powerdelta robot - asyril · 2.1. first glimpse at the product the powerdelta is a miniature robot...

PowerDelta Robot

Operating manual

Document Asyril_ROBOT-POW-01_Operating_Manual_E

Version v1.3 Date 26.09.2012

Articles ROBOT-POW-01--XX-XX-XX-XX

PowerDelta Robot - Asyril SA

Operating manual © Copyright Asyril S.A.

Introduction v1.3 FO 32.03.118

Operating manual PowerDelta Robot - Asyril SA 3/35

Table of Contents

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

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

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

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

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

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

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

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

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

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

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

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

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

2.2.3. Visual signals ...................................................................................................................... 14

2.3. PERFORMANCE ....................................................................................................................... 15

2.3.1. Workspace ........................................................................................................................... 15

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

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

2.3.4. Force capability ................................................................................................................... 18

2.4. ELECTRIC INTERFACES .......................................................................................................... 19

2.4.1. Overview .............................................................................................................................. 19

2.4.2. Power connection (A) ......................................................................................................... 20

2.4.3. Main stop switch (B) ........................................................................................................... 21

2.4.4. Input/Output connector (C) ................................................................................................ 21

2.4.5. RJ 45 connector (D) ........................................................................................................... 22

2.5. MECHANICAL INTERFACES ..................................................................................................... 23

2.5.1. Attachment of the robot ..................................................................................................... 23

2.5.2. Mechanical Interface for robot tool ................................................................................... 24

2.6. ACCESSORIES AND OPTIONAL MODULES ............................................................................... 25

2.6.1. Rotation axis (Rz) ............................................................................................................... 25

2.6.2. Embedded vertical compliance module .......................................................................... 25





3. TRANSPORTATION, HANDLING AND INSTALLATION ....................................................... 26

3.1. PACKAGING OF THE PRODUCT, TRANSPORTATION AND HANDLING ....................................... 26

3.2. BEFORE UNPACKING ............................................................................................................... 26

3.3. UNPACKING INSTRUCTIONS .................................................................................................... 27

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

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

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

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

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

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

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

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

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

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

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

4.3.3. Controlling the parallel structure ....................................................................................... 31

4.3.4. Controlling the engine group ............................................................................................. 31

4.3.5. Inspection of the control box ............................................................................................. 31

4.4. REPARATION ........................................................................................................................... 32

4.5. TECHNICAL SUPPORT ............................................................................................................. 33

4.5.1. For better service … ........................................................................................................... 33

4.5.2. Contact ................................................................................................................................. 33





1. Introduction

1.1. Generalities

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

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

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

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

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

customer service.

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

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

DANGER!

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

DANGER!

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

electric shock

WARNING!

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

NOTE :

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

although failure to do so would not result in injury.

REFER TO …

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

other paragraph.

WARNING!

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

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

necessary instruction to the persons concerned.

NOTE :

All dimensions in this document are expressed in millimeters





1.2. Safety precautions

1.2.1. General safety precaution

1.2.1.1. Transport

DANGER !

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

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

1.2.1.2. General

DANGER !

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

working on the product.

DANGER !

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

authorized to work on this device.

DANGER !

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

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

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

DANGER !

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

DANGER !

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

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

DANGER !

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

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

DANGER !

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

contact with water or oil droplets.





1.2.1.3. Disposal

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

industrial waste.

WARNING!

Observe the valid legal regulation for appropriate disposal protecting environment.

1.2.2. Specific warnings

1.2.2.1. Safety Equipment for Operators

No safety equipment is required to use the PowerDelta robot

NOTE :

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

appropriated signs.

1.2.2.2. Intervention groups

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

any time during its life cycle.

Operator Fitter Engineer Support

Carrier

agent Dismantler

Construction X

Transportation X

Installation X X

Commissioning X

Use X

Setting & Programming X

Operation X

Cleaning X X

Defects tracking X

Maintenance X

Decommissioning

Dismantling X

Table 1-1: Intervention groups





1.2.2.3. Specific warnings concerning this product

(A) mechanical hazard

risk of scratches, cuts, shock, due to

the displacement of moving parts

WARNING !

Is the customer’s responsibility to

install a specific protective equipment

prohibiting access to the dangerous

zone !

WARNING !


install an emergency stop on the

robot.

(B) Service

There are no user serviceable parts

inside the PowerDelta unit. Contact a

supplier to effect a service. In cases

of non respectation, the product

guarentee will expire.

Figure 1-1 :Specific warnings concerning the

PowerDelta robot





1.3. Warranty information

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

conditions of sale.

1.4. CE information

The original CE certificate for your

product is supplied at the time of

product delivery. “Figure 1-2 :

Specimen of a CE certificate”

provides an example of what your CE

certificate should look like.

Figure 1-2 : Specimen of a CE certificate

1.5. Related manuals

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

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

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

included in this manual.

Manual Title Manual reference Description of the

content

PowerDelta

Operating

manual

ROBOT-POW-01_Operating_Manual_E THIS MANUAL

PowerDelta

Programming

guide

ARL__-XXX-XX_Programming_Guide_F Describes in detail the

way of programming a

PowerDelta robot.

Table 1-2 : related manuals



Description v1.3 FO 32.03.118


2. Description

2.1. First glimpse at the product

The PowerDelta is a miniature robot ideally suited for applications requiring a middle sized

workspace and higher force capabilities. It has a parallel kinematics giving 3 degrees of

freedom in translation. A rotation axis can be mounting on the platform of the robot in order to

change the orientation of the tool about the vertical axis. The controller of the robot is fully

integrated in a control box above the robot’s mechanics. The robot PowerDelta consists in :

(A) Control box

(B) Electrical interfaces

(C) 3 motors

NOTE :

Each motor is equipped with a

parking brake and a high resolution

incremental position sensor. An

additional sensor is used for finding

the zero reference of the robot during

initialization.

(D) Arms

(E) Harmonic drive

(F) Forearms

(G) Platform

Figure 2-1 : PowerDelta Robot overview

NOTE :

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

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

For more information on the electrical interfaces to the robot, please refer to « 0.

Electric Interfaces » on page 19 .

(C)

(A)

(E)

(D)

(F) (G)

(B)





2.2. General Characteristics

WARNING !

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

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

2.2.1. Technical features

Robot PowerDelta 100

Degrees of freedom 3 (x,y,z)

4th axe optional (Rz)

Multi-directional repeatability + 10µm (3σ)

Workspace

(refer to 2.3.1)

øD 250mm

H 60mm

X 250mm

Typical Cycle-time :

(path: 20 x 200 x 20 mm) 500g : 0.65s

Force in vertical direction (z) 50N

Digital I/O 5 inputs (24 V)

5 outputs (24 V)

Intuitive HMI

Configurable workspace objects

(frames, points, tools)

Program-editor (text format IEC 61131)

Server HTTP, TCP/IP

Embedded GUI

Table 2-1 : technical features





2.2.2. Overall dimensions (in mm)

2.2.2.1. With foot (in mm)

Figure 2-2 : overall dimensions

Characteristic Robot PowerDelta

Footprint 454 x 454

Height on foot 467mm

Weight with foot 11.2kg

454

454

340

467





2.2.2.2. Without foot (in mm)

Figure 2-3 : overall dimensions

315

332

102 127





2.2.3. Visual signals

The leds give important information

on the state of the PowerDelta robot :

Led State Meaning

1 Red Drive 1 on

2 Red Drive 2 on

3 Red Drive 3 on

4 X Not wired

5 X Not wired

6 Green Power on

Figure 2-4 : PowerDelta Indicator LED’s

4

5

6

1

2

3





2.3. Performance

2.3.1. Workspace

The accessible workspace of the

robot is represented in Figure 2-5.

Robot PowerDelta

øD 250mm

H 60mm

X 250mm

IMORTANT NOTE :

The robot workspace is defined by

the space accessible by the midplane

of the robot platform. When a tool (or

compliance) is mounted on the robot,

the workspace will be translated

down as much as the length of the

tool (or compliance).

Figure 2-5 : Workspace of the PowerDelta Robot

ØD

H

X

ØD





2.3.2. Cycle time

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

horizontal motion of b and a down motion on a distance c and then back by the same way as

defined on the figure below :

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

NOTE

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

the load carried by the robot.

The table below summarizes the result of these measures:

a/b/c cycle

[mm]

Payload

[gram]

Cycle time

[s]

30/125/30

30 0.6

500 0.65

1000 0.7

IMPORTANT NOTE:

stabilization time required to reach the PowerDelta robot repeatability is not counted in this

time cycle.

øD

h

b

ca

Back and forth





2.3.3. Repeatability

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

as presented in the International Standard (ISO 9283).

2.3.3.1. Pose repeatability

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

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

This pose parameter has been measured on five different points: P1 to P5 :

Data PowerDelta Data PowerDelta

øD 250 mm a 60 mm

h 60 mm b 48 mm

Figure 2-7 : Disposition of the command poses in the robot workspace

PowerDelta robot’s pose repeatability is of + 16 µm at 3σ.

NOTE

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

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





2.3.3.2. Multi-directional pose accuracy variation

Multi-directional pose accuracy variation

expresses the deviation between the

different mean attained poses achieved

when visiting the same command pose n

times from different directions.

Pose Repeatability (3σ)

[µm]

P1 70 µm

Figure 2-8 : Direction of the paths for the multi-

directional pose accuracy variation

2.3.4. Force capability

The PowerDelta force capability in Z direction centred in the middle of the workspace is 50N.

NOTE

The robot PowerDelta force capability depends on the point of application.





2.4. Electric Interfaces

2.4.1. Overview

All electrical interfaces are located in

the back side of the robot. The

function of the connectors and

indicators are explained on the figure

below.

(A) Power supply

(B) IO connector

NOTE :

One of the inputs is dedicated to an

emergency stop connection.

DANGER !


install an emergency stop button

on the robot.

(C) Ethernet connection

All these interfaces are described in

detail during the following sections.

Figure 2-9 : Electrical interfaces to the

PowerDelta Robot

(B) (A)

(C)





2.4.2. Power connection (A)

WARNING !

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

as the nominal voltage of the robot.

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

The connector plug device is not

wired when delivered. Its

specifications must be :

Pin Description

A1 Power supply (24VDC)

A2 GND

1 Logical power supply

(24VDC)

The PowerDelta robot is powered with

24VDC/10A. These characteristics

are summarized below :

Characteristic Value

Voltage 24V DC

Current 10 A

Figure 2-10 : power supply connector to the

PowerDelta robot (on robot side)

A1 A2 1





2.4.3. Main stop switch (B)

2.4.4. Input/Output connector (C)

A few inputs/outputs are available on

the robot to pilot local sensors or

actuators. The connector s

pecification (on PowerDelta robot’s

side) are :

Characteristic Specification

Description D-sub connector

DIN 41 652

Model on robot side Female 25 pins

Output max current 1A (24V DC)

The pin-out is given in the table

below

Figure 2-11 : I/O connector on robot side

Pins Signal description Pins

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

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

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

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

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

6 GND

GND 19

7 GND

GND 20

8 GND

9 IN 4 IN 4 Vcc (24V) 21

10 IN 3 IN 3 Vcc (24V) 22

11 IN 2 IN 2 Vcc (24V) 23

12 IN 1 IN 1 Vcc (24V) 24

13 IN 0 IN 0 Vcc (24V) 25

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

(13) (1)

(25) (14)





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

(represented by switch)

Figure 2-12 : example of an I/O connection

2.4.5. RJ 45 connector (D)

The three RJ 45 connector (A) enables

to communicate with the PowerDelta

robot.

NOTE :

The robot must be wired to a computer

with a category 5 quality ethernet cable

Figure 2-13 : RJ 45 connection

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

guide.

OUT 4 Vcc (24V)

OUT 4 (0V)

IN 0 (0V)

IN 0 Vcc (24V)

(A)





2.5. Mechanical Interfaces

2.5.1. Attachment of the robot

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

plate to attach it mechanically. Two types of fixture are available depending the configuration

of the mechanical setup and are shown in the figure below.

Figure 2-14 : Mechanical interface available to fix the robot in a mechanical setup.





2.5.2. Mechanical Interface for robot tool

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

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

platform:

Figure 4.2: Tools and grippers interface





2.6. Accessories and optional modules

2.6.1. Rotation axis (Rz)

If the option was purchased a specific

electrical box (A) is mounted on the original

PowerDelta robot control box. The fourth axis

(B) is wired to this box and has the following

characteristics :

4Th axis

Article nb

Resolution Weight

660 004 387 0.03° 185g

Figure 2-15 : PowerDelta robot with Rz

axis

2.6.2. Embedded vertical compliance module

The compliance module mechanically detect when the platform has encountered an

obstruction. It allows absorbing the crash energy and quickly stopping the robot to prevent

damage to the robot arms and tool.

If the option was purchased, the compliance is supplied with the unit, mounted and ready to

be used.

(B)

(A)



Transportation, handling and installation v1.3 FO 32.03.118


3. Transportation, handling and installation

3.1. Packaging of the product, transportation and handling

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

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

the following points :

WARNING !

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

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

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

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

- Do not climb on the shipping box.

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

3.2. Before unpacking

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

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

damage during transit was to be indicated please :

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

unpacking.

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

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

contact Asyril

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

Figure 3-1 : ShockWatch

NOTE :

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

and contact Asyril as soon as possible.





3.3. Unpacking instructions

NOTE :

Do not remove the PowerDelta robot from its packaging until you are ready to install it. When the

PowerDelta robot is unpacked, please keep the packaging material and the shipment box in

case of return.

Locate the identification plate at the back of the

product and ensure that the product you have

received is the appropriate one.

Important information is on this plate; such as the

power consumption or the serial number that you

will need for any kind of correspondence with

Asyril.

Figure 3-2 : Product key sticker

The product key gives the product designation as follows:

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

Product

ROBOT – Robot Delta

Type

POC - Pocket POW - Power DES - Desktop

Version

01 - Version number AA - Customized

Workspace ø

25 - ø250mm

Axes

03 - 3 axes (x,y,z) 04 - 4 axes (x,y,z,Rz)

Mount

01- floor with legs 02 - Roof without legs

Option

01- Standard 02 - Speed safety

Figure 3-3 : product key

ASYRIL SA - Switzerland

www.asyril.ch

Article n° : X xxx xxx xxx

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

Input Voltage : 24VDC

Serial n°: xxxxxxx





3.4. Installation and storage environment

WARNING !

The Asycube must be mounted on a smooth, flat and strong surface. Ensure yourself

that the Asycube is not submitted to excessive vibration or mounting flexure. Failure to

do so would degrade feeder performance.

3.4.1. Installation environment

The PowerDelta robot can be used under following conditions:

- Working temperature: +5°C to +40°C

WARNING !

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

precisions below 10 microns are necessary

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

WARNING !

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

cell.

- Avoid extreme electromagnetic waves, ultraviolet rays and radiation.

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

water or oil droplets.

- Clean room application: cleanliness class ISO7 and ISO8

WARNING !

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

the structural strength of the product.

3.4.2. Storage environment

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

should protect the PowerDelta robot against dust



Maintenance and reparation v1.3 FO 32.03.118


4. Maintenance and reparation

4.1. Safety precautions

4.1.1. General safety precautions

WARNING !

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

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

DANGER !

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

that now defects are to be noticed.

DANGER !

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

maintenance.

DANGER !

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

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

injury, electric shock, fire, etc.

4.1.2. Specific warnings

WARNING !

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

4.2. Personnel responsible for maintenance or reparation

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

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

(A) Maintenance technician without any specific formation from Asyril

(B) Maintenance technician with a specific formation from Asyril

(C) Technician from Asyril’s customer service

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

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

personnel must observe the safety precautions listed in this manual.





4.3. Maintenance

WARNING !

For any kind of maintenance, always use Asyril products.

4.3.1. Periodic maintenance schedule

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

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

Item Period Personal Reference

Robot Cleaning the robot

Year B 4.3.2

Inspection of the control box

Year C Contact

Asyril

Controlling the engine group

Year C Contact

Asyril

Controlling the parallel structure

Year C Contact

Asyril

Visual check, clean and lubricate the

articulations of the parallel structure (including

moving platform and compliance)

Year C Contact

Asyril

Table 4-1 : periodic maintenance schedule

NOTE :

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

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

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





4.3.2. Cleaning robot

Material needed :

- Lint-free cloth

- isopropanol alcohol

- Vaccum-cleaner

Step 1 Clean all exterior surfaces of the

robot with a lint-free cloth. And pay

specific attention to the front arms

(B)

Step 2 Use the vacuum cleaner to remove

dust accumulated in the filters (A)

Figure 4-1 : cleaning the robot PowerDelta

4.3.3. Controlling the parallel structure

- Clean and lubricate the joints of the parallel structure

- Control the front arms wear

- Control the clearance of the robot nacelle

NOTE :

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

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

4.3.4. Controlling the engine group

- Control the engine

- Control the brakes

NOTE :



4.3.5. Inspection of the control box

- Clean the air breather

NOTE :



(A)

(B)





4.4. Reparation

WARNING !

For any kind of reparation, always use Asyril products.

For any kind of reparation, the product must be returned to the manufacturer. For exceptional

cases, and after acceptation of Asyril S.A. this work can be performed on the costumer’s site

by trained personnel as defined in section 4.2.

Two kind of parts are defined :

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

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

Name of the part Type Product key Article

number

Parallel structure B PARST-POW-01--25-01-01-01 Y 660 004 137

Foam filter plate A - Y 160 830 002

Proximity detector B - Y 220 000 430

NOTE :

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

costumer’s service.





4.5. Technical support

4.5.1. For better service …

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

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

- serial number and product key of your material

- software version

- alarm or error message displayed on the screen

4.5.2. Contact

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

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

[email protected]

+41 26 653 7190

http://www.asyril.ch/

mailto:[email protected]





Review history

Rev. Date Author Comments

1.0 26.11.10 DaM Initial version

1.1 20.12.10 BuB Add safety notice

1.2 27.09.12 SiA Update to new model

Change performances information

Add transport, maintenance, reparation and support information

1.3 19.10.2012 SiA Update replaceable parts list

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

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

the purpose of product improvement.

asyril sa

z.i. le vivier

ch-1690 villaz-st-pierre

switzerland

tel. +41 26 653 71 90

fax +41 26 653 71 91

[email protected]

www.asyril.ch

powerdelta robot - asyril · 2.1. first glimpse at the product the powerdelta is a miniature robot...

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