Loading...
ROBOT CONTROLLER / Drive Unit
RC700DU /
RC700DU-A
Rev.11 |
EM208C4461F |
ROBOT CONTROLLER / Drive Unit |
RC700DU / RC700DURev-A |
.11 |
<![endif]>ii
ROBOT CONTROLLER / DRIVE UNIT
RC700DU / RC700DU-A
Rev.11
Copyright © 2014-2020 SEIKO EPSON CORPORATION. All rights reserved.
RC700DU / RC700DU-A Rev.11 |
i |
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the Robot Controller and the Drive Unit.
Please carefully read this manual and other related manuals before installing the robot system.
Keep this manual handy for easy access at all times.
RC700 / RC700-A robot Controller consists of the following:
RC700 CU / RC700CU-A (Control Unit)
RC700 DU / RC700DU-A (Drive Unit)
This manual contains the information for the RC700 DU / RC700DU-A (Drive Unit).
For RC700 CU / RC700CU-A (Control Unit), refer to the RC700 / RC700-A Robot Controller manual.
The information for the Robot Controller is describes as below, indicating both RC700 CU / RC700CU-A and RC700 DU / RC700DU-A:
Robot Controller Controller RC700
The information for the either unit (CU or DU) is described as below:
RC700CU / RC700CU-A |
Control Unit |
RC700DU / RC700DU-A |
Drive Unit |
ii |
RC700DU / RC700DU-A Rev.11 |
WARRANTY
The robot system and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period. (Please contact the supplier of your region for warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):
1.Damage or malfunction caused by improper use which is not described in the manual, or careless use.
2.Malfunctions caused by customers’ unauthorized disassembly.
3.Damage due to improper adjustments or unauthorized repair attempts.
4.Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1.If the robot system associated equipment is used outside of the usage conditions and product specifications described in the manuals, this warranty is void.
2.If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accident, even if the result is injury or death.
3.We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards.
RC700DU / RC700DU-A Rev.11 |
iii |
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® 8 Operating system Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 8 and Windows 10 refer to above respective operating systems. In some cases, Windows refers generically to Windows 8 and Windows 10.
NOTICE
No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following manual:
Robot System Safety and Installation Read this manual first
iv |
RC700DU / RC700DU-A Rev.11 |
|
|
|
Table of Contents |
Safety |
|
|
|
|
|
|
|
1. |
Safety |
3 |
|
|
|
|
|
|
2. Conventions |
3 |
|
|
|
|
|
3. |
Safety Precautions |
4 |
|
Setup & Operation
|
|
|
1. Specifications |
9 |
|
1.1 |
System Example....................................................................................... |
9 |
1.2 |
Drive Unit Standard Specifications......................................................... |
11 |
1.3 |
Outer Dimensions ................................................................................... |
12 |
|
|
||
2. Part Names and Functions |
13 |
||
2.1 |
LED ......................................................................................................... |
|
15 |
2.2 |
Safety Features....................................................................................... |
16 |
|
|
|
||
3. Installation |
18 |
||
3.1 Unpacking.................................................................................................. |
18 |
||
3.2 |
Environmental Requirements ................................................................. |
18 |
|
|
3.2.1 |
Environment ................................................................................ |
18 |
|
3.2.2 |
Installation ................................................................................... |
19 |
|
3.2.3 |
Wall Mounting Option.................................................................. |
20 |
3.3 |
Power Supply.......................................................................................... |
21 |
|
|
3.3.1 |
Specifications .............................................................................. |
21 |
|
3.3.2 |
AC Power Cable.......................................................................... |
22 |
3.4 |
Cable Connection ................................................................................... |
23 |
|
|
3.4.1 |
Typical Cable Connection ........................................................... |
24 |
|
3.4.2 Connecting Manipulator to Drive Unit ......................................... |
26 |
|
3.5 |
Noise Countermeasures......................................................................... |
27 |
|
|
|
||
4. Drive Unit Connection |
28 |
||
|
|
||
5. Drive Unit Setup |
29 |
||
RC700DU / RC700DU-A Rev.11 |
v |
Table of Contents
|
|
||
6. EMERGENCY |
32 |
||
6.1 |
Safety Door Switch and Latch Release Switch...................................... |
32 |
|
|
6.1.1 |
Safety Door Switch ..................................................................... |
32 |
|
6.1.2 |
Latch Release Switch ................................................................. |
33 |
|
6.1.3 Checking Latch Release Switch Operation ................................ |
33 |
|
6.2 |
Emergency Stop Switch Connection...................................................... |
34 |
|
|
6.2.1 |
Emergency Stop Switch.............................................................. |
34 |
|
6.2.2 Checking Emergency Stop Switch Operation ............................ |
34 |
|
|
6.2.3 Recovery from Emergency Stop................................................. |
34 |
|
6.3 |
Pin Assignments..................................................................................... |
35 |
|
6.4 |
Circuit and Wiring ................................................................................... |
36 |
|
|
6.4.1 |
Circuit Diagram ........................................................................... |
36 |
|
6.4.2 Wiring Example for Emergency Stop.......................................... |
37 |
|
|
6.4.3 Wiring Example for Safety Door Input / Latch Release Input..... |
39 |
|
|
|
|
7. I/O Connector |
40 |
|
7.1 |
Input Circuit............................................................................................. |
40 |
7.2 |
Output Circuit.......................................................................................... |
43 |
7.3 |
Pin Assignments..................................................................................... |
45 |
|
|
8. R-I/O Connector |
46 |
8.1 Input Circuit ............................................................................................... |
46 |
8.2 Pin Assignments..................................................................................... |
47 |
Maintenance
|
|
||
1. Safety Precautions on Maintenance |
51 |
||
|
|
|
|
2. |
Regular Maintenance Inspection |
53 |
|
|
|
|
|
3. |
Drive Unit Structure |
54 |
|
3.1 |
Location of Parts..................................................................................... |
54 |
|
|
3.1.1 |
RC700DU.................................................................................... |
54 |
|
3.1.2 |
RC700DU-A ................................................................................ |
54 |
3.2 |
Diagram of Cable Connections .............................................................. |
55 |
|
|
3.2.1 |
RC700DU.................................................................................... |
55 |
|
3.2.2 |
RC700DU-A ................................................................................ |
56 |
vi |
RC700DU / RC700DU-A Rev.11 |
Table of Contents
|
|
||
4. Maintenance Parts Replacement Procedures |
57 |
||
4.1 |
Fan Filter................................................................................................. |
57 |
|
4.2 |
Fan .......................................................................................................... |
|
58 |
|
4.2.1 |
Front Fan..................................................................................... |
58 |
|
4.2.2 Fan 2 (RC700DU-A only)............................................................ |
59 |
|
4.3 |
MDB ........................................................................................................ |
|
61 |
4.4 |
DMB ........................................................................................................ |
|
65 |
4.5 |
DMB-SUB Board..................................................................................... |
67 |
|
4.6 |
DMB-LED Board ..................................................................................... |
68 |
|
|
4.6.1 |
DMB-LED Board (RC700DU) ..................................................... |
68 |
|
4.6.2 |
DMB-LED Board (RC700DU-A).................................................. |
69 |
4.7 |
DPB......................................................................................................... |
|
70 |
|
|
||
5. Verifying Robot System Operation |
72 |
||
|
|
||
6. Troubleshooting |
73 |
||
6.1 |
Error Code Table .................................................................................... |
73 |
|
|
|
||
7. Maintenance Parts List |
74 |
||
RC700DU / RC700DU-A Rev.11 |
vii |
Table of Contents
viii |
RC700DU / RC700DU-A Rev.11 |
Safety
This section contains information for safety of the Robot System.
Safety 1. Safety
1. Safety
Installation and transportation of Manipulators and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.
Please read this manual and other related manuals before installing the robot system or before connecting cables. Keep this manual in a handy location for easy access at all times.
2. Conventions
Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.
|
This symbol indicates that a danger of possible serious injury or |
|
death exists if the associated instructions are not followed |
WARNING |
properly. |
|
|
|
This symbol indicates that a danger of possible harm to people |
|
caused by electric shock exists if the associated instructions are |
WARNING |
not followed properly. |
|
|
|
This symbol indicates that a danger of possible harm to people or |
|
physical damage to equipment and facilities exists if the associated |
CAUTION |
instructions are not followed properly. |
|
|
RC700DU / RC700DU-A Rev.11 |
3 |
Safety 3. Safety Precautions
3. Safety Precautions
Only trained personnel should design and install the robot system.
Trained personnel are defined as those who have taken robot system training class held by the manufacturer, dealer, or local representative company, or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.
The following items are safety precautions for qualified design or installation personnel:
Personnel who design and/or construct the robot system with this product must read the Safety chapter in User’s Guide to understand the safety requirements before designing and/or constructing the robot system. Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, may result in serious bodily injury and/or severe equipment damage to the robot system, and may cause serious safety problems.
The Manipulator and the Drive Unit must be used within the environmental conditions described in their respective manuals. This product has been designed and manufactured strictly for use in a normal indoor environment. Using the product in an environment that exceeds the specified environmental conditions may not only shorten the life cycle of the product but may also cause serious safety problems.
The robot system must be used within the installation requirements described in the manuals. Using the robot system outside of the installation requirements
WARNING |
may not only shorten the life cycle of the product but also cause serious safety |
|
problems. |
The interlock of the Safety Door must be functioning when the robot system is operated. Do not operate the system under the condition that the switch cannot be turned ON/OFF. (I.E. the condition where the switch is disabled)
(Example: Tape is put around the switch to hold it closed.) Operating the robot system when the switch is not functioning properly is extremely hazardous and may cause serious safety problems as the Safety Door input cannot fulfill its intended function.
Connect input signal wires for Emergency Stop and Safety Door to the EMERGENCY connector so that the Emergency Stop switch in the whole system always functions. (Refer to the typical application diagram in Setup & Operation 6.4 Circuit and Wiring.)
4 |
RC700DU / RC700DU-A Rev.11 |
Safety 3. Safety Precautions
Do not open the cover(s) of the Drive Unit except while maintaining it. Opening the cover(s) of the Drive Unit is extremely hazardous and may result in electric shock even when its main power is OFF because of the high voltage charge inside the Drive Unit.
Make sure that the power to the Drive Unit is turned OFF before connecting or disconnecting any cables. Connecting or disconnecting any cables with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the Drive Unit.
Be sure to connect the cables properly. Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) The unnecessary strain on the cables may result in damage to the WARNING cables, disconnection, and/or contact failure. Damaged cables, disconnection, or a contact failure is extremely hazardous and may result in electric shock and/or
improper function of the system.
When connecting the plug to fit the outlet in your factory, make sure that it is done by qualified personnel. When connecting the plug, be sure to connect the earth wire of the AC power cable colored green/yellow on the Drive Unit to the earth terminal of the factory power supply. The equipment must be grounded properly at all times to avoid the risk of electric shock. Always use a power plug and receptacle. Never connect the Drive Unit directly to the factory power supply. (Field wiring)
The serial number of the Manipulator that should be connected is indicated on the Connection Check Label on the Drive Unit. Connect the Drive Unit and the Manipulator correctly. Improper connection between the Drive Unit and the Manipulator may cause improper function of the robot system and also safety problems.
When using remote I/O, always make sure of the following. Using the robot system under unsatisfactory conditions may cause malfunction of the system and/or safety problems.
CAUTION |
- |
Assign remote functions to inputs/outputs correctly and wire correctly when |
|
setting up remote I/O signals. |
|
|
|
|
|
- |
Make sure that the functions correspond to the correct input/output signals |
|
|
before turning ON the system. |
|
- When verifying the robot system operation, prepare for failures with initial |
|
|
|
settings or wiring. If the Manipulator functions unusually by the failures with |
|
|
initial settings or wiring, press the Emergency Stop switch immediately to stop |
|
|
the Manipulator. |
RC700DU / RC700DU-A Rev.11 |
5 |
Safety 3. Safety Precautions
The following items are safety precautions for qualified operator personnel:
The interlock of the Safety Door must be functioning when the robot system is operated. Do not operate the system under the condition that the switch cannot be turned ON/OFF. (I.E. the condition where the switch is disabled)
|
(Example: Tape is put around the switch to hold it closed.) Operating the robot |
WARNING |
system when the switch is not functioning properly is extremely hazardous and |
|
may cause serious safety problems as the Safety Door input cannot fulfill its |
|
intended function. |
Do not open the cover(s) of the Drive Unit except while maintaining it. Opening the cover(s) of the Drive Unit is extremely hazardous and may result in electric
WARNING |
shock even when its main power is OFF because of the high voltage charge inside |
|
the Drive Unit. |
||
|
6 |
RC700DU / RC700DU-A Rev.11 |
Setup & Operation
This section contains information for setup and operation of the Drive Unit.
Setup & Operation 1. Specifications
1. Specifications
1.1 System Example
RC700 / RC700-A * 1
RC700DU / RC700DU-A * 2
Standard Installation
EMERGENCY
Standard I/O
Remote I/O
R-I/O
RS series
G series
C4 series
C8 series
N6 series
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
X5 |
|
|
|
|
|
*1 |
Control Unit |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||
|
For details, refer to the following manual. |
|
|
|
|
|
|
|
|
|
|
|
|||||
|
|
Robot Controller RC700 / RC700-A |
|
|
|
|
|
|
|
|
|
|
|
||||
*2 |
Any one of the Manipulators can be controlled. |
|
|
|
|
|
|
|
|
|
|
|
|||||
|
Available combinations are as follows. (: connectable) |
|
|
|
|
|
|
|
|
||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
C4 |
C8 |
C12 |
|
G |
|
RS |
|
N2 |
|
|
N6 |
X5 |
||
|
|
RC700DU |
|
- |
- |
|
- |
|
|
- |
|
- |
|
- |
- |
||
|
|
RC700DU-A |
|
|
- |
|
|
|
|
|
|
- |
|
|
|
|
|
RC700DU / RC700DU-A Rev.11 |
9 |
Setup & Operation 1. Specifications
NOTE
Drive Unit is the auxiliary unit connected with the control unit using the special cable. Drive Unit cannot operate alone.
Up to three Drive Units can be used per robot system.
A:Control Unit and 1st Drive Unit (CU-DU1)
B:1st Drive Unit and 2nd Drive Unit (DU1-DU2)
C:2nd Drive Unit and 3rd Drive Unit (DU2-DU3)
DU3 |
DU2 |
DU1 |
CU |
DU IN |
DU OUT DU IN |
DU OUT DU IN |
DU OUT |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
B |
A |
|||||
|
|
|
|
C |
|
|
|
|
|
10 |
RC700DU / RC700DU-A Rev.11 |
Setup & Operation 1. Specifications
1.2 Drive Unit Standard Specifications
Item |
|
|
Specification |
||
Model |
Drive Unit RC700DU / RC700DU-A |
||||
Controllable axes |
Up to six (6) connectable AC servo motors |
||||
External input/output |
Standard I/O |
Input : 24 |
|
per Drive Unit |
|
signals (standard) |
Output : 16 |
|
|||
Drive Unit connect interface |
2 channel |
|
|
|
|
(standard) |
|
|
|
|
|
|
- |
Emergency stop switch |
|
||
|
- |
Safety door input |
|
||
|
- Low power mode |
|
|||
|
- |
Dynamic brake |
|
||
|
- |
Motor overload detection |
|
||
|
- |
Irregular motor torque (out-of-control Manipulator) detection |
|||
|
- |
Motor speed error detection |
|
||
Safety features |
- Positioning overflow - servo error - detection |
||||
- |
Speed overflow - servo error - detection |
||||
|
- |
CPU irregularity detection |
|
||
|
- |
Memory check-sum error detection |
|||
|
- |
Overheat detection at the Motor Driver Module |
|||
|
- |
Relay welding detection |
|
||
|
- |
Over-voltage detection |
|
||
|
- |
AC power supply voltage reduction detection |
|||
|
- |
Temperature error detection |
|
||
|
- |
Fan error detection |
|
||
Power Source |
200 to 240 VAC |
|
|||
Single phase 50/60 Hz |
|
||||
|
|
||||
Maximum Rated Capacity |
2.5 kVA (Depending on the Manipulator model) |
||||
|
|
|
|||
Insulation Resistance |
100 MΩ or more |
|
|||
|
|
|
|
|
|
Rated Ambient |
5 to 40 deg. |
|
|
|
|
Temperature |
|
|
|
||
|
|
|
|
|
|
Rated Relative Humidity |
20 to 80% (with no condensation) |
|
|||
Weight *1 |
9 kg |
|
|
|
|
Degree of protection |
IP20 |
|
|
|
|
*1 Weight of the unit is indicated on the Drive Unit itself.
Make sure to check the weight before units transfer or relocation and prevent throwing out your back at holding the unit.
Also, make sure to keep your hands, fingers, and feet safe from being caught or serious injury.
RC700DU / RC700DU-A Rev.11 |
11 |
Setup & Operation 1. Specifications
1.3Outer Dimensions
[Unit : mm]
12 |
RC700DU / RC700DU-A Rev.11 |
Setup & Operation 2. Part Names and Functions
2. Part Names and Functions
(2) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||
(Left side) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||||
(1) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
(4) |
|
|
|
|
|
|
|
|
|
|
|
||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
(3) |
|
|
|
|
|
|
|
|
|
|
|
|
|
(5) |
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||||
(7) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|||||
|
|
|
|
|
|
|
(8) |
|
|
|
|
|
|
|||||
|
(6) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
(15) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
(16) |
||
|
|
|
(9) |
|
(10) |
|
|
|
|
|
|
|
|
|
||||
|
|
|
|
|
|
(11)(12) |
|
(13) |
|
(14) |
||||||||
|
|
|
|
|
|
|
|
|
||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
(1)Signature label (top panel)
The serial number of the Drive Unit and other information are shown.
(2)LED
The LED indicates current operation mode (RUN, AUTO, ERROR/E-STOP). For details, refer to Setup & Operation 2.1 LED.
(3)M/C POWER connector
A connector for the Manipulator power source.
Connect the dedicated power cable attached to the Manipulator.
(4)Fan Filter
A protective filter is installed in front of the fan to filter out dust.
Check the condition of the filter regularly and clean it when necessary. A dirty filter may result in malfunction of the robot system due to temperature rise of the Drive Unit. For inspection, cleaning, and replacement, refer to the Maintenance 4.1 Fan Filter, 4.2 Fan.
(5)POWER switch
Turns ON or OFF the Drive Unit.
(6)Connection Check label
The details of the Manipulator to be connected are recorded on the label as shown in the right. The label indicates the Manipulator model and Manipulator serial number.
MANIPULATOR
C4-A600S 
00001
(7)EMERGENCY connector
This connector is used for input/output from/to Emergency Stop and Safety Door switches. For details, refer to the Setup & Operation 6. EMERGENCY.
RC700DU / RC700DU-A Rev.11 |
13 |
Setup & Operation 2. Part Names and Functions
(8) Encoder Voltage Adjustment Switch
Use this switch to adjust voltage according to length of M/C cable. (adjusted as a factory default)
Wrong setting may result in Robot system malfunction. Do not change the switch.
Switch |
M/C Cable Length |
1 |
3 m |
2 |
5 m |
3 |
10 m |
4 |
15, 20 m |
(9) M/C SIGNAL connector
This connector is used for signals such as the Manipulator’s motor encoders, etc. Connect the Manipulator’s dedicated signal cable.
(10)R-I/O connector
This connector is for the input signals used for the real time I/O function.
(11)RC700DU: DU OUT Connector / RC700DU-A: OUT Connector
To connect the 2nd Drive Unit:
Use the cable attached for Drive Unit and connect with the DU IN connector of the 2nd Drive Unit.
To connect the 3rd Drive Unit:
Use the cable attached for Drive Unit and connect with the DU IN connector of the 3rd Drive Unit.
(12)RC700DU: DU IN Connector / RC700DU-A: IN Connector
For the 1st Drive Unit:
Use the cable attached for Drive Unit and connect with the DU OUT connector of the Control Unit.
For the 2nd Drive Unit:
Use the cable attached for Drive Unit and connect with the DU OUT connector of the 1st Control Unit.
For the 3rd Drive Unit:
Use the cable attached for Drive Unit and connect with the DU OUT connector of the 2nd Control Unit.
(13)RC700DU / RC700DU-A No. Setting Switch
This switch indicated the Drive Unit number.
For details, refer to the Setup & Operation 5. Drive Unit Setup.
(14)I/O connector
This connector is used for input/output device. There are 24 inputs and 16 outputs. For details, refer to Setup & Operation 7. I/O Connector.
(15)AC IN
The cable for 200VAC power input.
For details, refer to Setup & Operation 3.3.2 AC Power Cable.
(16)Drive Unit Number label
The serial number of the Drive Unit is indicated.
14 |
RC700DU / RC700DU-A Rev.11 |
Setup & Operation 2. Part Names and Functions
2.1 LED
Three LEDs are mounted on Drive Unit. They have the following status patterns.
LED |
Color |
Status |
RUN |
Green |
ON / Flashing / OFF |
AUTO |
Green |
ON / OFF |
ERR/E-STOP |
Red |
ON / Flashing / OFF |
From applying current to Drive Unit to completing startup
|
|
|
Drive Unit LED |
DU IN |
|||
|
|
|
connector |
||||
|
|
|
|
|
|
|
|
|
|
RUN |
|
AUTO |
ERR/E-STOP |
LINK (Green) |
|
|
Power OFF |
OFF |
|
OFF |
|
OFF |
OFF |
|
Power ON |
Flashing |
|
OFF |
|
OFF |
OFF |
|
Establishing |
Flashing |
|
OFF |
|
OFF |
Flashing rapidly |
|
the connection |
|
|
||||
|
|
|
|
|
|
|
|
|
Normally operating |
ON |
|
OFF |
|
OFF |
Flashing rapidly |
After the connection to Drive Unit is completed |
|
|
|
||||
|
LED |
|
|
|
|
Status |
|
|
Auto mode |
ON |
|
ON |
|
- |
Flashing rapidly |
|
Program mode |
ON |
|
OFF |
|
- |
Flashing rapidly |
|
Teach mode |
|
|
||||
|
|
|
|
|
|
|
|
|
Robot error |
ON |
|
- |
|
Flashing |
Flashing rapidly |
|
Emergency stop |
ON |
|
- |
|
ON |
Flashing rapidly |
NOTE The error information is displayed on the seven-segment display of the Control Unit.
For details, refer to the RC700 / RC700-A Robot Controller manual: Setup & Operation 2.1 LED and Seven-segment LED .
RC700DU / RC700DU-A Rev.11 |
15 |
Setup & Operation 2. Part Names and Functions
2.2 Safety Features
The robot control system supports safety features described below. However, the user is recommended to strictly follow the proper usage of the robot system by thoroughly reading the attached manuals before using the system. Failure to read and understand the proper usage of the safety functions is highly dangerous.
Among the following safety features, the Emergency Stop Switch and Safety Door Input are particularly important. Make sure that these and other features function properly before operating the robot system.
For details, refer to the Setup & Operation 6. EMERGENCY.
Emergency Stop Switch
The EMERGENCY connector on the Drive Unit has expansion Emergency Stop input terminals used for connecting the Emergency Stop switches.
Pressing any Emergency Stop switch can shut off the motor power immediately and the robot system will enter the Emergency Stop condition.
Stop category of Emergency Stop input: Category 0 (refer to Safety Standard IEC60204-1)
Safety Door Input
In order to activate this feature, make sure that the Safety Door Input switch is connected to the EMERGENCY connector at the Drive Unit.
When the safety door is opened, normally the Manipulator immediately stops the current operation, and the status of Manipulator power is operation-prohibited until the safety door is closed and the latched condition is released. In order to execute the Manipulator operation while the safety door is open, you must change the mode selector key switch on the Teach Pendant to the “Teach” mode. Manipulator operation is available only when the enable switch is on. In this case, the Manipulator is operated in low power status.
Stop category of Safety door input: Category 1 (refer to Safety Standard IEC60204-1)
Low Power Mode
The motor power is reduced in this mode.
Executing a power status change instruction will change to the restricted (low power) status regardless of conditions of the safety door or operation mode. The restricted (low power) status ensures the safety of the operator and reduces the possibility of peripheral equipment destruction or damage caused by careless operation.
Dynamic Brake
The dynamic brake circuit includes relays that short the motor armatures. The dynamic brake circuit is activated when there is an Emergency Stop input or when any of the following errors is detected: encoder cable disconnection, motor overload, irregular motor torque, motor speed error, servo error (positioning or speed overflow), irregular CPU, memory check-sum error and overheat condition inside the Motor Driver Module.
Motor Overload Detection
The dynamic brake circuit is activated when the system detects the overload status of the motor.
Irregular Motor Torque (out-of-control Manipulator) Detection
The dynamic brake circuit is activated when irregular motor torque (motor output) is detected.
16 |
RC700DU / RC700DU-A Rev.11 |
Loading...