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Functions 1. Part Names and Functions

④

LINE NO./STATUS LED

When a program is being executed, this shows the line number of the program being exe-

cuted. When an error occurs, the error number is shown.

⑤

Indicator panel LED

The individual LEDs show the following information.

Symbol Meaning

Function

E. STOP

Emergency stop

Lights under emergency stop

SAFE GUARD

Safeguard

Lights when safeguard is open

TEACH

Teach

Lights when in TEACH mode

AUTO

Automatic

Lights when in AUTO mode

S. ERR

System error

Lights when CPU is inoperable

When a system error has occurred, please be careful since LEDs other than S. ERR and E.

STOP may not function properly.

⑥

Front panel mounting screws

Removing these four screws allows front panel removal.

The front panel has a circuit board and cooling fan attached by cables. When removing

the front panel, please do not pull hard.

⑦

Mounting bracket

These are brackets for mounting the controller. Use these brackets to mount the controller

to a post of a base table, stand or other suitable location. The brackets alone cannot sup-

port the controller.

)

NOTE

Содержание SRC-320 ABS

Страница 1: ...SRC 320 ROBOT CONTROLLER Rev 9 EM01OC897F External E STOP...

Страница 2: ...ROBOT CONTROLLER SRC 320 Rev 9...

Страница 4: ...ments or unauthorized repair attempts 4 Damage caused by natural disasters such as earthquake flood etc Warnings Cautions Usage 1 If the robot or associated equipment is used outside of the usage cond...

Страница 5: ...444 E MAIL robot infos epson de NOTICE No part of this manual may be copied or reproduced without authorization The content of this manual is subject to change without notice We ask that you please n...

Страница 6: ...use the robot outside of the usage conditions and product specifica tions described in the manuals Doing so will not only adversely affect the life of the product but may also present a serious safety...

Страница 7: ...e manipulator and the controller make sure the M CODEs matching codes match The M CODEs are written on the yellow labels which appear on the back sides of both the manipulator and the controller Also...

Страница 8: ...ipment and basic robot settings The maintenance volume describes the such things as a power supply circuit sche matics parts replacement trouble shooting etc 4 Reference manual A manual that describes...

Страница 9: ...parately ac cording to each model of manipulator it may be connected to Please refer to the de scription of the relevant model as specified with the initials as follows If your manipulator model is ei...

Страница 10: ...area while it is moving when s he tries to remove the connector from the TEACH port to connect another connector The improvements at Rev 4 z Addition of a new volume specifically on the maintenance ro...

Страница 11: ...witch 25 4 2 Safeguard input functions 27 4 3 Pin assignment of REMOTE1 30 4 4 Circuit diagram and example wiring of REMOTE1 32 4 5 Wiring example for external emergency stop circuit 33 5 When Not Usi...

Страница 12: ...SU Board 93 4 1 Layout and function of PSU board parts 93 4 2 Errors related to the PSU board 94 4 3 PSU board inspection and replacement 94 4 4 ENC 5V encoder 5V power supply adjustment 95 5 Motor Po...

Страница 13: ...2 Fan replacement 127 13 Front Board 128 13 1 Front board inspection 128 13 2 Front board replacement 129 14 Option Boards 130 Additional RS 232C board replacement 130 15 Trouble Shooting 131 15 1 Er...

Страница 14: ...xii...

Страница 15: ...unctions The Functions volume describes the basic functions of the controller Please refer to sections in this volume for safety features connection to the other peripheral equipment and standard sett...

Страница 16: ...t exist exist exist not exist Setting of the jumper pins XP1 on the motor power unit short short open open short ES series EL series EC series EH series Controller name SRC 320 ABS device for absolute...

Страница 17: ...ached to the TEACH port when shipped PC cable for SPEL Editor or SPEL for Windows option SPEL Editor and SPEL for Windows are designed so that the robot is operated from outside the safeguarded space...

Страница 18: ...UTO Automatic Lights when in AUTO mode S ERR System error Lights when CPU is inoperable When a system error has occurred please be careful since LEDs other than S ERR and E STOP may not function prope...

Страница 19: ...nor mally closed so that if no cable is connected the robot is in the emergency stop condition and will not operate Connect a normally closed emergency stop switch with the cable connector that came a...

Страница 20: ...r ground wire is used in addition to the one included with the power cable M CODE label A label on which the M CODE matching code with the manipulator is shown Also the length of the power cable and s...

Страница 21: ...it appears after removal of the front panel is shown in the figure below Please do not pull hard when removing the front panel A cooling fan and the indicator panel are attached to the front panel and...

Страница 22: ...the main body To remove the MPU board loosen the screws and then pull on the mounting bracket Please do not pull the screws Safety cover This safety cover prevents tools and such from being inserted o...

Страница 23: ...r the emergency stop circuit in a system with multiple robots differs from the way how the circuit is connected in a system with a single robot Refer to the 4 REMOTE1 in this volume for further detail...

Страница 24: ...of the motor z Torque irregularity detection Detects irregular motor output z Speed irregularity detection Detects irregularities in motor speed z Servo overflow detection Detects the difference betwe...

Страница 25: ...ing mechanism 2 1 Unpacking The controller weighs 24kg standard When moving the controller use a hand cart If unavoidable to move it by hand be sure to hold by two persons Do not hold the pulls on the...

Страница 26: ...from water z Keep away from shocks or vibrations z Keep away from sources of electronic noise If it s not avoidable to use the controller in the environment that does not fulfill the above mentioned c...

Страница 27: ...e controller directly on the floor You may remove the bottom side mounting bracket if it is in the way 4 The top surface corresponding to the right side when the controller is placed horizon tally has...

Страница 28: ...ntroller Sensitivity 15mA Ground Be sure to use a grounded power source If you install an earth leakage breaker in the AC line please use one that does not induce more than 10kHz inverter type If you...

Страница 29: ...r appear below Item Specification Components 41 wires 0 26 mm AWG 14 Conductor Outer diameter 1 9 mm typical Color Brown blue AC power green yellow ground Outer diameter 3 5 mm typical Insulator UL St...

Страница 30: ...correspond to the length which appear on the yellow labels mentioned above It is necessary to connect the various cables as shown in the figure below in order for the robot to operate Manipulator Safe...

Страница 31: ...e Emergency Stop mode and will not function Details concerning necessary procedures when the operating unit is not being used appear in 5 When not us ing the operating unit in this volume PE F GND ter...

Страница 32: ...connector The details regarding I Os appear in 6 I Os in this volume and details regarding RE MOTE3 appear in 7 I O Remote Set Up in this volume RS 232C 20 21 If you have communications units connect...

Страница 33: ...g power to a piece of equipment which may cause noise z Use a twisted pair motor power line z Do not run AC power lines and DC power lines in the same wiring duct and separate them by at least 200 mm...

Страница 34: ...t an element such as a rectifying diode as close as possible to the inductors as shown below Choose rectifying diodes adequate to the inductors Inductor Diode z For AC motors induction motor 3 phase i...

Страница 35: ...pendant with an enable switch and emergency stop switch when performing the teaching operation within the safeguard space Use PC cable with an enable switch when you connect a personal computer to the...

Страница 36: ...n command can be executed even if the enable switch is not pressed The condition that a robot can be operated is called the enable condition REMOTE1 and REMOTE3 have Enable condition output terminal M...

Страница 37: ...of computer please refer to the computer manual Also in order to ensure safe operation be sure include an emergency stop switch and an enable switch Wiring example TEACH port RS 232C port of PC Signal...

Страница 38: ...manipulator The interlock switch of this safeguard should be connected to RE MOTE1 Safety functions such as momentary interruption of the program and switch to low power mode are activated when the s...

Страница 39: ...s always detected even if one of the circuits fails An error is displayed in the event of a failure Therefore we recommend dual redundant wiring for the safety gate interlock switch If an open safegua...

Страница 40: ...omputer on which SPEL Editor or SPEL for Windows is running is connected to the TEACH port the message to show the safeguard is open is displayed on the screen Refer to the SPEL Editor or SPEL for Win...

Страница 41: ...PEL for Windows manuals for details on the operating methods AUTO mode In AUTO mode the safeguard must be closed for the robot to operate When the safe guard is opened during operation there is a quic...

Страница 42: ...and POWER HIGH equals LP OFF When power is applied to the controller the initial start up corresponds to POWER LOW so that the robot is always in low power state Safeguard OPEN or safeguard open signa...

Страница 43: ...confirming that there is no person in the safeguard 2 Push the latch release switch In case that the jumper pins XP4 and XP5 on remote board are set between 1 and 2 3 Enter the POWER HIGH or LP OFF c...

Страница 44: ...ion 17 Motor power on output Output from motor power condition 5 Dynamic brake relay input 2 Input to shut down the motor power when the emergency stop switch is pressed 18 Emergency stop switch out p...

Страница 45: ...power from the controller only Connecting other power sources such as 24V power for the user cable or 24V outside power source should be avoided 3 There are two safeguard inputs provided for REMOTE1 W...

Страница 46: ...power condition output 17 Motor power condition output 10 11 Common GND 23 24 Common DC 1 14 12 13 24V output 25 26 24V GND output GND DC Same circuit as above Same circuit as above Same circuit as a...

Страница 47: ...e robots motor power can be shut down via safety relay REMOTE1 6 24 V output for emergency stop circuit 5 Dynamic brake relay control input 19 Emergency stop output to the contact 18 Emergency stop ou...

Страница 48: ...nd 5 and 18 when an emergency stop circuit is not used REMOTE1 6 24 V output for emergency stop circuit 19 Emergency stop output to the contact 18 5 RGND 24 V Short circuit E stop switch of REMOTE2 OP...

Страница 49: ...ke a mode switching circuit using the pin assignment and wiring example for reference For safety reasons a key switch shall be used If nothing is connected to the mode switching terminal TEACH mode wi...

Страница 50: ...input 18 Auto mode input 10 24V GND 20 24V GND 20 11 1 10 REMOTE2 connector Controller side 19 12 1 10 20 11 2 9 REMOTE2 connector Cable side details for wiring Wiring example Emergency stop input cu...

Страница 51: ...OTE3 z RS 232C 20 21 I O 1 REMOTE3 You can set up all functions except the display of operating unit at I O 1 and use it as the console The general procedures for doing so are explained below For deta...

Страница 52: ...puts and 16 outputs multiplied by the number of I O boards The maximum number of input and output point is 128 When you are connecting wires see 2 6 Noise countermeasures in this volume P TYPE I O boa...

Страница 53: ...nput current 5mA typical with input of DC 24V Input circuit diagram and wiring example I O 1 1 Input No 0 7 common GND 2 Input No 0 3 Input No 1 4 Input No 2 5 Input No 3 6 Input No 4 7 Input No 5 8 I...

Страница 54: ...ion voltage 1 0V Output circuit diagram and example of connections I O 1 19 Output No 0 20 Output No 1 21 Output No 2 22 Output No 3 23 Output No 4 24 Output No 5 25 Output No 6 26 Output No 7 28 Outp...

Страница 55: ...120 4 2 18 34 50 66 82 98 114 29 Output 9 25 41 57 73 89 105 121 5 3 19 35 51 67 83 99 115 30 6 4 20 36 52 68 84 100 116 31 Output 10 26 42 58 74 90 106 122 7 5 21 37 53 69 85 101 117 32 Output 11 27...

Страница 56: ...the controller Connections that differ from the setting can lead to failure of peripheral equipment After setting up the I O remote either keep a written record of the setup or use the MKVER command...

Страница 57: ...RROR output Output 10 7 Program No selection input 21 5 32 Emergency stop output 11 8 Program No selection input 22 6 33 9 Program No selection input 23 7 34 Safeguard output Output 12 10 Input common...

Страница 58: ...resume operation or RESET to finish the program signal START This signal is used to 1 initiate execution of program 2 resume operation from the pause state In order to have the program executed from...

Страница 59: ...s NOT being output and that the RESET output signal is being output when the following sig nals input to the REMOTE3 START HOME MOTOR ON MOTOR OFF MCAL and Program No HOME This signal is output when t...

Страница 60: ...MOTE3 I O REMOTE2 OPU 300 OPU 320 Factory settings standard specification In TEACH mode the console is the teaching pendant TP 320 or a personal computer con nected to TEACH port In this case all inpu...

Страница 61: ...ware switch setting OFF ON RESET input V PAUSE input V START input V HOME input V Program number input V MCAL input V Motor power on input V Input from REMOTE3 Motor power off input V RESET input V PA...

Страница 62: ...from REMOTE3 Motor power off input RESET input PAUSE input V START input HOME input Program number input MCAL input Motor power on input Input from REMOTE2 Input from OPU 300 OPU 320 Motor power off i...

Страница 63: ...s as the number of tasks started up and the commands being executed Do not input signals until after you have checked the output condition of the remotes and determined that the signals can be input T...

Страница 64: ...mode s output is turned ON and the earlier mode s output is turned OFF after 30ms When mode output switches START output turns ON momentarily In the example below is of switching from TEACH to AUTO T...

Страница 65: ...mmand the robot to operate If these are input when the motor power is OFF an error occurs When MCAL is input MCAL output turns ON in 40ms After MCAL operations are completed MCAL output turns OFF When...

Страница 66: ...am end 5 ms PAUSE input and RESET input PAUSE output turns ON and START output turns OFF 230ms after input of PAUSE but only when the QP command is ON When the QP command is OFF PAUSE output will not...

Страница 67: ...FF The PAUSE state is maintained while the Safeguard input is ON the Safeguard open is latched Safeguard output turns OFF 5ms after the Safeguard input turns OFF when the safety door is closed Close t...

Страница 68: ...ESET output to come ON differs depending on what is being executed at the time Immediately prior to completion of RESET operations START RESET output turns ON OFF momentarily AUTO input TEACH input AU...

Страница 69: ...ade In the chart below Motor Power ON input is used as an example Emergency Stop input Emergency Stop output START output RESET output Motor Power output RESET input Motor Power ON input 630 ms 5 ms 2...

Страница 70: ...9 pin D sub connector for the communications cable Use shielded twisted pair leads for the cable Clamp the shield to the hood as a noise countermeasure See 2 6 Noise countermeasures in this volume Pin...

Страница 71: ...is for CS control Because the controller does not perform RS control it cannot control transmissions from the connected equipment Controller Connected equipment connector Signal Pin No Pin No Signal...

Страница 72: ...tion protocol z XON XOFF control z CS control The standard controller has two RS 232 ports 20 and 21 You can determine the con figuration of both ports Which channel you use is determined by specifyin...

Страница 73: ...PEL Editor or SPEL for Windows See those manuals for details The shaded cells in the tables below are standard factory settings Please be careful not to change the settings of bits which are shown as...

Страница 74: ...hen power is turned off but they are initialized at the system initialization by MPU board DIP switch SD1 1 and all assume the OFF state SS1 Bit No Function ON OFF 1 Selection of the remote REMOTE3 I...

Страница 75: ...to axis 3 Disabled Enabled 3 Execution of SFREE command to axis 2 Disabled Enabled 4 Execution of SFREE command to axis 1 Disabled Enabled 5 Execution of operation command when there is a non excitat...

Страница 76: ...the DIP switches and jumper pins XP on the MPU board are shown in the figure below 1 2 3 4 5 6 7 8 ON Bit lever ON side Each DIP switch has bit levers Flipping a bit lever to the ON position gives th...

Страница 77: ...h the exception of additional RAM by inserting a board into the op tion slot OP slot on the rear panel Option Board current consumption Additional I O board 250mA Additional RAM Additional RS 232C boa...

Страница 78: ...stall additional I Os 1 Turn off the controller 2 Peel the connector number label from the label sheet and affix it to the handle of the I O board 3 Set the I O board s DIP switches To identify I O bo...

Страница 79: ...nual for details 2 Turn off the controller power and then unplug the power plug from power source so that the controller is locked out 3 Remove the four front panel mounting screws and take off the fr...

Страница 80: ...cute FORMAT A The file memory is formatted without erasing the current file memory contents When A is specified you will be prompted as follows FORMAT A RAM disk size adjust OK Y N Then if Y is entere...

Страница 81: ...nge them The addresses of the additional RS 232C are 22 23 Connector pin assignments and compatible connector are the same as those for 20 21 See 8 RS 232C in this vol ume for details The additional a...

Страница 82: ...power MOS FET I O Connector 50 pin D Sub 1 pcs Interface RS 232C 2 channels 20 21 Weight 24kg standard Dimensions Refer to 11 2 Outer dimensions on next page Power requirement AC 200 to 230V 10 Singl...

Страница 83: ...Functions 11 Specifications 69 11 2 Outer dimensions unit mm 230 or more 10 460 10 55 55 25 25 430 480 4 30 120 60 23 5 17 20 70 15 26 50 100 50 6 3 55 30 40 445 200 219 19 43...

Страница 84: ...Functions 11 Specifications 70...

Страница 85: ...Maintenance 1 Outline of Maintenance 71 Maintenance The maintenance volume describes the maintenance procedure for each part in controller SRC 320...

Страница 86: ...e to discharge the ca pacitors before starting maintenance Do not test the manipulator within the safeguard after replacing parts Use proper maintenance parts for the robot controller If incorrect par...

Страница 87: ...r month inspection schedule is different In this case each step of inspection should be added in every 250 hours 750 hours 1500 hours and 3000 hours operation Monthly 250 H inspection Daily inspection...

Страница 88: ...nside controller Inspection while the power is ON or while manipulator is moving Inspection item Point of inspection Daily Monthly Quarterly Biannual Annual Emergency stop switch on operating unit Ext...

Страница 89: ...Fixing screws of panels Covers of a controller can be taken off by loosening the following screws 1 Screws for upper cover 4 pieces 2 Screws for front panel 4 pieces 3 Screws for rear panel 8 pieces 1...

Страница 90: ...signal Rear panel I O board Driver safety cover Power switch Front view of interior AC servo driver for axis 3 AC servo driver for axis 1 AC servo driver for axis 2 TEACH port PRG No LED LINE No STAT...

Страница 91: ...Maintenance 2 Outline of Structure 77 2 3 Diagram of cable connections ES EC BN BNA RT3300...

Страница 92: ...Maintenance 2 Outline of Structure 78 EL EH BL XM3000...

Страница 93: ...NC 6 NC 7 4W 7 4Z 41 ENC 5V 7 SG 8 NC 8 4Z 42 ENC 5V 8 CD 9 3W 9 4S 43 EG 9 NC 10 2U 10 4S 44 EG 10 E STOP 11 NC 11 4HOME 45 1A 11 E STOP 12 NC 12 NC 46 1A 12 NC 13 3V 13 ENC 5V 47 1B 13 DG 14 2V 14...

Страница 94: ...E STOP 6 NC 6 NC 6 NC 6 IN 4 31 OUT 10 7 SAFE11 7 S ERR 7 RS 7 RS 7 IN 5 32 OUT 11 8 SAFE21 8 TEACH 8 CS 8 CS 8 IN 6 33 NC 9 CLR1 9 24V 9 NC 9 NC 9 IN 7 34 OUT 12 10 COM 10 RG 10 IN COM 1 35 NC 11 CO...

Страница 95: ...pply circuit is comprised of an earth leakage circuit breaker a noise fil ter a circuit that supplies 200 volts AC to the motor power unit and three PSUs switching power supply unit that supply 5V 12V...

Страница 96: ...hing power supplies PSU1 PSU2 PSU3 that output the vari ous voltages used inside the controller The voltages output by each power supply are shown below Model Input voltage Output voltage PSU1 LWT50H...

Страница 97: ...d Board MPU board Board REMOTE board Board I O board Board Additional RS 232C board Board Front board X71 AC servo driver Driver X3A X3D Motor power unit X28 Internal Parts Cooling fan X73 M C signals...

Страница 98: ...surface of PSU1 Proceed to the step 4 if both buttons have not come out Button of circuit protector Not activated status 3 If the button should come out it means that the power supply circuit connect...

Страница 99: ...PSU cover PSU has the high voltage parts When you adjust the 5V if a screwdriver touches around the variable resistor you may get an electric shock Insert the screwdriver straight to the variable res...

Страница 100: ...in the previous table 3 2 Power supplies from PSU Refer to the described method of disconnect ing for replacing each part Temperature of PSU may rise depending on the operating condition Check the su...

Страница 101: ...ctor X33 at 1 red and 2 black 22 8 to 25 2 24V Mother board X33 X32 X65 If the measured voltage from PSU2 or PSU3 is not proper replace the PSU referring the replacement procedure in the next section...

Страница 102: ...occurs disconnect the following connectors and boards one by one to determine the cause Test by turning ON the Controller each time a connector board is disconnected if the error will be canceled the...

Страница 103: ...troller has the capacitors charged high voltage To avoid an electric shock do not touch the dangerous high voltage parts marked with the orange label until the orange LED of motor power unit is faded...

Страница 104: ...he two screws at the each side of PSU cover and remove the cover from the PSU fixing plate 7 Remove the fixing screw of the PSU to be replaced Each PSU1 and PSU2 is fixed to the fixing plate with two...

Страница 105: ...o connectors X71 and X73 from the back side of the front panel 4 Remove the driver safety cover by taking out the three screws 5 Remove the AC servo driver unit of axis 4 z Disconnect the connectors X...

Страница 106: ...same so be careful not to misconnect 10 Insert the AC servo driver for the axis 4 again and secure it with four screws Be sure not to bend the connected cables forcibly or not to pinch 11 Connect the...

Страница 107: ...malities in the inter nal 24 voltage supplied to the servo driver and so on 2 Test pins XJ1 XJ2 XJ3 Test pins for measuring the power supply voltages Notation Function XJ1 DGND XJ2 ENC 5V check XJ3 5V...

Страница 108: ...pection and replacement Make sure the power is turned OFF when connecting or disconnecting the PSU board to avoid an electric shock Mount circuit boards of a controller in fixed slots 1 Turn OFF the c...

Страница 109: ...voltage at EGND and ENC 5V of the X31 connector that you pulled out without disconnecting Check that the voltage is between 4 80V and 5 05V Manipulator EGND ENC 5V Standard BN BL CL XM3000 RT3300 pin...

Страница 110: ...X26 X29 X28 X20 HL1 M P HL2 ACF HL3 MPC 1 For EL EH BL XM3000 series 1 LED HL1 HL2 HL3 A description of the monitoring performed by the LED in the motor power unit is shown in table Notation Name Colo...

Страница 111: ...control X25 X26 U V W AC servo motor U V W AC servo driver X21 X24 DC0V DC250V LED M P 15A X28 LED A FL LED MPC Motor power control X20 FG FG AC 200V F1 SSR THS Voltage monitoring circuit Rectifier c...

Страница 112: ...ect the connectors that are attached to the back of the front panel 3 Wait until the orange LED M P on the front of the motor power unit is faded out completely 4 Remove the driver safety cover by tak...

Страница 113: ...error occurs the motor main power supply is shut down and you cannot check the voltage in step 4 That is the reason you have to switch to the non use of axis setting 3 Turn ON the controller and execu...

Страница 114: ...e is a possibility of malfunction of the motor power unit or the PSU board 6 After checking the voltage turn off the controller and set bits 5 8 of the MPU board s DIP switch SD2 as they were before 7...

Страница 115: ...r unit is faded out completely When the orange LED is faded out the high voltage capacitors are discharged Orange LED M P Temperature of the AC servo driver PSU and regenerative brake unit may rise de...

Страница 116: ...nit of axis 1 7 X3A X1A 8 Remove the connectors X20 to X26 and X29 of the motor power unit 9 Remove the screws from two places on the right side of the controller 9 10 Gently pull the motor power unit...

Страница 117: ...X3A Be sure not to bend the connected cables forcibly or not to pinch 16 Attach the driver safety cover Driver safety cover 16 16 16 15 15 17 Attach the upper cover of the controller 18 After connect...

Страница 118: ...rror condition 2 Power connectors X1A X1D Pin assignments for the power connectors are shown below Pin No Wire color Signal name Content 1 Brown Motor W phase Connect to W phase of motor 2 Red Motor V...

Страница 119: ...onnec tors from the back of front panel 2 Check that the connectors attached to the AC servo driver units are securely attached If the connection is loose reconnect it securely 3 With the front panel...

Страница 120: ...e parts marked with the orange label until the orange LED of motor power unit is faded out completely When the orange LED is faded out the high voltage capacitors are discharged Orange LED M P Tempera...

Страница 121: ...a tester to check whether the fuse of the driver that you removed is blown A blown fuse may indicate a short circuited motor power line Therefore before re placing the driver inspect the motor and th...

Страница 122: ...23GC 1 200 W ZA007110 R13ZA00711000 CACR 02 SU23GC ABS 2 3 100 W ZA007109 R13ZA00710900 CACR 01 SU23GC ABS BNA CL 4 50 W ZA007108 R13ZA00710800 CACR A5 SU23GC ABS 1 400 W ZA007105 R13ZA00710500 CACR 0...

Страница 123: ...er safety cover Driver safety cover 10 10 10 11 After connecting the earth line the connectors X71 and X73 to the front panel install the front panel to the controller Be sure to reconnect the earth l...

Страница 124: ...not initialize 2 Reserved for system Always off 3 to 8 A E Setting of manipulator model Do not change these settings SD2 Bit No Function ON OFF 1 M Use of additional RAM Yes No 2 V Sets capacity of ma...

Страница 125: ...for system Differs by model Jumper pins have been correctly set at the factory on the basis of your specification Careless changes to these settings could cause system failure Be careful not to chang...

Страница 126: ...ot training course held by the dealer or those who have carefully read the manuals and have equivalent knowledge or skill Controller has the capacitors charged high voltage To avoid an electric shock...

Страница 127: ...urs replace the MPU board See the next section to re place the MPU board 4 Insert the MPU board in the specified slot and push it in firmly Tighten fixing screws of mounting bracket of MPU board 5 Tur...

Страница 128: ...ve carefully read the manuals and have equivalent knowledge or skill Controller has the capacitors charged high voltage To avoid an electric shock do not touch the dangerous high voltage parts marked...

Страница 129: ...ain to attach the ROM chips in the correct direc tion by aligning the hollows of the ROM chips and sockets When replacing the MPU board Transfer the ROM from the old board to the new Set the new board...

Страница 130: ...front panel on the controller 7 Turn ON the controller again execute the following commands NEW Deletes the source program CLEAR Clears the position data VERINIT Initializes the system parameters FOR...

Страница 131: ...puts for emergency stop occurrence Open XP3 Also outputs for error occurrence Open XP4 XP5 1 2 Latches the state of safeguard open 2 3 Does not latch the state of safeguard open Jump 1 and 2 XP6 Uses...

Страница 132: ...ard 2 After loosening the remote board s upper and lower set screws pull the board out by the handle EXTERNAL E STOP 2 REMOTE board Handle 2 REMOTE 3 If you are replacing the entire board set the jump...

Страница 133: ...onnection Handle DIP switch SD1 I O board I O No Bit No DIP switch Slot assignment Board 1 I O 1 0 to 15 Turn all off I O slot Board 2 I O 2 16 to 31 Turn 1 on OP1 slot Board 3 I O 3 32 to 47 Turn 2 o...

Страница 134: ...l the board out by the handle 2 I O board Handle 2 OP1 slot OP2 slot OP3 slot OP4 slot OP5 slot OP6 slot OP7 slot 3 If you are replacing the entire board set the DIP switch SD1 in the same way as on t...

Страница 135: ...ch the dangerous high voltage parts marked with the orange label until the orange LED of motor power unit is faded out completely When the orange LED is faded out the high voltage capacitors are disch...

Страница 136: ...e unit backward 4 5 Mount the new regenerative brake unit in the controller with the two screws Be sure not to bend the cables forcibly or not to pinch 6 Connect the X80 connector to the regenerative...

Страница 137: ...the parts that you replaced Turn off the controller and remove the front panel 2 Turn off bits 5 to 8 of the MPU board s DIP switch SD2 Nonuse of axis setting Refer to the table of step 5 SD2 3 Turn...

Страница 138: ...5 Use bits 5 to 8 of the MPU board s DIP switch SD2 to set only the axis whose opera tion you are to check to exists The setting of exists of each axis is shown below bit 5 6 7 8 Axis 1 only exists O...

Страница 139: ...ally 8 After confirming that all axes excite normally set all the bits 5 to 8 of the DIP switch SD2 to on and install the front panel on the controller 9 Input TSPEED to confirm the specified value Fo...

Страница 140: ...not disconnect the cables from the back side of the front panel 2 Pull out the fan s filter It is attached to the back of the front panel Clean it by vac uum cleaner or wash and dry Fan safety cover...

Страница 141: ...and X71 connector 3 Unscrew the four screws that hold the fan in place Remove the fan and fan safety cover Spring washer and flat washer are used with the screw do not lose them 3 3 3 3 4 Install a n...

Страница 142: ...ly dis played when the program is executed S ERR LED HL8 Red Off AUTO LED HL 9 Green The LED is lit during AUTO mode TEACH LED HL10 Green The LED is lit during TEACH mode E STOP LED HL11 Red The LED i...

Страница 143: ...e same time One of the four screws has a crown washer to gether do not lose it 3 3 3 3 A crown washer is inserted into this screw 4 Make sure that HL8 to 12 LED lamps on a new board are not bent If th...

Страница 144: ...board manual for detail of the pulse generating board Additional RS 232C board replacement 1 Turn OFF the controller 2 Loosen the additional RS 232C board s upper and lower set screws and pull the boa...

Страница 145: ...END state ment is missing 3 SELECT statement corresponding to SEND state ment is missing 4 IF statement corresponding to ELSE ENDIF statement is missing 1 Make FOR statement 2 Make WHILE statement 3 M...

Страница 146: ...n exists between FUNC TION FEND Describe FEND so that FUNCTION corre sponds to FEND 18 Variable declaration is not at a head of statement line Variable declaration is not allowed after multi statement...

Страница 147: ...erflow receiving buffer is filled up and data continues to be transferred to RS 232C 34 Parity overrun or framing error due to RS 232C communication 35 36 Data over 80 characters is transferred to RS...

Страница 148: ...r to the SPEL for Windows manual or SPEL Editor manual for detail of backup operation 61 62 1 Filename is more than 8 characters 2 File cannot be opened 63 64 65 Disk reading error The file cannot be...

Страница 149: ...DEL the erroneous file If this error frequently occurs replace or repair the MPU board Refer to the section 7 3 in the main tenance volume 88 The I O bit is assigned as REMOTE3 89 I O board communica...

Страница 150: ...r of robot model data 1 Check the setting of the DIP switch SD1 on the MPU board Refer to the specifications table in the manipulator manual 2 If the setting is correct replace the MPU board Refer to...

Страница 151: ...s to a taught point manually and display the numbers of pulse of this point If the val ues of current are different too much from the numbers of pulse of taught point cali brate the manipulator Refer...

Страница 152: ...RVE contain point which has different arm attribute Refer to CURVE command of the reference manual 138 Free curve cannot be made by CURVE Verify that no two successive points overlap one another 139 R...

Страница 153: ...the maintenance volume of this manual 152 Arm motion exceeds maximum speed or acceleration 153 CP motion cannot decelerate and stop in specified distance 1 Prepare enough deceleration distance 2 Don...

Страница 154: ...ff check the connection of signal connector of the servo driver Refer to the section 6 2 of the maintenance volume 4 Consider the following Connection of the MPU board Replace U15 and U16 SCC on the M...

Страница 155: ...al and 2 3 Diagram of cable connection in the maintenance volume of this manual 2 If the red ALARM LED on AC servo driver is lit check disconnection or miscontact of signal line in the following in ma...

Страница 156: ...The filter is clogged 8 Ambient temperature around con troller is over 40 C 9 The motor power line is shorted or grounded 10 Other than the above 1 Eliminate external noise source and execute VERINIT...

Страница 157: ...ight and the WEIGHT setting of manipulator manual 3 Reduce operation speed of the robot Refer to ACCEL SPEED and WEIGHT command of the reference manual 4 Check each axis motion moving by the hand Ver...

Страница 158: ...efer to the section Re placing the timing belt of manipulator manual 5 Eliminate binding factor such as an obstacle 6 If the brake cannot be released with the brake release button at MOTOR OFF check t...

Страница 159: ...ot If the LED is off check the 24V output at PSU Refer to the section 3 3 in the maintenance volume 4 Replace the AC servo driver Refer to the section 6 3 in the maintenance volume 187 188 Driver dete...

Страница 160: ...liminate external noise source and execute VERINIT command Refer to the section 2 6 in the functions volume 3 In other case than the above take the fol lowing procedures Check inserted condition of MP...

Страница 161: ...ller power once and return axis 4 around the previous position 3 If the arm has been hit an obstacle there is a possibility of mechanical position deviation Execute MCORG command Refer to MCORG comman...

Страница 162: ...er switch is turned on The SYS ERROR lamp lights but no error code is displayed The emergency stop cannot be canceled The system does not operate at a set speed The operation speed is low The motor is...

Страница 163: ...d confirm that the sys tem operates normally 1 If the system operates nor mally the trouble is caused by an instantaneously power failure 2 Do the three red LEDs RES HSLT WDT on the MPU board light 2...

Страница 164: ...Connect the supplied TEACH port connector when a PC cable personal computer or teaching pendant is not connected to the TEACH port Section 3 3 in Functions volume 5 Is the emergency stop switch of th...

Страница 165: ...he weight of the end effector and conveyed object and set the measured value in the parameter of a WEIGHT command 2 Is LIMZ set to less than 150 mm in the model with an axis 3 stroke of more than 150...

Страница 166: ...Base table section in the Manipulator manual 4 Is vibration not propagated from pe ripheral equipment 4 Install the manipulator away from the vibration source or take vibra tion isolating measures aga...

Страница 167: ...exceed 8 000 hours in all 4 Examine the replacement of reduction gears in each axis 5 Does the operating time of a robot exceed 15 000 hours in all 5 Examine the replacement of an axis 3 ball screw sp...

Страница 168: ...in all 5 Examine the replacement of reduction gears in each axis 6 Does the operating time of a robot exceed 15 000 hours in all 6 Examine the replacement of an axis 3 ball screw spline unit 7 Does v...

Страница 169: ...f it is loose Cover removal sec tion in Manipulator manual 5 Is an abnormal sound generated from reduc tion gears 5 Replace the grease on the re duction gears If the abnormal sound is gener ated still...

Страница 170: ...rm that the power is supplied Section 6 1 and 6 2 in Functions volume 5 Are DIP switches on the I O board set properly 5 Confirm that DIP switches SD1 on the I O board are set properly Section 9 1 in...

Страница 171: ...roller again while pressing the three keys and of the operating unit at the same time The switch state is displayed on the screen Confirm that the display changes every time each switch is pressed If...

Страница 172: ...ion on the preceding pages occurs please copy the communication list on next page enter necessary items and send it to service center by facsimile Send the version data program list and position data...

Страница 173: ...s far as possible 1 Which type is the trouble Error code abnormal sound vibration generation frequency reproducibility etc 2 When does the trouble occur When the power is turned on during MOTOR ON MCA...

Страница 174: ...24V Motor power unit ZA007C01 R13ZA007C0100 SKP334 2 Regenerative brake unit ZA007A01 R13ZA007A0100 SKP342 2 AC servo driver for ABS 50 W ZA007108 R13ZA00710800 CACR A5 SU23GC ABS attached an ABS lab...

Страница 175: ...0 m ZA002034 R13ZA00203400 M C power cable L type 3 m ZA002037 R13ZA00203700 M C power cable L type 5 m ZA002038 R13ZA00203800 M C power cable L type 10 m ZA002039 R13ZA00203900 M C signal cable 3 m Z...

Страница 176: ...Maintenance 16 Maintenance Parts List 162...

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