How to Install the NexBot Robotics CLR032-001 SCARA Robot

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Tools Required

• Lifting equipment rated for at least 50 kg
• Calibrated torque wrench (0-50 Nm range)
• Metric hex key set
• Precision machinist level
• Cleanroom-safe wipes
• Isopropyl alcohol (IPA)
• ESD wrist strap
• Lock-out/Tag-out (LOTO) kit

Article

This document provides detailed instructions for the safe and correct installation of the NexBot Robotics CLR032-001 SCARA Robot (SKU: NXB-ROB-CLR032-001). Following these procedures is critical to ensure proper functionality, maintain cleanroom compliance, and achieve the specified ±0.01 mm repeatability.

Prerequisites

Before beginning the installation, ensure all the following conditions are met.

Safety Precautions:

• Only personnel trained and certified in industrial robot installation and maintenance should perform this procedure.
• The main electrical supply must be de-energized and locked out/tagged out (LOTO) before making any electrical connections.
• The robot is heavy. Use appropriate lifting equipment and techniques to prevent injury and damage to the unit.
• Be aware of potential pinch points at all robot joints (J1, J2, J3, J4).
• Use an electrostatic discharge (ESD) wrist strap when handling any electronic components or connectors.

Environmental & Facility Requirements:

• Mounting Surface: The mounting surface must be rigid, flat to within 0.05 mm over the robot base footprint, and capable of supporting the robot's operational forces and weight. An uneven surface will compromise robot accuracy.
• Cleanroom: The installation area must meet or exceed ISO Class 4 (Class 10) standards. The robot must be thoroughly cleaned before being brought into the cleanroom environment.
• Power: A dedicated 220VAC Single-Phase power source with a suitable circuit breaker must be available near the installation point.
• Network: An EtherCAT master controller and appropriate cabling must be available.
• Vacuum: A facility vacuum exhaust line must be available to connect to the robot's internal particle management system.

Step-by-Step Instructions

Step 1: Unpacking and Inspection

1. Transport: Move the shipping crate to a designated staging area, preferably an ante-room adjacent to the main cleanroom.
2. Unpack: Carefully open the crate and remove all packaging materials. Avoid using sharp tools that could scratch the robot's specialized coating.
3. Inspect: Visually inspect the robot (NXB-ROB-CLR032-001) for any signs of damage that may have occurred during transit. Check that all connectors are intact.
4. Verify Contents: Cross-reference the contents of the crate with the packing list to ensure all components, cables, and documentation are present.
5. Pre-Installation Cleaning: Using cleanroom-safe wipes and isopropyl alcohol (IPA), meticulously wipe down all external surfaces of the robot to remove any contaminants before moving it into the cleanroom.

Step 2: Mechanical Mounting

1. Prepare Surface: Clean the designated mounting surface within the cleanroom, ensuring it is free of any debris.
2. Position Robot: Using approved lifting equipment, carefully lift the robot and position it over the mounting holes on the installation surface. The robot base has a specific bolt pattern; refer to the technical drawings for exact dimensions.
3. Secure Robot: Insert four (4) M8, class 10.9 or higher, bolts with washers through the robot base into the mounting surface. Do not fully tighten yet.
4. Leveling: Place a precision level on the machined top surface of the robot base. Adjust the robot's position as needed until it is perfectly level. This step is critical for performance.
5. Torque Bolts: Tighten the mounting bolts in a star or cross pattern to ensure even pressure. Use a calibrated torque wrench to apply a final torque of 28 Nm (±2 Nm) to each bolt.

Step 3: Electrical Connections

WARNING: Ensure the main power source is OFF and locked out before proceeding.

1. Grounding: Connect the primary ground lug on the robot base to the facility's earth ground using a dedicated, low-impedance ground wire. A reliable ground connection is essential for safety and noise immunity.
2. Main Power: Connect the provided power cable to the 220VAC power input connector on the robot base. Connect the other end to the main power source.
3. Communication: Connect a shielded EtherCAT cable from your robot controller (EtherCAT master) to the EtherCAT IN port on the robot's connection panel.
4. User I/O: Connect any required end-of-arm tooling (EOAT) or cell safety signals to the user I/O connector as specified in the robot's electrical schematics.

Step 4: Pneumatic and Vacuum Connections

1. Vacuum Exhaust: The CLR032-001 features an internal vacuum system to capture particles generated by the robot's internal mechanics. Connect the vacuum exhaust port at the base of the robot to the facility's vacuum system. Ensure the connection is airtight to maintain negative pressure.
2. Pneumatics (Optional): If your application uses pneumatic end-effectors, connect the clean, dry air (CDA) supply to the designated pneumatic input ports on the robot arm.

Verification

1. Pre-Power Check: Double-check that all electrical connections are secure, all mounting bolts are torqued correctly, and the robot's work envelope is clear of all personnel, tools, and obstructions.
2. Power On: Remove the LOTO device and energize the robot controller and the robot's main power circuit.
3. Establish Communication: Verify that the robot controller establishes a stable EtherCAT communication link with the CLR032-001. Check for a green 'RUN' or 'LINK' status LED on both the controller and the robot.
4. Manual Movement Test: Using the teach pendant in T1 (manual, low speed) mode, carefully jog each of the robot's four axes (J1, J2, J3, J4) through a small range of motion. Listen for any unusual noises and watch for smooth, unrestricted movement.
5. Homing: Execute the robot's standard homing procedure from the controller. This will establish a precise reference position for all axes. The robot will move to its mechanical hard stops or until its home sensors are triggered.
6. Final Check: Once homing is complete and the robot is operating as expected, perform a final inspection of the installation before releasing the system for programming and integration.

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