igus Drylin Delta Bedienungsanleitung
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Version V1.2-EN, September 2020
© Commonplace Robotics GmbH, 2011 – 2020
igus® , drylin® and robolink® are registered trademarks of igus GmbH.
igus® GmbH
Spicher Str. 1a
51147 Cologne
Germany
Phone Support: +49 (0) 2203-96498-255
www.igus.de, www.igus.eu
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Table of Contents
1. Safety Instructions .............................................................................................................................. 5
2. Quick Start Guide ................................................................................................................................ 6
2.1. Set up and Connections.............................................................................................................................6
2.2. Switching on ....................................................................................................................................................6
2.3. Connect and Move the Robot ................................................................................................................ 7
3. Introduction ............................................................................................................................................ 8
3.1. System Overview ..........................................................................................................................................8
3.2. Glossary and Abbreviations....................................................................................................................9
3.3. Specifications ................................................................................................................................................ 11
3.4. Mechanical Dimensions .......................................................................................................................... 12
4. Electrical Connections ...................................................................................................................... 13
4.1. Overview .......................................................................................................................................................... 13
4.2. Pinout: Stepper Module .......................................................................................................................... 14
4.3. Pinout: Support Module .......................................................................................................................... 15
4.4. Pinout: Digital Input/Output Module ............................................................................................... 16
4.5. Connect Sensors and Actors to the DIO Module .......................................................................17
4.6. Option: Control Cabinet .......................................................................................................................... 19
4.7. Option: Embedded Computer ............................................................................................................. 20
4.8. Option: Operating Panel ......................................................................................................................... 23
5. Safety .......................................................................................................................................................24
5.1. Safety-Related Features of the Modular Robot Controller .............................................. 24
5.2. CE Certification .......................................................................................................................................... 24
5.3. Integration of SIL-Rated Safety Components .......................................................................... 24
6. Software Installation .......................................................................................................................26
6.1. Installation of the iRC - igus® Robot Control .............................................................................. 26
6.2. Licensing ......................................................................................................................................................... 28
6.3. Setting up the Ethernet Connection to the Embedded Computer ................................. 28
6.4. Installing the CAN-to-USB Driver ..................................................................................................... 29
7. Moving the Robot with iRC ........................................................................................................... 30
7.1. The iRC Graphical User Interface ..................................................................................................... 30
7.2. Connecting the Robot ............................................................................................................................. 32
7.3. Referencing the Robot ........................................................................................................................... 33
7.4. Moving the Robot with Software Buttons or Gamepad ...................................................... 34
7.5. Starting Robot Programs ...................................................................................................................... 36
7.6. Digital Inputs and Outputs .....................................................................................................................37
7.7. Software Interfaces ..................................................................................................................................37
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7.8. Updating the Software ........................................................................................................................... 38
8. Programming the Robot with iRC ............................................................................................. 39
8.1. The Program Editor .................................................................................................................................. 39
8.2. Comments and Information in Programs ..................................................................................... 42
8.3. Variables and Variable Access .......................................................................................................... 44
8.4. Execution Flow ........................................................................................................................................... 48
8.5. Motion .............................................................................................................................................................. 55
8.6. Gripper and Digital IO ............................................................................................................................... 61
8.7. Camera ............................................................................................................................................................ 62
9. Stand-alone Operation with Embedded Computer and the Operating Panel ..... 63
9.1. Reset Errors/Enable Robot ................................................................................................................ 64
9.2. Moving the Robot with the 3-Axis Joystick ................................................................................ 64
9.3. Referencing ................................................................................................................................................... 65
9.4. Starting and Stopping a Program ..................................................................................................... 65
9.5. Manually Setting the Digital Inputs/Outputs ............................................................................ 66
9.6. Display of Status Information ........................................................................................................... 66
9.7. Organize Programs on the Embedded Control ......................................................................... 67
10. Project Configuration...................................................................................................................... 68
10.1. Program ......................................................................................................................................................... 68
10.2. Tool ................................................................................................................................................................... 68
10.3. Inputs / Outputs......................................................................................................................................... 69
10.4. Virtual Box ..................................................................................................................................................... 70
11. Advanced Robot Configuration .................................................................................................. 70
12. Interfaces Configuration ................................................................................................................. 71
12.1. Cameras ............................................................................................................................................................71
12.2. PLC Interface ................................................................................................................................................ 72
12.3. CRI Ethernet Interface ............................................................................................................................. 72
13. Troubleshooting.................................................................................................................................. 73
13.1. Support Contacts .......................................................................................................................................73
13.2. Online Tool - Fault Identification and Recovery ........................................................................73
13.3. Configuration of the Stepper Modules ......................................................................................... 74
13.4. Calibration of the Robot ......................................................................................................................... 75
13.5. Error Codes ................................................................................................................................................... 76
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1. Safety Instructions
Operate the Robot safely!
Always ensure personal safety of users and others while operating
a Delta Robot or commissioning a robot cell! In particular, no person
or obstructions may be present in the working area of the Robot.
In its basic version the Robot Controller package does not contain safety related
functionality. Depending on the application, these may need to be added.
See “CE marking” below and Section 5.
CE marking: Delta Robot and the Robot Controller are a part of one system, which must be
risk assessed in its entirety and comply with the current safety regulations to ensure
personal safety. Depending on the result of the assessment further safety components
must be integrated. These are usually safety relays and door switches. Responsible is the
commissioning engineer of the system.
The Robot Controller contains a 24 V power supply unit that itself requires mains voltage
(120 / 240 V), depending on the configuration. Please check the label on the power supply.
Only qualified personnel may connect the power supply to the mains and put it into
operation.
Work on the robot electronics should only be carried out by qualified personnel. Check
current electrostatic discharge (ESD) guidelines.
Always disconnect the Robot Controller from the mains (120 / 240 V) when working in the
Control Cabinet or any electronics connected to the Robot Controller.
Do NOT hot-plug! It may cause permanent damage to the motor modules. Do not install or
remove any modules or plug/unplug connectors (e.g. Operating Panel, Emergency Stop
Button, DIO Modules or external relays, motor connectors) while powered on.
The Delta Robot must be set up on a sturdy surface and bolted down or otherwise
secured.
Only use and store the system in a dry and clean environment.
Only use the system at room temperature (15° to 32°C).
The ventilation of the system must be able to operate without hindrance, to ensure
sufficient airflow to cool the Stepper Motor Driver Modules. There must be at least 10 cm
of space next to the fan of the Robot Controller. The fan must, ideally, point upwards or to
the side (reduced efficiency). The fan must not point down.
Backup important data prior to installing the igus® Robot Control software.
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2. Quick Start Guide
2.1. Set up and Connections
Follow Safety Instructions, Section 1.
Make sure that the on/off switch on the Control Cabinet is set to "off".
Mount the Robot on a suitable base. Make sure that there is no tension on the cables.
Feed the Robot cables through the large circular hole in the Control Cabinet and plug them
into the Stepper Modules. Each motor is
connected to its Stepper Module via
4 connectors.
All connectors are labeled and coded to aid
this process (see Section 0):
o Motor cable (labelled
Motor
)
o Encoder cable (2 connectors labelled
ENC-1
and
ENC-2
)
o Reference sensor (labelled
End-Stop
)
Secure the robot cables against tension, e.g. with a cable tie to one of the holes in the
Control Cabinet. If available, plug in the display cable and secure it via the screw
connection.
After that the Robot can be connected to the mains.
2.2. Switching on
Switch on the Robot using the on/off switch on
the Control Cabinet.
The green light-emitting diodes (LEDs) on the
modules are now on, also most red LEDs and
potentially some of the yellow LEDs.
Optional: When shipped with an Embedded
Computer, the green LEDs will start flashing
after approx. 20 s. This shows communication,
now the Robot Controller is up and running. If
available, you can now move the Robot using the Operating Panel (optional). Details can
be found in Section 8.
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2.3. Connect and Move the Robot
Continue with point 2.3.1 or 2.3.2 depending on whether you have an Embedded Computer or
USB-Can adapter supplied with the robot
2.3.1. Preparation using the Embedded Computer
Connect your PC to the Robot Controller via an
Ethernet cable. Use the Ethernet port located
directly next to the USB socket on the embedded
computer of the Robot Controller.
Set the IP address of the PC to:
static and 192.168.3.1
with subnet mask of 255.255.255.0
2.3.2. Preparation using the USB-CAN adapter (
if supplied
)
Connect the USB-CAN-Adapter to a computer (USB port) and the Robot Controller
(D-Sub-9 port with “CAN” marking. Install the necessary driver from the USB memory
stick, see Section 6.2.
2.3.3. Connect and Move the Robot
Install the igus® Robot Control (iRC) software on
your PC, see Section 6.1.
Start the iRC software. On Start-up you can
choose the project suitable for your Robot. Please
refer to the igus product number, the project
names are based on these.
You can now activate the Robot by pressing:
o “Connect”,
o “Reset” and
o “Enable” in sequence.
Now the ‘’Status’’ indicator on the left should be
green, status “No Error”.
You can now move the joints of the robot using the
buttons in the “Jog” tab.
Referencing is mandatory prior to moving in
cartesian coordinates or executing a program.
For details, please refer to Section 7.
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3. Introduction
3.1. System Overview
The robot system consists of four basic components:
1. Delta Robot : the mechanical linear joints, motors and connectors;
2. Robot Controller : Support Module, Steppermotor Driver and DIO Modules;
3. Robot Control Software: control software to execute robot programs;
4. Programming Environment: graphical software to set up robot programs.
There are two basic system configurations available:
Configuration A uses an Embedded Computer with Robot Control Software to run the
Modular Robot Controller. This set up can execute robot programs without an external
Windows PC connected. For programming an external PC can be connected via Ethernet.
Figure 3.1: Delta Robot with Embedded Computer running the Robot Control Software.
In configuration B a Windows PC serves both as programming environment and to command
the Modular Robot Controller via a USB-CAN adapter. This setup is often used in educational
settings.
Figure 3.2: Delta Robot with Robot Control Software and Programming Environment.
A
B
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3.2. Glossary and Abbreviations
Image
Name
Abbrev.
Description
igus
®
drylin
®
Delta Robot
Robot
Mechanical robot
arm including
structure, motors
and cables
Modular Robot
Controller
Robot
Controller
Consists of:
1 Support
Module
3 or more
Stepper Modules
1-3 DIO Modules
Control Cabinet
-
Steel cabinet
that
the Robot
Controller can be
mounted in.
Includes a 24 V /
10 A power supply.
Embedded
Computer
-
Optional
Embedded
Computer with
Linux operating
system and the
TinyCtrl Robot
Control Software
Operating
Panel
-
Optional o
perating
hand-held device
with 3.5’’ capacitive
touchscreen
display and 3-axis
joystick
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