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Omron SmartController EX, Руководство пользователя

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Содержание SmartController EX

Страница 1: ...I602 E 03 SmartController EX User s Guide ...

Страница 2: ...ntation is periodically reviewed and revised Omron Adept Technologies Inc assumes no responsibility for any errors or omissions in the documentation Critical evaluation of the documentation by the user is welcomed Your comments assist us in preparation of future documentation Please submit your comments to techpubs adept com Copyright 2013 2014 2016 2019 by Omron Adept Technologies Inc All rights ...

Страница 3: ...nufacturer s Declarations 12 Robot Safety Guide 13 Emergency Stop Circuit and Buttons 13 Manual Control Pendant 13 2 5 Disposal 13 Chapter 3 Installation 15 3 1 Controller Installation 15 Before Unpacking 15 Upon Unpacking 15 Repacking for Relocation 16 Space Around the Chassis 16 Mounting the SmartController EX Motion Controller 16 Mounting Kits 16 Memory Card 20 3 2 Connecting Power 22 24 VDC Po...

Страница 4: ... Supplied Control Panel Usage 44 Remote Pendant Usage 45 4 6 Connecting User Supplied Digital I O Equipment 45 DeviceNet Connector 45 XDIO Connector 45 4 7 Belt Encoder Interface 51 Chapter 5 Technical Specifications 55 5 1 SmartController EX Motion Controller Dimensions 55 5 2 Front Panel Dimensions 56 5 3 T20 Pendant Dimensions 57 Chapter 6 DeviceNet 59 6 1 DeviceNet Specifications 59 6 2 Limita...

Страница 5: ...pdated copyright for 2019 l Added information about optional Mounting Kits l Removed references to obsolete sDIO unit l Removed daisy chaining power supply details l Updated ACE Software installation procedure l Updated illustrations with call outs for translation compatibility and other minor improvements l Updated Chapter 2 Safety with new format and information l Replaced discontinued S8JX G po...

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Страница 7: ...ptional T20 Pendant The optional T20 pendant provides a user interface and teach pendant in an ergonomic and rugged package The pendant is designed for right or left handed use All gripping and hold ing positions enable comfortable and fatigue free operation The safety features include l Emergency stop switch dual channel circuit l 3 position enable switch dual channel circuits See the T20 Pendant...

Страница 8: ...8 SmartController EX User s Guide 11069 000 Rev H 1 1 Product Description Figure 1 2 T20 Pendant ...

Страница 9: ...nuals provide information on advanced configurations and system specifications Table 1 1 Related Manuals Manual Title Description Robot Safety Guide Contains safety information for Omron Adept Technologies Inc robots T20 User s Guide Contains information on the installation and operation of the T20 pendant ACE User s Guide Describes installation and use of the ACE software eV OS User Guide Describ...

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Страница 11: ... or significant property damage CAUTION Identifies a potentially hazardous situation which if not avoided might result in minor injury moderate injury or property damage Alert Icons The icon that starts each alert can be used to indicate the type of hazard These will be used with the appropriate signal word Warning or Caution to indicate the severity of the hazard The text following the signal wor...

Страница 12: ...ellow background and then follow the internal procedures of your company or organization for an emergency situation Fire Response If a fire occurs use CO2 to extinguish the fire 2 3 Safety Precautions WARNING ELECTROCUTION RISK During maintenance disconnect AC power from the robot and install a lock out tag out to prevent anyone from reconnecting power WARNING PERSONAL INJURY OR PROPERTY DAMAGE RI...

Страница 13: ...r the pendant enable switch is category 1 which complies with the requirements of ISO 10218 1 The pendant is designed in accordance with the requirements of IEC 60204 1 and ISO 13849 The E Stop button is ISO 13850 compliant NOTE Omron Adept Technologies Inc does not offer a cableless wireless pendant The manual control pendant can only move one robot at a time even if multiple robots are connected...

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Страница 15: ...appropriate IP rated enclosure Before Unpacking Carefully inspect all shipping containers for evidence of damage during transit If any damage is indicated request that the carrier s agent be present at the time the container is unpacked Upon Unpacking Compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the sh...

Страница 16: ...X motion controller is installed you must allow 10 mm at the back of the unit and 13 mm on the sides of the unit for proper air cooling Mounting the SmartController EX Motion Controller The following mounting options are available for the controller l Rack l Panel l Table l Stack The controller and compatible units can be mounted with one unit placed on top of another NOTE To maintain compliance w...

Страница 17: ...parately They do not come with the controller 3X M3 x 6MM 3 8 19 1 2X 25 0 14 2 2X 40356 00004 88 1 44 4 21 8 3 6 TYP 462 0 482 8 190 0 Figure 3 1 Rack Mounting the SmartController EX Motion Controller Units in mm Panel Mounting the SmartController EX Motion Controller To panel mount the controller install two brackets on each side at the rear of the unit as shown in the following figure Use the s...

Страница 18: ... R3 6 TYP 16 1 44 9 Figure 3 2 Panel Mounting the SmartController EX Motion Controller Units in mm Table Mounting the SmartController EX Motion Controller To table mount the controller install two brackets on each side near the bottom of the unit as shown in the following figure These brackets must be ordered separately They do not come with the controller ...

Страница 19: ... EX Motion Controller Units in mm Stack Mounting Components To stack mount the SmartController EX motion controller and a compatible unit such as a SmartVision MX vision controller install two brackets on each side of the units as shown in the following figure These brackets are supplied with compatible units 11069 000 Rev H SmartController EX User s Guide 19 ...

Страница 20: ...ecure Digital SD memory card The SD card is removable and can be moved to another SmartController EX motion con troller for testing The SD card shipped with all systems is factory configured and installed The SD card stores the eV operating system application programs data files and licenses Only the factory supplied SD card will work with the SmartController EX motion controller NOTE This SD card...

Страница 21: ...te the SD compartment see the following figure 1 Figure 3 5 1 SD Memory Card Compartment NOTE If you are replacing an existing SD the original must be sent to the fact ory for replacement 3 Press the SD card in and release The card will pop out Remove the card Contact your sales representative for instructions on returning it Installing an SD Card To install an SD card into a SmartController EX mo...

Страница 22: ...e the power cables and power supply conform to the specifications that follow 24 VDC Power Specifications Table 3 3 Specifications for 24 VDC User Supplied Power Supply User Supplied Power Supply 24 VDC 10 5 120 W 5 A Circuit Protection Not more than 8 A below the amper age rating of the cable used Power Cabling 1 5 1 85 mm2 16 14 AWG full cover braided shield cable maximum length 10 meters Shield...

Страница 23: ...e Bottom OMRON S8FS G15024CD 24 VDC 6 5 A 150 W DIN Rail Mount NOTE The power requirements for the user supplied power supply will vary depending on the configuration of the SmartController EX motion controller and connected devices A minimum configuration of the controller front panel and pendant will require 2 A at 24 VDC However a 24 V 5 A power supply is recommended to allow for additional cur...

Страница 24: ...connector CAUTION Use only one 24 VDC power supply per circuit Failure to do this could result in damage to the equipment CAUTION The SmartVision MX vision controller has a higher current demand and should be wired independently Do not daisy chain its power from a SmartController EX motion controller NOTE The power switch on the SmartController EX motion controller will shut down just the controll...

Страница 25: ...ocate the 24 VDC connector shipped with the controller See the following figure 2 Use 14 or 16 gauge wire to connect the 24 VDC power supply to the controller 3 Strip 7 mm of insulation from the end of the wire that connects to the positive output of the 24 VDC supply 4 Insert the stripped end into the opening on the right side of the connector 5 Tighten the screw clamp on the connector with a sma...

Страница 26: ...s We supply the IEEE 1394 cables to connect the SmartController EX motion controller to other devices in the system If you need a cable of a different length than those supplied then you must purchase a cable from one of the approved vendors listed below l CEI www componentsexpress com l Molex Inc www molex com These purchased cables must meet all specifications of the IEEE 1394 standard Note that...

Страница 27: ...op Three Status LEDs The top three two color LEDs indicate diagnostic test power control and com munication status Table 4 1 Controller LEDs LED Green Indicates Red Indicates OK SF System OK System Fault HPE ES High Power Enabled E Stop Open FW HD SmartServo Con nection Read Write from SD card During system bootup the red OK SF and HPE ES LEDs are lit and the red FW HD LED blinks After system boot...

Страница 28: ... error O O R 4 Memory test failure Free storage error O R R 6 Software serial I O configuration error R R R 7 Initial display set by hardware before software has started G O O 9 Transient display set when PCI is configured O O G C Uninitialized trap G O G D Bus error detected If the SmartController EX motion controller displays an error cycle the power off then on again If the problem persists con...

Страница 29: ...vices respectively See Configuring Serial Ports on page 33 for pin descriptions and locations 11 DeviceNet connector DeviceNet is a field bus for industrial devices This standard supports a variety of products including sensors digital I O analog I O RS 232 and PLCs Other DeviceNet product types such as keypads and displays can be controlled using the eV FCMD program instruction see the eV Languag...

Страница 30: ...6 XMCP connector The optional T20 pendant plugs into this connector via the T20 adapter cable which has the mating connector for the XMCP connector The controller ships with a ter minator plug in the XMCP connector The plug must be installed in the absence of a pendant or the E Stop circuit will remain open and you will not be able to start the sys tem 17 24 VDC connectors switch Connect power fro...

Страница 31: ...put and still enable power see your robot manual for further details 1 XFP connector Connects to the XFP connector on the controller 2 System 5 V Power On LED Indicates whether or not power is connected to the Front Panel 3 Manual Automatic Mode Switch Switches between Manual and Automatic mode In Automatic mode executing pro grams control the mechanism and the mechanism can run at full speed In M...

Страница 32: ...to a stop This can aid in eliminating coasting or overshooting on low friction mechanisms It can also aid in the reduction of wear on highly geared high inertia mechanisms while maintaining safety compliance per all standards 4 3 Installing the ACE Software WARNING Make sure that all cables are installed correctly and fully inserted and screwed down before applying power to the system Failure to d...

Страница 33: ...leted you may be prompted to restart your computer The ACE software installer adds an ACE shortcut to your desktop You can also launch ACE from the program group added to the Omron ACE folder on your Windows Programs menu 4 4 Configuring the SmartController Configuring Serial Ports The SmartController EX motion controller has four serial I O ports l RS 232 Term l RS 422 485 l RS 232 1 l RS 232 2 S...

Страница 34: ... 9 Reserved N C These ports support the RTS and CTS signals used for hardware handshaking also known as modem control By default these signals are not enabled To configure hardware handshaking and other communication parameters use the eV FSET program instruction The eV des ignations for these ports when referenced in the eV ATTACH or FSET instructions are shown in the following table NOTE To conf...

Страница 35: ...ale D sub connectors located on the front panel of the controller Refer to the following table for the XUSR pin out descriptions Refer to the table Contacts Provided by the XFP Connector on page 37 for the XFP pin out descriptions See the figure CAT 3 E Stop Cir cuit on XUSR and XFP Connectors on page 39 for the XUSR wiring diagram Table 4 6 Contacts Provided by the XUSR Connector Pin Pairs Descri...

Страница 36: ... contacts Shorted if NOT Used Voltage Free Contacts provided by the System 7 20 E Stop indication CH 1 Contacts are closed when Front Panel pendant and customer E Stops are not tripped 8 21 E Stop indication CH 2 same as pins 7 20 Contacts are closed when Front Panel pendant and customer E Stops are not tripped 9 22 Manual Automatic indication CH 1 Contacts are closed in Automatic mode 10 23 Manua...

Страница 37: ...er must supply moment ary push button to enable High Power to system Non voltage Free Contacts 5 13 System Supplied 5 VDC and GND for High Power ON OFF Switch Lamp User must supply lamp or use 1 W 47 ohm resistor system will not operate if not present 7 15a Controller system 5 V power on LED 5 V 20 mA Optional indicator only 8 No connection PIN 8 PIN 1 PIN 9 PIN 15 See the figure Front Panel Schem...

Страница 38: ... TXD eV to Pendant TXD 8 Pendant RXD eV to Pendant RXD 14 No connection 15 No connection Shield Shield GND 6 24 V 5 No connection Table 4 9 XSYS Connector Pin Assignments Pin Signal Description 1 ESTOPGND GND Return 2 MANUAL1 Manual Mode ESTOP Ckt CH 1 3 MANUAL2 Manual Mode ESTOP Ckt CH 2 4 HIPWRDIS High Power Disable 5 HIPWRREQ High Power Request 6 AUTO1 Auto Mode ESTOP Ckt CH 1 7 AUTO2 Auto Mode...

Страница 39: ...10 XUSER 9 XUSER 17 XUSER 16 XUSER 3 XUSER 4 XUSER 20 XUSER 21 XUSER 8 XUSER 7 XUSER 15 XUSER 14 XUSER 1 XUSER 2 XFP 1 XFP 9 XFP 2 XFP 10 XUSER 6 XUSER 5 XUSER 18 XUSER 19 XSYS 9 XSYS 1 XSYS 7 XSYS 6 XSYS 3 XSYS 2 XSYS 5 ESTOPSRC 27 24 V XFP 5 XFP 6 XFP 13 XFP 14 24 V MM1 XFP 3 XFP 4 XFP 11 XFP 12 MM2 24 V 5 V XFP 7 XFP 15 Grn 1 2 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 24 26 25 23 22 21 Fi...

Страница 40: ...ogic cyclic check state machines 10 Front panel Manual Auto keyswitch 11 Manual Auto enable 12 Pendant enable switch 13 Lamp control circuit with burnout detection 14 Front panel 15 High power ON OFF 16 eV High power request 17 Auto 2 18 Auto 1 19 Manual 2 20 Manual 1 21 High power request 22 User E Stop and gate interlock jumper closed when not in use must open both channels independently if used...

Страница 41: ...or Emergency Stop E Stop circuits on the XUSR and XFP connectors This gives the controller system the ability to duplic ate E Stop functionality from a remote location using voltage free contacts See the figure CAT 3 E Stop Circuit on XUSR and XFP Connectors on page 39 The XUSR connector provides external two channel E Stop input on pin pairs 1 14 and 2 15 The XFP connector provides two channel E ...

Страница 42: ... stop in such external equipment Thus if one were to wire the same equipment s outputs into the customer E Stop input that is in series with the local robot s E Stop push buttons a lock up situation could occur The Line E Stop input comes into the circuit at a point where it cannot affect the customer E Stop indication relays and will not cause such a lock up situation For any situation where two ...

Страница 43: ... series with the Front Panel Manual Automatic mode contacts Thus both the Front Panel and the customer contacts need to be closed to allow Automatic mode WARNING Do not wire user supplied Manual Automatic contacts in par allel with the factory Front Panel switch contact This would violate the Single Point of Control principle and might allow Automatic high speed mode to be selected while an operat...

Страница 44: ...y for safety purposes The system should not be wired so that a PLC or another operator can put the system back into Automatic mode High Power ON OFF Lamp The Front Panel High Power ON OFF Lamp P N 27400 29006 will cause an error from eV if the lamp burns out This error prevents High Power from being turned on This safety feature prevents a user from not realizing that High Power is enabled because...

Страница 45: ...nector on the SmartController EX motion controller is a 50 pin standard density D Sub female connector see SmartController EX Connectors and Indicators on page 27 for loc ation There are 12 inputs and 8 outputs each optically isolated from the circuitry of the con troller The signals are numbered 1001 through 1012 for the inputs and 1 through 8 for the outputs All the signals have independent sour...

Страница 46: ...e hardware Software scan rate response time 5 µsec maximum 1 ms scan cycle 1 ms max response time Turn off response time hardware Software scan rate response time 5 µsec maximum 1 ms scan cycle 1 ms max response time NOTE The input current specifications are provided for reference voltage sources are typically used to drive the inputs NOTE When the program task priorities are properly set there is...

Страница 47: ...Digital Input Wiring Examples for XDIO Connector NOTE Power from pins 41 44 and 47 50 can be substituted for the input signal power supply See the figure Digital Output Wiring Examples for XDIO Con nector on page 49 and the table Digital I O Input Circuit Specifications XDIO connector on page 46 for additional information 11069 000 Rev H SmartController EX User s Guide 47 ...

Страница 48: ...for a description of the INT EVENT instruction Output Signals The XDIO connector handles output signals 0001 to 0008 Refer to the following table for out put specifications The locations of the signals on the connector are shown in the table XDIO Digital I O Connector Pin Assignments on page 50 The XDIO connector provides separate pos itive and negative connections for each channel no internal com...

Страница 49: ...are shown with a negative common NOTE These are examples Either method can be used in any combination on any channel Also an external customer provided power supply could have been provided instead of the power provided on the XDIO connector 0001 0002 0003 0004 0005 0006 0007 0008 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 24 V 1 A X X GND SmartController EX Figu...

Страница 50: ...utputa 21 Input 1011 22 1011 return 45 eV High Power On Indicator 46 eV High Power On Indicator 23 Input 1012 24 1012 return 47 24 V return 48 24 V return 49 24 V return 50 24 V return Pin 1 Pin 17 Pin 34 Pin 18 Pin 33 Pin 50 aLimited to combined total of 1 A of current Digital I O Connectors Third Party Sources The XDIO connector on the controller is a 50 pin standard density D sub miniature fema...

Страница 51: ...ure Belt Encoder Typ ical Input Circuit on page 53 for a typical input circuit drawing NOTE An adapter cable 09550 000 is available to split the 26 pin SmartCon troller EX motion controller connector into two 15 pin connections compatible with the legacy SmartController CX The 15 pin adapter is P N 09443 000 Each 15 pin adapter provides two M12 connections All encoder inputs for the SmartControlle...

Страница 52: ...Signal Pin Signal Pin Encoder 5 V Out 1 ENC2_B 14 Encoder Ground 10 ENC3_B 15 ENC1_A 2 ENC3_B 16 ENC1_A 3 ENC4_B 17 ENC2_A 4 ENC4_B 18 ENC2_A 5 ENC1_Z 19 ENC3_A 6 ENC1_Z 20 ENC3_A 7 ENC2_Z 21 ENC4_A 8 ENC2_Z 22 ENC4_A 9 ENC3_Z 23 ENC1_B 11 ENC3_Z 24 ENC1_B 12 ENC4_Z 25 ENC2_B 13 ENC4_Z 26 Pin 1 Pin 9 Pin 19 Pin 26 Pin 18 Pin 10 ...

Страница 53: ... B I I A A B B I I 5 V at 800 mA 1 A max 220 2 2K 26LS33 2 2K 5V 1 2 3 3 Figure 4 7 Belt Encoder Typical Input Circuit Table 4 16 Belt Encoder Typical Input Descriptions Item Description 1 Encoder 1 2 Encoder 2 3 Shield 11069 000 Rev H SmartController EX User s Guide 53 ...

Страница 54: ...54 SmartController EX User s Guide 11069 000 Rev H 4 7 Belt Encoder Interface Figure 4 8 Belt Encoder Connector ...

Страница 55: ... and T20 pendant 5 1 SmartController EX Motion Controller Dimensions NOTE The dimensions for the legacy CS and CX SmartController motion con trollers were the same as these 328 9 86 0 4 4 186 5 12 1 189 1 Figure 5 1 SmartController EX Motion Controller Dimensions Units in mm 11069 000 Rev H SmartController EX User s Guide 55 ...

Страница 56: ...troller EX User s Guide 11069 000 Rev H 5 2 Front Panel Dimensions 5 2 Front Panel Dimensions 152 4 88 9 38 7 55 9 16 5 13 1 129 5 30 139 7 76 2 6 4 6 4 4x M4 x 18 mm Figure 5 2 Front Panel Dimensions Units in mm ...

Страница 57: ...Chapter 5 Technical Specifications 5 3 T20 Pendant Dimensions Figure 5 3 T20 Pendant Dimensions Units in mm 11069 000 Rev H SmartController EX User s Guide 57 ...

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Страница 59: ...l specifications The DeviceNet Specification is divided into two volumes and defines the following elements Volume 1 l DeviceNet Communication Protocol and Application Layer 7 Application Layer1 l Controller Area Network CAN and its use in DeviceNet Layer 2 Data Link Layer l DeviceNet Physical Layer and Media Layer 1 Physical Layer Volume 2 l Device profiles to obtain interoperability and intercha...

Страница 60: ...ging is supported I O messages contain only data l Currently only the Message Group 2 of the Predefined Master Slave Connection Set is sup ported l Message Group 2 I O connections support only the I O Poll Command Response Message of the possible message types 6 3 DeviceNet Port on the Controller The DeviceNet port on the SmartController EX motion controller has the following con figuration Micro ...

Страница 61: ...e for software setup This assigns the controller signals to the physical ports of the DeviceNet nodes Refer to the ACE User s Guide for details on configuring DeviceNet NOTE The local setting baud rate must match the DeviceNet node s setting From the ACE software 1 Double click on the controller in the tree structure pane This will open the object editor for the controller 2 Click the Configure bu...

Страница 62: ...7 6 5 4 3 1 Node Terminating Resistor 2 Node 1 Node 1 Node 1 Node 1 1 1 1 Node Node Node Node 1 Node 1 Node 1 Node 1 Node 1 Node 1 Trunk Line 4 5 Figure 6 1 Trunk Lines and Drop Lines Made of Thick and Thin Cable Table 6 2 Topology Description Item Description 1 Node 2 Terminating Resistor 3 Multiple Node Branching Drop Line 4 Multi Port Tap 5 Drop Line 6 Trunk Line 7 Multiple Node Daisy Chain Dro...

Страница 63: ...3 Features of a DeviceNet Network Network Size A maximum of 64 nodes 0 63 Network Length Selectable end to end network distance varies with speed Data Packets 0 8 bytes Bus Topology Linear trunk line drop line power and signal on the same network cable Bus Addressing Multi Master and Master Slave special case polled The baud rate of the system depends on the length of the network end to end and th...

Страница 64: ... Item Description 1 11 mm outside diameter 2 65 coverage tinned copper braid shield 3 Polypropylene fillers 4 Blue and white data pair polyethylene 18 AWG 19 x 30 tinned cop per conductors 5 Red and black DC power pair PVC 15 AWG 19 x 28 tinned and stran ded copper conductors 6 18 AWS 19 x 30 tinned copper stranded drain wire 7 Aluminum mylar shield over each pair 8 External jacket ...

Страница 65: ...G 19 x 28 tinned and stran ded copper conductors 6 18 AWG 19 x 30 tinned copper stranded drain wire 7 Aluminum mylar shield over each pair 8 Overall non hydroscopic wrap 9 External jacket DeviceNet Connectors DeviceNet allows different connectors which may be grouped into open and sealed con nectors The open connectors are available with screw or with crimp connectors The sealed connectors are ava...

Страница 66: ...ontroller Area Network CAN bus as the physical layer This requires that the trunk line of your DeviceNet network be terminated with a resistor at each end This terminates the signal lines The terminating resistor l Prevents reflection of communication signals on the network l Connects the two signal conductors l Must be sealed if the end node uses a sealed tee l Must be open if the end node uses a...

Страница 67: ...e 6 6 Example of a Terminating Resistor Installation on a DeviceNet Bus Power Supply and the DeviceNet Bus The DeviceNet network allows distribution of power supplies on the network cable system Fol low these general rules to achieve safe and reliable operation l Use power supplies rated at 24 V l Minimize installation problems by using a single power supply with sufficient current 11069 000 Rev H...

Страница 68: ...e system has several power rating constraints The cable type and the length of the cable affect the maximum current on a cable Thick and thin cable have l 24 VDC power rating l Optional power supply tabs If the power supplies are equipped with Schottky diodes the optional power supply tabs must be protected from bus back feeding of current among the power supplies on the bus We also recommend the ...

Страница 69: ...e nodes on the selected drop line The length l is not the cumulative length of the drop line it is the maximum distance from any node on the drop line to the trunk line It is important to note that voltage differences between the V and V conductors need to be between 11 V and 25 V The common mode voltage between any two places on the V wire must not exceed 5 V 1 2 5 4 3 A 1 4 3 5 2 B Figure 6 7 Mi...

Страница 70: ... 11069 000 Rev H 6 4 DeviceNet Physical Layer and Media Table 6 9 Micro Style DeviceNet Connector Pinout Legend Item Description A Male Connector pins B Female Connector sockets 1 Drain bare 2 V red 3 V black 4 CAN_H white 5 CAN_L blue ...

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