Electrical
The robot is shipped with a NEMA 6-20P plug, designed for use with a NEMA 6-20R receptacle (standard 220VAC 20A outlet in the USA). It is the user’s responsibility to ensure that the electrical installation of the machine meets all local regulations and electrical codes.
Robot power requirements
Primary Power Required Single-Phase 230 Vac,50/60 Hz
Maximum 240 Vac, 50/60 Hz
Recommended Circuit Amperage 20 A breaker
Control computer power requirements
Primary Power Required Single-Phase 115 Vac,50/60 Hz
Maximum 120 Vac, 50/60 Hz
Recommended Circuit Amperage 15 A breaker
Clean power
Additionally, make sure that your site meets the following power requirements:
No Electrical Noise Primary power must be provided by a dedicated circuit, which must be isolated from electrically-noisy devices like welders, plasma cutters, air compressors, hard-start electric motors. The control computer especially should be isolated from noisy or inductive loads from items like vacuum cleaners or air compressors. Failure to provide consistent power may result in USB drop-outs.
Proper Grounding Ensure the circuits used to power the robot and control computer are properly grounded. Poor grounding in shops is the primary cause of USB-related problems with the control computer. Check the continuity between bare metal on the computer/machine frame and true earth ground (a water pipe or similar) to make sure that it's properly grounded.
Correct Plug Pattern The robot is shipped with a NEMA 6-20P plug, designed for use with a NEMA 6-20R
Air
Compressed air is not required by the robot itself, but many accessories (pneumatic grippers, vise, air knife, blow-off nozzles, solenoid valves) do require the following:
Air Pressure Between 90 psi and 120 psi (620kPa to 825 kPa). If the air supply is more than 120 psi (825 kPa), you must use a regulator.
Dry Air We recommend using a compressed aird ryer, desiccator, or filter between the air compressor and the accessory devices.
Lubricated Air Air tool lubricant is a must to keep actuators working properly. Use the FRL Filter-Regulator-Lubricator (PN 32457) or similar for this purpose.
Space
General
The space requirements for the Tormach ZA6 vary depending on application. In order to utilize the full range of motion, the robot should occupy a space that gives it 1m of clearance in all directions.
Many applications require less space, and some installations will have space constraints. There are plans for provisions in the control software for users to create bounding boxes that will prevent the robot from colliding with known obstacles, but at present there is no way to for the user to configure such bounding boxes.
Machine Tending
For milling machine tending, the robot can be situated either to the right or directly in front of a milling machine. For lathe tending the robot must be situated in front of the lathe. In either setting the robot must have enough room to safely move in and out of the CNC machine enclosure without endangering human operators.
FIXME - insert top view of mill/robot/stand, lathe/robot/stand