Site Requirements

Owned by Daniel Rogge
Last updated: Oct 15, 2021 by Amanda Lucas
2 min read

Electrical

The robot is shipped with a NEMA 6-20P plug, designed for use with a NEMA 6-20R receptacle (standard 220 Vac 20 A outlet in the U.S.). It's your responsibility to verify 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, or 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 controller/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 receptacle.

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 (620 kPa 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 air dryer, 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 use 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 you to create bounding boxes that will prevent the robot from colliding with known obstacles, but currently, there is no way to for you to configure such bounding boxes.

Machine Tending

For milling machine tending, the robot can be installed either to the right or directly in front of the milling machine. 

For lathe tending, the robot must be installed 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