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Estun ERSA-4C, Руководство по обслуживанию

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CONTROL  UNIT 

11 

 

4.

 

CONTROL UNIT 

4.1.

 

Introduction 

Control unit is the motion control center of the robot system. The unit, which performs motion control and coordinate control, 

is a kernel unit to receive instructions from the teach pendant and send control signals from the terminals.   

 

Fig 4.1 Interface Arrangement of Control Unit 

4.2.

 

Interface 

Tab 4.1 Interfaces of controller 

Interface 

Specifications 

Power Supply 

DC12V power supply. 

COM1 

Serial port for debug, not available for users. 

COM2 

CAN communication interface, connecting welder. 

CN2 

EntherNet communication interface, connecting teach pendant or camera. 

CN1 

EtherCAT  communication  interface,  connecting  servo  motors  and  I/O 

terminals. 

USB 

For debug. 

 

 

 

5.5

30

178

190

5.5

30

USB

CN1

CN2

COM1

Power Supply

COM2

22.5

114

45

114

160

116

Содержание ERSA-4C

Страница 1: ...ESTUN ERSA 4C Cabinet E 0301EN 01 MAINTENANCE MANUAL...

Страница 2: ...ESTUN ERSA 4C Cabinet MAINTENANCE MANUAL E 0301EN 01...

Страница 3: ...ecluded for which reason we are not able to guarantee total conformity ESTUN assumes no responsibility for any direct or indirect losses arising from use of this manual and products described herein T...

Страница 4: ...program from operator panel Programmer Operates the robot Teaches the robot inside the safety zone Maintenance engineer Operates the robot Teaches the robot inside the safety zone Maintenance repair a...

Страница 5: ...the operator panel or teach pendant Operation with gloved fingers could cause an operation error 10 Programs system variables and other information can be saved on memory card or USB memories Be sure...

Страница 6: ...al button of the controller that can stop the robot operation When emergency button is pressed the power of the robot except the power of the servo is cut off The system will not run unless the presse...

Страница 7: ...ble c Make sure that there is no one in the working space of the robot d Pay special attention to working condition of the maintenance parts when performing test Never use the manipulator as a ladder...

Страница 8: ...off and the robots stops immediately Servo power is turned off when the robot is moving the path of the deceleration in uncontrolled The following processing is performed at Power off stop An alarm i...

Страница 9: ...es hazardous voltage or electric shock 2 High temperature Warning Fig 0 2 High temperature Warning Be cautious about a section where this label is affixed as the section generates heat If you have to...

Страница 10: ...ot or controller as it may adversely affect the robot or controller and may get hurt if you lose your footing as well 4 Personal Injury Warning Fig 0 4 Personal Injury Warning Never enter the operatio...

Страница 11: ...Balance cylinder contains spring high pressure gas or liquid Never dismantle a balance cylinder without permission from ESTUN 6 No Disassembly Warning Fig 0 6 No Disassembly Warning Never perform disa...

Страница 12: ...wing manipulators Manipulator Type Load Capacity ERS6 500 6kg ERS6 600 6kg ERS6 700 6kg Related manuals ESTUN Robot ERS Series Mechanical Unit Operator s Manual ESTUN Robot ERSA 4C Cabinet Maintenance...

Страница 13: ...Functions 15 6 1 2 Signal Definition 15 6 1 3 Technical Parameters 16 6 2 Digital Input ER 1311 17 6 2 1 Functions 17 6 2 2 Signal Definition 17 6 2 3 Technical Parameters 19 6 3 Digital Output ER 23...

Страница 14: ...ing Procedure 36 12 1 1 Using a Crane to Move the Cabinet 36 12 1 2 Using a Forklift to Move the Cabinet 36 12 2 Place of Installation 36 12 3 Location 36 12 4 Connection 37 12 4 1 Notes on Cable Junc...

Страница 15: ...EQUIPMENT CONFIGURATION 1 1 EQUIPMENT CONFIGURATION 1 1 Configuration Configurations are subject to change according to different types of manipulators options and applications Fig 1 1 Exterior View 1...

Страница 16: ...700 1000 mm length width height Weight 20kg Protection Level IP20 Ambient Temperature 0 45 Need cooling equipment when ambient temperature exceed 45 Input Power Supply Single phase three wire AC220V 5...

Страница 17: ...n Tab 1 2 ESTUN Teach Pendant Parameters Teach pendant type ESTUN Teach pendant ERT72 Size length width height 265 210 110mm CPU 800MHZ Memory 128M Operation system Linux Color touch screen 7 inches P...

Страница 18: ...4 1 2 Arrangement of Units Fig 1 3 Upper Layer Arrangement ERS6 E2C P A ERS6 E2C P A WARNING Regenerative resistor reaches extremely high temperature max 100 200 during system operation Never touch th...

Страница 19: ...Fan unit One fan is used to cool interior units The filter fixed at the air inlet which is used to keep the interior cabinet clean needs to be replaced in daily maintenance 6 Connection port Reserved...

Страница 20: ...nction because of excessive high temperature inside The interior circulation fan and backside duct fan normally operate while the power is turned on Check if the fans are operating correctly by visual...

Страница 21: ...he lead cable for the power supply is wired as shown in the following If the wiring is wrong or broken repair it Input Power Supply Check Check the open phase voltage of input power supply with an ele...

Страница 22: ...Teach pendant panel Operation panel Check emergency buttons Check enable switches Confirm that all emergency buttons and enable switches can shut off the servo power Cables Teach pendant cables Other...

Страница 23: ...to 220V by a transformer This is for cabinet with 200V servo motors Cabinet with 400V servo motors has no transformer When temporary voltage interruption or drop or any driver alarm occurs turn off t...

Страница 24: ...et of emergency stop signal or a short circuit should be connected between the two pins Pin E004 and E008 correspond to pin 3 and pin 4 of DB9 plug A set of emergency stop signal or a short circuit sh...

Страница 25: ...rminals Fig 4 1 Interface Arrangement of Control Unit 4 2 Interface Tab 4 1 Interfaces of controller Interface Specifications Power Supply DC12V power supply COM1 Serial port for debug not available f...

Страница 26: ...CONTROL UNIT 12 4 3 Notes Fig 4 2 Dimension of Control Unit 5 5 30 178 190 5 5 30 USB CN1 CN2 COM1 22 5 114 45 114 160 116...

Страница 27: ...oid noise generated by signal lines 1 Separate high voltage cables from low voltage cables 2 Use cables as short as possible 3 Single point grounding is required for the servomotor and servo drive gro...

Страница 28: ...tor Control power supply terminals Regenerative resistor connecting terminals Servomotor terminals Ground terminal I O signal connector Used for reference input signals and sequence I O signals Encode...

Страница 29: ...les and send it to the main station Send computation result to extensive modules Info A coupler is generally equipped with built in power module 6 1 2 Signal Definition 1 Interface arrangement RJ45 In...

Страница 30: ...wer off Light on Substation power on Indicator Sys Rdy and Err are reserved for system Tab 6 4 RJ45 interface indicators definition Condition Specification Light off Substation power off Flash slowly...

Страница 31: ...1000 6 2 EN 61000 6 4 Standard Protection Level IP2X Certification CE 6 2 Digital Input ER 1311 6 2 1 Functions Function of digital input module 24VDC logical input signal is gathered and send to the...

Страница 32: ...e door normally closed input short circuit as factory setting 203 5 Emergency stop normally closed signal input 204 6 External program start 205 7 External alarm reset 206 8 Remote mode input 300 3 LE...

Страница 33: ...address by dial switch Electrical Isolation Isolation voltage 2kV Size W H D 112mm 113mm 22 5mm Weight About 200 g Working Temperature 0 40 Storage Temperature 25 55 Relative Humidity 50 95 no conden...

Страница 34: ...for 24V DC logical signal output and one extended interface Signal interface definition of ER 2341 is shown as below Tab 6 12 ER 2341 interface definition Pin Signal Pin Signal 1 2 3 4 5 6 7 8 9 10 1...

Страница 35: ...nal program initialization is completed and operating normally Indicator LK is used to show the communication condition of digital input module in sub station Tab 6 15 ER 2341 indicator LK definitions...

Страница 36: ...U type rail horizontally installed Anti shock and vibration performance Consistent with EN 60068 2 6 EN 60068 2 27 29 Anti electro magnetic interference radiation performance Consistent with EN 61000...

Страница 37: ...atch the slot under the coupler with T BUS terminals Mount either end to the guide rail and push the other end The coupler is installed after hearing click sound Install other extensive modules Instal...

Страница 38: ...mount the sub station Correct mounting direction Wrong mounting direction Fig 6 6 Mounting Direction 6 4 4 Dismounting There is a spring locks under each coupler and extensive module which will well...

Страница 39: ...to a certain number 0 F ID of each extensive module in the same sub station should not repeated Info Set ID in a sequence from left to right or from up to down For example if ER 1311 is No 1 the ID o...

Страница 40: ...ance such as frequency converter contactor servo driver etc as shown in the following figure 4 0 0 m m Interference Fig 6 9 Keep Away From Interference 2 Mounting Position Distributed sub module shoul...

Страница 41: ...INPUT OUTPUT UNIT 27 6 4 8 Module Dimensions 1 Coupler Dimensions Fig 6 11 Coupler Dimensions 2 Extended Module Dimensions Fig 6 12 Extended Module Dimensions 5 5 30 14 45 114 5 5 30 178 190 22 5 114...

Страница 42: ...r Light on No alarm Light off There is an alarm Indicator 3 4 Emergency stop indicator Light on No emergency stop Light off There is an emergency stop Indicator 5 Teach pendant indicator Light on No t...

Страница 43: ...EPLACING 8 1 Replacing Fuses CAUTION Power supply must be turned off before replacing fuses Replacement procedure 1 Open the fuse slot and take out the fuse 2 Install the new fuse of same type 3 Close...

Страница 44: ...The following figure shows the block diagram of electric interface of the cabinet ESTUN ERSA 4C Cabinet Extensive device PLC sensors etc Factory Monitor Teach pendant option Manipulator DEG Power Supp...

Страница 45: ...CONNECTION 31 10 COMMUNICATION CONNECTION Fig 10 1 Communication connection between controller and servo motors...

Страница 46: ...figure below shows the interface and its definition of ESTUN controller and peripheral device Fig 11 1 Input module terminals 1 CAUTION Pin 5 6 of DB plug should connect to safe door signal or a short...

Страница 47: ...PERIPFIRAL DEVICE INTERFACE 33 Fig 11 2 Input module terminals 2 CAUTION IO extensive pins are all connected to DB50 plug...

Страница 48: ...PERIPFIRAL DEVICE INTERFACE 34 Fig 11 3 Output module terminals 1 CAUTION IO extensive pins are all connected to DB50 plug Fig 11 4 Output module terminals 2...

Страница 49: ...PERIPFIRAL DEVICE INTERFACE 35 CAUTION IO extensive pins are all connected to DB50 plug Fig 11 5 DB50 plug terminals...

Страница 50: ...g the forklift route that equipment is being moved in their area Secure the controller so it cannot shift or fall during handling Transport the cabinet at lowest possible height Avoid jarring dropping...

Страница 51: ...o observe this caution could lead to injury or mechanical failure CAUTION Wiring must be performed only by authorized personnel Incorrect wiring may cause fire and electric shock Perform wiring in acc...

Страница 52: ...12 5 Adjustment and Confirmation Adjustment procedures are shown as follows Item Content 1 Check the appearance of the cabinet 2 Confirm that the bolts have been fastened firmly 3 Confirm that the co...

Страница 53: ...lowed through the IPM A 13 Overvoltage Main circuit voltage for servomotor rotation is excessively high A 14 Undervoltage Main circuit voltage for servomotor rotation is excessively low A 15 Bleeder r...

Страница 54: ...decoding circuit is faulty A 56 End bit in serial encoder control domain error Encoder signal is disturbed or the encoder decoding circuit is faulty A 58 Serial encoder data empty The EEPROM data of s...

Страница 55: ...Revision Record 41 Revision Record Revision Date Contents 01 2017 11...

Страница 56: ......

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