NASA, George C. Marshall Space Flight Center, Procurement Office, Marshall Space Flight Center, AL 35812

36 -- ROBOT SYSTEM SOL 8-M-4-21-23289 POC Contact Sherri Stroud, GP26, 205-544-0329/Contract Specialist, or W.H. Keith, GP25/Contracting Officer NASA/MSFC plans to issue a Request for Offer (RFO) for a Robotic System -- The RFO will be released to Fanuc Robotics, 2831 East Kemper Road, Cincinnati, OH 45241 -- The authority for this procurement is 10 U.S.C. 2304(c)(1), because Fanuc is the only known manufacturer who has the unique capability to provide a robot system which meets all of the minimum requirements -- Item 1 - Fanuc S420F Robot System (See specs following item 6) -- Item 2 - Robot Software Options (See specs following item 6) -- Item 3 - R-J Controller Input/Output Modules (See specs following item 6) -- Item 4 - Aquatron Water Protection Package (See specs following item 6) -- Item 5 - Installation and Training -- Minimum features as follows: The Industrial Robot shall consist of an all electric heavy duty integral robot system providing a large work envelope and a high rated load capacity. The system shall provide 6 degrees (axes) of freedom. All six (6) axes shall operate in unison, programmed and controlled from one common controller and associated software -- The controller, associated software and other robot components shall be standard off-the-shelf equipment supplied and serviced by the robot manufacturer. The robot system shall use a high level programming language, self diagnostic control system, full program and edit capability, Input/Output rack, teach pendant and a minimum of 6 axes simultaneous motion capability with the ability to expand to 16 axes -- Robot Description: Minimum work envelope: Minimum of 90 inch horizontal reach and minimum of 100 inch vertical travel --Robot type: Pedestal type, six axes articulated arm robot with brakes on all axes -- Rated live load: 120 Kg minimum at maximum speed and extension with a center of gravity located 9 inches from the face of the wrist flange and 10 inches offset from the wrist center line -- Speed at rated load: 39 inches per second minimum -- Repeatability: + or - 0.5 mm at maximum speed and extension -- Input Power: 480 VAC, 3 Phase, 60 Hz -- Control Cable: Fourteen (14) meters minimum of control cable shall be provided between the robot and the controller -- Environmental requirements: Normal operation - 40 to 115 degrees F up to 95% RH -- In addition, the robot arm will operate in a high pressure waterjet workcell -- In-line wrist is required for mounting and routing special processing equipment -- Wrist materials and seals should be capable of withstanding the high pressure water environment -- A pressurized water protective cover for robot arm shall be provided to operate in a high pressure waterjet environment -- A specially constructed 24'' steel riser shall be provided to mount the robot arm 24'' above normal mounting surface -- The riser based dimensions and mounting hole pattern will be provided by MSFC after contract award -- Controller Specification: General Description - The controller shall consist of multiple 16 and 32 bit CPU architecture with its own memory, input/output capability, teach pendant, mass storage device and a user friendly programming language -- The controller shall provide three serial ports minimum and standard serial communication software package -- These ports must have the capability of interfacing directly with a Silicon Graphics Work Station used to Off-Line program the robot -- The controller shall include the serial port software required to communicate with the Silicon Graphics Workstation -- A teach pendant shall be provided to move the robot when in the manual or teach modes and will allow programming the robot on a point-to-point basis -- The controller shall provide a means for emergency termination or emergency stop to robot motion -- A means shall also be provided to resume program execution -- The stop/start capability shall be provided on the teach pendant and controller cabinet -- Modular input-output rack with 128 digital input-output and/or analog input-outputs. The robot controller will be the timing and sequence controller for all processes and equipment. Five input/output modules shall be provided as follows: 120 Volts AC digital inputs -- 120 Volts AC digital outputs -- 24 Volts DC digital inputs -- 24 Volts DC digital outputs -- 0-10 Volts DC analog outputs. -- The robot controller software shall incorporate the following features to control the robot mechanical unit: a. Auxiliary Axis control (capability for future upgrade to this option, but not be included in this procurement): Independent motion, Simultaneous motion Integrated motion -- b. Interpolation: Joint, Linear, Circular -- c. Tool Orientation Control d. Tool Center Point Definition/Positioning -- e. Automatic Axis acceleration and deceleration -- f. Point-to-point motion and continuous path motion -- g. Diagnostic control system with full programmed edit capability -- h. User program multi-tasking -- I. Option to support up to three separate multi-motion groups (robot arm plus to two peripheral devices). each with their own control program and simple kinematic models -- Advanced sensing, vision, peripherals, communications and networking capabilities -- Six (6) axes of simultaneous high speed, high precision digital control with the ability to expand to at least 16 axes control in the future -- Operator teach pendant with 10 meter cable -- Cartesian coordinate based, continuous path control -- Constant velocity capability (straight line velocity range of at least 0.1 30 inches per second) -- High level programming language -- Battery backup for complimentary metal oxide semiconductor(CMOS) memory and encoders -- Safety limit switches for over travel protection -- Megabytes of CMOS Random Access Memory (RAM) and 2 Megabytes of Flash RAM -- Communications Interfacing Capabilities -- The robot controller must be capable of accepting off-line programs generated on the Silicon Graphics Workstation using the DENEB Robotics IGRIP software Package -- This compatibility is supported by DENEB Robotics on Fanuc Robots using the Karel controller; therefore, Fanuc Robotics does not need to provide special hardware/software to comply with this requirement -- However, other manufacturers without this capability will not be accepted -- General: Provide installation data and instructions required by the Government for site preparation and installation of the robot system -- The information shall include, but not be limited to, floor space, head room, and primary power requirements -- Instructions for mounting the robot at MSFC including mounting hole patterns and other special requirements shall be provided -- Installation of the robot to be accomplished by MSFC personnel within thirty days (30) after receipt at MSFC -- The Contractor shall provide one engineer at MSFC for up to (4) four days (as required) for installation, start-up and final acceptance including verification of high pressure water protection package -- The Contractor shall demonstrate the capability of all features set forth in the specification, as the acceptance test at MSFC within seven days after notification by MSFC that installation is complete -- Provide one week of training at MSFC for a minimum of eight (8) people within seven days after completion of the acceptance test. Training shall include training documentation for 10 people minimum -- Provide all documentation to include operating instruction, user maintenance and programmer manuals, electrical schematics and mechanical drawings -- Delivery -- Robot delivery to NASA, MSFC shall be four (4) to eight (8) weeks after receipt of purchase order -- Interested firms have 15 days from the publication date of this synopsis to submit their qualifications/capabilities in the critical areas mentioned above, along with a request for a copy of the solicitation -- Such qualifications/capabilities will be used solely for the purpose of determining whether or not to conduct this procurement on a competitive basis. Responses received after the 15 days or without the required information will be considered nonresponsive to the synopsis and will not be considered -- Oral communications are not acceptable in response to this notice -- A determination by the Government not to compete this proposed contract, on a full and open competition basis, based upon responses to this notice, is solely within the discretion of the Government -- This procurement is being conducted under the NASA/MSFC MidRange Pilot Test Program approved by the Office of Federal Procurement Policy on April 16, 1993 -- Requests for copies of the RFO must be submitted in writing-- Transmission by facsimile to 205-544-9080 or by Internet e-mail to sherri.stroud@msfc.nasa.gov is acceptable -- RFO will be released on or about 15 days after publication in the Commerce Business Daily (CBD) -- Firm date for receipt of offers will be stated in the RFO -- Documents related to this procurement are available over the Internet -- The documents are in ASCII format and reside on a World-Wide Web (WWW) server, which may be accessed using client browsers, such as, MOSAIC -- The WWW address, or URL, of the MSFC Procurement home page is:''http://procure.msfc.nasa.gov''. 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