Adtech ADT-RC400, User Manual

Page 1: ...ADTECH Robotic Drive System ADT RC400 User Manual Electrical Wiring ...

Page 2: ... individual is not any imitation copying copying or translation Position this guide without warranty of any kind expressed or implied As mentioned by this manual or its product information arising out of directly or indirectly information flow loss of interest or career ending and its employees will not take any responsibility In addition the products and information mentioned in this manual are f...

Page 3: ...l list identifies whether the part is complete there is no damage Product model lack accessory or transport damage please contact with me Wiring To participate in connections and inspection personnel must have the appropriate skills for professionals Products must be reliable earthling grounding resistance should be less than 4 ohms you cannot use the neutral zero line instead of ground Wiring mus...

Page 4: ...re is too high please install the cooling fan Controller working ambient temperature range between 0 60 To avoid high temperatures humidity dust or corrosive gas environments Shake strongly to add buffer rubber rails Maintenance Under normal conditions of use environment conditions average 30 load 80 running 12 hours a day please press the following items for routine checks and regular checks Dail...

Page 5: ...o equipment which caused material damage Ban Absolutely unenforceable Forcibly Must be implemented Danger Please do not use this system in the flammable and explosive environment Likely to cause injuries or fire Please follow the instructions drawings or wiring Prone to electrical shock and damage the motor In an energized state do not arbitrarily pull the plug in the operating state do not touch ...

Page 6: ...ease do not use hand to touch the drive and control of internal components Easy electric shock In the case of power do not touch the power plug of the integrated machine Easy electric shock Please do not damage the weight of cable or cable suspended load Easy electric shock The energized state do not plug the drive terminal machine control on Easy electric shock and short circuit Running state do ...

Page 7: ...f its specification Easily cause damage to the product When the robot is moved it needs to be fixed with the attached fixed tool To prevent the lifting arm due to accidents The installation operation maintenance and inspection before be sure to read the instructions carefully according to the operating instructions in step Easy electric shock fire Power supply voltage power capacity must be specif...

Page 8: ...e do not put heavy objects on the product Easily cause damage Please correct the wiring in the instruction manual The wrong wiring way is easy to cause the robot or the drive control one machine damage or cause a fire When an exception occurs please stop Easy electric shock personal injury fire Need to repair please contact our company please do not disassemble Easy cause trouble Do not impact Eas...

Page 9: ... need an emergency stop switch stop operation of the equipment There is no correct operation of the prohibition on the instruction manual Incorrect operation will bring about the incorrect operation of the equipment Other personnel outside the operating personnel to close to the equipment Touching the dangerous area can cause the injury or the major accident When an accident to cut off the power s...

Page 10: ...sun Easy cause trouble Please use the specified range Easily cause burn failure Equipment protection cover must be shut off during operation Open the protective cover will have electric shock the disabled Operator to go through the full training Incorrect operation will cause the device to malfunction resulting in disability or major disaster If the robot is not in accordance with the specified di...

Page 11: ...X Power cord must be used with the specified wire Prone to fire and failure ...

Page 12: ... the need for programming testing and maintenance work the robot shall be placed under manual mode When debugging personnel enter the robot work area he shall carry a teach pendant to prevent others from malfunction When the robot does not work for a long time the fixture should not place items it shall be empty machine After a power outage the main power on the robot should shut down timely and r...

Page 13: ... 72Pins Robot Controller 21 External Profile of 48Pins Robot Controller 22 3 Power Cord Connect 23 Main Power Supply 23 IO Power Supply 24 4 Motor Wiring Terminals 25 4 1 Diagrams for Two Kinds of Motor s Terminal 72Pin 48Pin 25 72Pin Heavy Load Connector 25 48Pin Heavy Load Connector 25 4 2 MOTOR Terminal 72Pin Signal Description 26 26 Pins Encoder Definition 28 20 Pins Power Definition 29 16 Pin...

Page 14: ...n Robot 55 4 5 Connection Instances of Motors for 48Pin 56 5 Digital Input and Output Interfaces 72 5 1 Digital Inputs 72 5 1 1 Input Interface Definition and Pin Functions 72 5 1 2 Digital Input Schematic Diagram 74 5 2 Digital Output Interface 76 5 2 1 Output Interface Definition and Pin Functions 76 5 2 2 Schematic Diagram of a Digital Output 78 6 Communication Port 81 6 1 COM1 Port Wire Drawin...

Page 15: ...e schematic side of robotic drive controller QC400 The system machine integrated several CPUs ARM9 DSP FPGA which are control module high performance servo drive module I O module display module communication module as a whole Interfaces include motor power cable encoder cable IO cable and power cable and so on 1 Interface of power encoder and IO cables 2 Handheld Flex Pendant connector 3 External...

Page 16: ...xPendant Introduction Front view of Flexpedant is shown in Figure 1 2 Figure 1 2 Front view of FlexPendant Back view of Flexpedant is shown in Figure 1 3 Three Position Switch Figure 1 3 Back view of FlexPendant ...

Page 17: ...tor type supports all digital AC servo motors for example Sanyo Panasonic Tamagawa Adtech and other brands position detection method detection encoder incremental absolute power single axis power below 1 2KW four axis total power below 3KW External input Standard IO 34 road with opto coupler isolation External output Standard IO 27 Road 6 relays 21 Road NPN open collector Motion control function c...

Page 18: ...nate display mode Cartesian coordinate display mode the joint coordinate External communication RS 232 2CH 9 pin Ethernet 1CH 100Mbps 10Mbps USB2 0 2CH Dimensions Weight length including aviation head 517mm Width 160mm high 273mm 20KG Power Single phase within AC200V 230V 50Hz ...

Page 19: ...board I O input board 1 piece Output connecting cable Output Wiring 25pin output port junction a host 1 pcs output board I O output board 1 piece RPB06 handheld FlexPendant 1 set optional 1 4 3 Basic Specifications Table 1 3 Basic specifications Climatic conditions Temperature Working 5 50 Storage and transportation 30 70 Relative humidity Working 20 90 Storage and transportation 10 95 Atmospheric...

Page 20: ...19 Peripheral Devices SCARA Robot FlexPendant IO Board QC400 Controller Figure 2 1 System Configuration ...

Page 21: ...ntal articulated robot plan as follows J1 J2 J3 J4 Figure 2 2 horizontal axis robot plan Industrial robot axes are defined as follows for the J1 axis arm the arm of J2 axis the vertical axis J3 axis J4 axis rotation axis ...

Page 22: ... IO Terminal Board LED of Power Supply State LED of Servo Enable State LED of Run State of System LED of Alarm State of System Lock Terminal of System Communication Terminal of U Disk USB Connector Communication Terminal of LAN Connection Terminal of Input on IO Terminal Board Communication Terminal for Upgrade Communication Terminal of Serial Twisted Pair of 26 pins Twisted Pair of 20 pins Twiste...

Page 23: ... Input Terminal of Power LED of Power Supply State LED of Servo Enable State LED of Run State of System LED of Alarm State of System Communication terminal of RS232 Figure 2 4 Illustration of 48Pins Robot controller There are many interfaces on QC robot driver system Name and function of each port is showed in the following table Table 2 1 Port list of robot driver system Port remark Name Function...

Page 24: ...ies ports communication INPUT Input port IO wire boards terminal OUTPUT Output port IO wire boards terminal GND 24V Power ground Out power supply ground P24 24V Power positive Out power supply positive FUSE Fuse IO boards 24V fuse 3 Power Cord Connect Main Power Supply Robot driver system power cord terminal AC IN connect is shown as following figure 3 1 1 2 3 L N PE Single phase AC 190 240V 50 60...

Page 25: ...ollows 5 6 11 0V of external switch power supply Ensure Homologous Common terminal to connect external power supply INPUTCOM 24V ADT 9137 Board Input Board 0V External switch power supply Notes 1 For IO board inputs and outputs share a same power supply that is 24V of ADT9137 and 24V of ADT9125 are from the same 24V 2 The purpose of several P24V INPUTCOM GND_24V being existed within IO board is co...

Page 26: ...tion of wiring for 48Pins in chapter 4 2 attached 4 1 Diagrams for Two Kinds of Motor s Terminal 72Pin 48Pin 72Pin Heavy Load Connector Motor s terminal is female 72Pin heavy load connector which definition is as 4 1 1 diagram shown 1 12 61 72 49 13 25 37 24 36 48 60 11 71 23 35 47 59 10 70 22 34 46 58 9 69 21 33 45 57 7 67 19 31 43 55 8 68 20 32 44 56 6 66 18 30 42 54 5 65 17 29 41 53 4 64 16 28 ...

Page 27: ...structions 1 4 7 10 13 16 Motor 1 2 3 4 5 6 Power terminal U phase input 2 5 8 11 14 17 Motor 1 2 3 4 5 6 Power terminal V phase input 3 6 9 12 15 18 Motor 1 2 3 4 5 6 Power terminal W phase input 19 20 21 22 23 24 Space 25 26 27 28 29 30 IO Signal input 31 32 Relay 1 Relay 2 33 34 35 36 IO Signal output 37 38 Relay 3 Relay 4 39 Inner 24V power 40 24V _GND 41 42 43 44 45 46 47 48 Vacant ...

Page 28: ...tor 1 2 3 4 5 6 encoders For user connect simply QC400 factory With 72pin male connector male connector to cable User just connect cable terminal to motor s encoder wire power wire I O port Cable contain 3 pcs including 26 twisted pair 20 twisted pair 16 twisted pair 26 Twisted pair Motor encoder 4 set motor encoder terminal 20 Twisted pair Motor U V W power 4 pcs motor power terminal 16Twisted pa...

Page 29: ...rangeRed 5V 56 OrangeBlack PS2 54 PinkRed PS2 52 PinkBlack Motor3 GND 57 YellowRed 5V 63 YellowBlack PS3 61 GrayRedRed PS3 59 GrayBlackBlack Motor4 GND 58 White red red 5V 64 WhiteBlackBlack PS4 62 OrangeRedRed PS4 60 OrangeBlackBlack Motor5 GND 65 PinkRedRed 5V 71 PinkBlackBlack PS5 69 YellowRedRed PS5 67 YellowBlackBlack Motor6 GND 66 GrayRedRedRed 5V 72 GrayBlackBlackBlack PS6 70 WhiteRedRedRed...

Page 30: ... wire twisted pair definition PCBA Definition 72 Pin Heavy load connector item 20 wire shield twisted pair wire No Motor 1 U 1 1 V 2 2 W 3 3 Motor 2 U 4 4 V 5 5 W 6 6 Motor 3 U 7 7 V 8 8 W 9 9 Motor 4 U 10 10 V 11 11 W 12 12 Motor5 U 13 13 V 14 14 W 15 15 Motor 6 U 16 16 V 17 17 W 18 18 Shield Housing Yellow green ...

Page 31: ...sted pair line IN28 25 Red gray IN29 26 gray black IN30 27 white red IN31 28 White black IN32 29 orange red IN33 30 orange black Relay1 Relay23 31 pink Relay2 Relay24 32 Powder black OUT19 33 yellow red OUT20 34 yellow black OUT21 35 Gray red red OUT22 36 Gray black black Relay3 Relay25 37 White red red Relay4 Relay26 38 White black black Interior24V Power 39 Orange red red GND 40 Orange black bla...

Page 32: ...20 YellowBlack OUT21 GrayRedRed OUT22 GrayBlackBlack OUT23 WhiteRedRed OUT24 WhiteBlackBlack P24V OrangeRedRed GND OrangeBlackBlack PE Shield JST Male 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Shell JST Female IN28 GrayRed IN29 GrayBlack IN30 WhiteRed IN31 WhiteBlack IN32 OrangeRed IN33 OrangeBlack Relay1 PinkRed Relay2 PinkBlack OUT19 YellowRed OUT20 YellowBlack OUT21 GrayRedRed OUT22 GrayBlackBlack...

Page 33: ...or 2 J2 Motor 1 J1 Black Purple Pink Red BAT BAT FG PS PS Vacant E5V Vacant E0V White Color Yellow Green White 1 Battery 2 3 4 5 6 7 8 9 5V GND PS1 PS1 White Black White Red Gray Black Gray Red Motor 1 Cable Shield Motor 2 Motor 3 J3 Motor 4 J4 Orange Red Orange Black Pink red Pink Black 5V GND PS2 PS2 5V GND PS4 PS4 Orange Black Black Orange Red Red White Black Black White Red Red 5V GND PS3 PS3 ...

Page 34: ... J3 Yellow Green White U V W PE Red Black 1 2 3 W V U 7 8 9 Motor 4 J4 The rest are not used White U V W PE Red Black 1 2 3 W V U 10 11 12 Yellow Blue BK BK Definition of Power Wire Definition of 20 pins Cable Relay1 GND 24V Definition of 16 pins Cable Other IOs can be defined by users 4 4 4 4 5 6 Pink Red Orange Black Black Orange Red Red 24V on off Power Yellow Green 17 Bits Absolute Motor of Pa...

Page 35: ...ontrast to the co nventional way Wiring of Electrical Brake Robot has one or more brakes needed in practical use And realization of brakes on and off is through opening or closing the relays on IO board Specific implementations are as follows 1 Brake wiring 2 IO board 24 v power supply the specific reference 3 connect the power cord connection mode ...

Page 36: ... Black Black Orange Red Red Internal 24V Relay4 Relay3 Relay2 Relay1 Adapter Plate of Brake Definition of 16 pins Cable 17 Bits Absolute Motor of Panasonic Chart 4 4 Panasonic motor brake end connection Practice must be completed according to the main brake end connection if there is only one axis with the brakes pick up the shaft brake Wiring is completed with the brake port configuration method ...

Page 37: ...Black Gray Red Motor 1 Motor 2 Motor3 J3 Motor4 J4 Orange Red Orang Black Pink Red Pink Black 5V GND PS2 PS2 5V GND PS4 PS4 Orange Black Black Orange Red Red White Black Black White Red Red 5V GND PS3 PS3 Gray Black Black Gray Red red Yellow Black Yellow Red Motor 3 Motor 4 Definition of encoder Definition of 26 pins Cable Others are not used Green Shield Shield Cable 17 bits Absolute Motor of TAM...

Page 38: ...1 Motor 2 Motor3 J3 Motor4 J4 Orange Red Orang Black Pink Red Pink Black 5V GND PS2 PS2 5V GND PS4 PS4 Orange Black Black Orange Red Red White Black Black White Red Red 5V GND PS3 PS3 Gray Black Black Gray Red red Yellow Black Yellow Red Motor 3 Motor 4 Definition of encoder Definition of 26 pins Cable Others are not used Green Shield Shield Cable 17 bits Absolute Motor of TAMAGAWA Figure 4 6 Tama...

Page 39: ... cable Motor3 J3 Blue BK BK Yellow Definition of Brake Motor2 J2 Blue BK BK Yellow Blue BK BK Yellow Motro1 J1 Motor4 J4 Blue BK BK Yellow R B Y G W W R B Y G W W R B Y G W W R B Y G W W Y G Y G Y G Y G Pink Red Pink Blacck White Red Red White Black Black Orange Red Red Internal 24V Relay4 Relay3 Relay2 Relay1 Adapter Plate of Brake 16 pins IO Cable 17 bits Absolute Motor of TAMAGAWA Figure 4 7 Ta...

Page 40: ... PS PS BAT Vacant Vacant FG E5V BAT 1 Battery 2 3 4 5 6 7 8 9 5V GND PS1 PS1 White Black White Red Gray Black Gary Red Motor 1 Motor 2 Motor3 J3 Motor4 J4 Orange Red Orange Black Pink Red Pink Black 5V GND PS2 PS2 5V GND PS4 PS4 Orange Black Black Orange Red Red White Black Black White Red Red 5V GND PS3 PS3 Gray Black Black Gray Red Red Yellow Black Yellow Red Motor 3 Motor 4 Definition of Encode...

Page 41: ...ow Red Motor 3 Motor 4 Definition of Encoder Definition of 26 pins Cable Others are not used Purple Vacant Red E0V 10 Black Shield Shield Cable 17 bits Absolute motor of SANYO Figure 4 9 Sanyo Electric power line side wiring Notes Motor side encoder cable power cable terminal color definitions for reference only actual colors and line number with manufacturers to provide prevail power lines cannot...

Page 42: ... cable Motor3 J3 Blue BK BK Yellow Definition of Brake Motor2 J2 Blue BK BK Yellow Blue BK BK Yellow Motor1 J1 Motor4 J4 Blue BK BK Yellow R B Y G W W R B Y G W W R B Y G W W R B Y G W W Y G Y G Y G Y G Pink Red Pink Black White Red Red White Black Black Orange Red Red Internal 24V Relay4 Relay3 Relay2 Relay1 Adapter Plate of Brake 16芯IO线缆 17 bits Absolute Motor of SANYO Figure 4 10 Sanyo Electric...

Page 43: ...omplete the brakes according to the terminal of the robot body if only one axis with the brakes then brake to the shaft After wiring is complete the handheld FlexPendant in brake port configuration please refer to teach Operation Manual ...

Page 44: ...ngeBlack PinkBlack 5V GND PS2 PS2 5V GND PS4 PS4 OrangeBlackBlack OrangeRedRed WhiteBlackBlack WhiteRedRed 5V GND PS3 PS3 GrayBlackBlack GrayRedRed YellowBlack YellowRed Motor 3 Motor 4 17 Bits Absolute Encoder of SANKYO Wiring Definition of Encoder Definition of 26Pins Cable Other are not used Shielding Layer WhiteRed Shield GrayBlack OrangeRedRed Black WhiteBlack GrayRed PinkRed Figure 4 11 Enco...

Page 45: ......

Page 46: ...W PE Red Black 1 2 3 W V U 7 8 9 Motro4 J4 Others are not used White U V W PE Red Black 1 2 3 W V U 10 11 12 Yellow Blue BK BK Definition of Power for SANKYO 17Bits Absolute Definition of 20Pins Cables 4 4 4 4 5 6 Green Figure 4 12Wiring of electrical power for SANKYO Note Colors of motor s encoder and power lines are only as a reference Actual colors and lines No provided by manufacture shall pre...

Page 47: ...ay terminal of 16Pins cables or can be controlled by the relay terminal of output board Wiring of Electrical Brake For brake wiring SANKYO motors have similar mode with Tamagawa Specific implementations are as follows 1 Brake Wiring 2 Which is supplied by IO board Specific wiring can refer to chapter 3 ...

Page 48: ... PinkBlack WhiteRedRed WhiteBlackBlack OrangeRedRed Internal 24V Relay4 Relay3 Relay2 Relay1 Brake Adapter Plate IO Cables of 16 Pins Figure 4 13 Brake Wiring of SANKYO Motor For practical application you must finish brake wiring based on the robot used firstly Then configure brake port please refer to Teaching Pendent Operation 4 4 Signals Definition for 48Pin Motor Terminal Table 4 4 1 48Pin Hea...

Page 49: ...tor1 2 3 4 encoders E3 F3 G3 H3 Signal negative PS1 PS2 PS3 PS4 of motor1 2 3 4 encoders E4 F4 G4 H4 Signal positive PS1 PS2 PS3 PS4 of motor 1 2 3 4 encoders PE Shell shielding wire In order to connect wiring simply QC400 is equipped with 48Pin male plug which is connected with cable For users they only need to connect cables terminal with encoder IO power terminals Cable is divided into three pa...

Page 50: ... 1 For QC400 D00 version E5 E6 F5 F6 G5 G6 H5 H6 have their definitions Details can refer to definitions of 20Pin IO in 4 4 Chapter Definition of 16Pin Encoder ...

Page 51: ...re Motor 1 GND E1 GrayRed 5V E2 GrayBlack E1 E3 WhiteRed E1 E4 WhiteBlack Motor 2 GND F1 OrangeRed 5V F2 OrangeBlack E2 F3 PinkRed E2 F4 PinkBlack Motor 3 GND G1 YellowRed 5V G2 YellowBlack E3 G3 GrayRedRed E3 G4 GrayBlackBlack Motor 4 GND H1 WhiteRedRed 5V H2 WhiteBlackBlack E4 H3 OrangeRedRed E4 H4 OrangeBlackBlack Shell Shileding wire ...

Page 52: ... 5 6 Buckles Figure 4 4 1Front view of M5 M6 Encoders Table 4 4 3 Definition of M5 M6 Encoders PCBA Definition Number of M5 M6 encoders 10Pin plug wire 2pcs Number of 8 cores aviation plug M5 M6 E3 E1 1 E3 E2 2 E2 E3 3 E2 E4 4 E1 F1 5 E1 F2 6 5V F3 7 GND F4 8 ...

Page 53: ...are corresponding to Z and Z Definition of 19Pin Power 19Pin twisted pair is motor power line and definition of each pin is shown in following table Table 4 4 4 Definitions of 19Pin twisted pair PCBA Definition Number of 48Pin connector Shielding twisted pair of 19Pin Number of each wire Motor 1 U 1 A1 V 2 A2 W 3 A3 Motor 2 U 4 A4 V 5 A5 W 6 A6 Motor 3 U 7 B1 V 8 B2 W 9 B3 Motor 4 U 10 B4 V 11 B5 ...

Page 54: ...onnector Shielding twisted pair of 16Pin color of each wire Relay1 OUT23 C1 GrayRed Relay2 OUT24 C2 GrayBlack Relay3 OUT25 C3 WhiteRed Relay4 OUT26 C4 WhiteBlack OUT19 C5 OrangeRed OUT20 C6 OrangeBlack OUT21 D1 PinkRed IN28 D2 YellowRed IN29 D3 YellowBlack IN30 D4 GrayRedRed Internal 24V power D5 WhiteBlackBlack OrangeRedRed GND D6 WhiteRedRed OrangeBlackBlack 16Pin IO terminal has four relays out...

Page 55: ...ch wire color of each wire Relay1 OUT23 C1 GrayRed Relay2 OUT24 C2 GrayBlack Relay3 OUT25 C3 WhiteRed Relay4 OUT26 C4 WhiteBlack OUT19 C5 OrangeRed OUT20 C6 OrangeBlack OUT21 D1 PinkRed OUT22 E5 PinkBlack IN28 D2 YellowRed IN29 D3 YellowBlack IN30 D4 GrayRedRed IN31 E6 GrayBlackBlack IN32 F5 WhiteRedRed IN33 F6 WhiteBlackBlack Internal 24V power D5 OrangeRedRed GND D6 OrangeBlackBlack Internal 24V...

Page 56: ...ed OUT20 OrangeBlack OUT21 PinkRed Relay3WhiteRed Relay4WhiteBlack P24VOrangeRedRed GNDOrangeBlackBlack PE Shield A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 B1 B2 B3 B4 B5 B6 B10 A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 B1 B2 B3 B4 B5 B6 B10 JST Female 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Shell 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Shell 26Pin I Os JST Male IN31GrayBlakBlack IN32WhiteRedRed IN33 WhiteBlackBlack OUT2...

Page 57: ...9 5V GND E1 E1 WhiteBlack WhiteRed GrayBlack GrayRed Motor 1 Shielded wire Motor 2 Motor3 J3 Motor4 J4 OrangeRed OrangeBlack PinkRed PinkBlack 5V GND E2 E2 5V GND E4 E4 OrangeBlackBlack OrangeRedRed WhiteBlackBlack WhiteRedRed 5V GND E3 E3 GrayBlackBlack GrayRedRed YellowBlack YellowRed Motor 3 Motor 4 Definition of encoder 17bits absolute encoder of Panasonic Definition of 16Cores cable Wiring di...

Page 58: ...e YellowGreen White U V W PE Red Black 1 2 3 W V U 8 7 9 Motor4 J4 Other numbers are not used White U V W PE Red Black 1 2 3 W V U 11 10 12 Yellow Blue BK BK Definition of UVW 17bits absolute encoder of Panasonic Wiring diagram of UVW wiring for QC400 robot Definition of 19Core cables 4 4 4 4 5 6 YellowGreen Notice Counting way of encoder Panasonic motor is not in accordance with the way used ...

Page 59: ...l way Wiring of Motor Brake Panasonic Robot has one or more brakes needed in practical use And realization of brakes on and off is through opening or closing the relays on IO board Specific implementations are as follows 1 Brake Wiring 2 Which is supplied by IO board 24V Specific wiring can refer to chapter 3 ...

Page 60: ...tor1 J1 Motor4 J4 Blue BK BK Yellow 5 6 R B Y G W W R B Y G W W R B Y G W W R B Y G W W Y G Y G Y G Y G GrayRed GrayBlack WhiteRed WhiteBlack OrangeRedRed Internal 24V Relay4 Relay3 Relay2 Relay1 Adapter plate of brake IO of 16Core cables For practical application you must finish brake wiring based on the robot used firstly Then configure brake port please refer to Teaching Pendent Operation ...

Page 61: ...ayRed Motor 1 Shielding layer of cable Motor 2 Motor3 J3 Motor4 J4 OrangeRed OrangeBlack PinkRed PinkBlack 5V GND E2 E2 5V GND E4 E4 OrangeBlack Black OrangeRedRed WhiteBlackBlack WhiteRedRed 5V GND E3 E3 GrayBlackBlack GrayRedRed YellowBlack YellowRed Motor 3 Motor 4 Definition of encoder 17bits absolute encoder of Tamagawa 16Core cables Wiring diagram of encoder for ADTECH robot Other colors are...

Page 62: ...V W PE Red Black 1 2 3 W V U 4 5 6 Motor3 J3 with brake YellowGreen White U V W PE Red Black 1 2 3 W V U 7 8 9 Motor4 J4 Other numbers are not used White U V W PE Red Black 1 2 3 W V U 10 11 12 Yellow Blue BK BK Definition of UVW 17bits absolute encoder of Tamagawa Wiring diagram of UVW for ADTECH robot 19Core cable 4 4 4 4 5 6 YellowGreen ...

Page 63: ...er to chapter 3 Motor3 J3 Blue BK BK Yellow Definition of brake 17bit absolute encoder of Tamagawa Wiring diagram of brake for ADTECH robot Motor2 J2 Blue BK BK Yellow Blue BK BK Yellow Motor1 J1 Motor4 J4 Blue BK BK Yellow R B Y G W W R B Y G W W R B Y G W W R B Y G W W Y G Y G Y G Y G GrayRed GrayBlack WhiteRed WhiteBlack OrangeRedRed Internal24V Relay4 Relay3 Relay2 Relay1 Adapter plate of brak...

Page 64: ...For practical application you must finish brake wiring based on the robot used firstly Then configure brake port please refer to Teaching Pendent Operation ...

Page 65: ...Red Motor 1 Motor 2 Motor3 J3 Motor4 J4 OrangeRed OrangeBlack PinkRed PinkBlack 5V GND E2 E2 5V GND E4 E4 OrangeBlackBlack OrangeRedRed WhiteBlackBlack WhiteRedRed 5V GND E3 E3 GrayBlackBlack GrayRedRed YellowBlack YellowRed Motor 3 Motor 4 Definition of Encoder 17Bits absolute Sanyo motor 16Core cable Wiring diagram of encoder for ADTECH robot Other colors are not used Shielded layer Purple Vacan...

Page 66: ...een White U V W PE Red Black 1 2 3 W V U 7 8 9 Motor4 J4 Other numbers are not used White U V W PE Red Black 1 2 3 W V U 10 11 12 Yellow Blue BK BK Definition of UVW 17bits absolute Sanyo motor Wiring diagram of UVW for ADTECH robot 19Cores cable 4 4 4 4 5 6 YellowGreen Note Colors of motor s encoder and power lines are only as a reference Actual colors and lines No provided by manufacture shall p...

Page 67: ... terminal of 16Pins cables or can be controlled by the relay terminal of output board Wiring of Motor Sanyo Brake For brake wiring Sanyo motors have similar mode with Panasonic Specific implementations are as follows 1 Brake Wiring 2 Which is supplied by IO board 24V Specific wiring can refer to chapter 3 ...

Page 68: ...tor4 J4 Blue BK BK Yellow R B Y G W W R B Y G W W R B Y G W W R B Y G W W Y G Y G Y G Y G GrayRed GrayBlack WhiteRed WhiteBlack OrangeRedRed Internal24V Relay4 Relay3 Relay2 Relay1 Adapter plate of brake 16Cores IO cable For practical application you must finish brake wiring based on the robot used firstly Then configure brake port please refer to Teaching Pendent Operation ...

Page 69: ...rangeBlack PinkRed PinkBlack 5V GND E2 E2 5V GND E4 E4 OrangeBlackBlack OrangeRedRed WhiteBlackBlack WhiteRedRed 5V GND E3 E3 GrayBlackBlack GrayRedRed YellowBlack YellowRed Motor 3 Motor 4 Definition of encoder 17bits absolute Sankyo motor 16Cores IO cable Wiring diagram of encoder for ADTECH robot Other colors are not used Shielded layer WhiteRed Shield GrayBlack OrangeRedRed Black WhiteBlack Gr...

Page 70: ... V U 7 8 9 Motor4 J4 Other numbers are not used White U V W PE Red Black 1 2 3 W V U 10 11 12 Yellow Blue BK BK Definition of UVW 17Bits absolute Sankyo motor Wiring diagram of UVW for ADTECH robot 19Cores cable 4 4 4 4 5 6 Green Note Colors of motor s encoder and power lines are only as a reference Actual colors and lines No provided by manufacture shall prevail Power s shield cannot be connected...

Page 71: ...r can be controlled by the relay terminal of output board Wiring of Motor SANKYO Brake For brake wiring SANKYO motors have similar mode with Tamagawa Specific implementations are as follows 1 Brake Wiring 2 Which is supplied by IO board Specific wiring can refer to chapter 3 ...

Page 72: ... Motor4 J4 Blue BK BK Yellow R B Y G W W R B Y G W W R B Y G W W R B Y G W W Y G Y G Y G Y G GrayRed GrayBlack WhiteRed WhiteBlack OrangeRedRed Internal24V Relay4 Relay3 Relay2 Relay1 Adapter plate of brake 16Core Cable For practical application you must finish brake wiring based on the robot used firstly Then configure brake port please refer to Teaching Pendent Operation ...

Page 73: ...ied Digital input interface uses a 37 pin DB terminal and 20 pin socket which contains the power and common wiring ports Pins arrangement of digital input port is shown as following 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 18 16 17 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 IN_0 IN_1 IN_2 IN_3 GND_24V INPUTCOM IN_4 IN_5 IN_6 IN_7 P 24V IN_8 IN_9 IN_10 IN_11 IN_12 GND_24V INPUTCOM IN_13 IN...

Page 74: ...N10 general input port 15 IN11 general input port 16 GND_24V 24V power ground 17 INPUTCO M input common terminal connected to an external or internal power supply provided 24V 18 IN12 general input port 19 IN13 general input port 20 IN14 general input port 21 IN15 general input port 22 IN16 general input port 23 IN17 general input port 24 P24V internal 24V power supply 25 IN18 general input port 2...

Page 75: ...V Figure 5 2 Digital Input Internal Circuit Proximity switches photoelectric switch wiring diagram is as follows 2K 354NT 2K 354NT Internal 24V Power INCOM In In P24V GND_24V Figure 5 3 Digital input associated wiring diagram External module side of the power supply for the proximity switch positive side of the ground proximity switch ...

Page 76: ...is similar Common input interface based on the level of public input conditions corresponding to the input active level is different Input Terminal EXT_24V INPUTCOM INPUT a Public grounded input active high Input Terminal INPUTCOM INPUT EXT_24V EXT_24V b Public termination high input active low Figure 5 4 Input terminal INPUTCOM side wiring ...

Page 77: ...24 25 OUT_0 OUT_1 OUT_2 OUT_3 P24V OUT_5 OUT_6 OUT_7 P 24V OUT_10 OUT_11 OUT_12 OUT_13 P 24V OUT_14 OUT_15 OUT_16 OUT_17 P24V OUT_4 OUT_8 SVST_A EMSST_A SVST_B EMSST_B Figure 5 5 Digital output port After using the external power supply DC24V IO board power supply the output pin 5 10 18 23 voltages is 24V it can be supplied to the external use System output signal includes two way relay contact ou...

Page 78: ...on output port 8 OUT6 Common output port 9 OUT7 Common output port 10 P24V internal 24V power supply 11 OUT8 Common output port 12 SVST_B A Relay interface 13 EMSST_B Relay B interface 14 OUT10 Common output port 15 OUT11 Common output port 16 OUT12 Common output port 17 OUT13 Common output port 18 P24V internal 24V power supply 19 OUT14 Common output port 20 OUT15 Common output port 21 OUT16 Comm...

Page 79: ...it is shown follows NT357 Internal OVDC P24V BSP76 OUTn GND_24V Figure 5 5Digital output internal circuit And the machine wiring diagram spindle forward as an example Output Interface 1 2 3 12V 24V OUT Figure 5 6 the digital output associated wiring diagram Relay internal circuit ...

Page 80: ...elay Internal Connection diagram Table 5 3 Relay interface functions Signal Name SVST_A SVST_B Output port OUTPUT 12 OUTPUT 24 Signal logic Output port Signal Output Open Short circuit OFF ON Function Servo status on output ports short circuit Signal timing EXT_SVON I SVOFF I SVST A SVST B 0 ...

Page 81: ...agram Internal 24V Supply Power Brake terminal of motor s side 1 2 SVST_B SVST_A 24 12 Figure 5 8 Brake port junctions Note Flexible wiring diagram above the port number 12 and 24 positions are interchangeable the motor side brake line terminals are also used interchangeably ...

Page 82: ... DSP_RX 3 7 3 DSP_TX 8 3 DSP_RX 9 4 5 10 PE Figure 6 1 COM1Port schematic Description of each pin function as shown in Table Table 6 1 COM1Terminal Signal Description Pin Number Signal Name Explanation 1 2 DSP_RX Signal receiving terminal of 2 DSP 2 1 DSP_TX Signal transmitting terminal of 1 DSP 3 1 DSP_RX Signal receiving terminal of 1 DSP 4 Suspended Suspended 5 GND Ground 6 2 DSP_TX Signal tran...

Page 83: ...drive system servo debugging via COM1 terminal and PC connection connection Schematic diagram as below 1Pin Receive 6Pin Send 5Pin 0V 3Pin Send COM1 COM of PC 2Pin Receive 5Pin Ground Figure 6 2 COM1 port with PCCOM port connection diagram ...

Page 84: ...RX1 1 TX1 6 TX0 2 RX0 3 7 485_A 8 485_B 9 4 5 10 PE Figure 6 3 Schematic diagram of COM2 Each pin functions and instructions as shown in the table Table 6 2 COM2 terminal signal description Pin number Signal name Explain 1 RX1 First signal receiving end 2 TX0 The 0 signal sending end 3 RX0 The 0 signal receiving end 4 Suspended Suspended 5 GND Ground 6 TX1 First signal sending end 7 Suspended Susp...

Page 85: ...Figure 6 4 LANNet export Each pin functions and instructions as shown in the table Table 6 3 LAN Network port terminal signal description Pin number Signal name Explain 1 TX Send data 2 TX Send data 3 RX Receive data 4 N C Bidirectional data 5 N C Bidirectional data 6 RX Receive data 7 N C Bidirectional data 8 N C Bidirectional data ...

Page 86: ...USB slave communication one D type USB cable is used to connect controller and PC For USB master communication MEM interface is used to read data from USB diak 6 5 Product Installation Size Chart Figure 6 6 Robot drive system dimension chart Power must be cut off when connect power line encoder line and IO line to RC400 controller ...