SCARA Robot (Horizontal Articulated Robot) Examples of In-House Production Automated Pick-and-Place Operation and Inter-Process Transportation of Loads
Real Example of Equipment SCARA Robot
Equipment Overview
This is an in-house (self-made) SCARA robot that automates pick-and-place and inter-process transfer of loads.
The product is used on a line that automates gluing, measuring, and assembly, which were previously performed manually by humans.
Since pick-and-place and inter-process transfers had to be achieved in a limited space, SCARA robots were built in-house.
| Number of Axes | 5 axes (3 links + elevation/lowering + electric gripper) | |
|---|---|---|
| Robot Control | Robot Controller MRC01 | |
| Transportable Mass | 0.7 kg | |
| Maximum Speed | 500 mm/s
(Maximum speed at gripper tip) |
|
| Maximum Speed of Each Axis | Axis 1 | 500 mm/s |
| Axis 2 | 500 mm/s | |
| Axis 3 | 500 mm/s | |
| Axis 4 | 40 mm/s | |
| Axis 5 | 156 mm/s (both sides) | |
| Equipment Main Power Supply | 100 VAC | |
| Power Supply for Driving/Controlling | 24 VDC | |
| Mass (SCARA robot part) | 4 kg | |
System Configuration
It is controlled via Ethernet/IP. The MRC01 and AZ Series driver are controlled by RS-485 communication.
List of Components
| Product Name | List Price (SGD) | List Price (USD) | ||
|---|---|---|---|---|
| Axis 1 | Hollow Rotary Actuator | DGM85R-AZAK | 2,131 SGD | 1,705 USD |
|
|
Driver (Built-in controller type) |
AZD-KD | 536 SGD | 429 USD |
| Flexible Connection Cable | CC030VZR2 | 121 SGD | 97 USD | |
| DC Power Supply Cable | CC02D010-3 | 16 SGD | 13 USD | |
| RS-485 Communication Cables | CC001-RS4 | 28 SGD | 22 USD | |
| Axis 2 | Hollow Rotary Actuator | DGM60-AZAK | 189 SGD | 951 USD |
|
|
Driver (Built-in controller type) |
AZD-KD | 536 SGD | 429 USD |
| Flexible Connection Cable | CC030VZ2R2 | 121 SGD | 97 USD | |
| DC Power Supply Cable | CC02D010-3 | 16 SGD | 13 USD | |
| RS-485 Communication Cables | CC001-RS4 | 28 SGD | 22 USD | |
| Axis 3 | αSTEP Harmonic Geared Type | AZM24AK-HS50 | 1,049 SGD | 839 USD |
|
|
Driver (Built-in controller type) |
AZD-KD | 536 SGD | 429 USD |
| Flexible Connection Cable | CC030VZ2R2 | 121 SGD | 97 USD | |
| DC Power Supply Cable | CC02D010-3 | 16 SGD | 13 USD | |
| RS-485 Communication Cables | CC001-RS4 | 28 SGD | 22 USD | |
| Axis 4 | Compact Electric Cylinders | DR28T1A03-AZAKD-F | 1,474 SGD | 1,179 USD |
|
|
Driver (Built-in controller type) |
AZD-KD | 536 SGD | 429 USD |
| Flexible Connection Cable | CC030VZ2R2 | 121 SGD | 97 USD | |
| DC Power Supply Cable | CC02D010-3 | 16 SGD | 13 USD | |
| RS-485 Communication Cables | CC001-RS4 | 28 SGD | 22 USD | |
| Axis 5 | Electric Grippers | EH3-AZAKH | 908 SGD | 726 USD |
|
|
Driver (Built-in controller type) |
AZD-KD | 536 SGD | 429 USD |
| Flexible Connection Cable | CC030VZ2R2 | 121 SGD | 97 USD | |
| DC Power Supply Cable | CC02D010-3 | 16 SGD | 13 USD | |
| Control | Robot Controller | MRC01 | 2,750 SGD | 2,200 USD |
|
DC Power Supply Cable | CC02D010-3 | 16 SGD | 13 USD |
| RS-485 Communication Cables | CC001-RS4 | 28 SGD | 22 USD | |
| 12,022 SGD | 10,418 USD | |||
- EtherNet/IP™ is a trademark of ODVA.
- All motor cables are 3 m in length.
- All DC power supply cables are 1 m in length.
- All RS-485 communication cables are 0.1 m in length.
Control Section (Robot Controller)
Control Section
MRC01
Robot Controller MRC01
Easy introduction of in-house robots into existing systems
MRC01 links to the host controller using EtherNet/IPTM for direct control. You can easily introduce in-house robots without making significant changes to the existing equipment’s control system.
- EtherNet/IP™ is a trademark of ODVA.
- *1
- The MRC01 can also be operated with an I/O connection (without a host controller).
- *2
- The MRC01 and AZ Series driver are controlled by RS-485 communication.
Easy setup for beginners
MRC01 can easily be set up, from the initial setup to the operation program, without any technical knowledge such as programming languages. Initial settings, such as selecting the robot type and entering mechanism information, are made easy with the wizard format. The operation program can also add targeted commands while moving the in-house robot via teaching operation.
When the young equipment designers at Oriental Motor actually used the system for the first time, they were able to create programming with teaching in about 2 hours because settings for multiple axes can be set with a single command.
- MRC Studio programming software and EDS files are available for download here.
Online 3D simulation to check operation
The in-house robot’s operation program can be checked on a 3D simulator without driving the motor.
Connecting to the host PLC is not required for simulation.
This prevents the robot from moving in the opposite direction or damaging itself by moving too much.
- Cannot be used offline.
End effector axis control is also possible
Compatible with articulated robots, SCARA robots, and cartesian robots, all of which are typical industrial robot structures.
The end effector axis can also be controlled by MRC01, contributing to space and wiring saving, as well as cost reduction of the entire system.
-
Articulated Robot -
SCARA Robot -
Cartesian Robot
- For more information on compatible robots, refer to the operating manual.
Compatible with a wide variety of products
They are compatible with the AZ Series and electric actuators equipped with them. The wide variety of products gives you a lot of freedom in designing the robot type you want to build in-house.
AZ Series Driver
Built-in controller type
-
Single-Phase 100-120 V,
Single-Phase/Three-Phase 200-240 V -
24/48 VDC
mini driver RS-485 communication type
AZ Series motors, AZ Series equipped electric actuators
-
Motors -
Hollow Rotary Actuators
DGII Series -
Compact Electric Cylinders
DR Series
DRS2 Series
-
Electric Linear Slides
EZS Series
EAS Series
EZSH Series -
Electric Cylinders
EAC Series -
Rack-and-Pinion System
L Series -
Electric Grippers
EH Series
Built-in products
Robot Controller MRC01
This robot controller can be used to easily introduce and control in-house robots in 3 steps: "Initial Setting," "Operation Programming," and "Operation Checking." Can be connected to AZ Series products/AZ Series equipped electric actuators.
Joint Axis, End Effector
Joint Axis, End Effector
AZ Series Equipped Products
αSTEP AZ Series Equipped Product
Mechanical multi-rotation absolute encoder reduces sensors and eliminates the need for batteries
With the αSTEP AZ Series, external sensors such as home can be reduced, contributing to a compact configuration with less wiring. The mechanical multi-rotation absolute encoder [ABZO] retains position information even if the power supply is interrupted by an emergency stop or power failure during positioning operation. Since it is mechanical, it does not require a battery for data retention. There is no need to worry about the cost of purchasing batteries, problems occurring during operation, or maintenance periods. In addition, the AZ Series motors themselves can act as sensors and monitor the robot's status numerically.
Optimal for joint axes hollow rotary actuator and compact geared type
Hollow Rotary Actuator DGII Series (Axis 1, Axis 2)
SCARA robots generate a large load moment when gripping a load at the tip of the arm far from Axis 1.
The DGII Series uses crossed roller bearings for the hollow output table to achieve a high permissible moment. This contributes to an expanded range of arm motion.
Additionally, the hollow hole (through-hole) can be used for wiring cables with complex routing, simplifying equipment design.
αSTEP AZ Series Harmonic Geared Type (Axis 3)
Even a small misalignment may become large at the tip of the arm, making it impossible to grip the load accurately. Harmonic-geared types are non-backlash, thus reducing misalignment and ensuring accurate operation.
Compact and lightweight actuators that reduce the load on robot mechanism tips
Compact Electric Cylinder DR Series (Axis 4)
The compact body with integrated αSTEP and ball screw can help reduce equipment size and save space. The reduced weight at the end of the equipment is expected to increase design flexibility.
Electric Gripper EH Series (Axis 5)
The more compact and lightweight the end effector is, the more the burden to joints can be reduced, and this contributes to making the entire robot more compact and lower cost.
With an electric gripper, the position, gripping time, and gripping force can be freely set. A variety of gripping can be achieved.
Built-in Products
Hollow Rotary Actuators
DGII Series
This is an integrated product of the hollow rotary table and αSTEP. High power drive is possible due to the speed reduction mechanism inside the actuator.
αSTEP Battery-Free Built-In Absolute Encoder AZ Series
αSTEP, which employs Oriental Motor’s unique closed loop control, is equipped with a newly developed ABZO sensor. Absolute systems are now possible with no battery required. A range of network compatible drivers is also available to achieve advanced positioning at an affordable price.
Compact Electric Cylinders
DR Series
αSTEP and ball screw are integrated. Achieves high-precision positioning in a compact frame size with mounting angle dimensions of 20 mm and 28 mm. A wide variety of mechanism variations in types and additional functions are available. Equipped with an ABZO sensor, to help space saving and simple wiring.
Electric Gripper EH Series
This electric gripper combines rack-and-pinion mechanisms with the αSTEP AZ Series. It achieves a delicate "grasp" like human fingertips, and assists in automation and labor saving.