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[{"fields": {"is_featured": false, "dir_size": 4712, "igdata": "purchasing used robots robot configuration robot inspection - in operation controller inspection digital entry panel (dep) inspection summary this ignitable will discuss the important factors related to purchasing used robotic equipment. as you are aware, purchasing anything "used" can definitely be a challenge. however, purchasing used robots can be even worse if you do not know what to look for. so let's begin. first, you need to understand the basic robotic configurations and how they apply to your manufacturing process. for example, the arrow is pointing to one of the three floor anchor locations. therefore, this robot can only be mounted in an upright position (as shown) and cannot be inverted and installed on a gantry. it also has the ability to carry 220 kilograms and would be overkill to use for mig welding. there are many different models built in different sizes and configurations based on their previous industrial application. secondly, you need to thoroughly inspect the used robot, especially in the following areas:

1. how many duty hours the robot has been in operation. 
2. what types of environmental conditions the robot was exposed to.
3. ask to see the preventive maintenance (pm) log.
4. make sure you thoroughly check the unit for cracks in the casting, oil leakages or other damage. cracks usually appear in the orange metal castings of the arm shown here... . . .and in the base shown here. this is usually due to overloading or incorrect mounting and usage. oil leakages are usually found in this area but can also be found on other axes. this is a typical mig welding robot in operation. if you get the opportunity to see the robot in operation prior to purchasing it, then here is a list of things to look and listen for: 1. the sound of the axis movement. listen for clunking and clicking noises. this could be an indicator of bearing wear or servo motor failure. 2. look for jerky movements that are not related to programming. this could also be an indicator of a broken bearing or servo motor. 3. look for any type of makeshift maintenance performed on the work cell or robot. this could be an indicator of the type of pm, if any, performed on the robot. 4. look for the cleanliness of the work cell or robot. this is usually a good indicator of whether or not proper pm was performed on the robot. this is an actual abb controller complete with dep and cabinet. 
the controller houses all of the computer hardware required to operate the robot. i/o cards are also located within the controller and are used to control external peripherals such limit switches, gates or interfacing with other programmable logic controllers (plcs). it is also important to check the controller for damaged or missing parts. check to see if the digital entry panel (dep) is still attached, as shown here. open the panel door using the handle located here and check the state of the circuitry inside. this is the teach pendant from a s3 controller. when first powered-up the dep will display a "abb robotic system self testing" message. this will test the hardware and is a good indicator of any issues that the controller might have. this interface is called the dep or digital entry panel. this area allows you to program and manipulate the robot by . . . . . . entering values using the keypad. these values are used for i/o control, velocity of movement, etcetera. the dep allows you to control the type of robotic movement such as individual axis, linear robotic movement or movement around a tool center point. . . . . . and the dep also allows you control of the grippers for pick and place applications. this is the joystick and must be checked for proper operation. the joystick allows you to move the robot based the type of movement you desire. for example, you can move each axis of the robot individually or all simultaneously. simultaneous axis movement is required to move around a tool center point, move from point to point or along a curved path. if this is broken, it can be very dangerous to the person programming the robot. this is the secondary stop button. when pressed all power to the robot is halted. this also must be checked for proper operation. this was a brief overview of some of the factors to consider when inspecting used robots before purchasing them. <br/>", "overdue_email_after": false, "fail_retake": false, "keywords": "Robots, ABB, Buying Robots", "fail_action": "", "notification_email": false, "access_token_redemption_count": 0, "completion_type": "", "title": "Purchasing Used Robots", "overdue_email_after_text": null, "encoded_id": "g76r9IRNpZ", "is_viewed": true, "overdue_days_email": false, "parent_id": null, "private_views": 0, "fail_email_text": null, "status": "active", "sharing": "public", "description": "", "tags": [21, 22, 23], "price": "0.00", "invite_message": null, "allow_score_reset": true, "igtype": "ignitable", "pass_email_text": null, "fail_popup_text": null, "podcast": false, "public_views": 4839, "notification_email_text": null, "categories": [], "overdue_days_email_text": null, "pass_action": "", "notification_days_before": null, "access_token": null, "pass_popup_text": null, "pass_level": 0, "author": 5, "completion_date": null, "overdue_summary": false, "fail_retake_auto": false, "avgrating": "2.0", "directory": "27_1194029407895", "date_created": "2007-11-02T00:00:00Z", "access_token_limit": 0}, "model": "Content.ignitable", "pk": 27}]
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