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Delta SCARA Robot System User Manual 

SCARA CE Series 

 

 

20

 

List of Tables

 

Table1. 1 DRS CE series Warning sticker content descriptions ..................................................... 24 
Table1. 2 Warning sticker content explanation .............................................................................. 27 
Table1. 3 DRS CE series Robot nameplate description ................................................................ 28 
Table2. 1 Robot installation lock torque table ................................................................................ 35 
Table2. 2 Installation conditions .................................................................................................... 36 
Table4. 1 DRS40L series robot specification table ........................................................................ 49 
Table4. 2 DRS50L series robot specification table ........................................................................ 50 
Table4. 3 DRS60L3 series robot specification table ...................................................................... 51 
Table4. 4 DRS60L6 series robot specification table ...................................................................... 52 
Table4. 5 DRS70L series robot specification table ........................................................................ 53 
Table4. 6 DRS60H series robot specification table ........................................................................ 54 
Table4. 7 DCS controller specifications ......................................................................................... 55 
Table5. 1 DRS 3kg series limit hardware point locking torque ....................................................... 68 
Table5. 2 DRS 6kg series hardware point locking torque .............................................................. 70 
Table5. 3 DRS 6kg series hardware point locking torque .............................................................. 70 
Table5. 4 DRS60H series first arm active hardware point locking torque ....................................... 71 
Table5. 5 DRS40L3 series point screw locking torque ................................................................... 72 
Table5. 6 DRS40L3 series second arm active point locking torque ............................................... 73 
Table5. 7 DRS60L3 series point screw locking torque ................................................................... 74 
Table5. 8 DRS60L3 series second arm active point locking torque ............................................... 75 
Table5. 9 DRS50L6 series first arm active hardware point locking torque ..................................... 76 
Table5. 10 DRS60L6 series first arm active hardware point locking torque ................................... 77 
Table5. 11 DRS70L6 series first arm active hardware point locking torque .................................... 78 
Table5. 12 DRS60H series first arm active hardware point locking torque ..................................... 79 
Table5. 13 DRS60H series second arm active point locking torque ............................................... 80 
Table6. 1 DRS series robot coordinates description ...................................................................... 90 
Table7. 1 Main circuit power specification table ........................................................................... 104 
Table7. 2 Forced connector specification table ............................................................................ 104 
Table7. 3 External encoder connector pin definition table ............................................................ 108 
Table7. 4 User digital output input connector pin definition table ................................................. 109 
Table7. 5 System pin definition table ............................................................................................116 
Table7. 6 DI4, DI5 mode selection truth table .............................................................................. 120 
Table7. 7 Program execution signal truth table ............................................................................ 122 
Table7. 8 SYS.DO1 status descriptions ....................................................................................... 123 
Table7. 9 SYS.DO2 status descriptions ....................................................................................... 123 

Содержание DRS40L3SOADF003

Страница 1: ...Delta SCARA Robot System User Manual SCARA CE Series 1 ...

Страница 2: ...ur company will not be held responsible for any injuries or fatalities caused by accidents that result from doing so The following are the robot models and document numbers and versions that this manual applies to Published by Delta Electronics Inc Applicable robot system DRS40L 50L 60L 70L 60H CE series Document number DRS CE 01 Version V0 0 Contents of this manual include Usage safety precaution...

Страница 3: ...shocks Please ensure that the emergency stop device can be enabled at any time before powering it on for operations The power of the controller must be turned off before repairs or maintenance Do not get close to the operating range of the robot before or after powering on for operations and leave a warning at an obvious place to prevent injuries or fatalities to the staff If you still have questi...

Страница 4: ...SOADF003 DTS 2FM DRS50L6SOADN003 DRS50L6OSADF003 DTS 2FM DRS50L6OSADN003 DRS60L DRS60L6SSADF003 DTS 2FM DRS60L6SSADN003 DRS60L6SOADF003 DTS 2FM DRS60L6SOADN003 DRS60L6OSADF003 DTS 2FM DRS60L6OSADN003 DRS60L3SSADF003 DTS 2FM DRS60L3SSADN003 DRS60L3SOADF003 DTS 2FM DRS60L3SOADN003 DRS70L DRS70L6SSADF003 DTS 2FM DRS70L6SSADF003 DRS70L6SOADF003 DTS 2FM DRS70L6SOADN003 DRS70L6OSADF003 DTS 2FM DRS70L6OS...

Страница 5: ...t it was designed for If you have any application problems please do not use the robot until you have received detailed explanations from your dealer Definition of operators The definition of robot operators is as follows Operator Able to perform operations such as powering the controller ON OFF Able to start the robot from the final system integrated operation panel Program editor Performs the op...

Страница 6: ...rning and Prohibited Danger Means that danger is about to happen and may result in fatalities or severe injuries to the staff if not prevented Warning Means that there is potential danger and may result in fatalities or severe injuries to the staff if not prevented Stop Refers to activities that are absolutely prohibited failure to comply may result in damage or malfunctions to the product causing...

Страница 7: ...tiple robots may overlap please make sure they do not interfere with one another otherwise there might be impacts causing damages to the robots Do not add additional cables or hoses etc inside the robot When installing the exterior cables of the robot make sure to assess whether the cables and mechanisms will interfere with one another during operations Only clean dry air CDA can be used for the i...

Страница 8: ...afety warning labels is strictly prohibited as doing so may cause danger to the staff and to cause injuries Performing any unsafe actions at the safety warning locations is strictly prohibited as doing so may cause injuries to the staff Personnel must not stand beneath when stackers or fork lifts etc are used to move the robot as doing so may result in injuries or other dangers Stacking objects on...

Страница 9: ...ted machine the assembly and construction of the protection and safety circuit should be the responsibility of the final system integrator All children and visitors should keep a safe distance from the processing area Do not wear loose clothes ties rings or bracelets and wear protective nets to protect long hair as these things can easily get caught in the machine by accident and cause injuries to...

Страница 10: ...to be activated accidentally If the teaching pendant cable on the controller needs to be removed please do so when power is completely cut otherwise the teaching pendant might get damaged The location of the interlock switch between the structure of the safety protection device and the protection device should comply with EN ISO 14120 and EN ISO 14119 standards and the safety distance should be de...

Страница 11: ...bot or robot system should receive the necessary process training in order to execute the tasks required Also use only genuine materials or else it might cause grave danger to the users The processing of waste materials should comply with local laws and regulations and should be treated carefully Random changes to the maintenance schedule of the robot and maintenance oil are strictly prohibited Ma...

Страница 12: ...2 1 Emergency stop device installation 41 3 2 2 Emergency pull rope device installation 42 3 2 3 Railings installation 43 3 2 4 Safety gratings installation 44 3 2 5 Safety mat installation 45 3 2 6 Laser scanner 47 4 Specifications and dimensions 48 4 1 DRS40L series Robot Specifications 49 4 2 DRS50L series Robot Specifications 50 4 3 DRS60L3 series Robot Specifications 51 4 4 DRS60L6 series Rob...

Страница 13: ...6kg series robot parts descriptions 86 6 3 DRS 60H series robot parts descriptions 88 6 4 DRS robot operation directions 90 6 5 DRS 3kg series buttons and lamps 91 6 6 DRS 3kg series lamp descriptions 92 6 7 DRS 6kg series buttons and lamps 93 6 8 DRS60H series air hose and signal connector configuration 95 6 9 DRS CE series air hose and signal connector configuration 97 6 10 DRS CE series battery...

Страница 14: ...161 8 4 4 Controller DI O signal check 162 8 4 5 Air hose installation check 163 8 4 6 Input power check 164 8 4 7 Safety protection device check 165 8 5 Initial operation 166 8 5 1 Initial operation risk notification 166 8 5 2 When operating TP for the first time 169 8 6 Abnormal condition disposal 172 8 7 How to save injured workers 173 8 8 How to turn off the power 175 9 Maintenance 176 9 1 DRS...

Страница 15: ...ntrol box installation space 37 Figure2 10 Power control box door open space 38 Figure2 11 Power control box fixture method 38 Figure3 1 Emergency stop button 41 Figure3 2 Emergency stop switch re set method 41 Figure3 3 Emergency stop safety disconnect symbol 41 Figure3 4 Safety pull rope switch construction example 42 Figure3 5 Correct railings installation height 43 Figure3 6 DRS40L 50L 60L 70L...

Страница 16: ...ve hardware position of the first arm limit point of DRS60H series 79 Figure5 16 DRS60H series installation position of the second arm active point and angle 80 Figure5 17 DRS 3kg series Z axis active hardware adjustment position 81 Figure5 18 DRS 6kg series Z axis active hardware adjustment position 81 Figure5 19 DRS60H series Z axis active hardware adjustment position 82 Figure6 1 DRS 3kg series...

Страница 17: ...lf 110 Figure7 13 PNP wiring for when the input signal DI uses power of the controller itself 110 Figure7 14 Input signal DI connected to upper controller using NPN connection 111 Figure7 15 Input signal DI connected to upper controller using PNP connection 111 Figure7 16 User DO controller voltage output NPN wiring 112 Figure7 17 User DO controller voltage output NPN wiring 112 Figure7 18 User DO...

Страница 18: ... 49 TP installation location 134 Figure7 50 RS 232 485 connector location 135 Figure7 51 Communication port 136 Figure7 52 DMCNET communication port 137 Figure7 53 DMCNET connection icon 137 Figure7 54 Power control box with external driver system architecture 138 Figure7 55 ASD DMC RM32MN 139 Figure7 56 ASD DMC RM32NT 139 Figure8 1 Robot installation screw lock position 143 Figure8 2 Controller c...

Страница 19: ...re8 28 Location of robot cable to check 161 Figure8 29 Location of robot air hose to check 163 Figure8 30 Controller power switch primary power check 164 Figure8 31 Controller grounding cable check 164 Figure8 32 Location of robot to be careful not to get pinched 166 Figure8 33 Location to be careful of when the Z axis slides down 167 Figure8 34 Working area and safe area of the robot inside the r...

Страница 20: ...orque 71 Table5 5 DRS40L3 series point screw locking torque 72 Table5 6 DRS40L3 series second arm active point locking torque 73 Table5 7 DRS60L3 series point screw locking torque 74 Table5 8 DRS60L3 series second arm active point locking torque 75 Table5 9 DRS50L6 series first arm active hardware point locking torque 76 Table5 10 DRS60L6 series first arm active hardware point locking torque 77 Ta...

Страница 21: ...ransmission RS 232 RS 485 connector function definition table 135 Table9 1 DRS CE series inspection table 177 Table9 2 Oil table of the maintenance oil for each axis parts 178 Table9 3 Battery specification table 179 Tablee10 1 DCS controller bill of materials 183 Table11 1 Fuse specifications and corresponding fault status list 186 Table11 2 Fuse replacement steps 187 Table11 3 Temperature sensor...

Страница 22: ...e be aware of the locations of the safety warning labels during operations or else it may result in workers sustaining injuries Operators should get familiar with the locations of the safety warning labels before use and know the meanings of each safety warning in order to avoid risks Removing or changing the locations of any safety warning labels is strictly prohibited as doing so may cause dange...

Страница 23: ... location Figure 1 1 shows all warning sticker locations of DRS40L 50L 60L 70L CE series Figure 1 2 shows all warning sticker locations of DRS60H CE series Table 1 1 shows the contents of each warning sticker Figure1 1 DRS40 50 60 70L CE series warning sticker locations a c b d f e f e i j m h a g g e e f k ...

Страница 24: ...The first air hose provided inside the mechanical arm 2 2 Air hose sticker 2 The second air hose provided inside the mechanical arm 2 3 Air hose sticker 3 The third air hose provided inside the mechanical arm 2 4 b Brake release button Pressing this button while the conductive SERVO is OFF will release the brakes DRS40L3 Release 3rd axis brakes DRS60L6 Release 3rd and 4th axis brakes 1 d e e e e f...

Страница 25: ... incorrect 5 9 g Electric shock hazardous Do not touch it 2 10 h Ground sticker Ground 1 11 i Anti collision sticker Do not enter the working range of the machine while the machine is operating or else workers might bump onto the robot it may even cause fatalities when severe 1 12 j Read sticker Read the manual carefully before use in order to ensure proper usage otherwise it may cause an accident...

Страница 26: ...is the DRS CE series robot head details sticker location Figure1 3 DRS CE series robot head sticker location Figure 1 4 below is the DRS CE series robot rear and base details sticker location Figure1 4 DRS CE series robot rear and base details sticker location c b e g a g e ...

Страница 27: ...er location Table1 2 Warning sticker content explanation Item Part No Name Flag Note Qty 1 a Electrification danger Electric shock hazardous Do not touch it 3 2 b Isolation switching switch Main electrical switch 1 3 c Lockout the energy Turn power supply OFF before inspection maintenance adjustment and cleaning 1 4 d Read sticker Read manual before use 1 5 e Product sticker Product related model ...

Страница 28: ... and other related messages 3 c Robot user manual document number 4 d Mechanical arm length 5 e Robot arm weight 6 f Controller weight 7 g Robot flange maximum installation load weight 8 h Contact number and address of our company 9 i Controller rated power 10 j Controller input power information voltage and frequency 11 k Controller current capacity 12 l Controller short circuit capacity 13 m Max...

Страница 29: ...ision components inside the robot device therefore please be very careful not to allow the devices to collide due to the sharp movements during transportation Workers must not stand below the transporting object when operating a lift there must be workers directing from the side in addition to the lift operator in order to prevent accidents from occurring Please be careful not to tilt the robot de...

Страница 30: ...es as shown in Figure 2 2 below Figure2 2 Fork lift transportation illustration 2 Elevate the fork lift or lift until it is off the ground and make sure they are not tilted otherwise the product might drop during the transport process When faced with uphill or downhill roads please adjust the height or tilt angle of the fork lift accordingly so that the product will not tilt otherwise tie down the...

Страница 31: ...as shown in Figure 2 3 and Figure 2 4 below Figure2 3 DRS40L 50L 60L 70L series package removal figure Figure2 4 DRS60H series package removal figure 5 Please refer to the transportation sticker before transporting the robot first remove the cables Cable Controller SCARA Teach Pendant Option Controller SCARA Teach Pendant Option ...

Страница 32: ...the first arm as shown in Figure 2 5 and Figure 2 6 below to perform the transportation Figure2 5 DRS40L 50L 60L 70L series transportation method Figure2 6 DRS60H series transportation method 6 Remove the controller and put both hands around the bottom of the controller to transport it Or use a cart for transportation please consider whether the road is bumpy when using a cart or else the electron...

Страница 33: ...ated production lines the operating range of multiple robots may overlap please make sure they do not interfere with one another otherwise there might be impacts causing damages to the robots Please do not add additional cables or hoses etc inside the mechanism When installing cables outside the mechanism make sure to assess whether the cables and mechanisms will interfere with one another during ...

Страница 34: ...e usage Please properly ground all robot systems they should all be grounded before connecting the power The final system integrator should install protection devices in order to prevent users from getting close to the danger area The robot does not have explosion proof or splash proof structures so do not place it at locations that are too humid or can be easily splashed by liquids Do not randoml...

Страница 35: ...as shown in Table 2 1 then lock it in properly with the locking torque Figure2 7 Robot installation screw lock position Table2 1 Robot installation lock torque table DRS40 50 60 70L 60H6 series Tools Screw type Quantity Screw torque 6 hex wrench M8 oval screw M8 flat gasket 4 20 to 20 3 N m DRS60H series installation as shown in Figure 2 8 below and Table 2 2 Figure2 8 DRS60H installation Installa...

Страница 36: ...ific mass kg m moment of inertia cm 4 radius of gyration cm modulus of section cm 3 Ix Iy rx ry Sx Sy 100 x 100 2 3 8 85 6 95 140 3 97 27 9 100 x 100 3 2 12 1 9 52 187 3 93 37 5 100 x 100 4 0 14 9 11 7 226 3 89 45 3 100 x 100 4 5 16 6 13 1 249 3 87 49 9 100 x 100 6 0 21 6 17 0 311 3 79 62 3 100 x 100 9 0 30 6 24 1 408 3 65 81 6 100 x 100 12 38 5 30 2 471 3 50 94 3 ...

Страница 37: ...jects and the baffle wall or else it may cause malfunctioning Please refer to the power control box installation space shown in Figure 2 9 2 The ventilation holes must not be blocked during installation please keep a distance of 150mm or above 3 Do not topple over the power control box as doing so will cause it to malfunction 4 Controller power switch and other locations should be from the ground ...

Страница 38: ... shown in Figure 2 10 below or else it will be very difficult to perform repairs Figure2 10 Power control box door open space 6 When fixing the power control box in place please do as shown in Figure 2 11 below and use 2 L shaped plates to fix the power control box tightly in place Figure2 11 Power control box fixture method Fixture plate Fixture plate ...

Страница 39: ...power control box and the robot can be operated Please follow this manual to perform the construction of the safety protection and wiring or else our company will not be held responsible for any injuries sustained by the workers Do not perform any operations to the robot before the safety protection system construction is complete Do not use any method to bypass the safety protection system the sa...

Страница 40: ... be dual channel NC contact mechanical type emergency stop device This type of device can be an emergency stop button or pull rope switch etc 2 Railings gratings pressure pads or laser scanners Use railings gratings pressure pads or laser scanners within the working range of the robot to prevent workers from getting close and sustaining injuries The maximum working range of the robot must be consi...

Страница 41: ... 1 Emergency stop button 2 Equipped with a manual re set function as shown in Figure 3 2 Figure3 2 Emergency stop switch re set method 3 Equipped with a disconnect function so that when the contacts are fused the force used to press the button can be used to disconnect the fused contacts This function symbol is as shown in Figure 3 3 Figure3 3 Emergency stop safety disconnect symbol 4 Please insta...

Страница 42: ...must have a re set button and the pull rope must be able to be triggered from any position The installation height of the pull rope must comply with average height and an accessible height installing it too high will result in workers being unable to reach it It s not that railing protection is no longer needed once pull rope switches are installed around the robot the installation of the pull rop...

Страница 43: ...tance for upper and lower limbs Not only should the working range of the robot be taken into consideration for the installation of the railings the length of the worker s arm must also be considered so that they cannot touch the robot Figure 3 5 below shows a right railings installation height the worker s arm can not still reach inside the railings Please construct the railings properly and take ...

Страница 44: ...grating system can detect workers no matter where they entered from DRS40L 50L 60L 70L CE series safety grating protection area Figure 3 6 shows the DRS40L 50L 60L 70L CE series safety grating installation distance X Robot arm length Figure3 6 DRS40L 50L 60L 70L CE series safety grating installation distance DRS60H6 CE series safety grating protection area Figure 3 7 shows the DRS60H6 CE series sa...

Страница 45: ...e total moving range of the robot arm Safety mats shall not be laid only around the robot when used it shall be laid at the entire working area DRS40L 50L series safety mat laying range Figure 3 8 below shows the safety mat installation area for DRS40L 50L series in addition to calculating the maximum work plan of the robot an average of 1m of worker arm length shall also be added in order to prev...

Страница 46: ...ength of most workers in that area into consideration Figure3 9 DRS60L 70L series safety mat laying range DRS60H series safety mat laying range Figure 3 10 below shows the safety mat installation area for DRS60H series in addition to calculating the maximum work plan of the robot an average of 1m of worker arm length shall also be added in order to prevent the workers arms from hitting the robot S...

Страница 47: ...robot be considered for the installation of the laser scanner the distance that the worker s arm reaches into the robot shall also be considered The laser scanner shall not detect 360 so please install another laser scanner for blind spots or where there are safety concerns Figure 3 11 below is an illustration of laser scanner installation Figure3 11 Laser scanner installation illustration Danger ...

Страница 48: ...A please do not modify the robot and wiring on your own or use it with other controllers Our company will not be responsible for any injuries or fatalities caused by accidents that resulted from doing so The robot itself is applicable for environment IP20 and is able to resist solid matters with diameters over 12mm and lengths not exceeding 80mm such as fingers it is not protected against any liqu...

Страница 49: ...ower J1 200W J2 200W J3 100W With Brake J4 100W Rated Max Push Force J3 100 250N Rated Max Allowable Inertia Moment J4 SS type 0 0091 kg m2 Rated Max Allowable Inertia Moment J4 So type 0 055 kg m2 User Wiring 15Pin D Sub User Tubing ø4 mm x 1 ø6 mm x 2 Pneumatic pressure Max 0 6MPa 87psi Weight 17kg 37 5lb Power supply 220V PE 50 60Hz Environment Ambient Temperature 5ºC to 40ºC Storage Temperatur...

Страница 50: ...0 01 Motor power J1 400W J2 200W J3 100W With Brake J4 100W With Brake Rated Max Push Force J3 150 350N Rated Max Allowable Inertia Moment J4 SS OS type 0 01 0 08 kg m2 Rated Max Allowable Inertia Moment J4 SO type 0 07 0 9 kg m2 User Wiring 15Pin D Sub User Tubing ø4 mm x 1 ø6 mm x 2 Pneumatic pressure Max 0 6MPa 87psi Weight 18 5kg 40 79lb Power supply 220V PE 50 60Hz Environment Ambient Tempera...

Страница 51: ... RZ 0 01 Motor power J1 400W J2 200W J3 100W With Brake J4 100W With Brake Rated Max Push Force J3 100 250N Rated Max Allowable Inertia Moment J4 0 009 kg m2 User Wiring 15Pin D Sub User Tubing ø4 mm x 1 ø6 mm x 2 Pneumatic pressure Max 0 6MPa 87psi Weight 22kg 48 5lb Power supply 220V PE 50 60Hz Environment Ambient Temperature 5ºC to 40ºC Storage Temperature 20ºC to 55ºC Humidity not exceed 50 at...

Страница 52: ... Motor power J1 400W J2 200W J3 100W With Brake J4 100W With Brake Rated Max Push Force J3 150 350N Rated Max Allowable Inertia Moment J4 SS OS type 0 01 0 08 kg m2 Rated Max Allowable Inertia Moment J4 SO type 0 07 0 9 kg m2 User Wiring 15Pin D Sub User Tubing ø4 mm x 1 ø6 mm x 2 Pneumatic pressure Max 0 6MPa 87psi Weight DRS60L6 type 20kg 40 79lb Power supply 220V PE 50 60Hz Environment Ambient ...

Страница 53: ... 0 01 Motor power J1 400W J2 200W J3 100W With Brake J4 100W With Brake Rated Max Push Force J3 150 350N Rated Max Allowable Inertia Moment J4 SS OS type 0 01 0 08 kg m2 Rated Max Allowable Inertia Moment J4 SO type 0 07 0 9 kg m2 User Wiring 15Pin D Sub User Tubing ø4 mm x 1 ø6 mm x 2 Pneumatic pressure Max 0 6MPa 87psi Weight 20kg 40 79lb Power supply 220V PE 50 60Hz Environment Ambient Temperat...

Страница 54: ...wer J1 400W J2 200W J3 100W With Brake J4 100W With Brake Rated Max Push Force J3 150 350N Rated Max Allowable Inertia Moment J4 SS OS type 0 01 0 08 kg m2 User Wiring 15Pin D Sub User Tubing ø4 mm x 1 ø6 mm x 2 Pneumatic pressure Max 0 6MPa 87psi Weight 23kg 46 90lb Power supply 220V PE 50 60Hz Environment Ambient Temperature 5ºC to 40ºC Storage Temperature 20ºC to 55ºC Humidity not exceed 50 at ...

Страница 55: ...s of output Safety input 2 sets of emergency stop signal NC contact 2 sets of functional pause signal NC contact Communication interface Ethernet 1 channel RS 232 RS 485 1 connection port the 1 connection port can switch between two communication functions DMCNET 1 channel Environmental specifications Installation location Indoor avoid exposure to direct sunlight no corrosive fog avoid fumes flamm...

Страница 56: ...Delta SCARA Robot System User Manual SCARA CE Series 56 4 8 Dimensions 4 8 1 DRS40L series robot arm dimensions Figure 4 1 below is the dimensions figure of DRS40L series the unit is mm ...

Страница 57: ... SCARA Robot System User Manual SCARA CE Series 57 Figure4 1 DRS40L series dimensions figure 4 8 2 DRS50L series robot arm dimensions Figure 4 2 below is the dimensions figure of DRS50L series the unit is mm ...

Страница 58: ...Delta SCARA Robot System User Manual SCARA CE Series 58 Figure4 2 DRS50L series dimensions figure Z axis range Type SS SO 1 323 mm 423 mm 2 200 mm 300 mm 3 61 mm 161 mm ...

Страница 59: ...Delta SCARA Robot System User Manual SCARA CE Series 59 ...

Страница 60: ...Delta SCARA Robot System User Manual SCARA CE Series 60 4 8 3 DRS60L3 series robot arm dimensions Figure 4 3 below is the dimensions figure of DRS60L3 series the unit is mm ...

Страница 61: ... CE Series 61 Figure4 3 DRS60L3 series dimensions figure 4 8 4 DRS60L6 series robot arm dimensions Figure 4 4 below is the dimensions figure of DRS60L6 series the unit is mm Z axis range Type SS SO 1 323 mm 423 mm 2 200 mm 300 mm 3 61 mm 161 mm ...

Страница 62: ... SCARA Robot System User Manual SCARA CE Series 62 Figure4 4 DRS60L6 series dimensions figure 4 8 5 DRS70L series robot arm dimension Figure 4 5 below is the dimensions figure of DRS70L series the unit is mm ...

Страница 63: ...Delta SCARA Robot System User Manual SCARA CE Series 63 Z axis range Type SS SO 1 323 mm 423 mm 2 200 mm 300 mm 3 61 mm 161 mm ...

Страница 64: ...Delta SCARA Robot System User Manual SCARA CE Series 64 Figure4 5 DRS70L series dimensions figure ...

Страница 65: ... SCARA Robot System User Manual SCARA CE Series 65 4 8 6 DRS60H series robot arm dimension Figure 4 6 below is the dimensions figure of DRS60H series the unit is mm Figure4 6 DRS60H series dimensions figure ...

Страница 66: ...oo humid or else it can be easily splashed by liquids Before moving installing wiring and using please read this Manual carefully Do not randomly stack objects on top of the controller and do not bump into the controller Do not install the controller in a location subjecting to excessive vibration Do not plug or unplug the power while the power is on the ON status or while operating as doing so ma...

Страница 67: ...ty protection devices around the working area of the robot such as railings safety gratings pressure pads or laser scanners etc in order to guarantee the safety of the workers Please adjust the active point positions of the robot properly according to the actual plan in order to prevent operational errors and causing damages to the robot and surrounding devices due to impact After adjusting the ac...

Страница 68: ... is as shown in Figure 5 2 below Table 5 1 is the limit point screw and locking torque Figure5 1 DRS 3kg series limit hardware point installation illustration Table5 1 DRS 3kg series limit hardware point locking torque Name Screw torque value Remark Tools 5 hex wrench 9 7 to 10 5 N m M6x12 hex socket screws M6 spring pad M6 hex socket screws M6 spring pad ...

Страница 69: ... DRS 6kg series first arm limit hardware point installation illustration Figure5 3 The installation position of the first arm limit point of DRS 6kg series 2 M8x12 hex socket screws limit point M5x20 hex socket screws screws used to keep fixtures in place M5x20 hex socket screws screws used to keep fixtures in place M5x20 hex socket screws screws used to keep fixtures in M8x20 hex socket screws li...

Страница 70: ... M8x12 hex socket screws 4 hex wrench 5 7 to 6 N m M5x20 hex socket screws The position of the second arm limit hardware point of DRS 6kg series is as shown in Figure 5 4 below Figure5 4 DRS 6 kg series second arm limit hardware point installation illustration Table 5 3 below is the first arm point screw and locking torque for DRS 6kg series installation Table5 3 DRS 6kg series hardware point lock...

Страница 71: ... arm limit hardware point installation illustration Table5 4 DRS60H series first arm active hardware point locking torque Name Screw torque value Remark Tools 6 hex wrench 20 to 20 3 N m M8x20 hex socket screws M8x12 hex socket screws The position of the second arm limit hardware point of DRS60H series is as shown in Figure 5 6 below Figure5 6 DRS60H6 second arm limit hardware point installation i...

Страница 72: ...the working angle are as shown in Figure 5 7 below Figure5 7 DRS40L3 series first arm active point position and the various operation ranges Table 5 5 below is the first arm point screw and locking torque for DRS40L3 series installation Table5 5 DRS40L3 series point screw locking torque Name Screw torque value Remark Tools 5 hex wrench 9 7 to 10 5 N m M6x12 hex socket screws M6 spring washer J1 12...

Страница 73: ...w Figure5 8 DRS40L3 second arm active point position and working ranges Table 5 6 below is the second arm point screw and locking torque for DRS40L3 series installation Table5 6 DRS40L3 series second arm active point locking torque Name Screw torque value Remark Tools 5 hex wrench 9 7 to 10 5 N m M6x12 hex socket screws M6 spring washer J2 119O J2 132O J2 146 6 O Limit point J2 132O J2 119O ...

Страница 74: ...Figure5 9 DRS60L3 series first arm active point position and the various operation ranges Table 5 7 below is the first arm point screw and locking torque for DRS60L3 series installation Table5 7 DRS60L3 series point screw locking torque Name Screw torque value Remark Tools 5 hex wrench 9 7 to 10 5 N m M6x12 hex socket screws M6 spring washer J1 108 O Active point J1 114O Limit point J1 108 O Activ...

Страница 75: ... Figure5 10 DRS60L3 second arm active point position and working ranges Table 5 8 below is the second arm point screw and locking torque for DRS60L3 series installation Table5 8 DRS60L3 series second arm active point locking torque Name Screw torque value Remark Tools 5 hex wrench 9 7 to 10 5 N m M6x12 hex socket screws M6 spring washer J2 121O J2 121O J2 145 O Limit point J2 145 O Limit point ...

Страница 76: ... and locking torque for DRS50L6 series installation Table5 9 DRS50L6 series first arm active hardware point locking torque Name Screw torque value Remark Tool 4 hex wrench 5 7 to 6 N m M5x20 hex socket screws M5x20 hex socket screws screws used to keep fixtures in place M5X20 hex socket screws full stroke screws used to keep fixtures in place M5X20 hex socket screws screws used to keep fixtures in...

Страница 77: ...s installation Table5 10 DRS60L6 series first arm active hardware point locking torque Name Screw torque value Remark Tool 4 hex wrench 5 7 to 6 N m M5x20 hex socket screws M5x20 hex socket screws screws used to keep fixtures in place M5X20 hex socket screws full stroke screws used to keep fixtures in place M5X20 hex socket screws screws used to keep fixtures in place J1 46 active point J1 59 5 ac...

Страница 78: ...l 4 hex wrench 5 7 to 6 N m M5x20 hex socket screws The installation position of the second arm active point and angle 101 121 141 of DRS 6kg series are as shown in Figure 5 14 below Figure5 14 DRS 6kg series installation position of the second arm active point and angle M5x20 hex socket screws screws used to keep fixtures in place M5X20 hex socket screws full stroke screws used to keep fixtures i...

Страница 79: ...e 5 15 below Figure5 15 The installation active hardware position of the first arm limit point of DRS60H series Table 5 12 below is the first arm point screw and locking torque for DRS60H series installation Table5 12 DRS60H series first arm active hardware point locking torque Name Screw torque value Remark Tools 6 hex wrench 20 to 20 3 N m M8x20 hex socket screws M8x12 hex socket screws ...

Страница 80: ...in Figure 5 16 below Figure5 16 DRS60H series installation position of the second arm active point and angle Table 5 13 below is the second arm point screw and locking torque for DRS60H series installation Table5 13 DRS60H series second arm active point locking torque Name Screw torque value Remark Tools 6 hex wrench 20 to 20 3 N m M8x12 hex socket screw spring pad ...

Страница 81: ...value 9 7 to 10 5 N m Figure5 17 DRS 3kg series Z axis active hardware adjustment position The installation adjustment position of the Z axis active hardware point of DRS 6kg series is as shown in Figure 5 18 DRS 60H series is as show in Figure 5 19 Screw torque value 1 8 to 2 0 N m Figure5 18 DRS 6kg series Z axis active hardware adjustment position Z axis active hardware adjustment position Z ax...

Страница 82: ...Delta SCARA Robot System User Manual SCARA CE Series 82 Figure5 19 DRS60H series Z axis active hardware adjustment position Z axis active hardware adjustment position ...

Страница 83: ...his manual carefully before operation in order to use the robot properly help prevent impact and ensure the safety of workers Please operate the robot outside the safety protection area in order to ensure worker safety Adding any new point positions on your own is strictly prohibited this will damage the rigidity of the mechanism Our company will not be held responsible for any damages resulted fr...

Страница 84: ...s shown in Figure 6 1 below Figure6 1 DRS 3kg series appearance figure The internal components of the DRS 3kg series base are as shown in Figure 6 2 below Figure6 2 Internal components of the DRS 3kg series robot base J1 motor J1 reducer Spline Second arm First arm Base Cover Connector C section cable Air hose J3 brake release button Servo ON lamp ...

Страница 85: ...SCARA CE Series 85 The internal components of the DRS 3kg series second arm are as shown in Figure 6 3 below Figure6 3 Internal components of the DRS 3kg series second arm J2 motor J4 motor Spline Screw R axis gear Central spindle J3 motor ...

Страница 86: ...hown in Figure 6 4 below Figure6 4 DRS 6kg series appearance figure The internal components of the DRS 6kg series base are as shown in Figure 6 5 below Figure6 5 Internal components of the DRS 6kg series robot base C section cable Cover Spline screw Second arm First arm Cable Base J3 and J4 brake release switch Start lamp Air hose J1 motor J1 reducer ...

Страница 87: ...ponents of the DRS 6kg series second arm are as shown in Figure 6 6 below Figure6 6 Internal mechanisms and components of the DRS 6kg series second arm J2 motor J4 motor J3 motor Brake PCB J3 Brake DC to DC transformer J4 Brake DC to DC transformer Spline screw R axis gear ...

Страница 88: ...criptions The appearance and parts of DRS60H series are as shown in Figure 6 7 below Figure6 7 DRS60H series appearance figure The internal components of the DRS60H series base are as shown in Figure 6 8 below Figure6 8 Internal components of the DRS60H series robot base J1 reducer J1 motor ...

Страница 89: ...A Robot System User Manual SCARA CE Series 89 The internal components of the DRS60H series second arm are as shown in Figure 6 9 below Figure6 9 Internal mechanisms and components of the DRS60H series second arm ...

Страница 90: ...4 its operation directions are divided into Joint coordinate and Cartesian coordinate according to the type The operation directions of the robot are as shown in Table 6 1 below and the and shown in the figure are the actual operation directions of each axis Table6 1 DRS series robot coordinates description DRS 3kg series DRS 6kg series DRS60H series Joint coordinate Cartesian coordinate ...

Страница 91: ...for users to perform operations such as installing processing fixtures etc Figure6 10 DRS 3kg series break release button position Note 1 When load is added to the J3 axis the J3 axis might slide down when this button is pressed 2 Do not place hands on the holes of the head cover or below the J3 axis in order to prevent the hands from getting caught 3 Relative safety attention locations are as sho...

Страница 92: ...Figure 6 12 below The lamp will turn on when the robot status is Servo ready and the lamp will go off when the robot is abnormal or when Servo is off Note When the lamp is on it means that the robot is in standby mode do not get close to the robot at this time as the robot might start moving at any second Figure6 12 DRS 3kg series lamp location Lamp ...

Страница 93: ...users to perform operations such as installing processing fixtures etc Figure6 13 DRS 6kg series break release button position Note 1 When load is added to the flange the J3 axis might slide down when this button is pressed 2 Do not place hands on the holes of the head cover or below the J3 axis in order to prevent the hands from getting caught 3 When the brake release button is pressed to rotate ...

Страница 94: ... below The lamp will turn on when the robot status is Servo ready and the lamp will go off when the robot is abnormal or when Servo is off Note When the lamp is on it means that the robot is in standby mode do not get close to the robot at this time as the robot might start moving at any second Figure6 15 DRS 6kg series lamp location Lamp Careful not to get pinched Careful not to get pinched and s...

Страница 95: ...m operations such as installing processing fixtures etc Figure6 16 DRS60H series break release attention Note 1 When load is added to the flange the J3 axis might slide down when this button is pressed 2 Do not place hands on the holes of the head cover or below the J3 axis in order to prevent the hands from getting caught 3 When the brake release button is pressed to rotate the J3 and J4 axes ple...

Страница 96: ... the robot as shown in Figure 6 18 below The lamp will turn on when the robot status is Servo ready and the lamp will go off when the robot is abnormal or when Servo is off Note When the lamp is on it means that the robot is in standby mode do not get close to the robot at this time as the robot might start moving at any second Figure6 18 DRS60H series lamp location Lamp ...

Страница 97: ... 20 and Figure 6 21 below Figure6 19 Installation location of DRS 3kg series air hose connector Figure6 20 Installation location of DRS 6kg series air hose connector Item Specifications Remark Signal connector 15Pin Female Air hose connector Φ6 Black Air hose connector Φ6 Black Air hose connector Φ4 Black Item Specifications Remark Signal connector 15Pin Female Air hose connector Φ6 Black Air hose...

Страница 98: ...gure6 22 Air hose burst pressure table Note 1 Only pneumatic system connection pipelines are provided for the robot arm system integrators shall install the final actuator and pneumatic system according to EN ISO 4414 2 DRS CE series signal connector configuration Temperature Burst pressure MPa Item Specifications Remark Signal connector 15Pin Female Air hose connector Φ6 Black Air hose connector ...

Страница 99: ...ided in the accessory pack the pins are as shown in Figure 6 23 below Figure6 23 Signal connector wiring table Note 1 This connector is only provided for customers to install devices with small signals such as sensors etc please do not connect large current signals 2 Do not use this connector as a motor connector or high frequency signal connector 3 The maximum current of each point of this connec...

Страница 100: ...atteries in the battery holder and the battery is responsible for memorizing the position of each axis of the robot Please execute battery change operations properly according to the maintenance table please refer to the maintenance chapter in order to ensure that the encoder position of the robot can be memorized properly Figure6 24 DRS CE series battery location Figure6 25 DRS60H series battery ...

Страница 101: ...ng wiring otherwise there is the danger of electrical shocks Do not perform any wiring within 10 minutes of turning of the power because there is residue voltage in the driver that has not yet been fully discharged Wiring operations shall be performed with personnel with related licenses personnel without related licenses shall not perform wiring operations Personnel without related licenses shall...

Страница 102: ...tegrated with the driver control this controller can be used with visual systems and teach pendants and be expanded with drivers or remote input output modules to easily complete the integration with peripheral systems Figure 7 1 is a schematic of the combination of power control box interface peripherals DRS60H series ...

Страница 103: ...teach pendants DTS 5 Safety connector Signal connector provided for customers to connect external safety protections 6 External shaft motor connection optional Power connector for the fifth axle motor 7 External shaft encoder connection optional Encoder connector for the fifth axle motor 8 Serial communication connector RS 232 RS485 communication connector 9 System output input connector System I ...

Страница 104: ...wer specification table Power control box main circuit power cable specifications Power cable diameter 2 0mm Ground cable diameter 10mm Installation 1 There is a forced interface behind the power control box for customers to install the cables for the main power circuit the forced connector specifications are as shown in Table 7 2 below Table7 2 Forced connector specification table Forced connecto...

Страница 105: ...top left corner of the power control box as shown in Figure 7 4 Figure7 4 Power breaker location 4 The primary and secondary power breakers both have shock proof protection covers please use a flat head screwdriver 1 8mm to open the primary protection cover as shown in Figure 7 5 Figure7 5 Primary power breaker protection cover location ...

Страница 106: ... installation is complete as shown in Figure 7 6 Figure7 6 Power cable and ground cable installation location Note Since the robot is a semi finished product system please add a filter reactor and Ferrite Core to the power line sent to the controller in order to ensure the power has no noise and hormonic as shown in Figure 7 7 Figure7 7 Add filter reactor to the controller power 220V PE Line Filte...

Страница 107: ...ctor is as shown in Figure 7 8 and the standard connection cables are as shown in Figure 7 9 Please note the connector directions both ends of the connector have foolproof designs so forced connection will cause damages to the connector and the equipment The standard length of the cables between the robot and control box is 3m customers shall not extend the cables on their own as doing so will cau...

Страница 108: ...be applied for CVT functions The location of the external encoder connector and definitions of the pins are as shown in Figure 7 10 and Table 7 3 below Figure7 10 External encoder connection seat Table7 3 External encoder connector pin definition table Pin Name Pin Name Pin Name Pin Name 1 1 Z 2 1 Z 19 20 3 1 B 4 1 B 21 22 5 1 A 6 1 A 23 24 7 1 5V 8 1 0V 25 26 9 2 Z 10 2 Z 27 28 11 2 B 12 2 B 29 3...

Страница 109: ...e as shown in Table 7 4 below Figure7 11 User output input connector seat Table7 4 User digital output input connector pin definition table Pin Name Pin Name Pin Name Pin Name 1 DI1 2 DI2 27 DO2 28 DO2 3 DI3 4 DI4 29 DO3 30 DO3 5 DI5 6 DI6 31 DO4 32 DO4 7 DI7 8 DI8 33 DO5 34 DO5 9 DI9 10 DI10 35 DO6 36 DO6 11 DI11 12 DI12 37 DO7 38 DO7 13 DI13 14 DI14 39 DO8 40 DO8 15 DI15 16 DI16 41 DO9 42 DO9 17...

Страница 110: ...ncluding buttons switches and sensors etc to DI Figure7 12 NPN wiring for when the input signal DI uses power of the controller itself The PNP wiring method is as shown in Figure 7 13 below please connect DI COM Pin50 of User DI O D Sub 50P to N24G Pin2 of the DC output and connect the output signals including buttons switches and sensors etc to DI Figure7 13 PNP wiring for when the input signal D...

Страница 111: ... method is as shown in Figure 7 14 Figure7 14 Input signal DI connected to upper controller using NPN connection When the input signal DI is going to be connected directly with the upper controller and PNP wiring is used the wiring method is as shown in Figure 7 15 Figure7 15 Input signal DI connected to upper controller using PNP connection Upper controller Upper controller ...

Страница 112: ... selected output voltage signal is the controller voltage output The NPN wiring method is as shown in Figure 7 16 below Figure7 16 User DO controller voltage output NPN wiring The PNP wiring method is as shown in Figure 7 17 below Figure7 17 User DO controller voltage output NPN wiring Mixed NPN and PNP wiring method is as shown in the figure below In Figure 7 18 below PNP output wiring is used fo...

Страница 113: ...Delta SCARA Robot System User Manual SCARA CE Series 113 ...

Страница 114: ...7 20 User DO upper controller voltage output PNP wiring Upper controller mixed NPN and PNP wiring method is as shown in the figure below In Figure 7 21 below PNP output wiring is used for the lamp and NPN output wiring is used for the relay Figure7 21 User DO upper controller voltage mixed output wiring Note 1 Each DO output point can supply 40mA at most To activate heavy current load please execu...

Страница 115: ...Delta SCARA Robot System User Manual SCARA CE Series 115 ...

Страница 116: ...face locations are as shown in Figure 7 22 Table7 5 System pin definition table Figure7 22 System output input connector seat Pin Name Function Pin Name Function 1 DI3 Reserved 11 DO3 In place status 2 DI4 Mode selection 1 12 DO3 3 DI5 Mode selection 2 13 DO4 Function Pause Status 4 DI6 Project run 1 14 DO4 5 DI7 Project run 2 15 DO5 Project run status 6 DI8 Abnormality alarm reset 16 DO5 7 DO1 Ab...

Страница 117: ...not connect too many DC signals otherwise it might cause the fuse to burn The wiring method for the input signal DI is as shown in Figure 7 24 Figure7 24 Input signal DI wiring Note 1 All system NPN sink connection is used for all DI signals 2 The power control box DC output connector already provides the N24G power please do not connect the System DI signal to other powers in order to prevent the...

Страница 118: ...ected output voltage signal is the controller voltage output The NPN wiring method is as shown in Figure 7 25 below Figure7 25 System DO controller voltage output NPN wiring The PNP wiring method is as shown in Figure 7 26 below Figure7 26 System DO controller voltage output PNP wiring Mixed NPN and PNP wiring method is as shown in Figure 7 27 below In the figure below PNP output wiring is used fo...

Страница 119: ... 29 System DO upper controller voltage output PNP wiring Upper controller mixed NPN and PNP wiring method is as shown in Figure 7 30 below In the figure below PNP output wiring is used for the lamp and NPN output wiring is used for the relay Figure7 30 System DO upper controller voltage mixed output wiring Note 1 Each DO output point can supply 40mA at most To activate heavy current load please ex...

Страница 120: ...e switch of TP to JOG When shifting to T1 25 Mode the combined JOG speed of the Robot will be lower than 250mm s If the combined speed is over 250 mm s the Controller will force the Robot to run at 250 mm s automatically Under this mode TP DROE can execute the robot operation but DI6 and DI 7 cannot be used to execute the program Run Pause Stop Auto Mode To execute the program automatic running pl...

Страница 121: ... workers might activate the robot by accident and causing danger 4 Please do not hang or place the keys randomly It should be kept safely with authorized users in order to ensure safe usage 5 Please differentiate the key switches using the symbols in Figure 7 32 below Auto mode T1 mode Figure7 32 Mode selection symbol 6 The mode selection switch can be installed outside the railing together with t...

Страница 122: ...rrent block resuming it will start execution from the next action STOP 1 0 The program stop function can be executed through external input signals resuming it will start execution from the first line of this process RUN 1 1 The program execute function can be executed through external input signals but this is only valid for Auto mode DI8 abnormality warning reset If error occurs to the Robot or ...

Страница 123: ...s descriptions SYSDO status system item ON OFF DO2 Means that the current robot motor servo is ON Means that the current robot motor servo is OFF DO3 robot in place status display The status descriptions of the system digital output SYS DO3 is as shown in Table 7 10 below Table7 10 SYS DO3 status descriptions SYSDO status system item ON OFF DO3 Means that the robot is currently moving Means that t...

Страница 124: ...tus SYS DO5 status ON OFF ON Program running Program run stop OFF Program run pause System Reserved DO7 controller preparation complete status display The status descriptions of the system digital output SYS DO7 is as shown in Table 7 13 below Table7 13 SYS DO7 status descriptions SYS DO status system item ON OFF SYS DO7 Means that the controller function preparation is complete Means that the con...

Страница 125: ...truct comprehensive robot safety protection The location of the safety connector is as shown in Figure 7 35 Figure7 35 Safety connector seat Connector pin definitions are as shown in Table 7 14 below Table7 14 Safety connector pin definition table Pin Name Description 1 NC1 Connects to external emergency switch 2 NC1 3 NC2 4 NC2 5 NO1 Connects to external grating of protective stop signal 6 NO1 7 ...

Страница 126: ...top button must have 2NC contact If only 1 NC contact is connected the power control box will have emergency stop abnormalities continuously Please do not connect one 1NC contact to Pin1 Pin4 of the safety connector simultaneously this will cause the safety level of the system to decrease Please construct according to the entire actual equipment and install one or more emergency stop buttons When ...

Страница 127: ...stem to become abnormal continuously Figure7 37 Wrong wiring of a single NC emergency stop Figure 7 38 below shows when only a single emergency stop button NC is used and the safety signal is connected This wiring method is wrong do not use such a wiring method Such connection will result in a decreased safety level of the entire system Figure7 38 Wrong wiring of a single NC emergency stop with sa...

Страница 128: ...ttons Pin5 Pin8 of the safety connector are the safety protection contacts users can install railings safety grating pressure pad or laser scanner etc according to their needs The wiring of multiple safety protection is as shown in Figure 7 40 below Please refer to the safety protection construction and installation descriptions for the installation requirements of the safety protection Figure7 40...

Страница 129: ...Delta SCARA Robot System User Manual SCARA CE Series 129 ...

Страница 130: ...ll generate magnetic force to keep the door lock bolt securely in place and prevent users from accidentally opening the door and entering the railing causing danger The power switch of the electromagnetic safety door lock can be installed inside the railing so that when workers are accidentally trapped inside the railing they only need to turn off the power switch to release and electromagnetic sa...

Страница 131: ...ns are as shown in Table 7 15 Note 1 The power provided by the DC output connector is DC24V 1A Do not use this connector with other DC power or else it will cause the fuse to burn 2 Do not randomly change the fuse of this DC output connector or else it might result in burning of the cable Figure7 43 DC output connector location Table7 15 DC output pin definition Pin Name Description 1 DC24V Connec...

Страница 132: ...ram operations If safety door is open fence is triggered in the T1 mode and Auto mode must press the Enable switch in the middle position to perform JOG teaching and automatic program execution The JOG speed will be limited to 250mm sec when TP is in T1 mode When using TP to operate the Robot do not stand within the working scope of the Robot to prevent from getting hit by the Robot When using TP ...

Страница 133: ...e the TP from the Electrical Control box set the Electrical Control Box to OFF position and then perform the dismantling After TP is removed please install the TP Bypass connector included in the accessory pack onto the power control box or else abnormalities will occur and it cannot be operated is as shown in Figure 7 46 Auto mode should be used bypass connector included in the accessory pack Fig...

Страница 134: ... TP handheld teach pendant Since the cable length of TP is 5m please hang TP next to the safety railing when not in use and select a suitable height so that it is easily accessible As shown in Figure 7 49 below Please put away the TP cable properly placing it on the floor might result in damages to the cable from being stepped on by workers Figure7 49 TP installation location Physical buttons Touc...

Страница 135: ...in Figure 7 50 Figure7 50 RS 232 485 connector location In order to ensure that there is no interference for data transmission please use twisted pair cables with isolation nets for the connections The RS 232 485 pin definitions are as shown in Table 7 16 Table7 16 Serial transmission RS 232 RS 485 connector function definition table Pin Name Description 1 RS485 Driver end data transmission differ...

Страница 136: ...ugh the Delta DROE software Edit robot language and save the program into the controller to perform project management Jog the robot set the origin and reset the origin etc Servo and robot related parameter settings Execute I O monitoring Alarm troubleshooting For detailed operation of DROE software please refer to the description contained in Delta DROE Operation Manual The connection method of t...

Страница 137: ...NET communication port A maximum of 12 Delta product workstations equipped with the DMCNET function can be connected through DMCNET connection as shown in Figure 7 53 Note 1 When an external driver is connected to the DMCNET connection if the power control box is a 6 axes power control box a maximum of 4 axes external driver can be connected if the power control box is a 7 axes power control box a...

Страница 138: ...f the electromagnetic contactor is done by using the upper controller or emergency stop to cut off the AC power supplied to the driver as shown in Figure 7 54 below Figure7 54 Power control box with external driver system architecture Input voltage and phase count 21 220V 1 Phase 23 220V 3 Phase Drive rated power 01 100W 02 200W 04 400W 07 750W 10 1KW 15 1 5KW 20 2KW 30 3KW Product name AC Servo D...

Страница 139: ...cting with COM point the user may select input signal as PNP or NPN Figure7 55 ASD DMC RM32MN Shorting between COM and 24V Common point of input signal is GND Shorting between COM and GND Common point of input signal is 24V Output Module ASD DMC RM32NT 32 point Output Module Type of output signal NPN Rating of output current 100mA 1 point Type of output circuit Transistor Figure7 56 ASD DMC RM32NT...

Страница 140: ...ine or wiring by yourself or use with other controllers Our company will not be held responsible for any injuries or fatalities caused by accidents that resulted from doing so Please use our company s handheld teaching pendant and installed it on the controller DCS 1B00 CA to perform manual operations and edit programs Do not on flammable or toxic processing lines Carefully select the model accord...

Страница 141: ...switch key Do not place it randomly or leave it inserted on the selection switch as doing so may result in the personnel activating the robot accidentally causing injuries to the workers Please do not stand within the moving range of the robot when teaching the robot manually for the first time in order to prevent danger from occurring due to being unfamiliar with the operations Please use slow sp...

Страница 142: ...ncy stop and Enable switch Doing so will lower the safety performance and level even lose the safety protection Short circuiting of any safety protection signals on the controller is strictly prohibited otherwise our company will not be held responsible for any work accidents that occurred When operating the robot all personnel are prohibited to stand close or within the robot working range doing ...

Страница 143: ...bot installation The installation of the robot should be as shown in Figure 8 1 below lock the base on a flat surface using M8 screws flat gaskets and lock it tight by using the locking torque 20N m instructed Figure8 1 Robot installation screw lock position 4 M8 oval screws DRS40 50 60 70L series DRS60H series ...

Страница 144: ...se it will cause malfunctions Figure 8 2 shows the cooling illustration of the controller Figure8 2 Controller cooling 2 When installing the controller in order to make the cooling cycle work well please keep a distance of at least 150mm in front and back of the controller and reserve at least 100mm space on the left side of the controller Figure 8 3 shows the cooling distance and space requiremen...

Страница 145: ...is installed outside the equipment of the final system integrator please make sure that the height of the power control box is at 0 6m to 1 7m between Such a height makes it easier for users to operate the controller and to turn the controller power on and off Figure 8 4 below shows the height requirement for the installation of the controller Figure8 4 Controller installation height 0 6m H 1 7m 1...

Страница 146: ... Figure 8 5 showsthe space used when the power control box door is opened Figure8 5 Controller box door open space 6 When fixing the power control box in place please do as shown in Figure 8 6 below and use 2 L shaped plates to keep the two sides of the controller tightly together and fixed in place Figure8 6 Controller installation fixture method Fixture plate Fixture plate 448mm 225mm 866mm 180 ...

Страница 147: ...d accidentally starting the robot Even if the railing is closed the safety switch will not be activated without the key to switch the safety switch to Lock mode When the safety switch with the attached key is selected please select so that the key can be removed at any position otherwise there will be the risk of anyone can switch the safety mode randomly Please also install one or more safety swi...

Страница 148: ...ng signal is as shown in Figure 8 9 below The safety signal contact on the controller must be a voltage free contact the use of live signal will cause damages to the components inside the controller Figure8 9 Wiring example of multiple safety railing signals Safety switch outside railing Robot working range Safety switch inside railing Danger area ...

Страница 149: ...r too low or else it will be difficult to operate during emergencies Please install more than one emergency stop buttons according to the actual length of the equipment the distance between the emergency stop buttons must not exceed the length of the two arms of a person in order to ensure that the emergency stop button can quickly be pressed during an emergency situation Please refer to the insta...

Страница 150: ...ing Figure8 11 Example of installing multiple emergency stop buttons inside the railing If the final system integrator installed additional emergency stop signals they must be connected to the emergency stop signal of the robot using serial connection in order to ensure the safety of the entire system The wiring method of multiple emergency stop buttons is as shown in Figure 8 12 The emergency sto...

Страница 151: ...wiring according to your actual needs Please install the user interface at an appropriate height at higher 0 6m to 1 7m between so that it is easier for users to operate Improper operation interface height can easily cause risks to exist in terms of usage Please install the user interface outside the railing in order to ensure the safety Please refer to Figure 8 13 below for an example on operatio...

Страница 152: ...shown in Figure 8 14 below Figure8 14 Robot cable connection figure When installing the robot cable on the robot and controller please lock the connector and fixture seat properly in place otherwise it can easily cause poor signal contact and other dangers As shown in Figure 8 15 below Figure8 15 Locking the connector fixture seat Lock Lock ...

Страница 153: ...ts inside the robot Only pneumatic system connection pipelines are provided for the robot arm system integrators should install the final actuator and pneumatic system according to EN ISO 4414 The pneumatic piping enters from the base at the bottom of the robot and connects to the head as shown in Figure 8 16 below Figure8 16 Air pipe path inside the robot Air Input Air Output DRS40 50 60 70L seri...

Страница 154: ...anual SCARA CE Series 154 Detailed locations of the robot air pipe are as shown in Figure 8 17 below Figure8 17 Detailed locations of the robot air pipes Air Output Air Input DRS40 50 60 70L series Air Input Air Output DRS60H series ...

Страница 155: ...s to use when installing fixture sensors at the TCP terminal The signal circuit enters from the base at the bottom of the robot and connects to the back of the head as shown in Figure 8 18 below Figure8 18 Signal path inside the robot Output Input Signal connector DRS60H series Input Output Signal connector DRS40 50 60 70L series ...

Страница 156: ... provided inside the robot when the customer is installing sensors at the TCP terminal Figure8 19 Wiring example connecting the sensor using the robot connector Air tube Sensor cable Sensor signal to Controller Air tube Clamp DRS60H series Sensor cable Clamp Sensor signal to Controller Air tube Air tube DRS40 50 60 70L series ...

Страница 157: ...nspection of the entire system one last time 8 4 1 Emergency stop signal check 1 Unplug the safety connector take a multimeter and set the Ω gear to the lowest gear 2 Reset all emergency stop buttons 3 Measure Pin1 and 2 of the safety connector the reading on the multimeter must be 0 5Ω as shown in Figure 8 20 below Figure8 20 Reset emergency stop signal and measure Pin1 and 2 4 Measure Pin3 and 4...

Страница 158: ...e emergency stop signal and measure Pin1 and 2 7 Measure Pin3 and 4 of the safety connector the reading on the multimeter must be as shown in Figure 8 23 below Figure8 23 Press the emergency stop signal and measure Pin3 and 4 8 Reset the emergency stop button pressed 9 Press a second emergency stop button and repeat steps 5 6 and 7 until all emergency stop button signals have been checked ...

Страница 159: ...ty signals 3 Measure Pin5 and 6 of the safety connector the reading on the multimeter must be 0 5Ω as shown in Figure 8 24 below Figure8 24 Turn off railing safety signal and measure Pin5 and 6 4 Measure Pin7 and 8 of the safety connector the reading on the multimeter must be 0 5Ω as shown in Figure 8 25 below Figure8 25 Turn off railing safety signal and measure Pin7 and 8 5 Turn on one of the ra...

Страница 160: ...n railing safety signal and measure Pin5 and 6 7 Measure Pin7 and 8 of the safety connector the reading on the multimeter must be as shown in Figure 8 27 below Figure8 27 Turn on railing safety signal and measure Pin7 and 8 8 Reset the emergency stop button pressed 9 Press a second emergency stop button and repeat steps 5 6 and 7 until all emergency stop button signals have been checked ...

Страница 161: ...ble check Connect the robot cable on the robot and controller the connector must be locked tightly and the connector should not be loose The location to check is as shown in Figure 8 28 below Figure8 28 Location of robot cable to check DRS40 50 60 70L series DRS60H series ...

Страница 162: ...r DI O signal check Check whether the controller DI O signal connections are correct The controller DI O signal is DC 24V signals using NPN or PNP connections it cannot be connected to the AC power Check whether all connectors on the controller and robot are tightly locked ...

Страница 163: ...n check Check whether the air hose of the robot is loose the air hose should not come off from the air hose connector as shown in Figure 8 29 Figure8 29 Location of robot air hose to check Output Input Signal connector DRS60H series Input Output Signal connector DRS40 50 60 70L series ...

Страница 164: ... check 2 Check the ground cable of the power grounding system please use a grounding cable of 10mm or above the location of the grounding cable is as shown in Figure 8 31 Serrated washes must be used when connecting the grounding cable in order to effectively prevent the grounding cable from coming loose Figure8 31 Controller grounding cable check 3 Please check whether the input power range is 20...

Страница 165: ...ernal emergency stop buttons 4 Turn off all railings 5 Turn on the controller power 6 Press the emergency stop button on TP Alarm 003 Controller input power abnormal must appear on TP 7 Reset the emergency stop button on TP 8 Reset the abnormal signal 9 Press the external emergency stop button Alarm 003 Controller input power abnormal must appear on TP 10 Reset the external emergency stop button 1...

Страница 166: ...pter 6 3 Robot operation direction carefully before performing operations When executing operations manually please be careful not to place hands on the hole on the head of the robot because the worker s hand might get caught when the operation to lower the Z axis is performed and may result in injuries as shown in Figure 8 32 below Figure8 32 Location of robot to be careful not to get pinched Whe...

Страница 167: ...in order to prevent hands from getting squeezed as shown in Figure 8 33 below Figure8 33 Location to be careful of when the Z axis slides down Brake release push button Z axis will slide down when heavy objects are hung on it DRS40 50 60 70L series Brake release push button Z axis will slide down when heavy objects are hung on it DRS60H series ...

Страница 168: ...side the railing in order to avoid getting hit by the robot during operation as shown in Figure 8 34 below The part with the slashes is the safe location inside the railing please perform operations from here Please be careful not to extend arms and legs into the operation range of the robot during operation Figure8 34 Working area and safe area of the robot inside the railing Robot operation rang...

Страница 169: ...t the power before connecting the location for connection is as shown in Figure 8 35 Figure8 35 Teach pendant connection location 2 During an emergency situation pressing the emergency stop button on the teach pendant can cut the power outputted to the robot from the controller Figure 8 36 below is the emergency stop button on the teach pendant Figure8 36 Location of the emergency stop button on t...

Страница 170: ...ion of the enable switch behind the teach pendant Figure8 37 Location of the enable switch behind the teach pendant 4 Please switch the operation mode to manual T1 mode mode At this time the status display on the teach pendant screen will change to press the enable switch behind the TP at the middle position and then press the button on the teach pendant screen to Servo ON the robot Figure 8 38 be...

Страница 171: ...f the teach pendant is as shown in Figure 8 39 below Figure8 39 Location of teach pendant physical buttons 7 When T1 mode is used to operate the robot the controller will automatically limit the moving speed of the robot to 250mm sec users cannot change this speed 8 Please refer to the software manual for details on teach pendant operations 9 When TP is no longer used please install the TP short c...

Страница 172: ...e repair personnel to get trapped Please remember to always carry the key when key switch is used do not leave the key on the safety switch of the railing 4 Press the emergency stop button inside the railing again to ensure the safety of the repair personnel inside the railing 5 Check the robot and eliminate the problem Please refer to the abnormality message and troubleshooting chapters for relat...

Страница 173: ...n to cut off the power sent to the robot from the controller as shown in Figure 8 41 You can also turn off the controller or the master power switch installed by the final system integrator Figure8 41 Press the emergency stop button 2 Since the J1 and J2 axes of the DRS series robots do not have brakes the robot can be pushed to the left or right as shown in Figure 8 42 Figure8 42 Push robot figur...

Страница 174: ...way from the robot as shown in Figure 8 43 Figure8 43 Save worker by lifting Z axis 4 Carry pull or drag the injured worker away from the equipment and send them to the hospital as soon as possible 5 Carrying the injured worker is not suitable for all injuries choose the most appropriate way to help the injured worker break away Lifting z axis DRS40 50 60 70L series Lifting z axis DRS60H series ...

Страница 175: ...roller will not send power to the robot the next time the power is turned on and it also ensures that the robot is in the power off status and the safety of the worker 2 Turn off the controller power Please turn the controller power switch to the left to turn off the power of the controller properly as shown in Figure 8 44 Figure8 44 Turn off the controller power 3 Confirm that the robot has come ...

Страница 176: ...to the mechanical components Protection devices and repair doors in the danger areas that need to be opened or removed regularly for the purpose of operations maintenance cleaning and configuration should be interlocking Personnel performing maintenance or repairs to the robot or robot system should receive the necessary process training in order to execute the tasks required And also use genuine ...

Страница 177: ...y MonthlySeasonally Every six months Yearly Screw End tool fixture screw OFF Robot base fixture screw Each axis reducer fixture screw Motor fixture screw Ensure the connector is completely in place Terminal mounting cable connector Robot cable connector Check appearance defects Robot appearance External cable Make sure there is sufficient lubricant Spline shaft Screw shaft Confirm each timing belt...

Страница 178: ...ribed in the table or similar quality oils to perform maintenance in order to ensure normal use of each component Table9 2 Oil table of the maintenance oil for each axis parts Part Lubrication component Lubrication interval Lubricant J1 J1 reducer Change motor MP No 2 Sumico Lubricant J2 J2 reducer Change motor MP No 2 Sumico Lubricant J3 Screw Run 50km AFB J4 Spline Run 50km AFB ...

Страница 179: ... absolute position data loss 5 When the battery is removed do not turn off the power in order to prevent absolute position data loss 6 When the absolute position data is lost the origin reset process must be performed again 7 Please use batteries with specifications that comply with Delta specifications otherwise it might cause damages to the machine Please refer to the battery specifications show...

Страница 180: ...Delta SCARA Robot System User Manual SCARA CE Series 180 Figure9 1 DRS CE series battery location Battery holder DRS40 50 60 70L series DRS60H series ...

Страница 181: ...ponents with same specifications if the component is damaged and needs to be replaced Randomly replacing components with different specification is prohibited our company is not responsible if problems occurred Randomly replacing components with different specification is prohibited doing so may result in reduced performance of the controller ...

Страница 182: ...Robot System User Manual SCARA CE Series 182 10 1 DCS controller bill of materials Figure 10 1 below are the locations of the components inside the DCS 1B00 CA controller Figure10 1 Controller internal parts layout ...

Страница 183: ... 32A AC 3 7 5kV Z1 Line Filter DELTA 16DPCG5C Ith 16A AC115V 250V MS Drive DELTA ASD MS 0721 F 750W 4 1PH 3PH AC200 230V QF1 No fuse break ABB S202 C10 2P10A Ui AC400V Ith 10A Uimp 6kV FU1 Fuse for MS drive COOPER Bussmann S501 5 R 5A 1P 250V FU2 Fuse for DC power supply COOPER Bussmann S505 2 R 2A 1P 250V FU3 FU4 Fuse for MS drive control COOPER Bussmann S501 3 15 R 3 15A 1P 250V FU5 FU8 Fuse for...

Страница 184: ...TP Enable switch IDEC HE2B M211PB AC 12 250VAC 0 5A DC12 30VDC 1A AC 15 250VDC 0 5A DC 13 125VDC 0 22A TP EMS IDEC XA1E BV313R 250V 1 5A AC15 30V 1A DC13 EV1 EV2 Cooling fan DELTA AFB0824SH SM37 16 26VDC TS1 Temperature Switch Sensata YS11A55B 7A 250Vac PCB1 Battery PCB Delta 5503100200 DC3 6V PCB2 Brake release PCB Delta 5503100300 DC24V PB1 Brake release push Button IDEC LB6ML M1T14W 600V 10A HL...

Страница 185: ...ting tasks must be performed by personnel with related licenses in order to guarantee the safety properly Personnel without related licenses must not perform troubleshooting tasks Randomly replacing components inside the controller is prohibited because components that do not comply with the specifications might result in damages to the controller or danger occurring Our company will not be held r...

Страница 186: ...505 2 R 2A FU3 DCS controller DC control power circuit high potential Controller unable to turn on Bussmann S501 3 R 3A FU4 DCS controller DC control power circuit low potential Controller unable to turn on Bussmann S501 3 R 3A FU5 Robot power control box other parts related circuits Operator interface displays E 013 safety stop Safety module unable to turn on Fan unable to operate Bussmann S505 2...

Страница 187: ...l shocks Please refer to the processes in Table 11 2 below to perform the replacement Table11 2 Fuse replacement steps 1 Open the power control box door and find the corresponding fuse to perform checking there are labels on top of the fuses that corresponds to the fuses 2 Please use the ohm gear of a multimeter to perform measurement of the fuse if it has an open circuit it means that the fuse ha...

Страница 188: ...re exceeds the component specification of 55o C then blocking actions will be performed to the safety circuit and the E 013 safety stop abnormality alarm will occur Solution 1 Check if the cooling fan malfunctioned and replace it with a fan with specifications listed in the specification table 2 Check if the installation environment complies with the distance specified in the manual 3 To eliminate...

Страница 189: ... 821 Robot stance does not match E 822 Point to point motion instruction target position exceeded working range of robot E 823 Line continuous path instruction target position exceeded working range of robot E 824 Space motion exceeded working range E 825 Forward kinematics conversion error E 827 Group does not exist E 829 Coordinates switch error E 82A User coordinates switch error E 82B Tool coo...

Страница 190: ... Memory abnormal E 018 Detector output abnormal E 019 Serial communication between controller and driver abnormal E 020 Serial communication between controller and driver timeout E 022 Main circuit power abnormal E 023 Advanced overload warning E 024 Internal encoder initialization magnetic field error E 025 Encoder internal error E 026 Encoder internal data reliability error E 027 Encoder interna...

Страница 191: ...itialization error E 235 Position command overflow E 245 Positioning timeout E 283 Driver positive limit E 285 Driver reverse limit E 289 Position counter overflow E 301 DMCNET synchronization failed E 302 DMCNET synchronization signal too fast E 303 DMCNET synchronization signal timeout E 304 DMCNET IP command failed E 500 STO function activated E 501 STO_A lost signal lost or error E 502 STO_B l...

Страница 192: ...erlap each other Please replace using other motion instructions or avoid instruction overlap Solution Abnormality warning reset E 80A motion instruction not ready Cause Motion command interpretation not ready unable to perform interpretation Inspection and disposal method Please return it to the dealer or original manufacturer for repairs Solution Abnormality warning reset E 841 arc instruction ou...

Страница 193: ...e configurations and settings of the visual system are correct Solution Abnormality warning reset E 852 conveyor belt tracking speed exceeded limit Cause Conveyor belt speed too fast Inspection and disposal method Lower the speed of the conveyor belt Solution Abnormality warning reset E 853 conveyor belt tacking visual parameter transmission timeout Cause Setting error in the user coordinates code...

Страница 194: ...tabilizer to convert the voltage to within the rated range 2 Check whether the input voltage of the main circuit is within the rated voltage range if this error still occurs please send the driver back to the dealer or original manufacturer for repairs Solution Abnormality warning reset E 003 under voltage Cause 1 Main circuit input voltage too low 2 Main circuit has no input voltage source 3 Powe...

Страница 195: ...ditions Inspection and disposal method Please return it to the dealer or original manufacturer for repairs Solution Abnormality warning reset E 009 position control error too large Cause External load too great Inspection and disposal method Please use a value within the maximum PayLoad range or adjust the PayLoad value Solution Abnormality warning reset E 011 encoder abnormal Cause 1 Encoder wiri...

Страница 196: ...witch activated 2 Insufficient servo server stability Inspection and disposal method Please return it to the dealer or original manufacturer for repairs Solution Abnormality warning reset E 016 IGBT overheated Cause 1 Continual use of driver while overloaded 2 Driver output short circuited Inspection and disposal method 1 Check whether the load is too great and please use a value within the maximu...

Страница 197: ...whether the communication cable is loose or disconnected and make sure the wiring is correct Solution Abnormality warning reset E 022 main circuit power abnormal Cause Main circuit power abnormal Inspection and disposal method 1 Check whether the RS power cable is loose or that there is no input power 2 Please connect the power properly if the power is normal and this abnormality warning still can...

Страница 198: ...coder high voltage error or encoder internal error Cause 1 Battery voltage too high 2 Encoder internal error Inspection and disposal method Check the driver to see whether the charging circuit and battery installation are abnormal voltage 3 8 V please use an ammeter to measure whether the battery voltage is more than 3 8 V Solution Reconnect the power and clear E 029 Gray code error Cause A circle...

Страница 199: ...off 3 Absolute position coordinate initialization was not completed after the absolute function was enabled 4 Battery power supply circuit has poor contact or disconnected 5 Electronic gear ratio changed Inspection and disposal method 1 Check whether the battery voltage is under 2 8 V 2 Do not replaced or remove the battery power while the driver control power is Off 3 Complete absolute coordinate...

Страница 200: ... Check whether the motor is an incremental type or has an absolute type encoder Solution Reconnect the power and clear E 06A absolute position lost Cause Absolute position coordinate initialization was not completed after the absolute function was enabled Inspection and disposal method 1 Complete absolute coordinate initialization and the origin reset function and perform absolute position coordin...

Страница 201: ...thin specifications 5 If there are no improvements after the disposal methods above please return it to the dealer or manufacturer for repairs E 099 EEPROM needs upgrading Cause EEPROM needs upgrading Inspection and disposal method Please return it to the dealer or original manufacturer for repairs Solution Reconnect the power and clear E 111 DMCNET packet receive overflow Cause Two or more packet...

Страница 202: ...iggered but the return to origin process was not yet completed 3 When E 060 and E 062 occurs Inspection and disposal method Perform the origin reset process Solution Reconnect the power and clear E 245 positioning timeout Cause Position mode positioning timeout Inspection and disposal method Please return it to the dealer or original manufacturer for repairs Solution None ...

Страница 203: ...Delta SCARA Robot System User Manual SCARA CE Series 203 台達電子工業股份有限公司 33068 桃園市桃園區興隆路 18 號 TEL 886 3 3626301 FAX 886 3 3716301 本使用手冊內容若有變更 恕不另行通知 ...

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