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⌚Timestamps:
00:00 - Intro
01:01 - Axes and Joints
02:35 - Factors to consider when choosing a robot
03:07 - Mechanical brakes
03:26 - Servo motors
04:16 - Controller
05:33 - GUI
06:27 - Backup batteries
06:56 - Cabling and IOs

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In this video, we will discuss industrial robots and what they are; and the mechanical and electrical parts of a robot. Robots are electro-mechanical devices that can be used for many tasks.

These tasks can be as simple as moving a box from one conveyor to another. Robots are excellent at doing very specific, repeatable tasks. However, they can also be used for more complex tasks such as building automobiles on an assembly line.

The type of robot is defined by how many axes are used. For each axis, there is at least one servo motor that moves to support that part of the robot. Another name for a servo on a 6-axis robot is a joint.

Each of these joints is made of servo motors with gears and belts to mechanically drive the robot.

Assuming proper maintenance is being performed on the robot, some of its moves can be repeatable to a couple of tenths of a millimeter. The robot’s repeatability is one of the advantages of a 6-axis robot.

Some robots are small enough to place microchips on circuit boards, while others can lift heavy objects like vehicles. Each robot is sized to the desired application. A few factors in choosing a robot are reach, payload, and speed.

Each 6-axis robot has mechanical brakes, a necessary part to prevent movement when the servos are not engaged. Each robot has mechanical hard stops that prevent the robot from moving too far in on some axes.

Another part of the 6-axis robot is the controller. A 6-axis robot controller is an electrical cabinet that houses all the main electrical components that are needed to drive the servo motors for each axis. These cabinets have a few different main components.

– They have a disconnect switch that allows for Lockout/Tagout functions.
– The line voltages can vary but are typically within 208-600 volts AC.

– They have many printed circuit boards (PCBs). One of the PCBs controls the E-stop functions of the robot.

– Some 6-axis controllers have fuses to prevent the board from being damaged.
– There is also a servo amplifier in the 6-axis robot controller.

– Each robot controller has some type of CPU, which is used to make movement calculations.
– Some 6-axis robot controllers are expandable to add auxiliary axes if a 7th axis is needed. These cabinets also can house IO for the interface of peripheral equipment.

Another part of the electrical of a 6-axis robot is the graphical user interface or GUI. Some GUIs are electrically tied to the controller while some use a computer instead. The GUI tied to the controller is a handheld screen with keys on it that are used when programming the robot.

When moving a 6-axis robot, there is a safety switch that has three positions. When the handheld screen’s safety switches are engaged in position 2 this will release the brakes and enable the servo controller to drive the motors.

There is also an E-stop button on the handheld GUI, which can force the robot to shut down if a human is dangerously close to a robot while it is running.

Another important part of a 6-axis robot’s electrical system is the servo encoder backup batteries. These batteries will keep the servo encoder counts when the power is removed from the robot controller.

Most 6-axis robots have cabling running through them. These cables are for all servo motors and various sensors that are needed to run the robot.

– Depending on the manufacturer, some of the inputs and outputs (IOs) are run internally.
– There are also external IO options that are used. The IO of a robot depends on the application.

The IO can drive actuators or see the status of sensors that are mounted on the robot.

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