R12 Robot Manual
page
6
3. SETTING UP
Set the robot up in the desired location. Connect up all cables - their positions should be self-
evident. Cables to the robot connect to the rear of the controller.
There are 5 basic cables:
Motor power
– the metalized cable from rear of controller to robot base, 26wMS to 25wD
Sensor cable
– from rear of controller to robot base (25wD male to 25wD female)
Gripper cable
(if supplied) - from rear of controller to gripper valve (9wD to DIN)
Serial cable
– from front of controller to computer (usually 25wD male to 9wD fem)
or
USB adaptor
Teach pad cable
– from front of controller to teach pad (9wD to 9wD male to male).
There is also a
Stop Jack
for connecting an external stop circuit. Even if there is no external
stop circuit the jackplug must be plugged in at the rear of the controller. The plug has a
shorting link, which is removed when connecting an external circuit.
The serial (RS232 null modem) cable from a computer to the controller should plug into the
25-way D connector on the front of the controller. The other end (usually 9wD) connects to
the rear COM1 serial connector of the computer or USB adaptor (see later for configuration).
If COM1 is already in use you can use any other COM port. If a USB serial adaptor is used
this can connect directly between a computer USB port and the controller or the cable may
be used to extend the adaptor.
DOS utilities only work with COM1.
Pneumatic connections
Connect the air line by pushing it into the push-fit connectors on the air valve and two from
the valve to the rear of the robot. If there is no compressor supplied then connect the shop air
supply to the air valve. The air supply must have a bowl filter and a pressure regulator.
Pneumatic gripper
If a pneumatic gripper is fitted the robot will have two airlines fitted through it, emerging on
the forearm. Two external lines loop to the gripper. The control valve is external. The valve is
operated from output port PA bit 0.
Electric gripper
This is powered and controlled from the robot controller and all wires run through the cables
and robot arm. The gripper drive module uses both PA 0 and PA 1 so PA 1 should not be
used for any other purpose.
Vacuum pickup
If a vacuum pickup is fitted the robot will have one airline fitted through it, emerging on the
forearm, looped to the pickup. If you have both gripper and vacuum there will be 3 airlines. A
separate valve connected to PA 2 selects gripper or vacuum.
If you change from one tool type to another see help sheet 23.
See more detailed information in section 8.
