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59 

 

 
The following modes of relative motion can be chosen under “Type”: 

 

“Joint”: 
The relative offset is specified in joint coordinates. The movement speed is given by 
“Velocity”. It is measured in percent of the maximally allowed movement speed for 
the respective robot axes. 

 

 

 

“Linear – Base”: 
A  linear  movement  with  an  offset  specified  in  Cartesian  coordinates  will  be 
performed.  The  coordinate  system  used  for  the  offset  is  the  robot  coordinate 
system. The speed is given by “Velocity”. It is measured in mm/s, if it exceeds the 
maximally  allowed  movement  speed  of  the  robot,  it  will  cause  a  kinematic  error 
during execution. 

 

 

 

Содержание Drylin Delta

Страница 1: ......

Страница 2: ...1...

Страница 3: ...Commonplace Robotics GmbH 2011 2020 igus drylin and robolink are registered trademarks of igus GmbH igus GmbH Spicher Str 1a 51147 Cologne Germany Phone Support 49 0 2203 96498 255 ww robot control i...

Страница 4: ...19 4 7 Option Embedded Computer 20 4 8 Option Operating Panel 23 5 Safety 24 5 1 Safety Related Features of the Modular Robot Controller 24 5 2 CE Certification 24 5 3 Integration of SIL Rated Safety...

Страница 5: ...encing 65 9 4 Starting and Stopping a Program 65 9 5 Manually Setting the Digital Inputs Outputs 66 9 6 Display of Status Information 66 9 7 Organize Programs on the Embedded Control 67 10 Project Con...

Страница 6: ...lified personnel may connect the power supply to the mains and put it into operation Work on the robot electronics should only be carried out by qualified personnel Check current electrostatic dischar...

Страница 7: ...and ENC 2 o Reference sensor labelled End Stop Secure the robot cables against tension e g with a cable tie to one of the holes in the Control Cabinet If available plug in the display cable and secure...

Страница 8: ...uter USB port and the Robot Controller D Sub 9 port with CAN marking Install the necessary driver from the USB memory stick see Section 6 2 2 3 3 Connect and Move the Robot Install the igus Robot Cont...

Страница 9: ...ailable Configuration A uses an Embedded Computer with Robot Control Software to run the Modular Robot Controller This set up can execute robot programs without an external Windows PC connected For pr...

Страница 10: ...sts of 1 Support Module 3 or more Stepper Modules 1 3 DIO Modules Control Cabinet Steel cabinet that the Robot Controller can be mounted in Includes a 24 V 10 A power supply Embedded Computer Optional...

Страница 11: ...s 7 digital output channels based on Solid State Relays Steppermotor Driver Module Stepper Module Versions Motor Encoder ME high current HC low current LC Output Encoder AE high current HC low current...

Страница 12: ...fety relays Steppermotor Driver Modules Stepper Modules For operating a bipolar stepper motor with quadrature encoder RS422 24 V reference switch input Digital In Out Modules DIO Module 7 digital inpu...

Страница 13: ...12 3 4 Mechanical Dimensions For more information see the igus manual Technical Documentation robolink DP Version...

Страница 14: ...13 4 Electrical Connections 4 1 Overview Figure 4 1 Overview of electrical connections...

Страница 15: ...abelled End Stop Motor connector Connects a bipolar stepper motor Pin 1 left blue B Pin 2 white A Pin 3 black B Pin 4 brown A Encoder connector 1 ENC 1 Connects a quadrature encoder to a line driver P...

Страница 16: ...V to Embedded PC Pin 2 black CAN GND Pin 3 orange CAN L Pin 4 red CAN H Emergency stop E Stop connector Connects the Emergency Stop Button Pin 1 left blue E Stop channel 1 Pin 2 brown 24 V output sign...

Страница 17: ...also an external independent voltage source In Software the inputs and outputs of the first DIO Module are numbered 21 27 the second DIO Module if supplied has numbers 31 37 and the third 41 47 Digita...

Страница 18: ...s can be integrated see Section 10 1 A total of up to 3 DIO Modules can be controlled The outputs are controlled via solid state relays and can switch up to 500 mA This value must not be exceeded duri...

Страница 19: ...n 7 1 In a robot program inputs can be queried and reacted upon e g in an if then else command see Section 0 4 5 1 2 To Connect an Actor LED pneumatic valve relay Pin 1 Supply of the D Out 1 connector...

Страница 20: ...are W x L x H 600x 200 x 125 mm Figure 4 4 Control Cabinet closed On the lower left the mains IEC connector switch fuse and the cable fittings can be seen The cabinet includes a 24 V 10 A power suppl...

Страница 21: ...dows computer via Ethernet for programming The Embedded Computer communicates with the Modular Control Electronics on the DIN rails Figure 4 6 Embedded Computer with Ethernet cable connected to the ET...

Страница 22: ...Orange Lead 2 D Sub conn Brown To provide power to the display the black and red lead of the D Sub connector are connected to GND and 24 V respectively Figure 4 7 D Sub connector to the Operating Pan...

Страница 23: ...as follows Lead 1 black Support Board CAN Port Pin 2 Lead 2 Support Board CAN Port Pin 3 Lead 3 Support Board CAN Port Pin 4 4 7 4 Power Supply Power supply 5 V Supplies the Linux Board with 5 V DC Pi...

Страница 24: ...control the Robot via the Embedded Computer For operating instructions see Section 9 The connection of the D Sub 9 connector is mating to the D Sub 9 socket of the Control Cabinet Section 4 7 2 Figur...

Страница 25: ...not covered by these CE markings 5 3 Integration of SIL Rated Safety Components The Modular Robot Controller does not provide any safety relevant functions The integrated emergency stop function is si...

Страница 26: ...25 Figure 5 1 Schematic wiring of the safety components with the Support Module...

Страница 27: ...g by renaming the folder C iRC igusRobotControl to C iRC igusRobotControl_BAK 6 1 Installation of the iRC igus Robot Control Insert the igus Robot Control USB memory stick Start the installer D Instal...

Страница 28: ...or The installation usually only takes a few seconds After finishing the installation you can start igus Robot Control Now you can start igus Robot Control via the link on the desktop or via the start...

Страница 29: ...f igus Robot Control on any number of computers in thecompany or organization of the licensee 6 3 Setting up the Ethernet Connection to the Embedded Computer Connect the Ethernet port ETH0 adjacent to...

Страница 30: ...ntrol installation USB memory stick directory PCAN USB Adapter or the installation CD of the manufacturer After starting the installation you must accept the license agreement and specify the installa...

Страница 31: ...amming environment allows control and programming of the Robot iRC is a Windows software You can work both online and offline i e with the robot or in simulation with the robot switched off or disconn...

Страница 32: ...uch as 4 or 5 axis Robots Click on the File tab in the upper left corner and select Open project Figure 7 2 Select Robot group e g drylin delta Now click at the named image that fits your specific Rob...

Страница 33: ...real Robot can be controlled like the simulated one only the hardware has to be connected first by clicking Connect Reset and Enable icons in the Physical robot ribbon group in the Motion tab see Fig...

Страница 34: ...ossible to move the Robot with jog buttons a mouse in the user interface or a gamepad see Sections 7 1 2 and 7 4 7 3 Referencing the Robot After startup the Robot needs to be referenced Prior to refer...

Страница 35: ...ncing in parallel 5 You can also click on Referenceall then the axes start referencing in a sequence defined in the project file 6 As soon as all joints have stopped click Reset and Enable Now the Rob...

Страница 36: ...ftware buttons for Joint movements in Jogging tab In both cartesian modes the buttons change to X Y Z A B and C 2 A gamepad is potentially the most intuitive way to move the Robot Figure 7 7 shows the...

Страница 37: ...program 2 Adjust the speed override Before starting a new program set the speed to e g 20 Be particularly attentive during the first complete program run and keep the Emergency Stop Button ready 3 St...

Страница 38: ...monitored in the Input Output section of iRC Both inputs and outputs can be set manually Outputs can be set manually when no program is running Inputs can be set only in simulation when there is no ro...

Страница 39: ...figuration of these interfaces 7 8 Updating the Software Updates of the iRC software can be found on the igus LowCostAutomation website BackUp Please rename your old iRC igusRobotControl folder to e g...

Страница 40: ...s The integrated Program Editor is provided for setting up and editing these robot programs 8 1 The Program Editor In the robot program each command consists of one line e g Joint Motion or Wait Only...

Страница 41: ...tems will be greyed out 8 1 2 Touching up Commands Certain commands require position constants as parameter Often it is desirable to use the current position of the robot Entering it by hand can take...

Страница 42: ...irst next time the program is started or if the program is currently running the currently executed command is indicated in the Program Editor The subprogram that contains this command is designated b...

Страница 43: ...s and Information in Programs 8 2 1 Program Information The Program Editor will introduce the Start pseudo command at the beginning of each program It does not represent a real command in the sense th...

Страница 44: ...mmand can be used to include pure descriptions into programs It has no effect on the robot during execution its sole purpose is to provide a Description It is accessible in iRC s Program Editor throug...

Страница 45: ...position or joint position depends on context 8 3 1 User Variables It is possible to define user variables with the Store command which is accessible in iRC s Program Editor through the menu entries u...

Страница 46: ...The following predefined variables are available without the need to define them position The current position of the robot The units of the Cartesian position are mm for the components X Y Z and degr...

Страница 47: ...operation It can contain numeric constants names of number variables or components of position variables The following operations are supported and can be chosen under Operation Set This will set the...

Страница 48: ...47 8 3 5 Monitoring Variables You can monitor the current values of all defined variables under iRC in the Programs Variables tab...

Страница 49: ...able mempos is higher then 350 The syntax of conditional statements is given by the following EBNF definition Expression Boolean BooleanOperator Boolean Boolean BooleanConstant Expression Expression C...

Страница 50: ...stops the program execution It is available through the menu entry Flow Stop 8 4 3 Pause The Pause command pauses execution of the program Execution can later be resumed by the user It is available th...

Страница 51: ...true It is accessible though the menu entries under Flow Wait in iRC s Program Editor The different modes can by chosen under Type Timeout This will cause the robot to wait for the time that is given...

Страница 52: ...through the menu entry Flow If then else in iRC s Program Editor The conditional expression given under Condition must match the syntax described in Section Fehler Verweisquelle konnte nicht gefunden...

Страница 53: ...p will repeat until the conditional expression given under Condition evaluates to True It must follow the syntax described in Section Fehler Verweisquelle konnte nicht gefunden werden Counter The loop...

Страница 54: ...e illustration below shows the movement pattern that can be achieved by using the Matrix command The position variables given as Position A Position B and Position C define the corners of the area tha...

Страница 55: ...t step Row and column of the current step will be stored in the number variables given to Counter X and Counter Y respectively 8 4 8 Subprograms The Sub command can be used to call subprograms The pat...

Страница 56: ...s can be defined to prevent abrupt movement of the robot This can be done for a single motion command but also for a combination of up to a maximum of 10 commands It is also possible to smooth out the...

Страница 57: ...straight line The target position can be given in the following ways choose corresponding Source Constant The target position is a constant value for each axis Variable The target position is taken f...

Страница 58: ...n absolute target position given in Cartesian coordinates The resulting motion of the tool center point TCP will follow a straight line The target position can be given in the following ways choose co...

Страница 59: ...d movement speed of the robot it will cause a kinematic error during execution The Linear command can be accessed in iRC s Program Editor under the menu entries Action Linear motion and Action Variabl...

Страница 60: ...maximally allowed movement speed for the respective robot axes Linear Base A linear movement with an offset specified in Cartesian coordinates will be performed The coordinate system used for the offs...

Страница 61: ...coordinates will be performed The coordinate system used for the offset are tool coordinates The movement speed is given by Velocity It is measured in mm s if it exceeds the maximally allowed movemen...

Страница 62: ...can be used to set the states of digital outputs and global signals Under Channel type it is possible to specify if a digital output or a global signal are to be set Channel ID specifies the channel o...

Страница 63: ...represents a fully closed gripper 100 represents a fully opened gripper For grippers that can only be either fully opened or fully close the threshold between these states is at 50 aperture 8 7 Camera...

Страница 64: ...a Windows Computer running iRC Figure 9 1 Delta Robot with Embedded Computer as Robot Control This section shows how to operate the robot with Embedded Computer and Operation Panel After all electrica...

Страница 65: ...nges to MNE Motor Not Enabled Press Enable The status changes to No Error Not ref d in red means not referenced 9 2 Moving the Robot with the 3 Axis Joystick Once the Robot is enabled the axes of the...

Страница 66: ...ements for each axis 4 Referencing is complete when there is a 1 next to Ref A1 A3 respectively Ref E1 is intended for additional external axes 5 After referencing the axes are in the error state This...

Страница 67: ...it will be displayed in the digital inputs field at the bottom edge of the display The three buttons on the left side allow you to switch between several DIO Modules 9 6 Display of Status Information...

Страница 68: ...ams on the Windows iRC software these programs are automatically also downloaded to the Embedded Computer With time there might be the necessity to re organize these programs e g to delete some of the...

Страница 69: ...hts Override the override speed that is set after startup Replay mode the replay mode that is set after startup Figure 10 1 Configuration of the starting program in the backstage area 10 2 Tool With C...

Страница 70: ...on of Inputs Outputs in the backstage area For the robolink robot control the Base I O area is not used Relevant is the DIN rail I O section The standard Robot Control comes with one DIO Module with 7...

Страница 71: ...x In manual jogging mode an errormessage appears on the left side of the iRC window When running a program that violates the virtual box the program is stopped with an error message 11 Advanced Robot...

Страница 72: ...as built in support for receiving target positions from cameras Currently the IFM O2D is supported Figure 12 1 Camera configuration dialog The work piece position reported by the camera can be accesse...

Страница 73: ...enabled and program running Further details are available on the Wiki section PLC interface http wiki cpr robots com 12 3 CRI Ethernet Interface The CommonplaceRobotics Interface CRI allows theRobot...

Страница 74: ...e 49 0 2203 96498 255 E mail ww robot control igus net Please describe the problem briefly and send the file logMessages log from the folder C iRC igusRobotControl 13 2 Online Tool Fault Identificatio...

Страница 75: ...ers is necessary If the Robot is to be operated at high loads or speeds the motorcurrents can be increased This configuration can be done via the software tool CPR ModuleCtrl It can be downloaded from...

Страница 76: ...ithout encoder a microstepping of max 1 64 should be used It is possible to reverse the direction of rotation of the encoder This change is applied after the next cold start of the controller If the e...

Страница 77: ...ly on Orange LED on Error Red LED on Emergency Stop Button pressed Stepper Module Green LED on Logic power supply on Green LED flashing CAN communication with the Stepper Module Orange LED on Referenc...

Страница 78: ...are not released yet Press the Enable motors button COM Comm Watch Dog Bit 4 The time period without CAN command from thecontroller was too long The position commands via the CAN Bus must be sent in s...

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