ROBOT
RCI(A) Series SERVICE MANUAL
SM-RCM4-E0503
Preface Thank you for purchasing a Robostar Robot. This assembly robot is the result of Robostar's technology. We are sure that this Robot, with its high performance and functions will be a great assess to your organization. Please read this manual thoroughly before operating the robot so that it can be operated safely and effectively. This Service manual is one of set for the robot.
Type of robot covered in this manual
This manual is designed for following types of robot. Cartesian Robot 1. RBC(D) Series 2. RH Series 3. RS Series 4. All models of Belt-driven type SCARA Robot 1. RSI series 2. RSA Series Desktop Robot 1. RDT-440F Series 2. RDT-340 Series Wafer Handling Robot RWTA Series
Request
Before operating the robot, make sure reading and understanding the section entitled "The Safe Use of Robot" in each User's and and Service manual. manual. This section gives you information on the safe operation of the robot.
Caution
█ Partial or total reproduction of this manual is forbidden without prior permission. █ The manual is subject to change without prior nitice.
Contents
Chapter 1
The Safe Use of Robot
1.1 Robot Safety in general
1-1
1.2 Details of Robot Safety
1-5
1.3 How to Treat Cables in Robot
1-7
Chapter 2
Overview of Robot
2.1 Product Composition
2-1
2.2 Robot Composition
2-2
2.2.1 Components of Robot System
2-2
2.2.2 Name of Each Component in Controller
2-6
(1) RCM4-Series
2-6
2.3 Specification of Robot Controller
2-7
2.3.1 Features
2-7
2.3.2 Structure of Model Name
2-8
2.3.3 General Specification
2-9
2.4 Product Dimension
2-11
2.5 Warranty of Product
2-12
Chapter 3
Installation of Robot Devices
3.1 Appropriate Environment for Robot Installation
3-1
3.1.1 Conditions for Installation Environment
3-1
3.1.2 Ambient Temperature Temperature and Humidity
3-1
3.1.3 Vibration
3-1
3.2 Installation of Robot Controller
3-2
3.2.1 RCM4-Series
3-2
C-1
Contents
Chapter 4
Connection & Interface
4.1 Connection
4-1
4.2 RCM4-Series Connection
4-1
4.2.1 Robot Controller
↔
Robot Mechanical Part Connection
4-1
4.2.2 Robot Controller
↔
External PLC Connection
4-4
4.2.2.1 System I/O Connection
4-4
4.2.2.2 User I/O Connection
4-18
4.2.2.3 Option I/O Connection
4-21
4.3 Checking Input/output Monitoring using Teach Pendant Pendant after Connection
4-24
4.4
4-29
On-Line Connection
4.4.1 Serial Cable Standard
4-29
4.4.2 Serial Cable Connection Diagram
4-30
4.5
Cartesian Coordinate Robot Connector
4-31
4.5.1 Internal Circuit Diagram
4-31
4.5.2 Body Connector Wiring (refer to it when doing wiring job directly)
4-35
4.6
Scara Robot Connector
4-36
4.6.1 Air Piping & Signal Wire
4-36
4.7 Caution When Wiring for Non-Robostar Mechanical Part
C-2
4-37
Contents
Chapter 5
Time Chart of System Input/Output Operation
5.1 Basic Functions
5-1
5.1.1 Time Chart of System Input/Output
5-2
(1) Time Chart of Normal Operation
5-2
(2) Example of Operation Panel
5-3
(3) System I/O Signal Sequence
5-4
(for reference when programming PLC sequence) (4) When Changing JOB Program while Running
5-6
(5) In case of Emergency Stop or Alarm while Running
5-8
(6) In case of Servo Off after STOP while Running
5-11
5.2 Highly Sophiscated Functions
5-12
5.2.1 Mode Selection
5-12
(1) Flow Chart of Mode Selection
5-12
(2) Time Chart of Mode Selection just after Power ON
5-13
5.2.2 Mode Description
5-14
5.2.2.1 Auto Run Mode
5-14
5.2.2.2 Step Run Mode
5-15
5.2.2.3 Jog Mode
5-19
5.2.2.4 Host Mode
5-21
5.2.3 Teach Pendant Display of Each Mode & 7-Segment Display on Front Panel
Chapter 6
5-25
Maintenance and Reparing
6.1 Indication of Abnormal Condition
6-1
6.2 Abnormal Conditions and TroubleShooting (Error Code)
6-2
6.3 Quick Maintenance and Reparing Job
6-45
6.3.1 Initialization
6-45
6.3.2 How to troubleshoot an Error occurred during Origin Setting
6-46
6.3.3 Explanation of Z axis Weight Balance (using Air Cylinder)
6-47
6.3.4 Troubleshooting for Mechanical Parts of Robot
6-49
C-3
Contents
6.3.5 How to Set Proper Gains
6-52
6.3.6 How to Modify Offset Value When Changing SCARA Origin Position
6-53
6.4 Host Package Error
Chapter 7
6-58
Appendices
7.1 System I/O PLC Sequence Program
7-1
7.2 SPARE PARTS LIST (Controller)
7-9
7.3 SPARE PARTS LIST (Mechanical Part)
7-10
7.4 Considerations for Selecting Robot
7-13
7.5 Periodic Inspections
7-14
7.6 Robot Hand
7-15
7.7 Cartesian Coordinate Robot Structure
7-18
7.8 Picture of Connectors
7-19
7.9 Emergency Circuit Diagram
7-21
C-4
Chapter 1
▶ The
Safe Use of Robot
1. The Safe Use of The Product
In order to use this product safely, please read this manual thoroughly before using the product. Each manual carries the following symbols that indicate contents or events where your careful attention is needed for further safe use. So, make sure you use this product with your complete understandings.
Safety Related Symbols Indicates that severe damage on property or loss of human lives may occur when the product is misused.
Indicates that, if this product is misused, it may cause any troubles,
Indicates banned actions for correct use. For an example, the right hand side symbol indicates ban of fire.
Indicates what should be done so as to use this product properly For an example, the right hand side symbol means that the device are forced to be connected safely to the ground.
Indicates events or contents in which the product may fail to function in normal way or may not run at all due to misuse of it, or a case where your further attention is required.
1-1
Chapter 1
■ The Safe Use of The Product
This robot is a high-tech industrial devices. To avoid unexpected accidents, please observe the followings.
■ For safer and more efficient use,
please have thorough knowledge of manual before using the product.
■ Always use the power supply and the load
within the rated range.
Make sure the voltage is AC220 before use.
■ When installing robot,
fix it firmly so that it won't be vibrating.
1-2
▶ The
Safe Use of Robot
Chapter 1
■ To operate safely, set up the safe fence
around the robot's arms reach.
■ Make sure to check wiring connections
before turning the power of controller on. If wiring is wrong, the device may not work normally.
■ To prevent people from the hazards of getting
electric shock, make sure Frame Ground (FG) has properly done.
1-3
▶ The
Safe Use of Robot
Chapter 1
■ When the robot is working or is ready to work,
keep always watching and that you should not be near its arms reach. Even if it doesn't work, always be careful.
Especially, at the time of switching the power On/Off and of running motor and of starting motor by manual under a situation of many people working together, check workers' safety matters first prior
to the job.
■ When checking and repairing the robot,
make sure to unplug the controller.
1-4
▶ The
Safe Use of Robot
Chapter 1
▶ The
Safe Use of Robot
Details of Robot Safety
1.2 Details of Robot Safety
1) Wear a helmet and safe shoes for your safety. 2) Before switching the power ON, check if anyone is in the robot's arms reach and then operate robot. 3) When moving into the radius of robot's reach for checks or repairing jobs, you should always switch
the power OFF. 4) If the robot's cable is exposed to the pathway, cover it up or use duct to prevent it from being damaged. 5) If the cable is found as being damaged, immediately replace it. 6) When operating the robot, don't load any weight more than that of allowed. 7) Before operating the robot, be familiar with the user's manual. 8) Relating to installation of safe fence, ① Make it sufficient enough to resist reactive force or to overcome environmental conditions.
Build it in a specific design in order not to easily allow people to move or withdraw it, and to climb over it . ② Remove any dangerous parts such as sharp edges and burrs, etc. ③ Build it as a shape that can be fixed at the location. ④ In case you build an exit door at the safe fence, install a detector i.e. sensor, so that the robot
motions can be stopped at the moment of door opened. ⑤ Install the safe fence at a distance with over 40cm from the arns or radius of robot's reach.
safety fence
1-5
Chapter 1
▶ The
Safe Use of Robot
Details of Robot Safety
9) Emergency stop switch ① Install the emergency stop switch at a location where the worker can operate it easily. ② Paint it red so that one can identify its location easily and tape yellow stripe
around it. ③ Use the emergency stop switch having non-automatic return function.
EMERGENCY STOP SWITCH
EMERGENCY STOP INPUT (NORMAL CLOSE)
CONTROLLER
10) Grounding Standard Requires Class 3 grounding (Ground Resistance: 100 Ωor below)
11) Warning light of power supply t o the robot Install the warning light so that one can check if the power has been supplied to the robot.
HEAD LIGHT
Ready Output
MAX DC24 CR Com Controller
AC 200V
1-6
Chapter 1
▶ The
Safe Use of Robot
How to Treat Cables in Robot
1.3 How to Treat Cables in Robot 1 ) Fix the cable in the way of which the particular point should not be bent forcedly.
STEEL BAND
bundle lightly
2) Do not fix the twisted part with cable tie, et
3) Avoid applying excessive tension.
1-7
Chapter 1
▶ The
Safe Use of Robot
How to Treat Cables in Robot
4) Do not use the ordinary cable with rotating part.
Use the Curl cable.
5) When fixing the cable, don't tighten it excessively in order to prevent the cable from being pressed.
6) Prevent the cable's surface from being damaged by applying pressure and striking it with force, etc.
1-8
Chapter 1
▶ The
Safe Use of Robot
How to Treat Cables in Robot
7) Do not use spiral tube at the part where it practices bending actions repeatedly.
9) When wiring, the power cable should be distinguished from the signal cable.
8) The size of cables should be less than 60% of cableveyor's dimensions.
power cable
duct signal cable
10) Do not fix cables in cableveyor with cable tie, etc in order for allowing it move freely. And comb down cables in order that it won' t be entangled. Avoid being entangled.
Do not fix with cable tie.
1-9
Chapter 1
▶ The
Safe Use of Robot
How to Treat Cables in Robot
■ When applying the cableveyor, ① Use the cableveyor having radius of curvature of more than 50R. ② Keep the size of cables less than 60% of the cableveyor's total dimensions.
11) When you install cableveyor and mount cable bracket, make sure you do it at the following designated places. If you'd like to install cableveyor and to mount cable bracket at areas other than the following designated places, please refer it to us. Base
Cableveyor / Cableveyor Guide
Cable Bracket
RBC-10
Lower and side part of base: T-Slot
Side part of Carrier: Tap
RBC-32
Lower and side part of base: T-Slot
Side part of Carrier: Tap
RBC-51
Lower and side part of base: T-Slot
Side part of Carrier: Tap
RBC-81
Lower and side part of base: T-Slot
Side part of Carrier: Tap
Note) You can purchase Plate Nuts for each Base additionally.
1 - 10
Chapter 2 ▶ Overview of Robot Product Composition
2. Overview of Robot
2.1 Product composition
■
Components in RCM series ◎ : basic
Items
NO
★ : optional quantity
RCM4
1
Mechanical parts (cartesian coordinate or SCARA robot)
1
◎
2
Robot controller (RCM4-CE-A)
1
◎
3
Connectors (SystemI/O, UserI/O) : except Cable
1 each
◎
4
Software option (PLC, Palletizing, Interpolating Function)
1
◎
5
RS232C cable (length 3m)
1
★
6
Power supply cord (for AC220V)
1
◎
7
Service manual
1
◎
8
User's manual
1
◎
9
Teach pendant (cable length 2m, 5m)
1
★
10
Motor cable (length 5,7,10m/ flexible, inflexible)
1
★
11
User I/O cable (5,10,15m/ flexible, inflexible)
1
★
12
System I/O cable (5,10,15m/ flexible, inflexible)
1
★
13
System unit(cable length 3,5m/ flexible, inflexible)
1
★
14
OPT I/O Board (Extension I/O / Ethernet / Profi-Bus)
1
★
15
OPT I/O cable (Extension I/O / Ethernet / Profi-Bus)
1
★
16
I/O monitor (RCO-MIOM-S)
1
★
17
I/O terminal(RCO-MTIO-S)
1
★
18
I/O monitor cable(system I/O,user I/O-1, 3, 5, 7,10,15m)
1
★
19
I/O terminal cable(system I/O,user I/O-1, 3, 5, 7,10,15m)
1
★
2-1
Chapter 2 ▶ Overview of Robot Robot Composition
2.2 Robot Composition
2.2.1 Components of robot system Composition 1) : Basic Specification
SCARA Robot
PLC
Rear of RCM4
AC220V RS232C communication
Front of RCM4
Teach Pendant
2-2
Chapter 2 ▶ Overview of Robot Robot Composition
■
Composition 2) : Basic Specification + I/O Monitor Moni tor + I/O Terminal
PLC
SCARA Robot
I/O Terminal
I/O Monitor
Rear of RCM4
AC220V
RS232C communication
Front of RCM4
Teach Pendant
2-3
Chapter 2 ▶ Overview of Robot Robot Composition
■
Composition 3) : Basic Specification + System unit
SCARA Robot
PLC
For more details, see "13-8" in the User's manual.
System UNIT
Rear of RCM4
AC220V
RS232C communication Front of RCM4
Teach Pendant
2-4
Chapter 2 ▶ Overview of Robot Name of each component in controller
2.2.2 Name of each component component in controller controller
(1) RCM4-Series
Front
Note1) RS232C communication connector
Note 2) Teach Pendant connector
Note 1) Connector used (in the controller) : NS-9Pin(P) Connector to be used (in the opposite of controller) : 9Pin Dsub Connector(S) 2) Pleases use the cables for teach pendant manufactured by our company.
2-5
Chapter 2 ▶ Overview of Robot Name of each component in controller
Rear
OPTION INPUT
SYSTEM IN/OUT
OPTION OUTPUT
USER OUTPUT
USER INPUT
Cooling Fan
Cooling Fan
Ground Connection Class 3
Ground Connection Class 3
A(X), B(Y) axis Motor Connector
A(X) axis ENCODER
B(Y) axis ENCODER
W axis ENCODER
Z axis ENCODER
Note 3) FUSE Z, W axis Motor Connector
Note 4) Power Connector
Note 3) When replacing the fuse, make sure to use the one of rated voltage. (250V/20A ) 4) Please confirm the power to be supplied. (single phase AC220V)
2-6
Chapter 2 ▶ Overview of Robot Specification of Robot Controller
2.3 Specification of Robot Controller
2.3.1 Features
This Robot Controller(RCA(I)4 Series) is a compact model with built-in servo AMP and equipped with 32-bit RISC CPU, and has the following features: ■ 2 ~ 4 axes cartesian coordination robot / SCARA driving ■ Robot system composable without additional PLC(having a simple PLC built-in) ■ Easy to modify various parameters and gains(modifiable on S/W) ■ Monitoring is possible during operation. ■ Provides abundant I/O Interface Basic: 16/16 points, Expanded: 64/64 points ■ Full range of embedded robot commands ■ Provides multi-functional host package(Dos, Windows)
In addition, with improvements of controlling performances of robot, it is now capable to perform the following jobs: ■ Palletizing, Sealing and the likes. ■ Two and three dimensional interpolating controls with arc, circle, high-speed, and high-precision motion. ■ Perform parallel processing of robot commands during execution of Input/Output and move command, etc. according to the conditions. ■ Variety of pass motions including PFOS(movement distance set-up) and FOS(movement distance ratio set-up) etc. ■ Multi-tasking, that enables to manupulate robot's motion and simple PLC Sequence simultaneously, is possible.
2-7
Chapter 2 ▶ Overview of Robot Structure of Model Name
2.3.2 Structure of Model Name
RCM4 Series Option Card O : Extension I/O Board E : Ethernet Card P : Profi-Bus Card X : No Selection
I/O Type N : Input (NCOM), Output (PCOM) P : Input (PCOM), Output (NCOM)
RCA(I)4 - 4211 - PX
Encoder Type I : Incremental A : Absolute
AC 4 axes Absolute Controller
SERVO motor's capacity for each axis ; F:50W, 1:100W, 2:200W, --- 8: 750W, A: 1 kw
Ser. No. : 0412-001
Production Date : The 1st product on Dec. 2004
Ex.) Absolute 4 axes (X:400W,Y:200W,Z:100W,W:100W) Input NCOM, Output PCOM Option I/O : Ethernet → Model : RCA4-4211-PE → Serial No. :
2-8
Chapter 2 ▶ Overview of Robot Specification of Robot Controller
2.3.3 General Specification
1) Installation environment of controller Items
Contents
Input power
AC 220V(+10% ~ -15%),50 ~ 60Hz
Capacity of power
2 axes maximum 1.5kVA / 4 axes maximum 2.5kVA
Encoder
Incremental / Absolute Encoder (Line Driver Type)
Ambient Temp. in use
0 ~ 40 °C
Ambient Hum. In use
20 ~ 80 % RH (No dew condensation)
Ambient Temp. in storage
-15 ~ 60 °C
Ambient Hum. In storage
10 ~ 90 % RH (No dew condensation)
2) Performance of controller Items
Contents
Withstand Voltage Power noise
AC 1.5kV ,10mA for 1 minute ±1,500Vp-p,1usec, for 1 min. in common / normal condition
Motor/Encoder
±1,500Vp-p,1usec, for 1 min in induced noise
I/O
±1,500Vp-p,1usec, for 1 min in induced noise
Noise Insulation resistance Program memory
between input power and FG : more than 20MΩ 100 JOB (1 JOB = 1,000 STEP + 1,000POINT)
Instant power cut-off
1/2 cycle per 10 periods of input power frequency
Positional precision
within ± 1 pulse of encoder
Servo capacity I/O Voltage
RCM4: Sum of 4 axes, maximum 4.0kW(maximum 1.0kW/1 axis) Internal power supply; 24V ,500mA
Minimum input current
5 mA/1 point
Maximum output current
50 mA/1 point
Brake control Motor control type
24V Motor Brake AC Servo Motor( Sine wave PWM current control )
2-9
Chapter 2 ▶ Overview of Robot Specification of Robot Controller
3) Standard of controller Function
Items
RCM4-Series Robot control
2 ~ 4 axes cartesian coordination robot, SCARA robot
Controlling axes
2~4 axes
Motion control
PTP,CP, Arc Motion
Instruction Type
Teach Pendent(Direct Teaching, MDI), Host(On-Line)
Memory Type & Capacity
Lithium Battery Back-up: 128/512 Kbytes(On board),3.0 V,0.95Ah Emergency Stop, Power ON/OFF
Front operation panel
Switch
Digit, Increase & Decrease, MODE, RESET,HOME,START,STOP
Display
7-Segment
2 Communication Ports
Teach Pendent, Host(RS232C)
Simple PLC function
Program only for PLC built-in
I/O
Option
System I/O
19 / 17 points
User I/O
16 / 16 points
Option I/O
64/ 64 points(= [32 /32] x 2)
Extension I/O
To extend User I/O
Ethernet
To communicate by Ethernet
Profi-Bus
To communicate by Profi-Bus Up/Down Load(PC S/W) : System,Job,Point,
On - Line function Job Run/ Stop, Point Move Operational function
Single Step, Automatic operation, Speed Override
Edit function
Job File Programming : System, Job, Point Monitoring : File, Status
Protective function Self-test, Emergent stop, Error Recovery Program control, Motion control, I/O control, built-in function Robot's language function Operator, Variable control I/O Parallel treatment
Point movements in operation by input condition, I/O parallel process
Interrupt function
Interrupt program execution(INTER.JOB) by system input
2 - 10
Chapter 2 ▶ Overview of Robot Product Dimension
2.4 Product Dimension
■
RCM4-Series
Unit : mm
2 - 11
Chapter 2 ▶ Overview of Robot Warranty of Product
2.5 Warranty of Product Robostar's products are produced under stringent quality standards. We provide after-management services with the following terms and conditions.
■
Warranty Period
For 1 year from the date of manufacture.
■
Range of Warranty
We will provide our services, free of charge during the warranty period however, only for the faults or failures experienced under normal operations caused by defects of designs or manufacturing technologies relating to the products.
■
Exceptional Cases
Although such events will occur within the warranty period, the following cases are being excepted:
(1) Failures caused by inadquate repairig jobs, remodification, relocation, and other mishandlings of devices carried out by the operator (or user), or any third party. (2) Failures caused by using any parts or greases which are not designated by our company, the manufacturer. (3) Failures caused by fire, disaster and natural calamities, earthquake, and force majeure. (4) Failures caused by any uses under the situations of, such as, flooding and etc, which are not specified environments in our company's speicifcation. (5) Failures caused by complete consumption of consumable parts. (6) Failures caused by lack of checks and repairing jobs in accordance with the user's manual and /or the service manual. (7) Other losses and damages except the costs required to repair the robot.
2 - 12
Chapter 3 ▶ Installation of Robotic Devices Ensuring Appropriate Environment for Robot Installation
3. Installation of Robotic Devices
3.1 Appropriate Environment for Robot Installation ■ The installation environment of robot's body and controller is very important.
If installation environment is not appropriate, the robot may not perform or function to the full and also it may be a cause of reduced life and unexpected failiures as well.
3.1.1 Conditions for Installation Environment ■ Since the robot and controller have not been manufactured under the specifications of explosion-proof,
absorbing vibration & noise, and of overload protection, it should not be installed in the following places: (1) Place where flammable gas and combustible liquid are used. (2) Place where conductive substances, i.e. metal chip, etc. are flying in all directions. (3) Place where corrosive gas, such as acid or alkali, etc. exists. (4) Place where mist from cutting fluid or grinding fluid are producing. (5) Place where mist that includes cutting oil or grinding oil are spreading. (6) Place near the source of electric noises, such as Inverter of large capacity, High Frequency Oscillator with large output, Conductor of large capacity and Welder, etc.
3.1.2 Ambient Temperature and Humidity ■ Keep ambient temperature in the range of 0 ~ 40 ℃during operation. ■ Keep ambient humidity less than 80% RH(MAX). ■ Circulate air properly, and try to keep ambient air from gathering dusts and tiny airborne partilcles
and humidity at the possible lowest level.
3.1.3 Vibration ■ Install the robot keeping away from the place where excessive vibrations or impacts are anticipated.
3-1
Chapter 3 ▶ Installation of Robotic Devices Installation of Robot Controller
3.2 Installation of Robot Controller ■ When installing the controller inside electric panel, you should consider such factors as bendings of the cable and interference of cooling fan, etc. And fan must be fixed in the panel, so that air can properly be circulated.
■ When installing the controller outside electric panel, and if you want to locate the controller on the bottom surface, then inflow of air should not be blocked.
3.2.1 RCM4-Series ■ When installing the controller inside electric panel:
Front of controller
Rear of controller
Space more than 35mm be secured
Space more than 200mm be secured
3-2
Chapter 4 ▶ Connection & Interface Connection(RCM4)
4. Connection & Interface 4.1 Connection
■ Wrong connection may cause trouble for peripheral device as well as controller. Please pay special attention to it. 4.2.1 Robot Controller ↔ Robot Mechanical Part Connection (Page 4-1)
4.2 RCM4-Series Connection
4.2.2 Robot Controller ↔ External PLC Connection (Page 4-4)
4.2.1 Robot Controller ↔ Robot Mechanical
1) 1,2axes(= A(X), B(Y)axes) connection (Page 4-2)
Part Connection 2) 3,4axis(= Z, W axis) connection (Page 4-4)
SCARA Robot
PLC
Rear of RCM4
AC220V
RS232C communication Front of RCM4
Teach pendant
4-1
Chapter 4 ▶ Connection & Interface Connection(RCM4) Note 1) Notice the place where the encoder connector and I/O connector are located. 2) Connection should be accorded with the connectors of each axis of robot cable
▶ Model name of connector (Controller Side)
▶ Model name of connector(robot's body)
-. Encoder : 10220-52A2JL (3M) -. Motor
-. Motor
: SRCN6A16-10S(SAMWOO)
: 09-21-007-3131(HARTING)
3) Use the robot cable manufactured by our company only. 4) Be sure to install FG(Frame Ground). ■
1,2axes (=A(X), B(Y) axes) connection See, appendix "7.8"
1) Encoder Connection (of controller) ▷ Connector attached on controller(Encoder) : 10220-52A2JL (3M) ▷ The opponent connector(Encoder) : 10120-3000VE (3M) ▷ Specification of cable : 0.15 SQ x 25P (LG Cable)
1
10
11
20
▷ Length of cable : Max. 11m The following pin diagram is the case veiwed from the point of the arrow direction as shown in the left side. (The same applies to No3, 4 axes)
▷ Pin Assignment for Incremental Encoder (Same for all axis) Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
ENCPWR0#
6
ENCV0
11
GND
16
/ENCV0
2
ENCA0
7
ENCW0
12
/ENCA0
17
/ENCW0
3
ENCB0
8
/ORG01
13
/ENCB0
18
BRK0+
4
ENCC0
9
FLS01
14
/ENCC0
19
RLS01
5
ENCU0
10
24V
15
/ENCU0
20
G24V
▷ Pin Assignment for Absolute Encoder (Same for all axis) Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
ENCPWR0#
6
No Connect
11
GND
16
No Connect
2
ENCA0
7
Rx
12
/ENCA0
17
/Rx
3
ENCB0
8
/ORG01
13
/ENCB0
18
BRK0+
4
ENCC0
9
FLS01
14
/ENCC0
19
RLS01
5
No Connect
10
24V
15
No Connect
20
G24V
4-2
Chapter 4 ▶ Connection & Interface Connection(RCM4) See the appendix "7.8"
2) Motor power connection(of controller)
▷ Connector attached on motor :09-21-007-3131(HARTING) ▷ The opponent connector(Motor) : 09-21-007-3031(HARTING) ▷ Specification of cable : 0.15 SQ x 8C (LG Cable) ▷ Length of cable : Max. 11m ▷ Pin Standard
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
U(2)
3
W(2)
5
V(1)
7
FG(1)
2
V(2)
4
W(1)
6
U(1)
8
FG(2)
(1) → 1(X) axis, (2) → 2(Y) axis
3) Encoder & Motor power connection (of robot body) (1,2 axes)
See the appendix "7.8"
▷ Connector attached on mechanical part (Encoder + Motor) : JMSP2528F or JMLP2528F ▷ The opponent connector : JMSP2528M or JMLP2528M ▷ Pin Assignment for Incremental Encoder (same for all axis) Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
5V
7
EU
13
EC
19
S24V
A
U
2
5V
8
/EU
14
/EC
20
SGND
B
V
3
G5V
9
EB
15
EW
21
SORG
C
W
4
G5V
10
/EB
16
/EW
22
BRK+
D
FG(Motor)
5
EA
11
EV
17
SL+
23
BRK-
6
EA
12
/EV
18
SL-
24
FG(Enc)
Pin No.
Signal
▷ Pin Assignment for Absolute Encoder (same for all axis) Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
5V
7
NC
13
EC
19
S24V
A
U
2
5V
8
NC
14
/EC
20
SGND
B
V
3
G5V
9
EB
15
Rx
21
SORG
C
W
4
G5V
10
/EB
16
/Rx
22
BRK+
D
FG(Motor)
5
EA
11
NC
17
SL+
23
BRK-
6
EA
12
NC
18
SL-
24
FG(Enc)
4-3
Chapter 4 ▶ Connection & Interface Connection(RCM4)
Important !
▶ Use motor power cable and encoder cable exclusively for robot. ▶ Incorrect wiring may break the elements. Check the wiring before plug-in. ▶ Use the flexible cable by all means when wiring at the flexion part.
■
3, 4 axes (=Z, W axes) connection
The same shall be applied as the case of 1, 2 axes (=A(X), B(Y)). Connect after checking the position of 3, 4 axes by referring to t he name plate in the rear of the controller.
4.2.2 Robot Controller ↔ External PLC Connection
4.2.2.1 System I/O connection (Page 4-4) 4.2.2.2 User I/O connection (Page 4-24)
Important
■ If I/O on Model Name(RCI4-8422-PX). is 'N', Input -> Negative Common, Output -> Positive Common ■ If I/O on Model Name(RCI4-8422-NX). is 'P', Input -> Positive Common, Output -> Negative Common Hereinafter, distinguish as NP, PN.
4.2.2.1 System I/O connection
See appendix "connector".
■ You can operate the robot automatically by the system I/O signals. ■ You can operate the robot automatically by connecting the system I/O signals with PLC or system operating panel. ■ You can choose 32 jobs(P00~P31) by the system input signals. ■ The wiring of system I/O can be divided into three parts as the followings. -. Basic function : operating the interface and PLC / operating panel(AUTO Mode) -. Highly sophiscated function : operating the interface with PLC / operating panel (AUTO,STEP,JOG,HOST Mode). (JOG Mode can not be accessed throug System I/O. It is optional) -. Operation with 7 segments connection : in this application, you can identify "Job program selection", "Status Display" and the likes on the 7 segments.(The 7-segment is identical with the front display of the controller.)
4-4
Chapter 4 ▶ Connection & Interface Connection(RCM4)
1) Specification of System I/O
Items
System Input
Rated I/O voltage(V)
System Output DC24
Min. 5/1 node
Rated I/O current(mA)
Max. 30/1 node
Insulation by Photocoupler
Insulating method
within 1
Time delay of signal(ms) Input resistance(kΩ)
4.7
-
Number of I/O points
19 points
17 points 57LE-40500(DDK)
Connector attached on controller
Cable Solder Type:57-30500(DDK) Opponent connector Cable Solder Type:57FE-30500(D8)(DDK) DC 24V (max. 300mA)
Internal power
2) Wiring of System I/O (3 parts)
Operation method
I/O
Function Origin setting, JOB Start, Stop, Program Choice
Input 1. Basic function
Emergency Stop, Reset Output
2. Highyl Sophiscated Function (Functions are added on basic)
INT_REQ, MODE(AXIS) option,VEL-/MOV-,VEL+/MOV+, Input Velocity, Brake (added on the basic function input) Output
3. 7-Segment Connection Application
Alarm, Ready, Origin-ok, INPOS/INRNG, Run
Input Output
Same as the basic function VEL-/MOV-, VEL+/MOV+ 7-Segment Enable, Segment signal(A ~ H)
4-5
Chapter 4 ▶ Connection & Interface Connection(RCM4)
The following pin diagram is the case viewed from the point of the arrow direction as shown in the left side
1
25
26
50
3) Pin Assignment of system I/O
3-1) Pin Assignment of N type system I/O
Pin No
Signal
Name
1 (P)
Description Power supplied from inside of controller
24V
24V Power
26 (P) 2 (G) G24V
G24V Power
When using the external power do not connect these pins with the external power supply
27 (G) 3 (C)
VCC Common for SYSTEM INPUT SYS_P_COM
24V COMMON
28 (C)
For wiring, see system I/O circuit diagram in 4.2.3 on page 4-14.
37 (C)
GND Common for SYSTEM OUTPUT SYS_N_COM
G24V COMMON
38 (C)
For wiring, see system I/O circuit diagram in 4.2.3 on page 4-14.
4 (I)
PROG0
Program#0
If all Bits are OFF, run Program#0
29 (I)
PROG1
Program#1
If all Bits are OFF, run Program#31
31 (I)
PROG2
Program#2
All Bits are defined as Binary
6 (I)
PROG3
Program#3
Run program#0 ~ 31 by using Bit combination
30 (I)
PROG4
Program#4
For more details, see in page 4-12
5 (I)
PROG_SEL
Program Select
25 (IG)
50 (IG)
Signal indicates "now selecting job wanted " by using the above 5 bits (PROG0, PROG1, PROG2, PROG3, PROG4)
Mode#0
Setting Mode: function to shift modes
Axis#0
Setting Axis: function to choose the axis in Jog mode.
Mode#1
For the details, see [ in Page 4-10.]
MODE0/AXIS0
MODE1/AXIS1 Axis#1
13 (IG)
46 (IG)
MODE_SEL
INT_REQ
Mode Select
Interrupt Request
Signal indicates "now selecting mode wanted" by using the above 2 bits (MODE0/AXIS0, MODE1/AXIS1).
If this signal is input when a Job is running in the Auto Run Mode of the System Mode, "The INTER. Job" is automatically operated. INTER.Job should be in Job Directory.
• (O): Output, (I): Input for basic function, (IG): Input for high class function, (P):VCC, (G):GND, (C):COMMON
4-6
Chapter 4 ▶ Connection & Interface Connection(RCM4) Pin No
48 (IG)
14 (IG)
Signal
VEL
VEL-/MOV-
Name
Velocity
Velocity- Direction
Description
Set the velocity of Jog motion in Jog mode. When VEL is ON, robot moves at the velocity set as jog velocity values in the parameter descripted in user's manual. While VEL is OFF, it moves at the one-half the velocity of that value.
Shift of velocity in running: In running, you can shift the working velocity of robot. The velocity is indicated on the teach pendant, and It is applied after the completion of 1 point motion.
39 (IG)
VEL+/MOV+
.
Velocity+ + Direction
Start 32 (I)
It will be increased or decreased at the increment of 10% per inputted signal with range of 20~100%. These signals move the selected axis in Jog Mode: They move the selected axis in the direction of + or -
Signal indicates START JOB. Once this signal is inputted, the controller moves the robot according to the selected program & point. You should c hoose desired JOB before-hand.
START Restart
.
There are Start and Restart. [See, ”Operation Time Chart".]
8 (I)
STOP
Stop
Signal indicates STOP JOB. The robot will be paused a moment by this signal.
Servo Off
Servo Off: With receiving this signal after stop, Servo will be off.
Alarm Reset
7 (I)
ORG
Origin
33 (I)
RST
Reset
Alarm Reset : When the alarm activates, the alarm will be released by this signal. Signal indicates Origin Setting. With this signal, the controller performs Move to Origin according to the parameter set. Signal indicates initialization. use this signal very carefully during run.
34 (I)
/EMG-
/Emergency-
9 (I)
/EMG+
/Emergency+
Signal indicates Emergency Stop. When this signal is inputted, the controller stops all the jobs and the robot carries Emergency Stop. (Alarm status) [ When wiring, see " System I/O Circuit Diagram of Basic Function (Page 4-11).]
47 (IG)
35 (O)
BRK
READY
Brake
It executes forcible brake ON or OFF at Jog Mode. If you want to move the brake locked axis manually, you may use this function.
Ready
When power ON, the controller inspects all of the system. If the system is normal, this signal will be On. If the system is abnormal, Alarm signal will be ON.
• (O): Output, (I): Input for basic function, (IG): Input for high class function, (P):VCC, (G):GND, (C):COMMON
4-7
Chapter 4 ▶ Connection & Interface Connection(RCM4)
Pin No
Signal
Name
11 (O)
ORG_OK
Origin OK
12 (O)
RUN
Run
10 (O)
ALARM
Alarm
Description When the signal "Org" is inputted, the controller performs the origin setting. After the completion of this process, this signal will be outputted.
With selection of job and input of "Start" signal, robot then starts to run from the first step and will output this signal.
When error occurs in the initial stage or during run, this signal then will be outputted. Alarm message is indicated on the teach pendant. When the robot reaches the target point (the Teach Point) during run, this signal will be On. When the robot reaches within the inposition pulse set in the parameter mode, this signal is On.
INPOS/INRNG
In Position
In Range
36 (O)
When the robot's mechanical part reaches within the range set in the parameter mode after origin setting, this signal is On.
Regardless of the controller's status, if the current position of robot's mechanical part is within the value of 'In Range' in the parameter mode, this signal is On.
15 (O)
SEG_ENB0
7 Segment Enable 0
40 (O)
SEG_ENB1
7 Segment Enable 1
16 (O)
SEG_ENB2
7 Segment Enable 2
41 (O)
SEG_ENB3
7 Segment Enable 3
17 (O)
SEG_A
7 Segment A
42 (O)
SEG_B
7 Segment B
18 (O)
SEG_C
7 Segment C
43 (O)
SEG_D
7 Segment D
19 (O)
SEG_E
7 Segment E
44 (O)
SEG_F
7 Segment F
20 (O)
SEG_G
7 Segment G
45 (O)
SEG_H
7 Segment H
21 ~24 SY S_P_COM1,2 49
24V COMMON
-.V CC Comm on for SYSTE M INPUT
Not Used
• (O): Output, (I): Input for basic function, (IG): Input for high class function, (P):VCC, (G):GND, (C):COMMON
4-8
Chapter 4 ▶ Connection & Interface Connection(RCM4)
3-2) Pin Assignment of P type system I/O
Pin No.
Signal
Name
1 (P)
Description Power supplied from inside of controller
24V
24V Power
26 (P) 2 (G) G24V
G24V Power
When using the external power, do not connect these pins with the external power supply.
27 (G) 3 (C) SYS_IN_COM1 28 (C) 21 (C) SYS_IN_COM2 22 (C)
23 (C)
SYS_IN_COM3
37 (C) SYS_OUT_COM 38 (C)
GND Common for system input [ When wiring, see "System I/O diagram in the basic function (Page 4-16)" GND Common for system input ][ When wiring, see "System I/O diagram in the highly G24V COMMON sophiscated function (Page4-17)" GND Common for system input ][ When wiring, see "System I/O diagram in the highly G24V COMMON sophiscated function (Page4-17)" VCC Common for system output 24V COMMON ][ When wiring, see "System I/O diagram in the basic function (Page 4-16)" G24V COMMON]
4 (I)
PROG0
Program#0
All bits being OFF, execute the program "0"
29 (I)
PROG1
Program#1
All bits being ON, execute the program "31"
31 (I)
PROG2
Program#2
All bits are defined as "Binary".
6 (I)
PROG3
Program#3
Using the combination of bits, execute the programs " No. 0~31"
30 (I)
PROG4
Program#4
For the details, see [ in Page 4-12.]
5 (I)
PROG_SEL
Program Select
25 (IG)
50 (IG)
Signal indicates "now selecting job wanted " by using the above 5 bits (PROG0, PROG1, PROG2, PROG3, PROG4)
Mode#0
-.Setting Mode: function to shift modes
Axis#0
-.Setting Axis: function to choose the axis in Jog mode.
Mode#1
-.For the details, see [ in Page 4-13.]
MODE0/AXIS0
MODE1/AXIS1 Axis#1
13 (IG)
MODE_SEL
Mode Select
Interrupt 46 (IG)
INT_REQ
Request
Signal indicates "now selecting mode wanted" by using the above 2 bits (MODE0/AXIS0, MODE1/AXIS1). If this signal is input when a Job is running in the Auto Run Mode of the System Mode, "The INTER. Job" is automatically operated. INTER.Job should be in Job Directory.
• (O): Output, (I): Input for basic function, (IG): Input for high class function, (P):VCC, (G):GND, (C):COMMON
4-9
Chapter 4 ▶ Connection & Interface Connection(RCM4) Pin No
48 (IG)
14 (IG)
Signal
VEL
VEL-/MOV-
Name
Velocity
Velocity- Direction
Description
Set the velocity of Jog motion in Jog mode. When VEL is ON, robot moves at the velocity set as jog velocity values in the parameter descripted in user's manual. While VEL is OFF, it moves at the one-half the velocity of that value.
Shift of velocity in running: In running, you can shift the working velocity of robot. The velocity is indicated on the teach pendant, and It is applied after the completion of 1 point motion.
39 (IG)
VEL+/MOV+
Velocity+ + Direction
Start 32 (I)
It will be increased or decreased at the increment of 10% per inputted signal with range of 20~100%. These signals move the selected axis in Jog Mode: They move the selected axis in the direction of + or -
Signal indicates START JOB. Once this signal is inputted, the controller moves the robot according to the selected program & point. You should c hoose desired JOB before-hand.
START Restart There are Start and Restart. [See, ”Operation Time Chart".]
8 (I)
STOP
Stop
Signal indicates STOP JOB. The robot will be paused a moment by this signal.
Servo Off
Servo Off: With receiving this signal after stop, Servo will be off.
Alarm Reset
7 (I)
ORG
Origin
33 (I)
RST
Reset
Alarm Reset : When the alarm activates, the alarm will be released by this signal. Signal indicates Origin Setting. With this signal, the controller performs Move to Origin according to the parameter set. Signal indicates initialization. use this signal very carefully during run.
34 (I)
/EMG-
/Emergency-
9 (I)
/EMG+
/Emergency+
Signal indicates Emergency Stop. When this signal is inputted, the controller stops all the jobs and the robot carries Emergency Stop. (Alarm status) [ When wiring, see " System I/O Circuit Diagram of Basic Function (Page 4-16).]
47 (IG)
35 (O)
BRK
READY
Brake
It executes forcible brake ON or OFF at Jog Mode. If you want to move the brake locked axis manually, you may use this function.
Ready
When power ON, the controller inspects all of the system. If the system is normal, this signal will be On. If the system is abnormal, Alarm signal will be ON.
• (O):Output, (I):Input basic functions, (IG):Input high-class functions, (P):VCC, (G):GND, (C):COMMON
4 - 10
Chapter 4 ▶ Connection & Interface Connection(RCM4)
Pin No.
Signal
Name
11 (O)
ORG_OK
Origin OK
12 (O)
RUN
Run
10 (O)
ALARM
Alarm
Description When the signal "Org" is inputted, the controller performs the origin setting. After the completion of this process, this signal will be outputted.
With selection of job and input of "Start" signal, robot then starts to run from the first step and will output this signal.
When error occurs in the initial stage or during run, this signal then will be outputted. Alarm message is indicated on the teach pendant. When the robot reaches the target point (the Teach Point) during run, this signal will be On. When the robot reaches within the inposition pulse set in the parameter mode, this signal is On.
INPOS/INRNG
In Position
In Range
36 (O)
When the robot's mechanical part reaches within the range set in the parameter mode after origin setting, this signal is On.
Regardless of the controller's status, if the current position of robot's mechanical part is within the value of 'In Range' in the parameter mode, this signal is On.
15 (O)
SEG_ENB0
7 Segment Enable 0
40 (O)
SEG_ENB1
7 Segment Enable 1
16 (O)
SEG_ENB2
7 Segment Enable 2
41 (O)
SEG_ENB3
7 Segment Enable 3
17 (O)
SEG_A
7 Segment A
42 (O)
SEG_B
7 Segment B
18 (O)
SEG_C
7 Segment C
43 (O)
SEG_D
7 Segment D
19 (O)
SEG_E
7 Segment E
44 (O)
SEG_F
7 Segment F
20 (O)
SEG_G
7 Segment G
45 (O)
SEG_H
7 Segment H
24,49
Not Used
• (O):Output, (I):Input basic function, (IG):Input high-class function (P):VCC, (G):GND, (C):COMMON
4 - 11
Chapter 4 ▶ Connection & Interface Connection(RCM4)
■ Ref. 1 : How to select a program
1. In case "Program Number" is not chosen, the Job "O" will be chosen automatically. (The same is performed in case of input signal not wired, “PROG0 ~ 4”,”PROG_SEL”.
2. Selecting "Program No" You can choose total 32 jobs by using PROG0 ~ PROG4.
PROG3
PROG2
PROG1
PROG0
JOB DIR No.
OFF
OFF
OFF
OFF
OFF
0
OFF
OFF
OFF
OFF
ON
1
OFF
OFF
OFF
ON
OFF
2
OFF
OFF
OFF
ON
ON
3
~
~
~
~
~
~
ON
ON
ON
OFF
OFF
28
ON
ON
ON
OFF
ON
29
ON
ON
ON
ON
OFF
30
ON
ON
ON
ON
ON
31
PROG4
■ Ref. 3 : Setting up INPOS / INRNG
-. You should determine to use either "In Position" or "In Range" in the parameter mode. -. Set “IN Position/Range” in the Parameter Mode.
■ Ref. 4 : System Operation (Highly Sophiscated Fuction) & Flow Chart of Functions
MODE1
MODE0
Code
MODE
Remarks
OFF
OFF
M00
Auto Run Mode
System MODE
OFF
ON
M01
Step Run Mode
ON
OFF
M10
Jog Mode
(Option)
ON
ON
M11
Host MODE
Host MODE
4 - 12
Chapter 4 ▶ Connection & Interface Connection(RCM4)
■ Ref. 2 : Setting Operation Mode
MODE1 / AXIS1
MODE0 / AXIS0
Operation Mode
Moving axis in Jog Mode
Remarks
OFF
OFF
Auto Run Mode
1(X) axis
OFF
ON
Step Run Mode
2(Y) axis
ON
OFF
Jog Mode
3(Z) axis
(Option)
ON
ON
Host Mode
4(W) axis
Host Mode
System Mode
1. System Mode -. Once the power is turned ON, System Mode is automatically set: (provided HOST Cable is not connected.) ■ Auto Run Mode
; When system I/O is connected to the peripheral devices with the basic function, this mode is automatically set just after the power is turned ON.
; In case of highly sophiscated function, when turning power On, Operation Mode will be set as Auto Run Mode.
■ Step Run Mode
If System I/O is configured to use the highly sophiscated function, it is possible to set Step Run Mode by selection procedure. ■ Jog Mode (option)
If System I/O is configured to use the highly sophiscated function, it is possible to set JOG Mode by selection procedure.
2. Host Mode -. After connecting HOST Cable, this mode is automatically set after the power is turned ON. -. If system I/O is configured to use the highly sophiscated function, it is possible to set On-Line Mode by selection procedure.
4 - 13
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
4) System I/O schematic
4-1-1) Operation of Basic function (N type)
Be carefule to connect Common
3,28
SYS_P_COM0
4.7K
7
ORG
4.7K
33
RST
32
START
8 4
STOP PROG 0
29 31 6
PROG 1 PROG 2 PROG 3
30 5
PROG 4 PROG_SEL
4.7
4.7K
9
EMG+
34
EMG-
10
ALARM
35 11
RDY ORI GI N-OK
36
I NPOS/I NRNG
12
RUN
37, 38 1,26
DC24V 2,27
DC24V
DC24V
LOAD LOAD LOAD LOAD LOAD
SYS_N_COM
DC24V Internal Current 내부전원 (MAX. 500 MAX.500mA Be careful to connect Common
- It is possible to choose 32 (2 5) programs externally. - You can change the number of connections as required. - Binary format. - when you need to choose 4 programs: connect the 2 pins, PROG 0 and PROG 1.
1) NC node 2) If power is turned ON without connecting the System I/O connectors, the error "SYSTEM EMERGENCY" would appear. ▶To escape from error status, ①connect System I/O connectors. ②you can remove the error by forcing EMG pins short-circuit, and then use the controller. (EMG pins are in mainboard of controller.) (Under this situation, pressing the EMG key doesn't work.)
• When wiring the power supply, check if the polarity in connection of DC24V is correct. • Wiring mistakes may result in damages of elements inside the circuit. Particularly, note the polarity of terminals' common connection. • Please use an external power supply as much as possible.
4 - 14
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
4-1-2) Operation of Highly Sophiscated Functions (N type)
21 4. 7K
4. 7K
46
SYS_P_COM
47
BRK
48
DC24V
I NT_REQ
22
23 4. 7K
SYS_P_COM
SYS_P_COM
DC24V
DC24V
VEL
SYS_P_COM
24
SYS_P_COM1
4. 7K
25
MODE0/ AXI S0
4. 7K
50
MODE1/ AXI S1
DC24V
▶ Add above wirings to the wirings for "Operation of basic functions",
which has been described in the previous page, . That is, add the wirings exhibited above to “SYSTEM INPUT” of "Operation of basic functions". ▶ “SYSTEM OUTPUT” is the same as "Operation of basic functions". ▶ You can't use the pin-function related JOG mode. Those functions are optional.
• When wiring the power supply, check if the polarity of DC24V is correct. • Wiring mistakes may result in damages of elements inside the circuit. Particularly, note the polarity of terminal's common connection.
4 - 15
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
4-2-1) Operation of basic functions (P type) When it is open, Servo Not Ready error occur
Note "Common connection".
- It is possible to choose 32 (2 5) programs externally. - You can change the number of connections as required. - Binary format. - when you need to choose 4 programs: connect the 2 pins, PROG 0 and PROG 1.
1) NC node 2) If power is turned ON without connecting the System I/O connectors, the error "SYSTEM EMERGENCY" would appear. ▶To escape from error status, ①connect System I/O connectors. ②you can remove the error by forcing EMG pins short-circuit, and then use the controller. (EMG pins are in mainboard of controller.) (Under this situation, pressing the EMG key doesn't work.)
Internal Current MAX.500mA Note "Common connection".
• When wiring the power supply, check if the polarity in connection of DC24V is correct. • Wiring mistakes may result in damages of elements inside the circuit. Particularly, note the polarity of terminals' common connection. • Please use an external power supply as much as possible.
4 - 16
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
4-2-2) Operation of Highly Sophiscated Functions (P type)
▶ Add above wirings to the wirings for "Operation of basic functions",
which has been described in the previous page, . That is, add the wirings exhibited above to “SYSTEM INPUT” of "Operation of basic functions". ▶ “SYSTEM OUTPUT” is the same as "Operation of basic functions". ▶ You can't use the pin-function related JOG mode. Those functions are optional.
• When wiring the power supply, check if the polarity of DC24V is correct. • Wiring mistakes may result in damages of elements inside the circuit. Particularly, note the polarity of terminal's common connection.
4 - 17
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
4-3) Descriptions of input signal according to operation modes in highly sophiscated functions
Mode
Description
Auto
In this mode
Run
Job is
Mode
Description of input signal ▶ PROG_SEL: After inputting job number(Binary format) at P0~P4, the pertinent job is selected by pressing this key.
▶ VEL-/MOV-: shifts the decimal point of the job number which are displayed at 7 segments. automatically run. (Multi-function)
- Inputted while the job is run, robot's moving speed is decreased. ▶ VEL+/MOV+: increases the job number.
(Multi-function) -. Inputted while the job is run, robot's moving speed is increased.
Output ▶ ALARM : on at Alarm.
▶READY : on at normal waiting status.
▶ORIGIN : on when origin setting is completed.
▶ INPOS : OFF when robot is moving.
▶ MODE_SEL: Pressing the key after the signals
M1/A1 & M0/A0 inputted, the relevant mode is selected
On when robot reaches target point.
▶ START: runs the selected job.
After the robot is paused due to inputting STOP in job run - Inputting START signal:first runs from the paused step Inputting - START signal as soon as STOP inputted : runs from the first step of the paused job. ▶ STOP: pauses the job in progress
▶ RUN : on in job run.
▶ 7 Segment : - Alarm: displays E alarm code - pausing job run:
(Multi-function) - Clears the alarm when Alarm activiates.
displays "P job number"
- Additional Input turns off Servo after first STOP inputted - stops the origin setting in progress. ▶Perform IP: Interrupt function.
If IP input becomes ON(1) while selected job running,
- when Job is running : displays "A step number"
that job will be stopped(if robot is moving, it will be stopped) and INTER.JOB runs. At this time, a job file with the file name of "INTER" must be located in the job directory. Interrupt run can be transformed when the selected job is run only in Auto Run Mode.
4 - 18
- when origin setting : displays "org".
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
Mode
Description
Description of input signal
Output
- How to run the first job while INTER.Job running. (the job runs from the first step) input the followings: Reset, Job, No. to run, PROG_SEL, START STOP, Job No. to run, PROG_SEL, START
Step
In this mode,
Run
Job is run
Mode
step by step
▶ VEL-/MOV-: shifts the decimal point of the step number
which is displayed at 7 segments. (Multi-function).
▶ ALARM :
on at Alarm. ▶READY :
- Inputting while the job running, 1 step is decreased.
▶ VEL+/MOV+: increases the step number.
(Multi-function). - Inputting while the job is run, 1 step is decreased.
on at normal waiting status.
▶ORIGIN :
on when origin setting is completed. ▶ INPOS :
▶ MODE_SEL: Pressing the key after the signals
M1/A1 & M0/A0 inputted, the concerned mode is selected ▶ START : runs the selected job.
By one input, Job Program One step that is displayed in 7segment will be run.
Off while moving On when robot reaches target point.
▶ RUN :
on in job run. ▶ 7 Segment :
- START Signal Input: Runs from the paused step. When inputing START signal, Stop Signal is inputted simultaneously: Performs from the first step of the job
- Alarm: displays E inputted: alarm code. - pausing job runs:
stopped.
displays "P job number" ▶ STOP: pauses the job in progress
(Multi-function)
- when Job runs:
- Clears the alarm when Alarm activates. - Additional input turns off Servo after first STOP inputted. - Stops origin setting in the progress
displays "r step number" - origin setting: displays "org".
4 - 19
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
Mode
Description of Mode
Description of the input signal Status that enables controller to communicate with PC
Host Mode
In this mode, PC With Communication Protocol, you can do 'origin setting', communicates with the controller by the 'Job Selection', 'Job Program Up/Down Load', 'Job Run', serial Moni to ring the curren t status of th e con tro lle r', etc. communication protocol. ▶ VEL-/MOV-: Decreases the speed of the robot motion while the job is running.
Output ▶ ALARM :
On at Alarm ▶READY :
On at Norma l waiting status ▶ORIGIN :
▶ VEL+/MOV+: Increases the speed of the robot motion
while the job is running. ▶ START :This signal is valid after selected job runs and
is
On when origin setting completed.
▶ INPOS :
OFF while moving ON when robot reaches target Under the condition that selected job doesn't run, inputting point.
then stops due to STOP inputted.
START signal causes the error "File Not found".
▶ RUN :
-.START Signal Input: Runs the job from the STEP stopped. On in job run. - When inputing START signal, Stop Signal is inputted simultaneously: Performs from the first step of the job
▶ 7 Segment :
-. Alarm:
stopped. -.STOP: Job executed in PC is being stopped temporarily (Multi-function) -.Clears the alarm when Alarm activates. Stops origin setting in progress.
4-20
displays E alarm code. -.Origin setting: displays "org"
Robostar Co. , Ltd.
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
■ 7 - Segment Connection Application (N-type)
Signal
Wiring Diagram
Port
DC 24V S Y S T E M
O U T P U T
SYS_N_COM 37,38
TR
SEG_ENB0
15
SEG_ENB1
40
SEG_ENB2 SEG_ENB3
16 41
SEG_A
17 ~ 20
R
... SEG_F
42 ~ 45
R
SYS_N_COM 37,38
DC 24V I N P U T
SYS_P_COM 3,28 MODE_SEL
13
VEL-/MOV-
14
VEL+/MOV+
39
▶ Components Standard R : 1.2 kW TR : 2N2907 (PNP type) 7- Segment : SND517 (Common Anode type)
4 - 21
Chapter 4 ▶ Connection & Interface System I/O of RCM4-series
■ 7 - Segment Connection Application (P-type)
Signal
Wiring Diagram
Port
DC 24V S Y S T E M
SYS_OUT_COM
37,38
SEG_A
17 ~ 20
R
... SEG_H
42 ~ 45
R
O U T P U T
TR
FNT_SEL0
15
FNT_SEL1
40
FNT_SEL2 FNT_SEL3
16 41
DC 24V I N P U T
SYS_IN_COM1
3,28
MODE_SEL
13
VEL-/MOV-
14
VEL+/MOV+
39
▶ Components Standard R : 470Ω TR : 2N2222 (NPN type) 7- Segment : Common Cathode Type
4 - 22
Chapter 4 ▶ Connection & Interface User I/O of RCM4-series
4.2.2.2 USER I/O Connection
See the appendix "7.8"
■ User I/O is a general-purpose I/O signal connected to external devices and peripheral devices. It exchanges signals each other by Robot Program and simple PLC program.
■ Connection Point for each of the User I/O are 16.
1) User I/O Specification
Item
User Input
Rated I/O Voltage (V) Rated I/O Current (mA)
User Output DC24
Min. 5/1 point
Max. 30/1 point
Insulation by Photocoupler
Insulation Method
≤1
Time delay of signal(ms) Input Resistence(kΩ)
4.7
-
Number of I/O points
16points(8points/1Common)
16points(8points/1Common)
RDCD-25S
RDCD-25P
25Pin Dsub Con.(P)
25Pin Dsub Con.(S)
DC 24V (max. 300mA)
DC 24V (max. 500mA)
Connector attached on Controller Opponent connector Internal Power
4 - 23
Chapter 4 ▶ Connection & Interface User I/O of RCM4-series
The following pin diagram is the case viewed from the point of arrow direction as shown at left side.
1
13
14
25
13
1
25
14
2) User I/O Pin Assignment (N-type)
■
User Input Pin Assignment
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
DC24V
10
IN9
19
IN4
2
DC 24V GND
11
IN11
20
IN6
12
IN13
21
INCOM1+
3
■
4
INCOM0+
13
IN15
22
IN8
5
IN1
14
DC 24V
23
IN10
6
IN3
15
DC 24V GND
24
IN12
7
IN5
16
INCOM0+
25
IN14
8
IN7
17
IN0
9
INCOM1+
18
IN2
Not Used
User Output Pin Assignment
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
OUTCOM0-
10
OUT14
19
OUTCOM1-
2
OUT0
11
20
OUT9
3
OUT2
12
DC 24V GND
21
OUT11
13
DC 24V
22
OUT13
4
OUT4
5
OUT6
14
OUTCOM0-
23
OUT15
6
OUTCOM1-
15
OUT1
24
GND
7
OUT8
16
OUT3
25
DC 24V
8
OUT10
17
OUT5
9
OUT12
18
OUT7
Not Used
• When using internal power being supplied by controller, check its maximum capacity. • To prevent devices from experiencing power shortage, please use the external power supply as much as possible. • When using the external power, be cautious about "short-circuit" with the internal power lines.
4 - 24
Chapter 4 ▶ Connection & Interface User I/O of RCM4-series
The following pin diagram is the case viewed from the point of arrow direction as shown at left side.
3) User I/O Pin Assignment (P-type)
■
User Input Pin Assignment
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
DC24V
10
IN9
19
IN4
2
DC 24V GND
11
IN11
20
IN6
3
Not Used
12
IN13
21
INCOM2
4
INCOM1
13
IN15
22
IN8
5
IN1
14
DC 24V
23
IN10
6
IN3
15
DC 24V GND
24
IN12
7
IN5
16
INCOM1
25
IN14
8
IN7
17
IN0
9
INCOM2
18
IN2
The following pin diagram is the case viewed from the point of arrow direction as shown at left side.
■
User Output Pin Assignment
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
OUTCOM1
10
OUT14
19
OUTCOM2
2
OUT0
11
Not Used
20
OUT9
3
OUT2
12
DC 24V GND
21
OUT11
4
OUT4
13
DC 24V
22
OUT13
5
OUT6
14
OUTCOM1
23
OUT15
6
OUTCOM2
15
OUT1
24
DC 24V GND
7
OUT8
16
OUT3
25
DC 24V
8
OUT10
17
OUT5
9
OUT12
18
OUT7
• When using internal power being supplied by controller, check its maximum capacity. • To prevent devices from experiencing power shortage, please use the external power supply as much as possible. • When using the external power, be cautious about "short-circuit" with the internal power lines.
4 - 25
Chapter 4 ▶ Connection & Interface User I/O of RCM4-series
4) User I/O Circuit Diagram (N-type)
User-Input Circuit Diagram
User-Output Circuit Diagram
Be careful when treating "Common Connection"
4,16 4.7K
4.7K
I NCOM0+
Be careful when treating "Common Connection"
DC24V
2 15
I N0
5
I N1
16
18 6 19
I N2
4 17
OUT4
5
OUT6
18
OUT7
3
I N3 I N4 I N5 I N6
1,14 8
9,21 4.7K
4.7K
OUT1 OUT2 OUT3
17
7 20
4.7K
OUT0
OUT5
LOAD LOAD LOAD LOAD LOAD LOAD LOAD
OUTCOM0 -
DC 24V
I N7
I NCOM1+
LOAD
DC24V
7
OUT8
20
OUT9
22
I N8
8 21
OUT10
10
I N9
9
23 11
I N10 I N11
22
OUT12 OUT13
24 12 25
I N12 I N13
10 23
OUT14 OUT15
6,19
I N14
OUT11
LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD
OUTCOM1 -
DC 24V 4.7K
13 1,14
DC24V
2,15
I N15 13,25
Internal Current AX. 500mA) 내부전원(M MAX Be careful when 500mA treating
DC 24V
12,24
Internal Current Be careful MAX AX. 500m A) treating 내부전원(M when 500mA "Common Connection"
"Common Connection"
* When COM type of PLC output port is t he same as that of User I/O, additional relays are not necessary * External supplying power is DC24V ± 10%. * When wiring cable to connector pin by soldering, tube insulation is nesessary so that pins would not be short circuited.
4 - 26
Chapter 4
Connection & Interface User I/O Circuit Diagram
5) User I/O Circuit Diagram (P-type)
User-Input Circuit Diagram
Be careful when treating "Common Connection"
User-Output Circuit Diagram
Internal Current MAX 500mA
Internal Current MAX 500mA
Be careful when treating "Common Connection"
Be careful when treating "Common Connection"
Be careful when treating "Common Connection"
* When COM type of PLC output port is t he same as that of User I/O, additional relays are not necessary * External supplying power is DC24V ± 10%. * When wiring cable to connector pin by soldering, tube insulation is nesessary so that pins would not be short circuited.
4 - 27
Chapter 4
▶
Connection & Interface Option I/O of RCM4-series
4.2.2.3 Option I/O Connection
■ User I/O is a general-purpose I/O signal connected to external devices and peripheral devices. It exchanges signals each other by Robot Program and simple PLC program.
■ Option I/O is used for expanding User I/O, and "Option I/O Board" must have been installed. ■ One "Option I/O Board" has 32/32 I/O points .
1) Option I/O Specification
Item
User Input
Rated I/O Voltage (V) Rated I/O Current (mA)
User Output DC24
Min. 5/1 point
Max. 30/1 point
Insulation by Photocoupler
Insulation Method
within1
Time delay of signal(ms) Input Resistence(kΩ)
4.7
-
Number of I/O points
32points(8points/1Common)
32points(8points/1Common)
NS-DMR-37S
NS-DMR-37P
37Pin Dsub Con.(P)
37Pin Dsub Con.(S)
Connector attached on Controller Opponent connector
4 - 28
Chapter 4
▶
Connection & Interface Option I/O of RCM4-series
The following pin diagram is the case viewed from the point of arrow direction as shown at left side.
2) Option I/O Pin Assignment (N-type)
■
Option Input Pin Assignment
1
19
20
37
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
FG
14
IN38
27
IN28
2
IN16
15
INCOM5
28
IN30
3
IN18
16
IN41
29
INCOM4
4
IN20
17
IN43
30
IN33
5
IN22
18
IN45
31
IN35
6
INCOM3
19
IN47
32
IN37
7
IN25
20
INCOM2
33
IN39
8
IN27
21
IN17
34
IN40
9
IN29
22
IN19
35
IN42
10
IN31
23
IN21
36
IN44
11
IN32
24
IN23
37
IN46
12
IN34
25
IN24
13
IN36
26
IN26
■
Option Output Pin Assignment
19
1
37
20
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
FG
14
OUT24
27
OUT34
2
OUT46
15
OUT23
28
OUT32
3
OUT44
16
OUT21
29
OUT31
4
OUT42
17
OUT19
30
OUT29
5
OUT40
18
OUT17
31
OUT27
6
OUT39
19
OUTCOM2
32
OUT25
7
OUT37
20
OUT47
33
OUTCOM3
8
OUT35
21
OUT45
34
OUT22
9
OUT33
22
OUT43
35
OUT20
10
OUTCOM4
23
OUT41
36
OUT18
11
OUT30
24
OUTCOM5
37
OUT16
12
OUT28
25
OUT38
13
OUT26
26
OUT36
Not Used
4 - 29
Chapter 4
▶
Connection & Interface Option I/O of RCM4-series
The following pin diagram is the case viewed from the point of arrow direction as shown at left side.
3) Option I/O Pin Assignment (P-type)
■
Option Input Pin Assignment
1
19
20
37
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
FG
14
IN38
27
IN28
2
IN16
15
INCOM5
28
IN30
3
IN18
16
IN41
29
INCOM4
4
IN20
17
IN43
30
IN33
5
IN22
18
IN45
31
IN35
6
INCOM3
19
IN47
32
IN37
7
IN25
20
INCOM2
33
IN39
8
IN27
21
IN17
34
IN40
9
IN29
22
IN19
35
IN42
10
IN31
23
IN21
36
IN44
11
IN32
24
IN23
37
IN46
12
IN34
25
IN24
13
IN36
26
IN26
■
Option Output Pin Assignment
19
1
37
20
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
1
FG
14
OUT24
27
OUT34
2
OUT46
15
OUT23
28
OUT32
3
OUT44
16
OUT21
29
OUT31
4
OUT42
17
OUT19
30
OUT29
5
OUT40
18
OUT17
31
OUT27
6
OUT39
19
OUTCOM2
32
OUT25
7
OUT37
20
OUT47
33
OUTCOM3
8
OUT35
21
OUT45
34
OUT22
9
OUT33
22
OUT43
35
OUT20
10
OUTCOM4
23
OUT41
36
OUT18
11
OUT30
24
OUTCOM5
37
OUT16
12
OUT28
25
OUT38
13
OUT26
26
OUT36
4 - 30
Chapter 4
▶
Connection & Interface Option I/O of RCM4-series
4) Option I/O Circuit Diagram (N-type)
■ Option Input Circuit Diagram
■ Option Output Circuit Diagram
External power connection
204,16 2 4.7K
4.7K
INCI NCOM OM2+ /COM 4+ 0+
DC24V
37/2 2
OUT0 OUT16/OUT32
15 18/9
OUT17/OUT33 OUT1
3 36/2
OUT2 OUT18/OUT34
2/11 17
IN16/IN32 I N0
21/30 5
I N1 IN17/IN33
17/8 16
OUT3 OUT19/OUT35
3/12 18
IN18/IN34 I N2
35/2 4
OUT4 OUT20/OUT36
6 22/31
IN19/IN35 I N3
17 16/7
OUT5 OUT21/OUT37
19 4/13
IN20/IN36 I N4
34/2 5
OUT22/OUT38 OUT6
23/32 7
IN21/IN37 I N5
18 15/6
OUT23/OUT39 OUT7
20 5/14
I N6 IN22/IN38 19/1 1,14
4.7K
4.7K
4.7K
24/33 8
IN23/IN39 I N7
6/15 9,21
INCI NCOM OM3+ /COM 5+ 1+
22 25/34
LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD
OUTCOM0 OUTCOM2-
DC 24V 14/5 7
OUT24/OUT40 OUT8
32/2 20
OUT25/OUT41 OUT9
IN24/IN40 I N8
13/4 8
OUT26/OUT42 OUT10
21 31/2
OUT27/OUT43 OUT11
7/16 10
IN25/IN41 I N9
9 12/3
OUT28/OUT44 OUT12
23 26/35
I N10 42 2
30/2 22
OUT13 OUT29/OUT45
11 8/17
I N11 IN27/IN43
11/2 10
OUT30/OUT46 OUT14
27/36 24
IN28/IN44 I N12
23 29/2
OUT15 OUT31/OUT47
9/18 12
IN29/IN45 I N13
25 28/37
IN30/IN46 I N14
DC24V
33/2 6,19
LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD
OUTCOM3OUTCOM1 -
DC 24V 4.7K
13 10/19
IN31/IN47 I N15
13,25
1,14
DC24V
2,15
DC 24V
내부전원(MAX. 500mA)
12,24
External power connection
내부전원(MAX. 500mA
* When COM type of PLC output port is the same as that of User I/O, additional relays are not necessary. * External supplying power is DC24V ± 10%. * When wiring cable to connector pin by soldering, tube insulation is nesessary so that pins would not be short circuited.
4 - 31
Chapter 4
▶
Connection & Interface
Option I/O Circuit Diagram
5) Option I/O Circuit Diagram (P-type)
■ Option Input Circuit Diagram
■ Option Output Circuit Diagram
* When COM type of PLC output port is the same as that of User I/O, additional relays are not necessary. * External supplying power is DC24V ± 10%. * When wiring cable to connector pin by soldering, tube insulation is nesessary so that pins would not be short circuited.
4 - 32
Chapter 4
▶
Connection & Interface Input/Output Monitoring
4.3 Checking Input/output Monitoring using Teach Pendant after connection
■ How to check input/output signal when the robot is not running, but stops. Contents
No.
Key
Power ON 1
SYSTEM MODE Auto Run Mode
(If an error occurs, check the error code for the
EXIT
troubleshooting.)
2
3
Exit from system mode.
F1
ENTE R
Screen showes initial menu.
Screen of monitoring user-output points. 4
What screen showes
(By pressing "PgDn" on this screen, it shifts to
6 N
Robostar NewRo RCM4-Series Ver 2.0A Press ENTER Key 1.JOB 3.HOST 5.ORIGIN 7.SYSTEM
2.RUN 4.PARA 6.I/O SELECT#
OUT 0123456789ABCDEF USR:0000000000000000
the screen of monitoring system-output points.) Screen of monitoring user-input points.) 5
(By pressing "PgDn" on this screen, it shifts to
F1
IN 0123456789ABCDEF USR:0000000000000000
the screen of monitoring system-output points.)
6
7
8
F1
The screen of monitoring PLC points.
The screen of monitoring User-output points.
Screen showes initial menu.
F1
ESC
4 - 33
PLC 0123456789ABCDEF 080:0000000000000000 096 0000000000000000 112 0000000000000000 OUT 0123456789ABCDEF USR:0000000000000000
1.JOB 3.HOST 5.ORIGIN 7.SYSTEM
2.RUN 4.PARA 6.I/O SELECT#
Chapter 4
▶
Connection & Interface Input/Output Monitoring
■ Description ① : Checking and monitoring user-output points ▶ Description of user-output screen
OUT 0123456789ABCDEF USR:0000100000100000 OP0 0000000000000000 OP1 0000000000000000
OUT : Indicates Output screen 0 : Signal OFF 1 : Signal ON 0 ~ F : Output point number USR : Indicates user-output OP0 : Indicates option output status (OUT16~31) OP1 : Indicates option output status (OUT32~47) OP2 : Indicates option output status (OUT48~63) OP3 : Indicates option output status (OUT64~79)
▶ User-output point screen With one option board added
Without any option board OUT 0123456789ABCDEF USR:0000000000000000
OUT 0123456789ABCDEF USR:0000000000000000 OP0 0000000000000000 OP1 0000000000000000
With two option boards added OUT 0123456789ABCDEF OP2: 0000000000000000 OP3 0000000000000000
Important
▶ OP0 and OP1 will be appeared on the screen under the following conditions.
First, After having installed option I/O board(s) Second, when system parameter displays correct information about whether or not option I/O is usable.
▶ How to set the user-output point signal ON
ex) To set OUT6 ON(=1)/OFF(=0), OUT 0123456789ABCDEF USR:0000000000000000
6 N
OUT 0123456789ABCDEF USR:0000001000000000
ex) To set OUT20 ON(=1)/OFF(=0), Move cursor(:) from USR : to OP0 : with pressing PgDn key. OUT 0123456789ABCDEF USR 0000000000000000 OP0: 0000000000000000
4 L
4 - 34
OUT 0123456789ABCDEF USR 0000000000000000 OP0: 0000100000000000
Chapter 4
▶
Connection & Interface Input/Output Monitoring
② : Checking and monitoring user-input points ▶ Description of user-input screen IN : Indicated Output screen 0 : Signal OFF 1 : Signal ON 0 ~ F : Input point number USR : Indicate user-input OP0 : Indicates option-input point status (IN16~31) OP1 : Indicates option-input point status (IN32~47) OP2 : Indicates option-input point status (IN48~63) OP3 : Indicates option-input point status (IN64~79)
IN 0123456789ABCDEF USR:0000100000100000 OP0 0000000001000000 OP1 0000000000000000
▶ User-input point screen Without any option board IN 0123456789ABCDEF USR:0000000000000000
With one option board added
With two option boards added
IN 0123456789ABCDEF USR:0000000000000000 OP0 0000000000000000 OP1 0000000000000000
IN 0123456789ABCDEF OP2:0000000000000000 OP3 0000000000000000
③ : Monitoring Internal Point ▶ Description of internal point(total 192 points)screen PLC 0123456789ABCDEF 080: 0000100000000000 096 0000000000000000 112 0000000000000000 PgUp PgDn
PLC 0123456789ABCDEF 128: 0000100000000000 144 0000000000000000 160 0000000000000000
PLC : Indicates internal node screen 0 : Signal OFF 1 : Signal ON 0 ~ F : Internal point number 080 : Indicates internal point status(M080~M095) 096 : Indicates internal point status(M096~M111) 112 : Indicates internal point status(M112~M128) ▲
move a point with screen ▼
PgUp PgDn
PLC 0123456789ABCDEF 176: 0000100000000000 192 0000000000000000 208 0000000000000000
The way to set an internal point ON/OFF is the same as output point.(refer to 4-22page)
PgUp PgDn
PLC 0123456789ABCDEF 224: 0000100000000000 240 0000000000000000 256 0000000000000000
4 - 35
Chapter 4
▶
Connection & Interface Input/Output Monitoring
■ Checking and monitoring system points (1) ▶ How to shift to system I/O screen User-output screen
User-input screen
OUT 0123456789ABCDEF USR:0000000000000000
IN 0123456789ABCDEF USR:0000000000000000
▲
PgUp PgDn
PgUp PgDn
▼
System-output screen
▲
▼
System-input screen
OUT 0123456789ABCDEF SS0: 0000000000000000
IN 0123456789ABCDEF SS0: 0000000000000000 SS1: 0000000000000000
▶ Description of system-output screen
OUT 0123456789ABCDEF SS0: 0000000000000000
System-output name
System-output port number
0
RDY
35
1
ORG_OK
11
2
INPOS
36
3
RUN
12
Others
Not used
Point No. on screen
▶ Example of system-output screen operation OUT 0123456789ABCDEF SS0: 1000000000000000 READY (PIN 35): ON
OUT 0123456789ABCDEF SS0:0010000000000000 INPOS (PIN 36): ON
OUT 0123456789ABCDEF SS0:0100000000000000 ORG (PIN 11) : ON
OUT 0123456789ABCDEF SS0:0001000000000000 RUN (PIN 12) : ON
4 - 36
RCA(I)4-Series
Chapter 4
▶
Connection & Interface Input/Output Monitoring
■ Checking and monitoring system points (2) ▶ Description of system-input screen
IN 0123456789ABCDEF SS0: 0000000000000000 SS1: 0000000000000000
System-input port number Point No. on screen System-input name RCA(I)4-Series
SS0
SS1
0
PROG0
4
1
PROG1
29
2
PROG2
31
3
PROG3
6
4
PROG4
30
5
PROG_SEL
5
6
ORG
7
7
STOP
8
8
START
32
9
RST
33
A
MODE_SEL
13
B
VEL-/MOV-
14
C
VEL+/MOV+
39
0
IP
46
1
BRK
47
2
VEL
48
3
MODE0/AXIS0
25
4
MODE1/AXIS1
50
▶ Example of system-input operation IN 0123456789ABCDEF SS0: 0000000001000000 SS1: 0000000000000000 MODE (PIN 13) : OK
IN 0123456789ABCDEF SS0: 1110010000000000 SS1: 0000000000000000 PROG. SEL #7 : OK
4 - 37
Chapter 4
▶
Connection & Interface On-Line Connection
4.4 On-Line Connection
■ You can run robot automatically through serial communication (RS-22C) with Host computer. ■ After power turns ON, it automatically runs in "HOST mode" by "H-OPEN" signal of
serial communication cable (when communication cable is connected with controller) ■ For more details, please refer to "Unihost User's Manual". ■ Before using "HOST mode", set the controller parameters by using Teach Pendant
and then set computer parameters identically.
4.4.1 Serial Cable Standard
2
■ Use the cable with the shield larger than 0.3mm (min. lead thickness). ■ Connect both shields (controller and computer) to the case of D-Sub Connector. ■ Make the level of controller and FG (Frame Ground) of Host computer identical.
(Connect the controller FG terminal and Host computer's FG terminal with the wire 2
larger than 2mm .) ■ Keep the length of serial cable less than 10m. ■ Connector Standard : D-Sub 9s (Socket Type)
4 - 38
Chapter 4
▶
Connection & Interface On-Line Connection
4.4.2 Serial Cable Connection Diagram
Serial Cable FG FG
Computer
Robot Controller Ground
Controller Signal
Ground
Computer Pin No.
Pin No.
Signal
9 PIN
25 PIN
RxD
2
2
2
RxD
TxD
3
3
3
TxD
GND
5
5
7
GND
H-OPEN
6
4
20
DTR
6
6
DSR
7
4
RTS
8
5
CTS
• Connection described above is standard robot specification. When using ordinary serial cable, please connect the Pin #6 of controller side to GND (#5). • H-OPEN : When power On (Reset), it is automatically converted into PC communication mode with grounding pin #6. When the H-OPEN signal is high, select 3. HOST mode of Teach Pendant to convert to PC communication mode.
4 - 39
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
4.5 Cartesian Coordinate Robot Connector (Incremental)
4.5.1 Internal Circuit Diagram
① Body connector : 28 pin
3
4
8 12
7
2
A
11
5
6
B
C 16
1
15
10
9
14
13
D 20 24
Picture of Actual Product
4 - 40
17
18
19 23
22
21
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
■ ① Body Connector : 28 pin PART NO
No.1 Connector
CONNECTOR NO
JMR2528
CONNECTOR NAME
BODY CONNECTOR
Pin No.- Wire color 1 - red,red(white)
Signal +5V
Contents ENCODER 5VOLTS
2
not use
NO CONNECTOR
3 - black,black(white)
GND5
ENCODER GROUND
4
not use
NO CONNECTOR
5 - brown
EA
ENCODER A PHASE
6 - brown(white)
/EA
ENCODER /A PHASE
7 - purple
EU
ENCODER U PHASE
8 - purple(white)
/EU
ENCODER /U PHASE
9 - orange
EB
ENCODER B PHASE
10 -orange(black)
/EB
ENCODER /B PHASE
11 - gray
EV
ENCODER V PHASE
12 - gray(black)
/EV
ENCODER /V PHASE
13 - yellow
EC
ENCODER C PHASE
14 - yellow(black)
/EC
ENCODER /C PHASE
15 - pink
EW
ENCODER W PHASE
16 - pink(black)
/EW
ENCODER /W PHASE
17 - white
SL+
+ LIMIT SENSOR
18 - white(black)
SL-
- LIMIT SENSOR
19 - green
+24V
SENSOR 24VOLTS
20 - green(white),blue(white)
GND24
SENSOR GROUND
21 - blue
SORG
ORIGIN
22 - green
BRK+
BRAKE+
23 - green(black)
BRK-
BRAKE-
24 - black
FG(encoder)
FRAME GROUND(ENCODER)
A - red
U
MOTOR U PHASE
B - white
V
MOTOR V PHASE
C - black
W
MOTOR W PHASE
D - green(yellow)
FG(motor)
4 - 41
FRAME GROUND(MOTOR)
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
■ ② Motor Connector : 4 pin ②
①
④
③
PART NO
No.2 / 6 Connector
CONNECTOR NO
172159-1 / 172167-1
CONNECTOR NAME
MOTOR CONNECTOR
Pin No. (wire color)
BODY CON PIN No.
Signal
Contents
① (Red)
A
U
MOTOR U PHASE
② (White)
B
V
MOTOR V PHASE
③ (Black)
C
W
MOTOR W PHASE
④ (Green-Yellow)
D
FG(U,V,W)
FRAME GROUND (MOTOR)
■ ③ Encoder Connector : 15 pin
⑤
④
③
②
①
⑩
⑨
⑧
⑦
⑥
⑮
⑭
⑬
⑫
⑪
PART NO
No. 3 / 7 Connector
CONNECTOR NO
172163-1 / 172171-1
CONNECTOR NAME
ENCODER CONNECTOR
Pin No. / Body Pin No.
Signal
Contents
① / 5 (Brown)
EA
ENCODER A PHASE
② / 6 (Brown-White)
/EA
ENCODER /A PHASE
③ / 9 (Orange)
EB
ENCODER B PHASE
④ / 10 (Orange-Black)
/EB
ENCODER /B PHASE
⑤ / 13 (Yellow)
EC
ENCODER C PHASE
⑥ / 14 (Yellow-Black)
/EC
ENCODER /C PHASE
⑦ / 7 (Purple)
EU
ENCODER U PHASE
⑧ / 8 (Purple-White)
/EU
ENCODER /U PHASE
4 - 42
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
⑨ / 11 (Gray)
EV
ENCODER V PHASE
⑩ / 12 (Gray-Black)
/EV
ENCODER /V PHASE
⑪ / 15 (Pink)
EW
ENCODER W PHASE
⑫ / 16 (Pink-Black)
/EW
ENCODER /W PHASE
⑬ / 1 (Red, Red-White)
+5V
ENCODER 5VOLTS
GND5
⑭ / 3 (Black, Black-White)
ENCODER GROUND
FG(ENCODER)
⑮ / 24 (Black)
■ ④ Sensor connector : 6 pin
FRAME GROUND(ENCODER)
⑥
⑤
④
③
②
①
PART NO
No. 4 / 8 Connector
CONNECTOR NO
5559-06 / 5557-06
CONNECTOR NAME
SENSOR CONNECTOR
Pin No./Body Pin No.
Signal
Contents
① / 19 (Green)
S24V
SENSOR 24VOLTS
② / 20 (Green-White, Blue-White)
SGND
SENSOR GROUND
③ / 17 (White)
SL+
+ LIMIT SENSOR
④ / 18 (White-Black)
SL-
- LIMIT SENSOR
⑤ / 21 (Blue)
SORG
ORIGIN
⑥
not use
NO CONNECTOR
■ ⑤ Brake connector : 2 pin
① ②
PART NO
No. 5 / 9 Connector
CONNECTOR NO
172157-1 / 172165-1
CONNECTOR NAME
BRAKE CONNECTOR
Pin No. / Body Pin No.
Signal
Contents
① / 22 (Green)
BRK +
BRAKE +
② / 23 (Green-Black)
BRK -
BRAKE -
4 - 43
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
4.5.2 Body Connector Wiring If you want to wire motor (TAMAGAWA,LG,MINAS), sensor, and brake onto body connector, do as follows. (for RCM4) ■ BODY CONNECTOR ( JMR2528 DDK ) : For contents of signals, refer to 4.5.1 ①(page 4-29). Pin No. - Wire color 1 - Red, Red(White) 2 3 - Black, Black(White) 4
Signal
Wire color (Tamakawa)
Wire color (LG)
Wire color (Minas)
+5V
Red
White
White
Black
Black
Black
not used GND5 not used
5 - Brown
EA
Blue
Green
Red
6 - Brown(White)
/EA
Blue(Black)
Blue
Pink
7 - Purple
EU
Brown
Green
Peach
8 - Purple(White)
/EU
Brown(Black)
Gray
Brown
9 - Orange
EB
Green
Red
Green
10 -Orange(Black)
/EB
Green(Black)
Pink
Blue
11 - Gray
EV
Gray
Light pink
Green
12 - Gray(Black)
/EV
Gray(Black)
Brown
Gray
13 - Yellow
EC
Yellow
Yellow
Yellow
14 - Yellow(Black)
/EC
Yellow(Black)
Orange
Orange
15 - Pink
EW
White
Sky blue
Sky blue
16 - Pink(Black)
/EW
White(Black)
Purple
Purple
17 - White
SL+
-
-
-
18 - White(Black)
SL-
-
-
-
+24V
-
-
-
20 - Green(White), Blue (White)
GND24
-
-
-
21 - Blue
SORG
-
-
-
22 - Green
BRK+
Yellow
Yellow
23 - Green(Black)
BRK-
Yellow
Yellow
FG(Encoder)
shield
shield
A - Red
U
Red
Pink
B - White
V
White
White
C - Black
W
Black
Black
FG(Motor)
Green
Green(Yellow)
19 - Green
24 - Black
D - Green(Yellow)
4 - 44
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
4.6 Cartesian Coordinate Robot Connector (Absolute)
4.6.1 Internal circuit diagram
It is assembled in Robot body and has connectors for Motor power, Encoder and Sensor.
① Body connector : 28 pin
3
4
8 12
7
2
B
C
5
6
A
11
16
1
15
10
9
14
13
D 20
Picture of Actual Product
24
4 - 45
17
18
19 23
22
21
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
■ ② Motor connector : 4 pin ②
①
④
③
PART NO
No.2 / 6 Connector
CONNECTOR NO
172159-1 / 172167-1
CONNECTOR NAME
MOTOR CONNECTOR
Pin No. (wire color)
BODY CON PIN No.
Signal
Contents
① (Red)
A
U
MOTOR U PHASE
② (White)
B
V
MOTOR V PHASE
③ (Black)
C
W
MOTOR W PHASE
④ (Green-Yellow)
D
FG(U,V,W)
FRAME GROUND (MOTOR)
■ ③ Encoder Connector : 15 pin
⑤
④
③
②
①
⑩
⑨
⑧
⑦
⑥
⑮
⑭
⑬
⑫
⑪
PART NO
No. 3 / 7 Connector
CONNECTOR NO
172163-1 / 172171-1
CONNECTOR NAME
ENCODER CONNECTOR
Pin No. / Body Pin No.
Signal
Contents
① / 5 (Brown)
EA
ENCODER A PHASE
② / 6 (Brown-White)
/EA
ENCODER /A PHASE
③ / 9 (Orange)
EB
ENCODER B PHASE
④ / 10 (Orange-Black)
/EB
ENCODER /B PHASE
⑤ / 13 (Yellow)
EC
ENCODER C PHASE
⑥ / 14 (Yellow-Black)
/EC
ENCODER /C PHASE
⑦ / 7 (Purple)
EU
ENCODER U PHASE
⑧ / 8 (Purple-White)
/EU
ENCODER /U PHASE
4 - 46
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
⑨ / 11 (Gray)
EV
ENCODER V PHASE
⑩ / 12 (Gray-Black)
/EV
ENCODER /V PHASE
⑪ / 15 (Pink)
EW
ENCODER W PHASE
⑫ / 16 (Pink-Black)
/EW
ENCODER /W PHASE
⑬ / 1 (Red, Red-White)
+5V
ENCODER 5VOLTS
GND5
⑭ / 3 (Black, Black-White)
ENCODER GROUND
FG(ENCODER)
⑮ / 24 (Black)
■ ④ Sensor connector : 6 pin
FRAME GROUND(ENCODER)
⑥
⑤
④
③
②
①
PART NO
No. 4 / 8 Connector
CONNECTOR NO
5559-06 / 5557-06
CONNECTOR NAME
SENSOR CONNECTOR
Pin No./Body Pin No.
Signal
Contents
① / 19 (Green)
S24V
SENSOR 24VOLTS
② / 20 (Green-White, Blue-White)
SGND
SENSOR GROUND
③ / 17 (White)
SL+
+ LIMIT SENSOR
④ / 18 (White-Black)
SL-
- LIMIT SENSOR
SORG
ORIGIN
not used
NO CONNECTOR
⑤ / 21 (Blue) ⑥
■ ⑤ Brake connector : 2 pin
① ②
PART NO
No. 5 / 9 Connector
CONNECTOR NO
172157-1 / 172165-1
CONNECTOR NAME
BRAKE CONNECTOR
Pin No. / Body Pin No.
Signal
Contents
① / 22 (Green)
BRK +
BRAKE +
② / 23 (Green-Black)
BRK -
BRAKE -
4 - 47
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
■ ⑥ Encoder Battery connector : 4 pin
④
③
②
①
CONNECTOR NO.
5102-4
CONNECTOR NAME
ENCODER BATTERY CONNECTOR
Pin No./Body Pin No.
Signal
Contents
Encoder Reset
Encoder Data Reset Signal
+5V
ENCODER +5VOLT
③ (Black)
GND5
ENCODER GROUND (Battery common use)
④ (White)
BAT +
① (Green) ② / 1 (RED)
4 - 48
BATTERY + Power
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
4.6.2 Body Connector Pin Array If you want to wire Motor(KOMOTEK), Sensor, Brake onto Body Connector, do as follows. (Applied Controller : RCA(I)4 Series)
BODY CONNECTOR ( JMR2528 DDK ) : See 4.6.1 for the explanation of signal name. PIN No. Color 1 - Red,Red(White) 2 3 - Black,Black(White) 4
Signal
Color (Tamakawa)
Color (LG)
Color (Minas)
+5V
-
-
-
-
-
-
not use GND5 not use
5 - Brown
EA
Blue
Light Green
Red
6 - Brown(White)
/EA
Blue(Black)
Blue
Pink
7 - Purple
Not Used
Brown
Green
Peach
8 - Purple(White)
Not Used
Brown(Black)
Gray
Brown
9 - Orange
EB
Light green
Red
Light Green
10 - Orange(Black)
/EB
Light green(Black)
Pink
Blue
11 - Gray
Not Used
Gray
Light Pink
Green
12 - Gray(Black)
Not Used
Gray(Black)
Brown
Gray
13 - Yellow
EC
Yellow
Yellow
Yellow
14 - Yellow(Black)
/EC
Yellow(Black)
Orange
Orange
15 - Pink
Rx
White
Sky blue
Sky Blue
16 - Pink(Black)
/Rx
White(Black)
Purple
Purple
17 - White
SL+
-
-
-
18 - White(Black)
SL-
-
-
-
+24V
-
-
-
20 - Green(White),Blue(White)
GND24
-
-
-
21 - Blue
SORG
-
-
-
22 - Light Green
BRK+
Yellow
Yellow
23 - Light Green(Black)
BRK-
Yellow
Yellow
FG(Encoder)
shield
shield
A - Red
U
Red
Pink
B - White
V
White
White
C - Black
W
Black
Black
FG(Motor)
Light Green
Green(Yellow)
19 - Green
24 - Black
D - Green(Yellow)
4 - 49
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
4.5 Cartesian Coordinate Robot Connector (Incremental)
4.5.1 Internal Circuit Diagram
① Body connector : 28 pin
3
4
8 12
7
2
A
11
5
6
B
C 16
1
15
10
9
14
13
D 20 24
Picture of Actual Product
4 - 40
17
18
19 23
22
21
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
■ ① Body Connector : 28 pin PART NO
No.1 Connector
CONNECTOR NO
JMR2528
CONNECTOR NAME
BODY CONNECTOR
Pin No.- Wire color 1 - red,red(white)
Signal +5V
Contents ENCODER 5VOLTS
2
not use
NO CONNECTOR
3 - black,black(white)
GND5
ENCODER GROUND
4
not use
NO CONNECTOR
5 - brown
EA
ENCODER A PHASE
6 - brown(white)
/EA
ENCODER /A PHASE
7 - purple
EU
ENCODER U PHASE
8 - purple(white)
/EU
ENCODER /U PHASE
9 - orange
EB
ENCODER B PHASE
10 -orange(black)
/EB
ENCODER /B PHASE
11 - gray
EV
ENCODER V PHASE
12 - gray(black)
/EV
ENCODER /V PHASE
13 - yellow
EC
ENCODER C PHASE
14 - yellow(black)
/EC
ENCODER /C PHASE
15 - pink
EW
ENCODER W PHASE
16 - pink(black)
/EW
ENCODER /W PHASE
17 - white
SL+
+ LIMIT SENSOR
18 - white(black)
SL-
- LIMIT SENSOR
19 - green
+24V
SENSOR 24VOLTS
20 - green(white),blue(white)
GND24
SENSOR GROUND
21 - blue
SORG
ORIGIN
22 - green
BRK+
BRAKE+
23 - green(black)
BRK-
BRAKE-
24 - black
FG(encoder)
FRAME GROUND(ENCODER)
A - red
U
MOTOR U PHASE
B - white
V
MOTOR V PHASE
C - black
W
MOTOR W PHASE
D - green(yellow)
FG(motor)
4 - 41
FRAME GROUND(MOTOR)
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
■ ② Motor Connector : 4 pin ②
①
④
③
PART NO
No.2 / 6 Connector
CONNECTOR NO
172159-1 / 172167-1
CONNECTOR NAME
MOTOR CONNECTOR
Pin No. (wire color)
BODY CON PIN No.
Signal
Contents
① (Red)
A
U
MOTOR U PHASE
② (White)
B
V
MOTOR V PHASE
③ (Black)
C
W
MOTOR W PHASE
④ (Green-Yellow)
D
FG(U,V,W)
FRAME GROUND (MOTOR)
■ ③ Encoder Connector : 15 pin
⑤
④
③
②
①
⑩
⑨
⑧
⑦
⑥
⑮
⑭
⑬
⑫
⑪
PART NO
No. 3 / 7 Connector
CONNECTOR NO
172163-1 / 172171-1
CONNECTOR NAME
ENCODER CONNECTOR
Pin No. / Body Pin No.
Signal
Contents
① / 5 (Brown)
EA
ENCODER A PHASE
② / 6 (Brown-White)
/EA
ENCODER /A PHASE
③ / 9 (Orange)
EB
ENCODER B PHASE
④ / 10 (Orange-Black)
/EB
ENCODER /B PHASE
⑤ / 13 (Yellow)
EC
ENCODER C PHASE
⑥ / 14 (Yellow-Black)
/EC
ENCODER /C PHASE
⑦ / 7 (Purple)
EU
ENCODER U PHASE
⑧ / 8 (Purple-White)
/EU
ENCODER /U PHASE
4 - 42
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
⑨ / 11 (Gray)
EV
ENCODER V PHASE
⑩ / 12 (Gray-Black)
/EV
ENCODER /V PHASE
⑪ / 15 (Pink)
EW
ENCODER W PHASE
⑫ / 16 (Pink-Black)
/EW
ENCODER /W PHASE
⑬ / 1 (Red, Red-White)
+5V
ENCODER 5VOLTS
GND5
⑭ / 3 (Black, Black-White)
ENCODER GROUND
FG(ENCODER)
⑮ / 24 (Black)
■ ④ Sensor connector : 6 pin
FRAME GROUND(ENCODER)
⑥
⑤
④
③
②
①
PART NO
No. 4 / 8 Connector
CONNECTOR NO
5559-06 / 5557-06
CONNECTOR NAME
SENSOR CONNECTOR
Pin No./Body Pin No.
Signal
Contents
① / 19 (Green)
S24V
SENSOR 24VOLTS
② / 20 (Green-White, Blue-White)
SGND
SENSOR GROUND
③ / 17 (White)
SL+
+ LIMIT SENSOR
④ / 18 (White-Black)
SL-
- LIMIT SENSOR
⑤ / 21 (Blue)
SORG
ORIGIN
⑥
not use
NO CONNECTOR
■ ⑤ Brake connector : 2 pin
① ②
PART NO
No. 5 / 9 Connector
CONNECTOR NO
172157-1 / 172165-1
CONNECTOR NAME
BRAKE CONNECTOR
Pin No. / Body Pin No.
Signal
Contents
① / 22 (Green)
BRK +
BRAKE +
② / 23 (Green-Black)
BRK -
BRAKE -
4 - 43
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
4.5.2 Body Connector Wiring If you want to wire motor (TAMAGAWA,LG,MINAS), sensor, and brake onto body connector, do as follows. (for RCM4) ■ BODY CONNECTOR ( JMR2528 DDK ) : For contents of signals, refer to 4.5.1 ①(page 4-29). Pin No. - Wire color 1 - Red, Red(White) 2 3 - Black, Black(White) 4
Signal
Wire color (Tamakawa)
Wire color (LG)
Wire color (Minas)
+5V
Red
White
White
Black
Black
Black
not used GND5 not used
5 - Brown
EA
Blue
Green
Red
6 - Brown(White)
/EA
Blue(Black)
Blue
Pink
7 - Purple
EU
Brown
Green
Peach
8 - Purple(White)
/EU
Brown(Black)
Gray
Brown
9 - Orange
EB
Green
Red
Green
10 -Orange(Black)
/EB
Green(Black)
Pink
Blue
11 - Gray
EV
Gray
Light pink
Green
12 - Gray(Black)
/EV
Gray(Black)
Brown
Gray
13 - Yellow
EC
Yellow
Yellow
Yellow
14 - Yellow(Black)
/EC
Yellow(Black)
Orange
Orange
15 - Pink
EW
White
Sky blue
Sky blue
16 - Pink(Black)
/EW
White(Black)
Purple
Purple
17 - White
SL+
-
-
-
18 - White(Black)
SL-
-
-
-
+24V
-
-
-
20 - Green(White), Blue (White)
GND24
-
-
-
21 - Blue
SORG
-
-
-
22 - Green
BRK+
Yellow
Yellow
23 - Green(Black)
BRK-
Yellow
Yellow
FG(Encoder)
shield
shield
A - Red
U
Red
Pink
B - White
V
White
White
C - Black
W
Black
Black
FG(Motor)
Green
Green(Yellow)
19 - Green
24 - Black
D - Green(Yellow)
4 - 44
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
4.6 Cartesian Coordinate Robot Connector (Absolute)
4.6.1 Internal circuit diagram
It is assembled in Robot body and has connectors for Motor power, Encoder and Sensor.
① Body connector : 28 pin
3
4
8 12
7
2
B
C
5
6
A
11
16
1
15
10
9
14
13
D 20
Picture of Actual Product
24
4 - 45
17
18
19 23
22
21
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
■ ② Motor connector : 4 pin ②
①
④
③
PART NO
No.2 / 6 Connector
CONNECTOR NO
172159-1 / 172167-1
CONNECTOR NAME
MOTOR CONNECTOR
Pin No. (wire color)
BODY CON PIN No.
Signal
Contents
① (Red)
A
U
MOTOR U PHASE
② (White)
B
V
MOTOR V PHASE
③ (Black)
C
W
MOTOR W PHASE
④ (Green-Yellow)
D
FG(U,V,W)
FRAME GROUND (MOTOR)
■ ③ Encoder Connector : 15 pin
⑤
④
③
②
①
⑩
⑨
⑧
⑦
⑥
⑮
⑭
⑬
⑫
⑪
PART NO
No. 3 / 7 Connector
CONNECTOR NO
172163-1 / 172171-1
CONNECTOR NAME
ENCODER CONNECTOR
Pin No. / Body Pin No.
Signal
Contents
① / 5 (Brown)
EA
ENCODER A PHASE
② / 6 (Brown-White)
/EA
ENCODER /A PHASE
③ / 9 (Orange)
EB
ENCODER B PHASE
④ / 10 (Orange-Black)
/EB
ENCODER /B PHASE
⑤ / 13 (Yellow)
EC
ENCODER C PHASE
⑥ / 14 (Yellow-Black)
/EC
ENCODER /C PHASE
⑦ / 7 (Purple)
EU
ENCODER U PHASE
⑧ / 8 (Purple-White)
/EU
ENCODER /U PHASE
4 - 46
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
⑨ / 11 (Gray)
EV
ENCODER V PHASE
⑩ / 12 (Gray-Black)
/EV
ENCODER /V PHASE
⑪ / 15 (Pink)
EW
ENCODER W PHASE
⑫ / 16 (Pink-Black)
/EW
ENCODER /W PHASE
⑬ / 1 (Red, Red-White)
+5V
ENCODER 5VOLTS
GND5
⑭ / 3 (Black, Black-White)
ENCODER GROUND
FG(ENCODER)
⑮ / 24 (Black)
■ ④ Sensor connector : 6 pin
FRAME GROUND(ENCODER)
⑥
⑤
④
③
②
①
PART NO
No. 4 / 8 Connector
CONNECTOR NO
5559-06 / 5557-06
CONNECTOR NAME
SENSOR CONNECTOR
Pin No./Body Pin No.
Signal
Contents
① / 19 (Green)
S24V
SENSOR 24VOLTS
② / 20 (Green-White, Blue-White)
SGND
SENSOR GROUND
③ / 17 (White)
SL+
+ LIMIT SENSOR
④ / 18 (White-Black)
SL-
- LIMIT SENSOR
SORG
ORIGIN
not used
NO CONNECTOR
⑤ / 21 (Blue) ⑥
■ ⑤ Brake connector : 2 pin
① ②
PART NO
No. 5 / 9 Connector
CONNECTOR NO
172157-1 / 172165-1
CONNECTOR NAME
BRAKE CONNECTOR
Pin No. / Body Pin No.
Signal
Contents
① / 22 (Green)
BRK +
BRAKE +
② / 23 (Green-Black)
BRK -
BRAKE -
4 - 47
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
■ ⑥ Encoder Battery connector : 4 pin
④
③
②
①
CONNECTOR NO.
5102-4
CONNECTOR NAME
ENCODER BATTERY CONNECTOR
Pin No./Body Pin No.
Signal
Contents
Encoder Reset
Encoder Data Reset Signal
+5V
ENCODER +5VOLT
③ (Black)
GND5
ENCODER GROUND (Battery common use)
④ (White)
BAT +
① (Green) ② / 1 (RED)
4 - 48
BATTERY + Power
Chapter 4
▶
Connection & Interface
Cartesian Coordinate Robot Connector
4.6.2 Body Connector Pin Array If you want to wire Motor(KOMOTEK), Sensor, Brake onto Body Connector, do as follows. (Applied Controller : RCA(I)4 Series)
BODY CONNECTOR ( JMR2528 DDK ) : See 4.6.1 for the explanation of signal name. PIN No. Color 1 - Red,Red(White) 2 3 - Black,Black(White) 4
Signal
Color (Tamakawa)
Color (LG)
Color (Minas)
+5V
-
-
-
-
-
-
not use GND5 not use
5 - Brown
EA
Blue
Light Green
Red
6 - Brown(White)
/EA
Blue(Black)
Blue
Pink
7 - Purple
Not Used
Brown
Green
Peach
8 - Purple(White)
Not Used
Brown(Black)
Gray
Brown
9 - Orange
EB
Light green
Red
Light Green
10 - Orange(Black)
/EB
Light green(Black)
Pink
Blue
11 - Gray
Not Used
Gray
Light Pink
Green
12 - Gray(Black)
Not Used
Gray(Black)
Brown
Gray
13 - Yellow
EC
Yellow
Yellow
Yellow
14 - Yellow(Black)
/EC
Yellow(Black)
Orange
Orange
15 - Pink
Rx
White
Sky blue
Sky Blue
16 - Pink(Black)
/Rx
White(Black)
Purple
Purple
17 - White
SL+
-
-
-
18 - White(Black)
SL-
-
-
-
+24V
-
-
-
20 - Green(White),Blue(White)
GND24
-
-
-
21 - Blue
SORG
-
-
-
22 - Light Green
BRK+
Yellow
Yellow
23 - Light Green(Black)
BRK-
Yellow
Yellow
FG(Encoder)
shield
shield
A - Red
U
Red
Pink
B - White
V
White
White
C - Black
W
Black
Black
FG(Motor)
Light Green
Green(Yellow)
19 - Green
24 - Black
D - Green(Yellow)
4 - 49
Chapter 4
▶
Connection & Interface SCARA Robot Connector
4.7 Scara Robot Connector
4.7.1 Air Piping & Signal Wire
B B
Upper Connection Panel for Utility
AIR-1
A
▶ Attach SOL V/V to be used with robot hand
AIR-2
I/O
A Rear Connection Panel ▶ Φ6 Air fitting 2 pcs (PMM0600) * To connect Air tube for Hand ▶ 4 Ports is option
▶ 10 pins body I/O connector (SRCN2A16-10S:Samwoo) It is connected to upper panel of B ARM * To use connection of I/O for Hand tool (Sensor,sol coil, . . .) ▶ 24 pins connector is option.
▶ Absolute Encoder Clear Button ▶ When needed to clear Encoder Data, press button of each axis for about 6~7 seconds
4 - 50
Chapter 4
▶
Connection & Interface SCARA Robot Connector
4.7.2 Absolute Encoder Backup Battery Board (only for Absolute)
A
When take the 'A' panel out from SCARA body, you can see the battery board.
Battery Board
▶ Two methods to replace battery (No. 1) method is recommended)
1) Battery must be replaced when POWER of controller is ON. (But, for safety, it should be in EMG state) 2) In the state of which Encoder internal capacitor is fully charged by keeping power on for certain hours, turn the power of controller off and replace the batteries as quickly as possible.
To avoid damage on board by electrical shock, it is recommended to use insulation glove when replacing battery.
4 - 51
Chapter 4
▶
Connection & Interface SCARA Robot Connector
4.8 Caution When Wiring for Non-Robostar Mechanical Part
■ Limit Sensor specification : DC 24V, NC(Normal Close) type
ORIGIN sensor specification : DC 24V, NO(Normal Open) type
■ Wiring of connector, refer to chapter 4.5 and 4.6
4 - 52
Chapter 5
▶
Time Chart of System Input/Output Operation System I/O of RCM4-series
5. Time Chart of System Input/Output Operation
5.1 Basic Functions * In case of N type, refer to Chapter 4.
When open, "Servo Not Ready" error occurs Refer to Appendix 7.9
Note "Common connection".
It is possible to choose 32 (25) programs externally. You can change the number of connections as required. - Binary format. - when you need to choose 4 programs: connect the 2 pins, PROG 0 and PROG 1.
1) NC node 2) If power is turned ON without connecting the System I/O connectors, the error "SYSTEM EMERGENCY" would appear. ▶To escape from error status, ①connect System I/O connectors. ②you can remove the error by forcing EMG pins short-circuit, and then use the controller. (EMG pins are in mainboard of controller.) (Under this situation, pressing the EMG key doesn't work.) Internal Current MAX. 500m A
Note "Common connection".
* When you use external DC24V power supply, DO NOT connect internal power. * External supplying power is DC24V ± 10% * When soldering connector pins during wiring jobs, pins should be isolated or insulated by using tube so that pins would not be shortcircuited . * Use external power supply as much as possible.
5-1
Chapter 5
▶
Time Chart of System Input/Output Operation Time Chart of System Input/Output
5.1.1 Time Chart of System Input/Output
For PLC sequence program, refer to "Chapter 7 Appendices". (1) Time Chart of Normal Operation
Power ON
Only after servo OFF, you can reset.
ON OFF
Input EMG
ON OFF
Output Alarm
ON OFF
Input Reset
ON OFF
Output Ready
ON OFF
Input Origin
ON OFF
Output Origin OK
ON OFF
Input Program 0~4
ON OFF
Select Program
ON OFF 택
more than 50ms
Within 10ms after origin setting
Prog. No. detected at Falling Edge. more than 10ms
ON OFF
Input Start
Output Run
ON OFF
Input Stop
ON OFF
Very Important
☞ Pulse width of standard single shot signal is more than 30ms. ☞ If you start it without inputting 'Program Select', then program no. 0 will run. ☞ Signal is checked at every 10ms. So if you set interval between
input signals more than 10ms, then there may be no errors.
If you start under a state without having these two signals, the program will select " # 0 " unconitionally.
5-2
Chapter 5
▶
Time Chart of System Input/Output Operation Example of Operation Panel
(2) Example of Operation Panel
Robot ORIGIN OK System Output Signal Connection
★ Robot Alarm System Output Signal Connection
★ Robot RUN System Output Signal Connection
Operation Panel Robot Origin Lamp
Stopping robot, when shifting its operation into manual mode it does not matter.
Power
Robot RUN Lamp
Automatic
manual
Robot alarm lamp
Machine Type Selection Switch
Select Manual
Add origin setting to the manual mode and allow origin setting to perform in manual model. Operation Ready
★ Robot Emergency Stop System Input Signal Connection
The “finger" of the Robot should be able to be operated separately in the manual mode.
Automatic Start Manual
Emergency Stop
★ Robot Program Selection System Input Signal Connection →The situation that allows a continuous input of Program Selection Signal it does not matter.
Automatic Stop
★ Robot STOP System Input signal Connection →Robot will be stopped. →When the safety door sensor is OPEN; it will stop, and when it is CLOSE; it will run.
Reset
Return to
Emergency Reversing
★ Robot START System Input Signal Connection →After inputting program selector signal first, and at the moment of OFF after 10ms, then turn START ON.
★ Robot Reset System Input Signal Connection → Reset when Alarm activates. → If Alarm does not activate, input the Emergency STOP signal of PLC sequence forcedly, and input the reset signal, then you can exit the program.
5-3
Chapter 5
▶
Time Chart of System Input/Output Operation System I/O Signal Sequence
(3) System I/O Signal Sequence (for reference when programming PLC sequence)
Sequence
Operation & Operating Panel Display
PLC Sequence Process
Robot Operation
Facility Power ON
Ready Switch ON
Ready
Auto/Manual Selection Switch Select Manual
to Run
In manual mode, select 'origin setting' and 'ON'
Origin input signal ON
Origin Setting Start
Robot origin lamp ON
(Internal Process)
Origin OK output ON
Auto/Manual Selection Switch Select Auto
Auto start Switch ON
EMG input signal ON
Robot Alarm lamp ON
(Internal Process)
Auto Run
Reset Input ON
5-4
Alarm Output ON
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output Signal Sequence
Sequence
Operation & Operating Panel Display
PLC Sequence Process
Robot Operation
Ready Output ON
Auto Run
Prog.0~4 Input Signal ON
Job program selection ON
(Internal Processing) Prog. Sel Input Signal ON
Robot RUN lamp ON
after 10ms from Prog.Sel input signal OFF
START Input Signal ON
(Internal Process)
RUN Output Signal ON
Note
▶ Robot system input signal must be a pulse signal (over 30ms). It is because robot will not stop but keeps running even after STOP signal turned ON while keeping START signal ON. ▶ Robot system output signal remains ON.
5-5
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Basic Function)
(4) When Changing JOB PROGRAM while running
JOB PROG. 0
000 001 002 003 004
MAIN JMOV P0 JMOV P1 JMOV P2 EOP
JOB PROG. 1
① ②
000 001 002 003 004
MAIN JMOV P3 JMOV P4 JMOV P5 EOP
① : When you want to run Job Prog. 1 while Job Prog. 0 running
Origin OK (Output)
RUN (Output )
ON OFF ON OFF
STOP (Input )
ON OFF
PROG.0~4 (Input) PROG.SEL (Input)
START (Input)
ON OFF ON OFF ON
over 10ms
OFF
5-6
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Basic Function)
② : When you want to run Job Prog. 1 after completing Job Prog. 0 (EOP executed)
Note 2)
Note 1)
Origin OK (Output)
ON OFF EOP
RUN (Output)
PROG.0~4 (Input) PROG.SEL (Input) START (Input)
ON OFF
ON OFF ON OFF ON
over 10ms
OFF
Note 1) If Run output turns OFF while Job Program is running normally, these are the cases: - When “Stop” signal has been inputted (Servo remains ON) - When processing the command ("EOP") that indicates the end of Program while Job Program is running. (Servo turns OFF, Run output turns OFF without external input)
Note 2) After completion of Origin Setting by initial Origin Setting input, Origin OK output remains ON until power OFF unless a new Origin Setting signal is inputted. Therefore, the initial origin is maintained even though the system is resetted by Job program change, EMG or Alarm occurrence, and so on.
5-7
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Basic Function)
(5) In case of Emergency Stop or Alarm while Running ① Input "STOP" signal in system input.
First of all, release the alarm. ② Input "RESET" signal in system input.
① Input "START" signal after "STOP" signal inputted (page 5-9)
After then, run again. ② Input "RESTART"signal after "STOP" inputted (page 5-9) ③ Input "START" signal after "RESET" inputted (page 5-10)
Important
▶
Difference between "START" and "RESTART" ?
- RESTART : Start from the step just when alarm occurs . - START : Start program from the first step.
EMG or Alarm
Ex) P0
P1 START
RESTART
Program MAIN VEL 10 WHILE 1 JMOV P0 JMOV P1 ENDWL EOP
← START
← RESTART
5-8
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Basic Function)
① Input "START" after "STOP" inputted
EMG (Input)
ALARM (Output) READY (Output) RUN (Output) STOP (Input) START (Input)
ON OFF ON OFF ON OFF ON OFF ON
To start from the first step
OFF ON
To release Alarm
OFF over 20ms
② Input "RESTART" after "STOP" inputted
EMG (Input)
ALARM (Output) READY (Output) RUN (Output) STOP (Input) START (Input)
ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF
5-9
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Basic Function)
③ Input "START" after "RESET" inputted
RUN (Output)
ON OFF Within 350ms
EMG(Input) or ALARM(Input)
ON OFF Within 5ms
ALARM (Output)
Within 80ms after RESET
ON OFF Within 3s after RESET
Within 650ms READY (Output) RESET (Input) PROG.0~4 (Input)
ON OFF ON
more than 10ms after READY output OFF
OFF
more than 10ms
ON OFF more than 10ms
PROG.SEL (Input)
more than 10ms
ON OFF more than 10ms
START (Input)
ON OFF more than 30ms
RESET (Input)
▶ Initialize PROG. NO. ▶ Release ALARM, and turn ON READY output.
5 - 10
Chapter 5
▶
Time Chart of SystemInput/Output Operation System Input/Output (Basic Function)
(6) In case of Servo Off after STOP while Running
START (Input)
STOP (Input) Servo ON RUN (Output)
Servo ON
ON OFF ON OFF ON OFF Servo OFF after recognizing STOP twice
ON OFF
▶ System I/O does not have Servo ON signal pin. ▶ You can verify Servo ON/OFF by "SVON Lamp" of Teach Pendant.
5 - 11
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
5.2 Highly Sophiscated Functions
5.2.1 Mode Selection (1) Flow Chart of Mode Selection (JOG Mode is Option) Start
@1 MODE SEL signal OPEN?
YES AUTO MODE
NO @1
YES M0/A0:OFF M1/A1:OFF
MODE SEL
AUTO MODE
NO @2
YES M0/A0:ON M1/A1:OFF
MODE SEL
NO
@3
YES M0/A0:OFF M1/A1:ON
STEP MODE
MODE SEL
JOG MODE
NO @4
YES M0/A0:ON M1/A1:ON
MODE SEL
HOST MODE
NO YES Mode Change?
NO End
Note
< You can't use JOG mode. JOG mode is optional.>
5 - 12
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
(2) Time Chart of Mode Selection just after Power ON < You can't use JOG mode. JOG mode is optional.>
Power ON
ON OFF #1
MODE0/AXIS0 (Input)
@1
@2
@3
@4
@1 #2
ON OFF
MODE1/AXIS1 (Input)
MODE SEL (Input)
ON OFF ON OFF
For the descriptions about @1 ~ @12, refer t o 5.2.3(page 5-25).
■ Description of Time Chart (JOG Mode is Option) MODE1/AXIS1
MODE0/AXIS0
Operation Mode
OFF
OFF
AUTO RUN MODE
OFF
ON
STEP RUN MODE
ON
OFF
JOG MODE
ON
ON
SYSTEM MODE
(Option)
HOST MODE
Remarks @1 @2 @3 @4
Important #1 : Operation mode is automatically set in AUTO RUN MODE after power ON. The condition with three signals(MODE1/AXIS1, MODE0/AXIS0, MODE SEL) not wired on the controller(basic function configuration) is t he same condition as of #1. #2 : Changing operation mode to AUTO RUN MODE. ▶ Operation mode does not change successively in the above-described sequence. After power ON, you can freely select mode according to MODE1/AXIS1, MODE0/AXIS0, MODE SEL.
5 - 13
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
5.2.2.1 AUTO RUN MODE (page 5-14)
5.2.2 Mode Description
5.2.2.2 STEP RUN MODE (page 5-15) 5.2.2.3 JOG MODE(option) (page 5-19)
5.2.2.1 AUTO RUN MODE
1) AUTO RUN MODE Time Chart In Auto Run Mode after power ON, the time chart about the functions of Origin Setting, PROG.SEL, START, STOP are identical with basic function time chart. (Refer to basic function time chart.) For the descriptions about @1 ~ @12, refer to 5.2.3 (page 5-25).
POWER ON
READY (Output) MODE0/AXIS0 (Input)
MODE1/AXIS1 (Input)
MODE SEL
ON OFF ON OFF ON OFF ON OFF ON
To change operation mode to Auto RUN Mode after STEP, JOG(option), HOST MODE, input MODE SEL.
OFF ORIGIN (Input) ORIGIN OK (Output) PROG.0~4 (Input) PROG.SEL (Input)
ON OFF ON OFF ON OFF ON OFF
@5 START (Input) RUN (Output) STOP (Input)
ON OFF ON OFF
@1
ON
#1
OFF
5 - 14
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
2) Changing operation mode from AUTO RUN MODE
Run in AUTO MODE
#1
MODE Change ?
STEP MODE
JOG MODE (option)
HOST MODE
5.2.2.2 STEP RUN MODE
(1) Changing AUTO RUN MODE to STEP RUN MODE while job running
■
Flow Chart Power ON
MODE Selection
AUTO MODE
JOG MODE (option)
STEP MODE
YES MODE SEL OPEN?
NO End
5 - 15
HOST MODE
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
■
Time Chart RUN (Output)
STOP (Input) MODE0/AXIS0 (Input)
MODE1/AXIS1 (Input)
In AUTO RUN MODE ON OFF ON OFF Job stops in AUTO RUN MODE
ON OFF ON OFF
@6 MODE SEL
When MODE SEL ON, operation mode changes to STEP RUN MODE
ON OFF
Start from the step stopped in AUTO RUN MODE - Input START : Run by 1 STEP - VEL-/MOV- : Decrease by 1 STEP - VEL+/MOV+ : Increase by 1 STEP
@7 START (Input) RUN (Output)
@8
@8
ON OFF ON OFF
#1 @13
STOP (Input)
ON OFF
@7 VEL-/MOV(Input)
ON OFF
@9 VEL+/MOV+ (Input)
ON OFF
#1 : RUN output is ON while 1 STEP is running.
For descriptions about @1 ~ @12, refer to 5.2.3 (page 5-25).
5 - 16
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
(2) STEP RUN MODE after initial Power ON
■
Flow Chart Power ON
MODE SELECTION
AUTO MODE
STEP MODE
JOG MODE
HOST MODE
YES MODE SEL OPEN?
NO END
The Time Chart of "Origin Setting", "Job Selection" in STEP RUN MODE is identical with AUTO RUN MODE. (refer to page 5-14)
5 - 17
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
■
Time Chart For the descriptions about @1 ~ @12, refer to 5.2.3(page 5-25).
MODE0/AXIS0 (Input)
MODE1/AXIS1 (Input)
ON OFF ON OFF
@6 MODE SEL
ON
When MODE SEL ON, operation mode changes to STEP RUN MODE.
OFF Start from the step stopped in AUTO RUN MODE. - Input START : Run by 1 STEP - VEL-/MOV- : Decrease by 1 STEP - VEL+/MOV+ : Increase by 1 STEP
@7 START (Input) RUN (Output)
@8
@8
ON OFF ON
#1
OFF
@13 STOP (Input)
ON OFF
#1
@7 VEL-/MOV(Input)
ON OFF
@9 VEL+/MOV+ (Input)
ON OFF
Run in JOG MODE
#1 NO MODE Change ?
YES
AUTO MODE
JOG MODE(option)
1. For continuous STEP RUN MODE MODE change → Input START 2. For a new JOB MODE change → Job Selection → input START
5 - 18
HOST MODE
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
< You can't use JOG mode. JOG mode is optional.> 5.2.2.3 JOG MODE
■
JOG MODE Time Chart Axis 1
MODE0/AXIS0 (Input)
MODE1/AXIS1 (Input)
Axis 1
Axis 2
ON OFF ON OFF ON
MODE SEL
@3
OFF VEL-/MOV(Input) VEL+/MOV+ (Input)
RUN (Output)
ON
@10
@12
OFF ON
@11
OFF ON OFF
For the descriptions about @1 ~ @12, refer to 5.2.3 (page 5-25).
1. After operation mode changed to JOG MODE, MODE0/AXIS0 and MODE1/AXIS1 will be changed to signals used for selecting the axis to move in JOG MODE. The axis, according to ON, OFF combination of Two signals(MODE0/AXIS0, MODE1/AXIS!), moves when each of VEL-/MOV- and VEL+/MOV+ has been inputted.
■ Combination of selecting axis
MODE1/AXIS1
MODE0/AXIS0
Selected Axis
OFF
OFF
Axis 1
OFF
ON
Axis 2
ON
OFF
Axis 3
ON
ON
Axis 4
5 - 19
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
2. When changing operation mode to other mode from JOG MODE, inputting "STOP" is not necessary.
Run JOG MODE
NO MODE Change ?
YES
AUTO MODE
JOG MODE
5 - 20
HOST MODE
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
5.2.2.4 HOST MODE
(1) After "Origin Setting, Job selection, Job running" by using PC→ "Stop running Job and then Restart" by using system I/O
■
Flow Chart - 1)
MODE Change ?
YES
AUTO MODE
STEP MODE
Run in HOST MODE
2. JOB FILE UPLOAD, DOWNLOAD, POSITION MOVEMENT
1. Origin setting, Job selection, Job running
NO
JOG MODE(option)
MODE Change ?
YES
Input STOP of system I/O → Stop running job START,STOP signals available (AUTO MODE function)
5 - 21
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
■
Flow Chart - 2)
MODE Change ?
YES
AUTO MODE
STEP MODE
Run in HOST MODE
2. JOB FILE UPLOAD, DOWNLOAD, POSITION MOVEMENT
1. Origin Setting, Job selection, Job running
NO
JOG MODE(option)
MODE Change ?
YES
Input STOP of system I/O → Stop running job START,STOP signals available (AUTO MODE function)
5 - 22
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
■
Time Chart
MODE0/AXIS0 (Input)
MODE1/AXIS1 (Input)
ON OFF ON OFF
@4 MODE SEL
ON
When MODE SEL ON, operation mode changes to HOST MODE.
OFF
"Origin Setting", "Job selection", "Job running" by using PC
STOP (Input) START (Input) RUN (Output)
"STOP", "START" running job by using system I/O
ON OFF ON OFF ON OFF
For descriptions about @1 ~ @12, refer to 5.2.3 (page 5-25).
5 - 23
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
(2) After "Origin Setting, Job selection, Job running" by using PC→ "Stop running job, Restart" by using system I/O
■
Time Chart
MODE0/AXIS0 (Input)
MODE1/AXIS1 (Input)
ON OFF ON OFF
@4 MODE SEL
@1
ON OFF
Using PC, perform JOB FILE UPLOAD, DOWNLOAD, POSITION MOVEMENT ORIGIN (Input) ORIGIN OK (Output) PROG.0~4 (Input) PROG.SEL (Input) START (Input)
RUN (Output) STOP (Input)
MODE Selection : AUTO MODE
ON OFF ON OFF ON OFF ON OFF ON
Over 10 ms
OFF ON OFF ON OFF
For descriptions about @1 ~ @12, refer to 5.2.3 (page 5-25).
5 - 24
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
< You can't use JOG mode. JOG mode is optional.>
5.2.3 TEACH PENDANT Display of each mode and 7-Segment Display in Front Panel
No.
TEACH PENDANT Display
7-Segment Display
SYSTEM MODE
@1
Auto Run Mode
SYSTEM MODE
@2
Step Run Mode
SYSTEM MODE
@3
Jog Mode
@4
HOST MODE COM : STA :
@5
AUTO RUN F:TEST S:16 V:20 INS : JMOV P0 STOP
SYSTEM MODE
@6 Step Run Mode
@7
STEP RUN F:TEST S:16 V:20 INS : JMOV P1 INC DEC EXEC STOP
5 - 25
Chapter 5
▶
Time Chart of System Input/Output Operation System Input/Output (Highly Sophiscated Functions)
No.
TEACH PENDANT Display
@8
STEP RUN F:TEST S:17 V:20 INS : JMOV P2 INC DEC EXEC STOP
@9
STEP RUN F:TEST S:18 V:20 INS : JMOV P1 INC DEC EXEC STOP
@10
-150.64 52.54 1 AXIS MOVING -
@11
-110.55 32.66 1 AXIS MOVING +
7-Segment Display
SYSTEM MODE
@12
-110.55 32.66 2 AXIS MOVING -
SYSTEM MODE
@13
Step Run Mode
5 - 26
Chapter 6
▶
Maintenance and Repairing Indication of Abnormal Condition
6. Maintenance and Reparing 6.1 Indication of Abnormal Condition ■ When the robot is abnormal (alarm or protective circuit will run), the controller turns OFF
Servo and turns on dynamic brake to stop the robot and then indicates the error code on the front panel 7 segments and displays a simple error message on the screen of Teach Pendant.
■ If any error occurs, please find out the cause of error and take appropriate action on that error.
After the troubleshooting is completed, you can release the alarm by Reset key of front panel or Teach Pendant.
■ If an error occurs while running by Teach Pendant, press ESC, and then you can continue
the job other than robot operation.
■ 7-Segment Indications in normal operation
Indications
Operation Teach Pendant
System
Host
Initial Power ON
P000
P000
Host
Main Menu
rdy.
-
rdy.
Running
orG.
orG.
orG.
Complete
rdy.
P000
rdy.
P000
P000
P000
-
P000~P031
-
P000~P099
P000~P099
P000~P099
r000~r999
r000~r999
r000~r999
r022
r022
r022
Origin Setting Initial Screen Input JOB Prog. Sel RUN Mode
Input Digit, increase or decrease signals Running JOB Prog. Input STOP Key
① : Indicates the Job No. selected according to ON/OFF combination
of Program 0 ~ Program 4 in system mode. ② : Selects JOB Program between 0 and 99 by using digit and increase/decrease signals. ③ : Indicates Program Step currently running in JOB Program. ④ : Indicates Program Step NO. at the time when STOP signal was inputted.
6-1
Chapter 6
▶
Maintenance and Repairing E001
6.2 Abnormal Conditions and Troubleshooting (Error Code)
■
E001 ---- Following Error
Explanation> Movement delay error : Motor's following position delays beyond the specified values comparing the positions being commanded. ☞ Check Point of Control Part
Cause 1) System parameter (FOW) setting is abnormal. Troubleshooting 1) Adjust FOW value of PROTECT : Standard set value is 10. → If error occurs during the process of acceleration or deceleration, standard value will be increased
by 2 ~ 5 (within 12,15,. . . . ,50) Teach Pendant Operation Sequence) Select 4. PARA in main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 4. PROTECT from PARAMETER(0) → Select 2.FOW from PROTECT(0) → Change setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) rated velocity (Mv) is set excessively. Troubleshooting 2) ① Check RPM setting (Mv) of parameter : 3000 or less is proper. ② Set operating velocity(VEL) of robot program (JOB) wi th consideration of loading capacity :
For Scara, operating velocity varies depending on payload. ▪
Standard SCARA : 10kgf(medium speed), 5kgf(high speed).
▪
Long type SCARA : 15kgf(medium speed), 10kgf(high speed).
① Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 2.MOTION from PARAMETER(0) → Select 2.JONT → Change Mv setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
② Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 2.MOTION from PARAMETER(0) → Select 2.JONT → Change Mv setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and enter ENTER)
6-2
Chapter 6
▶
Maintenance and Repairing E001
Cause 3) Rated acceleration/deceleration time (At) has been set excessively. Troubleshooting 3) Check the acceleration/deceleration time (At) setting of parameter → In case of cartesian coordinate robot, more than 0.15sec. But if Ball Screw Lead is
over 20mm or if there is frequent overshoots, then increase the acceleration/deceleration time. → Standard SCARA : 0.3sec, Long type SCARA : Over 0.4sec is proper.
Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 2.MOTION from PARAMETER(0) → Select 2.JONT → Change At setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 4) Inappropriate gain setting (PVG) of each axis Troubleshooting 4) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is dislayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
☞ Check Point of Mechanical Part
Cause 1) In case of overload by either excessive payload or interference with peripheral devices during running Troubleshooting 1) ① Check if payload is proper. ② Do not exceed Loading Capacity compared with operation velocity.
(For SCARA, payload varies depending on velocity.) -. Standard SCARA : 10kgf (medium velocity), 5kgf(high velocity). -. Long type SCARA : 15kgf (medium velocity), 10kgf(high velocity).
6-3
Chapter 6
▶
Maintenance and Repairing E002
■
E002 ---- S/W Limit
Explanation> Go beyond the movement limit set by the user.
Cause 1) Go beyond the operation range(RANGE) of system parameter Troubleshooting 1) ① For the errors occurring during origin setting or job running, check and adjust job teaching point. ② Adjust the operation range(RANGE) of system parameter at rated value.
- For cartesian coordinate robot : Set at about -5(min) ~ Stroke(max) as arm length - For SCARA : in case of A, B, W axes, it will be set by angle, and for Z axis, it wil be done by stroke length. ① Teach Pendant Operation Sequence)
Check the point in trouble → Change position of teaching point and save it.
② Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 1.BODY from PARAMETER(0) → Select 3.RANG → Change setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) Robot goes beyond the operation range set by LIMT command during job running. Troubleshooting 2) ① Adjust the operation range set in program with LIMT command. ② Check and adjust the teaching points coordinate is within operation range. ①,② Teach Pendant Operation Sequence)
Check the point in trouble → Change position of teaching point and save it.
6-4
Chapter 6
▶
Maintenance and Repairing E003
■
E003 ---- Over-Speed
Explanation> Over-speed Error : Running speed exceeds 110% of the rated speed.
Cause 1) OVS of system parameter has been set incorrectly. Troubleshooting 1) Check if OVS of PROTECT meets 110% of Joint speed (Mv). Ex) When Mv is 3000, set OVS at 3300. Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 4.PROTECT from PARAMETER(0) → Select 3.OVS from PTOTECT(0) → Change setting → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) Encoder, encoder cable or encoder connector are out of order. Troubleshooting 2) Confirm it with running JOG Mode (direction key of Teach Pendant) if its status is normal. If abnormal, check and replace encoder, encorder cable or encoder connector. Teach Pendant Operation Sequence) Select 1.JOB from main menu screen→ F1 (Select DIR) → Select FILE → F4 (Select EDIT) → F2 (Select POINT) → F2 (Select CURR) → Move the robot with hand or Jog key → You will see the coordinate of moving axis changing. → If the value changes, it's normal,
but if not, encoder trouble→ For encoder trouble, motor should be replaced (Contact our company)
6-5
Chapter 6
▶
Maintenance and Repairing E004
■
E004 ---- Excessive Acceleration
Explanation> Excessive acceleration error : Motor acceleration exceeds the setting value.
Cause 1) OVA of system parameter is set too low. Troubleshooting 1) Check if the OVA of Protect is over 2000. (adjustment range: 1000 ~ 5000) Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 4.PROTECT from PARAMETER(0) → Select 5.OVA from PTOTECT(0) → Change the setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) Encoder, encoder cable or encoder connector are out of order. Troubleshooting 2) Confirm it with running JOG Mode (direction key of Teach Pendant) if its status is normal. If abnormal, check and replace encoder, encoder cable or encoder connector. Teach Pendant Operation Sequence) Select 1.JOB from main menu screen→ F1 (Select DIR) → Select FILE → F4 (Select EDIT) → F2 (Select POINT) → F2 (Select CURR) → Move the robot with hand or Jog key → You will see the coordinate of moving axis changing. → If the value changes, it's normal,
but if not, encoder trouble→ For encoder trouble, motor should be replaced (Contact our company)
6-6
Chapter 6
▶
Maintenance and Repairing E005
■
E005 ---- Inposition Error
Explanation> Inposition Error: Motor does not stop within a specified time.
Cause 1) IPE and IPA of system parameter are set too low. Troubleshooting 1) ① Check if the IPE of Protection is over 50 (adjustment range 50~100). ② Check the IPA of Protection is over 100 (adjustment range: 100~200). ①,② Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 4.PROTECT from PARAMETER(0) → Select 6.IPE, 7.IPA from PROTECT(0) → Change the setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) Inappropriate gain (PVG) setting of each axis. Troubleshooting 2) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, confirm operation whether or not it is normal by operating JOG mode (direction key of Teach Pendant), also vibration and chattering. If robot keeps vibrating, lower the PP,VP,VI gains. Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the setting values → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
6-7
Chapter 6
▶
Maintenance and Repairing E006
■
E006 ---- Settling Error
Explanation> Settling Error : When level of mechanical disturbances (vibration, chattering, etc) exceeds its allowance limits.
Cause 1) System Parameter (SET) has been set too low. Troubleshooting 1) Check if the SET of Protection is over 1000 (adjustment range : 1000~3000). For the vertical movement, around 2000 is proper. Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 4.PROTECT from PARAMETER(0) → Select 1.SET from PROTECT(0) → Change the setting value → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) Inappropriate gain (PVG) setting of each axis Troubleshooting 2) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, Run Jog mode (direction key of Teach Pendant) to check if operation, vibration and chattering are normal. If robot keeps vibrating, lower the PP,VP,VI gains. Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the setting values → ESC → ENTER → ESC → ESC → Reboot controller (Press F1 after pressing EMG, and then ENTER)
6-8
Chapter 6
▶
Maintenance and Repairing E008
■
E008 ---- Power Alarm
Explanation> Servo Amp Error : Trouble in Servo Amp
Cause 1) IPM error of Servo (Over Current, Over Voltage, Over Heat) Troubleshooting 1) Check wiring. In case wiring is normal, the Amp should be replaced.
Cause 2) Motor trouble Troubleshooting 2) Demagnetization of Motor. In this case, Motor should be replaced.
Cause 3) Encoder, encoder cable or encoder connector are out of order. Troubleshooting 3) Run JOG mode (direction key of Teach Pendant) to check if operation is normal. If it is abnormal, check and replace the encoder, encoder cable or encoder connector.
6-9
Chapter 6
▶
Maintenance and Repairing E009
■
E009 ---- H/W Limit
Explanation> H/W Limit : H/W limit signal is ON.
Cause 1) Trouble with limit sensor system Troubleshooting 1) Move robot into H/W limit reach by operating JOG, and check whether or not H/W limit sensor is normally operating. If it is abnormal, check and replace the sensor, cable and connector. Teach Pendant Operation Sequence) → Normal if "H/W Limit ? Axis" Move robot into H/W limit reach manually or by JOG key
message is displayed on Teach Pendant with "beep" sound, and if not, abnormal → If abnormal → Adjust the distance between sensors (2.5mm)/ Replace a sensor/ set origin parameter again.
Cause 2) Trouble with Controller Input P ort Troubleshooting 2) Check or replace main board Teach Pendant Operation Sequence) Check controller input port connection. If normal → Check and replace main board.
Cause 3) Limit sensor is activating during robot running Troubleshooting 3) Check teaching point or system parameter Check standard parameters corresponding to Arm length (LENG), Operation Range (RANG), Origin Offset(OFFS), Deceleration Ratio (GEAR) and Robot Body.
6 - 10
Chapter 6
▶
Maintenance and Repairing E010
■
E010 ---- Excessive Velocity (reference)
Explanation> Excessive reference velocityr : reference velocity exceeds 110% of rated speed.
Cause 1) System parameters related to motion are set improperly. Troubleshooting 1) Check if the OVS of PROTECT is 110% of Joint Velocity (Mv). When the Mv is 3000, set OVS at 3300. Check LINR parameters related to Motion. Mv: less than 1000, Jv: less than 300 At: Cartesian Coordinate Robot(over 0.3), SCARA (over 0.5) Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 4.PROTECT from PARAMETER(0) → Select 3.OVS from PTOTECT(0) → Change the setting value → ESC → ENTER → ESC → ESC →Reboot controller (Press F1 after pressing EMG, and then ENTER)
6 - 11
Chapter 6
▶
Maintenance and Repairing E011
■
E011 ---- Excessive Acceleration (reference)
Explanation> Excessive reference acceleration error : acceleration exceeds the specified value.
Cause 1) OVA of system parameter has been set too low. Troubleshooting 1) Check if the OVA of Protection is over 2000. (adjustment range: 1000~5000) Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 4.PROTECT from PARAMETER(0) → Select 5.OVA from PTOTECT(0) → Change the setting value → ESC → ENTER → ESC → ESC →Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) Robot Operation Command is used improperly. Troubleshooting 2) Check if MOVE commands, operation condition commands, and teaching point in user JOB program are used properly. Teach Pendant Operation Sequence) Watch Teach Pendant screen during Auto Run to find the step exactly where the trouble occurs → Modify program and change teaching point.
Cause 3) Check LINR parameters related to Motion Troubleshooting 3) Mv: less than 1000, Jv: less than 300 At: Cartesian Coordinate Robot(over 0.3), SCARA (over 0.5). Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 2.MOTION from PARAMETER(0) → Select 2..JONT or 3.LINR → Change the Mv, At setting values. → ESC → ENTER → ESC → ESC →Reboot controller (Press F1 after pressing EMG, and then ENTER)
6 - 12
Chapter 6
▶
Maintenance and Repairing E012
■
E012 ---- Over Load
Explanation> Motor's overload error : When the torque of motor exceeds the specified value Adjust it below 1.0 in case of running it at lower value than th e rated.
Cause 1) OVL of System parameter is set too low. Troubleshooting 1) Check if the OVL of Protection is over 1.0 (adjustment range : 0.7~1.5) Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 4.PROTECT from PARAMETER(0) → Select 4. OVL from PTOTECT(0) → Change the setting value. → ESC → ENTER → ESC → ESC →Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) Over rated load or interference with obstacles. Troubleshooting 2) Check if loading capacity is within the rated setting. Check if loading capacity compared with operating velocity is adequate. Check if obstacles exist in the path of robot movement.
Cause 3) Motor, Motor cable or Motor connector troubles. Troubleshooting 3) Check if Motor cable or connector are short-circuitted, and if it is so, replace them. Teach Pendant Operation Sequence) Check robot mechanical part when moving robot manually. Check motor coil resistance (scores of
Ω
is fair)
6 - 13
Chapter 6
▶
Maintenance and Repairing E012
Cause 4) Encoder or encoder cable are out of order. Troubleshooting 4) Run JOG mode (direction key of Teach Pendant) to check if operation is normal. If abnormal, check or replace encoder, encoder cable or encoder connector. Teach Pendant Operation Sequence) Select 1.JOB from main menu screen→ F1 (Select DIR) → Select FILE → F4 (Select EDIT) → F2 (Select POINT) → F2 (Select CURR) → Move the robot with hand or Jog key → You will see the coordinate of moving axis changing. → If the value changes, it's normal, but if not, encoder trouble→ For encoder trouble, motor should be replaced (Contact our company)
Cause 5) Inappropriate gain (PVG) settings of each axis Troubleshooting 5) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, run JOG mode (direction key of Teach Pendant) to check if operation and vibration are normal. If robot keeps vibrating, lower the PP,VP,VI gains. Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the setting values → ESC → ENTER → ESC → ESC →Reboot controller (Press F1 after pressing EMG, and then ENTER)
6 - 14
Chapter 6
▶
Maintenance and Repairing E014
■
E014 ---- Amp Over Heat
Explanation> Over heat of power element (IPM) of Servo Amp
Cause 1) Heat sink is excessively hot. Troubleshooting 1) Check if the environment of use matches to the requirements for its usage. Check if there is no problem with Fan of controller in rear side. Check the air filter of controller in front side.
Cause 2) Servo Amp trouble Troubleshooting 2) Repair or replace the Servo Amp (Contact our A/S team)
6 - 15
Chapter 6
▶
Maintenance and Repairing E015
■
E015 ---- Amp Over Voltage
Explanation> Over voltage of Servo Amp
Cause 1) When input voltage is too high Troubleshooting 1) Check input voltage. It should be 220V, within -15% ~ 10%. Teach Pendant Operation Sequence) Check input voltage (AC 220V) with a tester(multimeter). → Select 4.PROTECT from PARAMETER(0) → Select 4.OVL from PROTECT(0) → Change the setting value → ESC → ENTER → ESC → ESC →Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 2) Servo Amp trouble Troubleshooting 2) Check discharging circuit or replace Servo Amp.
6 - 16
Chapter 6
▶
Maintenance and Repairing E016
■
E016 ---- Amp Over Load
Explanation> Over load of Servo Amp : When the torque of Motor exceeds the specified value.
Cause 1) Over load or interference with obstacles. Troubleshooting 1) Check if loading capacity is within rated set value. Check if the loading capacity compared with operation velocity is adequate. Check if obstacles exist in the path of robot movement.
Cause 2) Motor, Motor cable or Motor connector troubles. Troubleshooting 2) Check if motor cable or connector are short-circuited, and if it is so, replace them. Teach Pendant Operation Sequence) Check robot mechanical part when moving robot manually. Check motor coil resistance (scores of
Ω
is fair)
Cause 3) Encoder system trouble Troubleshooting 3) Run JOG mode (direction key of Teach Pendant) to check if operation is normal. If abnormal, check or replace encoder, encoder cable or encoder connector. Teach Pendant Operation) Select 1.JOB from main menu screen→ F1 (Select DIR) → Select FILE → F4 (Select EDIT) → F2 (Select POINT) → F2 (Select CURR) → Move the robot with hand or Jog key → You will see the coordinate of moving axis changing. → If the value changes, it's normal, but if not, encoder trouble→ For encoder trouble, motor should be replaced (Contact our company)
6 - 17
Chapter 6
▶
Maintenance and Repairing E016
Cause 4) Inappropriate gain (PVG) settings of each axis Troubleshooting 4) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, run JOG mode (direction key of Teach Pendant) to check if operation and vibration are normal. If robot keeps vibrating, lower the PP,VP,VI gains. Teach Pendant Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the setting values. → ESC → ENTER → ESC → ESC →Reboot controller (Press F1 after pressing EMG, and then ENTER)
Cause 5) Servo Amp trouble Troubleshooting 5) Repair or replace the Servo Amp (Contact our A/S team)
6 - 18
Chapter 6
▶
Maintenance and Repairing E017
■
E017 ---- Over Current
Explanation> Over current of Servo Amp
Cause 1) Over current occurs while Servo On. Troubleshooting 1) Some elements(Hall Sensor, OP Amp, etc) of Servo Amp are broken. (Contact our A/S team)
Cause 2) Motor or Motor cable trouble Troubleshooting 2) Check if Motor cable or connector are short-circuited, and if it is so, replace them. Teach Pendant Operation Sequence) Check and find the situations of robot's mechanical part when moving it manually. Check motor coil resistance (scores of
Ω
is fair)
Cause 3) Encoder, encoder cable or encoder connector are out of order. Troubleshooting 3) Operate in JOG mode (direction key of Teach Pendant) to check if operation is normal. If abnormal, check or replace encoder, encoder cable or encoder connector. Teach Pendant Operation Sequence) Select 1.JOB from main menu screen→ F1 (Select DIR) → Select FILE → F4 (Select EDIT) → F2 (Select POINT) → F2 (Select CURR) → Move the robot with hand or Jog key → You will see the coordinate of moving axis changing. → If the value changes, it's normal, but if not, encoder trouble→ For encoder trouble, motor should be replaced (Contact our company)
6 - 19
Chapter 6
▶
Maintenance and Repairing E017
Cause 4) Inappropriate gain (PVG) settings of each axis Troubleshooting 4) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, operate in JOG mode (direction key of Teach Pendant) to check if operation and vibration are normal. If robot keeps vibrating, lower the PP,VP,VI gains. Teach Pendent Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the setting values → ESC → ENTER → ESC → ESC →Reboot controller (Press F1 after pressing EMG, and then ENTER)
6 - 20
Chapter 6
▶
Maintenance and Repairing E020
■
E020 ---- Servo Not Ready
Explanation> Servo Amp is not ready.
Cause 1) Trouble with motor power supply of Servo Amp Troubleshooting 1) Check if Motor power cable, if connector and relays in controller are normal.
Cause 2) Trouble with releasing Servo Amp Alarm. Troubleshooting 2) Release the alarm again.
Cause 3) DC link voltage (motor driving power) of Servo Amp is low, or DC link voltage condender is not charged due to trouble with discharge system. Troubleshooting 3) Repair or replace Servo Amp.
Cause 4) Inappropriate gain (PVG) settings of each axis. Troubleshooting 4) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, operate in JOG mode(direction key of Teach Pendant) to check if operation and vibration are normal. If robot keeps vibrating without stop, lower the PP,VP,VI gains. Teach Pendent Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the settings values. → ESC → ENTER → ESC → ESC → Reboot controller (press F1 after pressing EMG key, and then ENTER)
6 - 21
Chapter 6
▶
Maintenance and Repairing E021
■
E021 ---- Sensor Error
Explanation> Trouble with sensor system
Cause 1) Trouble with sensor cable. Troubleshooting 1) Check or replace sensor cable.
Cause 2) Sensor motor connector disconnected or broken Troubleshooting 2) Check or replace sensor motor connector.
Cause 3) Trouble with 24V power in controller Troubleshooting 3) Check or replace 24V power.
Cause 4) Sensor broken Troubleshooting 4) Replace sensor.
6 - 22
Chapter 6
▶
Maintenance and Repairing E022
■
E022 ---- AB Phase Error
Explanation> A, B Phase error of encoder
Cause 1) Trouble with A, B phase encoder cable or connector of corresponding axis Troubleshooting 1) Check and replace encoder, encoder cable or encoder connector. Teach Pendent Operation Sequence) Select 1.JOB from main menu screen→ F1 (Select DIR) → Select FILE → F4 (Select EDIT) → F2 (Select POINT) → F2 (Select CURR) → Move the robot manually or by Jog key → You will see the coordinate of moving axis changing. → If the value changes, it's normal,
but if not, encoder trouble→ For encoder trouble, motor should be replaced (Contact our company)
Cause 2) Inappropriate gain (PVG) settings of each axis. Troubleshooting 2-1) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, operate in JOG mode (direction key of Teach Pendant) to check if operation and vibration are normal. If robot keeps vibrating, lower the PP,VP,VI gains. Teach Pendent Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the setting values → ESC → ENTER → ESC → ESC → Reboot controller (press F1 after pressing EMG key, and then ENTER)
Troubleshooting 2-2) Adjust Servo Amp current offset value of corresponding axis.
6 - 23
Chapter 6
▶
Maintenance and Repairing E023
■
E023 ---- Z Phase Error
Explanation> Z phase error of encoder
☞ Check point of control part
Cause 1) Trouble with Z phase encoder cable or connector of corresponding axis Troubleshooting 1) Check and replace encoder cable or connector. Teach Pendent Operation Sequence) Select 1.JOB from main menu screen→ F1 (Select DIR) → Select FILE → F4 (Select EDIT) → F2 (Select POINT) → F2 (Select CURR) → Move the robot with hand or Jog key → You will see the coordinate of moving axis changing. → If the value changes, it's normal,
but if not, encoder trouble→ For encoder trouble, motor should be replaced (Contact our company)
Cause 2) Inappropriate gain (PVG) settings of each axis. Troubleshooting 2-1) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, operate in JOG mode (direction key of Teach Pendant) to check if operation and vibration are normal. If robot keeps vibrating, lower the PP,VP,VI gains. Teach Pendent Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the setting values. → ESC → ENTER → ESC → ESC → Reboot controller (press F1 after pressing EMG key, and then ENTER)
Troubleshooting 2-2) Adjust Servo Amp current offset value of corresponding axis.
Cause 3) Motor connector disconnected or broken Troubleshooting 3) Check or replace connector.
☞ Check point of mechanical part
Cause 1) There are noises and vibrations, and interferences with obstacles. Troubleshooting) Check the status of mechanical part.
6 - 24
Chapter 6
▶
Maintenance and Repairing E024
■
E024 ---- Abnormal Gain
Explanation> Gain Error
Cause 1) Inappropriate gain (PVG) settings of each axis Troubleshooting 1-1) Adjust PVG gains. Check PP,FF,VP,VI,ER,IR values. After adjusting gains, operate in JOG mode (direction key of Teach Pendant) to check if operation and vibration are normal. If robot keeps vibrating, lower the PP,VP,VI gains.
Teach Pendent Operation Sequence) Select 4.PARA from main menu screen→ Input "1111" (Ver. 1.0A or above)→ "Valid" message is displayed. → Select 3.GAIN from PARAMETER(0) → Select 1.PVG → Change the setting values. → ESC → ENTER → Reboot controller (press F1 after pressing EMG key, and then ENTER)
Troubleshooting 1-2) Adjust Servo Amp current offset of corresponding axis.
6 - 25
Chapter 6
▶
Maintenance and Repairing E025, E027
■
E025 ---- Amp IPM Error
Explanation> Trouble with Servo Amp IPM element
Cause 1) Trouble with Servo Amp IPM element of corresponding axis Troubleshooting 1) Replace IPM element (Contact our A/S team.)
■
E027 ---- No Enc Signal
Explanation> Encoder RX signal detection error : RX siganl is not input in encoder or incorrect
Cause 1) Problem on RX, /Rx line system of corresponding axis Troubleshooting 1) Check encoder line system and replace
Check item s)
1. Check if the encoder 5V line is OK 2. Check if encoder RX, /RX line is OK 3. Check if encoder RX DATA is OK by using oscilloscope or scope meter (refer to Tamakawa, SA 35 series encoder Datasheet)
Cause 2) Problem on encoder receive board Troubleshooting 2) Replace encoder receive board (consult with factory)
6 - 26
Chapter 6
▶
Maintenance and Repairing E028, E029, E030
■
E028 ---- Enc Sys Down
Explanation> Error occurred by lower voltage of encoder power than rated voltage (5V or battery power)
Cause 1) in case of voltage of super capacitor inside of encoder decreases below than 2.5V Troubleshooting 1) Exchange motor (consult with factory)
Cause 2) Trouble on encoder 5V power line system Troubleshooting 2) Check encoder 5V power line, clear encoder of corresponding axis and move to mechanical CALSET position 4.parameter-> 1.body-> 4.offset-> ACAL execution and use Note) Motor encoder clearing : multi rotation, encoder system down, over speed error information are cleared. Refer to Service manual Chapter 4.6 SCARA connector
■
E029 ---- Enc Overflow
Explanation> When the encoder multo rotation data is overflow from counter capacity.
Cause 1) When encoder of an axis rotates to one direction and overturn than capacity Troubleshooting 1) Clear encoder and move to CALSET position 4.parameter-> 1.body-> 4.offset-> ACAL execution and use Note) Motor encoder clearing : multi rotation, encoder system down, over speed error information are cleared. Refer to Service manual Chapter 4.6 SCARA connector
■
E030 ---- Enc Overspeed
Explanation> When 5V power is Off and encoder doesn't detect motor's position due to motor rotates with higher accelation than 200 rad/sec2
Cause 1) in case of voltage of super capacitor inside of encoder decreases below than 2.5V Troubleshooting 1) Clear encoder and move to CALSET position 4.parameter-> 1.body-> 4.offset-> ACAL execution and use Note) Motor encoder clearing : multi rotation, encoder system down, over speed error information are cleared. Refer to Service manual Chapter 4.6 SCARA connector
6 - 27
Chapter 6
▶
Maintenance and Repairing E031, E032
■
E031 ---- Enc Battery Low
Explanation> Error occurred by lower voltage of encoder backup battery than 3.25V
Cause 1) Trouble on encoder backup battery power line system Troubleshooting 1) Check encoder backup battery power line, clear encoder of corresponding axis and move to mechanical CALSET position 4.parameter-> 1.body-> 4.Offset-> ACAL execution and use
Cause 2) When encoder backup battery running time is exceeded Troubleshooting 2) Exchange encoder backup battery, clear encoder of corresponding axis and move to mechanical CALSET position 4.parameter-> 1.body-> 4.Offset-> ACAL execution and use Note) Motor encoder clearing : multi rotation, encoder system down, over speed error information are cleared. Refer to Service manual Chapter 4.6 SCARA connector
■
E032 ---- Enc Data Wrong
Explanation> Error occurred when reading two values are different between the first and second encoder RX datas in controller internal process Cause 1) when robot moves during encoder initializing by external factor Troubleshooting 1) if it still occurs after reinitializing of encoder, check vibration surrounding mechanical parts and do action to reduce vibration
Cause 2) when RX Data receiving is unstable by trouble on encoder RX, /RX line system Troubleshooting 2) Check encoder RX, /RX line (check line Noise) and reinitialize encoder
6 - 28
Chapter 6
▶
Maintenance and Repairing E033, E034
■
E033 ---- Enc Preset Fail
Explanation> In case of Semi (compact) absolute encoder, it receives full rotation data after encoder rotates 2°(preset) when controller power i s on (over 10sec with power off). At this moment, the error occurs when motor overdrives beyond range.
Cause 1) when the gain of corresponding axis is not set properly Troubleshooting 1) After change proper gain, reinitialize encoder
Cause 2) when it detects wrong rotation data of corresponding axis encoder Troubleshooting 2) exchange motor (consult with f actory)
■
E034 ---- Enc Init Fail
Explanation> It indicates when encoder initialization is failed and when servo on or jog, run execution after initialization fail
Cause 1) when initialization is failed by one of E027 ~ E033 during initializing Troubleshooting 1) After analyzing and correction of error code, reinitialize encoder
6 - 29
Chapter 6
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Maintenance and Repairing E050, E051, E052
■
E050 ---- System Emergency
Explanation> Emergency Stop status due to system I/O operation
Cause 1) System Emergency Stop by user Troubleshooting 1) Turn OFF the Emergency Stop and reset controller.
Cause 2) Trouble with system Emergency Stop cable and connector Troubleshooting 2) Check system I/O cable and connector.
Cause 3) Trouble with 24V power in controller. Troubleshooting 3) Check or replace 24V power.
■
E051 ---- Front Emergency
Explanation> Emergency Stop status by Emergency Stop switch on front panel
Cause 1) Emergency Stop switch on front panel was pressed. Troubleshooting 1) Turn OFF the Emergency Stop switch on front panel and reset controller.
Cause 2) Trouble with 24V power in controller Troubleshooting 2) Check or replace 24V power.
■
E052 ---- Teach Pendant Emergency
Explanation> Emergency Stop status by Emergency Stop switch of Teach Pendant
Cause 1) Emergency Stop switch of Teach Pendant was pressed. Troubleshooting 1) Turn OFF Emergency Stop and then reset controller.
Cause 2) Trouble with Emergency Stop switch line system of Teach Pendant Troubleshooting 2) Repair or replace Teach Pendant.
6 - 30
Chapter 6
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Maintenance and Repairing E054, E055
■
E054 ---- 24V Power Down
Explanation> 24V power trouble in controller
Cause 1) Trouble with 24V power connector or SMPS Troubleshooting 1) Check or replace connector and SMPS.
Cause 2) Sensor connector disconnected or broken Troubleshooting 2) Check or replace sensor connector
Cause 3) Inappropriate sensor specification (Limit sensor NO type used.) Troubleshooting 3) Limit sensor : Use NC type (normally closed). ORG sensor : Use NO type (normally open).
■
E055 ---- Battery Low
Explanation> Trouble with Backup RAM Battery
Reason 1) Battery trouble or over time Measure 1) Replace battery. Battery size : CR 1/2AA,3V(No Lead).
* Function of battery - Power supply to the memory chip(RAM) for back up data as JOB, PNT and etc. * Life of battery - When controller is not used for a long time : about 4 years - When controller is continuously used : about 50 years * Replacement method - For using Unihost : Replace battery after back up of Job file and Pallet system parameters - For not using Unihost : Make sure to prepare the battery for replacement and replace in minutes only when the controller power is OFF because data files may be lost.
6 - 31
Chapter 6
▶
Maintenance and Repairing E56, E101
■
E056 ---- Host Emergency
Explanation> Emergency Stop state by Emergency Stop protocol in Host mode
Cause 1) In Host mode, Emergency Stop protocol was received. Troubleshooting 1) Turn OFF Emergency Stop, and reset controller.
■
E101 ---- File Not Found
Explanation> No JOB file exists.
Cause 1) The Job no. selected by system I/O does not exist. Troubleshooting 1) Check selected Job no. Ex) When selecting NO.1 JOB, there is no Job file in No. 1
Cause 2) Trouble with wiring system of system I/O input Program 0~4 Troubleshooting 2) Check wiring.
6 - 32
Chapter 6
▶
Maintenance and Reparing E102
■
E102 ---- Range Over
Explanation> Operation beyond allowance limits of numeric values in parameter, command or variable.
Cause 1) The values used in command (VEL, ACC, PLUP, FORM ...) go beyond allowance limits. Troubleshooting 1) Correct the values. (Refer to Command Usage in User's Manual.)
Cause 2) Output port, type or time value set in Pallet data are improper. Troubleshooting 2) Correct the values. (Refer to Pallet System Parameter Setting in User's Manual.)
Cause 3) System variable has been used improperly in program Troubleshooting 3) Correct CNT no. (within 0~15 available) or TMR no. (within 0~1 available)
6 - 33
Chapter 6
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Maintenance and Repairing E105
■
E105 ---- Inverse Error
Explanation> Error occurred by changing coordinate of SCARA to Joint mode (A,B,Z,W) from X,Y mode (X,Y,Z,W).
Cause 1) Teaching point or track in CP movement is wrong. Troubleshooting 1) Check and correct track according to teaching point or operation condition.
Cause 2) XPOS variable value used in CP command is improper. Troubleshooting 2) Check and correct XPOS variable value(XYZW coordinates, FORM value)
Cause 3) Error occurred during the process of calculation or conversion of XPOS variable into POS variable.
Troubleshooting 3) Check and correct XPOS variable value (XYZW coordinates, FORM value).
Cause 4) Pallet data in PMOV movement is improper. Troubleshooting 4) Check and correct Pallet position data. (Refer to Pallet System Parameter Setting in User's Manual.) PMOV Teaching Point
Pallet
When the robot arm cannot reach this point in actual job
Cause 5) In HOST mode, when moving robot in INCH mode and XYZW coordinate, point data is im proper.
Troubleshooting 5) Check the direction whether it can be reached by the robot.
Cause 6) In HOST mode, when moving robot in teaching point mode and XYZW coordinate, point data is improper.
Troubleshooting 6) Check after checking if robot can move to the point in XYZ coordinate.
Cause 7) In Host mode when downloading Point fi le, point data is improper. Troubleshooting 7) By using Teach Pendant, check point data download from PC. The Point which has a fault in coordinate conversion has position value 999.99 of every axis. Check and correct point data which has error.
6 - 34
Chapter 6
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Maintenance and Repairing E107, E108
■
E107 ---- Range Over A(X)
Explanation> A(X) axis goes beyond the range
Cause 1) Inappropriate system parameter (Range) setting of A(X) axis Troubleshooting 1) Correct system parameter (Range) of A(X) Axis.
Cause 2) Teaching point goes beyond the range of A(X) axis Troubleshooting 2) Check and adjust the teaching point within the range of A(X) axis.
Cause 3) A(X) axis goes beyond the range. Troubleshooting 3) Move A(X) axis within the range and then verify again.
■
E108 ---- Range Over B(Y)
Explanation> B(Y) axis goes beyond the range
Cause 1) Inappropriate system parameter (Range) setting of B(Y) axis Troubleshooting 1) Correct system parameter (Range) of B(Y) Axis.
Cause 2) Teaching point setting over of B(Y) axis Troubleshooting 2) Check and adjust the teaching point within the range of B(Y) axis.
Cause 3) B(Y) axis goes beyond the range Troubleshooting 3) Move B(Y) axis within the range and then verify again.
6 - 35
Chapter 6
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Maintenance and Repairing E109, E110
■
E109 ---- Range Over Z
Explanation> Z axis goes beyond the range
Cause 1) Inappropriate system parameter (Range) setting of Z axis Troubleshooting 1) Correct system parameter (Range) of Z Axis.
Cause 2) Teaching point goes beyond the range of Z axis Troubleshooting 2) Check and adjust the teaching point within the range of Z axis.
Cause 3) Z axis goes beyond the range Troubleshooting 3) Move Z axis within the range and then verify again.
■
E110 ---- Range Over W
Explanation> W axis goes beyond the range
Cause 1) Inappropriate system parameter (Range) setting of W axis Troubleshooting 1) Correct system parameter (Range) of W Axis.
Cause 2) Teaching point goes beyond the range of W axis Troubleshooting 2) Check and adjust the teaching point within the range of W axis.
Cause 3) W axis goes beyond the range Troubleshooting 3) Move W axis within the range and then verify again.
6 - 36
Chapter 6
▶
Maintenance and Repairing E111
■
E111 ---- Not Teaching Point
Explanation> Not Teaching Point used
Cause 1) When using robot movement command, not teaching point was used. Troubleshooting 1) Check or creat Point. (Refer to JEDIT mode in User's Manual.)
Cause 2) When using OFFS command, not teaching point was used. Troubleshooting 2) Check or creat Point. (Refer to JEDIT mode in User's Manual.)
Cause 3) When moving point in HOST mode, not teaching point used Troubleshooting 3) Check or create Point. (Refer to JOB mode in User's Manual.)
6 - 37
Chapter 6
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Maintenance and Repairing E112, E113, E114
■
E112 ---- Please Origin
Explanation> Request for Origin Setting
Cause 1) It occurs when trying to run robot without origin setting. Troubleshooting 1) Do origin setting. : Press 5. ORIGIN in initial menu screen.
■
E113 ---- Job Depth Over
Explanation> The number of times that JCALL is used exceeds 3.
Cause 1) Multiple JCALLs(successive JCALLs) are used more than 3 times. Troubleshooting 1) Modify robot program. Reduce multiple JCALLs.
■
E114 ---- Call Depth Over
Explanation> The number of times that CALL is used exceeds 8.
Cause 1) Multiple CALLs(successive CALLs) are used more than 8 times. Troubleshooting 1) Modify robot program. Reduce multiple CALLs.
6 - 38
Chapter 6
▶
Maintenance and Repairing E115, E117, E118
■
E115 ---- FOS Error
Explanation> Inappropriate FOS command
Cause 1) TOOL command used while robot is continuously moving by FOS command Troubleshooting 1) Stop FOS move by FOS 0 command and then modify program to use TOOL command.
■
E117 ---- Format Error
Explanation> Though communication data is received in Host mode, the data has not been received in the specified format. Cause 1) Wrong format of Point file transmitted Troubleshooting 1) Modify Point file.
Cause 2) Wrong format of system parameter file transmitted Troubleshooting 2) Modify system parameter.
Cause 3) Communication connector and cable are short-circuited or inferior quality. Troubleshooting 3) Check communication connector and cable.
■
E118 ---- LRC Error
Explanation> In Host mode, communication data error check byte is not normally received.
Cause 1) Communication connector and cable become short or are in trouble during communication. Troubleshooting 1) Check communication cable.
6 - 39
Chapter 6
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Maintenance and Repairing E119, E121, E122
■
E119 ---- Pallet Data Error
Explanation Pallet data error of system parameter
Cause 1) Data ( the number of material in Pallet) is less than CNT number of starting point in Pallet. Troubleshooting 1) Modify parameter data or CNT. (Refer to User's Manual.)
Cause 2) Pallet data was used without initialization or have trouble. Troubleshooting 2) Initialize Pallet data. (Refer to User's Manual.)
■
E121 ---- Unreachable Point
Explanation> Teaching Point that robot cannot reach Cause 1) When robot was teached to an impossble point to reach with existing sets of velocity or acceleration. Troubleshooting 1) Modify teaching point or movement condition command.
Cause 2) the teaching points that are supposed to move to CMOV or AMOV are neither circle nor arc, or radius is so small. (In case interior angles of three points that form circle or arc are less than 0.1 deg., or in case of more than 179.9 deg., or in case the radius is less than 1 mm.) Troubleshooting 2) Modify teaching point.
■
E122 ---- Exit Instruction
Explanation> EXIT command processed.
Cause 1) Program stopped by user's EXIT command. Troubleshooting 1) Press Enter and the Alarm will be OFF and return to Job start status.
6 - 40
Chapter 6
▶
Maintenance and Repairing E123, E124
■
E123 ---- POS Variable Error
Explanation Explanation> > POS Variable Variable error error
Cause 1) Use of POS variables with values not designated Troubleshooting 1)Modify program in order to it can be used after setting values in POS variable. : ★ Refer to User's Manual (Variable part).
Cause 2) POS array variable used beyond user defined range. Troubleshooting 2) Modify program in order to use it within range set. : ★ Refer to User's Manual (Variable part).
Cause 3) XPOS variable used for OFFS or LIMT command. Troubleshooting 3) Use of teaching point or POS variable variable in OFFS or LIMT command. : ★ Refer to User's Manual (Variable part).
■
E124 ---- JCALL Error
Explanation Explanation> > JCALL command command improper improper use
Cause 1) Insufficient memory in processing JCALL. Troubleshooting 1) When JCALL is processed to call another job which has many program steps or variables, the JOB program can not run normally because of insufficient memory if a large part of the memory is assigned to insufficient memory if a large part of the memory is already assigned to program steps, teaching points and variables of the JOB program.
6 - 41
Chapter 6
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Maintenance and Repairing E127, E131
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E127 ---- Not Sufficient Memory
Explanation Explanation> > Insufficient Insufficient memory memory
Cause 1) When a large part of memory is assigned to program steps, teaching points or variables there may be insufficient memory in compiling or file transmission. Troubleshooting 1) Reduce program steps or teaching points. Or, avoid using several programs simultaneously like JCALL.
■
E131 ---- Syntax Error
Explanation Explanation> > JOB Program Program Syntax Syntax Error
Cause 1) Undefined or inappropriate robot command used. Troubleshooting 1) Have thorough knowledge of robot command usage and compose the program again after debugging. Ex) When input numeric 0 instead of English O Omitting space, Omitting ENDIF in IF statement
: :
Cause 2) A variable is declared the same name with command, system variable or the variable name used in controller. Troubleshooting 2) Change the variable name.
6 - 42
Chapter 6
▶
Maintenance and Repairing E132, E133, E134
■
E132 ---- Not Initialized System Variable
Explanation Explanation> > System System variable initialization initialization error
Cause 1) System variables (TMR,CNT) have been used without initialization. Troubleshooting 1) Use system variables after initialization.
■
E133 ---- Undefined Symbol
Explanation Explanation> > Undefined Undefined names names used
Cause 1) Undefined commands or undeclard variables used. Troubleshooting 1) Use defined commands or declared variables.
■
E134 ---- Duplicated Symbol
Explanation Explanation> > Duplicated Duplicated names names used
Cause 1) Duplicated variable names declared. Troubleshooting 1) Make those variables be different each other.
Cause 2) Duplicated LABLs used. Troubleshooting 2) Delete one of the duplicated, or make the LABLs have different names each other.
6 - 43
Chapter 6
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Maintenance and Repairing E135, E136, E137
■
E135 ---- Impossible Branch
Explanation Explanation > Branch Branch Command Execution Execution Error
Cause 1) Executing GOTO branch into IF - ENDIF, WHILE - ENDWL , FOR - NEXT blocks. Troubleshooting 1) You should not execute GOTO branch into IF - ENDIF, WHILE - ENDWL and FOR - NEXT blocks. Modify program according to the syntax. : ★ Refer to User's Manual.
Cause 2) Executing GOTO branch between MAIN - EOP command block and SUBR - RET command block, or between SUBR - RET command blocks. Troubleshooting 2) You should not execute GOTO branch between MAIN - EOP and SUBR - RET block or between SUBR-RET blocks.
Modify program according to the syntax.
■
E136 ---- Too Many Parameters
Explanation Explanation > Excessive Excessive Parameter Parameters s
Cause 1) Parameters are used excessively when execuinting mathematical function. Troubleshooting 1) Verify and correct parameteers of mathematical function where error occurred.
■
E137 ---- Not Sufficient Parameters
Explanation > Parameters are not sufficient enough to execute mathematical functions.
Cause 1) Parameters are not suffcient enough to execute mathematical functions. Troubleshooting 1) Verify and correct the parameters of mathematical function when error occurred.
6 - 44
Chapter 6
▶
Maintenance and Repairing E138, E139, E140
■
E138 ----Illegal Expression
Explanation > Operation Format Error
Cause 1) Mathematical expressions do not follow specified operation format. Troubleshooting 1) Verify and correct the mathematical expressions. (Refer to User's Manual - Commands - operators)
■
E139 ---- Illegal Variable Type
Explanation > Variable type error
Cause 1) When the index of FOR statement is not integer type. Troubleshooting 1) Make correction on integer type variable or integer constant.
Cause 2) When the index value of array variables(general variable, I/O variable, teaching point variable, POS variable, XPOS variable) are not integer type. Troubleshooting 2) Make correction on integer type variable or integer constant.
■
E140 ---- Impossible to Assign
Explanation > Impossible to assign a value to variable.
Cause 1) In case data type of operation results of mathematic expressions are different from that of
the variables to which the operation results is assigned. Troubleshooting 1) Correct the program making two data types identical.
6 - 45
Chapter 6
▶
Maintenance and Repairing E141, E142, E143
■
E141 ---- EOF In Comment
Explanation > Comment error
Cause 1) Improper use of comment. Troubleshooting 1) Verify program and make correction on comment symbols(/* , */) to make a pair.
■
E142 ---- No Exist Label
Explanation > LABL branch error
Cause 1) There is no LABL name branched by CALL or GOTO Troubleshooting 1) Create one newly when the corresponding LABL command does not exist in program. Or, change LABL name if there is an existing LABL command.
■
E143 ---- Declaration Error
Explanation > Array declaration error
Cause 1) Array declared in INT or REAL data type Troubleshooting 1) Array can be declared only in POS data type. Verify or correct program. : ★ Refer to User's Manual.
Cause 2) The array size declared in POS data type is less than 1. Troubleshooting 2) POS array size should be more than 2. Declare it more than 2 or change it to a simple variable. : ★ Refer to User's Manual.
6 - 46
Chapter 6
▶
Maintenance and Repairing E144, E150
■
E144 ---- Passing Pallet over
Explanation > PASS commands used too many.
Cause 1) PASS command used per pallet exceeds 21. Cause 2) The number of Pallet using PASS command exceeds 5 Troubleshooting 1,2 ) Set the number of Pallets, that is to use PASS command, less than 5, and use less than 21 PASS command per Pallet.
■
E150 ---- Compile Error
Explanation > Compile error.
Cause 1) Program compile error Troubleshooting 1) When an error occurs between error code131~149, the display panel of controller exhibits only E150 . Debug the JOB program where the error occurred, and then run the JOB program again.
6 - 47
Chapter 6
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Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3 Quick Maintenance and Reparing Job
6.3.1 Initialization ■ 3 kind of initializations : PARAMETER, JOB, PALLET DATA ■ When initialization is required : Replacing MAIN BOARD & initializing existing saved data ■ Note : You must backup existing data before initialization.
1) Parameter Data Initialization
① Turn OFF the controller ② Open the controller upper cover and turn ON the No.2 of Deep switch on main board. ③ Turn on the controller ④ You can see initialization process on Teach Pendant
2) JOB Data Initialization
■ Refer to "User's Manual 7.5 All deletion of JOB (All Clear)".
3) Pallet Data Initialization
■ Refer to "User's Manual 5.3.2 "Parameter (1) group".
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Chapter 6
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Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.2 How to troubleshoot an Error occurred during Origin Setting
1) When AB PHASE ERROR - axis occurs during origin setting
Cause 1) In most cases, setting value related to the ORG of PARA are improper. Troubleshooting 1) Go to 4.PARA →PARAMETER(1)→ORG→DIR,SENS on Teach Pendant, check settings and modify them. (Refer to "User's Manual Chapter 5 Parameter Mode, ORG".) Cause 2) If error occurs in the origin sensor of corresponding axis without having problems with the setting of PARA, and then, it is judged that the sensor may be located at the outside of the d am per.
Troubleshooting 2) In this case, you need to relocate the sensor of corresponding axis. Change the sensor position so it can start sensing before approaching the damper.
▪
In case of SCARA, the origin is apt to be changed. So please record the origin coordinate before an error occurs in order to check if the origin has been changed.
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Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.3 Explanation of Z axis Weight Balance (using Air Cylinder) ■ Circuit Diagram
Fine Lock Cylinder 3 Port solenoid v/v (connect Brake ON/OFF or press switch points) LOCK
Lock open port
press switch (connect SYS I/O, EMG points)
Precision Regulator IR401(SMC) Input pressure : max 9.9 kg Output pressure : 0.1~4.0 kg
Silencer attached
Parts suppied by robot manufacturer when it is purchased
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Chapter 6
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Maintenance and Repairing
Quick Maintenance and Reparing Job
■ Explanation of Diagram ① 3port sol v/v : Power OFF (Air supply stopped : Brake on)
Power ON (Air supplied : Brake OFF) ※ Brake OFF
When the air comes in air port and pushes piston, the brake metal gets widen and piston rod can move freely.
※ Brake ON
When the air flows out air port, the piston and brake metal returns to the original position and rod gets braked.
② Press switch
If air supply stops, the air pressure will decrease. If it decreases below the value set at press switch, then output point signal is ON. By sending this point signal to system I/O EMG, every job stops.
③ Precision Regulator
You need to set proper air volume based on the load weight on vertical movement axis. If not proper, the vertical movement is not smooth and several errors occur. So it is very important to set proper volume.
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Chapter 6
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Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.4 Troubleshooting for Mechanical Parts of Robot
■ For mechanical noise Cause
NO
Troubleshooting Calibrate precision (level) with using
1
Bad accuracy (level) of installation surface Thickness Tape and then re-install it.
2
Remove grease and imperities
Impurities mixed
and then re-inject grease. 3
Speed exceeds the limit
4
Coupling loosens
Tighten coupling again (Because of the vibration and too Short acceleration time, coupling may be loosened.)
5
Grease shortage
Remove grease and impurities and then reinject grease.
6
Improper GAIN setting
Adjust P, I Gain.
7
Inappropriate Timing Belt tension
Adjust Timing Belt tension.
8
Ball screw damaged or used over 15000 hours run
Replace ball screw.
9
Lower speed below the limit.
Linear movement bearing damaged
Replace straight movement bearing.
or used over 25000km 10
Abnormal operation of brake
11
Interference due to mechanical body breakdown
Replace brake.
Replace the part.
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Chapter 6
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Maintenance and Repairing
Quick Mainterance and Repairing Job
■ For Vibration Cause
NO
Troubleshooting
1
Velocity exceeds the limit
Lower velocity below the limit
2
Used at too short acceleration time
Luse as longer acceleration time
3
Robot installation table is not stiff enough.
Make installation table more stiff, and fix it with bottom bolt. Check if bolts are perfectly fastened. Check if bolt length is proper.
4
After checking fasten the bolt with
Robot installation bolt is fastened improperly.
standard torque, prevent bolt from loosening. (Apply Loctite and Nylok bolts)
5
Overload
Lower velocity or increase acceleration time.
6
Improper Gain setting
Adjust P, I Gain.
7
Resonance with other devices
Adjust acceleration time and velocity.
■ For bad positioning accuracy NO 1
Cause
Troubleshooting If you need high positioning accuracy in process, please contact us.
Mechanical Lead Error
6 - 53
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
■ Bad repetitive positioning accuracy Cause
NO
Troubleshooting
1
Ball nut damaged
Replace ball nut.
2
Bad installation surface accuracy (level)
Refer to page 6-4a
3
Low Position Gain
Increase Position Gain.
4
Robot installation bolt fastened improperly
Refer to page 6-50
5
Robot installation table is not stiff enough
Refer to page 6-50
6
Coupling loosened or damaged
Refasten or replace coupling.
■ Bad limit (origin) sensor operation NO
Cause
Troubleshooting
The gap between sensor
Adjust the position of with proximity sensor
(Reed switch) and Magnet is big.
(Reed switch) (below 1mm)
2
Proximity Sensor(Reed switch) damaged
Replace proximity sensor (Reed switch)
3
Incorrect origin parameter setting
Set origin parameter correctly.
1
■ Unstable robot operation & excessive run NO 1
2
Cause
Troubleshooting
Incorrect Pitch/Rev(Gear Ratio) value
Adjust Pitch/Rev(Gear Ratio) value
Origin sensor and encoder
Unless Z phase pulse is 1000~9000 after
Z phase are idential or proximate.
origin setting on Teach Pendant, adjust origin setting or coupling positions.
6 - 54
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.5 Set Parameter on Main Board Replacement or Parameter Initialize ** For Absolute Only 1) Parameter Group 0-> BODY-> OFFS-> EDIT --- Offset setting When replacing main board or initializing paremeter, it can cause error in coordinate value by Offset parameter changing. Error can be clearred by correcting Offset Parameter. If the parameter has not been modified before, refer to the Offset parameter written in the label of Robot Body to correct by using EDIT function.
When changing Offset by using EDIT function and saving it, the changes is applied after soft reboot or power reboot of controller. Therefore you will see the request message for rebooting on T/P after changing and saving.
Content
NO
1
2
3
4
5
6
4. Select OFFS
Select EDIT by pressing F 1
Key
Display
4 L
OFFSET A:0 B:0 Z:0 W:0 EDIT CALIB ACAL EPOS
F1
OFFSET A:■ B:0 Z:0 W:0 EDI T CALIB ACAL EPOS
Change OFFSET values using Numeric Keys
OFFSET A:■. 23 B:-5. 25 Z:0.00 W:0.00 EDIT CALIB ACAL EPOS
Move to Main Menu after changing OFFS
OFFSET A:■. 23 B:-5. 25 Z:0.00 W:0.00 up date? (enter/esc)■
Save by pressing ENTER
OFFSET A:1.23 B:-5. 25 Z:0.00 W:0.00 Please Reb oot!
ENTER
Move to upper Menu by pressing ENTER
ENTER
6 - 55
GROUP:BODY 1:CONF 2:LENG 3:RANG 4:OFFS 5:GEAR 6:TOOL 7:MOTOR item #■
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
2) Parameter Group 0-> BODY-> OFFS-> EPOS --- EPOS (Standard coordinate value) setting When using ACAL function due to Main board replacement or parameter initialization, EPOS value used as standard coordinate value for internal calculation must be recovered. Correct EPOS value is saved in factory before shipping out and marked in label of robot body. Enter the EPOS value in label by MDI (Manual Direct Input) mode.
Content
No
1
2
3
Key
Display
F4
END ANGLE SET A:113.25 B:-98. 73 Z:-13. 50 W:107. 60 MDI CURR
Select F4 EPOS
F1
Select MDI mode by pressing F1
0 V
Change EPOS value of corresponding axis
~
9 I
MDI SET A:■13. 25 Z:-13. 50
B B:-98. 73 W:107. 60
MDI SET A:114.50 Z:-13. 50
B B:-97. 65 W:107. 60
4
Move to upper menu by pressing ESC
MDI SET B A:114.50 B:-97. 65 Z:-13. 50 W:107. 60 up date? (enter/esc)
5
Save by pressing ENTER and move to upper menu
ENTER
MDI SET B A:114.50 B:-97.65 Z:-13. 50 W:107. 60 Please Reb oot!
6
Save by pressing ENTER and move to upper menu
ENTER
END ANGLE SET A:114.50 B:-97.65 Z:-13. 50 W:107. 60 MDI CURR
6 - 56
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
3) Parameter Group 0-> BODY-> OFFS-> EPOS --- EPOS (Standard coordinate value) setting Even though EPOS value has to be recoverred, if EPOS value is not saved or recorded, EPOS value can be saved by moving each axis of robot to calibrarion position. At this moment, Offset value must be saved correctly. The other method is to request to Manufacturer's customer service team to get the information on EPOS and enter at MDI mode. For more information on the calibration position, refer to Chapter 6.3.7 Absolute SCARA Calibration Position and Fixing Jig.
Content
No
1
2
3
4
5
Select F4 EPOS
Select CURR mode by pressing F2
Change EPOS value of corresponding axis by pressing F1~F4
Key
Display
F4
END ANGLE SET A:114.50 B:-97. 65 Z:-13. 50 W:107. 60 MDI CURR
F2
CU RR SET A:114.50 Z:-13. 50 A B
F1
Save by pressing ENTER and move to upper menu
ENTER
B B:-97. 65 W:107. 60 Z W
ABS CALIBRATION B A:114.50 B:-97. 65 Z:-13. 50 W:107. 60 save A?(enter/esc) ABS CALIBRATION B A:113.20 B:-97. 65 Z:-13. 50 W:107. 60 A B Z W END ANGLE SET A:113.20 B:-97.65 Z:-13. 50 W:107. 60 Please Reb oot!
Move to upper menu by pressing ESC
6 - 57
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.6 Change Offset parameter after changing motor ** For Absolute Only 1) Parameter Group 0-> BODY-> OFFS --- Using ACAL in Offset Set function When an error occurs on coordinate value due to changing motor or position moving of motor by external impact, locate screw jig in position of corresponding axis and move the axis to touch to the jig. After that, change the Offset of corresponding axis as below table. For the information on calibration position, refer to Chapter 6.3.7. Absolute SCARA Calibration position and Fixing Jig. When calibrating of Z axis, the Offset Value of W axis must be in state of setting o
in allowance error range. (If the difference between W axis and Z axis is in ± 2 , It is normal) If it needs to calibrate both Z & W, do W first and then do Z axis.
Content
No
1
2
3
Key
Select F3 ACAL
Select Offset of corresponding axis by pressing F1 ~ F4
Change Offset by pressing ENTER
Display
F3
ABS CALIBRATION B A:1.23 B:-5. 25 Z:0.00 W:0.00 A B Z W
F1
ABS CALIBRATION B A:1.23 B:-5. 25 Z:0.00 W:0.00 up date A?(enter/esc)
ENTER
ABS CALIBRATION B A:4.52 B:-5. 25 Z:0.00 W:0.00 A B Z W
4
Move to upper menu by pressing ESC
ABS CALIBRATION B A:4.52 B:-5. 25 Z:0.00 W:0.00 Please Reb oot!
5
Save by pressing ENTER and move to upper menu
OFFSET A:4.52 B:-5. 25 Z:0 W:0 EDIT CALIB ACAL EPOS
ENTER
6 - 58
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.7 Absolute SCARA Calibration position and Fixing Jig
Jig Set for fixing the position of robot body to calibrate to Offset change
A axis
B axis
Z axis
W axis
Jig for A axis
Jig for B axis
Jig for Z axis
Jig for W axis
M6 X 8
M5 X 5
M4 X 5
M3 X 5
Location for Jig of each axis 1) A axis
6 - 59
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
2) B axis
3) Z axis, W axis
Front side of B axis
It is the picture in front view of B axis
6 - 60
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
Calibration Form using Jig
1) Front View
2) Top View
6 - 61
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.8 Battery lifetime for Data Backup 1) Battery specification and life time There are two kinds of batteries. One is for backup memory of main board and the other is for Absolute SCARA's encoder data backup memory. The battery location of Absolute SCARA is referred at Chapter 4-7. Figure. Both batteries are Lithium Battery
Model
Part No.
Tekcell
SB-AA02
Maker
Size
VITZROCELL 1/2 AA
Volt
3.6V
Part for use
Current consumtion in ready state
Main Board
MAX 60 uA
Encoder
MAX 100 uA
▶ Official capacity: Max. 1200mAh. But it can be changed to 60~80% according to circumstance. ▶ The backup battery for main board will be totally dissipated when power is not supplied to
controller in ambient temperature during 18,000 hours. ▶ The backup battery for encoder will be totally dissipated when power is not supplied to
controller in ambient temperature during 10,000 hours. ▶ This lifetime data is not considered for leak current
2) Battery exchange
▶ The lifetime of battery can be reduced according to circumstances like temperature and humidity. ▶ It is recommended to exchange the battery to new one to keep Absolute encoder data every
10 months. ▶ Refer to Chapter 4.6.2. Absolute Encoder Backup Battery Board (page 4-51).
6 - 62
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.9 How to set proper gains
■ RCM Model
▷ Open Gain screen : 4.PARA → PARAMETER(0)→ 3.GAIN → 1.PVG ▷ Save gain value : After input or change
ESC
ENTER
Controller power off → on.
■ PVG (Position Velocity Gain) Screen
PP : ER : VP :
FF : VI: IR:
☞ For noise or vibration → Lower gain value
① PP (Position Proportional Gain) ▷ Value up ↑: Correct inposition, Overshoot increases when stop.(Vibration increase). Better response. ▷ Value down ↓: Incorrect inposition, Overshoot decreases when stop.(vibration decrease).
Worse response. ② FF (Feedfordward Gain) ▷ Without filtering position variation, feedforward it to final speed reference. ▷ Value up ↑: Better response, Cycle time up ③ ER (Estimator Response) ▷ When speed is low, this parameter is used to improve it. ▷ Compensate the difference between real speed and estimated speed. ④ VI (Velocity Integral) : 1/10 of VP ▷ Adjust the value up precisively after adjusting VP. ⑤ VP (Velocity Proportional) ▷ Value up ↑: Toque increases at a stop or deceleration (Vibration is restrained). ▷ If IR and ER values are being adjusted, VP value is changed internally. ⑥ IR (Inertia Ratio) ▷ If load "↑" , then IR also "↑".
6 - 63
Chapter 6
▶
Maintenance and Repairing
Quick Maintenance and Reparing Job
6.3.10 How to Modify Offset Value When Changing SCARA Origin Position ** For Incremental Only *** Refer to User's Manual 5.3.1(1)
B Arm
Origin position when shipped from factory (NO.1) (The value indicated on the rear side of robot main body is input as offset.)
A Arm Origin position (NO.6) (The offset should be calculated as follows.)
▶ How to modify offset when changing origin position from No.1 to No.6 ① Set data in Parameter 2.ORG No.6 position. ② Change all of 4.OFFS values of parameter to "0". ③ Turn power OFF/ON, and then do 5. Implement origin setting (5. ORIGIN). ④ After origin setting, move to point teaching CURR mode and confirm coordinate values of No.6 position. ⑤ Make notes about coordinate values of A,B arms. ⑥ Move A,B arms of robot to No.1 position and align UP(▼) and DOWN( ▲) marks attached on the arms to make it of one accord. ⑦ Make notes about coordinate values of this moment after checking it in CURR mode. ⑧ (A,B arm coordinate values in ⑦) minus (A,B arm coordinates of ⑤) = ? ⑨ Input ? value with inverse sign into 4.OFFS in parameter. (ex. -140 → +140) ⑩ Turn power OFF/ON, and then implement origin setting(5. ORIGIN). ⑪ After origin setting, move to point teaching CURR mode and confirm coordinate value of No.6 position. ⑫ If the coordinate of A,B arm displays "0", the offset is correct. If not, it is incorrect.
In that case, repeat above steps from ②.
6 - 64
Chapter 6
▶
Maintenance and Repairing Host Package Error
6.4 Host Package Error
■
E001 ---- Serial Port Initialization Failed
Cause) When you use the serial port under using or not existing. Troubleshooting) Set available serial port in HOST mode.
■
E002 ---- Timeout Error On Communication
Cause) Serial communication doesn't work at all. Troubleshooting1) Check if the communication cable or connector is properly connected. Troubleshooting2) Check if there is no problem with serial chip of controller or PC. Troubleshooting3) Check the power of controller.
Cause) Serial port setting error Troubleshooting) Check if the serial connector is properly connected maching with the serial port values (COM1,COM2) set in Config. Dialog box of Unihost.
Cause) Inconsistent Baud rate. Troubleshooting) Match the baud rate, the communication parameter of controller with the baud rate set in config. dialog box of Unihost.
Cause) The controller is not in HOST mode. Troubleshooting) Change it into HOST mode using Teach Pendant.
6 - 65
Chapter 6
▶
Maintenance and Repairing Host Package Error
■
E003 ---- Data Packet Is Invalid
Cause) Inconsistent data length and communication parameter Troubleshooting) Match the data length, the communication parameter of controller with that set in config. Dialog box of Uniost.
■
E004 ---- Communication Error
Cause) Communication error occurring while job program runs Troubleshooting) Confirm classification number 0 and 3 in error code 001~003. (If you run the job again before troubleshooing, communication may work.)
■
E005 ---- Communication Error. Exit the run dialog?
Cause) Communication error occurring while doing job program Troubleshooting) Confirm error code (001~003). (If you run the job again before troubleshooting, communication may work.)
■
E006 ---- Please move origin
Cause) When the origin setting of robot has not been executed Troubleshooting) Execute 'Origin setting' from ‘JOB’ menu.
6 - 66
Chapter 6
▶
Maintenance and Repairing Host Package Error
■
E008 ---- Not Sufficient Memory For This Operation
Cause) Not sufficent Heap Memory that requred for execution of any functions upon your free choices Troubleshooting1) Close the file of which program size is relatively bigger than the one among editors
currently opened. Troubleshooting2) If other application programs are running besides Unihost, terminate them and rerun Unihost.
■
E009 ---- Port Number Is Invalid
Cause) Wrong Port number of input or output dialog box. Troubleshooting) Port number : 0 ~ 2.
■
E010 ---- Output Bits Are Invalid
Cause) Wrong data input in 16 bit field of output dialog box. Troubleshooting) Input ‘0’ or ‘1’ only.
■
E011 ---- Velocity Data Is invalid
Cause) Wrong velocity input in ‘Point No’, ’Joint’, ‘Linear’ of 'Manual' menu. Troubleshooting) Velocity range: 0 ~ 99.
6 - 67
Chapter 6
▶
Maintenance and Repairing Host Package Error
■
E012 ---- File Is Not Found In The Controller
Cause) The job program file does not exist in controller. Troubleshooting) Download more than one job file in controller or create the job file with Teach Pendant.
■
E013 ---- Syntax Error
Cause) Undefined command or improper command used. Troubleshooting) Have a good knowledge about robot command usage, and debug the program for the parts where error occurred.
■
E014 ---- Not Initialized System Variable
Cause) System variables (TMR,CNT) used without initialization Troubleshooting) Use system variables after initializing it as required values.
■
E015 ---- Undefined Symbol
Cause) Undefined command or undeclared variable used Troubleshooting) Use defined command or declared variable.
■
E016 ---- Duplicated Symbol
Cause) Duplicate variable name declared Troubleshooting) Change the duplicated variable name to another one.
Cause) Duplicate LABL command used Troubleshooting) Delete one of the duplicated LABL commands or change it into another name.
6 - 68
Chapter 6
▶
Maintenance and Repairing Host Package Error
■
E017 ---- Impossible Branch
Explanation > Branch Command Execution Error
Cause 1) Executing GOTO branch into IF - ENDIF, WHILE - ENDWL , FOR - NEXT blocks. Troubleshooting 1) You should not execute GOTO branch into IF - ENDIF, WHILE - ENDWL and FOR - NEXT blocks. Modify program according to the syntax. : ★ Refer to User's Manual.
Cause 2) Executing GOTO branch between MAIN - EOP command block and SUBR - RET command block, or between SUBR - RET command blocks. Troubleshooting 2) You should not execute GOTO branch between MAIN - EOP and SUBR - RET block or between SUBR-RET blocks. Modify program according to the syntax.
■
E018 ---- Too Many Parameters
Cause) Parameters are used excessively when using mathematical function. Troubleshooting) Confirm and and correct parameters of mathematical function where error occurred.
■
E019 ---- Not Sufficient Parameters
Cause) Parameters are not sufficient enough to cover mathematical functions being used. Troubleshooting) Verify and correct the parameters of mathematical function where error occurred
■
E020 ---- Illegal Expression
Cause) Mathematical expressions do not follow the specified operation format. Troubleshooting) Confirm whether or not it is possible for the mathematical expression to perform operation, and correct it accordingly. (Refer to User's Manual - Commands & Program - Operator)
6 - 69
Chapter 6
▶
Maintenance and Repairing Host Package Error
■
E021 ---- Illegal Variable Type
Cause) When the index of FOR statement is not integer type. Troubleshooting) Make correction on integer type variable.
Cause) When the index of array variables (IO variable, Teaching point variable, POS variable) are not integer type. Troubleshooting) Make correction on integer type variable or integer constant.
■
E022 ---- Impossible to Assign
Cause) When the data type of operation result of mathematical expression is different from that of the variableto which the operation results are to be assigned Troubleshooting) Correct the program in order to make data types identical.
■
E023 ---- EOF In Comment
Cause) Improper use of comments. Troubleshooting) Verify and correct program for comment sybomls(/*, */) to make a pair.
■
E024 ---- No exist Label
Cause) There is no LABL name branched by CALL or GOTO Troubleshooting) Create one newly when the corresponding LABL command does not exist in program. Or, change LABL name if there is an existing LABL command.
6 - 70
Chapter 6
▶
Maintenance and Reparing Host Package Error
■
E025 ---- Declaration Error
Cause) Array declared in INT or REAL data type Troubleshooting) Array can be declared only in POS data type. Verify or correct program.
Cause) The array size declared in POS command is less than 1. Troubleshooting) POS array size should be more than 2. Declare it more than 2 or change it to a simple variable.
6 - 71
Chapter 7
▶
Appendices PLC Program
7. Appendices
7.1 System I/O PLC Sequence Program
■
JOB Program Selector
Robot PROG 0 0
(2 )
Robot PROG 1 1
(2 )
Robot PROG 2 2
(2 )
PLC sequence may vary depending on the facility system conditions, but the below program will be helpful.
With five points, you can select 32 programs (NO.0~31).
Robot PROG 3 3
(2 )
b point
Ex)
a point
Robot PROG 4 4
(2 )
M10 Robot PROG. NO.0 M11
M12
M13
Robot PROG. NO.1 Robot PROG. NO.2 Robot PROG. NO.3
M14 Robot PROG. NO.4
M30 Robot PROG. NO.29 M31 Robot PROG. NO.30 M32 Robot PROG. NO.31
7-1
output point
Chapter 7
▶
Appendices PLC Program
M11
PLC manual selection switch
Y51
M13
M15
M17
M19
M21
M23
M25
M27
M29
M31
M33
M35
M37
M39
M41
7-2
Robot PROG 0 (1) input
Chapter 7
▶
Appendices PLC Program
M12
PLC manual selection switch
Y52
M13
M16
M17
M20
M21
M24
M25
M28
M29
M32
M33
M36
M37
M40
M41
7-3
Robot PROG 1 (2) input
Chapter 7
▶
Appendices PLC Program
M14
PLC manual selection switch
Y53
M15
M16
M17
M22
M23
M24
M25
M30
M31
M32
M33
M38
M39
M40
M41
7-4
Robot PROG 2 (4) input
Chapter 7
▶
Appendices PLC Program
M18
PLC manual selection switch
Y54
M19
M20
M21
M22
M23
M24
M25
M34
M35
M36
M38
M39
M40
M41
7-5
Robot PROG 3 (8) input
Chapter 7
▶
Appendices PLC Program
M26
PLC manual selection switch
Y55
M27
M28
M29
M30
M31
M32
M33
M34
M35
M36
M37
M38
M39
M40
M41
7-6
Robot PROG 4 (16) input
Chapter 7
▶
Appendices PLC Program
■
Robot Auto Run / STOP / START or RESTART
Robot START switch
Robot READY output
ORG.OK output
PLC auto selection switch
T01
: System I/O
Y40 Robot PROG. SEL input
Y40
T01 over 0.3 sec.
Y40
T03
Robot RUN output
M00 Internal coil
Y40
M00
T02 over 0.1 sec.
M00
T02
Y42
Y41 Robot START input T03 over 0.3 sec.
PLC STOP Switch
Y42 Robot STOP input
PLC manual selection Switch
DOOR OPEN sensor
▶ Conditions of Robot STOP : OPEN Safety door, STOP, Select manual mode → robot stop → CLOSE safety door, START, Select auto mode → Robot START Switch ON -> Robot program restarted
7-7
Chapter 7
▶
Appendices PLC Program
■
STOP signal can be used instead of inputting EMG. (input pulse twice)
Robot Alarm Reset operation
PLC alarm reset switxh
Robot ALARM output
T10
Y60 Robot EMG input T10
Y60
over 0.3 sec.
Robot ALARM output
Y60
Robot READY output
T11
Y61 Robot RESET input
Y61
T11 over 0.3 sec.
The Robot RESET signal ON, and teach pendant screen will change as follows. SYSTEM MODE Auto Run Mode
EXIT It can recognize the output signal sent from PLC only with the above screen. Note) If robot does not run even though START signal was sent from PLC, don't forget to verify the teach pendant screen is as above. To change to this screen from another screen, do as below. ① Select 7.SYSTEM from initial menu screen of teach pendant Important
and then, drive with PLC. ② Create "Robot Alarm Reset" PLC program in the above.
7-8
Chapter 7
▶
Appendices
SPARE PARTS
7.2 SPARE PARTS LIST (Controller)
■
RCM4-Series (2~4 axis) Part Name
NO.
Type
Q'ty
Where to install
1
Fuse
GTF, 250V, 10A, 30MM
1
Rear of cont.
2
Battery
CR1/2AA, 3V (No Lead)
1
Main board
3
Cooling Fan
DC24V, 0.12A
2
Rear of cont.
4
Emergency switch
3A-125 250VAC
1
Front of cont.
5
Power switch
DWL-4215(Lamp),20A
1
Front of cont.
6
Main board
NewRo RCM-CE 2.0A
1
Inside the cont.
7
Servo Amp
A(X), B(Y) axes
1
Inside the cont.
8
Servo Amp
Z, W axes
1
Inside the cont.
9
Cable (Motor & encoder)
4 axis run (inflexible)
1
Rear of cont.
7-9
Chapter 7
▶
Appendices
SPARE PARTS
7.3 SPARE PARTS LIST (Mechanical Part)
■
Cartesian Coordinate Robot (parallel type)- based on 1 axis Part Name
NO.
■
Type
Q'ty
Where to install Inside the machine
1
Limit sensor
803NC
2
2
Origin sensor
803NO
1
3
Timing belt
Depending on spec.
2
4
Fully
Depending on spec.
1
XS-05-10 24V, XS-06-10 24V
1
5
Note1) Electronic brake
6
Body Harness
7
Servo motor
-
1
Depending on spec.
1
Cartesian Coordinate Robot (series type)- per 1 axis
NO.
Part Name
Type
Q'ty
Where to install Inside the machine
1
Limit sensor
803NC
2
2
Origin sensor
803NO
1
3
Coupling
Depending on spec.
1
4
Note1) Electronic brake
XS-05-10 24V, XS-06-10 24V
1
5
Body Harness
6
Servo motor
-
1
Depending on spec.
1
Note 1) For details, please refer to product catalog.
7 - 10
Chapter 7
▶
Appendices
SPARE PARTS
■
SCARA Robot
NO.
Part Name
Type
Q'ty
Where to install Inside the machine
1
A axis CW,CCW sensor (black)
Proximate sensor,GXL-8FIB
1
2
A axis ORG sensor (white)
Proximate sensor,GXL-8FB
1
3
B axis CW,CCW sensor (black)
Proximate sensor,GXL-8FIB
1
4
B axis ORG sensor(white)
Proximate sensor,GXL-8FB
1
5
Z axis CW,CCW sensor
Photo sensor,EE-SX671
1
6
W axis ORG sensor
Photo sensor,EE-SX673
1
7
Redu cer(A a xis)-1 00:1
Harmonic Driv e CSS-32-10 0-2A-GR
1
8
Reducer(A axis)-50:1
Harmonic Drive CS-32-50-2A-GR
1
9
Reducer(B axis)-80:1
Harmonic Drive CSS-25-80-2A-GR
1
10
Reducer(B axis)-50:1
Harmonic Drive CSS-25-50-2A-GR
1
11
Reducer(B axis)-50:1
Harmonic Drive CS-25-50-2A-GR
1
12
Reducer(W axis)-20:1
Camo Reducer BR-65-UH-20-K
1
13
Timing Belt (Z axis)
1
14
Timing Belt (W axis)
1
15
Ball screw (Z axis)
1
16
Ball spline (Z axis)
1
17
Servo motor
Refer to page 7-12.
7 - 11
3~4
Chapter 7
▶
Appendices
SPARE PARTS
■
AC Servo Motor Part Name
NO.
Type
Remarks
1
Minas 100W
MSMZ012B1E
2
Minas 100W (BK)
MSMZ012B1F(BK)
3
Minas 200W
MSMZ022B2S
4
Minas 200W
MSMZ022B1E
5
Minas 200W (BK)
MSMZ022B1F(BK)
6
Minas 400W
MSMZ042B2U
7
Minas 400W
MSMZ042B1E
8
Minas 400W
MSMZ042B2S
SCARA
9
Minas 750W
MSMZ082B2U
SCARA
10
Minas 750W
MSMZ082B1E
SCARA
SCARA
Type Name
1. Panasonic Incremental Motor
MSMZ
MSMZ Series
01
2. Komotek Absolute Motor
KANZ Series
2
B
■ Motor Capacity 01: 100W 02: 200W 04: 400W 08: 750W
KANZ
Version
220V
Standard
■ Motor Capacity 01: 100W 02: 200W 04: 400W 08: 750W
B
H
■ Encoder spec : 11Bit
7 - 12
A
#1 spec
■ Encoder spec : 17Bit
220V
01
1
1
1 ; ROUND 2 : KEY 5 : SPECIAL
N(B)
N: Normal B: Brake
2
Chapter 7
▶
Appendices
Considerations for selecting robot
7.4 Considerations for Selecting Robot
1) Stroke - Optimize working area to minimize stroke. - Arrange the stroke of second axis (Y axis) to be shortter than that of first axis (X axis) as much as possible. - Note that long stroke may bring enlargement of base size and price increase, also limit velocity.
2) Load - Use within rated payload - Consider horizontal load and vertical load separately. - Note that loading capacity varies depending on acceleration time(Cycle time(Cycle time).
3) Velocity -Take notice of whether or not robot can be used within limited velocity per stroke of each base.
4) Moment - Note that robot life cycle and its motion (acceleration and deceleration time) may be affected by robot position, even if loads are same.
5) Accuracy - Figure out the kinds of required accuracy and allowable error value. - If you require repetitive positioning accuracy over standard specification, please contact us.
6) Installation Conditions - Make sure if the site meets requirements of installlation environment for robot. - Install robot at the location where you can do maintenance and reparing reparing jobs easily.
7 - 13
Chapter 7
▶
Appendices
Regular Checkup
7.5 Periodic Inspections
1) Grease Injection Greased part
Recommend grease
Ball Screw Ball Screw(16×32)
Injection Cycle
How to inject
Once / 6 months Apply on Axis. Shell Albanis G2
LM Guide
Once / 6 months Inject in Nipple. Once / year
Inject in Nipple.
Note) Do not mix grease.
2) Cleaning Cleaning Inner Parts of Robot ▶ Method : Open the top cover and clean impurities with vacuum cleaner. ▶ Cycle : at any time
3) Robot Cable Damage of powder, ▶ If the covering materials (rubber) of cable are separating in shapes of paste some grease between cables. ▶ If the damage is serious, replace it.
4) Status of Fastening of Installation Table and Bracket Fixing Bolts ▶ After one month from installation, check the status of the bolts and refasten them.
7 - 14
Chapter 7
▶
Appendices Robot hand
7.6 Robot Hand
■
Kind of Hand
① Mechanical chuck
Kind> External Diameter Chuck, internal Diameter Chuck Feature> The most common hand. There are many in the market. Not suitable for thin and smooth works as glass, etc. which are fragile and easily modified.
② Vacuum chuck
Kind>. Vaccum pad , air float Feature> Suitable for chucking thin work, Unable to perform centering motion by chuck Work stained with oil and powder is apt to choke the chamber. Chuck only for IC WAFER (negative pressure generated)
③ Magnet chuck
Kind> Electromagnets, Permanent magnets Feature> Suitable for thin iron plate Electromagnet type is simple with no driving part. But electromagnet is heavy. Permanent magnet type can be compact sized and light-weighted, but needs knock out device for unchucking.
④ Special Type
Kind> Niddle pointing, rubber actuator Feature> With soft and full contact, possible to chuck fragile things like glass. Simple and light weight / Low chuck accuracy (Note its durability)
⑤ Exclusive Tools
> Bolt fastening tool
> Sealing tool
> Soldering tool
> Welding gun
> Pasting gun
> Others
> Measurement unit (camera,sensor,measuring equipment)
7 - 15
Chapter 7
▶
Appendices Robot hand
■
Multiple Functions of Hand
① Multihand
Kind> 90 deg. 180 deg. Revolution Purpose> To reduce time for loading/unloading work To carry multi-assembling jobs in a single process To perform flexible movements covering variety of products To carry collective assembling jobs Feature> Rapid hand exchange time It is the best to make hand for commonized use.
② Hand Exchange
Kind> Use robot tool adaptor. Purpose> To perform flexible movements covering variety of products To carry multi-assembling jobs in a single process To meet changes or alterations of facilities Feature> It requires 5~6 sec. for hand exchange. So you cannot disregard this exchange time in case of many- kind-small-lot process.
③ Servo hand
Purpose> To perform flexible movements covering variety of products To carry multi-assembling jobs in a single process To meet changes or alterations of facilities To alter sequential procedures
7 - 16
Chapter 7
▶
Appendices Robot hand
■
Chuck Verification
① Chucking
Kind> Check it with auto hand open/close switch Check work with direct sensor of hand (photoelectric or proximity switch, negative pressure sensor for vacuum absorption) Check with photoelectric switch on the work returning path. ② Assembly
Kind> Check it with installing a sensor as basic reference (case working). Check new axis position of hand with proximity sensor. After assembly, check if work exists with the proximity sensor installed in hand.
■
Hand Design
① Considerations in designing
> Total weights of hand and tool : Maximum total weights (including work weight) ≤ Max. Loading Capacity
> Center of hand
> W axis spin inertia moment W axis spin inertia moment of hand & tool (including work weight) ≤ Max. allowable inertia moment
7 - 17
Chapter 7
▶
Appendices
Cartesian Coordinate Robot Structure
7.7 Cartesian Coordinate Robot Structure
■ Serial type
■ Parallel type
7 - 18
Chapter 7
▶
Appendices
Picture of Connectors
7.8 Picture of Connectors 1) Encoder Connector & Motor Connector connected to the controller connector
Motor Connector
Encoder Connector
2) System I/O Connector & User I/O Connector & Option I/O Connector
User IN Connector
User OUT Connector
Option IN Connector
Option OUT Connector
7 - 19
System I/O Connector
Chapter 7
▶
Appendices
Picture of Connectors
3) Body Connector connected to the robot body connector
4) Connection Cable
7 - 20
Chapter 7
▶
Appendices
Emergency Circuit Diagram
7. 9 Emergency Circuit Diagram TP EMG TP EMG I/F Main Board Relay Control
Front EMG I/F
Front EMG
+24
SYS_EMG SYS_EMG +
G24
SYS_EMG_NC1 (Pin 24)
Power Relay
SYS_EMG_NC2 (Pin 49)
Note 1: Front Emergency and System Emergency are connected in wired-OR type 24V power must be connected to EMG+, EMG-. If there is not proper wiring, EMG error will be occurred. Note 2: If EMG_NC1 and EMG_NC2 are OPEN, Servo Not Ready error is occurred. So, it should be short. Note 3: If T/P is not connected, T/P EMG error will be occurred. So, connect T/P to controller. Or connect T/P dummy connector provided by Robostar. Note 4: In case of N type I/O connection, SYS_EMG_NC1,2 are not needed to connect.
7 - 21
AC Input
Contents
Chapter 1
The Safe Use of Robot
1.1 Robot Safety in general
1-1
1.2 Details of Robot Safety
1-5
1.3 How to Treat Cables in Robot
1-7
Chapter 2
Overview of Robot
2.1 Product Composition
2-1
2.2 Robot Composition
2-2
2.2.1 Components of Robot System
2-2
2.2.2 Name of Each Component in Controller
2-6
(1) RCM4-Series
2-6
2.3 Specification of Robot Controller
2-7
2.3.1 Features
2-7
2.3.2 Structure of Model Name
2-8
2.3.3 General Specification
2-9
2.4 Product Dimension
2-11
2.5 Warranty of Product
2-12
Chapter 3
Installation of Robot Devices
3.1 Appropriate Environment for Robot Installation
3-1
3.1.1 Conditions for Installation Environment
3-1
3.1.2 Ambient Temperature and Humidity
3-1
3.1.3 Vibration
3-1
3.2 Installation of Robot Controller
3-2
3.2.1 RCM4-Series
3-2
C-1
Contents
Chapter 4
Connection & Interface
4.1 Connection
4-1
4.2 RCM4-Series Connection
4-1
4.2.1 Robot Controller
↔
Robot Mechanical Part Connection
4-1
4.2.2 Robot Controller
↔
External PLC Connection
4-4
4.2.2.1 System I/O Connection
4-4
4.2.2.2 User I/O Connection
4-18
4.2.2.3 Option I/O Connection
4-21
4.3 Checking Input/output Monitoring using Teach Pendant after Connection
4-24
4.4
4-29
On-Line Connection
4.4.1 Serial Cable Standard
4-29
4.4.2 Serial Cable Connection Diagram
4-30
4.5
Cartesian Coordinate Robot Connector
4-31
4.5.1 Internal Circuit Diagram
4-31
4.5.2 Body Connector Wiring (refer to it when doing wiring job directly)
4-35
4.6
Scara Robot Connector
4-36
4.6.1 Air Piping & Signal Wire
4-36
4.7 Caution When Wiring for Non-Robostar Mechanical Part
C-2
4-37
Contents
Chapter 5
Time Chart of System Input/Output Operation
5.1 Basic Functions
5-1
5.1.1 Time Chart of System Input/Output
5-2
(1) Time Chart of Normal Operation
5-2
(2) Example of Operation Panel
5-3
(3) System I/O Signal Sequence
5-4
(for reference when programming PLC sequence) (4) When Changing JOB Program while Running
5-6
(5) In case of Emergency Stop or Alarm while Running
5-8
(6) In case of Servo Off after STOP while Running
5-11
5.2 Highly Sophiscated Functions
5-12
5.2.1 Mode Selection
5-12
(1) Flow Chart of Mode Selection
5-12
(2) Time Chart of Mode Selection just after Power ON
5-13
5.2.2 Mode Description
5-14
5.2.2.1 Auto Run Mode
5-14
5.2.2.2 Step Run Mode
5-15
5.2.2.3 Jog Mode
5-19
5.2.2.4 Host Mode
5-21
5.2.3 Teach Pendant Display of Each Mode & 7-Segment Display on Front Panel
Chapter 6
5-25
Maintenance and Reparing
6.1 Indication of Abnormal Condition
6-1
6.2 Abnormal Conditions and TroubleShooting (Error Code)
6-2
6.3 Quick Maintenance and Reparing Job
6-45
6.3.1 Initialization
6-45
6.3.2 How to troubleshoot an Error occurred during Origin Setting
6-46
6.3.3 Explanation of Z axis Weight Balance (using Air Cylinder)
6-47
6.3.4 Troubleshooting for Mechanical Parts of Robot
6-49
C-3
Contents
6.3.5 How to Set Proper Gains
6-52
6.3.6 How to Modify Offset Value When Changing SCARA Origin Position
6-53
6.4 Host Package Error
Chapter 7
6-58
Appendices
7.1 System I/O PLC Sequence Program
7-1
7.2 SPARE PARTS LIST (Controller)
7-9
7.3 SPARE PARTS LIST (Mechanical Part)
7-10
7.4 Considerations for Selecting Robot
7-13
7.5 Periodic Inspections
7-14
7.6 Robot Hand
7-15
7.7 Cartesian Coordinate Robot Structure
7-18
7.8 Picture of Connectors
7-19
7.9 Emergency Circuit Diagram
7-21
C-4