IMS ROBOTICS DRIVEplus User manual

Information about the machine

Designation: IMS Cutter DRIVEplus

Manufacturer: IMS Robotics GmbH

Am Bauhof 6

01458 Ottendorf-Okrilla

Tel: +49 (0)35205/75550

Fax: +49 (0)35205/53749

Email: info@ims-robotics.de

http://www.ims-robotics.de

User information: As of 15/03/2022

Translation

Item number: 034 17 000

Foreword

The user information is intended to help the operator to work safely and properly and to

maintain the IMS devices. It is therefore essential to pay attention to this manual.

Note

The accident prevention regulations and general safety rules must be observed when

operating the device.

Important instructions, such as safety-related instructions, are marked

with appropriate symbols. Follow these instructions to avoid accidents

and damage to the devices.

Liability and Warranty

All information and instructions for the operation and maintenance of the milling machine have

been provided to the best of our knowledge, taking into account the experience and knowledge

we have gained so far.

We reserve the right to make technical changes as part of the further development of the

device covered in this operating manual. During the warranty period, repairs and modifications

to the system may only be carried out by the manufacturer or on his instructions. Otherwise,

liability and the warranty for the entire device will be void.


 
Table of Contents 
 
1Intended Use................................................................................................................ 9 
2Technical Information ................................................................................................10 
1 Technical data.......................................................................................................10 
2 Main dimensions...................................................................................................11 
3General Safety Rules..................................................................................................12 
4Description and Setting Instructions ........................................................................13 
1 Overview of the assemblies ..................................................................................13 
2 General description...............................................................................................15 
3 Controller ..............................................................................................................15 
3.1 Controller in general........................................................................................15 
3.2 Operating elements on the controller...............................................................15 
3.3 Connections on the controller..........................................................................18 
3.4 Start screen.....................................................................................................20 
3.5 Selecting the Configuration .............................................................................21 
3.6 Milling menu....................................................................................................23 
3.6.1 Meter counter...........................................................................................23 
3.6.2 Undercarriage ..........................................................................................23 
3.6.3 Carriage ...................................................................................................24 
3.6.4 Cable drum ..............................................................................................24 
3.6.5 Tighten the cable......................................................................................24 
3.6.6 Milling arm position ..................................................................................25 
3.6.7 Velocity ....................................................................................................25 
3.6.8 Icons in the footer bar...............................................................................25 
3.7 Settings menu .................................................................................................26 
3.7.1 Parameter list...........................................................................................27 
3.7.2 Configuration............................................................................................28 
3.7.3 System information ..................................................................................29 
3.7.4 Joystick Config.........................................................................................30 
4 Operation touch monitor with video software.........................................................35 
4.1 Monitor............................................................................................................35 
4.2 Starting the video software..............................................................................35 
4.3 Overview of the individual buttons in the footer bar .........................................37 
4.4 Explanation of the individual buttons ...............................................................38 
4.4.1 Video player menu ...................................................................................38 
4.4.2 Loading and playing a stored video or image file......................................39 
4.4.3 Record button ..........................................................................................41 
4.4.4 "Camera" button.......................................................................................41 
4.4.5 "Text overlays" button ..............................................................................41 


 
4.4.6 "Minimise" button .....................................................................................41 
4.4.7 "Settings" button.......................................................................................42 
4.4.7.1 Basic settings.......................................................................................42 
4.4.7.2 Text overlay .........................................................................................43 
4.4.8 Select Language and unit.........................................................................44 
4.4.9 Service menu ...........................................................................................44 
4.4.10 Information menu .....................................................................................45 
5 Cable drum ...........................................................................................................46 
5.1 Overview.........................................................................................................46 
5.2 Explanation of the operating elements of the cable drum ................................46 
5.3 Mounting roll arm on the cable drum ...............................................................49 
5.4 Water equipment.............................................................................................50 
5.4.1 Water equipment with 2 liter water tank....................................................50 
5.4.2 Connection of water tank (optional) to cable drum....................................51 
6 Safety regulations .................................................................................................52 
7 Control box with operating elements and connections...........................................53 
7.1 Control box in general .....................................................................................53 
7.2 Explanation for control elements and connections on control box....................54 
7.2.1 Fan...........................................................................................................54 
7.2.2 Analog video output .................................................................................54 
7.2.3 Anschluss Handbedienteil Extern.............................................................54 
7.2.4 Motor cable drum .....................................................................................54 
7.2.5 Connection renovation system .................................................................55 
7.2.6 Socket cable drum connection .................................................................55 
7.2.7 Controller port ..........................................................................................55 
7.2.8 Main switch ..............................................................................................55 
7.2.9 Release button.........................................................................................56 
7.2.10 "Operational"/"ready for use"....................................................................56 
7.2.11 "Emergency Stop" lamp ...........................................................................56 
7.2.12 Emergency stop switch ............................................................................56 
7.2.13 Emergency mode "Drive" .........................................................................57 
7.2.14 Emergency mode "Turn" ..........................................................................57 
7.2.15 Emergency mode "Swivel" .......................................................................57 
7.2.16 Key switch "Emergency mode".................................................................58 
7.3 Explanation external hand-held control unit.....................................................59 
7.3.1 Connection cable with plug of the hand-held control unit..........................59 
7.3.2 Emergency Switch of the hand-held control unit.......................................59 
7.3.3 Switch for the electrical coupling of the hand-held control unit..................60 
7.3.4 Signal lamp electrical coupling of the hand-held control unit.....................60 
7.3.5 Controlling the trolley with the hand-held control unit ...............................60 


 
7.3.6 Controlling the milling arm with the hand-held control unit........................60 
7.3.7 Controlling the cable drum with the hand-held control unit .......................61 
7.3.8 Connection of the hand control to the control cabinet...............................61 
8 Robot ....................................................................................................................62 
8.1 Carriage ..........................................................................................................62 
8.1.1 Pressure rail.............................................................................................62 
8.1.2 Reverse travel safety device ....................................................................63 
8.2 Cutting arm .....................................................................................................63 
8.3 Swivel-head camera........................................................................................64 
8.4 Swivel-head camera with wiper (optional) .......................................................65 
8.5 Equipment options ..........................................................................................66 
8.5.1 Circular profile undercarriage DN 450-600 ...............................................66 
8.5.2 Electric swivel drive for milling motor........................................................67 
5Operating manuals .....................................................................................................68 
1 Energy supply .......................................................................................................68 
2 Start up .................................................................................................................69 
3 Operation..............................................................................................................69 
3.1 Operating the milling robot ..............................................................................69 
4 Conversion to other nominal diameters.................................................................70 
4.1 Extension parts and nominal diameter dependent assembly of the DRIVEplus 
carriage and the pressure rail .......................................................................................70 
4.1.1 Overview of extension parts of the carriage..............................................70 
4.1.1.1 Assembly corundum and granulated wheels ........................................72 
4.1.2 Mounting the undercarriage......................................................................73 
4.1.3 Overview of extension parts of the pressure rail.......................................74 
4.1.4 Nominal diameter dependent assembly ...................................................75 
5 Crane Connection.................................................................................................77 
6 Changing the milling motor ...................................................................................78 
7 Milling tools ...........................................................................................................79 
7.1 Changing milling tool of the small air motor.....................................................80 
7.2 Changing the milling tool of the large air motor................................................80 
8 Pressure monitoring..............................................................................................81 
8.1 Monitoring mode .............................................................................................81 
8.2 Checking the carriage and cutting arm after completing the work....................82 
6Repair and Maintenance.............................................................................................83 
1 Cleaning................................................................................................................83 
2 Transport ..............................................................................................................83 
3 Care and maintenance..........................................................................................83 
3.1 Media supply line ............................................................................................83 
3.2 Milling motor....................................................................................................84 


 
3.2.1 Ball bearing and fins of the large air motor ...............................................84 
3.2.1.1 Ball bearing..........................................................................................84 
3.2.1.2 Replace the fins ...................................................................................84 
3.2.2 Ball bearing and blades of the small air motor..........................................86 
3.2.2.1 Overview of spare parts .......................................................................86 
3.2.2.2 Disassembling and reassembling the air motor....................................87 
3.3 Milling arm/ swivel drive gear - oil change .......................................................90 
3.3.1 Open the screw plug ................................................................................91 
3.3.2 Drain the transmission oil .........................................................................92 
3.3.3 Fill transmission oil...................................................................................93 
3.3.4 Close the screw plug................................................................................94 
3.3.5 Cable drum ..............................................................................................94 
3.4 Nitrogen filling .................................................................................................95 
3.5 Set up Internet access for remote maintenance "PC" ......................................97 
7Additional Regulations to be followed ......................................................................98 
8Overview accessories ................................................................................................99 
9EC-Declaration of Conformity..................................................................................100

1 Intended Use

The operational safety of the system supplied is guaranteed only if it is used as intended.

Intended use includes compliance with the regulations laid down in this operating manual and

performance of all scheduled maintenance and service work.

The IMS milling machine DRIVEplus may be used only for the execution of milling work for the

purpose of rehabilitating unpressurised pipes or lines. The device can be used to open inliners

after renovation and remove obstacles (roots, protruding seals, small misalignments, etc.). The

machine may not be used for any other purpose.

Unauthorised structural changes to the system can lead to damage to the machine and pose

a danger to persons. IMS shall not be liable for any resulting damage. In the event of damage,

responsibility remains with the operator and cannot be transferred to IMS.

2 Technical Information

2.1 Technical data

System components Carriage

Cutting arm DRIVEplus

Swivel-head colour camera

Controller

Cable drum

Extension carriages 1

Extension parts for axles and pressure rail

Accessories

Driving speed: max. 10 m/min with wheel D=140 mm

Format: Pipes of the nominal diameter 150 mm (without coupling

displacement/misalignment) with extension

undercarriage/extension parts up to 600 mm pipe nominal

diameter

Change of nominal diameters: depending on the nominal diameter, between approx. 10 and

approx. 20 min

Electricity: 100-240 V +/-1% /50-60 Hz/1000 W

Weight: DRIVEplus - milling machine without extensions: approx. 38 kg

Extension carriage: approx. 11 kg

Extensions complete: approx. 23 kg

Cable drum: approx. 165 kg

Control box: approx. 36 kg

Controller: approx. 10 kg

Compressed air: Consumption: approx.1,6 m3/min

Supply pressure: 8 bar

Quality: filtered, dry

max. 40C

Caution! Contaminated and moist air will damage the air motor and

the seals on the robot.

Workstation: at the control panel

Temperature range: +5 ... +40C

Caution! Do not operate the controller in the event of large

temperature fluctuations (condensate) or outdoor precipitation!

Media supply line: 100 m on a cable drum

Camera signal: PAL

Table of contents

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