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ELECTRO NEUMÁTICA
Presenta:
Arellano Sandoval Mizrahí Antonio
González Cruz Brenda Guadalupe
Hernández Hernández Elisa
Martínez Moreno Juan Antonio
Vargas Vázquez Luis Fernando
Grupo: 6IM51
Profesora:
Olvera Anaya Romina Michele
Fotos de elementos de trabajo:
Croquis
Hojas de especificación
Proceedings, 2nd IFAC Conference on
Proceedings, 2nd IFAC Conference on
Modelling, Identification
Proceedings, and Controlon
2nd IFAC Conference of Nonlinear Systems
Modelling, Identification Available
and Control of online
Nonlinear at www.sciencedirect.com
Systems
Proceedings,
Guadalajara,
Modelling, 2nd IFAC
Mexico,
IdentificationConference
June 20-22,
and on
2018
Control of Nonlinear Systems
Guadalajara, Mexico, June 20-22, 2018
Modelling, Identification and Control
Guadalajara, Mexico, June 20-22, 2018 of Nonlinear Systems
Guadalajara, Mexico, June 20-22, 2018
ScienceDirect
IFAC PapersOnLine 51-13 (2018) 303–308
Super
Super Twisting
Twisting Control
Control For
For Thermo’s
Thermo’s
Super
Super Twisting
Catalyst-5
Twisting Control
Robotic
Control For
ForArmThermo’s
Thermo’s
Catalyst-5
Catalyst-5 Robotic
Robotic Arm
Arm
Catalyst-5 Robotic Arm
Giovanni López Cruz ∗∗ Hussain Alazki ∗∗
Giovanni López Cruz ∗ Hussain Alazki ∗∗ ∗
Giovanni Ramón
Ramón López Garcı́a
CruzHernández
Garcı́a ∗ Hussain Alazki
Hernández ∗∗ ∗
Giovanni López Cruz
Ramón Garcı́a Hernández ∗∗ Hussain Alazki
∗∗
∗ Ramón Garcı́a Hernández
∗ Facultad de Ingenierı́a, Universidad Autónoma del Carmen, Ciudad
∗ Facultad de Ingenierı́a, Universidad Autónoma del Carmen, Ciudad
Facultad
del Carmen, de Ingenierı́a,
Campeche, Universidad Autónoma
México. (e-mail:
∗ del Carmen, Campeche, México. (e-mail: gio lobo@hotmail.com;
del Carmen, Ciudad
gio lobo@hotmail.com;
Facultad
del Carmen, de Ingenierı́a,
Campeche, Universidad
halazki@pampano.unacar.mx).
México. Autónoma
(e-mail: gio del Carmen, Ciudad
lobo@hotmail.com;
del
∗∗ Carmen, Campeche, halazki@pampano.unacar.mx).
México. (e-mail: gio lobo@hotmail.com;
∗∗ División de Estudios de
∗∗ División de Estudios de Posgrado
Posgrado ee Investigación,
halazki@pampano.unacar.mx).
halazki@pampano.unacar.mx). Investigación, Instituto Instituto
División
Tecnológico de Estudios
de la de
Laguna, Posgrado
Torreón,
∗∗ Tecnológico de la Laguna, Torreón, Coahuila, México,
e Investigación,
Coahuila, México, Instituto
División de Estudios de Posgrado
(e-mail:rgarciah@correo.itlalaguna.edu.mx)
Tecnológico de la Laguna, Torreón,e Investigación,
Coahuila, Instituto
México,
(e-mail:rgarciah@correo.itlalaguna.edu.mx)
Tecnológico de la Laguna, Torreón, Coahuila, México,
(e-mail:rgarciah@correo.itlalaguna.edu.mx)
(e-mail:rgarciah@correo.itlalaguna.edu.mx)
Abstract:
Abstract: The The control
control of of industrial
industrial robotics
robotics systems
systems is is important
important due due to to thethe wide
wide range
range of of
their
Abstract:
their applications.
The
applications. These
control
These machines
of industrial
machines are
are complex
robotics
complex electromechanical
systems is important
electromechanical systems
due
systems to that
the
that have
wide
have multiples
range of
multiples
Abstract:
input/outputs,
their applications. Theare control
non-linearofmachines
industrial arerobotics
complexsystems
and uncertainty.
uncertainty. For thisispurpose,
important
purpose, isdue
itsystems tothat
essential the that
widethe range
robotof
input/outputs,
their applications. are These
non-linear
These machines and are complex
electromechanical
For this
electromechanical it is
systems essential
that
have
that
have
multiples
the robot
multiples
input/outputs,
programmers
programmers are
can
can non-linear
test thethe behavior and uncertainty.
of
of the
the robots For this purpose,
in different it is
circumstances essential and that
with the robot
varying
input/outputs,
parameters
programmersunder aretest
can non-linear
a
test control
behavior
the behavior and uncertainty.
methodology.
robots
of the robotsIn Forin
this
different
inthis
work, purpose,
different it is
circumstances
it is essential
designed
circumstances
andthat
aa controller
with
and with thevarying
robot
base
varyingon
parameters
programmers under
can a
test control
the methodology.
behavior of the In this
robots inwork,
different it is designed
circumstances controller
and with base
varyingon
Super
parameters
Super Twisting
Twistingunder Algorithm
a
Algorithm control (robust
(robust nonlinear
methodology.
nonlinear In controller)
this work,
controller) to
toit reduce
is
reducedesignedthe
the chattering
a controller
chattering problem
base
problem of
on
of
parameters
sliding
Super mode
Twistingunder
control a control
Algorithm with the methodology.
robustness
(robust nonlinear In robotic
of this work,
controller) it reduce
manipulator,
to is designed and
the a controller
the stability
chattering base on
proof
problem in
of
sliding
Super mode control
Twisting Algorithm with the robustness
(robust nonlinear of robotic
controller) manipulator,
toand reduce and the withthe stability
chattering proof in
problem of
sliding
the
the casemode
case of control
of nonlinear
nonlinear with the
systems.
systems. robustness
Simulation
Simulation of robotic
results
results are
are shown manipulator,
shown and compare
compare and the stability
with the proof in
the Proportional-
Proportional-
sliding
Derivative
the case mode
of control
controller
nonlinear with
using
systems. the
the robustness
5-DOF
Simulation (Degrees of
resultsrobotic
of Freedom)
are manipulator,
shown robotic
and and
manipulator
compare the
with stability
CRS
the proof in
Catalyst-5
Proportional-
Derivative
the case of controller
nonlinear using
systems. the Simulation
5-DOF (Degrees resultsofare
Freedom)
shown of robotic
and manipulator
compare with CRS
the Catalyst-5
Proportional-
by
by Thermo
Derivative
Thermo Electron
controller
Electron Corporation
using the 5-DOF
Corporation to
to illustrate
(Degrees
illustrate the efficient
of Freedom)
the efficient the
robotic
of the proposed
manipulator
proposed method.
CRS
method. Catalyst-5
Derivative
by Thermocontroller Electron using the 5-DOF
Corporation (Degrees the
to illustrate of Freedom)
efficient of robotic manipulator
the proposed CRS Catalyst-5
method.
© 2018,
by Thermo IFACElectron
(International Federation
Corporation to ofillustrate
Automaticthe Control)
efficientHosting
of thebyproposed
Elsevier Ltd. All rights reserved.
method.
Keywords:
Keywords: Super Super Twisting
Twisting Control,Control, Robust Robust Control,
Control, Robotic
Robotic Manipulators.
Manipulators.
Keywords: Super Twisting Control, Robust Control, Robotic Manipulators.
Keywords: Super Twisting Control, Robust Control, Robotic Manipulators.
1. INTRODUCTION
1. INTRODUCTION work (Safaric
work (Safaric (1996)),
(1996)), and and neuro-fuzzy.
neuro-fuzzy. A A new
new model-free
model-free
1. INTRODUCTION work
control (Safaric
law thatthat(1996)),
combines and the neuro-fuzzy.
the PD control
controlA new
withmodel-free
SMC has has
1. INTRODUCTION control law
work (Safaric combines
(1996)), and the PD
neuro-fuzzy. A with
new SMC
model-free
The robotic manipulators have facilitated the work in control
been law
proposed
The robotic manipulators have facilitated the work in been proposed for trajectory tracking control of multi- that combines
for trajectory PD control
tracking with
control SMC
of has
multi-
The robotic
different areasmanipulators
(the manufacturing have facilitated
manufacturing pieces,the
of pieces, work in been
assembling, controlproposed
degree oflaw thatfor
freedom combines
trajectory
linear the tracking
PD control
translational with
control
robotics SMC has
of multi-
system. The
different
The robotic areas (the
manipulators of
have facilitated assembling,
the work in degree of freedom linear translational robotics system. The
different
painting, areas
and even(the manufacturing
medical surgery). of
The pieces,
first assembling,
manipulator been
degree proposed
results ofof freedom
of the for
the simulation trajectory
linear
simulation are tracking
translational
are effectiveness control
robotics
effectiveness and of
system.
and robustnessmulti-
The
robustness
painting,
different and even
areas (the medical surgery). of
manufacturing The first manipulator
pieces, assembling, results
painting,
robot used and even
in the
the medical
factories surgery).
was The
the UNIMATE,
UNIMATE, first manipulator
installed by degree
by results
of this of freedom
ofnew
new thecontrol linear
simulation
control law,translational
are robotics
effectiveness
improving andsystem.
trajectory The
robustness
tracking
robot used
painting, in
and even factories
medical was the
surgery). The first installed
manipulator of this law, improving trajectory tracking
robot used
the General in
General Motorsthe factories
Motors Company was
Company in the
in 1960 UNIMATE,
1960 (Barrientos installed
(Barrientos (1997)). by
(1997)). of results of the
this new control
performance simulation
compared law,to are effectiveness
to improving
the PD and
trajectoryand
PD controller
controller robustness
andtracking
SMC
the
robot used there
inMotors
thehas factories was in the1960UNIMATE, installed by performance compared the SMC
the
SinceGeneral
then Company
been considerable
considerable (Barrientos
development (1997)).
in the
the of this new
performance
standard (Ouyangcontrol
compared law,to improving
(2014)). the PD trajectoryand
controller tracking
SMC
Since then
the General there
Motors has been
Company development in standard (Ouyang (2014)).
Since
tasks
tasks then
that there
that these
these has
machines
machines caninachieve.
been considerable
can
1960 (Barrientos
achieve. development
It is
It is necessary(1997)).
necessary in the performance
to standard
to (Ouyang compared (2014)). to the PD controller and SMC
Since
tasks
develop then
thatandthere
these
apply has been
machines
control considerable
can achieve.
algorithms development
toIt is necessary
complex in the
to
tasks. In
In the
standard
the context
(Ouyang
context of
of robustness,
(2014)). the
robustness, the SMC
SMC became
became the the prin-
prin-
develop
tasks thatand apply
these control can
machines algorithms
achieve. toIt complex
is necessary tasks.
to In the
cipal context
operational of robustness,
mode for the
this SMC
class ofbecame
control the prin-
systems
develop
These and
These industrial apply
industrial robots control
robots have algorithms
have conventional to complex
conventional controllerscontrollers bytasks.
by cipalIn theoperational
context mode for this theclass ofbecame
controlthe systems
developindustrial
These
default and apply
such as the control
robots
the havealgorithms
proportional conventional to complex
derivative (PD).tasks.
controllers by cipal
This ((Utkin
((Utkin 1999); of
operational
1999);
robustness,
mode
Edwards
Edwards for this
(1998))).
(1998))).
SMC
class
For of
For thecontrol
the nature ofprin-
naturesystems
of this
this
default
These such
industrial as robots proportional
have derivative
conventional (PD).
controllers This
by cipal
((Utkin
control,operational
1999);
the principal mode
Edwards for
drawback this
(1998))). class
isFor
theof
thecontrol
nature
chattering systems
of this
phe-
default
controller
controller such as the
widely
widely used
used proportional
for its
for derivative
its simplicity,
simplicity, but(PD).
but it is
it is This
not control,
not ((Utkin 1999);the principal
Edwards drawback
(1998))). isForthethechattering
nature of phe-
this
default enough
controller
robust such astothe
widely used
the proportional
for its
disturbances derivative
simplicity,
(Arad but(PD).
(2016)). it is This
not
There control,
nomenon
nomenon the principal
caused
caused by the
by thedrawback
sign function
sign is thewhile
function chattering
while forcing
forcing phe-
the
the
robust
controllerenough
widely to the
used disturbances
for its (Arad
simplicity, (2016)).
but it There
is not control,
nomenon
states to the
zero. principal
caused The by the drawback
sign
chattering is
function
problemthe chattering
while
is forcing
dangerous phe-
the
for
robust
are enough
are diverse
diverse PD to
PD type the disturbances
type controllers,
controllers, have (Arad
have been (2016)).
been successfully There
successfully states nomenon to zero.
caused The chattering
byhigh-frequency
the sign function problem whileis dangerous
forcing for
the
robust
are enough
diverse
implemented PDin totype
the controllers,
robot disturbances
manipulators (Arad
have and been(2016)).
can There states
successfully
guarantee the
the to zero.
actuators
actuators byThe
by the
the chattering
high-frequency problem is dangerous
oscillations.
oscillations. A method
A methodfor
implemented
are diverse PDin type
robot manipulators and cansuccessfully
guarantee the states to zero.
actuators the by The chattering
the high-frequency problem is dangerous
oscillations. A method for
implemented
global
global and in robotcontrollers,
and asymptotic
asymptotic manipulators
stability
stability for have
for the and
the
been can guarantee
trajectory
trajectory tracking
tracking
to
to
the
reduce
reduce
actuators the chattering
chattering
by the
is the
is the Super-Twisting
high-frequency
Super-Twisting
oscillations.
Algorithm
Algorithm
A method
implemented
global
problem
problem and inR.robot
asymptotic
(Kelly
(Kelly R. (2003)).
manipulators
stability
(2003)). for the and trajectory tracking to
can guarantee (STA)reduce
(STA)
to reduce
the chattering
(Levant
(Levant
the
(2007)), this
(2007)),
chattering
is thealgorithm
this Super-Twisting
algorithm
is thealgorithm was
Super-Twisting
Algorithm
was developed
developed
Algorithm
to
to
global and
problem asymptotic
(Kelly R. (2003)).stability for the trajectory tracking (STA) avoid
avoid (Levant
the (2007)),
chattering this
effect.The was
Super-Twisting developedControlto
In recent(Kelly
problem years, R. diverse
(2003)). strategies of of control
control are are used
used for for avoid(STA) the
(STC) (Levant
the
can
chattering
(2007)),
chattering
be applied
applied
effect.The
tothis
effect.The
Super-Twisting
any algorithm was it
Super-Twisting
system where developedControl
canControl
obtainto
In recent years, diverse strategies (STC) can be to any system where it can obtain
In
in recent
robots years, diverse
manipulators; strategies
the Sliding of control
Mode are
Control used
(SMC) for avoid
(STC)
the the
first can chattering
be
derivative applied of effect.The
to
sliding any Super-Twisting
system
variable. where
The mainit can Control
obtain
features of
in
In robots manipulators; the SlidingofMode Control (SMC) for the firstcanderivative of sliding
in recent(1983);
robots
(Slotine years, Slotine
diverse (1984))
manipulators; strategies
the Slidingis an control
anMode
efficient are
toolused
Control (SMC)
to con- (STC)
the
this first be are
derivative
controller applied of
that to anyvariable.
sliding variable.
compensates
The
The
main
systemuncertainties
wheremain
features
it can obtain
features
and
of
of
per-
(Slotine
in robots (1983); Slotine
manipulators; (1984))
the Sliding is efficient
Mode tool
Control to con-
(SMC) this controller are that compensates uncertainties and per-
(Slotine
trol (1983);
complex Slotineplants.
dynamic (1984))
plants. is ancontroller
This efficient
controller tool
reduces to con-
the this the first derivative
controller
turbations, are that
guarantees of sliding variable.
compensates
finite-time The main to
uncertainties
convergence features
and of
the per-
ori-
trol complex
(Slotine (1983);dynamic
Slotine (1984)) This
is an efficient reduces
tool to the
con- turbations, guarantees finite-time convergence to the ori-
trol complex
sensitivity to dynamic
disturbances plants. and This plantcontroller
parameters reduces the
varia- this controller
turbations,
gin of sliding are
guarantees
variablethat compensates
finite-time
and its uncertainties
convergence
derivate (Chalanga to and
the per-
ori-
(2015)).
sensitivity to dynamic
disturbances and plant parameters varia-
the gin of slidingguarantees
variable and its derivate (Chalanga
trol complex
sensitivity
tions. Anotherto disturbances
kind of of plants.
controland This
has plantcontroller
been parameters
used forreduces
for varia-
robotics turbations,
gin of sliding variable and finite-time
its derivateconvergence
(Chalanga to (2015)).
the ori-
(2015)).
tions. Another
sensitivity kind
toSliding
disturbances control has
andhas been
plant used
parameters robotics
varia- The The main idea of this paper is to design the controller
tions.
systems; Another
the kind of
Modecontrol
Control been
(SMC) used for
(Slotine robotics
(1983); gin ofmain
sliding variable and its derivate
idea of this paper is to design the controller (Chalanga (2015)).
systems; the Sliding
tions. Another kind Mode Control
of control has (SMC)
been (Slotine (1983); The main idea of this paper is CRS to design the controller
systems;
Slotine
Slotine the Sliding
(1984))
(1984)) is an
is anMode Control
efficient
efficient tool
tool(SMC)to used
to control
control
for complex
(Slotine robotics
(1983); for
complex
for 5-DOF
The
5-DOF
main
robotic
robotic
idea ofhas
manipulator
manipulator
this paper
CRS
is CRS
toPD
Catalyst-5
Catalyst-5
design
based in
based
the controller
in
systems;
Slotine the
dynamic(1984)) Sliding
plants, isthis
this Mode Control
ancontroller
efficient tool
controller (SMC)
reduce to the (Slotine
control
the (1983);
complex
sensitivity to STA.for
STA. 5-DOF
This
This Robot robotic
Robot hasmanipulator
to default
to default CRS a Catalyst-5
controller,
a PDCatalyst-5 based
improve
controller, based
improve in
dynamic plants,
Slotine (1984)) isthis
ancontroller
efficient reduce
tool to sensitivity
control complex to for 5-DOF
STA.
the This Robot
control robotic
of thethe has manipulator
to default
trajectory a PD is
tracking controller,
is the priority.improve
priority. Thein
dynamic
disturbances,
disturbances, plants,and
and plant
plant parameters
parameters reduce the
variations,
variations,sensitivity
another
another to the
STA. control
This of
Robot trajectory
has to defaulttracking
a PD the
controller, The
improve
dynamic
disturbances,
kind plants,
of control
control and this
for controller
plant
robotics parameters
systems reduce the adaptive
asvariations,
the sensitivity
another
con- the
to robotic control
robotic system of
system must the trajectory
must be be controlled tracking
controlled knowing is the
knowing its priority.
its main The
main fea-
fea-
kind of
disturbances, andfor robotics
plant systems
parameters as the adaptive
variations, con-
another the control
robotic
tures as system of the
its kinematicmust
kinematic trajectory
be tracking
andcontrolled
dynamic. is the
knowing
For the realization
priority.
its main Thefea-
of
kind
trol,
trol, of control
adaptive
adaptive for
fuzzy
fuzzy robotics
sliding systems
mode
sliding mode (Sun
(Sunas the
(1996);
(1996); adaptive
Medhaffar
Medhaffar con- tures
robotic as its
system must beand dynamic.
controlled For
knowingthe realization
its main of
fea-
kind
trol, of control
adaptive
(2006)), fuzzy fuzzy for robotics
logic, sliding systems
neural mode
adaptive as
(Sun(Yu
(Yu the
(1996); adaptive
(1999)),Medhaffar con-
neural aturestures
a as
particular
particular its kinematic
task, it
task, it was was and used
useddynamic. For
MATLAB/Simulink
MATLAB/Simulink the to
realization valid
of
to valid
(2006)), fuzzy
trol, adaptive logic,
fuzzy neural
sliding adaptive
mode (Sun (1999)),
(1996); neural
Medhaffar athe
the as its kinematic
particular
dynamic task,
model it was
and and useddynamic.
simulate theFor
MATLAB/Simulink the realization
proposed of
to valid
controller.
(2006)),
networks
networks fuzzy logic,
(Ertugrul
(Ertugrul neural
(1998)),
(1998)), adaptive
sliding
sliding mode (Yu
mode (1999)),
neuronal neural
neuronalneural net-
net- the dynamic
a particular model
task, and
it was simulate
used the proposed
MATLAB/Simulink controller.
to valid
(2006)), fuzzy logic, neural adaptive (Yu (1999)), dynamic
networks (Ertugrul (1998)), sliding mode neuronal net- the dynamic model and simulate the proposed controller. model and simulate the proposed controller.
networks
2405-8963 ©(Ertugrul
2018, IFAC (1998)), sliding
(International modeof neuronal
Federation net- Hosting by Elsevier Ltd. All rights reserved.
Automatic Control)
Proceedings, 2nd IFAC Conference on 303
Proceedings, 2nd IFAC
Peer review under Conference
responsibility on
of International 303 Control.
Federation of Automatic
Modelling,
Proceedings, Identification and Controlon
2nd IFAC Conference of Nonlinear 303
Modelling, Identification and Control of Nonlinear
10.1016/j.ifacol.2018.07.295
Proceedings, 2nd IFAC Conference on
Systems Identification and Control of Nonlinear
Modelling, 303
Systems
Modelling, Identification and Control of Nonlinear
2018 IFAC MICNON
304
Guadalajara, Mexico, June 20-22, 2018 Giovanni López Cruz et al. / IFAC PapersOnLine 51-13 (2018) 303–308
It was used fifth order polynomials to set the desired Where M (q) ∈ IRn×n is the inertia matrix, symmetric and
trajectory tracking that defines the time, velocity and positive definite of the robotic manipulator. , C(q, q̇) ∈
acceleration. The simulation results of PD controller and IRn×1 is the vector of centripetal and Coriolis torques,
STC are compared for the stabilization of the joints of g(q) ∈ IRn×1 is the vector of gravitational torques, tau ∈
CRS Catalyst-5 robot for constants references and planned IRn×1 is the vector of applied torque inputs, q ∈ IRn×1 is
trajectories. the vector of joint displacements, q̇ ∈ IRn×1 is the vector
of joint velocities.
2. MATHEMATICAL MODEL OF ROBOT
MANIPULADOR Table 1. CRS Catalyst-5 robot parameters
Joint Description Notation Value Units
The robotic manipulator CRS Catalyst-5, shown in the 1 Mass link 1 m1 5.47 Kg
figure 1, is a five degree-of-freedom articulated robot. It Length link 1 l1 0.254 m
has five joints powered by five motors and five encoders Center of mass link 1 lc1 0.127 m
that measure the angular position. The physical parame- Inertia link 1 I1 0.08822 Kg m2
2 Mass link 2 m2 2.09 Kg
ters of Robot CRS Catalyst-5 are shown in the table 1. The Length link 2 l2 0.254 m
dynamic equation of the CRS Catalyst-5 robot it described Center of mass link 2 lc2 0.127 m
through the Lagrange motion equations (Kelly R. (2003)). Inertia link 2 I2 0.03370 Kg m2
3 Mass link 3 m3 1.36 Kg
Length link 3 l3 0.254 m
Center of mass link 3 lc3 0.127 m
Inertia link 3 I3 0.02193 Kg m2
4 Mass link 4 m4 0.0060 Kg
Length link 4 l4 0.0508 m
Center of mass link 4 lc4 0.0254 m
Inertia link 4 I4 0.00000387 Kg m2
5 Mass link 5 m5 0.0156 Kg
Length link 5 l5 0.01 m
Center of mass link 5 lc5 0.005 m
Inertia link 5 I5 0.00000039 Kg m2
304
2018 IFAC MICNON
Guadalajara, Mexico, June 20-22, 2018 Giovanni López Cruz et al. / IFAC PapersOnLine 51-13 (2018) 303–308 305
From (8), the derivative the dynamics systems (3) and (7) results for stabilization of joints 1 to 5 are presented in
is: the follows figures. For both simulations its used a constant
σ̇ = cė + ë, c > 0 (9) reference of 2 radians.
where ë is the acceleration error.
The figure 2 shown how the position reaches the desired
3.1 Stability analysis position using the STC.
(10) 1.2
[rad]
q1
1
where υ is the Super-Twisting Algorithm is described as qd1
q2
follows (Levant(2010)): 0.8
qd2
t 0.6
q3
1 qd3
υ = −α|σ| 2 sign(σ) − β sign(σ)dz, α, β > 0 (11) 0.4
q4
0 qd4
q5
where
0.2
qd5
1 if x>0 0
0 1 2 3 4 5 6 7 8 9 10
sign(x) −1 if x<0 t [s]
∈ [−1, 1] if x=0
Its proposed the control law based on Super-Twisting Fig. 2. Desired position for joints 1 - 5 using STC.
Algorithm as follows: The figure 3 displayed how the position reaches the desired
τ = M (x1 ) υ + cė + ẋd2 + C(x1 , x2 )x2 + g(x1 ) (12) position using the PD controller.
a) V̇ < 0, f or σ = 0 1.5 q1
qd1
b) lim V = ∞ q2
qd2
|σ|→∞ 1
q3
qd3
The derivate of (13) is computed as q4
0.5 qd4
V̇ = σ T σ̇ (14) q5
qd5
Sustituying (10) in (14) 0
0 1 2 3 4 5 6 7 8 9 10
= σ T cė + ẋd2 − M −1 (x1 ) τ − C(x1 , x2 )x2 − g(x1 ) t [s]
(15)
Fig. 3. Desired position for joints 1 to 57 using PD controller.
Sustituying the control law (12) in (15)
=σ T cė + ẋd2 − M −1 (x1 ) M (x1 ) υ + cė + ẋd2 In the figure 4 it is can see the oscillations in high frequency
with zoom using the STC.
−C(x1 , x2 )x2 − g(x1 ) + C(x1 , x2 )x2 + g(x1 ) + υ The figure 5 it is shown how the position reaches the
desired position using the PD controller.
≤σ cė + ẋd2 − υ − cė − ẋd2 + υ
In the figure 6 it can see the error tracking using the STC.
The figure 7 shown the error tracking using the PD
Therefore
controller.
V̇ ≤ 0
The figures 8 and 9 shonw the error tracking with zoom.
4. SIMULATION RESULTS
The figures 10 and 11 shown the applied torque using the
STC and PD controller, respectively.
Consider the CRS Catalyst-5 robot arm illustrated in fig
1. The gains used for simulations of PD controller were In the figure ??, 13 and it can be shown the simulation
obtained from the manual CataLyst-5 Robot System User results used the STC to planned trajectory tracking in a
Guide, and for STC are α = 15, β = 150. Simulation time of 10 seconds. All links have diferents final references;
305
2018 IFAC MICNON
Guadalajara, Mexico, June 20-22, 2018
306 Giovanni López Cruz et al. / IFAC PapersOnLine 51-13 (2018) 303–308
1.999999796
2
e1
1.999999795 e2
e3
1.5 e4
1.999999794 e5
1
1.999999793
[rad]
[rad]
1.999999792 q1
0.5
qd1
q2
1.999999791 qd2
q3 0
1.99999979 qd3
q4
qd4 -0.5
1.999999789 q5
qd5
1.999999788 -1
6 6.02 6.04 6.06 6.08 6.1 0 1 2 3 4 5 6 7 8 9 10
t [s] t [s]
Fig. 4. Desired position for joints 1 to 5 zoom, using STC. Fig. 7. Tracking error of joint 1 to 5 using PD controller.
10-7
2.12
2.01 e1
2.11 e2
2.008 e3
e4
2.1 e5
2.006
2.004 2.09
2.002
[rad]
2.08
[rad]
2 q1
qd1 2.07
1.998 q2
qd2
q3 2.06
1.996
qd3
1.994 q4 2.05
qd4
q5
1.992
qd5 2.04
6 6.01 6.02 6.03 6.04 6.05 6.06 6.07 6.08 6.09 6.1
1.99
0 1 2 3 4 5 6 7 8 9 10
t [s]
t [s]
Fig. 8. Tracking error of joint 1 to 5 zoom using STC.
Fig. 5. Desired position for joints 1 to 5 zoom usign PD controller.
10-3
6
e1
4 e2
e3
2 e4
e1
2 e5
e2
1.8
e3
1.6 e4 0
e5
1.4
[rad]
-2
1.2
-4
[rad]
0.8 -6
0.6
-8
0.4
0.2 -10
0 1 2 3 4 5 6 7 8 9 10
0 t [s]
0 1 2 3 4 5 6 7 8 9 10
t [s] Fig. 9. Tracking error joint of 1 to 5 zoom using PD controller.
The figure 13 showned the error trajectory tracking of
Fig. 6. Tracking error of joint 1 to 5 using STC.
the joint 1 to 5, this error present oscillations in high
frequencies, in a range of 1.5 to -2 x10−6radians.
5 radians to joint 1, 10 radians to joint 2, 15 radians to joint The figure 14 displayed the applied torque on all motors.
3, 20 radians to joint 4, 25 radians to joint 5. The dotted
line represents the desired position, and the continuous In the figure 15, 16, and 16 it can be shown the simulation
line represents the position. results used the PD controller to planned trajectory track-
306
2018 IFAC MICNON
Guadalajara, Mexico, June 20-22, 2018
Giovanni López Cruz et al. / IFAC PapersOnLine 51-13 (2018) 303–308 307
10-8
30 3
tau1 e1
25 tau2 2.5 e2
tau3 e3
tau4 2 e4
20
tau5 e5
1.5
15
1
10
[rad]
[rad]
0.5
5
0
0
-0.5
-5
-1
-10 -1.5
-15 -2
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
t [s] t [s]
Fig. 10. Tau applied joint 1 to 5 zoom using STC. Fig. 13. Tracking error of joint 1 to 5 zoom using STC.
400
6
tau1
tau2
300
tau3 5
tau4 tau1
tau5 tau2
200
4 tau3
tau4
tau5
100
3
[rad]
[rad]
0
2
-100
1
-200
0
-300
0 1 2 3 4 5 6 7 8 9 10 -1
t [s] 0 1 2 3 4 5 6 7 8 9 10
t [s]
q1
0.9
qd1 0.08
q2
0.8 0.06
qd2
q3 0.04
0.7
qd3 0.02
0.6 q4
qd4 2.85 2.9 2.95
0.5 q5
[rad]
qd5
0.4
0.3
0.2
0.1
-0.1
0 1 2 3 4 5 6 7 8 9 10
t [s]
Fig. 12. Trajectory tracking of joint 1 to 5 zoom using STC.
Fig. 15. Trajectory tracking of joint 1 to 5 zoom using PD controller
ing in a time of 10 seconds. All links have different final
references; 0.75 radians to joint 1, 0.5 radians to joint 2, The figure 16 show the trajectory tracking error of all links
0.3 radians to joint 3, 0.15 radians to joint 4, 0.1 radians respect the desired position and real position.
to joint 5. The dotted line represents the desired position,
and the continuous line represents the position. The figure 17 displayed the applied torque on all motors.
307
2018 IFAC MICNON
Guadalajara, Mexico, June 20-22, 2018 Giovanni López Cruz et al. / IFAC PapersOnLine 51-13 (2018) 303–308
308
0.015
tory control applications. IEEE Conference on Robotic
0.01 and Automation, pp: 2042-2047.
Lee, H.K. and K. Fms, (1994). A study on the Design of
0.005 Self-Tuning Sliding Mode Fuzzy Controller. Domestic
0
conference, pp: 212-218.
Levant, A. (1993). Sliding order and sliding accuracy in
-0.005 sliding mode control. International Journal of Control,
0 1 2 3 4 5 6 7 8 9 10
t [s]
vol. 58, no. 6, pp. 1247-1263.
Levant, A. (2007). Principles of 2-sliding mode design.
Fig. 16. Tracking error of joint 1 to 5 zoom using PD controller. Automatica, vol. 43, pp. 576-586
Medhaffar, H., N. Derbel and T. Damak (2006). A
decoupled fuzzy indirect adaptive sliding mode controller
6
with application to robot manipulator. Int. Journal on
5
Modeling, Identification and Control, 1 (1): 23-29.
tau1 Ouyang, P.R.(2014). PD with sliding mode control for
tau2
4 tau3 trajectory tracking of robotic system. Robotics and
tau4
tau5
Computer-Integrated Manufacturing, vol. 30 (2014) 189-
3 200.
Rafael, K. Santibánez, V.(2003). Control de Movimientos
[rad]
REFERENCES
Arad, H. and Jeremiah, N. (2016). Robotic manipulation
using an open-architecture industrial arm: a pedagogical
overview IEEE Robotics and Automation Magazine Vol.
15, no. 3, September 2008.
Barrientos, A., Luis F., Balaguer C., Aracil R.(2003).
Fundamentos de Robótica. Mcgraw Hill 1997.
308
See Warranty on page 12 for important information about commercial use of this product.
Manual de Instrucciones y Lista de Piezas
¡REGISTRE SU PRODUCTO EN LÍNEA AHORA MISMO! Operating Instructions and Parts Manual DC1300
http://www.campbellhausfeld.com
Please read and save these instructions. Read carefully before attempting to assemble, install, operate or maintain the product described.
Garantía Limitada Protect yourself and others by observing all safety information. Failure to comply with instructions could result in personal injury and/or
property damage! Retain instructions for future reference.
1. DURACIÓN: A partir de la fecha de compra por el comprador original tal como se especifica a continuación: Un Año.
2. QUIEN OTORGA ESTA GARANTÍA (EL GARANTE: Campbell Hausfeld a Marmon/Berkshire Hathaway Company, 100 Production Drive, Harrison,
Ohio 45030 Teléfono: (800) 543-6400
3. QUIEN RECIBE ESTA GARANTÍA (EL COMPRADOR): El comprador original (que no sea un revendedor) del producto Campbell Hausfeld.
Oil-Lubricated
4. PRODUCTOS CUBIERTOS POR ESTA GARANTÍA: Cualquier compresor de aire Campbell Hausfeld.
5. COBERTURA DE LA GARANTÍA: Piezas y Mano de Obra para remediar defectos importantes debidos a material y mano de obra durante el
primer año de propiedad con las excepciones indicadas a continuación. Piezas solamente para remediar defectos importantes debidos a
Compressors
material y mano de obra durante el tiempo de cobertura que quede con las excepciones indicadas a continuación.
6. LO QUE NO ESTÁ CUBIERTO POR ESTA GARANTÍA: Description
A. Las garantías implícitas, incluyendo aquéllas de comerciabilidad e IDONEIDAD PARA FINES PARTICULARES, ESTÁN LIMITADAS A PARTIR DE This oil-lubricated compressor is
LA FECHA DE COMPRA ORIGINAL DE ACUERDO CON LO ESPECIFICADO EN EL PÁRRAFO DE DURACIÓN. Si el compresor de aire es empleado
designed for do-it-yourselfers with a Breathable Air Warning
para uso comercial, industrial o para renta, la garantía será aplicable por noventa (90) días a partir de la fecha de compra. La garantía de
los compresores de dos etapas no se limita a los 90 (noventa) días cuando éstos se usen para trabajos comerciales o industriales. En algunos variety of home and automotive jobs.
This compressor / pump is not
estados no se permiten las limitaciones a la duración de una garantía implícita, por lo cual las limitaciones antedichas pueden no ser These compressors power spray guns, equipped and should not be
aplicables en su caso. impact wrenches and other tools.
B. CUALQUIER PÉRDIDA DAÑO INCIDENTAL, INDIRECTO O CONSECUENTE QUE PUEDA RESULTAR DE UN DEFECTO, FALLA O
used “as is” to supply breathing
MALFUNCIONAMIENTO DEL PRODUCTO CAMPBELL HAUSFELD. En algunos estados no se permite la exclusión o limitación de daños
Compressed air from this unit will quality air. For any application of
incidentales o consecuentes, por lo tanto, en tales casos esta limitación o exclusión no es aplicable. contain moisture. Install a water filter air for human consumption, the
C. Cualquier falla que resulte de un accidente, abuso, negligencia o incumplimiento de las instrucciones de funcionamiento y uso indicadas en or air dryer if application requires dry air compressor / pump will need
el (los) manual(es) que se adjunta(n) al compresor. to be fitted with suitable in-line
air.
D. Los servicios requeridos antes de la entrega tales como: ensamblaje, aceite o lubricantes y ajustes. safety and alarm equipment.
E. Artículos o servicios normalmente requeridos para el mantenimiento del producto, tales como:lubricantes, filtros, empaques, etc.
F. Los motores de gasolina están específicamante excluidos de la cobertura de esta garantía limitada. El comprador debe seguir las clausulas
This additional equipment is
Unpacking necessary to properly filter
de la garantía otorgada por el fabricante del motor de gasolina que se suministra con el producto.
G. Artículos adicionales no cubiertos bajo esta garantía: After unpacking the unit, inspect and purify the air to meet
1. Piezas excluidas que pertenecen a todos los compresores carefully for any damage that may minimal specifications for
a. Cualquier componente dañado durante el envío o cualquier daño ocasionado por haber instalado u operado la unidad bajo have occurred during transit. Make sure Record the Model No., Serial No. and Grade D breathing as described
condiciones contrarias a lo indicado en las instrucciones para instalar u operar la unidad o daños ocasionados por el contacto con in Compressed Gas Association
to tighten fittings, bolts, etc., before date of purchase located on the base
herramientas o los alrrededores.
putting unit into service. In case of below the pump in the space below. Commodity Specification
b. Daños del cabezal o las válvulas ocasionados por la lluvia, humedad excesiva, agentes corrosivos u otros contaminantes.
c. Daños de apariencia que no afecten el funcionamiento del compresor. G 7.1 - 1966, OSHA 29 CFR 1910.
questions, damaged or missing parts, Model No. ________________________
d. Tanques oxidados, incluyendo pero no limitado al óxido debido al drenaje inadecuado u agentes corrosivos en el ambiente. 134, and / or Canadian Standards
e. Las siguientes piezas se consideran artículos sujetos a desgaste normal y no son cubiertas después del primer año de propiedad.
please call 1-800-543-6400 for customer Associations (CSA).
Serial No. _________________________
Motor eléctrico, válvula de retención, interruptor de presión, regulador, manómetros, mangueras, tuberías, tubos, accesorios y assistance. Have the serial number,
acoples, tornillos, tuercas, artículos de ferretería, correas, poleas, volante, filtro de aire y caja, juntas, sellos, pérdidas de aceite, model number, and parts list (with Date of purchase _________________ DISCLAIMER OF WARRANTIES
pérdidas de aire, consumo o uso de aceite, anillos del pistón. missing parts circled) before calling. In the event the compressor is
Retain these numbers for
f. Llaves de drenaje used for the purpose of breathing
g. Daños debidos al alambrado incorrecto o conexión a cicuitos con voltaje inadecuados para la unidad. future reference.
DO NOT RETURN air application and proper in-line
h. Otros artículos no enumerados pero considerados de desgaste general.
THE PRODUCT TO safety and alarm equipment is
i. Presostatos, controles de flujo de aire y válvulas de seguridad cuyos parametros fijados de fábrica se modifiquen. STOP! not simultaneously used, existing
j. Daño por mantenimiento inadecuado del filtro. THE RETAILER!
k. Motores de inducción alimentados con electricidad producida por un generador. Safety Guidelines warranties shall be voided, and
2. Compresores lubricados: This manual contains information the manufacturer disclaims any
Do not operate unit
a. Daños del cabezal o las válvulas debidos al uso de aceites no especificados. liability whatsoever for any loss,
if damaged during that is very important to know and
b. Daños del cabezal o las válvulas debidos a cualquier contaminación del aceite o por no haber seguido las instrucciones de lubricación. personal injury or damage.
c. Desgaste o daño de la bomba causados por el no haber aplicado apropiadamente los criterios de mantenimiento en referencia al shipping, handling or use. Damage may understand. This information is
aceite, funcionamiento con nivel de aceite por debajo del nivel apropiado o funcionamiento sin aceite. result in bursting and cause injury or provided for SAFETY and to PREVENT
H. Mano de obra, llamadas de servicio o cargos por concepto de transporte después del primer año de propiedad de compresores property damage.
EQUIPMENT PROBLEMS. To help
estacionarios. Los compresores estacionarios se identifican por no tener asidero o ruedas.
7. RESPONSABILIDADES DEL GARANTE BAJO ESTA GARANTÍA: Reparar o reemplazar, como lo decida el Garante, el compresor o componentes READ & FOLLOW ALL INSTRUCTIONS recognize this information, observe the
que estén defectuosos, se hayan dañado o hayan dejado de funcionar adecuadamente, durante el período de validez de la garantía. SAVE THESE INSTRUCTIONS following symbols.
8. RESPONSABILIDADES DEL COMPRADOR BAJO ESTA GARANTÍA: Danger indicates Caution indicates
A. Suministrar prueba fechada de compra y la historia de mantenimiento del producto.
DO NOT DISCARD
an imminently a potentially
B. Entregar o enviar los compresores de aire portátiles o componentes lal Centro de Servicio autorizado Campbell Hausfeld más cercano. Los
hazardous situation which, if not hazardous situation which, if not
gastos de flete, de haberlos, deben ser pagados por el comprador.
C. Tener cuidado al utilizar el producto, tal como se indica(n) en el (los) manual(es) del propietario.
avoided, WILL result in death or avoided, MAY result in minor or
D. Reparaciones que requieran tiempo adicional al horario normal de trabajo, o cualquier asunto que exceda la tarifa normal de reembolso serious injury. moderate injury.
por mano de obra para reparaciones bajo la garantía del fabricante. Warning indicates Notice indicates
E. El tiempo requerido por cualquier control de seguridad, capacitación relacionada con seguridad, o asuntos similares necesarios para que el a potentially important
personal de servicio pueda tener acceso a las instalaciones. hazardous situation which, if not information, that if not followed,
F. La ubicación de la unidad debe tener espacio suficiente para que el personal de servicio pueda realizar reparaciones y debe ser fácilmente avoided, COULD result in death may cause damage to equipment.
accesible. or serious injury.
9. CUÁNDO EFECTUARÁ EL GARANTE LA REPARACIÓN O REEMPLAZO CUBIERTO BAJO ESTA GARANTÍA: La reparación o reemplazo dependerá NOTE: Information that requires special
del flujo normal de trabajo del centro de servicio y de la disponibilidad de repuestos. attention.
Esta garantía limitada es válida sólo en los EE.UU., Canadá y México y otorga derechos legales específicos. Usted también puede tener otros
derechos que varían de un Estado a otro, o de un país a otro.
REMINDER: Keep your dated proof of purchase for warranty purposes!
Attach it to this manual or file it for safekeeping.
© 2015 Campbell Hausfeld For parts, product & service information, IN641400AV 12/15
36 Sp A Marmon/Berkshire Hathaway Company visit www.campbellhausfeld.com
Operating Instructions and Parts Manual DC130001AV
General Safety Information 7. Before each use, inspect compressed 12. Tanks rust from moisture build-up, Para Ordenar Repuestos o Asistencia Técnica, Sírvase Llamar al
air system and electrical components which weakens the tank. Make sure
CALIFORNIA PROPOSITION 65
for signs of damage, deterioration, to drain tank regularly and inspect Distribuidor Más Cercano a Su Domicilio
This product or its
weakness or leakage. Repair or periodically for unsafe conditions Sírvase darnos la siguiente información: Puede escribirnos a:
power cord may
contain chemicals, including lead, replace defective items before using. such as rust formation and corrosion. - Número del modelo Attn: Customer Service
known to the State of California to 8. Check all fasteners at frequent 13. Fast moving air will stir up dust - Número de serie (de haberlo) 100 Production Drive
cause cancer and birth defects or other
intervals for proper tightness. and debris which may be harmful. - Descripción y número del repuesto según la lista de repuestos Harrison, OH 45030 U.S.A.
reproductive harm. Wash hands after
handling. Motors, Release air slowly when draining
You can
electrical moisture or depressurizing the Lista de Repuestos
equipment and controls can compressor system.
create
cause electrical arcs that No. de No. de No. de No. de
dust when you cut, sand, drill
will ignite a flammable gas SPRAYING PRECAUTIONS Ref. Descripción Parte Ctd. Ref. Descripción Parte Ctd.
or grind materials such as
or vapor. Never operate or repair in or Do not 1 PERNO M8X110 ▲ 4 33 TUERCA M8 ▼ 1
wood, paint, metal, concrete,
near a flammable gas or vapor. Never
cement, or other masonry. This dust spray ARANDELA DE 34 CAPACITOR ▼ 1
store flammable liquids or gases in the flammable materials in 2 ▲ 4
often contains chemicals known to PRESIÓN M8 35 RODAMIENTO — 1
vicinity of the compressor. vicinity of open flame or near
cause cancer, birth defects, or other 3 ARANDELA M8 ▲ 4 CIGUEÑAL DE
reproductive harm. Wear protective ignition sources including the 36 — 1
compressor unit. 4 CABEZA DE CILINDRO ▲ 1 RODAMIENTO TRASERO
gear.
Compressor parts may be hot EMPAQUE DE CABEZAL 37 ARANDELA M5 — 4
14. Do not smoke when spraying paint, 5 ▲ ■ 1
GENERAL SAFETY even if the unit is stopped. DEL CILINDRO ARANDELA DE
insecticides, or other flammable 38 — 4
Since the air compressor and other 9. Keep fingers away from a PLACA DE VÁLVULA Y PRESIÓN M5
substances. 6 ■ 1
components (material pump, spray running compressor; fast moving ENSAMBLAJE DE VÁLVULA PERNO DE MOTOR
15. Use a face mask / 39 — 4
guns, filters, lubricators, hoses, etc.) and hot parts will cause injury and/ EMPAQUE DE CILINDRO M5X110
respirator when spraying 7 ■ 1
used, make up a high pressure pumping or burns. (SUPERIOR) 40 ABANICO ▲ 1
and spray in a well LÁMINA DE VÁLVULA DE ANILLO EXTERNO DE
system, the following safety precautions 10. If the equipment should start to 8 ■ 1
ventilated area to prevent ENTRADA 41 RETENCIÓN PARA EJE ▲ 1
must be observed at all times: vibrate abnormally, STOP the engine/ health and fire hazards. 9 CLAVIJA REDONDA M3X6 ■ 2 DE 14MM
Do not run motor and check immediately for
unattended. Leaving 16. Do not direct paint or other sprayed 10 CILINDRO — 1 JUEGOS DE REPUESTOS
the cause. Vibration is generally a
compressor in AUTO position may allow material at the compressor. Locate EMPAQUE DE CILINDRO CONJUNTO DE CABEZA
warning of trouble. 11 — 1 ▲ DC130056AV
it to turn on inadvertently. To prevent compressor as far away from the (INFERIOR) DE BOMBA
this and possible damage from power 11. To reduce fire hazard, spraying area as possible to minimize 12 ANILLO DE PISTÓN ● 3 CONJUNTO DE PLACA
surge, turn to OFF position after each keep engine/motor 13 PISTÓN ● 1 ■ DC130057AV
use. overspray accumulation on the DE VÁLVULA
exterior free of oil, compressor. 14 CLAVIJA DE PISTÓN ● 1 ● CONJUNTO DE PISTÓN DC130058AV
1. Read all manuals included solvent, or excessive ANILLO EXTERNO DE
17. When spraying or cleaning with CONJUNTO DE MIRILLA
with this product carefully. grease. 15 RETENCIÓN PARA EJE ● 2 ◆ DC130061AV
MANUAL
solvents or toxic chemicals, follow DE NIVEL
Be thoroughly familiar Never remove or DE 12MM
the instructions provided by the ▼ CONJUNTO DE CAPACITOR DC130059AV
with the controls and the attempt to adjust 16 BIELA ● 1
safety valve. Keep safety valve free chemical manufacturer. CONJUNTO DE
proper use of the equipment. 17 TORNILLO M8X22-LH — 1 ▲ DC130060AV
from paint and other accumulations. VENTILADOR DE MOTOR
2. Follow all local electrical and safety 18 EXCÉNTRICO — 1 — NO DISPONIBLE
Never use plastic
codes as well as in the United States, (PVC) pipe for
19 ESTATOR — 1 ❋ ARTÍCULO ESTÁNDAR DE FERRETERÍA -
the National Electrical Codes (NEC) compressed air. Serious injury or death 20 ROTOR — 1 DISPONIBLE EN SU FERRETERÍA LOCAL
and Occupational Safety and Health could result. 21 RODAMIENTO — 1
Act (OSHA). Never ANILLO DE SEALLADO
22 — 1
3. Only persons well acquainted with attempt DE RODAMIENTO
to repair or modify a tank! 23 CÁRTER — 1
these rules of safe operation should Welding, drilling or any other
be allowed to use the compressor. 24 ANILLO ABRASADOR ● 1
modification will weaken the
tank resulting in damage from rupture 25 CUBIERTA DE CÁRTER — 1
4. Keep visitors away and NEVER allow
or explosion. Always replace worn, 26 EMPAQUE DE ANILLO ◆ 1
children in the work area.
cracked or damaged tanks. 27 MIRILLA DEL ACEITE ◆ 1
5. Wear safety glasses and Drain liquid from 28 M5X18SCREW — 6
use hearing protection tank daily. 29 RESPIRADERO DC130055AV 1
when operating the unit. 30 BAFLE — 1
31 TORNILLO M4X12 — 4
6. Do not stand on or use the unit as a 32 TUERCA M4 — 4
handhold.
www.campbellhausfeld.com
2 35 Sp
Manual de Instrucciones y Lista de Piezas DC1300
22
knob fully counterclockwise) before This compressor is national electrical codes.
*
16 changing air tools or disconnecting air equipped with an
overload protector which will shut off WIRING
18
hose from outlet.
29 17 motor if it becomes overloaded. 1. Local electrical wiring codes
differ from area to area. Source
Outlet wiring, plug and protector must
Tank be rated for at least the amperage
28
Pressure Pressure Switch
23 Pressure
Gauge (AUTO / OFF) and voltage indicated on motor
Gauge
nameplate, and meet all electrical
Regulator
codes for this minimum.
*
24
Handle 2. Use a slow blow fuse or a circuit
26
*
25
breaker.
*
27 3. This product is for use on a nominal
120 volt circuit and has a grounding
plug that looks like the plug
illustrated in Figure 2.
Grounded Outlet
TEST RESET
Grounding Pin
Figure 2 - Grounding Method
Figura 8 - Ilustración de las piezas de repuesto para la cabezal / motor HL360000AV Figure 1 - Unit Identification
www.campbellhausfeld.com
34 Sp 3
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Maintenance (Continued) other types of oil will cause starting 4. Reinstall filter and cover.
3. The safety valve should problems. IMPORTANT: Locate unit as far from
automatically close at approximately 5. Change oil after every 50 hours of spraying area as hose will allow to
40 psi - 50 psi. If the safety valve use. prevent overspray from clogging filter.
does not allow air to be released
INTAKE AIR FILTER MAINTENANCE END OF OPERATION/STORAGE
when you pull on the ring, or if
it does not close automatically, it Removal, Inspection and Replacement 1. Turn AUTO/OFF switch to the OFF
MUST be replaced. (Figure 6). position.
Safety valve must be 2. Unplug power cord from wall outlet
* replaced if it cannot and wrap around handle to prevent
4 2
* be actuated or it leaks air after ring is
3 damage when not in use.
released.
6 * 1 3. Wearing safety glasses drain tank of
DRAIN TANK air by pulling the ring on the safety
1. Turn compressor off and release Filter valve. Use other hand to deflect
pressure from system. (To release element
fast moving air from being directed
pressure from system, pull ring on Filter
toward your face.
cover
ASME safety valve. Deflect escaping 4. Drain tank of condensation by
8 25
5 * air by shielding valve with one hand opening drain valve on bottom of
as you pull ring with other hand.) Figure 6 - Intake filter maintenance tank. Tank pressure should be below
21
10 * Pull ring until tank is empty.
13 * 7 27
26 10 psi when draining tank.
11 * A large amount of The intake filter element should be 5. Air hose should be disconnected
* fast moving air will
14 * removed and checked periodically. from compressor and hung open
15 be released when the safety valve is
22 opened with pressure in the tank. Wear A clogged intake filter can decrease ends down to allow any moisture to
23
ANSI approved Z87.1 safety glasses. compressor performance and cause the drain.
24 2. Drain moisture from tank by compressor to overheat.
6. Compressor and hose should be
opening drain valve underneath 1. Rotate the filter cover counter- stored in a cool, dry place.
12 *
tank. Tilt tank to remove all clockwise and remove.
TECHNICAL SERVICE
*
moisture. 2. Remove the filter element and
9 17 For information regarding the
inspect. operation or repair of this product,
20
3. If the filter element is dirty or please call 1-800-543-6400.
clogged, replace it.
19
28
MOISTURE IN COMPRESSED AIR
29
38 Moisture in compressed air will form into droplets as it comes from an air
18
16 33 Figure 5 compressor pump. When humidity is high or when a compressor is in continuous
31
30 use for an extended period of time, this moisture will collect in the tank. When
32
22 34 using a paint spray or sandblast gun, this water will be carried from the tank
3. Clean dust and dirt from tank, through the hose, and out of the gun as droplets mixed with the spray material.
36 35 air lines and pump cover while IMPORTANT: This condensation will cause water spots in a paint job, especially
compressor is still OFF. when spraying other than water based paints. If sandblasting, it will cause the
37 sand to cake and clog the gun, rendering it ineffective.
OIL CHANGE
A filter in the air line, located as near to the gun as possible, will help eliminate
1. Allow compressor to run and warm this moisture.
up oil. Unplug unit.
2. Position a pan under pump end of MAINTENANCE SCHEDULE
unit. OPERATION DAILY WEEKLY MONTHLY 3 MONTHS
3. Remove drain plug. Allow oil to Check Oil Level ●
collect in pan. Tilt unit to completely
Drain Tank ●
drain.
Check Air Filter ●
4. Replace drain plug, fill pump to
Check Safety Valve ●
center of sight glass. Use Chevron
Clean Unit ●
synthetic 5W-30, Mobil 1 5W-30 or
Figura 7 - Ilustración de las piezas de repuesto para modelo HL540200 10W-30 synthetic motor oil. Using Change Oil ●
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Operating Instructions and Parts Manual DC1300
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4. Válvula de descarga defectuosa 4. Cambie la válvula de descarga. Knocks, rattles, and/or 1. Loose mounting bolts 1. Tighten bolts.
(en el interruptor de presión) excessive vibration 2. Tank not level 2. Use sturdy wedge/object to bring tank to level position.
5. Condensador(es) del motor 5. Reemplace el condensador(es). 3. Cylinder or piston is worn/ 3. Replace or repair as necessary.
defectuoso(s)
scored
6. Motor defectuoso 6. Cambie el motor
Compressor runs 1. Defective pressure switch 1. Replace switch.
La presión del 1. Conexiones flojas (conexiones, 1. Revise todas las conexiones con una solución de agua y continuously and safety 2. Defective safety valve
tanque baja cuando tuberías, etc.) jabón. Apriete, o retire y aplique sellador o cintas para 2. Replace safety valve with genuine replacement part.
el compresor se roscas, luego vuelva a ensamblar. valve opens as pressure
apaga rises
2. Abra la válvula de drenaje del 2. Cierre la válvula de drenaje del tanque
tanque. Air leaking from 1. Check valve stuck in an open 1. Replace check valve.
3. Fugas del tanque 3. Revise el tanque en busca de fugas con una solución de unloader valve on position
agua y jabón. Si detecta una fuga, se deberá reemplazar el pressure switch 2. Unloader valve stuck in open 2. Replace unloader valve.
tanque con una pieza de repuesto original.
position Do not disassemble check valve with
4. Válvula de retención desgastada 4. Cambie la válvula de retención air pressure in tank; bleed tank.
No desensamble la válvula de retención
con aire en el tanque; purgue el tanque.
El compresor 1. Consumo excesivo de aire 1. Disminuya el consumo de aire; el compresor es muy
funciona en forma pequeño para suministrar el aire requerido
continua y/o la salida
de aire es más baja 2. Filtro de entrada obstruido 2. Limpie o reemplace el filtro
que la presión de 3. Abra la válvula de drenaje del 3. Cierre la válvula de drenaje del tanque
descarga normal/ tanque.
baja
4. Hay fugas de aire en las tuberías 4. Revise todas las conexiones con una solución de agua y
(del compresor o del sistema de jabón. Apriete, o retire y aplique sellador o cintas para
conexión) roscas, luego vuelva a ensamblar.
5. Aro del pistón desgastado 5. Reemplácelo
6. Válvula dañada (en la bomba) 6. Cambie la válvula
7. Fugas del tanque 7. Revise el tanque en busca de fugas con una solución de
agua y jabón. Si detecta una fuga, se deberá reemplazar el
tanque con una pieza de repuesto original.
8. El presostato está dañado 8. Reemplace el presostato
Exceseso de 1. Exceso de agua en el tanque 1. Drene el tanque
humedad en el aire
expulsado 2. Humedad alta 2. Mueva el compresor a una área menos húmeda; use un
filtro de aire incorporado a la línea
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Instalación (Continuación) aceite. Agregue suficiente aceite para A medida que el aire del tanque se
que llegue al nivel marcado con “máx” agota por el uso de la boquilla para la
For Replacement Parts or Technical Assistance,
Cerciórese de conectarlo a un
tomacorrientes cuya configuración en el visor de vidrio. El nivel adecuado llanta, herramienta, etc., el compresor Call 1-800-543-6400
sea similar a la del enchufe. de aceite está ilustrado en la Figura 3. vuelve a encenderse automáticamente
a la presión prefijada de activación. Please provide following information: Address any correspondence to:
Este producto se debe conectar - Model number Attn: Customer Service
a tierra. En caso de que ocurra Cuando se use una herramienta en
forma continua, el compresor cumplirá - Serial number (if any) 100 Production Drive
un cortocircuito, ésto evitaría - Part description and number as shown in parts list Harrison, OH 45030 U.S.A.
el riesgo de choque eléctrico al ciclos de encendido y apagado en forma
Máx. automática.
ofrecerle un cable de desvío a la Replacement Parts List
corriente eléctrica. Este producto Min. 7. Cuando termine de usar el
tiene un cordón con un alambre y compresor, ponga el interruptor en Ref. DC1300
terminal de conexión a tierra. Debe OFF, desenchufe el cable eléctrico y No. Description Qty.
Figura 3 - Nivel Adecuado de Aceite drene el aire del tanque.
conectarlo a un tomacorrientes 1 PUMP/MOTOR ASSEMBLY DC130001AV 1
que esté instalado adecuadamente 2 FILTER DC130054AV 1
según los códigos y ordenanzas Funcionamiento Mantenimiento 3 T TYPE CONNECT ▲ 1
locales. ANTES DE ARRANCARLO POR PRIMERA 4 COLD START VALVE ▲ 1
Si no conecta VEZ PROCEDIMIENTO DE ABLANDE
Desconecte el cordón eléctrico 5 EXHAUST TUBE ■ 1
los cables (Complete este procedimiento antes
adecuadamente podría haber y amárrelo; después libere toda 6 O-RING ■ 2
de usar el compresor por primera vez. la presión del sistema antes de
cortocircuitos, incendios, 7 CHECK VALVE ASSEMBLY — 1
sobrecalentamiento, etc.
Una vez completado, no es necesario tratar de instalarlo, darle servicio o darle
repetirlo.) 8 UNLOAD TUBE — 1
cualquier tipo de mantenimiento.
Calibre mínimo 9 PRESSURE SWITCH ● 1
1. Abra la válvula de drenaje que Este compresor se debe chequear con
del cable de extensión se encuentra en la parte inferior 10 TANK GAUGE ● 1
frecuencia para ver si tiene algún tipo
7,5 m 15 m 30 m del tanque. 11 SAFETY VALVE ● 1
de problemas y le debe dar el siguiente
2. Coloque el interruptor de mantenimiento antes de cada uso. 12 CONNECT ● 1
14 12 10
AUTO / OFF (automática/apagado) 13 OUTLET GAUGE ● 1
Usar un cable de extensión puede en la posición OFF (apagado). VALVULA DE SEGURIDAD ASME 14 REGULATOR ● 1
provocar exceso de calor en el motor. Esto
puede llevar a que se dispare el disyuntor 3. Enchufe el cable de corriente. Nunca desconecte 15 COUPLER ● 1
o trate de ajustar 16 TANK — 1
(en el panel eléctrico) o a que se dispare 4. Gire el interruptor de AUTO / OFF
la válvula de seguridad ASME.
una sobrecarga térmica (en el motor del (automática/apagado) a la posición 17 POWER CORD — 1
compresor). Si sucede esto, quite el cable AUTO (automática) y haga Revise la válvula de seguridad siguiendo 18 HANDLE — 1
de extensión y enchufe el compresor funcionar el compresor durante 30 los siguientes pasos:
19 HANDLE GRIP — 1
directamente en el tomacorrientes. Evite minutos. 1. Enchufe el compresor y hágalo
usar cables de extensión, en lugar de eso 20 CONNECT — 1
5. Coloque el interruptor de AUTO / funcionar hasta que se alcance
use una manguera de aire más larga. 21 M8X30 BOLT — 4
OFF (automática/apagado) en la la presión de corte (consulte
Funcionamiento). 22 M8 WASHER — 6
LUBRICACION posición OFF (apagado).
23 M8 SPRING WASHER — 4
6. Desenchufe el cordón de corriente. 2. Usando gafas de protección, tire
¡ÉSTA UNIDAD 24 M8 NUT — 4
VIENE DE FABRICA 7. Cierre la válvula de drenaje. del anillo de la válvula de seguridad
para liberar la presión del tanque 25 SHROUD — 1
SIN ACEITE! Siga las instrucciones Ahora el compresor está listo para ser
de lubricación antes de utilizar el del compresor. Use su otra mano 26 M5X16 SCREW — 2
usado.
compresor. para desviar el aire que se mueve a 27 M5 WASHER — 2
Use el aceite que se envía con PROCEDIMIENTO DE gran velocidad y evitar que le dé en 28 M10 NUT — 2
el compresor. No utilice aceite FUNCIONAMIENTO el rostro. 29 M10 WASHER — 2
automotriz común como por 1. Coloque el interruptor en OFF y 30 7 INCH WHEEL — 2
ejemplo 10W-30. Los aditivos conecte el cordón al tomacorrientes. 31 M10X56 BOLT — 2
existentes en el aceite de motor común 2. Gire la perilla del regulador en 32 COVER — 2
pueden causar la acumulación de sentido antihorario para cerrar el 33 DRAIN VALVE DC130052AV 1
depósitos y reducir la vida útil de la flujo de aire.
34 M8 NUT — 2
bomba. Para que la bomba tenga una 3. Coloque el interruptor en AUTO.
máxima vida útil, drene y cambie el 35 RUBBER FOOT — 2
4. El compresor aumentará la presión Figura 4 36 M8 WASHER — 2
aceite después de las primeras horas de al valor máximo y se apagará.
funcionamiento. 3. Esta válvula de seguridad debería 37 M8X25 BOLT — 2
5. Con la manguera conectada a cerrarse automáticamente a
La bomba del compresor lleva 38 M6X10 HEX SOCKET BOLT — 4
la salida del compresor, conecte 2,76 bar - 3,45 bar. Si la válvula
aproximadamente 175mL (6 oz.) de la boquilla para la llanta u otra REPLACEMENT PARTS KITS
de seguridad no deja salir aire
aceite. La ventanilla, ubicada en la caja herramienta al extremo libre de la ▲ COLD START VALVE KIT DC130053AV
cuando tira del anillo o si no se
del cigüeñal de la bomba, tiene marcas manguera. ■ EXHAUST TUBE KIT DC130050AV
cierra automáticamente, DEBE ser
para niveles "max" y "min". Evite llenar
6. Ajuste el regulador a la presión reemplazada. ● PRESSURE SWITCH AND REGULATOR KIT DC130051AV
en exceso, agregando aceite en forma
adecuada para una herramienta o — NOT AVAILABLE
gradual y verificando el ventanilla varias
neumático. Maneje la herramienta ❋ STANDARD HARDWARE ITEM - AVAILABLE AT YOUR LOCAL HARDWARE STORE
veces con la varilla de medición de
según las instrucciones.
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Operating Instructions and Parts Manual DC1300
TEST RESET
Terminal de
conexión a tierra
Figure 8 - Repair parts illustration for pump / motor Figura 2 - Método de conexión a
Figura 1 - Identificación de la Unidad tierra
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Manual de Instrucciones y Lista de Piezas DC130001AV
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Ver la Garantía en página 36 para información importante sobre el uso comercial de este producto.
Operating Instructions and Parts Manual
REGISTER YOUR PRODUCT ONLINE NOW! Manual de Instrucciones y Lista de Piezas DC1300
http://www.campbellhausfeld.com
Por favor lea y guarde estas instrucciones. Léalas cuidadosamente antes de tratar de montar, instalar, operar o dar mantenimiento al producto
Limited Warranty aquí descrito. Protéjase usted mismo y a los demás observando toda la información de seguridad. ¡El no cumplir con las instrucciones puede
ocasionar daños, tanto personales como a la propiedad! Guarde estas instrucciones para referencia en el futuro.
1. DURATION: From the date of purchase by the original purchaser as follows: One Year.
Compresor Lubricado
2. WHO GIVES THIS WARRANTY (WARRANTOR):
Campbell Hausfeld a Marmon/Berkshire Hathaway Company, 100 Production Drive, Harrison, Ohio, 45030, Telephone: (800) 543-6400
3. WHO RECEIVES THIS WARRANTY (PURCHASER): The original purchaser (other than for purposes of resale) of the Campbell Hausfeld
compressor.
4. WHAT PRODUCTS ARE COVERED BY THIS WARRANTY: Any Campbell Hausfeld air compressor.
5. WHAT IS COVERED UNDER THIS WARRANTY: Parts and Labor to remedy substantial defects due to material and workmanship during
con Aceite
the first year of ownership with the exceptions noted below. Parts only to remedy substantial defects due to material and workmanship Descripción
during remaining term of coverage with exceptions noted below.
6. WHAT IS NOT COVERED UNDER THIS WARRANTY: Este compresor lubricado con aceite
A. Implied warranties, including those of merchantability and FITNESS FOR A PARTICULAR PURPOSE ARE LIMITED FROM THE DATE ha sido disenãdo para personas con
OF ORIGINAL PURCHASE AS STATED IN THE DURATION. If the compressor is used for commercial, industrial or rental purposes, habilidades manuales para llevar
Advertencia sobre
the warranty will apply for ninety (90) days from the date of purchase. Two-stage compressors are not limited to a ninety (90) day a cabo una variedad de proyectos el aire respirable
warranty when used in commercial or industrial applications. Some States do not allow limitations on how long an implied warranty relacionados con el hogar o el vehículo. Este compresor/cabezal no
lasts, so the above limitations may not apply to you Estos compresores alimentan pistolas viene listo de fábrica para
B. ANY INCIDENTAL, INDIRECT, OR CONSEQUENTIAL LOSS, DAMAGE, OR EXPENSE THAT MAY RESULT FROM ANY DEFECT, FAILURE,
de rociado, herramientas de impacto y suministrarle aire respirable.
OR MALFUNCTION OF THE CAMPBELL HAUSFELD PRODUCT. Some States do not allow the exclusion or limitations of incidental or
consequential damages, so the above limitation or exclusion may not apply to you.
otras herramientas. El aire comprimido Antes de utilizarlos con este fin,
C. Any failure that results from an accident, purchaser’s abuse, neglect or failure to operate products in accordance with instructions producido por esta unidad contiene deberá instalarle un sistema de
provided in the owner’s manual(s) supplied with compressor. humedad. Instale un filtro para agua seguridad y alarma incorporado a
D. Pre-delivery service, i.e. assembly, oil or lubricants, and adjustment. o un secador de aire si la aplicación la línea. Este sistema adicional es
E. Items or service that is normally required to maintain the product, i.e. lubricants, filters and gaskets, etc. requiere de aire seco. necesario para filtrar y purificar
F. Gasoline engines and components are expressly excluded from coverage under this limited warranty. The Purchaser must comply with el aire adecuadamente, para
the warranty given by the engine manufacturer which is supplied with the product
Desempaque cumplir con las especificaciones
G. Additional items not covered under this warranty:
1. Excluded items pertaining to All Compressors Cuando desempaque la unidad, mínimas sobre aire respirable
Registre en el espacio a continuación de Grado D descritas en la
a. Any component damaged in shipment or any failure caused by installing or operating unit under conditions not in accordance inspecciónela cuidadosamente para
with installation and operation guidelines or damaged by contact with tools or surroundings. el No. del Modelo, el Número de Serie Especificación de Productos G
verificar si se han producido daños
b. Pump or valve failure caused by rain, excessive humidity, corrosive environments or other contaminants. durante el transporte. Asegúrese de y la Fecha de Compra ubicados en 7.1 - 1966 de la Asociación de
c. Cosmetic defects that do not interfere with compressor functionality.
apretar todos los accesorios, pernos, la base debajo de la bomb. Aire Comprimido. Igualmente,
d. Rusted tanks, including but not limited to rust due to improper drainage or corrosive environments. deberá cumplir los requisitos
e. The following components are considered normal wear items and are not covered after the first year of ownership. Electric etc. que estén sueltos antes de poner No. del Modelo ___________________
la unidad en servicio. En el caso de que establecidos por el Artículo 29
motor, check valve, pressure switch, regulator, pressure gauges, hose, tubing, pipe, fittings and couplers, screws, nuts, No. de Serie ____________________
haya daño o partes que faltan, haga CFR 1910. 134 de la Organización
hardware items, belts, pulleys, flywheel, air filter and housing, gaskets, seals, oil leaks, air leaks, oil consumption or usage,
piston rings. el favor de llamar al 1-800-543-6400 Fecha de Compra _________________ norteamericana OSHA y/o la
f. Tank drain valves. para obtener ayuda. Tenga a mano el Canadian Standards Associations
g. Damage due to incorrect voltage or improper wiring. Guarde estos números para (CSA).
número de serie, el número del modelo
h. Other items not listed but considered general wear parts. y la lista de partes (con las partes que referencia en el futuro.
RENUNCIA A LAS GARANTIAS
i. Pressure switches, air governors, load/unload devices, throttle control devices and safety valves modified from factory
faltan marcadas con un círculo) antes de Si el compresor se utiliza para
settings.
j. Damage from inadequate filter maintenance. llamar. Medidas de Seguridad producir aire respirable SIN
k. Induction motors operated with electricity produced by a generator. Este manual contiene información haberle instalado el sistema
2. Excluded items specific to Lubricated Compressors: ¡NO DEVUELVA que es muy importante que sepa de seguridad y alarma, todas
a. Pump wear or valve damage caused by using oil not specified. ALTO! EL PRODUCTO AL y comprenda. Esta información se la garantías se anularán
b. Pump wear or damage caused by any oil contamination. DISTRIBUIDOR! la suministramos como medida de y la compañia Campbell
c. Pump wear or damage caused by failure to follow proper oil maintenance guidelines, operation below proper oil level or Hausfeld no asumirá NINGUNA
SEGURIDAD y para EVITAR PROBLEMAS
operation without oil. No debe utilizar la
CON EL EQUIPO. Debe reconocer los responsabilidad por pérdidas,
H. Labor, service call, or transportation charges after the first year of ownership of stationary compressors. Stationary compressors are unidad si se ha
defined as not including a handle or wheels. siguientes símbolos. heridas personales o daños.
dañado durante el envío, manejo o
7. RESPONSIBILITIES OF WARRANTOR UNDER THIS WARRANTY: Repair or replace, at Warrantor’s option, compressor or component which is uso. Los daños podrían ocasionar una Peligro indica
defective, has malfunctioned and/or failed to conform within duration of the warranty period. explosión y ocasionarle heridas o daños una situación Precaución indica
8. RESPONSIBILITIES OF PURCHASER UNDER THIS WARRANTY: a su propiedad. inminentemente peligrosa, que si no se una situación
A. Provide dated proof of purchase and maintenance records. evita, dará como resultado la muerte o potencialmente peligrosa, que si no se
B. Call Campbell Hausfeld (800-543-6400) to obtain your warranty service options. Freight costs must be borne by the purchaser. LEA Y SIGA TODAS LAS INSTRUCCIONES lesiones graves. evita, PUEDE dar como resultado lesiones
C. Use reasonable care in the operation and maintenance of the products as described in the owner’s manual(s). GUARDE ESTAS INSTRUCCIONES Advertencia indica leves o moderadas.
D. Repairs requiring overtime, weekend rates, or anything beyond the standard manufacturer warranty repair labor reimbursement rate. NO LAS DESECHE una situación
E. Time required for any security checks, safety training, or similar for service personnel to gain access to facility. Aviso indica
potencialmente peligrosa, que si no se una información
F. Location of unit must have adequate clearance for service personnel to perform repairs and easily accessible. evita, PODRÍA ocasionar la muerte o
9. WHEN WARRANTOR WILL PERFORM REPAIR OR REPLACEMENT UNDER THIS WARRANTY: Repair or replacement will be scheduled and importante, que de no seguirla, le podría
lesiones graves. ocasionar daños al equipo.
serviced according to the normal work flow at the servicing location, and depending on the availability of replacement parts.
This Limited Warranty applies in the U.S., Canada and Mexico only and gives you specific legal rights. You may also have other rights which NOTA: Información que requiere
vary from State to State or country to country.
atención especial.
ENREGISTREZ VOTRE PRODUIT EN LIGNE MAINTENANT ! Instructions d’Utilisation et Manual de Pièces DC1300
http://www.campbellhausfeld.com
Veuillez lire et conserver ces instructions. Lire attentivement avant de commencer à assembler, installer, faire fonctionner ou entretenir
Garantie Limitée l'appareil décrit. Protégez-vous et les autres en observant toutes les informations sur la sécurité. Négliger d'appliquer ces instructions peut
résulter en des blessures corporelles et/ou en des dommages matériels ! Conserver ces instructions pour références ultérieures.
1. DURÉE: À partir de la date d’achat par l’acheteur original comme suit : Un An.
2. GARANTIE ACCORDÉE PAR (GARANT) :
Campbell Hausfeld a Marmon/Berkshire Hathaway Company, 100 Production Drive, Harrison, Ohio, 45030, Téléphone: (800) 543-6400.
3. BÉNÉFICIAIRE DE CETTE GARANTIE (ACHETEUR) : L’acheteur original (sauf en cas de revente) du produit Campbell Hausfeld. Compresseur
Graissé à l’Huile
4. PRODUITS COUVERTS PAR CETTE GARANTIE : N’importe quel compresseur d’air Campbell Hausfeld.
5. COUVERTURE DE LA PRÉSENTE GARANTIE : Pièces et Main d’œuvre pour remédier à de défauts importants causés par matériau et main
d’œuvre pendant la première année de possession avec les exceptions indiquées ci-dessous. Pièces seulement pour remédier à de défauts
importants causés par matériau et main d’œuvre pendant le temps restant de la couverture avec les exceptions indiquées ci-dessous.
6. LA PRÉSENTE GARANTIE NE COUVRE PAS : Description
A. Les garanties implicites, y compris celles de commercialisation et D’ADAPTATION À UNE FONCTION PARTICULIÈRE SONT LIMITÉES Ce compresseur graissé à l’huile est
À PARTIR DE LA DATE D’ACHAT INITIALE TELLE QU’INDIQUÉE DANS LA SECTION DURÉE. Si le compresseur d’air est utilisé pour une
conçu pour les bricoleurs avec une
fonction commerciale, industrielle ou pour la location, la durée de la garantie sera quatre-vingt-dix (90) jours de la date d’achat. Les
variété de travaux domestiques et
Avertissement D’Air
compresseurs de deux étages ne sont pas limités à une garantie de quatre-vingt-dix (90) jours si utilisés dans les applications commerciales
ou industrielles. Certaines Provinces (États) n’autorisent pas de limitations de durée pour les garanties implicites, donc les limitations d’automobile. Ces compresseurs Respirable
précédentes peuvent donc ne pas s’appliquer. actionnent les pistolets vaporisateurs, Ce compresseur/pompe n’est
B. TOUT DOMMAGE, PERTE OU DÉPENSE FORTUIT OU INDIRECT POUVANT RÉSULTER DE TOUT DÉFAUT, PANNE OU MAUVAIS les clés à chocs, et autres outils. L’air pas équipé pour et ne devrait
FONCTIONNEMENT DU PRODUIT CAMPBELL HAUSFELD. Quelques Provinces (États) n’autorisent pas l’exclusion ni la limitation des
dommages fortuits ou indirects. La limitation ou l’exclusion précédente peut donc ne pas s’appliquer.
comprimé produit par ce modèle va pas être utilisé “comme soi”
C. Toute panne résultant d’un accident, d’une utilisation abusive, de la négligence ou d’une utilisation ne respectant pas les instructions contenir de l’humidité. Installer un filtre pour fournir de l’air respirable.
données dans le(s) manuel(s) accompagnant le produit. ou un sécheur d’air si votre application En cas d’applications d’air pour
D. Service avant livraison; le montage, l’huile ou la graisse et les réglages par exemple. requiert de l’air sec. la consommation humaine, le
E. Articles ou services qui sont exigés pour l’entretien normal du produit; graisses, filtres et joints d’étanchéité par exemple.
compresseur d’air/pompe doit
F. Les moteurs à essence et les pièces détachées sont expressément exclus de cette garantie limitée. L’acheteur doit observer la garantie du
être équipé avec de l’équipement
fabricant de moteur qui est fournie avec le produit. Déballage
G. Articles supplémentaires qui ne sont pas couverts sous cette garantie : de sécurité en canalisation
1. Articles exclus relatifs à Tous les Compresseurs Après avoir déballé ce produit, et d’alarme. Cet équipement
a. Toutes pièces détachées endommagées pendant l’expédition, n’importe quelle panne causée par un montage ou fonctionnement l’inspecter attentivement pour tout additionnel est nécessaire
du modèle sous des conditions qui ne se conforment pas aux directives de montage et de fonctionnement ou dommage causé signe de dommages en transit. Resserrer Enregistrer le N° de Modèle, N° de pour filtrer et purifier l’air afin
par le contact avec les outils ou les alentours. tout raccord, boulon, etc., avant de Série, et la Date d’Achat située sur
b. La défaillance de la pompe ou de la soupape causée par la pluie, l’humidité excessive, un environnement corrosif ou autres polluants. d’atteindre les spécifications
mettre ce produit en service. En cas la base de la pompe dans l’espace minimales pour la respiration
c. Les défauts de forme qui n’ont pas d’effet sur le fonctionnement du compresseur.
de questions, dommage ou de pièces Grade D décrites dans le
d. Les réservoirs rouillés, y compris mais sans s’y limiter à la rouille causée par la vidange incorrecte ou par un environnement ci-dessous.
corrosif. manquantes, composer le 1-800-543- Compressed Gas Association
e. Les composants suivants sont considérés comme des articles sujets à l’usure normale et ne sont pas couverts après le premier an 6400 pour demander conseil. Avoir N°de Modèle _____________________
Commodity Specification G
de possession. Moteur électrique, soupape de retenue, interrupteur de pression, régulateur, manomètres, tuyaux, tubes, raccords, en main le numéro de série, numéro
vis, écrous, articles de quincaillerie, courroies, poulies, volant, filtre d’air et boîtier, joints d’étanchéité, fuites d’air et d’huile,
N°de Série _____________________ 7.1 - 1966, OSHA 29 CFR 1910.
de modèle et liste de pièces (avec les 134, et/ou Canadian Standards
consommation ou usage d’huile, anneaux de piston. Date d’Achat _____________________
f. Robinets de vidange. pièces manquantes encerclées) avant
Associations (CSA).
g. Dommage dû à la tension ou installation de fils incorrecte. d’appeler. Garder ces numéros pour
h. Autres articles non indiqués mais considérés pièces d’usure générale. référence future. DÉNÉGATION DES GARANTIES
i. Manostats, régulateurs d’air et soupapes de sûreté qui ont étés modifiés d’après les réglages de l’usine. NE PAS RENVOYER Si le compresseur est utilisé pour
j. Dommage causé par l’entretien insuffisant du filtre. les applications d’air respirable
ARRÊT! LE PRODUIT AU
k. Moteurs à induction utilisant l’électricité produite par un générateur.
2. Compresseurs Graissés MARCHAND! Directives de Sécurité et l’équipement de sécurité en
a. Usure de la pompe ou dommage aux soupapes causé par l’utilisation d’huile non-spécifiée. Ce manuel contient de l’information canalisation et d’alarme n’est
b. Usure de la pompe ou dommage aux soupapes causé par toute contamination d’huile ou par le manque de suivre les directives Ne pas utiliser un très importante qui est fournie pour pas utilisé simultanément, les
d’entretien d’huile. modèle qui a été garanties en existance seront
c. Usure ou dommage de la pompe causé par le manque de suivre les directives d’entretien d’huile, fonctionnement avec le niveau
la SÉCURITÉ et pour ÉVITER LES
endommagé pendant le transport, annulées, et Campbell Hausfeld
d’huile au dessous du bon niveau ou fonctionnement sans huile. PROBLÈMES D’ÉQUIPEMENT. Rechercher
la manipulation ou l’utilisation. Le nie toute responsabilité pour
H. Main d’œuvre, appel de service, ou frais de transport après le premier an de possession de compresseurs stationnaires. Les compresseurs dommage peut résulter en explosion
les symboles suivants pour cette
stationnaires sont identifiés par l’absence de manchon ou de roues. information. n’importe quelle perte, blessure
et peut causer des blessures ou dégâts
7. RESPONSABILITÉS DU GARANT AUX TERMES DE CETTE GARANTIE : Réparation ou remplacement, au choix du Garant, d’un compresseur ou
Danger indique
ou dommage.
d’une pièce détachée qui s’est révélé défectueux ou qui n’est pas conforme pendant la durée de validité de la garantie. matériels.
une situation
8. RESPONSABILITÉS DE L’ACHETEUR AUX TERMES DE CETTE GARANTIE :
A. Fournir une preuve d’achat datée et un état d’entretien. LIRE ET SUIVRE TOUTES LES dangereuse imminente qui MÈNERA à Attention
B. Appelez Campbell Hausfeld (800-543-6400) pour obtenir vos options de service sous garantie. Les frais de transport sont la responsabilité la mort ou à des blessures graves si elle indique une
INSTRUCTIONS
de l’acheteur. n’est pas évitée. situation potentiellement dangereuse
C. Utilisation et entretien du produit avec un soin raisonnable, ainsi que le décri(vent)t le(s) manuel(s) d’utilisation. CONSERVER CES INSTRUCTIONS Avertissement qui, si elle n’est pas évitée, PEUT mener
D. Réparations qui exigent de temps additionnel, taux de charge de fin de semaine, ou tout problème au-delà du taux normal de NE PAS JETER indique une à des blessures mineures ou modérées.
remboursement par main d’œuvre de réparations sous garantie du fabriquant. situation potentiellement dangereuse Avis indique
E. Temps nécessaire pour tout contrôle de sécurité, entraînement de sécurité, ou situation semblable parce que le personnel de service puisse qui, si elle n’est pas évitée, POURRAIT de l’information
obtenir l’accès à l’installation. mener à la mort ou à de graves importante qui pourrait endommager
F. L’emplacement de l’unité doit être facilement accessible et avoir l’espace suffisant parce que le personnel de service puisse effectuer les blessures.
réparations. l’équipement si elle n’est pas respectée.
9. RÉPARATION OU REMPLACEMENT EFFECTUÉ PAR LE GARANT AUX TERMES DE LA PRÉSENTE GARANTIE : La réparation ou le remplacement REMARQUE: L’information qui exige
sera prévu et exécuté en fonction de la charge de travail dans le centre de service et dépendra de la disponibilité des pièces de rechange. une attention spéciale.
Cette Garantie Limitée s’applique aux É.-U., au Canada et au Mexique seulement et vous donne des droits juridiques précis. L’acheteur peut
également jouir d’autres droits qui varient d’une Province, d’un État ou d’un Pays à l’autre.
MÉMENTO: Gardez votre preuve datée d'achat à fin de la garantie!
Joignez-la à ce manuel ou classez-la dans un dossier pour plus de sécurité.
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18 mesurée en kPa (psi). S’assurer que le Conçu pour empêcher le moteur de INSTALLATION ÉLECTRIQUE
29 17
Seul un
électricien qualifié doit
Manomètre Manostat effectuer l’installation
28 23 Manomètre
(AUTO / OFF) électrique et raccordements
du sortie
du réservoir électriques. Respecter toutes les codes
locaux et nationaux de l’électricité.
Régulateur
*
24 CÂBLAGE
Poignée
*
1. Les codes de câblage électrique
26 25
*
locaux diffèrent d’un endroit
27
à l’autre. Le câblage source, la
fiche et le protecteur doivent
être d’une valeur nominale d’au
moins l’ampérage et la tension
indiqués sur la plaque signalétique
du moteur et doivent répondre à
tous les codes électriques pour ce
minimum.
2. Utiliser un fusible à action retardée
ou un disjoncteur.
3. Ce produit est conçu pour
l’utilisation d’un circuit de 120
volts et a une fiche de mise à la
terre comme celle indiquée sur la
Figure 1 - Identification du Modèle Figure 2. S’assurer que l’appareil est
Figure 8 - Illustration des pièces de réparation pour le pompe / moteur HL360000AV
branché à une prise de courant
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Instructions d’Utilisation et Manual de Pièces DC1300
Entretien (Suite)
SOUPAPE DE SÛRETÉ ASME
Ne jamais enlever
ni essayer d’ajuster
la soupape de sûreté !
Vérifier la soupape de sûreté de la Élément du
manière suivante: Figure 5 filtre
1. Brancher le compresseur et le faire Couvercle
fonctionner jusqu’à ce qu’il atteigne 3. Nettoyer la poussière et la saleté du du filtre
la pression d’arrêt (voir procédure réservoir, des conduites d’air et le
*
4 2 de fonctionnement). couvercle de pompe tandis que le
*
3 2. Porter des lunettes de sécurité, compresseur est encore arrêté (OFF). Figure 6 - Entretien du filtre
6 * 1 tirer l’anneau sur la soupape de d’aspiration
CHANGER L’HUILE
sûreté pour dégager la pression du 2. Retirer l’élément du filtre et
réservoir du compresseur. Utiliser 1. Faire fonctionner le compresseur l’inspecter.
l’autre main pour éloigner l’air se pour réchauffer l’huile. Débrancher
3. Si l’élément du filtre est sale ou
déplaçant rapidement vers le visage. l’appareil.
bloqué, le remplacer.
2. Placer un récipient sous le bout de 4. Réinstaller le filtre et le couvercle.
8 25 la pompe du modèle.
5 * IMPORTANT: Placer l’unité aussi loin
3. Enlever le bouchon de vidange, que possible du secteur de pulvérisation
21 permettre que l’huile se vide dans le
10 * pour éviter que la surpulvérisation
13 * 7 27
26
récipient. Incliner l’appareil pour le
11 * bloque le filtre.
vider complètement.
* CONCLUSION DU TRAVAIL/
14 * 4. Replacer le bouchon de purge,
15 Figure 4 ENTREPOSAGE
22 23
remplir la pompe jusqu’au centre
1. Mettre l’interrupteur AUTO/OFF à la
3. La soupape de sûreté se fermera du regard d’huile. Utiliser l’huile à
position « OFF » (ARRÊT).
24 automatiquement à environ moteur synthétique Chevron 5W-30,
Mobil 1 5W-30 ou 10W-30 dans ce 2. Débrancher le cordon
276 kPa - 345 kPa. Si la soupape d’alimentation de la prise et
ne laisse pas sortir l’air en tirant compresseur. L’utilisation d’autres
12 * types d’huile causera des problèmes l’enrouler autour du manche pour
sur l’anneau, ou si elle ne se ferme éviter de l’endommager pendant
* pas automatiquement, il FAUT la de démarrage.
9 17 l’entreposage.
remplacer. 5. Changer l’huile après chaque 50
3. En portant des lunettes de sécurité,
20 S’il y a une fuite heures d’usage.
vidanger l’air du réservoir en tirant
après que la
soupape soit lâchée ou si la soupape ENTRETIEN DU FILTRE D’AIR l’anneau de la soupape de sécurité.
19
ne fonctionne pas, elle devrait être D’ASPIRATION À l’aide de l’autre main, détourner
28 remplacée. l’air se déplaçant rapidement, pour
Retrait, inspection et remplacement
29 protéger le visage.
38
PURGER LE RÉSERVOIR (Figure 6).
18
16 33 Il faut retirer l’élément du filtre 4. Vidanger le réservoir de toute
31 1. Éteindre le compresseur et dégager condensation en ouvrant le robinet
30 d’aspiration et le vérifier régulièrement.
32 la pression du système. (Pour de vidange au fond du réservoir.
22 34 Un filtre d’aspiration bloqué peut
dégager la pression du système, La pression du réservoir doit être
réduire la performance du compresseur
tirer sur la soupape de sûreté sous 69 kPa quand on vidange le
36 35 et provoquer une surchauffe du
ASME. Éloigner l’air qui s’échappe réservoir.
compresseur.
en protégeant la soupape d’une 5. Le tuyau doit être débranché du
37 1. Tourner le couvercle du filtre dans
main tout en tirant de l’autre.) Tirer compresseur et suspendu avec les
l’anneau jusqu’à ce que le réservoir le sens anti-horaire et retirer.
bouts ouverts face en bas pour
soit vide. laisser couler toute humidité.
Une grande
quantité d’air se HUMIDITÉ DANS L’AIR COMPRIMÉ
déplaçant rapidement sera dégagée en L’humidité dans l’air comprimé forme des gouttelettes en arrivant de la pompe
ouvrant la soupape de sûreté à cause de du compresseur d’air. Si l’humidité est élevée, ou si le compresseur est utilisé
la pression dans le réservoir. Porter des continuellement, cette humidité s’accumulera dans le réservoir. Pendant
lunettes de sécurité Z87.1 approuvées l’utilisation d’un pistolet à peinture ou d’un pistolet pour le décapage au sable,
par ANSI. cette eau sera transportée du réservoir par moyen du tuyau, et en forme de
gouttelettes, mélangée avec le matériel utilisé.
2. Drainer l’humidité du réservoir en IMPORTANT: Cette condensation peut causer des taches d’eau sur votre travail
ouvrant le robinet de vidange sous de peinture, surtout pendant la pulvérisation de peinture qui n’est pas à base
le réservoir. Pencher le réservoir pour d’eau. Pendant le décapage au sable, cette eau servira à tenir le sable ensemble
en retirer toute l’humidité. et causera une obstruction dans le pistolet.
Figure 7 - Illustration des pièces de réparation pour modèle HL540200 Un filtre à air en canalisation situé aussi près du pistolet que possible aidera à
éliminer cette humidité.
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