3
Table of Contents
1.
Safety Instructions .............................................................................................................................. 5
2.
Quick Start Guide ................................................................................................................................ 6
2.1.
Set up and Connections.............................................................................................................................6
2.2.
Switching on ....................................................................................................................................................6
2.3.
Connect and Move the Robot ................................................................................................................ 7
3.
Introduction ............................................................................................................................................ 8
3.1.
System Overview ..........................................................................................................................................8
3.2.
Glossary and Abbreviations....................................................................................................................9
3.3.
Specifications ................................................................................................................................................ 11
3.4.
Mechanical Dimensions .......................................................................................................................... 12
4.
Electrical Connections ...................................................................................................................... 13
4.1.
Overview .......................................................................................................................................................... 13
4.2.
Pinout: Stepper Module .......................................................................................................................... 14
4.3.
Pinout: Support Module .......................................................................................................................... 15
4.4.
Pinout: Digital Input/Output Module ............................................................................................... 16
4.5.
Connect Sensors and Actors to the DIO Module .......................................................................17
4.6.
Option: Control Cabinet .......................................................................................................................... 19
4.7.
Option: Embedded Computer ............................................................................................................. 20
4.8.
Option: Operating Panel ......................................................................................................................... 23
5.
Safety .......................................................................................................................................................24
5.1.
Safety-Related Features of the Modular Robot Controller .............................................. 24
5.2.
CE Certification .......................................................................................................................................... 24
5.3.
Integration of SIL-Rated Safety Components .......................................................................... 24
6.
Software Installation .......................................................................................................................26
6.1.
Installation of the iRC - igus
®
Robot Control .............................................................................. 26
6.2.
Licensing ......................................................................................................................................................... 28
6.3.
Setting up the Ethernet Connection to the Embedded Computer ................................. 28
6.4.
Installing the CAN-to-USB Driver ..................................................................................................... 29
7.
Moving the Robot with iRC ........................................................................................................... 30
7.1.
The iRC Graphical User Interface ..................................................................................................... 30
7.2.
Connecting the Robot ............................................................................................................................. 32
7.3.
Referencing the Robot ........................................................................................................................... 33
7.4.
Moving the Robot with Software Buttons or Gamepad ...................................................... 34
7.5.
Starting Robot Programs ...................................................................................................................... 36
7.6.
Digital Inputs and Outputs .....................................................................................................................37
7.7.
Software Interfaces ..................................................................................................................................37
Summary of Contents for Drylin Delta
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Page 14: ...13 4 Electrical Connections 4 1 Overview Figure 4 1 Overview of electrical connections...
Page 26: ...25 Figure 5 1 Schematic wiring of the safety components with the Support Module...
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