Commonplace Robotics igus robolink DCi, User Manual

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Page 2: ...0 Firmware Version Supply 0x37 0x0302 Firmware Version Stepper 0x42 0x0210 Firmware Version DigitalIO 0x39 0x0309 Commonplace Robotics GmbH 2011 2018 The terms igus and robolink are protected trademar...

Page 3: ...ting 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 pro...

Page 4: ...ect the power supply before inserting or removing connectors such as the display with joystick emergency stop digital I Os or external relays No hot plugging Work on the robot s electronic system shou...

Page 5: ...4 2 Introduction 2 1 Robot components Components of the robot robot emergency stop control unit with joystick Rear view of the robot...

Page 6: ...f an external safety relay Stepper module For operation of a bipolar stepper motor Microstepping up to 1 256 RS422 quadrature encoders 24V reference switch input Digital In Out module 4 external and 3...

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...

Page 8: ...7 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: ...8 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: ...or the like 4 2 Digital Inputs Outputs 4 2 1 Digital I Osand the back wall From the Digital Input Output DIO board 4 digital outputs and 4 digital inputs are routed to theoutside Iffurtherinputsandout...

Page 11: ...stor through the optocoupler diode to the GND of the 5 pin connector See 10 1 Galvanic isolation 4 2 2 Internal digital I Os If further inputs and outputs are required 3 additional ones are available...

Page 12: ...inner side DOut1 to DOut4 on rear wall DOut5 to DOut7 on inner side Inputs DIn21 to DIn27 Outputs DOut21 to DOut27 DIO 2 optional DIn1 to DIn4 on rear wall DIn5 to DIn7 on inner side DOut1 to DOut4 o...

Page 13: ...receive commands Since the motors are not yet activated the red LEDs of the motor modules light up The yellow LED on the motor modules lights up when the axis reference switch is triggered As soon as...

Page 14: ...the robot 2 The green LEDs on the rear side of the robot light up and the internal computer starts up The message No Connection is shown in red on the display until the internal PC has booted up and t...

Page 15: ...ep a hand on the emergency stop to prevent it from hitting an object unexpectedly for example if it is about to collide with the table 6 1 Reset errors Enable robot On the display press the Enable but...

Page 16: ...button at the top of the display 2 Press A1 Then move and turn thejoystick You can now move the axes 1 2 and 3 3 Press A4 Now move axes 4 and 5 by moving and rotating the joystick Repeat steps 2 and...

Page 17: ...The robot now carries out search movements for each axis 4 Referencing is complete when there is a 1 next to Ref A1 A5 respectively For a 4 axis robot Ref A5 will remain at 0 Ref E1 is intended for a...

Page 18: ...or to the left to decrease it 6 5 Set the digital inputs outputs The digital outputs can be activated and deactivated by pressing the illustrated switches If e g a gripper is connected to the digital...

Page 19: ...me of a programme is displayed for example while a programme is running The axis positions of axes 1 5 or1 4 for 4 axis robots are displayed A1 A5 The temperature of the motor modules is also displaye...

Page 20: ...192 168 3 1 The robot has IP 192 168 3 11 Start the robot and CPRog on the PC Once the green LEDs on the motor modules on the rear side of the robot start flashing the connection can be established se...

Page 21: ...CPRog operating instructions 7 3 Uploading a programme Before a programme created in CPRog can be played back on the robot it must be uploaded to the robot s internal computer Afterwards it can be sta...

Page 22: ...ment within the framework of the CE certification and depending on the result integrate further safety components These are usually safety relays and door switches The integration of safety relays is...

Page 23: ...ut manual interaction Further details are available on the Wiki wiki cpr roboter de section PLC interface 9 3 Plug in interface CPRog provides a plug in interface It makes it possible to connect for e...

Page 24: ...grammes can be uploaded and executed This interface makes it possible to combine the CPRog functions with application specific algorithms such as a teleoperation system or a database The CRI documenta...

Page 25: ...stem for example a self powered LED has to be switched the DOut pins must be disconnected from the robot s 24V supply voltage GND This can be achieved by disconnecting solder links J3 and J4 of the DI...

Page 26: ...ailable Green LED flashes CAN communication active Orange LED On Error Red LED On Emergency stop pressed Green LED On Logic voltage available Green LED flashes CAN communication active Orange LED On R...

Page 27: ...s the Release Motor button COM Comm Watch Dog Bit 4 The time period without CAN command from the controller was too long The position commands via the CAN bus must be sent at short intervals Turn off...

Page 28: ...not flashing contact us The motor is locked motor stall It does not stop the movement and makes increasingly loud buzzing noises This happens when the load on the motor is too high o Check if there i...

Page 29: ...rogramme version can be found under the heading a Version 10 For robolink arms and drylin 3 axis gantries not for Movers Start the robot and wait until the green LEDs of the motor modules start to fla...

Page 30: ...e happy to help Wiki page wiki cpr roboter de with a lot of instructions and articles Team Viewer www cpr roboter de section Support Mail support cpr robots com Please describe the problem briefly and...

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