2
Content
1.
Safety instructions ................................................................................................................................................... 3
2.
Introduction ................................................................................................................................................................. 4
2.1
Robot components .......................................................................................................................................... 4
2.2
Specification ........................................................................................................................................................ 5
3.
Dimensions ................................................................................................................................................................... 6
3.1
Lateral view .......................................................................................................................................................... 6
3.2
Hole pattern flange (axis 5) and bottom ............................................................................................... 7
4.
Connections and LEDs ........................................................................................................................................... 8
4.1
Connections ......................................................................................................................................................... 8
4.2
Digital Inputs/Outputs ................................................................................................................................... 9
4.3
LEDs ........................................................................................................................................................................ 12
5.
Commissioning .......................................................................................................................................................... 13
6.
Operation ..................................................................................................................................................................... 14
6.1
Reset errors/Enable robot ......................................................................................................................... 14
6.2
Manual method of the robot ...................................................................................................................... 15
6.3
Referencing the robot ................................................................................................................................... 16
6.4
Starting and stopping a programme ..................................................................................................... 17
6.5
Set the digital inputs/outputs .................................................................................................................. 17
6.6
Display of status information ................................................................................................................... 18
7.
Programming .............................................................................................................................................................. 19
7.1
Establish connection ...................................................................................................................................... 19
7.2
Creating a programme ................................................................................................................................. 20
7.3
Uploading a programme .............................................................................................................................. 20
8.
Integration in safety circuit ................................................................................................................................ 21
9.
Interfaces .................................................................................................................................................................... 22
9.1
Digital inputs and outputs .......................................................................................................................... 22
9.2
PLC interface .................................................................................................................................................... 22
9.3
Plug-in interface .............................................................................................................................................. 22
9.4
CRI interface ...................................................................................................................................................... 23
10.
Extensions / Adjustments .................................................................................................................................. 24
10.1
Galvanic isolation of digital outputs .................................................................................................... 24
11.
Troubleshooting and support .......................................................................................................................... 25
11.1
Error codes ......................................................................................................................................................... 25
11.2
CAN-Bus and CPRog status information ........................................................................................... 26
11.3
Hardware ..............................................................................................................................................................27
11.4
Software .............................................................................................................................................................. 28
11.5
Support contact ............................................................................................................................................... 29
