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DRV70L Series
Delta DRV70L Series Manuals
Manuals and User Guides for Delta DRV70L Series. We have
1
Delta DRV70L Series manual available for free PDF download: User Manual
Delta DRV70L Series User Manual (89 pages)
Articulated Robot; Controller
Brand:
Delta
| Category:
Robotics
| Size: 8.05 MB
Table of Contents
Caution
3
Table of Contents
10
1 Warning Label Explanations
15
Warning Label Explanations
17
Figure 1.1 Sticker Locations on the Front of the Controller
17
Figure 1.2 Sticker Location Behind the Controller
17
Table 1-1 Sticker Label Name
17
Product Label Explanations
18
Figure 1.3 Product Label Location
18
Figure 1.4 Product Label Location
18
Table 1.2 Product Label
19
Table 1.3 Controller Model Number Table
19
2 Controller Specifications
20
Controller Specifications
22
Table 2.1 Controller Specifications
22
Figure 2.1 Controller Appearance and Dimensions
23
3 Transport and Installation
24
Transportation
25
Transport of the Robot and Controller Together
25
Figure 3.1 Fork Lift and Lift Icons
25
Transporting the Controller Alone
26
Figure 3.2 Fork Lift Transportation Illustration
26
Installation
27
Figure 3.3 Controller Installation Space
28
4 Robot Safety Protection
29
Robot Safety Protection
30
Robot Safety Protection Construction and Installation
31
Emergency Stop Device Installation
31
Figure 4.1 Emergency Stop Button
31
Figure 4.2 Emergency Stop Switch Reset Method
31
Figure 4.3 Emergency Stop Safety Disconnect Symbol
31
Emergency Pull-Rope Device Installation
32
Figure 4.4 Safety Pull-Rope Switch Construction Example
32
Railings Installation
33
Figure 4.5 Robot Installation and Railing Protection Installation Height
33
Table 3.1 Installation Distance between the Robot and Railings
33
Figure 4.6 Wrong Railings Installation Height
34
Safety Gratings Installation
35
Figure 4.7 DRV70L Safety Grating Installation Distance
35
Table 3.2 DRV70L/90L Safety Grating Safe Distance Table
35
Safety Mat Installation
36
Figure 4.8 DRV70/90L Safety Mat Laying Range
36
Table 3.3 DRV70L/90L Safety Mat Distance Table
36
Laser Scanner Installation
37
Figure 4.9 Laser Scanner Installation Illustration
37
5 Wiring
38
Construction of the Controller Peripheral System
40
Figure 5.1 Controller Peripheral System Composition
40
Controller Interface Description
41
Power Input
41
Figure 5.2 Power Input Terminal Location
41
Figure 5.3 Power Terminal Wiring
41
Figure 5.4 Controller with EMI Filter and Electric Reactor
42
RS-232/485 Wiring
43
Figure 5.5 RS-232/485 Connector Location
43
Table 5.1 RS-232/485 Connector Pin Definition Table
43
Ethernet Connector
44
DMCNET Connector
44
Figure 5.6 Ethernet Connector Adapter Figure
44
Figure 5.7 DMCNET Connector Location
44
Figure 5.8 DMCNET Connection Figure
45
Figure 5.9 Controller with External Driver System Architecture Connected
46
Figure 5.10 ASD-DMC-RM32MN
46
Handheld Teaching Pendant Connector
47
Figure 5.11 ASD-DMC-RM32NT
47
Figure 5.12 Handheld Teaching Pendant Connection Figure
47
Figure 5.13 Handheld Teaching Pendant Enabling Switch Figure
48
Figure 5.14 Handheld Teaching Pendant Bypass Connector Location
48
Safety Connector
49
Figure 5.15 Safety Connector Location
49
Table 5.2 RS-232/485 Connector Pin Definition Table
49
Figure 5.16 Wiring Example of a Single Emergency Stop Button
50
Figure 5.17 Wrong Wiring of a Single NC Emergency Stop
50
Figure 5.18 Wrong Wiring of a Single NC Emergency Stop with Safety Signal Connected
50
Figure 5.19 Wiring Example of Multiple Emergency Stop Buttons
51
Figure 5.20 Wiring Figure of Multiple Safety Protection Devices
51
Figure 5.21 Safety Door Switch Figure
51
System. DI/O
52
Figure 5.22 Electromagnetic Safety Switch Wiring
52
Table 5.3 System DI/O Pin Definition
52
Figure 5.23 System .DIO and DC Output Connector Locations
53
Figure 5.24 Input Signal DI Wiring
53
Figure 5.25 System DO Controller Voltage Output NPN Wiring
54
Figure 5.26 System DO Controller Voltage Output NPN Wiring
54
Figure 5.27 System DO Controller Voltage Mixed Output Wiring
54
Figure 5.28 System DO Upper Controller Voltage Output NPN Wiring
55
Figure 5.29 System DO Upper Controller Voltage Output PNP Wiring
55
Figure 5.30 System DO Upper Controller Voltage Mixed Output Wiring
55
Table 5.4 Operation Mode Selection Table
56
Table 5.5 Run/Pause/Stop Selection Table
57
Table 5.6 Project Running Status Output Table
58
User. DI/O
59
Table 5.7 User. DI/O Pin Definitions
59
Figure 5.31 User .DIO Jack Locations
60
Figure 5.32 NPN Wiring for When the Input Signal DI Uses the Power of the Controller Itself
60
Figure 5.33 PNP Wiring for When the Input Signal DI Uses the Power of the Controller Itself
60
Figure 5.34 Input Signal DI Connected to the Upper Controller Using NPN Connection
61
Figure 5.35 Input Signal DI Connected to the Upper Controller Using PNP Connection
61
Figure 5.36 User DO Controller Voltage Output NPN Wiring
61
Figure 5.37 PNP Wiring for When the Input Signal DI Uses the Power of the Controller Itself
62
Figure 5.38 User DO Controller Voltage Mixed Output Wiring
62
Figure 5.39 User DO Upper Controller Voltage Output NPN Wiring
62
Figure 5.40 User DO Upper Controller Voltage Output PNP Wiring
63
Figure 5.41 User DO Upper Controller Voltage Mixed Output Wiring
63
External Encoder
64
Figure 5.42 External Encoder Connector Location
64
Table 5.8 External Encoder Pin Definitions
64
Robot Connector
65
Figure 5.43 Robot Connector Connection Location
65
Figure 5.44 Robot Cable
65
Table 5.9 Robot Cable Pin Definitions
65
6 Connecting with the Robot
66
Robot Signal Connector
68
Figure 6.1 Internal Wiring of the Robot 12Pos Signal Connector
68
Wiring of the Robot's Built-In Solenoid Valve
69
Figure 6.2 Location of Solenoid Valve Inside the Robot
69
Figure 6.3 Wiring Diagram of the Robot's Built-In Solenoid Valve
69
Figure 6.4 Internal Wiring of the Robot's 12Pos Signal Connector
70
Figure 6.5 TCP Terminal Air Pipe and Sensor Wiring Example
71
Figure 6.6 Robot Clasping Jaw Signal and DCV Controller Connection Example
71
Figure 6.7 Wiring Example for Driving Solenoid Valve
72
Table 6.1 Robot Signal Connector Pin Table
72
7 Quick Wiring
73
Figure 7.1 Emergency Stop Button and Safety Signal Wiring
75
Figure 7.2 Handheld Teaching Pendant Connection Method
75
Figure 7.3 Robot and Controller Connection
76
Figure 7.4 DI Quick Wiring Example
76
Table 7.1 Operation Mode Selection Table
76
Figure 7.5 Quick Wiring Example-Power Wiring
77
Figure 7.6 Quick Wiring Example-Power on Power Switch on
77
8 Maintenance
78
Fan Filter Cleaning
79
Figure 8.1 Controller Ventilation Filter Locations
79
9 Accessories
80
Controller Accessory Pack
82
Table 9.1 Controller Accessory Pack Contents
82
Optional Controller Peripheral Accessories
83
EMI Peripheral Accessories
83
Figure 9.1 Delta Wave Filter 16DPCG5-1 Dimensions
83
Table 9.2 EMI Accessory Specification Table
83
Extension Cord Accessories
84
DI/O Expansion, Driver Accessories
84
Figure 9.2 System DI/O Extension Cord (3081425800) Figure
84
Table 9.3 Extension Cord Accessories Specification Table
84
Table 9.4 System DI/O Extension Cord (3081425800) Cable Color Table
84
Figure 9.3 User DI/O Extension Cord (3081425700) Figure
85
Table 9.5 User DI/O Extension Cord (3081425700) Cable Color Table
85
Figure 9.4 Safety Extension Cord (3081735000) Figure
86
Figure 9.5 Ext.encoder Extension Cord (3081427000) Figure
86
Table 9.6 Safety Extension Cord (3081735000) Cable Color Table
86
Table 9.7 Safety Extension Cord (3081735000) Cable Color Table
86
Figure 9.6 RS-232/485 Extension Cord (3081427100) Figure
87
Figure 9.7 RS-232/485 Extension Cord (3081427100) Figure
87
Table 9.8 RS-232/485 Extension Cord (3081427100) Cable Color Table
87
Table 9.9 Robot Arm Signal Extension Cord (3081734700, 3081734800, 3081734900) Cable Color Table
87
Handheld Teaching Pendant
88
Robot Cable
88
Figure 9.8 Robot Cable Figure
88
Table 9.10 DI/O Expansion, Driver Accessories Table
88
Table 9.11 Handheld Teaching Pendant Optional Purchase Table
88
Table 9.12 Robot Cable Specifications
88
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