Delta DCS Bedienungsanleitung

Delta SCARA Robot

DCS Controller

User Manual

www.deltaww.com

Preface

Thank you for using this product. This manual provides information regarding safe operation of Delta

SCARA robot that users must take note in following. Before operating the SCARA robot, to ensure your

safety, please be sure to carefully read through this manual. Content of this manual includes:

Installation and inspection of the robot

Functions and descriptions for operating the human-machine interface(HMI)

Checkup and maintenance

Troubleshooting

Considering operation environment and safety of operating personnel, we offer specialized training for

staffs of different types of robot applications. This manual is suitable for reference by the following types of

users:

Designers for integration ofsystem

Personnel performing installation orwiring

Personnel performing test run and adjustment on themachine

Maintenance and inspectionpersonnel

Personnel operating theequipment

Before using, please read this manual carefully to ensure proper use of the robotic arm. Also, please place

the manual at a safe location for reference at any time. Before finishing reading this manual, be sure to

follow these guidelines:

The installation environment must be from water vapor, corrosive, and flammable gas.

When wiring, do not connect the 3-phase power tothe connectors on U, V,W motor.Erroneous connection

willdamagetheservoelectrics.

Grounding must be performedcorrectly.

When connecting power, do not disassemble drive, motor, or changewiring.

Beforeconnectingpowertoruntheroboticarm,makesuretheemergencystopdevicecanstartatanytime.

When connecting power and running the robotic arm, do not touch heat sink to avoid burninjury.

Should you still have questions on use of the robot, please contact your sales agent or our customer ser-

vice center.

Safety Precaution

SCARA robot series includes the All-in One DCS controller which integrates motion controller, robot

controller and four servo drives in one single unit with high-speed computing capability. For the safety use,

take precaution on safety of the work environment during the operation and ensure safety of operation for

the users. Also, the teach pendant and the driver cannot be operated separately.

DCS series control cabinet can be used on industrial applications and are recommended for installa- tion in

a wiring (electric) box specified in the manual (controller, wires, and motors must all be installed in a

location that meets the minimum requirement from UL level 1 for the environment of installation). Take the

following precautions at any time when receiving, inspecting, installing, wiring, operating, maintaining, and

checking the robot.

Meanings represented by symbols for “Danger”, “Warning”, and “Stop”：

Please follow the methods specified for use with servo drives and servo motors, as

doing otherwise might cause fire or failure ofequipment.

Means there might be a potential danger that non-compliance might result in

medium level hazard, serious damage, or failure of theproduct.

Means forbidden acts that non-compliance might result in damage or failure of the

product beyond use.

Receiving and inspecting

Please follow the methods specified for use with the robotic arm, as doing otherwise

might cause fire or failure of equipment.

Note upon installation

It is forbidden to expose the product to places with water vapor, corrosive gas, and

flammable gas. Otherwise electric shock or fire might result.

Note upon

wiring

Please connect ground protection terminals with grounding systems. Improper

grounding might result in electric shock or fire.

Do not connect three-phase power to U, V,W motor output terminals as personnel

injury or fire might result if doneotherwise.

Tighten fixing screws for the power and motor output terminals, as fire might result if

done otherwise.

Toavoid hazard, refer to selection of wires when performingwiring.

Note upon operating

Maintenance

and check

Before starting to run, the robot needs adjustment on settings based on parameters

set by users. If not adjusted to the correct matching value, loss of control or failure

for the operation of machine might result.

Before starting to run, make sure the emergency stopping device could be started

at any time.

When robot moves, do not touch any moving part of the robot, as personnel injury

might result if done

After robot connecting, any error in operation will not only cause damages on the

robot but also result in bodily harm.

Strongly recommended: Test to see if the robot would operate normally under no

loading and then connect the load to prevent unnecessaryhazard.

Do not touch the controller when running the machine, as doing otherwise might

result in burn injury or danger of electric shock because of hightemperature.

Do not touch the controller and inside of the robot, as electric shock might result if

done otherwise.

When turning on power, do not disassemble HMI, as electric shock and damage on

the HMI might result if doneotherwise.

Do not touch the wiring terminals within 30 minutes after turning off the power as

residual voltage may cause electrical shocks.

Do not change wiring with power on, as electric shock or personnel injury might

result if done otherwise.

Only trained and qualified professional electric personnel are allowed to perform

installation, wiring, repairing, and maintaining thisrobot.

Wiring of circuits

When wiring, disassemble the terminal base from the servodrive.

Plug one wire into one plug on the terminalbase

When plugging wires, do not short-circuit the core wire and its nearbywires.

Before powering on, thoroughly check for properwiring.

Do not frequently switch the power on or off. If there is a need to turn the power on

and off in succession, keep the frequency below once within oneminute.

6
 
Table of Contents 
 
 
Preface ..................................................................................................................... iii 
Safety Precaution..................................................................................................... iv 
1.Product description 
1.1 Operating direction.............................................................................................1 
1.2 Dimensional drawing.......................................................................................... 2 
1.3 Motion range ...................................................................................................... 3 
1.4. Robot specification............................................................................................ 4 
1.5 Specification of DCS controller .......................................................................... 5 
2. Wiring sequence 
3. Exterior Look of DCS controller and Descriptions ofConnectors 
3.1 Exterior look and dimension................................................................................. 8 
3.2Descriptions of external ports on theDCS controller........................................... 9 
3.3 
Definitions and descriptions for terminals on the DCS controller .......................10 
3.3.1 
Definitions of pins on major loop power terminal:..........................................................11 
3.3.2 
Definitions of pins on control power terminal:................................................................11 
3.4 Wiring for ROBOT and controller:.......................................................................12 
3.4.1 
Specifications for connectors on the base and controller............................................. 12 
3.4.2 
Definitions for connectors on motor power cable ......................................................... 13 
3.4.3 
Definitions for connectors for motor brake (BRK.DIO)................................................. 14 
3.4.4 
Definition of Encoder connector .................................................................................... 15 
3.4.5 STD.DIO connectors...................................................................................................... 16 
DI12 & DI19~DI24................................................................................................................... 16 
3.4.6 SYS.DIO connectors...................................................................................................... 17 
3.4.7 Specifications of the communication connector............................................................ 22 
3.4.8. I/O Input wiring examples............................................................................................. 24 
3.4.9 Wiring example of I/O Output.....................................................................................25 
3.4.10 SCARA body connector description............................................................................ 26 

vii

4. Battery replacement

4.1 Notes....................................................................................................................28

4.2 Battery replacement procedures .........................................................................29

5. Hardware components

5.1 Connector components........................................................................................30

5.2 Optional items......................................................................................................32

6. Descriptions for Troubleshooting

6.1 Display of status .............................................................................................. 33

6.1.1 Display of system status............................................................................................33

6.1.2 Display of alert message...............................................................................................34

6.2 Description of P0-01 parameter...........................................................................34

6.3 Troubleshooting of abnormal alarms................................................................35

6.4 Index of alarm......................................................................................................36

6.4.1 Group type .....................................................................................................................36

6.4.2 Axis type.........................................................................................................................37

6.4.3 Control type....................................................................................................................38

List of Tables

Table 1-1 Specification of DRS40L series..............................................................................4

Table 1-2 Specification of DCS Controller.................................................................................5

Table 3-1 Manual power pin.................................................................................................10

Table 3-2 Definitions for 4.2 in-flight connectors on motor power cable................................13

Table 3-4 Definitions of the pins on Encoder connector.........................................................15

Table 3-5 Definitions of the pins on Delta Encoder...............................................................15

Table 3-6 Definitions of pins for user’s IO...............................................................................16

Table 3-7 Definitions of the pins for system IO ........................................................................16

Table 3-8 Definitions of functions for the system I/O.............................................................18

Table 3-9 Definitions of the connectors...................................................................................22

Table 5-1 DCS Accessories List..............................................................................................30

Table 6-1 System Status Display.............................................................................................33

Table 6-2 Alert Message Display.............................................................................................34

Table 6-3 P0-01 Parameter Description..................................................................................34

Table 3-3 Definitions of the motor pins....................................................................................14

Table 3-10 Definitions of RS232/RS485 pins..........................................................................23

List of Figures

Figure 1-1 Directions of SCARA Motions.............................................................................. 1

Figure 1-2 External Dimension of the SCARA...................................................................... 2

Figure 1-3 SCARA Motion range ........................................................................................... 3

Figure 2-1 Peripheral Device Wiring Diagram....................................................................... 7

Figure 3-1 Exterior look of DCS Controller............................................................................ 8

Figure 3-2 Descriptions of external pins on the back of the controller................................. 9

Figure 3-3 Actual main circuit circuit power connector figure............................................... 11

Figure 3-4 Definition for the motor power terminal ............................................................... 11

Figure 3-5 Connector for power oncontrol circuit ............................................................................11

Figure 3-6 Definition for the control power terminal.............................................................. 11

Figure 3-7 Wiring diagram for the SCARA and MS controller............................................. 12

Figure 3-8 Motor Power Cable.............................................................................................. 12

Figure 3-9 Motor Encoder Cable .......................................................................................... 12

Figure 3-10 Motor connectors................................................................................................ 13

Figure 3-11 Connectors on motor power cable..................................................................... 13

Figure 3-12 Definitions of Encoder pins................................................................................ 14

Figure 3-13 Brake Release Button Location......................................................................... 14

Figure 3-14 Definitions of pins on motor Encoder................................................................. 15

Figure 3-15 Definitions of pins on motor Encoder................................................................. 15

Figure 3-16 External View of the Connectors ....................................................................... 16

Figure 3-17 Configuration of Rear Pins................................................................................. 16

Figure 3-18 Definitions of SYS.DIO pins............................................................................... 17

Figure 3-19 E-STOP Wiring Example.................................................................................... 18

Figure 3-20 Wiring Example of the Safety Door ................................................................... 18

Figure 3-21 MODE SELECT Wiring Example....................................................................... 19

Figure 3-22 RUN/STOP SWITCH Wiring Example............................................................... 20

Figure 3-23 Reset Wiring Example........................................................................................ 20

Figure 3-24 TP connector....................................................................................................... 22

Figure 3-25 Configurations of RS232/RS485 Pins ............................................................... 23

Figure 3-26 Ethernet Port....................................................................................................... 23

Figure 3-27 USB B-type port5............................................................................................23

Figure 3-28 USB port ............................................................................................................. 23

Figure 3-29 DMCNet port....................................................................................................... 23

Figure 3-30 Wiring Example of the Button or Inching Switch .............................................24

Figure 3-31 Wiring example of proximity switch.................................................................24

Figure 3-32 Wiring example of light signal or relay (loading positive) .................................25

Figure 3-33 Wiring example of light signal or relay (loading negative)).............................. 25

Figure 3-34 SCARA Body Connector Configuration............................................................. 26

Figure 3-35 SCARA I/O Connector Description.................................................................... 26

Figure 3-36 SCARA Air Tube Configuration.............................................................................27

Figure 5-1 Delta DC24V Power Supply................................................................................32

Figure 6-1 7-segment Display...................................................................................................33

Figure 6-2 Display of MS board................................................................................................34

Figure 6-3 Seven-segment display of MS error code..............................................................35

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