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560GB
HP20D-C09
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference The operating instructions are only for internal use.
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HP20D-C09
Reference list:
List of modifications Documentnumber Creation of original document x rework rework chapter 3 Modification in the original document In section On page Date 29.10.2010 09.11.2010 10.11.2010 Author DD REB REB
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WARNING
This instruction manual is intended to explain mainly on the mechanical part of the YASKAWA-HP20D-C09 for the application to the actual operation and for proper maintenance and inspection. It describes on safety and handling, details on specifications, necessary items on maintenance and inspection, to explain operating instructions and maintenance procedures. Be sure to read and understand this instruction manual thoroughly before installing and operating the robot. General items related to safety are listed in Section 1: Safety of the DX100 Instructions. To ensure correct and safe operation, carefully read the DX100 Instructions before reading this manual.
CAUTION
Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product. The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. YASKAWA europe GmbH may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised. If your copy of the manual is damaged or lost, contact a YASKAWA europe GmbH representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover. YASKAWA europe GmbH is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product's warranty.
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WARNING CAUTION
MANDATORY PROHIBITED
Even items described as CAUTION may result in a serious accident in some situations. At any rate, be sure to follow these important items To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as "CAUTION" and "WARNING".
NOTE
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WARNING
Before operating the robot, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX100 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. Injury or damage to machinery may result if the emergency stop circuit cannot stop the robot during an emergency. The robot should not be used if the emergency stop buttons do not function.
Fig 1: Emergency Stop Button Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the robot. Then turn the servo power ON. Injury may result from unintentional or unexpected robot motion. TURN
Fig 2: Release of Emergency Stop Observe the following precautions when performing teaching operations within the Ppoint maximum envelope of the robot: View the robot from the front whenever possible. Always follow the predetermined operating procedure. Ensure that you have a safe place to retreat in case of emergency. Improper or unintended robot operation may result in injury. Confirm that no person is present in the P-point maximum envelope of the robot and that you are in a safe location before: Turning on the power for the DX100. Moving the robot with the programming pendant. Running the system in the check mode. Performing automatic operations. Injury may result if anyone enters the P-point maximum envelope of the robot during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of front door of the DX100 and the programming pendant.
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CAUTION
Perform the following inspection procedures prior to conducting robot teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. - Check for problems in robot movement. - Check for damage to insulation and sheathing of external wires. Always return the programming pendant to the hook on the cabinet of the DX100 after use. The programming pendant can be damaged if it is left in the robot's work area, on the floor, or near fixtures. Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the robot:
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Table of Contents
1 1.1 1.2 2 2.1 2.2 3 3.1 3.2 3.3 3.4 4 4.1 4.2 5 5.1 5.2 5.3 5.4 5.5 6 6.1 6.2 7 7.1 7.2 8 8.1 8.2 9 9.1 9.2 9.3 9.4 10 11 11.1 11.2 11.3 11.4 11.5
Product Confirmation ............................................................................................................ 8 Contents Confirmation ............................................................................................................. 8 Order Number Confirmation .................................................................................................... 9 Transport .............................................................................................................................. 10 Transport Method .................................................................................................................. 10 Shipping Bolts and Brackets .................................................................................................. 12 Installation ............................................................................................................................ 14 Safeguarding Installation ....................................................................................................... 15 Mounting Procedures for Robot Base.................................................................................... 15 Types of Mounting ................................................................................................................. 17 Location ................................................................................................................................. 18 Wiring.................................................................................................................................... 19 Grounding .............................................................................................................................. 19 Cable Connection .................................................................................................................. 20 Basic Specifications ............................................................................................................ 23 Basic Specifications ............................................................................................................... 23 Part Names and Working Axes.............................................................................................. 25 Robot Base Dimensions ........................................................................................................ 26 Dimensions and P-Point Maximum Envelope........................................................................ 27 Alterable Operating Range .................................................................................................... 28 Allowable Load for Wrist Axis and Wrist Flange .............................................................. 29 Allowable Wrist Load ............................................................................................................. 29 Wrist Flange........................................................................................................................... 31 System Application ............................................................................................................. 32 Peripheral Equipment Mounts ............................................................................................... 32 Internal User I/O Wiring Harness and Air Line....................................................................... 33 Electrical Equipment Specification .................................................................................... 36 Position of Limit Switch .......................................................................................................... 36 Internal Connections .............................................................................................................. 36 Maintenance and Inspection............................................................................................... 40 Inspection Schedule .............................................................................................................. 41 Notes on Maintenance Procedures ....................................................................................... 46 Notes on Grease Replenishment/Exchange Procedures ...................................................... 48 Setting the Second Home Position (Check Point) ................................................................. 69 Recommended Spare Parts ................................................................................................ 82 Parts List .............................................................................................................................. 84 S-Axis Unit ............................................................................................................................. 84 L-Axis Unit ............................................................................................................................. 86 U-Axis Unit ............................................................................................................................. 88 R-Axis Unit ............................................................................................................................. 90 Wrist Unit ............................................................................................................................... 93
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Product Confirmation
CAUTION
Confirm that the robot and the DX100 have the same order number. Special care must be taken when more than one robot is to be installed. If the numbers do not match, robots may not perform as expected and cause injury or damage.
1.1
Contents Confirmation
Confirm the contents of the delivery when the product arrives. Standard delivery includes the following four items (information for the content of optional goods are given separately): Robot DX100 Programming pendant Robot cables (Between Robot and DX100)
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1.2
THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.
S/N.
WARNING
High Voltag e Do not open with power the door ON.
Motoman Part No. DX100 Power Supply AC 400/415/440 Peak Serial No. V Average Date/Signature Type Robot Type ERDRRobot Order Robot Serial No. No.
kVA kVA
YASKAWA 2-1 Kurosaki Electric Shiroishi Motoman corporation KammerfeldstrYahatanishi-Ku Kitakyushu-City . 1, D-85391 Fukuoka 806-0004 Allershausen Japan NJ3053-1
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Transport
CAUTION
Sling applications and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. Avoid excessive vibration or shock during transport. The system consists of precision components; failure to observe this caution may adversely affect performance.
2.1
Transport Method
Check that the eyebolts are securely fastened.
NOTE
The weight of the robot is approximately 280 kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight. Attached eyebolts are designed to support the robot mass. Do not use them for anything other than transporting the robot. Make sure to mount the shipping bolts and brackets when transporting the robot. (Refer to Fig. 4: "Transporting Position" at Page 11) With any transportation equipment, make sure to avoid external force on the arm or motor unit when transporting the robot.
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2.1.1
Using a Crane
As a rule, the robot should be lifted by a crane with two wire ropes when removing it from the package and moving it. Be sure that the robot is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in Fig. 4: "Transporting Position".
1
B D
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2.1.2
Using a Forklift
When using a forklift, the robot should be fixed on a pallet with shipping bolts as shown in Fig. 5: "Using a Forklift". Insert claws under the pallet and lift it. The pallet must be strong enough to support the robot. Transport the robot slowly with due caution in order to avoid overturning or slippage.
1 2
2.2
12
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D A
Fig. 6: Shipping Bolts and Brackets Table 3: Shipping Bolts and Brackets
1 2 3 4 5 6 Eyebolt M12 (2 eyebolts), delivered with the robot Enlarged View: Sections B and D Parts Drawing for Section B Enlarged View: Section C Parts Drawing for Section A Enlarged View: Section A
The brackets in the sections A and B are painted yellow. The section A is fixed with a hexagon socket head cap screw M8, and the section B is fixed with two hexagon socket head cap screws M6. A rubber cushion is respectively wedged at the sections C and D. Before turning ON the power, check to be sure that the shipping bolts and brackets are removed. The shipping bolts and brackets then must be stored for future use, in the event that the robot must be moved again.
NOTE
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HP20D-C09
Installation
WARNING
Install the safeguarding. Failure to observe this warning may result in injury or damage. Install the robot in a location where the fully extended arm and tool will not reach the wall, safeguarding, or controller. Failure to observe this warning may result in injury or damage. Do not start the robot or even turn ON the power before it is firmly anchored. The robot may overturn and cause injury or damage. When mounting the robot on the wall, the base section must have sufficient strength and rigidity to support the weight of the robot. Also, it is necessary to consider countermeasures to prevent the robot from falling. Failure to observe these warnings may result in injury or damage.
CAUTION
Do not install or operate the robot that is damaged or lacks parts. Failure to observe this caution may cause injury or damage. Before turning ON the power, check to be sure that the shipping bolts and brackets explained in Fig. 6: "Shipping Bolts and Brackets" at Page 13 are removed. Failure to observe this caution may result in damage to the driving parts.
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3.1
Safeguarding Installation
To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. Refer to the quoted clause for your information and guidance: Responsibility for Safeguarding (ISO10218) The user of a robot or robot system shall ensure that safeguards are provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.
3.2
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3.2.1
Mounting Example
For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the robot or the mounting fixture. It is recommend to prepare a baseplate of 32 mm or more thick, and anchor bolts of M16 or larger size. The robot base is tapped for four mounting holes; securely fix the robot base to the baseplate with four hexagon head bolts M16 (60 mm long is recommended). Next, fix the robot base to the baseplate. Tighten the hexagon head bolts and anchor bolts firmly so that they will not work loose during the operation (Refer to Fig. 7: "Mounting the Robot on Baseplate").
2 3
25
5
6 7
Fig. 7: Mounting the Robot on Baseplate Table 6: Mounting the robot an baseplate
1 2 3 4 Screw M16 (4 screws) Spring washer Washer Robot base 5 6 7 8 Baseplate Anchor bolt M16 or more Baseplate Robot base
16
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580 335
36
80
260 520
335
24 (
5
2
8x)
260 580
3.3
Types of Mounting
The YASKAWA-HP20D-C09 is available in two types: floor-mounted type (standard), wallmounted type. For wall-mounted type, the three points listed below are different from the floor-mounted type. S-Axis Operating Range Fixing the Robot Base Precautions to Prevent the Robot from Falling IP (International Protection) for Main Part of the Robot
3.3.1
3.3.2
(4
x)
520
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3.3.3
NOTE
3.4
Location
When the robot is installed, it is necessary to satisfy the following environmental conditions: Ambient temperature: 0 to +45C Humidity: 20 to 80%RH (at constant temperature) Free from dust, soot, or water Free from corrosive gases or liquids, or explosive gases Free from excessive vibration (Vibration acceleration: 4.9 m/s2 or less [0.5 G] or less) Free from large electrical noise (plasma) Flatness for installation: 0.5 mm or less
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Wiring
WARNING
Ground resistance must be 0.1 or less. Failure to observe this warning may result in fire or electric shock. Before wiring, make sure to turn the primary power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON). Failure to observe this warning may result in fire or electric shock.
CAUTION
Wiring must be performed by authorized or certified personnel. Failure to observe this caution may result in fire or electric shock.
4.1
Grounding
Follow local regulations for grounding line size. A line of 6.0 mm2 or more is recommended. Refer to Fig. 9: "Grounding Methode" at Page 20 to connect the ground line directly to the robot. Never use this line sharing with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc. Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with Electric Equipment Technical Standards.
NOTE
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HP20D-C09
A
3 2
4.2
Cable Connection
Two robot cables are delivered with the robot; an encoder cable and a power cable (2BC). (Refer to Fig. 10: "Robot Cables" at Page 21). Connect the robot cables to the connectors on the robot connector base and connectors on the DX100. Refer to Fig. 11: "Robot Cable Connectors (Robot Side)" at Page 22, Fig. 12: "Robot Cable Connection to the DX100" at Page 22.
4.2.1
20
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4.2.2
X1
1BC
X1
X2
2BC
X2
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1BC
2BC
1 5 4
1BC 2BC
Fig. 11: Robot Cable Connectors (Robot Side) Table 10: Robot cable connectors (Robot side)
1 2 3
1 BC 2 BC Connector base fixing screw (M4)
4 5
1
X 11 X1 X2 X 21
Fig. 12: Robot Cable Connection to the DX100 Table 11: Robot cableconnection to the DX100
1 Back view
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5
5.1
Basic Specifications
Basic Specifications
Table 12: Basic Specifications
Item Structure Degree of Freedom Payload Repeatability1) Range of Motion S-Axis (turning) L-Axis (lower arm) U-Axis (upper arm) R-Axis (wrist roll) B-Axis (wrist pitch/ yaw) T-Axis (wrist twist) Maximum Speed S-Axis L-Axis U-Axis R-Axis B-Axis T-Axis Allowable Moment2) R-Axis B-Axis T-Axis Allowable Inertia (GD2/4) R-Axis B-Axis T-Axis Approx. Mass Model YASKAWA-HP20D-C09 Vertically Articulated 6 20 kg 0.06 mm -180 -110 -165 180 155 255
-360 - 360 3.44 rad/s, 197/s 3.05 rad/s, 175/s 3.26 rad/s, 187/s 6.98 rad/s, 400/s 6.98 rad/s, 400/s 10.47 rad/s, 600/s 39.2 Nm 39.2 Nm 19.6 Nm 1.05 kgm2 1.05 kgm2 0.75 kgm2 3) 273 kg
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Power Requirements
1. Conformed to ISO9283 2. Refer to chapter 6 "Allowable Load for Wrist Axis and Wrist Flange" for details on the permissible moment of inertia. 3. The allowable inertia of T-axis varies depending on the added value of the moment. Refer to 6 "Allowable Load for Wrist Axis and Wrist Flange" for the details.
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5.2
B+ T+
2
URBT-
L-
L+
4
S+
S-
Fig. 13: Part Names and Working Axes Table 13: Part names and working axes
1 2 3
U-arm Wrist flange L-arm
4 5
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200 0,1
60
200 0,1
25
313
375 335
335 375
195,5 395,5
170 0,1
250
260 0,1
Fig. 14: Robot Base Dimensions Table 14: Robot base dimensions
1 2 3 4 5
Fitting surface Units: mm 12 dia. holes (2 holes) View A 18 dia. holes (4 holes) (for robot fixing)
26
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5.4
42
R31
180
1417 1323
150
1717
349 413
514 459
635
288
807
2072 138,5
150 80
795 87,5
105
140
81
2
1003
1485
760
11
0
768
155
505 334
505
505 238 0
25
5
165
559
524
Fig. 15: Dimensions and P-Point Maximum Envelope Table 15: Dimension and P-point maximum envelope
1 2 3
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5.5
28
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6
6.1
The allowable moments of inertia for R-axis and B-axis are calculated when the moment is at the maximum. The allowable moment of inertia for T-axis varies depending on the moment, as shown in Fig. 16: "T-axis Allowable Moment of Inertia Diagram (Measured Value from the Rotation Center of the T-axis Flange Surface)". Use the robot to meet those conditions. For example, with YASKAWA-HP20D C09, the allowable moment of inertia for the T-axis is 0.25 kgm2 when the moment is 19.6 Nm, and 0.75 kgm2 when 0 Nm. When the volume load is small, refer to the moment arm rating shown in Fig. 17: "Moment Arm Rating" at Page 30.
2
20 19.6
Moment N m
15
10
0 0
0.25 0.3
Fig. 16: T-axis Allowable Moment of Inertia Diagram (Measured Value from the Rotation Center of the T-axis Flange Surface) Table 18: T-axis allowable moment of inertia diagram
1 2
Total Inertia GD/4 Kgm Moment (Nm)
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LB
105 LT
3
300
LT mm
W=6Kg
100
200 LB mm
300
400
Fig. 17: Moment Arm Rating Table 19: Moment arm rating
1 2 3
Load gravity position R-, T-axis rotation center B-axis rotation center
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6.2
Wrist Flange
The wrist flange dimensions are shown in Fig. 18: "Wrist Flange". In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.
1
0,5
4 5
P.C
.D4
3 5 4
NOTE
Wash off anti-corrosive paint (yellow color) on the wrist flange surface with thinner or light oil before mounting the tools. Mount the attachment with the mounting bolts (length: 10 mm or less). Failure to observe this instruction may affect the robot performance.
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7
7.1
System Application
Peripheral Equipment Mounts
The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in Fig. 19: "Installing Peripheral Equipment" at Page 32 for easier installation of the userss system applications. The following conditions shall be observed to attach or install peripheral equipment.
7.1.1
Allowable Load
The maximum allowable load on the U-axis is 31 kg, including the wrist load. For instance, when the mass installed on the wrist point is 20 kg, the mass which can be installed on the upper arm is 11 kg.
7.1.2
Installation Position
There is a limitation on the installation position. Fig. 20: "Allowable Load on U-axis" at Page 33 shows the distance between the center of U-axis rotation and the load gravity.
W2 220
W1 70
2 7 3
70
Fig. 19: Installing Peripheral Equipment Table 21: Installing peripheral equipment
1 Z-coordinate direction 2 X-coordinate direction 3 Center of U-axis rotation 4 Rotating Base 5 6 7
View A Units: mm Limited dimension of Z-coordinate: 400 at a maximum
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3
10
W1=16kg W1=20kg*1 *1
-200 -100
Fig. 20: Allowable Load on U-axis Table 22: Allowable load on u-axis
1 2 3 In this case, unbalanced moment is not permitted Distance between Center of U-axis Rotation and Load Gravity (w direction) Weight W2
7.2
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A
5
1 2
2BC
1BC
3BC
1 4 3
Fig. 21: Connectors for Internal User I/O Wiring Harness and Air Line Table 23: Connectors for internal user I/O wiring harness and air line
1 2 3 4 5
Connector for internal user I/O wiring harness: JL05-2A204-29SC Order no. 104072 (socket connector with a cap). Prepare pin connector JL05-6A20-29P, Order no. 104073 View A Connector for internal user I/O wiring harness: JL05-2A204-29PC Order no. 104064 (socket connector with a cap). Prepare pin connector JL05-6A20-29S, Order no. 104065 Air inlet Tapped hole PT3/8 with pipe plug Exhaust port Tapped hole PT3/8 with pipe plug
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1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
1 2
2 2
4 7 9 13 11 15
3 8 12
6 10 14
(1,25 mm2) (1,25 mm2) (1,25 mm2) (1,25 mm2) (1,25 mm2)
16
3 4
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
5
4 9
1 2 5 7 3 8 12 14 16 6 10
13
11 15
NOTE
For the standard specification, the pins No. 7 and No. 8 of 3BC connector on the U-arm are respectively connected with the shock sensor power supply and shock sensor signal input port of the DX100 controller. The pins No.7 and No.8 of respective 3BC connectors on the connector base side and the U-arm side are not connected with each other.
The same pin number (1 to 16) of two connectors is connected in the wire lead of single 0.2 mm2 or 1.25 mm2.
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8
8.1
Fig. 23: Location of Limit Switches Table 25: Location of limit switches
1 2 3 L- and U-axes interference limit switch (optional) L-axis interference limit switch (optional) S-axis overrun limit switch (optional)
8.2
Internal Connections
Highly reliable connectors are equipped on each connection part of the robot to enable easy removal and installation for maintenance and inspection. For the number and location of connectors, see Fig. 24: "Locations and Numbers of Connectors". Diagrams for Internal connections of the robot are shown in Fig. 25: "(a) Internal Connection Diagramm" at Page 38 and Fig. 26: "(b) Internal Connection Diagramm" at Page 39.
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Fig. 24: Locations and Numbers of Connectors Table 26: Locations and numbers of connectors
1 2
3BC (for internal user I/O wiring harness) on the U-arm 3BC (for internal user I/O wiring harness) on the connector base
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38
INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS INTERNAL CABLE IN BT-AXIS
POWER CABLE
<NOTES>
- For the limit switch specification, the connection of the section A is changed as follows: - For the IP65 specification, the connection of the section A and B are changed as follows:
LA1 LB1 LA1 LB1 LB1 LA2 LA2 LB2
P P
P P
LB3 LC1 LD1 LC1 LD1 LD1 LC2 LC2 LD2 LB3
0BAT4 BAT4
5 6 7 8
P
LA3
A
L AND U-AXIS INTERFERENCE L.S
P
LC3
1 2 3 4 5 6 7 8
DX100
+24V 0V
1 3
1BC(10X4)
CN1-5 CN1-4
CN1-5 CN1-4
PG0V1 PG5V1 PG0V2 PG5V2 PG0V3 PG5V3 PG0V4 PG5V4 PG0V5 PG5V5 PG0V6 PG5V6
P
P
L AND U-AXIS INTERFERENCE L.S
LC2 LD1 LD1 LC2 LD2 LC1 LC1
CN1-10 CN1-9
SPG+1
SPG-1
P P LD1 LD1 LC1 LC3 LD3 LD3
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
CN1-1 CN1-2 PG
CN1-1 CN1-2
S-AXIS
LC1 LD1
P
P
CN1-3
OBT BAT
CN1-3 FG1
CN1-6 CN1-7
P P
CN1-6 CN1-7
SPG+2 SPG-2
PG
L-AXIS
CN1-8
OBT BAT
CN1-8 FG2
- For the standard specification, the pins No.7 and No.8 of 3BC connector on the U-arm are respectively connected with the shock sensor power supply and the shock sensor signal input port of the DX100 controller.
PG
CN2-1 CN2-2
P P P P OBT BAT P P DATA+3 DATA-3 BAT OBT +5V 0V FG3 DATA+3 DATA-3 BAT OBT +5V 0V FG3
CN2-1 CN2-2
SPG+3 SPG-3
CN2-3
No.6CN
CN2-3 FG3
U-AXIS
DX100 Connection Port Pin No. Shock sensor power supply; +24V (1A) 7 Shock sensor signal input 8
1BC(10X4)
P P
CN2-6 CN2-7
P
CN2-6 CN2-7
SPG+4 SPG-4
PG
R-AXIS
CN2-8
OBT BAT
CN2-8
FG4
CN3-1 CN3-2
P P P P OBT BAT -4 -10 DATA+6 DATA-6 P P P P OBT BAT -5 -11 -6 +5V 0V FG6 P P DATA+5 DATA-5 BAT OBT +5V 0V
CN3-1 CN3-2
SPG+5 SPG-5
CN3-3
CN3-3
No.7CN 7CN-1 -7 -2 -8 -3 -9 No.14CN 14CN-1 -2 -3 -4 15CN-1 -2 -3 DATA+5 DATA-5 BAT OBT +5V 0V FG5
PG
B-AXIS
FG5
CN3-6 CN3-7
P
CN3-6 CN3-7
SPG+6 SPG-6
PG
T-AXIS
CN3-8
CN3-8
FG6
CN4-1 +24V
LA1 LB1 P LB3 LA2
CN4-6
LB1
CN4-7
CN4-3
CN4-3 CN4-8
CN4-8
- When connecting the pin No.7 and No.8 of the connector base respectively with the pin No.7 and No.8 of 3BC connectors on the U-arm, the connection of crimped contact-pins (SS1, SS2) should be changed as shown in the section C below. (Contact your MOTOMAN robotec GmbH representative when modifying the wiring before use.)
POWER CABLE CONNECTOR BASE