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Vr 4100 robot manual

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Vr 4100 robot manual

  1. 1. Catalogue1. Safety Preventive . .. . .... ... 3 1-1. Foreword ......3 l-2. Safety Switch ............32. Accessory3. Control system link .........44. The outward form of controller ......... .............. 5 4-2-The backside of conkoller .....8-115.Installation and Usage ........12 5-1. Install and fixate controiler... ............. 12 5-2.N.Power Suppiy...... ............... 12 5-3. The front of contoller connecting function and the instruction for inside line......... 12-14 5-4. The back side of controller joining and the instruction of terminal inside line...... ......14-17 6-1. Lost origin... ................ 18 6-2. Lithium - Lon Battery Failure...... 18-19T.InstructionforTeachingBox...... i............. ...............19 7-1. The outward form.. .....19-24 7-1- A- Front Teaching Box..... .......... 19 7-1- B- Backside Teaching Box ......... .................198. Instuction for Teaching Box... 20-21 8-1. Enterto "EDIT" model... ....2I-22 8-1-1 Order of insert... .........22-24 8-1-2 Trace insfruction.. ......:....... ....25-26 8-1-3 Pedit - a........... ..........26-28 8-1-4IN......... ......... .........28-29 8-1-5 Pedit- b ... .............:...................29-30 8-1-6 Delete ............30 8-2. Enter "I/O" Model ...31-32 8-3-1 Speed ............. ..........32-33 8-3-2 Program ..........33 8-3-3 Times............ .........33-34 8-3-4 Config ........34-35 8-3-5 H. Delete... .............35 8-3-6 S. Reset..... ...........35-36 8-3-7 Home set...... ...36-37 8-4-l LrNE .........3941 -l -
  2. 2. -r- 1 8-4-2 LINEU..... .......4t-43 I 8_4_3 CrRCLE......... I ...........44_45 84_4 PTP.. .......4547 84-5 SPEED ......48-49 8-4-6 DELAY .......49-50 8-4-7 0ALL 5o-s1 .<, 8-4-8 GOTO...... ..........JL our 8-4-9 52-53 8-4-10vArT .......................................53-54 8-4-ll IF....... ..............54-58 switch) 8-4-l2Rx(Register ......58-61 8-4-13 Px (point switch) 61-65 I4-14LAB........ 65-66 8-4-15 RET.... ..........66 8-4-16 PAUSE..... .....66 8-4-17 JMP...... .:.-.....67 8-4-18 BinOUT... .67-69 84-19 BinIN... ...-70-71 8-4-20 BCDOUT. ........... ............71-73 8-4-21BCDIN. ....74-75 8-4-22ROBOUT. ............75-76 84-23 ROBrN..... 76-77 8-4-24 pRINT...... ............77-80 B-4-zS INpUT... ....80-81 8-4-26 PDplit...... ......81-82). Handling Step..... ...82-84t0. IOB Instuction for Word file switch to program. ................84 way......... 10-1. Switch .............,. ..... 84-85 10-2. Program instruction. ...85-86tl. Abnormal Solution... ........86 11-1. Robot abnormal solution.... ..86-88 l1-3. The instruction of actuator abnormal code... .............. .....8g-g4 -2-
  3. 3. l. Safety Preventive: This chapter is description the safety using for the robot please read this chapter before handling the robot. l-l Foreword a In order to assure correctly using robot, please read this run book before install, distribute frame and operate the robot. o When the unstable voltage or emergency motor have supplied over two of power iwitch, please install stability voltage or Unintemrptible Power Supply, and the usage for the below situation please notiff authorization agent and distributor. a. Using for medicine and human body contact directly. b. Using for any sifuation in human contact and cause injure, example the robot for education training or it needs coordinate with human operation so the human body stay in the robot action range and without any safety guard protection. c. Using for important situation, example using the robot in valuable operation or combine other valuable facility operation. o Please do not transform or demount the Robot. a Around the robot must have safety gua.rd to avoid any staffenter to the robots bailiwick during the running. a The staff should not stay under the robot arrn; even the robot has stopped the running. a If need to install or replace the robot please contact the agent or distributor. a Please ensure to install the robot in an independent of third ground and between the ground stick and ground stick (including lightning conductor) need keep at over 6M distance at least. o In order to avoid any risk, please do not demount or install any wiring during turn on the power. a Please take a good care in regularly for robot as according the instruction. l-2 Safety Switch In order to let the robot more safety, SBC-402 controller supply various set of switch input point. Please see the details of distribution frame; please consult (Draw of TB4 terminal wiring) Accessory: The random accessory for robot as below, the connector ofteaehing box should be connected before using robot and the robot should not demount during running. And RS-232C connector & software are only using in PC & robots controller connecting, please well-keep. 2-l.Teaching box: 2 -2. T eaching control ler : 2-3. RS -232 controller: 2-4.PC and the software of Robot controller connecting: -3-
  4. 4. 3. CY-ROBOT Control system link: E g e x E a # @6 eB**SE#* .>I a& 7d SE ad( -4-
  5. 5. 4. The outward form of controller : 4-1 The obverse ofconftoller ---_lt--av--ry-l 8I9A itm6 @ t sERvoERRaR-O (Q O @ ff*r! l*rmyswncn O@@@ I Eiiffi; rm 1l^ Etiffi: lo-, o** IA. Buffon & Lieht: O SERVO ON: The main function is open Servo power, when press "SERVO ON" with lieht is meaning every bearing Servo motor is in the running condition and al1 of staff must leave robot s bailiwick, in order to avoid any risk. If the servo is unable to running after pressed please check the system condition light. 4 sets of "SAFETY SWTICH" will cut down the power of Servo Motor, when ttre robot touched the switch of "Off" , "SF" and "I/S" , please enter into teaching box mode and tlren coercive press "SERVO ON" and put ttre robot in a safety place, only "HS" emergency stop switch can not do this way and it must replace the emergency stop switch first and then open the SERVO. Attention! When coercive press "SERVO ON" and the robot is running and meanwhile ttre system has already lost protection. Please ensure that the bearing and direction are correctly to avoid robot and other peripheral equipment damage. a Home: After pressed the switch of "Home" and "Rul{" and each bearing servo motor will find out the origin to inspect the switch, until the each bearing has found fhe origin and the sign of "RIII{" will light-out automatically only ttre sign of HOME" light on mean the system has returned to 0. Absolute position system for "HOME button is invalid and only for instruction. There is -5-
  6. 6. no origin switch for absolute position system and *re origin can be installed by teaching box directly. If the system has already done the origin installation just wait for the light of "SERVO ON" for I-2 seconds. The [ght of HOim" flash on mean the system has returned to 0. Before setting origin or cancel origin must type password at first. Teach: The main function is getting into the teaching pattern. It can press "TEACH" to enter teaching pattern when the system can t get into "AII-TO"" and "RLTN" . It can not get into the teaching pattern when the light of RUN" flash on, please press down "STOP" to stopthe running and then press "TEACH" get into teaching pattern. The mottr of teaching box, please see the information as below: ** Attention! When the robot gets into *re teaching pattern it will cut down the function of RS-232 Insfruction Eogram automatically. *x Attention! When after pressed "STOP" to get into teaching pattern during ttre running and then leave teaching pattern. If press RUN" for re-running, the robot will start ttre program from the beginning. AUTO: Please press "AIITO" before the running, but if the iight of "SERVO ON" and "HOME" did not flash on meanwhile the robot will not accept order from "AUTO" RUN: After press RUN" will follow fte edit working ffogram to start the , the robot running but if the light of "AlffO" did not flash on meanwhile the robot will not accept order from "AIJTO" . O STOP: Can press STOP" to stop ttre robot during the running but it will be not cutting down the servo power as emergency stop, after stopped the servo motor will not have any motion but it still in the running condition and then just press RUN" to continue the motion. The screen of teaching box will display working program s current proceeding parallei & content and this function is very convenience to remove the robot working program.B. Teaching box lock and unlock The director of robot can use key to move the switch arrow to "TEACH LOCK" in order to other people s revise and edit ttre working program and system argument, if use key to move the switch arow to "UNLOCK" will remove the limited. ** Affention! When the robot has entered teaching pattern and then transform to "TEACH LCOK" the function will be unable to close teaching function, you must leave teaching pattern first and ttren start ttre limited function.C. The light of Power -6-
  7. 7. The control system of robot is using DC 5V and DC 24V power light.D. System Condition Light o CPUSTATUS: r RUN: The liehting mean CPU is running normally. r POWER: The liehting mean the external supply DC 5V voltage is incorrect so please ensure ttre power supply is between DC 5.15V - 5.25Y voltage. r LOW BATT: The lighting mean Li- Lon Battery has low voltage and need to renew Li - Lon Battery. O SERVOERROR r J1: The lighting mean first axis Servo Drive abnormal. r J2: The lighting mean second axes Servo Actuator abnormal. r J3: The lighting mean third axes Servo Actuator abnormal. I J4: The lightine mean fourth axes Servo Actuator abnormal. r E/S: The lightine mean emergency stop switch motion. r O/T: The lighting mean over travel protection switch motion. I S/F: The lighting mean safety protection switch motion. r US: The lighting mean limited switch motion.E. USER OUTPUT LIGHT : When the robot working program appointed the output in - "1", this number connects light and display output. This system offer 16sets output offer to working program using.F. USER INPUT LIGHT : When System supply *re external input in "ON" it will dispiay input if the encode of connecting point has flashed on. This system supply 24 sets of input point for working progam.G. OPERATION B&L EXP: Outconnector bottom and instruction light dedicated joining, the way of wiring please check 5-3 controller of front joining function and instruction of inside line (a) : x* Attention! When Use ttre switch of outerconnector emergency stop please short-circuit 24 &.25 otherwise outconnector emergency wi1l1ose function.H. RS-232C: The dedicated joining for controller of robot and note book on-line, please use the RS-232C dedicated on-line. xx Attention! The front of controller for RS-232C and back side oJ TB3 terminal are in same group of RS-232 communication. When the notebook and the front of RS-232 on-line, it will intemrpt the communicated function for back side of TB3 terminal and must pull out the connection line of RS-232C in order to renew the communicated function of TB3 terminal. ** Attention! The robot will cut down RS-232C communicated function automatically when it has entered into ttre teaching mode.L TEACH : The dedicated joining for connect to teaching box. 4-2.T]lre backside of controller : (Photo 2-1) -7 -
  8. 8. SBC-402 nommlr@ Mm f6 hm Fsitie drta 12 t3 t4 Nh]BY]ffi rl MNGUMWYO.LD,J. TB1: When Servo motor has abnormal and safety for swirch motion input terminal.K. TB2: ll-14 axis original signal input terminal. x*Attention! Absolute position type contol system TB2 terminal input signal is unavailabie.L. TB3: RS-232C terminal, it supply the system of PLC PC or IPC etc. on-line. ** Attention! TB3 terminal and contoller of RS-232C are in *re same group RS-232C communication. When the notebook and RS-232C are connecting the TB3 terminal communicated function will be intemrpted and you have to pull out RS-232C of online connection joining and then the TB3 terminal will renew communicated function. ** Attention! The robot will cut down RS-232C commrnricated function automatically when it has entered into the teaching mode.M. TB4: The robot conkoller system of input and output terminal.N. TB5: Supply user input and output terminal.O. D/Sl:The robot use axis to install hand switch, the way of installation as below: ! Switch Signal CN1 of Amplifire Remark D/S 1 Servo Ready P41 R3, R4, R48 D/S 5 Servo Alarm P43-P46 R13, R14, R49 D/S 6 Holding Break P42 R52, R53, R54 -8-
  9. 9. Deep Switch 1 State t- oN_-l lmrl z tl lr 5 Axes Use 4 Axes U 3 Axes Use 2 Axes Use DeepSwitch5&6State f-oNlt oN-l I oN-lf-oN--l T oN-=lT-oN-l [-oN--lt oN-l ITTiIIiTEI IETTIITTiI ITTTIiETTI IETTIITTEI lrzrll rzgl lrzrll rzrl lrzrll rzrl lrzrll rztl 5 Axes Use 4 Axes Use 3 AxesUse 2 Axes UseP. D/S 2 : This contoller system and servo actuator supply cunent limit output point "HOME" sigml function. When tlre hand switch setup the code in "ON" , ttre TB2 homologize same code aris of t€rminal is avoidance and the signal of "HOME" must supply from ttris axis of actuator. When the setting axis has accorded to the airt return to the origin then reached to ttre limit and the cunent value of servo motor will increase. When current value increased to actuator and set up the cunent value it output "HOME" to robot contoller at ttre same time tlre axis of position will be origin. i T-oN -l IiTTTI "On"=Enable, "Off =Dsable lrzr+l ** Attention! This function can not use absolute position type system. ** Attention! This function only can use in the system of SANYO DENKI PY and PY2 drive. ** Attention! The drive of inside parameter can be use after set up this function. To set up ttre drive of inside panrmeter, please see the ( ). -9-
  10. 10. __.!a. D/S 3 : When the controller system and servo drive supply servo motor in low speed motion it can set up the second group of motion parameter function. The robot usually set up one group of motion parameter, when the place of motion parameter for robot can not use in high speed and low speed *ON" for motion at the same time you can sefup the axis number of hand switch and the actuator will start second group motion parameter to set up the low speed motion character. " On"=Enable, "Off =Disable x*Attention! This function only use SANYO DENKI PY and PY2 actuator system. x*Attention! The inside of actuator parameter need to set up this function before using, please see the instruction of actuator insrde parameter installation.R. ENCODER RESET: when the back side of controller for D101 - 401 connecting , Servo motor and Servo actuator of connection has been took out and then plug in back it will cause the servo actuator abnormai and has appear "U" message in 7 paragraphs, please press this button for over 4 seconds and then close the system power about 10 seconds after then re.set the power and the single of U" will be deleted and must re-set the robot origin. x*Attention! This function use absolute position type of system only.S. DC 24Y FUSE: DC 24V fuse.T. DC 5V FUSE: DC 5V Fuse.U. D101: Connect to first axis servo actuator CN-1 connecting.V. D201: Connect to second axis servo actuator CN-1 connecting.W. D301: Connect to third axis servo actuator CN-l connecting.X. D401: Connect to fourttr axis servo actuator CN-1 connecting.Y. MEMO: Supply user record 1-4 axes of servo motor encoder origin numerical. *xAttention! This function use absolute position type of system only and this numerical is first time set up origrn for servo motor numerical of reference value. After set up ttre second time, the robot of axis for origin reference mark has already aimed and then the numerical just approximate +-50 it will be set up origin after running. i . x*Attention! When *re servo motor has been demounted or changed and MEMO origin numericai will be unable reference. Please use teaching box to move the robot axis of origin reference mark and then the encoder numericai re-fix for next origin set up reference.Z. Lithium - ion Battery and ROM change hole: -10-
  11. 11. O Increasingtype system : o Position system : D/S 4: Install ttre conffoller read servo motor encoder position of axis. It will be done for installation before shipment as attached drawing. When ttre installation has incorrect the conffoller of robot will unable to read seryo motor s encoder. Deep Switch 4 Stateb. Change the ROM: The main function for ROM is robot main program of storage and not consumptive of parts so that Change ttre Lithium - Lon Battery The lithium - lon battery supply confroller s RAM of working program storage and absolute position Epe servo motor of position memory. Suggest change *re lithium lon battery once of two years or the light of "LOW BATT" has turn on on the conffoller please change ttre lithium lon - battery immediately. When change ttre lithium - lon battery please keep main power switch for "ON" to avoid lose memory for the position of work program and servo motor. If there is something wrong and caused the position of work program and servo motor have been lost please re-set ttre origin and backup the working progam DOWNLOAD to controller. ** Attention! Please use Size AA 3.6V Lithium Battery - ll -
  12. 12. 5. Installation and Usage : 5-1. Install and fixate conffoller: a. Install the size of hole. b. The way of fixation a Unfix terminal on controller o Install the hole in controller and according to the place of instruction to install the screw seat. o Install back the terminal step by step. 5-2. DC Power Suppiy: Controller must supply from DC 5V and 24Y ofpower to work. The inconect of voltage will affect the quality of conffoller, please ensure ttrat has inputted stable of voltage. c. DC 5V Supply the master conffoller, the best working voltage value is DC 5. 15V - 5.20V. d.DC24V Supply contoller of input and output interface using. 5-3. The front of controller connecting function and ttre instruction for inside line. a. OPERATION B&L E)(P. (25pins) 24l l DC 24V 2 3 Emergency Stop | *..r.r., Stop Button E 4 r-^ ^ I I I I 5 Emergency Stop/ lr ServoONBunon;-o 6 Servo ON Signal + 24Y Home Button i--o I Home Signal TeachButton l*l- c- Auto Bunon { o 8 9 Teach Signal Auto Signal ll RunButton lo c-- 10 Run Signal StopBufton l o -.,- t1 Stop Sienal Home [,amp 6rt t2 Home tamp Signal x;x t{-t lamp Teach 13 Teach Lamp Signal - tSvt Autolamp t4 Autolamp Sieml x;x Llll l5 Run Lamp Stop Lamp x; 24V ./ 3q l6 ir Run Lamp Signal StoP I.amP Signal t7 I Servo ONLamp /,;( uv 18 I l Servo ONLamp Sietral II t9 tl I 20 tl r Realv t-l I 21 li 22 r--OarO-r I llll Short Pin 23 24 t+ I 25 ** Attention ! During use outconnect emergency stop switch please short - circuit -t2-
  13. 13. 24 & 25 otherrrise the outconnect of emergency stop switch will lose function.b. RS-232C (9 Pins) r- no"tColrt"rl* - -_l T TB3 I I I PC RXD RxD I I IPC TXD TXD I I uc GND GND I L I Reay I I Cable tl T I FC COMPort RXD I 2 I 7 {_l r< o----J ! ru(Dl I I TXD 3 4 3 4 l rml I I GND 5 :cl.IDl 6 6 T- I 7 7 I 8 8 strut[- I 9 9 L _l ** Attention! TB3 terminal and RS-232C of confroller is in same group. When ttre notebook and the front of RS-Z3ZChave online it will cut down TB3 terminal of communicated function and after pull out tlrc connecting join of RS-232C ttre TB3 will be able to rcnew ttre communicated function. xx Attention! When tlre robot entered the teaching mode it will cut down the RS-232C communicated function automatically. c. TEACH (15 Pins) Teachiug Box --1 T Robot Controller -l I I Emergency Stop Ernergency Stop/ Deadman Swiech Deadrnan Switch/ DC 24Y Servo ONLam Signal Home lamp Sielal Tcach tami Signal -13-
  14. 14. 5-4. The back side of contoller joining and the instruction of terminal inside line. d. TB1 (Abnormal signal output terminal) f Robot Contoller TBI I I I COM COM I 2 J1-ERR. oo Il Servo Enor Signal I f ]2-ERR. oo J2 Servo Error Sienal 4 J3-ERR. oo 13 Servo F.rror Signal I 5 J+ERR. oo J4 Servo Error Sienal I 6 S/F oo Safety Fence Sienal I 7 o/T OC OverTangency Signal I 8 US Limit Swilch Si$al I L-- -----l e.lB2 (Origill siepal input terminal)TB2 [TB5- - -Rob-tCont"uol I I I I l I Jl Home Switch Jl Home Sigral I J2Home Switch J2Home Sienal J3 Home Swirch J3 Home Signl I J4 Home Switch J4 Home Signal I L__ _l f. TB3 (RS-232 communication for krminal) [--n"u"tc"1r"tr* ----l T TB3 I PC RXD I I RXD I IPC TXD TXD I I Plc GND GND t---.------+--------- I I L I neab t I I PC COMPort Cable II I I ru(D ,, I ,) L---*--l ll ruol I I TXD ) ) D(D I 4 4 I I GND 5 5 cNDl 6 6 I I I 7 8 9 Short 7 8 9 1 I I I L **Attention! TB3 Terminal and the front of confroller for RS-232C communication, when notebook connect front RS-232C cut TB3 terminal of communicated function and after pull out the it will connection line of RS-232CT83 terminal will renew the communicated function. -t4-
  15. 15. lx*Attention! When the robot entered into teaching mode it will cut down the RS-232C communicated function automatically.g. TB4 0nput i Ouhut of terminal for system) I Upper connection drawing: Robot Controller TB4 1 I Emergency Stop Nomral Close Switch I Emergency Stop Expension Emergency Stop l Normal Close Swirch Expension Emergency Stop I Over Tangency Normal Close Switch I Over Tangency I Safety Fence Norrral Close Switch I Safety Fence Limit Switch I Normal Close Switch Limit Switch t_ I lxxAttention! When upper (3,4X5,6)(6,7)(9,10) terminal not use safety switch function please make the short- circuit for each set of (3,4X5,6)(7,8)(9,10).**Attention! When enter to teaching mode, ttre Safeff Fence function will invalidate and press ttre backside of teaching box Deadman Switch, when the servo power in safety Fence will be "ON" but ottrer safety switch still available. I Below Connection Drawing : , Robot Controller TB4 I +24Y I I IN24V+ DC 24V+ DC 24V 2 IN 24V- >DC DC.24Y- I +5V DC 5V J IN 5V+ >DC 5V+ DC I 4 IN5V- )oc 5V- DC i I For Teach Sigrral 5 Teach-C o5 Lock For Teach I 6 Teach I I 1 Brakel-C Power Brakel I 8 Brakel I 9 Brake2-C I DC Brake2 10 Brake2 l Brake2 l_ lxx Attention! 5,6 terminal as below suppiy one set of connecting point, the robot enter teaching mode is ON and leave *re teaching mode is OFF. t5-
  16. 16. h. TB5 (User Input/output terminal) ranovg Robot Controller TB5 -l 1 COM 3 COM 3 l 2 o1l"r 9 OUT 9 Signal I J OUT 10 OUT 10 Signal I 4 COM4 COM4 ll I 5 6 OUT 11 OUT 12 OUT Signal OUT 12 Signal "l 7 COM5 COM 5 I 8 orm 13 OUT 13 Signal I 9 0IIT 14 OUT 14 Simal I 10 COM 6 COM 6 11 otn 15 o o-+ OU 15 Sienal OUT I o ojOU 16 Sienal I I t2 ouT 16 OUT IN 13 Switch <)o- 13 IN 13 ) Input 13 Signal t I IN 14 Switch jo- 14 IN 14 ) t Input 14 Signal I IN 15 Switch *o/o t5 IN 15 ) t Input 15 Signal I IN 16 Switch -o/o- t6 IN 16 ) t Input 16 Signal I IN 17 Switch o/o t7 IN 17 ) t Input 17 Signal IN 18 Switch a/o 18 IN 18 ) t Input 18 Signal I IN 19 Switch {e 19 IN 19 ) t Input 19 Simal I IN 20 Switch --o/ct- 20 IN 20 ) Input20 Signal t 20 IN 21 Switch <r/o 21 IN 2I ) t Input 21 Signal IN 22 Switch <>/o 22 IN 22 :) ktutt22 Signal t 22 IN 23 Switch 23 IN 23 ) t Input 23 Signal IN 24 Switch 24 IN 24 ) t 24 Input24 Signal I uunrn COM I COM 1 ry 1 2 OUT I OUT 1 Sienal o o-J J 4 OUT2 our3 _l OH OUT 2 Sienal OUT 3 Sienal ool I 5 ollr4 OUT4 Sienal "5I 6 COM 2 COM2 1 OIrT 5 OUT 5 Sienal 8 orn 6 o o-l OUT 6 Signal i "l I 9 OIIT 7 OUT 7 Sienal I 10 olIT 8 o-o_l .OUT 8 Sienal 11 DC24Y+ +24y I rc.24Y 12 DC24Y- I IN l Switch .----; Input I Signal 13 IN1 i IN 2 Switch -o/o- l4 IN2 Input 2 Sienal I IN 3 Switch -o/o- 15 IN3 Input 3 Signal I IN 4 Switch _o/c> 16 IN4 Input 4 Signal IN 5 Switch o-o- T7 IN5 Input 5 Signal I IN 6 Switch -o/o 18 IN6 Input 6 Signal I IN 7 Switch */c:- r9 IN7 Input 7 Signal I IN 8 Switch <v/o 20 IN8 Input 8 Signat I IN 9 Swirch -o/o* 2l IN9 Input 9 Signal I IN 10 Switch 22 IN 10 Input I 0 Signal I IN 1l Switch 23 IN 11 Input I I Signal IN 12 Switch 24 IN 12 krput 1 2 Signal I _l -16-
  17. 17. 6. Re-start robot controller:6-1. Lost origin : If have ever demounted ttre controller and actuator of connecting line or actuator and servo motor of connecting line. Next time, after open the power "SERVO ERROR" on the board willflash on and abnormal actuator will appear IJ message, please reset ttre robot step by step as below.i. Please re-confirm the controiler and actuator of connecting line whether has good connection. Teiching box and Controller whether has good connection.2. After open the power should press the back side of contoller "ENCObER RESET" 4 seconds to reset it.3. Before enter teaching mode please set up the current position for "HOME" and then after deleted "HOME" it will be abie to enter "JOG for robot motion. Moving each axis of robot to origin mark position and re-install *re currently position become "HOME"4. Press on "ENCODER RESET" for 4 seconds again and *ren restart, *ris action can relocate servo motor encoder information.5. If this ls the frst start ttre robot or has no any record for each axis of robot encoder numerical. Now, it has already restarted the robot and please enter the teaching mode JOG" immediately and records the each axis of robot encoder numerical to bacirside of controller "4 Axes Robot Home Position Data" If each axis of encoder numerical has already existed please enter the teaching mode of JOG" and install ttre speed motion become "0" then operate revision each axis encoder numericai to let numerical close the origin numerical record. If the numerical is within 1100 unit that is meaning in tlre corect position and after finished revision must re-set up the currently position become "HOME .** Attention! If Servo motor has been demounted and re-installed, it can not continue when the encoder numerical has already existed. After set up "HOME" and put the each axis of encoder numerical record to back side of controller "4 Axes Robot Home Position Data like first time start the robolG2. Lithium - Lon Battery Failure If 3.6V Lithium - Lon Battery of controller for robot has run out completely, after turned on the power and all of light for SERVO ERROR will flash on and also "LOW BATT" . It will display "U" message in each axis actuator at the moment *RAM" the controller of program and data will disappear, please fqllow the number as below to re-set the robot. 1. Renew the 3.6V Lithium - Lon Battery and after renew ttrs battery the light of "LOW BATT" will lrn off. 2. After tumed off the power and press one of function key on ttre teaching box then replace the system. After pressed "ENCODER RESET on backside of confroiler for 4 seconds and then re-set *re machine. 3. If you have been made the backup copy for working program to computer before, please down load the backup of working program back to controller. If this is ttre first time to start the robot or without the backup of working program, just skip this step. -17 -
  18. 18. 4. Before enter *re teaching mold must install ttre cunently position in "HOME" and then deiete "HOME" and enter to "JOG" to move the robot. To move each axis of robot to original mark position and install the currently position in "HOME" again. 5. Hold on "ENCPDER RESET" for 4 seconds to restart, this motion will reset the data of servo motor encoder. If *ris is *re frsttime to start the robot or there is no record for each axis of robot encoder numerical and now has already reset the robot please enter the teaching mold "IOG" immediately, and it will record each axis of robot encoder numerical to back side of controller "4 Axes Robot Home Position Data." .If each axis encoder numerical has already existed please enter the teaching model "JOG" and install motion speed become "O" then start to correct each axis of encoder numerical and let ttre numerical close the original record numericai, if the numerical is within t50 unit that is the correct position and please re-install ttre currenfly position become "HOME after corrected. 7, Insffuction for Teaching Box 7-1. The outward form "-- isse a^-"-..--- A- Front Teaching Box B- Backside Teaching Box1 LCD2 Emergency Stop Switch3 F1 - F8 and 8 positions of function key in ttre bottom of screen.4 The contol key for using change page, line or moving cursor under ffierence vision. -18-
  19. 19. 5 Multi-fUnCtiOn (a ==ft] !/ a When moving or teaching point mold, by articulated model + airt II key ,-; l--HO moving. v--A/ - b When moving or reaching point mold, by articulated model + airr c in teaching paffern, by cartesian pafiern moving of name coordinates. d Key in ttre sign of number or mark key in the pattern. 6 Escape key : Give up the input of numerical or retum to iast page. 7 Confirm key : Confirm the input of numerical. 8 The sign for entering teaching mold. 9 The sign for finished return to zero 10 The sign for starting servo power 1l Stopkey 12 Key for choose *re speed, can choose Scale =1 or 5 !Notice,@@g 13 --r Key for choose the speed, press[J3 reducing speed, @ 4 sets of butoon only using under robot running, ,r.rr@ increasing speed teaching model can not use it. 14 Teaching model (Dead Man Switch), if want to start the servo motor under teaching model must press one set of dead man switch at least. After start the Servo motor if you loosen the dead man switch and it will cut off the servo motor immediately. I 5 The button for adjust screen s color conffadistinction.S.Instuction for Teaching BoxWhen press "teach" on the handling box and ttre system has entered to teaching mold. The screen ofteaching box will display the main vision as below: tI Enter to "JOG" model Enter JOG vision function F1"""F8 Y: Jog T: Jont Ioe Edir Reg. UO peed: 5 Axis Config. File im-CK ON Coord. rEEET4 EEEE Etqt4tq -19- tqtilt4E
  20. 20. Function Key: <F1 speeD: Can change each axis to running the speed. (depending on the situation) <F4 Axis>: Can see ttre currently position of fifth and sixth axis. <F5 Lim-cb: ff ABS type of ROBOT arm lias been moved under close down condition and over software limit range, at the same time must turn off the limit i nspection to run the robot back to action range a nd continue the generai action. <F8 coordinates > The way to show up switch the coordinates. 1. Articulated Z. Two type of enco : Appear the meaning of enco, is meaning INCODER currenfly position (Unit : PLUSE/R) (1) Press +Ji -Jl +12 -JZ +13-13 +J4 - J4 +J 5 - J5 to run ttre way of sign for each axis.8-1. Enter to "EDII" model function Fl"""F8 Jog Edit Reg. UO select program number: Config. File i tilffitqE E tq Et4 tE tu til tE tE tq r4E -20 -
  21. 21. (srEP 1) (srEP2) Top Top : Up Down Insert Trace our(1) OUT(O) Delete <<Pedit IN Jump Reg.>> tilEEt4 E Etq t4 EEEtq E tqtil E ETETTH (STEP3 ) tE EE tI (Picture 4)The profile of function : The profile of function :<Fl Up>: see *re up line progam <Fl our(l)>: out port oN<F2 Dowu: see the next line program<F3 InserD: Increase a line program program <F2 our(O)>: out port oFF<F4 Trace>: Single part process<F5 PediD: Teach point position <F3 Delete>: Delete the line<F6IN>: check input poinr<F7 Jump>: Jump to another program line<F8 Reg.>: set up the register data0: Can find the register number in up when set upfte register data.U: Can find the register number in down when setup the register data.+: Change right pagee: Change Left page8-1-1 STEP2 TOP Up Down Insert Trace LII{E LINEU SPEED DELAY <<Pedit IN Jump Reg.>> <<CALL PTP OUT WAIT>> Et4EE tqEEE tdEtqt4 tdEEtq tEtEEE -21 - tr tE ta til
  22. 22. (Picture 1 ) (pagel)The profile of function : The profile of function :<Fl Up>: see the up line program <Fl LINE>: Line motion<F2 Dowp: see the next line program <F2 LINEU>: The condition for line motion<F3 InserD: lncrease a line program <F3 SPEED>: Setup the speed<F4 Trace>: Single part process progam <F4 DELAY>: Delay<F5 Pedi>: Teach point position <F5 CALL>: Call subprogram<F6 IN>: Check input point <F6 PTP>: Point to point motion<F7 Jump >: Jump to another program line <F7 OUT>: Control output point<F8 Reg>: setup the register data <F8 WAIT>: Waiting for input signfI: Can find the register number in up when setup 1I: This function no openthe register data. U: This function no openU: Can find ttre register number in down when set Change right page =:up *re register data. e: Change left page+: Change right page The above instruction, please see the instructione: Change Left page sheet.STEP 3 STEP 4 IF GOTO RET CIRCLE SETIDX PDplit BinOUT BinIN <<RX PX LAB JAM>> <<PAUSE BcdOUT BcdIN>> E]EEt4 EEEt4 EtUE]tq EEtilE EtEtIE (page2) EEETil (page3) i aa
  23. 23. The profile of function : The profile of function :<Fl Up>: see the up line progam <Fl SETIDb: Use PDplit ins[uction<F2 Dowp: see ttre next line progam <F2 PDpli>: The definition for type and each<F3 inserD: Increase a line program position of action.<F4 Trace>: Single part process program <F3 BinOUT>: Reg. or integer accord binary to<F5 PediD: Teach point position send it to out port.<F6 IN>: Check input point <F4 BinIN>: At the In port of condition accord <Ff Jump >: Jump to ano*rer program line binary send to Reg..<F8 Reg.>: set up ttre register data <F5 PAUSE>ROBOT: Stop ffacingThe above instruction, please see the instruction <F7 BcdOUT>: Reg. or integer accord BCD code to send it to out port. <F8 BcdIN> At ttre In port of condition accord binarv send to Reg.. The above insfruction, please see the insffuctionSTEP 5 PRINT SCAIt INPUT EtEE]til The profile of function : Fl : List the data F2 : This function no oper-i EEEE F3 : This function no open ttrtrH The above instruction, please see the instruction sheet. -23 -
  24. 24. 8-1-2 STEP2 TOP race from" UP DOWN INSERT TRACE TOP LINE<<Pcdit IN JI]MP REG.>>til tE Eil EMtilt4tE tiil E trtutqESTEP3 STEP4 from" " " " 0:P2 : P(R2) SPEED : line No.: 10 Step Hieh Mid. Low Ri]N til tE t4 ffiEEt4 EE E EEEE The profile of function : <F1 Step>: ROBOT will stop after running ttre next line from the depute line. <F2 RUN>: ROBOT will continue to repeat ttre program from the depute line until press <F1> or ESC" to stop the ROBOT action. <F2 Higb:507o speed to running <F3 Hig1>:207o speedto running <F4 Higb:S%o sgeed to runningSTEP5 STEP611 :Rl:2 l2z PTPP2 PTPP2 speedl : PTPP3 Speed : Srep I Hieh Mid I Low GO Run EE] t4 ffi Etqt4 @E E -24- tqt4t4E
  25. 25. The profile of function : The profile of function :<F1 Step>: ROBOT wili stop after running ttre <Fl GO>: ROBOT will continue to repeat the next line from ttre depute line. program from the depute line until press <F1><F2 RUN>: ROBOT will continue to repeat or "ESC" to stop the ROBOT action.the program from the depute line until press<F1> or "ESC" to stop the ROBOT action.<F2 Hieb:507o speed to running<F3 Higb:ZlVo speedto running<F4 Higb:51o speed to runningSTEPT : PTPP3 SPeed:20 Stop ffitq E tq t4 EThe profile of function :<Fl Stop> ROBOT stop the action.8-1-3 "Pedit" Teaching:STEPI TOP :0. :0. Y:0. *P 1 r0. T:0. Jon UpDown Insert Trace Up Down Point Axis <<Pedit IN Jump Reg.>> Delete Keyin Teach Coord. tilEEtil EEtilT EE Erq Teach: STEP1 (picture 1) rilEtmE (picture 2)The profile of function: The profile of function:<Fl Up>: see the up line pro$am <Fl Up>: See the last position<F2 Dowp: see the next line program <F2 Dowp: See the next position<F3 InserD: Increase a line program <F3 PoinD: Change to the depute position direcfly.<F4 Trace>: Single part process progam <F4 Axis>: Please see the fifth & sixth axis -25 -
  26. 26. position<F5 PediD: Teach point position.<F6IN>: Check input point <F5 Delete>: This function is no open.<F7 Jump >: Jump to another program line <F6 Keyip: Keyin to depute position directly (use<F8 Reg.>: set up the register data cartesian coord. keyin, unit 0.1mm, 0.1deg) <F7 Teach>: Move ttre robot to the position as request. <F8 Coord.>: Can switch tooJont" , "Puls" , uartTEP 2 :0. Y:0. *P I Remark: T:0. Jon (1) During the teaching and need to let the arm use Speed:5 UO Axis straightline to move, please change the coord Move Record Coord. to cartesian coordinates to jog the arm. When use the cartesian coordinates to proceed, the Et4t4t4 arm can be not in same 1ine. (2) During *re teaching must and need open or tqtqtqffi (Pic.3) close, please use VO to setup *re espial function. (3) Before enter to Pedit need back to zero.The profile of function :<F1 Speeb: Can change ttre speed for each axis running speed in lVo - l0To (depending on the situation)<F3UO>: Oversee the input point and setup the input point.<F4 Axis>: Please see the fifth & sixttr axis position.<F5 Move>: Move robot arm to working point.<F6 Record>: Set up the working point in the current arm position.<F8 Coord> select Jont Cart Tool Coord. to jog the Robot to working point.Teach: STEP3 Teach: STEP 4 :0 Y:0 :0. Y:0. *P1 t T:0 :0. T:0. Jont Cart Tool Speed:S AO Axis Move Record Coord. EffiEE rilt4EE Etqt4E ffiEEtq -26-
  27. 27. profile of function : profile of function : 1 Joint Coordinate System>: Jog each axis of robot to Move>: Move robot arm to working position. int which has already setup. World Coordinate System>: Jog the robot in the way *re working point has " * " before no. X-Y-Z to position. , it is meaning it has already defined and Tool Coordinate System>: Jog the robot in the way if want to make the record again please coordinate to position.Teach: STEP 4 Teach: STEP 5 robot arm to point robot arm to point peed : 5 :5 SPEED PTP LII{E Point No. : I Etilffir t4EEt4 EEEE EffiEt4EThe profile of function:<Fl Speed>: Can set up the robot of moving speed.(1..100%)<F2 PTF>: The robot use PTP to move to position.<Fl LINE>: The robot use line to move to position.Teach: STEP 6 robot arm to point :5 F1: Move ESC: Cancel8-1-4 "rN " IN: STEP 1 Top UpDown Insert Trace port No. (1...24):_l <<Pedit IN Jump Reg.>> EEEt4 EEtqE -27 -
  28. 28. { rWEE ri rtqtilrq :trIN: STEP2 Port no.: 1= 0 Remark: Please press ESC" to leave Inport port no. (1..24): E]Err EEEtil @ic.3)8-r-5 "Pedir" Teach: STEP 1 TOP : =l Up Down Insert Trace Up Down Jump Check <<Pedit IN Jump Reg.>> Modifu EE]Et4 EETE EEE]ffi Teach: STEP 1 @ic.l) ffitqEE (Pic.2)The profile of function : The profile of function :<Fl Up>: See the last line <F1 Up>: See the last Reg. value<F2 Dowp: See the next line <F2 Dowo: See the next Reg. value<F3 InserD: Increase a line <F3 Jump>: Change to Reg. position directly<F4 Trace>: Single tracing <F4 Checb: Check register value whether has been<F5 PediD: Teaching point position interfered or incorrect c.trange. It must keyin the<F6IN>: Check input point correct vaiue if it has error.<F 7 Jump>: Jump to a line <F5 Modifu>: Change the register value<F8 Register>: Set up *re register dataTeach : STEP 2 STEP3 1:1 = 100 Const:1ffi Up Down Jump Check Modify -28 -
  29. 29. tilEtiltil EEt4t4 Etqt4r tqEEE8-l-6 "Delete" Delete: STEP 1I:SPEED 100 I:SPEED 100 Up Down Insert Trace our(l) our(O) Delete <<Pedit IN Jump Register> t4TEEE Elt4 @ til TEEETE tdE E tq ETEEE tEE E tTThe profile of function : The profile of function :< >: Mean change the page <F3 Delete>: Delete =Delete:STEP2 Delete: STEP3 :SPEED 100 :SPEED 100 * Delete * OUT(I) OUT(0) Undelete OUT(I) OUT(0) Delete Et4Effitil rilE E 14 EEEE tqE E tE EtEEtI EtE tT EThe profile of function : The profile of function :<F3 Undelete> : Give up to proceed delete <F3 Delete> Deleteinstruction and return to last vision<F4 Delete>: Confirm the delete instruction -29 -
  30. 30. 8-2 Enter "YO" Model *IN,, STEP 1 function F1.. F8 Setup" " " " Jog Edit Reg. vo rN our(r) ouT(0) Config. FiletqtqEffi ffi E.E EEtqtilE E EEE The profile of function : <Fl IN> Check Inport condition <F2 OLIT(l)>: Put the output ON <F3 OUT(0)>: Put the output OFF"ni" STEP2 "nf" STEP3 In port no. :_1= 0- t No. : (1. .24) z _l no. (1"24): : _1 EtEEt4 Et4rq E EffitTE EtilE Remark : Please E press ESC" if wan to leave Input leave ln port model. "olIT(1)" STEP I "ouT(l)" STEP2 Setup.... tput(1) PORT rN ouT(l) our(0) no. (1"16) : _1 trIffirdtil tilEEt4 ll5l l16 I lrr lr8 I tq E til E -30-

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