Robotics CS8C Manuel d'utilisateur télécharger pdf (Page 16)

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CS8C Controller 1
TABLE OF CONTENTS 3
1 INTRODUCTION 3
3 SAFETY 3
4 INSTALLATION 3
5 INTEGRATION 5
6 OPERATION 5
7PC UTILITIES 7
8 MAINTENANCE 7
CONTROLLER 7
CHAPTER 1 9
INTRODUCTION 9
1.1. FOREWORD 11
13 / 248 13
CHAPTER 2 15
DESCRIPTION OF THE CONTROLLER 15
2.1. IDENTIFICATION 17
2.2.1. THE CONTROLLER 18
2.2.2. THE MCP 19
2.2.3. WMS FRONT PANEL 19
CHAPTER 3 21
Chapter 3 - Safety 23
3.4.1. CONNECTIONS 28
31 / 248 31
CHAPTER 4 33
INSTALLATION 33
4.1.1. POSITIVE SAFETY 35
4.1.2. POWER SOURCES 35
4.2. ON-SITE PREPARATION 36
4.2.1. ELECTRICAL NETWORK 36
4.2.2. PNEUMATIC NETWORK 37
4.2.3. WORK ENVIRONMENT 37
39 / 248 39
4.2.4.2. CS8C FOR RX160 ARM 39
Figure 4.2 39
Detail: A 39
Scale: 1:1 39
4.2.5. AIR CIRCULATION 40
4.2.6. ACCESSIBILITY 40
4.3. UNPACKING AND HANDLING 41
4.3.2. HANDLING OF PACKING 41
THE CONTROLLER 41
4.4. FIXING THE MCP 42
4.4.1. CHARACTERISTICS 42
43 / 248 43
Holder measurements: 43
Figure 4.5 43
4.5. FIXING THE WMS 44
90 * 50 45
4.6. CONNECTIONS 46
1 98 7 6 47
4.6.3. CONNECTING THE SIGNALS 49
Chapter 4 - Installation 51
CHAPTER 5 53
INTEGRATION 53
57 / 248 57
Emergency stop channels 57
Figure 5.1 57
Figure 5.2 58
59 / 248 59
Figure 5.3 59
Figure 5.4 60
5.1.2. CONNECTION WITH CELL 61
5.2. BASIC INPUTS/OUTPUTS 62
5.2.1. USER-IN INPUTS 62
5.2.3. ENCODER INPUT 66
2 32*360*4*e00Counts 68
5.2.4. SYSTEM INPUTS 69
5.3. RS ROBOTS 70
LED1LED2LED3 74
1234567891011121314 75
77 / 248 77
Figure 5.13 77
Switches 77
81 / 248 81
Figure 5.14 81
89 / 248 89
Figure 5.18 89
Figure 5.19 89
5.6. FIELD BUS 91
5.6.1. CHARACTERISTICS 91
5.6.2. CONFIGURATION 91
5.6.3. DIAGNOSIS 92
5.7.1. INSTALLATION 96
5.7.3. PLC PROGRAMMING IN SRS 98
5.8. ETHERNET LINK 101
5.8.1. CONFIGURATION 101
5.8.2. FTP PROTOCOL 101
5.8.3. MODBUS TCP PROTOCOL 101
5.8.4. ETHERNET SOCKETS (TCP) 103
5.9. SERIAL PORT 104
5.10. SOFTWARE CONFIGURATIONS 105
, user marks) 107
Chapter 5 - Integration 109
111 / 248 111
CHAPTER 6 113
OPERATION 113
Chapter 6 - Operation 115
6.2. PRESENTATION OF THE MCP 116
6.2.1. GENERAL PRESENTATION 116
6.2.2. CONTROL KEYS 120
6.2.4. NAVIGATION KEYS 121
(2) (3)(4)(5) (6) 123
6.3. ARM POWER-UP 125
6.4. EMERGENCY STOP 126
This is done in the recovery 127
6.5.3. ADJUSTMENT PROCEDURE 128
6.6. WORKING MODES 129
6.6.1. MANUAL MODE 129
6.6.2. LOCAL MODE 129
6.6.3. REMOTE MODE 130
6.7. JOG INTERFACE 131
6.7.1. PRESENTATION 131
6.8. STARTING AN APPLICATION 138
6.9. STOPPING MOVEMENTS 140
6.10.4. METHODS FOR DIAGNOSIS 148
6.11. TEACHING FRAMES 150
6.12. TEACHING POINTS 151
6.14. CONTROLLER BACKUP 152
153 / 248 153
CHAPTER 7 155
PC UTILITIES 155
7.1.1. INSTALLATION 157
7.1.2. FUNCTIONALITIES 157
7.2. FTP ACCESS FROM A PC 158
7.2.1. FTP CLIENT 158
7.2.3. FUNCTIONS VIA FTP 158
7.3. FTP ACCESS TO A PC 159
7.3.1. INSTALLING CESAR FTP 160
161 / 248 161
CHAPTER 8 163
MAINTENANCE 163
Chapter 8 - Maintenance 165
8.2. GLOSSARY 166
8.3. COMPONENT LOCATION 167
8.4. SAFETY 168
8.5. INPUT VOLTAGE 169
8.5.1. DESCRIPTION 169
8.5.2. ACCESS 170
8.5.3. TROUBLE SHOOTING 171
Figure 8.9 174
Figure 8.10 174
8.6.1. DESCRIPTION 176
8.6.2. ACCESS 177
8.6.3. TEST POINTS 177
8.6.4. TROUBLE SHOOTING 178
181 / 248 181
Figure 8.17 181
Figure 8.18 181
Figure 8.19 181
Figure 8.22 184
8.6.5. ALIM_OK SIGNAL 187
8.6.5.4. ADVANCED INFORMATION 188
Figure 8.26 188
8.6.6. SECTEUR_OK SIGNAL 189
8.6.6.4. ADVANCED INFORMATION 190
Figure 8.28 190
8.6.7. BRK_x SIGNALS 191
Output from ARPS to 193
Output from RSI to ARPS 193
8.7. RPS POWER SUPPLY 194
8.7.1. DESCRIPTION 194
8.7.2. ACCESS 194
Figure 8.34 196
8.7.3. TROUBLE SHOOTING 199
8.8. RSI 203
8.8.1. DESCRIPTION 203
8.8.2. ACCESS 204
8.8.3. TROUBLE SHOOTING 204
External 24V 207
Internal 218
External 24 VDC for E 218
Stop lines 218
8.9. STARC BOARD 232
8.9.1. DESCRIPTION 232
8.9.2. ACCESS 232
8.9.3. TROUBLE SHOOTING 234
8.10. PREVENTIVE MAINTENANCE 242
8.10.1. VENTILATION 242
243 / 248 243
APPENDIX 245
APPENDIX 1 247

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Robotics CS8C Manuel d'utilisateur Page 16

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