igus robolink DCi, User Manual

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Page 4: ...1 Safety instructions ...

Page 5: ...2 Introduction 2 1 Robot components ...

Page 6: ...2 2 Specification ...

Page 7: ...e DCi robot The robot axes motors are basically counted from the robot base So axis 1 is the vertical axis in the robot base An effector e g gripper can be attached to axis 4 5 4 or 5 axis version A 4 axis robot has a mounting plate instead of the last axis ...

Page 8: ...3 2 Hole pattern flange axis 5 and bottom Diagram 2 Top Hole pattern flange of the axis 5 Bottom Hole pattern of the robot base ...

Page 9: ...4 Connections and LEDs 4 1 Connections Diagram 3 Rear view of the robot base here in the 5 axis version In the 4 axis version the values in parentheses apply to the motor modules ...

Page 10: ...4 2 Digital Inputs Outputs ...

Page 11: ...Diagram 4 Additional internal digital I Os ...

Page 12: ... rear wall DOut25 to DOut27 on inner side Inputs DIn21 to DIn27 Outputs DOut21 to DOut27 DIO 2 optional Din31 to Din34 on rear wall Din35 to Din37 on inner side DOut31 to DOut34 on rear wall DOut35 to DOut37 on inner side Inputs DIn31 to DIn37 Outputs DOut31 to DOut37 DIO 3 optional Din41 to Din44 on rear wall Din45 to Din47 on inner side DOut41 to DOut44 on rear wall DOut45 to DOut47 on inner sid...

Page 13: ...4 3 LEDs Diagram 5 Organisation of the robot control and LED signal lights of the individual modules ...

Page 14: ...5 Commissioning ...

Page 15: ...6 Operation 6 1 Reset errors Enable robot ...

Page 16: ...6 2 Manual method of the robot ...

Page 17: ...6 3 Referencing the robot ...

Page 18: ...6 4 Starting and stopping a programme 6 5 Set the digital inputs outputs ...

Page 19: ...6 6 Display of status information ...

Page 20: ...7 Programming 7 1 Establish connection ...

Page 21: ...7 2 Creating a programme 7 3 Uploading a programme Diagram 6 CPRog Windows software with red marked upload button ...

Page 22: ...8 Integration in safety circuit ...

Page 23: ...9 Interfaces 9 1 Digital inputs and outputs 9 2 PLC interface 9 3 Plug in interface ...

Page 24: ...9 4 CRI interface ...

Page 25: ...10 Extensions Adjustments 10 1 Galvanic isolation of digital outputs Diagram 7 Galvanic isolation of the digital outputs ...

Page 26: ...11 Troubleshooting and support 11 1 Error codes ...

Page 27: ...11 2 CAN Bus and CPRog status information ...

Page 28: ...11 3 Hardware o o o o o ...

Page 29: ...11 4 Software o ...

Page 30: ...11 5 Support contact ...

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