30.16 Overhead HoistsANSI B30.17 Overhead and Gantry CranesANSI/ASME B30.20b Below the Hook Lifting Device, 1996 Addenda to ASMEB30.20-1993


Hoist Manufacturers InstituteHMI 100-74 Specification for Electric Wire Rope Hoist



Monorail Manufacturers AssociationSpecifications for Underhung Cranes and Monorail Systems


Temperature range: 0 °C to +60 °C, operating (-10 °C to +85 °C non-operating)Humidity: 10 to 90% non-condensing, operating (5 to 95% non condensing, non-operating)Load: 300 lbs max for 150 lbs iLift; 1000 lbs max for 500 lbs iLift

적정 온도 : 0 °C to +60 °C,작동(-10 °C to +85 °C비작동)적정습도 : 10 to 90% non-condensing,작동(5 to 95% non condensing, non-operating)로드 : 150lbs iLift/iTheta최대 300lbs, 500 lbs iLift/iTheta최대 1000lbs

iLift는 인텐드 센서로 인라인 핸들이나 팬던트 핸들을 사용한다. 이러한 핸들은 부하의 움직임을 위한 작업자의 주요 입력 센서이다. 이것은 운영자의 의도에 비례한 입력 신호를 콘트롤러에 제공한다.

인텐트 센서는 적용에 있어 아래의 표준을 따른다.

INTENT S E N S O R S 3 . 2 INL INE H A N D L E


3.2 Inline Handle

Figure 18 – Illustration of Hub with inline handle assembly and hook interface.

The inline handle acts as a grip for picking or manipulating parts and as an intent sensor for vertical motion. Forces applied to the grip section of the inline handle will cause the lift to move in the direction of the force applied.

3.3 Pendant Handle

Figure 19 – (left) Illustration of Hub with Pendant handle connector and hook interface. (right) Illustration of the Pendant handle.

3.3.1 OperationThe pendant handle acts as a remote handle for controlling the vertical motion of the iLift. The right handle lever move the payload in the upward direction and the left hand lever lowers the payload.

1 Grip

2 Auxiliary Button (App. Specific)

3 Stop Button

4 Float Button5 Hub6 Start/Reset Button

7 Hook

6

4

3

2

7

1

1 Hub

2 Pendant Handle Connector

1

2

1

2

5

인라인 핸들은 부품을 조절하거나 선택하기 위한 그립이나 수직 운동을 위한 인텐트 센서로서의 역할을 한다. 인라인 핸들의 그립 부분에 적용된 힘은 적용된 힘의 방향으로 리프트를 움직이게 한다.

팬던트 핸들은 iLift의 상하 움직임을 조절하기 위한 리모트 핸들로서 작동한다. 오른쪽 핸들 레버는 윗쪽방향으로 매달린 로드를 움직이게 하고 왼쪽 레버는 로드를 아래 방향으로 움직이게 한다.

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Chapter 4: iLift User Interface Software

4.1 Physical connectionThe RS-232 interface at the bottom of the hub is used to communicate with the iLift user interface software. The following are commands for programming some user settings using a terminal program and the serial interface. Any terminal program that can connect over a serial port, such as Windows HyperTerminal, may be used. HyperTerminal is usually found in the programs folder under accessories/communication. Set the terminal program for the following settings:

Bits per second: 9600Data bits: 8Parity: noneStop bits: 1Flow control: none

The cable connection on the hub is a female DB9. For connection to most PCs, the cable required would be a DB9 female to DB9 female straight through. No Null modem is required in the cable. In the following explanations, what the user will see during a HyperTerminal session is displayed in this font.

4.2 OperationThe following is the main menu displayed on hyper-terminal when connected to the hub.

cl - calibrate load cell.cw - current weight.er - error condition.fm - float mode parameters.fw - float weights.he - help.hp - handle parameters.ip - interlock parameters.it - inactivity timeout.op - overload parameters.pa - password.ps - profile settings.sp - save parameters.sv - software version number.tm - trolley menu.un - units configuration.up - unload parameters.vl - virtual limits.

4.2.1 Load Cell Calibration

Selecting option ‘c' from the main menu enters you to calibrate the load cell. Before actually calibrating the load cell, you will want to have a “known" weight on hand to hang from the hook to do the calibration.

허브 밑에 있는 RS-232 인터페이스는 iLift 사용자 인터페이스 소프트웨어와 통신한다. 다음은 터미널 프로그램과 시리얼 인터페이스를 사용하는 사용자 프로그램 셋팅을 위한 명령어 이다. 시리얼 포트와 연결해서 사용하는 터미널 프로그램(윈도우의 하이퍼 터미널과 같은)이 사용되곤 한다. 하이퍼 터미널은 일반적으로 accessories/communication 프로그램 폴더에 있다. 셋팅하기 위해 다음과 같이 셋팅하시오.

허브와의 케이블 연결을 위해 female DB9을 사용하시오. 거의 대부분의 PC에 연결하기 위해 용구되는 케이블은 DB9 Female Straight type이다. Null 모뎀 케이블이 아니다. 터미널 프로그램 동안 아래의 폰트로 사용 되어질 것이다.

로드셀을 켈리브레이션 하기위해 메인 메뉴에서 "cl"을 선택 하시오. 실질적인 켈리브레이션 전에 여러분은 켈리브레이션하기 위해 후크에 매달린 알려진 무게를 알기를 원할 것이다.

다음은 허브에 연결될때 하이퍼 터미널에 표시되는 메인 메뉴이다.

I L I F T USER I N T E R F A C E S O F T W A R E 4 . 2 O P E R A T I O N


iLift =? [he] clCalibration weight (kg)[0.000-68.000] =? [22.727]

The calibration weight entered here should include the weight of the hub and handle. The hub and slide handle together weigh about 2.87 kg (6.3 lbs.). Follow the instructions on the screen, duplicated below, to calibrate the load cell. If you decide not to go through with the calibration, just enter ‘n’ at the final prompt. Don't forget to save the parameter file (‘sp’) after the calibration.

Calibrate the load cell =? [n] yFollow these instructions to calibrate the load cell.1. Pick up a known weight with the hoist. 2. Make sure the weight is not swinging on the cable. 3. Enter y at the end of the directions. 4. Do not touch tool until the system prints out 'Load Cell Calibrated'. 5. Be sure to store parameters after testing system.

Enter y when known weight is suspended, n to cancel =? [n] y Load Cell Calibrated.

4.2.2 Display Current Weight

This command reads and displays the current weight on the system including the hub and any tools and attached hardware.

iLift =? [he] cwCurrent weight (kg): 48.58

4.2.3 Error Condition

The last error that caused the system to stop can be displayed via option ‘er’. This information is useful when troubleshooting problems in the iLift. This option also displays the list of possible error codes and their explanation.

iLift =? [he] erDisplay error code descriptions =? [n] y

Code Description------------------------------E1 Hub communication errorE2 E-STOP activeE3 Overload faultE4 Loadcell fault41 iLift Drop Fault42 iLift Brake Override Active43 iLift Motor Fault44 iLift/iTrolley Communication Fault45 iLift Maximum Float Force Exceeded46 iLift Handle Out Of Deadband47 iLift Handle Value out of range48 iLift Reel Monitor Fault

Current fault: Stop switch depressed.

입력된 켈리브레이션 무게는 허브와 핸들의 무게를 포함한다. 허브와 슬라이드 핸들은 약 2.87kg이다. 로드셀 켈리브레이션을 위해 아래에 보이는 화면의 지시를 따르고 마지막 프롬프트에서 "n"을 입력 하시오. 켈리브레이션 후에 저장("sp")하는 것을 잊지 마시오.

이 명령어는 허브와 툴 그리고 매달린 장치를 포함하는 시스템에서 현재의 무게를 읽고 디스플레이 한다.

시스템 정지의 원인이 된 가장 최근의 에러는 "er"명령어를 통해 확인 할 수 있다. 이 정보는 iLift의 문제해결에 유용하다. 이 옵션은 또한 에러코드와 에러코드에 대한 설명을 포함한다.



4.2.4 Float Mode Parameters

Float, or “Hands On Payload” mode enables the user to control the motion of the iLift by grasping the part directly rather than the handle. The iLift supports 2 varieties of float mode:

1. Full float, which adapts to any weight picked up.

2. Preprogrammed float mode, which will only enter float mode at 2 preprogrammed weights. The advantage of preprogrammed float mode is that it will adapt more quickly to a given weight, particularly when lifting the weight rapidly off a surface.

This menu allows the user to switch the float mode or to disable float mode if the application does not require it. The system also has a limit on the force that should be applied during float mode operations. If the system senses a force applied to the payload greater than this limit, it will drop out of float mode. This safety feature was added to prevent the system from moving quickly if the operator unclamped an object from an end effector without an interlock while the system was in float mode. Without this safety feature, the system would move rapidly upward after theunclamping operation.

iLift =? [he] fmSet float mode:

0 - disable float

1 - full float

2 - pre-programmed float with set loads

Float mode =? [1] Maximum external force in float mode (N)[0.000-225.000] =? [150.000]

4.2.5 Float Weights

This option allows the user to set the parameters associated with the preprogrammed float mode described above. The parameters include the 2 preprogrammed float weights. The otherparameter that can be set is the allowed error between the current weight measurement and the preprogrammed weight for positive identification. If the difference between the 2 preprogrammed weights is large, this number can be increased.

iLift =? [h] fwSet trained float weights =? [n] y

Trained weight to set: 0 - tool alone 1 - tool + workpiece

Trained weight =? [0]

Follow these instructions to measure the weight. 1. Use the handle to lift the tool completely off the ground. 2. Enter y at the end of these instructions. 3. Do not touch tool until system prints out Weight Set.

Enter y when iLift is fully supporting tool, n to cancel =? [n] yWeight to set (lbs) =? [ 44.582162]Weight range for successful float in pre-programmed float mode (lbs)For example, with a 5.0 lb range, the system will float at the preprogrammedweight as long as long as the current weight falls within +/- 5 lbs of thetrained weight.

Weight range (lbs) =? [ 4.999999]

플롯모드 또는 "Hands on payload" 모드는 핸들을 이용하는것 보다는 매달려있는 부품을 사용자가 직접 잡고 iLift의 움직임을 조정가능하게 하는 모드이다.

매달려있는 모든 무게에 적용가능한 "Full float"모드

두개의 미리 프로그램된 무게에 플롯 모드를 입력하는 "Preprogrammed float mode" "Preprogrammed Float mode"의 이점으로는 들어올리고자 하는 무게가 바닥에서 재빠르게 떨어지도록 주어진 무게에 좀더 빨리 적용 한다는 것이다.

이러한 메뉴는 사용자가 플롯모드를 바꾸거나 만약 장비가 요구하지 않는다면 플롯 모드가 작동되지 않게 한다. 시스템은 플롯 모드가 작동되는 동안 적용되는 힘에 한계를 가진다. 시스템이 패이로드에 적용된 힘이 이런 한계보다 더 크다고 감지하면 플롯 모드 오프가 된다. 시스템이 플롯 모드에 있는 동안 운영자가 인터록 없이 앤드 이팩트로부터 물건을 언클렘핑한다면 이런 안전 특성은 시스템이 빠르게 움직이지 않도록 추가되어진다. 이런 안전 특성이 없으면 시스템은 언클램픙 운영후에 위쪽으로 빠르게 움직일 것이다.

이 옵션은 사용자가 위에 설명된 "Preprogrammed float mode"와 연계되는 파라미터를 설정할 수 있게 한다. 파라미터는 2개의 "Preprogrammed float mode" 무게를 포함한다. 설정될 수 있는 다른 파라미터는 현재의 무게 측정과 긍정적인 식별을 위해 미리 프로그램된 무게 사이에서 허락된 에러이다. 만약 2개의 미리 프로그램된 무게의 차이가 크담ㄴ 이 숫자는증가될 수 있다.



4.2.6 Help

The default command, ‘he,’ displays the menu shown at the beginning of this section.

4.2.7 Handle Parameters

Selecting option 'hp' from the main menu allows you to adjust the default handle value. If the system consistently drifts up or down when float mode is not enabled, then the default handle value may need to be adjusted. If the nut at the bottom of the handle has been moved for any reason, the handle default value will need to be adjusted.

iLift =? [he] hp Current handle reading 2.348633 V.

Handle deadband center [0.000-5.000]=? [2.320] Minimum handle reading to run mass estimate (V) [0.000-5.000]=? [0.250] Maximum handle reading to run mass estimate (V) [0.000-5.000]=? [4.200] Inline handle 0 - no 1 - yes =? [1]

The system first displays the current handle reading, and then allows you to set the center of the handle deadband. The current handle reading should be between 1 and 3.5 volts. If it is outside this range, please contact Stanley Cobotics. Mak e sure nothing is pushing the handle out of its default position and that the handle is upright before doing the calibration. Also, you may want to record several "Current Handle Reading" s before resetting the value. You can do this byrepeatedly selecting d from the main menu and recording the reading. Then average these values before resetting the handle deadband center.

4.2.8 Changing Interlock Parameters

Selecting this option allows you to change the parameters associated with the interlock functionality built in to the iLift. The interlock capability allows the iLift computer to enable or disable some other process depending on the weight that the iLift is sensing. For example, the user might be using the iLift to pick up and set down some part that is being held in an end effector with a pneumatic clamp. He could use the interlock capability to ensure that the pneumatic clamp didn’t release the part unless the iLift sensed that the weight it was carrying had dropped below some threshold, indicating that the part was being supported and could safely be unclamped. Note that the weight is set as a difference from the weight of the empty end effector. So in the example above, if the part weighed 30 lbs, a good value to use for the offset might be 10 lbs. In that case, the system would have to unload at least 20 lbs of the part’s weight before it could unclamp the part.

iLift =? [h] ipEnable Interlock =? [n] ySet the interlock weight =? [n] y

Enter interlock weight offset (lbs).A value of 5 will engage the interlock when the hoist is supporting more than the tool plus 5 lbs.

Interlock weight offset =? [ 0.000000] 15.0

Follow these instructions to measure the weight of the tool. 1. Use the handle to lift the tool completely off the ground. 2. Enter y at the end of these instructions. 3. Do not touch tool until system prints out Interlock Weight Set.

Enter y when iLift is fully supporting tool, n to cancel =? [n] y Interlock Weight Set at 59.648265 lbs.

메뉴 사용을 위한 기본 명령어 "he"다.

메인 메뉴에서 "hp"옵션을 선택하는 것은 기본적인 핸들값을 조정할 수 있게 한다. 플롯 모드를 사용할 수 없을 때 시스템이 지속적으로 위 아래로 표류한다면 기본적인 핸들 값은 조정 될 필요가 있다.

처음에 나타나는 값은 현재 읽어 드린 값고 그때 핸들의 대드밴드의 중앙을 셋팅할 수 있다. 현재 읽어드린 핸들값은 1~3.5volt사이에 있을 것이다. 만약 범위 밖의 값이 표시되면 스텐리와 연락해야 할 것이다. 어떠한 것도 기본 위치에서 핸들을 밀지 않고 있다는 것을 확인 하시오. 그리고 핸들이 켈리브레이션 하기전에 수직으로 있는 확인 한다. 또한 값을 재설정하기 전에 여러가지 "현재의 핸들값 리딩"을 기록하길 원할지 모른다. 메인 메뉴에ㅓ 반복적으로 "hp"를 선택하여 리딩값을 입력 할 수 있다. 핸들 데드밴드 중심을 재설정하기 전에 이 값의 평균을 낸다.

이 옵션은 iLift에 장착된 인터락 기능과 관계되는 파라미터를 변경하게 하는 기능이다. 인터락 능력은 iLift가 감지하는 무게에 의존하는 다른 공정을 iLift컴퓨터가 사용하거나 사용자지 않도록 할 수 있다. 예를 들면, 사용자는 공압의 클램프를 가지고 있는 엔드 이팩트에 달려있는 부품을 내려 놓거나 잡기 위해 iLift를 사용하게 할 수 있다. 인터록 성능은 공압의 클램프가 부품을 릴리지하지 않았음을 확인하는데 사용할 수 있고 그렇지 않으면 iLift는 운반하고 있는 무게가 부품이 유지되고 안전하게 놓여질 수 있음을 지시하는 어떤 스레쉬홀드의 밑으로 떨어지지 않았음을 감지한다. 무게는 빈 엔드 이팩트의 무게와의 차이로서 설정한다. 아래의 보기에서처럼 부품이 30lbs라면 상쇄를 위해 사용하는 좋은 값은 10lbs이다. 그런 경우에 시스템은 부품을 놓기 전에 최소한 부품 무게의 20lbs를 제거해야 한다.



Remember to save the parameters after setting the int erlock weight.

4.2.9 Inactivity Timeout

The system can be configured to automatically go to DOWN state (red led on) after a period of inactivity. The amount of time is defined in minutes. It is better for the system to be stopped while not in use because the brake will hold the load rather than the motor. To restart, simply push the green button on the Hub.

iLift =? [he] itTimeout in minutes [1.000-65535.000]=? [65000.000]

4.2.10 Setting Overload Parameters

Selecting this option allows you to set the maximum weight the system will lift. If the system detects that it is attempting to lift a weight heavier than the maximum weight, it will stop and attempt to unload the weight. This will prevent the system from exerting excessive force if a workpiece gets caught underneath something in the workspace. When this happens, the system will attempt to decrease the weight it is supporting by decreasing the torque until it starts moving down. The maximum distance it will move down is also settable by the user in this section.

iLift =? [he] opMaximum load that the system will lift (kg)[2.000-70.000] =? [45.455] Distance load will descend when overload detected to unload (m)[0.000-0.300] =? [0.010]

4.2.11 Password

This command is for use by Stanley Cobotics personnel to adjust certain system parameters and upgrade software.

4.2.12 Setting User Profiles

The user profiles enable different users to tune the system to match their preferences. The parameters that are set in each profile affect the maximum acceleration, speed, and the sensitivity of the system. Users can switch the active profile by using the User Profile Select buttons on the front of the Hub when the system is stopped. The Red Status Light must be on to switch between different User Profiles.

Each profile contains 8 parameters, 4 for handle mode and 4 for float mode. The 4 parameters for each mode are maximum velocity, maximum acceleration, gain, and deadband. Handle mode is active when the inline or pendant handle is commanding the motion of the system. Float mode, also known as “hands on payload” mode, is active when the user grasps the payload instead of the handle. Maximum velocity sets the maximum speed that the system will move. There is anabsolute limit of 1.5 m/s imposed on the system, so you cannot set the profile limits above this value. The maximum acceleration sets the maximum rate of acceleration, which is limited to 1 g or 9.81 m/s/s. The Handle Mode Position Gain sets the relationship between the deflection of the handle and the command to the system. Turning this value up will cause the system to move more quickly for a given handle displacement. The handle deadband sets the handle movement required before the system starts moving. If the iLift is drifting for any reason, increasing the handledeadband is one way to eliminate the drift. The Float Mode Gain is similar to the Handle Mode Position Gain. It scales the command to the system based on the force applied by the operator. The float deadband is in lbs. Decreasing the float deadband significantly will lead to drifting when the system enters float mode.

인터락 무게 셋팅 후 파라미터 저장을 기억하라.

시스템은 비활성화 기간 후에 자동으로 Down(빨간색 LED on)상태로 가도록 구성할 수 있다. 시간의 양은 분으로 정의된다. 브레이크가 모터보다는 오히려 부하를 잡고 있을 것이기 때문에 사용하지 않는 동안 시스템을 멈추기가 더옥 좋다. 재시작을 위해 허브 위의 녹색 버튼을 누른다.

이 옵션의 선택은 시스템이 올릴 수 있는 최대의 무게를 설정하도록 한다. iLift가 최대의 무게보다 더 무거운 무게를 올리려고 시도하려는 것을 감지한다면 시스템은 멈추고 무게를 내려 놓으려고 시도 할 것이다. 작업장에서 밑바닥에 있는 어떤 것을 잡으려고 한다면 이것은 시스템이 초과적인 힘을 쓰는 것을 방지한다. 이것이 발생할 때 시스템은 아래로 움직이기 시작할 때까지 토오크를 감소시켜 매달고 있던 무게를 감소시키려고 노력할 것이다. 사용자는 또한 이 섹션에서 부하가 내려올 수 있는 최대의 거리를 설정할 수 있다.

이 명령어는 스텐리 직원에 의해 파라미터 변경과 소프트웨어 업그레이드 하기 위해 사용되어 진다.

사용자 프로파일은 다른 사용자가 그들의 선호도에 맞게 시스템을 조정할 수 있다. 각 프로파일에서 파라미터 셋은 속도와 시스템의 민감도에 영향을 준다. 사용자는 시스템이 멈추었을때 사용자 프로파일 선택 버튼을 사용하여 활성적인 프로파일을 연결 할 수 있다. 프로파일 변경은 빨간색 정지 버튼을 눌러 빨간색 등이 켜져있을때 가능하다. 각 프로파일은 8개의 파라미터, 핸들 모드를 위한 4개와 플롯 모드를 위한 4개를 담고 있다. 각 모드를 위한 4개의 파라미터는 최대 속도, 최대 가속도, 게인 그리고 데드밴드 이다. 핸들 모드는 인라인이나 팬던트 핸들이 시스템의 움직임에 명령을 내릴 때 활성하된다. "Payload on hands"로 알려진 플롯 모드는 사용자가 핸들 대신에 매달려 있는 로드를 잡을 때 활성화 된다. 최대 속도는 시스템이 움직일 수 있는 최대 속도를 설정한다. 시스템이 요구하는 절대적인 한계는 1.5 m/s이고 이 값 위로 프로파일 한계를 설정 할 수는 없다. 최대 가속도는 1g 또는 9.81 m/s/s에 제한된 가속도의 초대 비율을 설정한다. 핸들 모드 위치 게인은 핸들의 벗어남과 시스템에의 명령과의 관계를 설정한다. 이 값을 돌려 올리는 것은 시스템이 주어진 핸들의 변위를 위해 보다 빠르게 움직일 수 있게 한다. 핸들 데드밴드는 시스템이 움직이기 전에 요구되는 핸들의 움직임을 설정한다. iLift가 어떤 이유에서든 표류하게 되면 증가하는 핸들 데드밴드는 표류를 제거하는 하나의 방법이다. 플롯 모드 게인은 핸들 모드 위치 게인과 유사하다 운영자에 의해 제공된 힘을 근거로 하여 시스템에 명령을 비율에 따라 증가시킨다. 플롯 데드밴드는 N/lbs이다 플롯 데드밴드를 현격히 감소시키는 것은 시스템이 플롯 모드에 들어갔을때 표류하게 할 것이다.



There are eight (8) User Profiles available. Remember to save the parameters after altering the profiles.

iLift =? [he] psProfile to program (1-8) =? [1] Maximum velocity in handle mode (m/s)[0.000-1.800] =? [1.500] Handle mode acceleration limit (G)[0.010-1.000] =? [1.000] Handle Mode Position Gain [0.000-100.000]=? [35.000] Handle deadband magnitude [0.000-100.000]=? [20.000] Maximum velocity in float mode (m/s)[0.000-1.800] =? [0.600]Float Mode acceleration limit (G)[0.010-1.000] =? [0.693]Float Mode Gain [0.000-100.000]=? [20.000] Float deadband value [0.000-100.000]=? [12.871]

4.2.13 Save Parameters

All parameters that are configurable though the user interface can be saved to nonvolatile memory via option ‘sp’. After changing any settings through the user-interface, you must save them using option ‘sp’ or they will be lost when power is cycled.

iLift =? [he] spConfiguration stored.

4.2.14 Software Version Number

This command displays the software version number. This may be important for troubleshooting and technical support.

iLift =? [he] sviLift Ver 2.2.0

4.2.15 iTrolley Menu

If the iLift is installed as part of an iTrolley system, the command ‘tm’ changes to the iTrolley menu.

4.2.16 Units

Parameters may be displayed in either English or metric units. The ‘un’ command selects which convention is used as well as showing specific units used for length, velocity, acceleration, mass, and force.

iLift =? [he] unThe system can display the units for the various parameters set through theuser interface using metric or English units.The units are shown in the following table.

system length velocity acceleration mass forcemetric meter meter/second g (9.81 m/s/s) kilograms Newtonsenglish inches feet/minute g (32.2 feet/s/s) pounds poundsUnits used to set system parameters =? [m]

8개의 프로파일이 사용된다. 프로파일을 바꾼 후에 저장하는 것을 잊지 말아라.

"sd" 파라미터를 선택하는 것은 사용자가 감속 속도와 감속 가속도를 포함하는 감속 파라미터를 구성 할 수 있게 한다. 사용자가 감속 위치를 정의하고 한번 iLift가 이 위치 밑으로 내려가면 아래 방향으로의 속도와 가속도는 사용자가 정의한 값에서 제한 될 것이다. 이 파라미터가 설정되어지기전에 시스템이 최소한 12인치를 움직여야 함에 주의한다.

이 명령어는 소프트웨어 버전을 보여준다. 이 명령어는 문제해결과 기술적 서포트를 위해 중요하다.

iLift에서 iTrolley메뉴를 변경하기 위해 "tm"을 입력 하시오.

파라미터는 미터나 영국 단위로 표시된다. "un"명령은 길이, 속도, 가속도, 질량 및 힘을 위해 사용되는 특별한 단위를 보여주는 것 뿐만 아니라 변환을 선택한다.



4.2.17 Setting Unload Parameters

The iLift includes a feature that enables the user to unload the system by depressing a button. This feature may be useful when a controlled descent is required during a task and the operator cannot grasp the handle during this descent. The unload feature has two different modes of operation:

1. Hold button down – in this mode, the load descends at a preprogrammed rate while the operator depresses a button. When the operator releases the button, the load stops descending. This button can utilize the Auxiliary Button on the Inline handle or a user button placed anywhere on the end effector and wired into the back of the hub.

2. Push button once – in this mode, depressing the button once initiates a descent at a preprogrammed rate. The system stops descending when one of 2 conditions is met:

a. The system descends a preprogrammed distance.

b. The system senses that it is supporting less than a preprogrammed weight.

You can set all of the preprogrammed parameters associated with the unload feature through this menu choice, including the input that triggers the unload feature. The last parameter set,“Settling time for tension unload”, sets the length of time that the system must sense that it is supporting less than the preprogrammed weight before the system drops out of unload mode.

iLift =? [he] upInput to trigger unload mode:

0 - unload mode disabled.1 - auxiliary input 1 on hub.2 - auxiliary input 2 on hub.3 - auxiliary input 3 on hub.4 - auxiliary button on handle module.

unload trigger =? [1] Unload modes:

0 - hold button down to unload, release to stop 1 - depress button once to unload, finishes when weight released or travels

beyond limit.

unload mode =? [1] Speed to move in unload mode (m/s) [0.000-1.000]=? [0.200] Weight threshold for unload (lbs) [0.000-110.000]=? [33.639] Maximum distance to move in unload mode (m) [0.000-1.000]=? [0.300] Settling time for tension unload (s) [0.000-2.000]=? [0.500]

iLift는 사용자가 버튼을 눌러 시스템을 내려놓게 할 수 있는 특성이 있다. 이런 특성은 작업동안 제어된 하강이 요구되거나 운영자가 이 하강하는 동안 핸들을 잡을 수 없을 때 유용하다. 언로드 특성은 운영의 2가지의 다른 모드를 가진다. 1. Hold button down - 이런 모드에서 운영자가 버튼을 누르고 있는 동안 미리 프로그램된 속 도에서 부하를 내린다. 운영자가 버튼을 놓았을때 부하는 하강을 멈춘다. 이 버튼은 인라인 핸 들이나 엔드 이팩트 위에 놓여진 사용자 버튼과 허브의 뒤쪽에 묶인 보조 버튼을 이용할 수 있다. 2. Push button once - 이 모드는 버튼을 한번 누르는 것은 미리 프로그램된 속도에서 강하를 시작한다. 시스템은 2개의 조건중 한가지를 접하게 되면 강하를 멈춘다. a. 시스템은 미리 프로그램된 거리를 하강한다. b. 시스템은 미리 프로그램된 무게보다 더 적게 지원하는 것을 감지한다. 언로드 특성을 시작하는 입력을 포함하여 이 메뉴 선택을 통하여 언로드 특성과 연계된 미리 프로그램된 파라미터 모두를 설정할 수 있다. 마지막 파라미터 셋, "Settling time for tension unload"는 시스템이 언로드 모드에서 빠져 나오기 전에 시스템이 미리 프로그램된 무게보다 더 적게 지원하는 것을 감지하기 위한 시간의 길이를 설정한다.



4.2.18 Virtual Limits

The virtual limits provide the user a way to set limits for the top and/or bottom of the range of motion of the iLift. These are normally set using the limit buttons on the iLift, but if the buttons are out of reach, they can also be set via this user interface function. The options replicate thefunctionality of the clear, set upper, and set lower limit buttons. Note that the system must be moved until one of the three lights (Clear Limits, Set Upper Limit, or Set Lower Limit) comes on before the limits can be set.

iLift =? [he] vlThe iLift must be moved before setting the virtual limits. Move the iLift until any of the limit lights (clear, upper, or lower) are illuminated and try again.iLift =? [he] vlSet or clear the virtual limits. c - clear the limits. l - set the lower virtual limit. u - set the upper virtual limit. x - exit this menu.limit action =? [x] lPosition lift at desired lower limit, then hit y to set, n to cancel.Set lower limit =? [n] yiLift =? [he] vlSet or clear the virtual limits. c - clear the limits. l - set the lower virtual limit. u - set the upper virtual limit. x - exit this menu.limit action =? [x] uPosition lift at desired upper limit, then hit y to set, n to cancel.Set upper limit =? [n] y

가상한계는 사용자가 iLift의 하단점과 상단점의 움직임의 점위를 설정하기 위한 셋팅법이다. 이것은 iLift 위의 한계 버튼을 이용하여 일반적으로 설정하지만 버튼이 닿지 않는 곳에 있다면 사용자 인터페이스 기능을 통하여 설정 될 수 있다. 이 옵션은 Clear, Upper, Lower의 기능을 갖는다. 시스템이 한계를 설정하기 전에 3개의 등(Clear, Set upper, Set lower)중 하나가 개시될 때 까지 시스템이 움직이는 것에 유의한다.

M A I N T E N A N C E


Chapter 5: Maintenance

5.1 Upgrading iLift Software

5.1.1 Description

This feature enables Stanley Cobotics personnel and customers to upgrade software on Stanley Coboticsequipment via an RS232 serial interface utilizing a Windows computer and a terminal application such asHyperTerminal.

5.1.2 Physical Connection

The RS-232 interface (DB9 connector) at the bottom of the Hub can be used to upgrade the device that is directly connected to either the junction box on the Cable Angle Sensor or the Hub. This device can be either a masteriTrolley or an iLift. Slave iTrolleys are upgraded though a Stanley Cobotics supplied cable that connects directly to the 28 pin connector on the iTrolley’s connector bracket. Note that this cable can also be used to upgrade the master iTrolley as well. Each device in the system needs to be upgraded separately. Some upgrades to the iTrolley software require that both the master and the slaves be upgraded; others only need to be done on the master. Any terminal program that can connect over a serial port, such as Windows Hyper-terminal, may be used. HyperTerminal is usually found under accessories/communication. Set the terminal program for the following settings:

Bits per second: 9600Data bits: 8Parity: noneStop bits: 1Flow control: none

The cable connection on the Hub is a female DB9. For connection to most PCs, the cable required would be a DB9 female to DB9 female straight through. The cable does not require a Null modem.

5.1.3 Upgrade Process

Upon connecting the desired Stanley Cobotics device to the serial port on the Windows computer, cycle the system power off and back on and observe the terminal program. In about 50 seconds a “Cobotics>” prompt will be displayed. At this point the user has about three (3) seconds to hit the “Enter” key in order to invokethe upgrade mode. The following menu will be displayed:

Cobotics> =? [h] h - print menu. u - upgrade. r - recover. v - version.

The upgraded process is initiated by selecting the ‘u’ option. At this point the following set of instructions is displayed:

Firmware upgrade instructions: 1. Set Hyperterm speed to 115200 baud 2. Select Transfer | Send File 3. Make sure Protocol is set to Zmodem

이 기능은 원도우 컴퓨터나 하이퍼 터미널과 같은 터미널 응용을 이용하는 RS-232시리얼 인터페이스를 사용하여 Stanley Cootics 징비로 소프트웨어를 업그레이드 할 수 있는 사용자나 Stanley Cobotics 사람이 사용가능하다.

허브 밑에 있는 RS-232 인터페이스는 케이블 앵글 센서 위의 정션 박스에 직접 연결된 장치를 업그레이드 하는데 사용될 수 있다. 이 장치는 iTrolley 컨넥터 브라켓 위의 28핀 컨넥터에 연결된 Stanley Cobotics에서 공급된 케이블을 통해 업그레이드 되어지는 마스터 iTrolley나 iLift 슬레이브 iTrolley중 하나이다. 이 케이블은 또한마스터 iTrolley를 업그레이드하는데 사용될 수 있다. 시스템에서 각 장치는 각각 업그레이드되어질 필요성이 있다. iTrolley 소프트에어를 업그레이드하기 위해서는 마스터와 슬레이브가 업그레이드 되어야 한다. iTrolley 소프트웨어를 업그레이드하기 위해서는마스터와 슬레이브가 업그레이드 되어야 한다. 다른 것들은 마스터만 업그레이드 되어지면 된다. 원도우 하이퍼 터미널과 같은 시리얼 포트를 통해 연결되어질 수 있는 터미널 프로그램이 사용된다. 하이퍼 터미널은 액세서리나 통신아래에서 발뎐된다. 다음의 설정을 위해 터미널 프로그램을 설정한다.

허브의 케이블 연결은 female DB9으로 한다. 대부분의 PC 연결을 위해 요구되는 케이블은 스트레이트형 DB9컨넥터이다. 케이블 안에 Null 모뎀은 요구되지 않는다.

원도우 컴퓨터 시리얼 포트에 요구되는 Stanley Cobotic장치를 연결 한 후 전원을 끄고 다시 켜서 터미널 프로그램을 관찰한다. 약 50초 이내에 "Cobotic>" 프롬프트가 나타날 것이다. 이 지점에서 사용자는 업그레이드 모드를 호출하기 위해 "Enter"키를 누르기까지 약 3초를 가진다. 아래의 메뉴가 표시될 것이다.

업그레이드 과정은 "u"옵션을 선택하면 초기화되어진다. 이 지점에서 아래의 지침 설정이 표시될 것이다.



4. Specify the upgrade file name and hit Send 5 Reset Hyperterm speed to 9600 baud 6. Reboot the system after upload is complete

The upgrade file is supplied by Stanley Cobotics. The name of the file is upgrade.tar.gz. The actual upgrade process takes place after the system is rebooted. The upgrade can be uninstalled by entering the upgrade mode again and selecting the ‘r’ option.

5.2 iLift MaintenanceRegular maintenance on the iLift should consist of daily visual inspections noting any wear on electric cables or the wire rope. The iLift is designed with only two replaceable components, the wire rope and the wire rope guide. The wire rope should be replaced as soon as any wear, frays or kinks develop.

WARNING: Remove power to the system before connecting or disconnecting the coil cable. Failure to do so may damage the Hub.

5.2.1 Replacing Wire Rope and Wire Rope Guide

Figure 20– Illustration of the iLift reel mechanism.

WARNING: Disconnect line power and depress the emergency stop switch before performing the first part of this maintenance.

NOTE: If resistance is encountered when feeding the wire rope into the reel make sure the internal black liner is pushed completely to the right.

1 Screw2 Wire Rope Guide

3 Wire Rope Guide Clamp

4 Ball Swage

1

2

3

4

업그레이드 파일은 Stanley Cobotics에서 공급된다. 파일 이름은 "upgrade.tar.gz"이다. 실제적인 업그레이드 과정은 시스템이 재부팅된 후 실행된다. 업그레이드는 "r"옵션을 선택한 후 다시 업그레이드 모드를 선택하면 제거된다.

iLift의 규칙적인 유지 보수는 전기 케이블이 낡아서 헤어지는 일이 없도록 눈으로 와이어 로프를 매일 관찰하여야 한다. iLift는 단지 두개의 대치 가능한 부품과 와이어 로프 그리고 와아이 로프 가이드들로 설계 되었다. 와이어 로프가 낡거나, 꼬이거나 풀림이 발생되면 교체 되어야 한다.

Warning : 보전을 수행하기 전에 긴급 멈춤 스위치를 누른 후 전원 선을 해제한다.

Note : 와이어 로프가 얼레 안으로 감겨질 때 저항을 만난다면 내부의 검은색 라이더가 오른쪽으로 완전히 밀렸는지를 확인한다.



WARNING: Remove any loads and end effectors from device before releasing brake as they will rapidly fall creating the risk of injury or damage.

After removing power, remove the Hub and wire rope clamps from the bottom end of the wire rope. Remove the wire rope guide from the reel cover by removing one screw. Slide the wire rope guide off the end of the wire rope. To replace only the wire rope guide, reverse the steps completed so far. In order to continue replacing the wire rope, power must be applied to the iLift to release the brake.

Reconnect line power and reset the emergency stop switch. Use the key provided to turn the brake override switchand push the brake override pushbutton (the green power-on lamp). This will release the motor brake. Pull the wire rope until the screw that traps the wire rope is accessible. Set the brake by turning off the brake override switch and remove the key.

NOTE: The key can only be removed if the brake is set. It cannot be removed in override.

WARNING: Disconnect line power and depress the emergency stop switch before performing the remainder of this maintenance.

Unwind the wire rope from the last few grooves by pushing it backwards through the top of the reel cover and out the bottom. Remove the screw that traps the ball swage. Remove the wire rope from the reel by pulling the ball swage to unthread the entire length of the wire rope.

Replace the wire rope by threading the brazed end through the hole and pulling it through until the swage seats. Replace the screw to trap the ball swage. The wire rope must be threaded around the reel until it lines up with the screw hole for the wire rope guide (or until it comes out in the center of the square hole). Do this by inserting the brazed end downward along the groove and pushing until it appears on top of the reel in the next groove. Install the wire rope guide. Reconnect the Hub with the thimble and wire rope clamps.

Lash -U p

To properly install the Hub to the wire rope you must determine the following:

1. Measure the highest point which the load must clear from the floor (Dim #1).

2. Measure distance from Hub swivel rod eye to the bottom of load (Dim #2). This dimension will vary depending on whether the inline handle or pendant handle is used or if a custom end effector has been designed for the application.

3. Add Dim #1 to Dim #2 and add 5” clearance (#1 + #2 + 5” = #3).

4. With the wire rope fully retracted (all the way inside the iLift) measure from the floor using Dim #3 and mark the wire rope. Install the Hub placing the mark (Dim #3) on the Hub swivel rod eye as it loops through.

Warning : 부하나 엔드 이펙트가 빨리 떨어지면서 상해나 손상을 초래 할 수 있으므로 브레이크를 해제하기 전에 그것들을 제거한다.

전원을 제거한 후 와이어 로프의 바닥 끝으로부터 허브와 와이어 로프 클램프를 제거한다. 스크류를 제거하여 얼레 커버로부터 검은색 와이어 로프 가이드를 제거한다. 와이어 로프 끝단에서 와이어 로프를 미끄러지게 움직인다. 단지 와이어 로프 가이드를 교체하기 위해서는 지금까지 완성된 절차를 역으로 한다. 와이어 로프를 계속 교체하려면 전원은 브레이크를 해제하기 위해 iLift에 공급되어야 한다. 전원선을 다시 연결하고 이머젼시 스톱 스위치를 리셋한다. 브레이크 오버라이드 스위치를 돌리기 위해서는 제공된 키를 사용하고 브레이크 오버라이드 푸쉬 버튼(녹색 전원이 켜진 등)을 누른다. 그러면 브레이크를 해제할 것이다.와이어 로프를 빠져나가지 못하게 잡아두는 스크류에 접근 할 수 있을 때 까지 와이어 로프를 당긴다. 브레이크 오버라이드 스위치를 꺼서 브레이크를 설정하고 키를 제거한다.

Note : 브레이크가 셋팅되어 있다면 키는 단지 제거 될 수 있을 것이다. 오버라이드에서는 제거 되지 않는다.

Warning : 이런 보전의 나머지가 수행되기 전에 전원선이 연결해제 되고 이머젼시 스톱 스위치가 눌려져야 한다.

얼레 커버의 상단을 통하여 와이어 로프를 뒤쪽으로, 바닥쪽으로 밀어 마지막 몇 개의 홈으로부터 와이어 로프를 풀어준다. 볼 스웨지가 빠져나가지 못하게 잡아두는 스크류를 제거한다. 와이어 로프의 전체적인 길이를 풀기 위한 볼 스웨지를 당겨서 얼레로부터 와이어 로프를 제거한다.

홀을 통해 용접된 끝단을 감고 스웨지가 안착 될 때 까지 그것을 당겨 와이어 로프를 교체한다. 볼 스웨지를 빠져나가지 못하게 잡고 있는 스크류를 교체한다. 와이어 로프는 와이어 로프 가이드를 위한 스크류 홀을 가지고 한 줄로 정렬할 때 까지 (또는 사각홀의 중앙에서 나올 때까지) 얼레 주위에 감겨져야 한다. 다음 홀에 얼레의 상단이 나타날 때 까지 홀을 따라서 용접된 끝단을 아래로 삽입하거나 당겨서 그렇게 한다. 허브를 부싱과 와이어 로프 클램프와 다시 연결한다.

적절하게 허브를 와이어 로프에 설치하기 위해서는 다음을 측정해야 한다. 1. 바닥으로부터 부하가 없어져야만 하는 최고 높은 지점을 측정한다.(Dim #1) 2. 허브의 회전축 로드에서 부하의 바닥까지의 거리를 측정한다.(Dim #2) 이런 치수는 인라인 핸들이 사용되 었는지 팬던트 핸들이 사용되었는지 또는 사용자 앤드 이팩트가 적용을 위해 디자인 되어졌는지에 의하여 다양할 것이다.

3. Dim #2에 Dim #1을 더하고 5" 크리어런스를 추가한다.(#1 + #2 + 5" = 3#)

4. 와이어 로프를 완전히 뒤로 감아(iLift 안에서 줄곧) Dim #3를 이용하여 바닥으로부터 측정하고 와이어 로 프에 마크한다. 그것이 고리를 만들었을때 허브 회전축 로드위에 마크(Dim #3)를 위치시키고 허브를 설 치한다.



#1

#2

5"

#3

Figure 21– Illustration of lash-up.

1 iLift2 Wire Rope3 Hub with Inline Handle

1

2

3

LOAD

LOAD

FLOOR



Y a r d i n g

Figure 22 – Illustration of yarding.

CAUTIONS: Do not operate the iLift if the wire rope is not centered on the wire rope guide. Yarding of the wire rope will cause premature wire rope failure and undue wear of internal unit parts and may void warranty.

The wire rope should not be yarded more than 10° from the center of the wire rope guide. Excessive yarding will cause increased wear on the iLift and decrease the working life of its components.

M a n u a l l y D r i v i n g R e e l

WARNING: Motor brake must be disengaged to perform this maintenance. Failure to do so may damage the system.

The wire rope reel can be manually driven by turning the Pinion Adapter using a 10mm socket when the motor brake is disengaged (see section 1.3.2). To pay out the wire rope, turn the pinion clockwise (C), Turning the Pinion Adapter counter clockwise spools additional wire onto the reel. Remove the gear box cover to access the Pinion Adapter.

Figure 23 – Manually driving iLift reel.

The Pinion Adapter should ONLY be used to overcome wire rope binding on the reel.

Incorrect

Correct

10.0° MAX Angle

PINION ADAPTER ILIFT GEAR BOX WITH COVER OPENED

Caution : 와이어 로프가 와이어 로프 가이드 중앙에 있지 않으면 iLift를 운영하지 않는다. 와이어 로프의 야딩은 때아닌 와이어 로프의 실패와 내부 장치 부품의 빠른 마모를 초래 할 것이고 보증을 무 효화할 것이다.

와이어 로프는 와이어 로프 가이드의 중앙으로부터 10도 이상 야딩하지 말아야 한다. 초과적인 야딩은 iLift에서 증가된 마모와 부품들의 운영 수명을 감소시킬 것이다.

와이어 로프 얼레는 모터 브레이크를 해제할 때 10mm소켓 랜치를 사용하는 피니온 아답터를 돌려 수동으로 움직일 수 있다(섹션 1.3.2 참조). 와이어로프를 풀기 위해서 피니온을 시계방향으로 돌린다. 피니온 아답터를 반시계방향으로 돌리는 것은 얼레 위에 있는 추가적인 와이어를 감는 것이다. 피니온 아답터에 접근하기 위해서는 기어 박스 커버를 제거한다.

Warning : 모터 브레이크는 보전을 수행하기 위해 해제되어야 한다. 그렇지 않으면 시스템에 손상을 줄것이다.

피니온 아답터는 오직 얼레에 감겨있는 와이어 로프를 극복하는데 사용되어야 한다.



5.2.2 Replacing Computer Plate Cover

Figure 24– Illustration of how to remove the computer plate cover – 150 lbs iLift.

Figure 25– Illustration of how to remove the computer plate cover – 500 lbs iLift.

S t e p s f o r 1 5 0 l b s i L i f t a n d 5 0 0 l b s i L i f t

1. Power down system.

2. Remove the four screws that are located in each corner of the cover.

3. Computer plate cover is free to be removed.

To reinstall the cover follow these directions in reverse.

SCREWS

SCREWS

1. 시스템을 꺼라.

2. 커버의 각각 모서리에 위치한 스크류를 제거하라.

3. 컴퓨터 플래이트 커버는 제거된다.

커버를 다시 인스톨 하기 위해 역순으로 위 사항을 따르시오.



5.2.3 Replacing Motor Amplifier

Figure 26 – Illustration of how to remove the motor amplifier – 150 lbs iLift.

Figure 27 – Illustration of how to remove the motor amplifier – 500 lbs iLift.

S t e p s f o r 1 5 0 l b s i L i f t


5. Remove the computer plate cover. Motor amplifier and its connectors are shown as in the following figure.

4. 시스템 파워를 켜라.

5. 컴퓨터 플레이트 커버를 제거하라. 모터 증폭기와 컨넥터는 다음의 사진과 같이 보일 것이다.



Figure 28 – Motor amplifier and its connectors.

1. Disconnect the power connector.

Figure 29 – Motor amplifier power connector.

2. Disconnect the signal cable connector.

Figure 30– Motor amplifier signal cable connector.

3. Disconnect motor phase leads.

POWERCONNECTOR

SIGNAL CABLE CONNECTOR

1. 전원 컨넥터를 뽑으시오.

2. Signal 케이블 연결을 끊어라.

3. Motor phase leads를 끊어라.



Figure 31 – Motor amplifier 3 motor phase leads.

4. Disconnect the connector that plugs into the shunt resistors on the right of the amplifier.

Figure 32 – Motor amplifier shunt resistor connector.

5. Also remove the green grounding screw on the bottom left side of the amplifier.

6. Remove the four screws that hold the amplifier in place.

7. Amplifier is free to be removed.

To install a new power supply follow these directions in reverse.

MOTOR 3 PHASE LEADS

SHUNT RESISTORCONNECTOR

4. 증폭기 오른쪽의 shunt resistor 플러그를 뽑아라.

5. 증폭기의 왼쪽 옆면 밑바닥의 녹색 그라운드 볼트를 제거 하시오.

6. 증폭기를 잡고 있는 케이스의 4개의 볼트를 제거 하시오.

7. 증폭기는 케이스로부터 분리 될 것이다.

새로운 파워서플라이를 설치하기 위해 역순으로 위 사항을 따르시오.



Figure 33– Illustration of how to remove the motor amplifier – 500 lbs iLift.

S t e p s f o r 5 0 0 l b s i L i f t


2. Remove four computer plate cover screws as per Figure 33 – Illustration of how to remove the motor amplifier – 500 lbs iLift. Motor amplifier and its connectors are shown below.

Figure 34 – 500 lbs motor amplifier and its connectors.

1. 시스템에 파어를 내려라.

2. Figure 33 처럼 4개의 컴퓨터 플랫 커버 스크루를 제거하라. - 모터 증폭기를 제거하는 방법을 묘사한 사진 - 500lbs iLift 모터 증폭기 그리고 아래 사진은 그것의 컨넥터를 나타낸다.



Figure 35 – 500 lbs motor amplifier power connectors.

3. Disconnect the three power connections.

Figure 36 – 500 lbs motor amplifier shunt resistor connector.

4. Disconnect the two external resistor connections.

Figure 37 – 500 lbs. motor amplifier signal cable connector.

5. Disconnect the two signal cable connectors by removing the four screws.

3. 3개의 파워 컨넥터를 제거 하시오.

4. 두개의 외부 저항기를 끊어라.

5. 스크루 4개를 제거해서 2개의 시그널 케이블 컨넥터를 제거하시오.



Figure 38 – 500 lbs motor amplifier three motor phase leads.

6. Disconnect the three motor phase connections and remove the four hold down screws.

7. Amplifier is free to be removed.


WARNING: Use only the supplied screws or screws with a locking patch or locktite.

6. 3상 모터 컨넥터를 끊고 스크루를 제거 하시오. 7. 모터가 분리 될 것이다. 새로운 파워 서플라이를 설치하기 위해 역순으로 위 사항을 따르 시오.

Warning : 제공된 스크루나 잠궈진 패치를 가진 스크루나 락타이트를 사용 하시오.



5.2.4 Replacing Power supply

Figure 39 – Illustration of how to remove the computer power supply.

S t e p s


2. Remove the computer plate cover. Power supply module is shown below:

6.Figure 40 – Power supply module.

3. Disconnect the power output connector that goes to the PC104 stack.

7.Figure 41 – Power output connector in power supply module.

4. Disconnect the power source connector.

POWER OUTPUT CONNECTOR TO PC 104 STACK

PC 104 STACK

1. 시스템의 파워를 끄시오. 2. 컴퓨터 플래이트 커버를 제거하시오. 파워서플라이는 아래와 같다.

3. PC104 스텍에 파워 출력 컨넥터를 끊어라.

4. 파워 제공 컨넥터를 뽑으시오.



8.Figure 42 – Power source connector in power supply module.

5. Remove the two screws that hold the power supply in place.

6. Power supply is free to be removed.


WARNING: Use only the supplied screws or screws with a locking patch or use locktite.

5.2.5 Replacing Motor

Figure 43– Illustration of how to remove the motor.

S t e p s t o R e m o v e

1. Make sure the system is not supporting any weight. Removing the motor will cause any supported load to drop to the floor.

POWER SOURCE CONNECTOR

CONNECTOR BRACKET

MOTOR

5. 파워 서플라이를 잡고 있는 2개의 파워 서플라이를 제거 하시오.

6. 파워 서플라이는 분리 될 것이다.

새로운 파워 서플라이를 설치하기 위해 위 사항을 역순으로하시오.

Waring : 제공된 스크루와 잠글 수 있는 패치를 가진 스크루나 락타이트를 사용 하시오.

1. 시스템이 무게를 지지하지 않고 있는지 확인 하시오. 모터를 제거 하면 바닥에 로드가 떨어지는 원인이 될 것이다.



WARNING: Failure to do so may lead to damage, injury, or death.


3. Remove the connectors at the end of the two motor cables from the connector bracket. (Motor and encoder & brake connectors see Figure 5 on page 1-9.)

4. Remove the four screws that hold the motor in place.

5. Pull back on motor until it is released from the gearbox. Note that the shaft key comes out with it.

6. Motor is free to be removed.

S t e p s t o I n s t a l l

1. Install key on motor shaft. (Hint: position key such that it protrudes about 0.25" further than the shaft)

9. Visually locate the keyway in gearbox pinion.

10. Align the motor shaft/key with pinion keyway.

11. Slide motor towards gearbox. (NOTE: motor flange should come to be flush with the gearbox plate. If thisis not the case the key is binding up in the pinion keyway.)

2. Install the four screws that hold the motor in place.

3. Reconnect the two motor cable connectors on the connector bracket.

WARNING: Use only the supplied screws or screws with a locking patch or use locktite.

5.2.6 Replacing Coil Cord

S t e p s


2. Disconnect both ends of the coil cord cable from the connector bracket and the Hub.

3. Release coil cord cable from the cable clamps at the bottom of the iLift.

4. Unwind the coil cord cable around the wire rope.

5. Coil cord is free to be removed.

To install a new coil cord follows these directions in reverse.

5.2.7 Replacing Button LED/Lens

S t e p s


2. Use a small flat screwdriver to pop the lens off of the push button.

3. Use needle nose pliers t o remove the LED lamp.

4. Replace LED lamp by aligning the lamp key way with the pushbutton key. (NOTE: LED lamp only goes in, in one orientation).

Warning : 그렇게 하지 않으면 손상이나 상해 사망을 초래 할것이다.

2. 시스템 전원을 끄시오. 3. 컨넥터 브라켓으로 부터 2개의 모터 케이블 끈에서 켄넥터를 제거하시오. 4. 모터를 잡고 있는 4개의 스크루를 제거 하시오. 5. 기어박스로 부터 풀릴때 까지 모터를 잡아 당기시오. 샤프트 키가 함께 나오다는 것을 유의 하시오. 6. 모터는 분리 될 것이다.

1. 모터에 샤프트 키를 설치하시오.(힌트 : 샤프트 보다 약 0.25" 돌출되어 있는 키) 9. 눈에 보이게 기어박스 피니언에 열쇠구명을 시각적으로 위치시킨다. 10. 피니언 열쇠구멍에 모터 샤프트키를 일치시켜라. 11. 모터를 기어박스 쪽으로 살짝 집어 넣으시오.(주의 : 포터 플랜지는 기어박스 플레이트와 평행하게 되어야 한다. 그런 경우가 아닐면 키는 피니온 키 홈에 묶여있어야 한다.) 2. 모터를 잡고있는 4개의 스크루를 설치하시오. 3. 컨넥터 브라켓 위에 두개의 모터 케이블 컨넥터를 다시 연결하시오.

Warning : 공급된 스크루나 록킹패치나 락타이트가 사용된 스크루만 사용하시오.

1. 시스템 전원을 끄시오. 2. 컨넥터 프라켓과 허브로부터 코일코드의 양쪽끝단을 분리하시오. 3. iLift 바닥의 케이블 조임쇠로부터 코일 코드를 풀으시오. 4. 와이어 로프 주위의 코일코드 케이블을 풀으시오. 5. 코일코드는 분리 될 것이다. 새로운 코일 코드를 설치하기 위 사항을 역순으로 하시오.

1. 시스템 전원을 끄시오. 2. 푸쉬 버튼의 랜즈를 떼어내기 위해 작은 프랫 스크루 드라이버를 사용하시오. 3. LED 램프를 제거하기 위해 니들 노즈 플라이어를 사용하시오. 4. 램프 키를 푸쉬 버튼 키와 일치시켜 LED 램프를 교체하시오.(주의 : LED 램프는 오직 한 방향에서 고정된다.)



5. Align lens tabs with push button key and press in.

5.3 Hub MaintenanceGeneral maintenance that can be performed on the Hub consists of visual inspections for wear on cables,mounting hardware, and the wire rope. Kinks in the wire rope may cause unexpected motion as the kink passes through the Cable Angle Sensor. The wire rope and hook can both be replaced.

5.3.1 Replacing Wire Rope

Remove the hardware from the wire rope and Hub and remove the wire rope. To reinstall the rope, place the thimble in the bracket on the top of the Hub. Route the wire rope around the thimble leaving a tail approximately 3 inches long past the thimble. Use at least two wire clips or one-barrel clip to secure the tail, ensuring the nuts are on the side away from the tail. The tail must not be able to touch the Hub, as this would create an undesirable electrical connection.

WARNING: Use only Stanley Cobotics approved wire rope fittings sized for the wire rope being used. Failure to do so may lead to failure of the wire rope, injury, or death.

5.3.2 Replacing Hook

To remove the hook, first remove the alignment pin just above where the threaded rod enters the hook interface in the Hub or inline handle. Unscrew the hook. There is no alignment pin hole in the hook from the factory. The customer must drill the hole in the field. See Section 2.2.4 Step1 and Step 2 for instructions and alignment requirements. It is not required to uninstall the hook interface from the Hub or the inline handle in order to drill the alignment pin hole in the hook, but it may be convenient for the customer. To replace the hook, screw it in until the alignment pin-holes are aligned with the hole on the threaded rod and replace the alignment pin.

WARNING: The alignment pin must be replaced to prevent the hook from unscrewing during normal operation. Failure to do so may lead to damage to the load, injury, or death.

5.4 System Preventive Maintenance

WARNING: The iLift must be disconnected from electric power before carrying out any maintenance or repair work. Qualified personnel must carry out function checks and visual inspections regularly.

5. 푸쉬 버튼 키와 렌즈 탭을 일치시킨 후 눌러 삽입한다.

허브에서 수행되는 케으블 마모와 하드웨어 설치 그리고 와이어 로프의 일반적인 유지보수는 육안 검사로 구성된다. 와이어 로프꼬의 꼬임은 케이블 앵글 센서를 통해서 지나가는 꼬임과 같은 예상치 못한 움직임을 야기 한다. 와이어 로프와 후크는 둘다 교체 되어야 한다.

와이어 로프와 허브로부터 하드웨어를 제어하고 와이어 로프를 제거 하시오. 로프를 재설치 하기 위해 허브위의 브라켓에 고리를 놓는다. 고리를 지나 대략 3인치를 남기고 고리 주위에 와이어 로프를 라우팅한다. 최소한 끝단을 고정하기 위해 배럴 클립 1개나 와이어 클립 2개를 사용하고 너트가 끝단에서떨어져 있는지를 확인한다. 끝단은 희망하지 않는 전기적인 연결을 야기시킬 수 있기 때문에 접촉되지 않아야만 한다.

후크를 제거 하기 위해 먼저 나사산이 있는 로드는 허브나 인라인 핸들의 후크 인터페이스를 장착한 곳 위에 얼라이먼트 핀을 제거하시오. 후크를 푸시오. 공장에서는 후크에 어떠한 얼라이먼트 핀 구멍도 없다. 사용자는 필드에서 홍을 뚫어야 한다. 지침과 얼라인 조건을 위해 섹션 2.2.4 스텝 1 과 스텝2를 참조하시오. 후크에서 얼라인 홀을 뚫기 위해 허브로부터 후크 인터페이스를 제거하는 것은 요구되지 않지만 사용자를 위해서는 편리하다. 후크를 교체하기 위해 얼라인 핀 홀이 가는 로드 홀과 일치할 때 까지 조이고 얼라인 핀을 교체한다.

Warning : Stanley Cobotics에서 허가된 적합한 사이즈의 와이어 로프를 사용하시오. 그렇게 하지 않을 경우 화이어 로프설치의 실패와 상해 사망과 같은 피해를 초래 할 것이다.

Warning : 얼라이먼트 핀은 일반적인 작업을 하는 동안 스크루가 빠지는 현상으로 부터 후크를 보호하기 위해 교체 되어야만 할 것이다. 그렇게 하지 않을 경우 부하에 손상을 주거나 상해나 사망의 결 과를 초래 할 것이다.

Warning : iLift는 유지보수나 수리 작업을 실행하기 전에 전기 파워를 끊어야 한다. 자격을 갖춘자가 기능 체크와 규정에 맞는 시각적 검사를 실행해야한다.



Lifts should be taken out of service immediately or not put into operation if any defects relating to operating safety and reliability are detected.

Table 2 – iLift preventive maintenance inspection schedule

Component Inspection Criteria for Operation

Dai

ly(1

st o

pera

tion

of s

hift)

Freq

uent

(300

,000

cycl

es* )

Perio

dic

(600

,000

cycle

s)

Wear, damage Wire rope must not be kinked, crushed, un-stranding, birdcaging, corroded, etc… �

Wire RopeLubrication Wire rope must be properly lubricated. �

Covers Cracks, damage Covers must not be cracked. �

Coil CordStrain relief, excessive wear due to wire rope.

Coil cord cable must be firmly strain relieved at both ends. �

Electrical Wiring Insulation Wire insulation must not have breaks. �

Brake Drift when system is halted.

Brake must not allow the load to drift when the system is halted. �

Cable Guide Wear, damage Cable guide must not be excessively worn. �

SmoothnessSystem must operate smoothly and should not drift when the system is in the ‘ready’state (green).

�

Hook wear Hook must not be excessively worn. �Inline Handle

Hook locking pin in place Locking pin must be in place. �

iLift Unit Check All �End-effectormountinghardware

Wear, damage, corrosion

End-effector interface hardware must notbe damaged or excessively worn. �

Assembly screws Tightness Every screw/nut should be tightly set. �iLift mounting Hardware

Wear, damage, corrosion No apparent deformation. �

Housing Screws should be tightly seated. �Coil Cord Strain relief

Cable should be tightly gripped by strain relief. �

Loose buttons Buttons should be tightly seated on housing. �

Hook wear Hook must not be excessively worn. �

Hub

Hook locking pin in place Locking pin must be in place. �

These preventive maintenance recommendations are designed to prevent unexpected breakdowns and problems through periodic inspection and maintenance. However, the specified inspection intervals apply to normal iLiftservice conditions. If routine maintenance reveals that the intervals are too long, they should be adapted to the specific operating conditions.

WARNING: For repairs use only Stanley Cobotics supplied or recommended parts.

* A cycle is defined as a one complete up and down motion.

리프트는 운영상의안전과 신뢰성에 결함이 발견되면 즉시 수리되어야 하며 수동 모드로 설정되어야 할 것이다.

이러한 예방 유지보수에 대한 추천 사항으로는 주기적인 검사와 유지보수를 통해 예상치 못했던 고장이나 문제를 막기 위해 설계되었다. 그러나 특별검사 주기는 일반적인 iLift 서비스 조건에 적용된다. 만약 일상적인 유지보수가 너무 길다고 판단되면 특별한 운영 조건이 적용되어야 한다.

Warning : 수리를 위해 Stanley Cobotics가 공급했거나 추천한 부품을 사용 하시오.

한 사이클은 업 다운 모션이 한번 완료 되었을때로 정의 된다.



5.5 System Recommended Spare PartsThe following is the Stanley Cobotics recommended spare parts list for the iLift. Please contact Stanley Cobotics’ sales department for pricing information.

Table 3 – Recommended spare parts list

Applicable To Both 150 lb and 500 lb Capacity UnitsPart Number Component Description Qty.

9901-2008 Wire rope service kit 20 ft., 1/8", 7x19 strand core galvanized steel wire rope single shank ball on one. Includes clamp, and thimble. 1

9901-9001 Power supply service kit Computer Power Supply and screws 1

23C100003 Heavy duty Coil Cord Heavy duty communications cable between the iLift and the Hub, 10’ length 1

Key for brake override switch. Enables brake override. 1

1121-4001 Hook Hook that interfaces to the bottom of the inline handle. 11006-6003 6 VDC LED bulb (green) For limit switches. 1

1006-6004 12 VDC LED bulb (green) For power on indicator. 11006-6001 6 VDC LED bulb (amber) For clear limits button. 1

1006-6002 6 VDC LED bulb (red) For fault light. 11006-5002 Red lens Lens cover for fault indicator light. 1

1006-5001 Green lens Lens cover for switch and/or lamps 11006-5004 Amber lens Lens cover for clear limit switch. 1

Applicable Only To 150 lb Capacity UnitsPart Number Component Description Qty.

9901-2004 Motor Amplifier iLift Motor Amplifier 12202-2003 Motor iLift Motor Assembly 19901-2010 Wire rope guide kit Plastic wire rope guide, screw, and washer 11121-3003 Wire rope thimble 1/8" For attaching wire rope to top of Hub. 1

1121-2002 Wire rope clamp For securing free end of wire rope back to itself. 19901-2007 Gear box cover service kit iLift Gear Box Cover service kit 2

9901-2006 Computer cover service kit iLift Computer Cover service kit 1

Applicable Only To 500 lb Capacity UnitsPart Number Component Description Qty.23R201600 Motor Amplifier iLift Motor Amplifier 123M200100 Motor iLift Motor Assembly 123L204800 Wire rope guide kit Plastic wire rope guide, screw, and washer 123R204000 Wire rope thimble 3/16" For attaching wire rope to top of Hub. 123R203500 Wire rope clamp For securing free end of wire rope back to itself. 1

WARNING: The use of spare parts not approved by Stanley Cobotics renders any liability and guarantee claims void.

다음은 Stanley Cobotics가 iLift를 위해 권항하는 스패어 파트 리스트다. 가격 정보를 위해서는 Stanley Cobotics' sales department와 접촉하시오.

Warning : Stanley Cobotics에서 허가되지 않은 스패어 파트의 사용은 책임이나 보 증에 대한 요구를 무효로 만든다.

T R O U B L E S H O O T I N G


Chapter 6: TroubleshootingThe following matrix shows possible symptoms, causes, and fixes for various difficulties that may be encountered. If a symptom is not listed or suggested fixes fail to solve the problem do not hesitate to call Stanley Cobotics’ technical support department for further help.

6.1Possible SymptomsThe following are symptoms that may occur.

Table 4 – Troubleshooting table.

Symptom Possible Cause Potential Solution

1. No power � Apply power

2. Faulty wiring � Check connections

3. Bad power supply � Replace internal power supply

No motion and no lights

4. Frayed load cable(iLift)� Attempt brake release to

inspect load cable-replace cable (iLift only)

1. Soft limits prematurely seen

� Remove air from system, manually move trolleys past rail magnet to reset position, re-engage air

2. Slipping drive roller� Check system air

pressure to be between 65 – 80 psi

Lights but no motion

3. Trolley cylinder bracket dragging on rail

� Drive roller wear, replace

Green light ON and red light FLASHING with an iLift and iTrolleyconfiguration

1. iLift initialized correctly, however, there is a slack wire rope condition that prevents the iTrolley from initializing

� Correct slack condition

1. Damaged air pressure source � Check air pressure

2. Loose manual engage nut � Tighten manual engage nut

3. Damaged rollers/wheels � Replace bad rollers/wheels

4. Loose connections � Check connections5. Gains set too high � Lower gains in profiles6. Rail pitted or damaged � Replace rail

Erratic motion/unit shakes

7. CAS Mounting screws loose � Tighten CAS mounting screws

1. Velocity limits set too low � Change limits in profiles

2. Load exceeded� Lower physical load� Calibrate load cell with

current weight value in User interface software

3. Motor overheat� Allow motor to cool,

replace for mechanical/electricalproblem

4. Damaged motor encoder � Replace motor encoder

Slow motionSlow motion

5. Gains set too low � Reprogram gains

다음의 매트릭스는 가능한 증상, 원인들을 보여주고 발생할 수 있는 여러가지 어려운 점들을 위해 만들었다. 증상이 리스트되어 있지 않거나 문제를 해결하는데 실패했으면 더 많은 도움을 위해 Stanley 기술지원팀에 주저하지 말고 연락하시오.

다음은 시스템에서 발생 할 수 있는 증상들이다.



6. Loss of phase to motor� Check loose screw

connections of Motor output at motor amplifier

� Replace motor amplifierAbrupt motion(See also “Erratic motion”) 1. Gains set too high � Reprogram gains

1. Gains set too high � Reprogram gainsOperator induced oscillation

2. Insufficient dead band � Increase dead band

1. Loss of power � Check power

2. Loss of air pressure � Check air pressure3. Emergency stop switch

depressed� Reset Emergency Stop

switch4. Blown fuse � Replace fuse

5. Damaged power supply � Call for service

6. Damaged computer � Call for service

7. Damaged wiring � Check connections

8. Damaged motor amplifier � Call for service

Load stops suddenly

9. Erroneous soft limit detected� Check for mis-positioned

soft limit� Attempt crossing

position (rail) magnet1. Start button pressed when

cable not vertical� Check swivels� Restart system with

cable vertical2. Kink in wire rope � Replace wire rope

3. Load cell needs recalibrating � Recalibrate load cell

4. Damaged cable angle sensor � Call for service

5. Damaged motor encoder �

6. Damaged motor amplifier �

Un-commanded motion

7. Damaged computer �

Sluggish System performance (e.g. iLift inability to hold full load) 1. Wrong torque/current gain � Call Technical service

1. Magnets have fallen out � Check magnet/magnet holder is installed

2. Digital Input channel on NEB damaged � Replace NE board

System operates but virtual limits do not work

3. Hall sensor damaged � Replace hall sensor

Power up to or at Stop; will show but not change Profiles; will not RESET system

1. No Hub communication

� Check Coil Cable Connections

� Coil Cable Condition � Replace Hub� Check Can Bus Circuit

to PC104 Processor� See Error Code E1

6.2System Error Code TableThe following are error codes that may appear on the LED display of the Hub.

NOTE: iTractor systems typically do not include a Hub. To gain access to error information you must establish serial communication with the iTractor. See sections 3.1 through 3.2.2

다음은 허브의 LED디스플레에서 나타날 수 있는 에러 코드이다.

Note : 일반적으로 iTractor시스템은 허브를 포함하지 않는다. 에러 정보 접근을 위해서는 iTractor에 시리얼 통신을 설치해야 한다. 섹션 3.1에서 3.2.2를 참조한다.



Note: iDevice shall be understood to mean iTrolley, iTractor, iTheta or iLift.

Mes

sage Description Possible Causes Remedy

6.2.1 System Messages

Refer to Chapter 7: System Schematics2

Processor in Hub stopped

� Depress Reset Button on Hub (green)� Cycle Main System Power

Loose Cable Connection

� Check cable connection at Hub� Check cable connection at Junction box� Check cable connection from Junction box

to the iDevice� Remove computer plate cover from iLift or

iTrolley; for iLifts check continuity between Hub plug pin 7 and BRK-P5 pin 19 and Hub plug pin 8 and BRK-P5 pin 20; for iTrolleyscheck continuity between Hub plug pin 7 and BRK-P4 pin 19 and Hub plug pin 8 and BRK-P4 pin 20

� Check connection from CAN converter to RS422-RS232 (Signal Conditioning System Only)

Faulty Coil Cord � Replace the Coil Cord Assembly

E1

Hub comm. fault:

Notifies the user that the Hub has lost communication with the system

3

Loose internal wiring in Hub � Call Technical Support

E-Stop is depressed

� Investigate why E-Stop was actuated; when problem corrected reset the E-Stop

� Depress the Reset Button on Hub (green) system should Clear

� Cycle Main System Power

Loose Cable Connection

� Inspect Cable from E-Stop to Rear of Hub; ensure that cable is intact and not damaged

� Remove Rear Cover from Hub, inspect wire connections on terminal strip; ensure that connections are good; ensure connections are tight

� Open E-Stop Box, inspect wiring terminations; ensure all connections are good

� Check cable connection between CPULPT1-6 (/INIT) and MEZ-P2-1 (LPT1)

� Check cable connection between E-Stoprelay K1 and E-Stop relay connector MEZ-P9 pins 1 (GND), 2 (+24V), 3 (relay sense), and 4 (GND)

� Check relay contacts� Inspect communication cable betw een

devices

E2

E-STOP active:

Notifies the user that the End Effector E-stop has been depressed

Coil Cord Damaged � Replace coil cord

2 Notation: XXX-P# defines a plug, XXX-J# defines a receptacle.

3 The Hub always communicates with the iDevice (i.e. iTrolley, iLift) that it is directly connected to. Typically referred to as

the first device in the system.

Note : iDevice는 iTrolley, iTractor, iTheta 나 iLift를 의미한다는 것을 이해해야한다.

표기법 : XXX-P#은 플러그를 의미하고, XXX-J#은 아울렛을 의미한다.

허브는 항상 직접 연결되어 있는 iDevice(즉 iTrolley, iLift)와 통신한다. 일반적으로 시스템에서 첫번째 장치로 불린다.



Mes


Loose internal connection on the iDevice

� Remove the cover and check for electrical continuity between: for iTrolley: BRK-J4 pin 12 (AGND) to MEZ-P12 pin12 (AGND), and BRK-J4 pin 18 (ESTOP) to MEZ-P12 pin18(ESTOP); for the iLift check the same pins on connectors: BRK-J5 to MEZ-P12

Faulty input channel � Replace NE board� Call Technical Support

System has attemptedto lift weight greater than max setting

� Ensure that the weight being lifted is within parameters

� Ensure that part was not hung up in dunnage or on stationary object

� Clear any obvious obstruction� Depress the Reset Button on Hub (green)

system should Clear� Cycle Main System Power

System weight parameters incorrectly set

� Attach computer to the system using the Serial port on Hub;check the max weight setting, ensure that it is not less than the weight being lifted

� Set the proper weight in parameters; sav esettings

E3

Overload fault:

Notifies the user that the system has exceeded the max weight parameter

Load Cell Signal Error� Cycle main power� Attempt to calibrate the load cell� Call Technical Support

Processor in Hub interrupted



Loose Connection in Hub

� Open Hub inspect load cell connection to hub I/O board

� Inspect power connections to Hub I/O board

Faulty Coil Cord � Check pin 13 on the Hub plug for –12 VDC� Replace Coil Cord

E4

Loadcell fault:

Notifies the user that a fault has been detected with the load cell

Faulty Load Cell � Replace Load Cell

6.2.2 iTrolley/iTractor Error Codes

21

CAS calibration fault:

Notifies the user that the Cable Angle Sensor could not calibrate during system reset

Wire Rope moves slightly during Calibration time

� Depress the Res et Button on Hub (green) while holding the Hub still

Wire rope momentarily lost connection to the Hub



Loose Cable connection � Inspect coil cord connections� Inspect CAS to Junction Box connections

Grounded Wire Rope

� Inspect wire rope termination on the Hub; ensure that wire rope is not touching any other part of the hub or coil cord connector

� Inspect wire rope as it passes through Cable angle Sensor; ensure that there are no frays or other connections from the wire rope to the chassis

Loss of Ground or excitation in iLift or Pulley

� Check brush in iLift and or universal bracket� Check continuity on coil cord pin 9� Call Technical Support

Faulty Hub � Calibrate Hub� Replace hub

22

CAS toroid fault:

Notifies the user that the Cable Angle Sensor signal has been lost

Toroid analog channel faulty � Replace CAS



Mes


Communication Cable � Check continuity of pins 5, 6 of the communication cable

Blown fuse in Motor Amplifier � Replace fuse

Motor has overheated� Allow motor to cool down for 5 minutes � Depress the Reset Button on Hub (green)


Loose wire connection in iTrolley computer plate

� Power down system� Check connections on AMP-P1, -P2, -P3 of

AMP� Check connections on relay K1 to MEZ-P9

pin 5 (enable signal) and pin 8 (enable signal return)

23

iTrolley motor fault:

Notifies the user that the iTrolley Motor or Motor Amplifier has faulted

Faulty DI or DO channel � Call Technical Support

System configured for more iTrolleys than are actually present

� Configure system for correct number of iTrolleys

Power loss in one trolley� Check connector PS1-J1 and PS1-J2 of

power supply� Check fuse� Replace power supply

Loose line terminator � Reconnect terminator� Cable loose between BRK-J1 and MEZ-

P15Faulty NE Board � Replace NE Board

� Call Technical Support

24 iTrolleycommunication fault

Faulty communication cable

� Check for continuity on cable� Replace cable

Loose cable connection

� Check for a loose connection between power supply PS1-J2 to CPU power connector on both iLift and iTrolley

� Check connections between BRK-J1 toMEZ-P15 on iTrolley and BRK-J4 to MEZ-P15 on iLift

Faulty NE board on iTrolley

� Replace NE board� Call Technical Support

25 ITrolley/iLiftcommunication fault

Faulty NE board on iLift � Replace NE board� Call Technical Support

Wire rope is held at an angle when Reset Button is pressed

� Make sure the cable is hanging straight down

CAS box is tilted � Make sure CAS box is level and securely attached to its bracket

26

CAS startup range fault: Cable Angle signal upon entering RUN state is out of bounds CAS has not been

calibrated� Calibrate CAS though configuration

interface

Deadman switch is not connected � Connect Deadman switch or disable feature

Deadman switch is depressed when reset button is engaged

� Do not depress Deadman switch while resetting the system27 Deadman Switch

Fault

Wrong Deadman switch type is selected

� Make sure the system is configured to use the proper switch type (Normally Closed or Normally Open)

Secondary encoder disconnected

� Check that the secondary encoder is connected

Secondary encoder failure � Replace the secondary encoder

28Secondary encoder consistency check error

Drive roller is slippingconsiderably

� Make sure there is adequate air pressure applied to the drive mechanism air cylinder



Mes


Jam nut not removed � Remove jam nut to fully engage encoder wheel against rail

CAS output circuitry fault � Check and replace CAS boardCAS cable disconnected � Reconnect CAS cable29 CAS output faultNE board input circuitry fault � Check and replace NE board

30Incorrect runway trolley magnet detection fault

A runway trolley that is not configured to read the magnet has detected it

� Either configure the correct trolley to read the magnet or move the magnet to the proper runway

31 Autonomous Switch Fault

Autonomous switch is depressed when reset button is engaged

� Do not depress Autonomous switch while resetting the system

6.2.3 iLift Error Codes

41 iLift drop fault Motor Power Cable Disconnected � Check Motor power cable for integrity

42 iLift brake override fault

iLift brake release key on � Turn brake release to the off position

Motor has overheated� Allow motor to cool down for 5 minutes� Depress the Reset Button on Hub (green)


Loose wire connection in iLift computer plate

� Power down system� Check connections on AMP-P1, -P2, -P3 of

AMP� Check connections on relay K1 and NEB-

J9Blown Fuse in MotorAmplifier � Replace fuse

Faulty DI or DO channel � Replace NE Board� Call Technical Support

43 iLift motor fault

Faulty Shunt Resistor � Check wires running between motor amp and external shunt resistors

Loose Cable connection � Check communication cable running between iLift and master iTrolley

Power loss in one trolley � Check Power lights/cables on trolleysPower loss in iLift � Check Power cables to iLift44 iLift/iTrolley

communication faultFaulty Serial Comm. Board channel � Call Technical Support

45 iLift float force faultSensed force on object in float mode exceeds programmable limit

� Increase maximum allowable float mode force via serial user interface

� Increase float mode gain via serial user interface

� Don’t push so hard in float mode

Handle stuck� Release handle before hitting reset button� Check handle calibration via serial user

interfaceDead band set improperly

� Check handle calibration via serial user interface

46 iLift handle out of deadband

Coil cord � Replace coil cord

47 iLift handle lostHandle pot disconnectedBroken wire to handle potHandle pot bad

� Check wiring � Replace handle pot

Alignment disc damaged � Replace disc48 iLift reel monitor fault

Reel monitor board damaged � Replace board



Mes


Reel monitor board Disconnected

� Check connection at J11 on mezzanine board

6.2.4 Intent Sensor Error Codes

61 Proportional Button 1 Fault

62 Proportional Button 2 Fault

6.2.5 Cobot Error Codes

81 Lost Air Pressure Sensor failureSupply pressure loss � Check air supply pressure

82 Rotational Sensor Error

Disagreement between Potentiometer and Motor Encoder

� Check wiring to potentiometer and encoder� Restart

83 Rotational Dof Error Uncontrolled motion in rotational dof

� Check all cable connections in Rotational dof control box

84 Orientation Error Potentiometer/ Hall Sensor disagreement

� Recalibrate potentiometer via serial user interface

85 Air Pressure Switch Failure Faulty switch � Replace Air Pressure Switch

86 Input Sensor value exceeded maximum 6 dof input sensor failure � Check 6 dof sensor and recalibrate

87 Input sensor failure

Presence sensor on with no inputLarge input with no presence sensorPresence sensor on when system resetLarge input when system reset

� Check performance/operation of joystick/ 6 dof sensor

88 Digital rotational sensor failure

System rotated out of operational positionSensor providing inconsistent signals

� Restore system to operational position and reset

� Check wiring to sensor

89Input Sensor value exceededmaximum/minimum

Input sensor cable disconnectedInput sensor failure

� Check input sensor cables� Check input sensor and recalibrate

90 Proximity SensorProx sensor in wrong state during autonomous operationProx sensor failure

� End Effector must remain raised during return to home

� Check wiring and functionality of prox sensor

91 Position/VelocityError Limit Exceeded

System encountered obstacleSystem binding

� Remove obstacle� Check rails for binding

92Canton – Invalid Rotation Range while Line Tracking

Brake Slippage� Instruct operators to refrain from exerting

excessive force on end effector� Increase brake holding force

93 Absolute Trajectory Error

Cannot Transition to using Absolute trajectories – Hall Sensors moved

� Recalibrate hall sensor positions

94 Hall Position Error Severe slippage of encoder

� Check Air Pressure/ spring engagementmechanism

95 Intent Sensor Calibration Fault

Intent sensor readings outside of normal range during recalibration

� Recalibrate Intent sensor

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ck.

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.

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plifie

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erco

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tions

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50 lb

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plifie

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erco

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unica

tions

and

ESt

op re

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N O D E E X P A N S I O N B O A R D

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1

91011121314151617

ESTOP

G.STICK PRESENCE

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Figu

re51

- Illu

stra

tion

of H

ub /

iTro

lley

/ ree

l mon

itor i

nter

conn

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ns.

S Y S T E M S C H E M A T I C S


iLift Basic (EN 954- 1)E-Stop

Circuit

.

HUB NC

ESTOP

P/S MEZ BOARD

AMPLIFIER M

MC2+24 VDC

MC2

BRAKE RTN

MC2

ALLEN BRADLEY 800T-FXT6D4

26

15

18

15

18

ESTOP SG

9

6

8

54

7

2 1 3

TOITROLLEYS

MC2

AMPFUSE15A

ILIFT

GND

ENABLE SIGNAL

110

VAC

NEUT

RAL

GND

LINE FILTER BOX

NEU

TRA

L

110

VAC

C

GN

D

FILTER

SCHAFFNER

FN2060-XX-XX

P' N'

P NE

MASTER POWER SWITCH (OPTIONAL)

NEU

TRA

L

110

VAC

GND

TO CHASIS

Figure 52 – iLift Computer Plate Interconnect - Basic E-Stop Circuit.

SY

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Figu

re53

– C

oil c

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pin

conn

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7-77

BLA

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-- - - --- - - - -

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3 41 2 5 6 7 8

WH

GY YE

GNBLBN

PK

RD

3 41 2 5 6 7 8

3 41 2 5 6 7 8

B Z

DIR

FLO

AT

STO

P

RES

ET IN

DG

ND

AGN

D

AU

X

+5 V

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HU

B-C

ON

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AMP

8 PI

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05-2

012

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B

REM

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NE

HA

ND

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REM

OTE

INLI

NE

HA

ND

LE

REC

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CLE

B Z

DIR

FLO

AT

STO

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SE

T IN

DG

ND

AG

ND

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X

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REM

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INLI

NE

HA

ND

LE P

LUG

9

PIN

MA

LE

1005

-505

7

ILIF

T C

OM

PUTE

R P

LATE

INTE

RC

ON

NEC

T - R

EMO

TE IN

LIN

E H

AND

LE

Figu

re54

– R

emot

e in

line

hand

le c

onne

ctio

n.

SY

ST

EM

SC

HE

MA

TIC

S

ww

w.S

tanl

eyA

ssem

bly.

com

7-78

ILIF

T C

OM

PUTE

R P

LATE

INTE

RC

ON

NEC

T - P

END

ANT

HAN

DLE

FLO

ATA

UX

DG

ND

STO

PR

EST

IN

542 31

BU

TTO

NC

ON

NEC

TOR

J4

J3

542 31P3

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FLO

ATAU

X

DG

ND

STO

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RES

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PEN

DA

NT

HA

ND

LE

CA

BLE

ASS

EMB

LY

2102

-200

328

AW

G

RIB

BON

CAB

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BUTT

ON

CAB

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250-

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N-0

2-00

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5 VD

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(RIG

HT-

UP)

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1

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RD

)

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(BK

)

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250-

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2-00

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(RD

)

AGN

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(YE

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BLA

CK

BR

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GR

AY

YE

LLO

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RA

NG

E

GR

EE

N

VIO

LET

WH

ITE

PIN

KB

K

BN RD BL GYYE

OR

GN VI WH PK

-- - - --- - - - -

BK BLGY VIWH

BK

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WH

28 A

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PCB

OP

AM

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IRC

UIT

2

1

4

3

6

5

8

7

1

2

3

4

5

6

7

8

1

2

3

4

5

6

7

8

1

2

3

4

5

6

7

8

BZDIR

AGND

AUX

DGND

FLOAT

STOP

RESETIN

+5VDC

Figu

re55

– Pe

ndan

t han

dle

conn

ectio

n.

SY

ST

EM

SC

HE

MA

TIC

S

ww

w.S

tanl

eyA

ssem

bly.

com

7-79

ILIF

T C

OM

PUTE

R P

LATE

INTE

RC

ON

NEC

T - F

OR

CE

SEN

SIN

G M

OD

ULE

BU

TTO

N

FOR

CE

SEN

SIN

G M

OD

ULE

BU

TTO

N W

IRE

CO

NN

ECTI

ON

TO

HU

B C

ON

NEC

TOR

STO

PB

UTT

ON

RES

ETB

UTT

ON

AU

X B

UTT

ON

STO

PB

UTT

ON

SA

2

SB

2

R2

F2SA

1

SB1

R1

F1

FLO

AT

BU

TTO

N

HUBCONNECTOR

1 ZD

IR

2 AG

ND

8 +5

VDC

7 R

ES

ET

4 D

GN

D

5 FL

OAT

6 ST

OP

3 AU

X

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NTI

OM

ETE

RP3P2P1

Figu

re56

– Fo

rce

sens

ing

mod

ule

butto

n w

ire c

onne

ctio

n to

Hub

con

nect

or.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-80

Cha

pter

8:

Part

Dra

win

gs

Figu

re57

– O

vera

ll dim

ensio

ns fo

r 150

lbs

iLift

.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-81

Figu

re58

– iL

iftre

el a

ssem

bly

(150

lbs)

.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-82

Figu

re59

– iL

iftco

mpu

ter p

late

ass

embl

y.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-83

Figu

re60

– H

ub h

ousin

g as

sem

bly

(150

lbs)

.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-84

Figu

re61

– O

vera

ll dim

ensio

ns fo

r 500

lbs

iLift

.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-85

Figu

re62

– O

vera

ll ass

embl

y di

men

sions

for 5

00 lb

s iL

ift.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-86

Figu

re63

– iL

iftre

el a

ssem

bly

(500

lbs)

.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-87

Figu

re64

– iL

ifthu

b ho

usin

g as

sem

bly

(500

lbs)

.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-88

Figu

re65

– iL

iftco

mpu

ter p

late

ass

embl

y (5

00 lb

s).

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-89

Figu

re66

– iL

iftre

el co

ver a

ssem

bly (

500

lbs)

.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-90

Figu

re67

– iL

iftca

ble

angl

e se

nsor

ass

embl

y (5

00 lb

s).

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-91

Figu

re68

– iL

iftre

evin

g pl

ate

kit (5

00 lb

s).

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-92

Figu

re69

– C

oil c

ord

asse

mbl

y (b

oth

150

lbs

and

500

lbs

lift c

apac

ity).

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-93

Figu

re70

– Fo

rce

sens

ing

mod

ule

asse

mbl

y.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-94

Figu

re71

– H

ub a

ssem

bly

with

hoo

k.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-95

Figu

re72

– H

ub w

ith in

line

hand

le a

ssem

bly.

PA

RT

DR

AW

ING

S

ww

w.S

tanl

eyA

ssem

bly.

com

8-96

Figu

re73

–H

ub e

-sto

p m

ount

ing

box

asse

mbl

y.

installation, operation, and maintenance 설치, 운영, 보전 manual v3 · 2008. 8. 25. ·...

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