Delta DRV70L Series User Manual
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Delta DRV70L Series User Manual

Delta DRV70L Series User Manual

Articulated robot; controller
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DCV Controller
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Summary of Contents for Delta DRV70L Series

  • Page 1 Delta Articulated Robot DCV Controller User Manual...
  • Page 2  Troubleshooting Due to the varied working environments and operator safety, we provide special training for personnel who work with articulated robots. Contact your local dealer or Delta for related training courses. This manual is a reference for the following users: ...

  • Page 3: Caution

    If you have questions concerning the robot use, please contact your dealer or our company’s Customer Service Center. The copyright of this manual belongs to Delta Electronics Inc. This manual cannot be copied or duplicated in whole or part without written approval from our company. Its contents must not be passed on to a third party, nor can it be used for any unauthorized purposes.
  • Page 4 Safety Notice This manual includes safety precautions for user safety and to prevent damage to the robot. Warnings and notes in this manual describe important safety precautions. Warnings describe supplementary explanations. Users must read the items in the warning, danger and prohibited notes carefully to prevent accidents or injuries to the workers.
  • Page 5 Definitions of Prohibited, Danger and Warning For your safety, read this manual before using the robot and have a clear understanding of all contents related to safety and warnings.  The following table explains the symbols “Danger”, “Warning”, “Prohibited” and “Noise Prevention”. “Danger”...
  • Page 6  Installation Safety  Read this manual carefully before installing the robot to make sure that you install the robot in a suitable location and environment to avoid affecting the mechanisms and useful life of the electronic components, or encounter other safety problems. ...
  • Page 7  Use and Operation Safety  Read this manual carefully before using the robot to ensure proper use and the workers safety.  Due to varied operational environments and operator safety considerations, our company provides dedicated training for personnel who work with the robot to ensure safe use.
  • Page 8  Improper operations may damage the robot.  When a collision occurs involving the robot, first turn off the power to the robot and then check the robot’s components and cables to make sure that they are not damaged before turning the power back on and performing operations again.
  • Page 9  Any changes to the maintenance schedule of the robot and maintenance oil are strictly prohibited.  Maintenance and inspection of the DCV controller and robot is prohibited while power is on to prevent electrical shock or injuries to the workers. ...

  • Page 10: Table Of Contents

    Contents DRV70L/90L Series Manual Caution .................... 2 Table of Contents ................9 1. Warning Label Explanations ........... 14 1.1 Warning Label Explanations ................. 16 1.2 Product Label Explanations .................. 17 2. Controller Specifications ............19 2.1 Controller Specifications ..................21 3.
  • Page 11 5. Wiring ..................37 5.1 Construction of the Controller Peripheral System..........39 5.2 Controller Interface Description ................40 5.2.1 Power Input ....................40 5.2.2 RS-232/485 Wiring ................... 42 5.2.3 Ethernet Connector .................. 43 5.2.4 DMCNET Connector ................43 5.2.5 Handheld Teaching Pendant Connector........... 46 5.2.6 Safety Connector ..................
  • Page 12 List of Figures Figure 1.1 Sticker Locations on the Front of the Controller ..............16 Figure 1.2 Sticker Location Behind the Controller ................. 16 Figure 1.3 Product Label Location ......................17 Figure 1.4 Product Label Location ......................17 Figure 2.1 Controller Appearance and Dimensions ................22 Figure 3.1 Fork Lift and Lift Icons ......................
  • Page 13 Figure 7.6 Quick Wiring Example-Power ON Power Switch ON............76 Figure 8.1 Controller Ventilation Filter Locations .................. 78 Figure 9.1 Delta Wave Filter 16DPCG5-1 Dimensions ................. 82 Figure 9.2 System DI/O Extension Cord (3081425800) Figure ............83 Figure 9.3 User DI/O Extension Cord (3081425700) Figure ..............84 Figure 9.4 Safety Extension Cord (3081735000) Figure ...............
  • Page 14 Tables Table 1-1 Sticker Label Name ....................... 16 Table 1.2 Product Label ......................... 18 Table 1.3 Controller Model Number Table .................... 18 Table 2.1 Controller Specifications ......................21 Table 3.1 Installation Distance Between the Robot and Railings ............32 Table 3.2 DRV70L/90L Safety Grating Safe Distance Table ..............34 Table 3.3 DRV70L/90L Safety Mat Distance Table................

  • Page 15: Warning Label Explanations

    1. Warning Label Explanations 1.1 Warning Label Explanations ............16 1.2 Product Label Explanations ............17...
  • Page 16 1. Warning Label Explanations 1. Warning Label Explanations This section describes the location and meaning of the safety warning stickers. Operators should be familiar with the locations of the safety warning labels before using the robot and know the meanings of each safety warning to prevent accidents.

  • Page 17: Warning Label Explanations

    DRV70L/90L Series Manual 1.1 Warning Label Explanations There are two stickers on the front of the DCV controller: the High Voltage Warning sticker and the Read Before Use sticker, which are attached to the left and right sides of the DCV controller as shown in Figure 1.1.

  • Page 18: Product Label Explanations

    1. Warning Label Explanations 1.2 Product Label Explanations The product label is located on the right side of the DCV controller, and shows DCV controller related information. Figure 1.3 shows the location of the DCV controller product label. Controller product label Figure 1.3 Product label location Figure 1.4 shows the DCV controller product label sticker.

  • Page 19: Table 1.2 Product Label

    Table 1.3 Controller Model Number D C V–2 J 0 0–A A Code Definition Definition Description Product Series Delta Controller Type of Pairing Robot S: SCARA V: Vertical Generation Type of Controller Drive Built-in Expansion Shaft 0: No Expansion Shaft; 1:1 Shaft...

  • Page 20: Controller Specifications

    2. Controller Specifications 2.1 Controller Specifications ............... 21...
  • Page 21 DRV70L/90L Series Manual 2. Controller Specifications This chapter introduces the specifications and dimensions of the DCV controller, Use the DCV controller according to the specifications.  Use the robot according to the specified methods to prevent fire, equipment failure, or even worker injuries or fatalities and other danger. ...

  • Page 22: Controller Specifications

    System DI/O: 7-set input, 8-set output Standard DI/O User-defined DI/O: 24-set input, 12-set output Ethernet 1 Channel, RJ-45 DMCNET 1 Channel, RJ-45: For connecting to Delta DMCNET products. 232 / RS 1 Port, D-sub 9-Pin/Female Teach pendant 1 Circular connector 8-Pin circular connector...

  • Page 23: Figure 2.1 Controller Appearance And Dimensions

    DRV70L/90L Series Manual Figure 2.1 shows the DCV controller dimensions. Figure 2.1 Controller appearance and dimensions Controller Installation Notes:  Do not put your fingers or foreign matter into the DCV controller cooling fan to prevent injury.  This DCV controller does not have explosion-proof or splash-proof containment, so do not use it in locations that are too humid or can be splashed by liquids.

  • Page 24: Transport And Installation

    3. Transport and Installation 3.1 Transportation ................24 3.1.1 Transport of the Robot and Controller Together ....24 3.1.2 Transporting the Controller Alone ........25 3.2 Installation ..................26...

  • Page 25: Transportation

    DRV70L/90L Series Manual 3. Transport and Installation Follow the transportation and installation instructions in the manual to prevent dropping and damaging the robot or DCV controller.  Only qualified workers with related licenses can operate equipment such as stackers and forklifts when transporting the robot. ...

  • Page 26: Transporting The Controller Alone

    3. Transport and Installation Fork Lift Figure 3.2 Forklift transportation example 3.1.2 Transporting the Controller Alone 1. Use a van for transportation. 2. When transporting the DCV controller with you hands, lift and support the DCV controller from the bottom.

  • Page 27: Installation

    DRV70L/90L Series Manual 3.2 Installation  Read this manual carefully before installing the robot to make sure that you install the robot in a suitable location and environment to avoid affecting the mechanisms and useful life of the electronic components, or encountering other safety problems.

  • Page 28: Figure 3.3 Controller Installation Space

    3. Transport and Installation The DCV controller uses forced air fan cooling. Do not place the DCV controller against the wall during installation to prevent poor DCV controller cooling. Keep the back of the DCV controller at least 10 cm away from walls or barriers, and leave a space of at least a 5 cm on the left side.

  • Page 29: Robot Safety Protection

    4. Robot Safety Protection 4.1 Robot Safety Protection ............... 29 4.2 Robot Safety Protection Construction and Installation ....30 4.2.1 Emergency Stop Device Installation ........30 4.2.2 Emergency Pull-rope Device Installation ......31 4.2.3 Railings Installation ............32 4.2.4 Safety Gratings Installation ..........34 4.2.5 Safety Mat Installation ............

  • Page 30: Robot Safety Protection

    4. Robot Safety Protection 4. Robot Safety Protection  The final system integrator must follow the instructions in this manual to construct a safe overall protection system for the robot to prevent injuries or fatalities to workers.  Once the safety protection system and wiring are completed, then you can connect power to the DCV controller and operate the robot.

  • Page 31: Robot Safety Protection Construction And Installation

    DRV70L/90L Series Manual 4.2 Robot Safety Protection Construction and Installation 4.2.1 Emergency Stop Device Installation This must be a dual-channel NC contact mechanical type emergency stop device. When using the Emergency Stop button: 1. The button must be red with a yellow background (the area of the yellow background must be greater than the area of the red), as shown in Figure 4.1.

  • Page 32: Emergency Pull-Rope Device Installation

    4. Robot Safety Protection 4.2.2 Emergency Pull-rope Device Installation This must be a dual-channel NC contact mechanical device, and must have a reset button. The pull-rope must be able to be triggered from any position. Install the pull-rope at an accessible height for workers of average height. Installing it too high results in workers being unable to reach it.

  • Page 33: Railings Installation

    DRV70L/90L Series Manual 4.2.3 Railing Installation Disconnect the DCV controller power before performing adjustments to surrounding devices. Confirm that the robot arm has stopped operating completely before performing adjustments according to EN ISO 13857 (EN294&EN811) Safety Distance for Upper and Lower Limbs. You must consider the operating range of the robot arm height in setting the height of the railings, as well as the distance to worker contact and the time for the robot arm to stop moving after the power has been disconnected.

  • Page 34: Figure 4.6 Wrong Railings Installation Height

    4. Robot Safety Protection In addition, consider the length of the workers’ arms so that the workers cannot touch the robot. Figure 4.6 shows an insufficient railing installation height: the worker’s arm can still reach inside the railing. The height of the railing must be set according to the specifications to prevent worker injuries or fatalities.

  • Page 35: Safety Gratings Installation

    DRV70L/90L Series Manual 4.2.4 Safety Grating Installation The safety grating system shall comply with IEC 61496-1 and -2. Improper installation and use risks the workers being hit by the robot arm. Set up the grating system around the robot so that the grating system can detect workers no matter where they enter from.

  • Page 36: Safety Mat Installation

    4. Robot Safety Protection 4.2.5 Safety Mat Installation The safety mat shall comply with EN 1760-1 (ISO 13856-1), and shall be able to detect operators over 35 kg. Installing a safety mat is another type of protection system around the robot. Since safety mats rest on the floor, the do not have height protection like railings.

  • Page 37: Laser Scanner Installation

    DRV70L/90L Series Manual 4.2.6 Laser Scanner Installation When installing the laser scanner, take into consideration both operating range of the robot and the distance that the workers’ arms reach into the robot. The laser scanner cannot detect a full 360°, so another laser scanner for blind spots or where there are safety concerns.

  • Page 38: Wiring

    5. Wiring 5.1 Construction of the Controller Peripheral System ......39 5.2 Controller Interface Description ............ 40 5.2.1 Power Input ..............40 5.2.2 RS-232/485 Wiring ............42 5.2.3 Ethernet Connector ............43 5.2.4 DMCNET Connector ............43 5.2.5 Handheld Teaching Pendant Connector ......46 5.2.6 Safety Connector ..............
  • Page 39 DRV70L/90L Series Manual 5. Wiring This chapter introduces the wiring for the peripheral systems, the DCV controller and the robot. The robot is a semi-finished product system. You must construct the additional equipment such as safety protection systems, operation buttons and lamps around the robot according to the instructions in this manual to ensure the integrity and safety of the entire system.

  • Page 40: Construction Of The Controller Peripheral System

    Figure 5.1 shows a schematic of the combination of DCV controller interface peripherals. Note: The extendable drives and remote input/output modules must be operated with Delta DMCNET products. Flexible Expansion: Expanded to eight stations maximum...

  • Page 41: Controller Interface Description

    DRV70L/90L Series Manual 5.2 Controller Interface Description The following sections describe the DCV controller interface and explain the interface function and the wiring. 5.2.1 Power Input Figure 5.2 shows the power input terminal located on the back of the DCV controller. Power input terminal cover Power input terminal location...

  • Page 42: Figure 5.4 Controller With Emi Filter And Electric Reactor

    5. Wiring nstall an EMI filter and electric reactor before the DCV controller to ensure that the DCV controller is not affected by EMI noise interference or harmonic waves. Figure 5.4 shows the related wiring. Reactor Single-phase, 200–230 Vac, 50/60 HZ, 15 A, 28 mH or above EMI filter Figure 5.4 Controller with EMI filter and electric reactor...

  • Page 43: Rs-232/485 Wiring

    DRV70L/90L Series Manual 5.2.2 RS-232/485 Wiring The DCV controller has a standard D-Sub 9-Pin/Female connector. You can communicate with the DCV controller using DCV controllers such as a PC, PLC or HMI that support RS-232/485 communications. You can read the robot data and control the robot. In addition, you can also use DCV controllers that support RS-232/485 communication to read and write data to the DCV controller.

  • Page 44: Ethernet Connector

     Set the servo and robot related parameter settings.  Execute I/O monitoring.  Monitor alarms and troubleshoot problems. Refer to the descriptions in the Delta DROE Operation Manual for the detailed operating instructions for the DROE software. Figure 5.6 shows the location of the Ethernet connector.

  • Page 45: Figure 5.8 Dmcnet Connection Figure

    DRV70L/90L Series Manual You can connect a maximum of 12 Delta product workstations equipped with the DMCNET function through the DMCNET connection, as shown in Figure 5.8. Note: 1. When you connect an external servo drive to the DMCNET connection, if the controller is a six-axis controller, you can connect at most a four-axis external driver.

  • Page 46: Figure 5.9 Controller With External Driver System Architecture Connected

    5. Wiring When connecting an external expansion axis servo drive, add an electromagnetic contactor before the servo drive. Figure 5.9 shows how you control the electromagnetic contactor by using the upper controller (for example, a PLC) or an emergency stop to cut off the AC power to the servo drive. Figure 5.9 Controller with external servo drive system architecture The DI/O modules models that can be connected are listed below.

  • Page 47: Handheld Teaching Pendant Connector

    DRV70L/90L Series Manual Output module:  ASD-DMC-RM32NT 32-point output module. Type of output signal: NPN. Rating of output current: 100 mA/1 point. Type of output circuit: transistor. Figure 5.11 ASD-DMC-RM32NT 5.2.5 Handheld Teaching Pendant Connector You use the handheld teaching pendant (TP) to operate the robot, teach points, edit the robot program and perform I/O monitoring.

  • Page 48: Figure 5.13 Handheld Teaching Pendant Enabling Switch Figure

     Do not use a sharp object or pen on the teaching pendant screen to prevent damage to the screen.  Refer to the teaching pendant manual for detailed operations, or download the manual from the official Delta website. Notes for connecting and disconnecting the teaching pendant: ...

  • Page 49: Safety Connector

    DRV70L/90L Series Manual 5.2.6 Safety Connector The DCV controller includes a connector for eight-point safety signals. You use these eight-point safety signals to construct comprehensive robot safety protection. Figure 5.15 shows the location of the safety connector. Figure 5.15 Safety connector location Table 5.2 lists the safety pin definitions.

  • Page 50: Figure 5.16 Wiring Example Of A Single Emergency Stop Button

    5. Wiring Figure 5.16 shows a correct wiring example for a single Emergency Stop button. Emergency Stop Safety Figure 5.16 Wiring example for a single Emergency Stop button Figure 5.17 shows the incorrect wiring method when connecting only one Emergency Stop button NC contact.

  • Page 51: Figure 5.19 Wiring Example Of Multiple Emergency Stop Buttons

    DRV70L/90L Series Manual When connecting multiple Emergency Stop buttons, wire them according to Figure 5.19. Place the Emergency Stop button so that a worker can quickly press the button to stop the robot. Emergency Stop 1 Emergency Stop 2 Emergency Stop 3 Figure 5.19 Wiring example for multiple Emergency Stop buttons Pins 5–8 of the safety connector are the safety protection contacts.

  • Page 52: System. Di/O

    5. Wiring A safer practice is to use electromagnetic safety door switches so that when the safety door is closed, the safety switch generates a magnetic force to keep the door lock bolt securely in place. This prevents workers from accidentally opening the door and entering the railing, and protects them from danger. You can install the power switch for the electromagnetic safety door lock inside the railing so that when workers are accidentally trapped inside the railing, they can turn off the power switch to release the electromagnetic safety door.

  • Page 53: Figure 5.23 System .Dio And Dc Output Connector Locations

    DRV70L/90L Series Manual The system input signal DI has seven inputs Pins 1–7, and has built-in NPN wiring. Connect the input signal DI using a button or selection switch to the DC output connector Pin 2 (N24G) on the DCV controller interface. Figure 5.23 shows the locations of the system DI/O connector and DC output connector.

  • Page 54: Figure 5.25 System Do Controller Voltage Output Npn Wiring

    5. Wiring The system output signal DO has eight outputs Pins 8–23, and the output method can be NPN or PNP. You can choose whether the output voltage signal is the DCV controller voltage output or the upper controller voltage output. ...

  • Page 55: Figure 5.28 System Do Upper Controller Voltage Output Npn Wiring

    DRV70L/90L Series Manual  Figure 5.28 shows the NPN wiring method when the selected output voltage signal is the upper controller voltage output. System Dl/O Upper Controller Lamp Relay Figure 5.28 System DO upper controller voltage output NPN wiring  Figure 5.29 shows the PNP wiring method. System Dl/O Upper Controller Lamp...

  • Page 56: Table 5.4 Operation Mode Selection Table

    5. Wiring Description of DI/O Input, Output Pin Functions DI2 Function Pause  Function Pause puts the robot in a paused status. The robot can continue its action when the paused state ends. Notes 1. Do not connect any safety protection device signals (such as railing and gratings) to this contact to bypass the safety signal in the safety connector.

  • Page 57: Table 5.5 Run/Pause/Stop Selection Table

    DRV70L/90L Series Manual T1 25% Mode  The combined JOG speed of the robot is less than 250 mm/s in T1 25% mode.  If the combined speed is over 250 mm/s, the DCV controller automatically forces the robot to run at 250 mm/s.

  • Page 58: Table 5.6 Project Running Status Output Table

     DO5 and DO6 output the corresponding status according to the project running status, as shown in Table 5.6. Table 5.6 Project Running Status Output Function PAUSE STOP DO7 Controller is Ready  After the DCV controller is ready, DO7 is ON. DO8 Reserved  Reserved by Delta.

  • Page 59: User. Di/O

    DRV70L/90L Series Manual 5.2.8 User. DI/O The DCV controller has a standard D-Sub 50-Pin/Female/3-row connector. This connector provides 24 user-defined input points and 12 user-defined output points. Table 5.7 lists the pin definitions. Table 5.7 User. DI/O Pin Definitions DI/O NAME DI/O NAME...

  • Page 60: Figure 5.31 User .Dio Jack Locations

    5. Wiring Figure 5.31 shows the User. DI/O connector location. Figure 5.31 User. DIO connector location The user-defined input signal D1 includes a total of 24 points (Pins 1–24). You can choose either NPN or PNP wiring. Using the power from the DCV controller for the input signal DI ...

  • Page 61: Figure 5.34 Input Signal Di Connected To The Upper Controller Using Npn Connection

    DRV70L/90L Series Manual Note: 1. The DCV controller DC output connector provides N24G power. Do not connect the System. DI signal to any other power source to prevent interference with the signal cause damage to the DI contact. Figure 5.34 shows the wiring method when connecting the input signal DI directly to the upper controller using NPN wiring.

  • Page 62: Figure 5.37 Pnp Wiring For When The Input Signal Di Uses The Power Of The Controller Itself

    5. Wiring Notes: When connecting an inductive load (such as a solenoid valve) to the output DO signal, do not connect the DO signal directly to the inductive load. It is best to connect through a relay to protect the DO output contact so that power surges generated when the inductive load switches between ON and OFF do not damage the DO output contact.

  • Page 63: Figure 5.40 User Do Upper Controller Voltage Output Pnp Wiring

    DRV70L/90L Series Manual Figure 5.40 shows the PNP wiring method. Upper Controller User. DO Lamp Relay Figure 5.40 User. DO upper controller voltage output PNP wiring Figure 5.41 shows the upper controller mixed NPN and PNP wiring method using PNP output wiring for the lamp and NPN output wiring for the relay.

  • Page 64: External Encoder

    5. Wiring 5.2.9 External Encoder The DCV controller has a Standard D-Sub 37-Pin/Female connector to connect to an external encoder. Refer to the DROE software manual for details on using this function. Figure 5.42 shows the location of the encoder connector and Table 5.8 lists the pin definitions. Figure 5.42 External encoder connector location Table 5.8 External Encoder Pin Definitions...

  • Page 65: Robot Connector

    DRV70L/90L Series Manual 5.2.10 Robot Connector Figure 5.43 shows the location of the robot connector and Figure 5.44 shows the robot connector cable. The cable connects the robot motor and encoder signals between the robot and DCV controller. Table 5.9 lists the cable pin definitions. When connecting the robot cable, ensure that the buckles are properly locked in place before turning on the power.

  • Page 66: Connecting With The Robot

    5. Wiring 6. Connecting the Controller to the Robot 6.1 Robot Signal Connector ............... 67 6.2 Wiring of the Robot’s Built-in Solenoid Valve ....... 68...
  • Page 67 DRV70L/90L Series Manual 6. Connecting the Controller to the Robot This chapter shows how to connect the DCV controller to the robot.  Correctly wire the DCV controller to the robot according to the descriptions in the manual.  Turn off the power during wiring to prevent a danger of electrical shocks. ...

  • Page 68: Robot Signal Connector

    6. Connecting the Controller to the Robot 6.1 Robot Signal Connector The DRV70L/90L Series robot has a 12-Pos circular connector located at the J4 axis wrist for connect signals. You can use this 12-Pos connector for sensor signals from sensors you install on the TCP terminal. The 12-Pos connector at the robot’s J4 axis wrist connects to pins 1–12 of the 24-Pos circular connector located on the back of the robot base, as shown in Figure 6.1.

  • Page 69: Wiring Of The Robot's Built-In Solenoid Valve

    DRV70L/90L Series Manual 6.2 Wiring the Robot’s Built-in Solenoid Valve Figure 6.2 shows the location of the DRV70L/90L series robot three 24 VDC, five-port, three-position central blocking solenoid valves inside the J4 axis robot arms for your use. Figure 6.2 Location of solenoid valve inside the robot The driving coils for these three sets of solenoid valves are 24 VDC.

  • Page 70: Figure 6.4 Internal Wiring Of The Robot's 12Pos Signal Connector

    6. Connecting the Controller to the Robot The robot includes two ø 6 air pipe connectors on the back of the base of the robot for your use. One air pipe is connected to the solenoid valve inside the robot, and the other is connected on the top of the J4 axis for your use.

  • Page 71: Figure 6.5 Tcp Terminal Air Pipe And Sensor Wiring Example

    DRV70L/90L Series Manual Figure 6.5 shows an air pipe and sensor wiring example using a clasping jaw on the robot’s TCP terminal. The green cable is the clasping jaw sensor signal cable and the red cable is the clasping jaw air pipe. You can run the clasping jaw air pipe and sensor cable directly to the J4 arm using a hollow cable running from the TCP terminal of the robot;...

  • Page 72: Figure 6.7 Wiring Example For Driving Solenoid Valve

    6. Connecting the Controller to the Robot Note: 1. The robot arm contains only pneumatic system connection pipelines. The system integrators shall install the final actuator and pneumatic system according to EN ISO 4414. 2. Table 6.1 lists the definitions for the 24-Pos connector at the base of the robot. Table 6.1 Robot Signal Connector Pin Definitions NAME...

  • Page 73: Quick Wiring

    7. Quickstart Robot Wiring...
  • Page 74 7. Quickstart Robot Wiring 7. Quickstart Robot Wiring This chapter provides the steps to quickly wire the robot. You must install safety protection devices before operation in order to ensure worker safety. Refer to safety protection equipment descriptions in Chapter ...

  • Page 75: Figure 7.1 Emergency Stop Button And Safety Signal Wiring

    DRV70L/90L Series Manual (1) Complete the construction of the safety protection devices. Refer to the safety protection descriptions in Chapter 4 and the wiring in Chapter 5 for details. (2) Correctly connect the Emergency Stop button and safety signals, as shown in Figure 7.1. Emergency Stop Safety Fence Interlock...

  • Page 76: Figure 7.3 Robot And Controller Connection

    7. Quickstart Robot Wiring (4) Correctly connect the cables between the robot and DCV controller, and lock them in place, as shown in Figure 7.3. Figure 7.3 Robot and DCV controller cable connection (5) Mode Selection Wiring DI4, DI5 Operation Mode Selection 1, 2 Table 7.1 lists the operation modes (Auto, T1 25% and T2 100%).

  • Page 77: Figure 7.5 Quick Wiring Example-Power Wiring

    DRV70L/90L Series Manual (6) Connecting Input Power Use only single-phase 220–230 Vac, 50/60 Hz input power. The input power must be properly grounded, as shown in Figure 7.5. L and N are power cables and E is the ground cable. Figure 7.5 Quickstart wiring power wiring example (7) Turn on the power to the DCV controller and switch the power switch on the DCV controller from OFF to ON, as shown in Figure 7.6.

  • Page 78: Maintenance

    8. Maintenance 8.1 Fan Filter Cleaning ............... 78...

  • Page 79: Fan Filter Cleaning

    DRV70L/90L Series Manual 8. Maintenance Implement maintenance and inspections according to the maintenance table to prolong the DCV controller life.  Do not maintain or inspect the DCV controller and robot while power is ON to prevent electrical shocks or injuries to the workers. ...

  • Page 80: Accessories

    8. Maintenance 9. Accessories 9.1 Controller Accessory Pack ............81 9.2 Optional Controller Peripheral Accessories ........82 9.2.1 EMI Peripheral Accessories ..........82 9.2.2 Extension Cord Accessories ..........83 9.2.3 DI/O Expansion, Driver Accessories ........83 9.2.4 Handheld Teaching Pendant ..........87 9.2.5 Robot Cable ..............
  • Page 81 DRV70L/90L Series Manual 9. Accessories This chapter describes the optional accessories for the DCV controller. You can purchase them as required.  Turn the power off before installing the optional accessories to prevent damage to the DCV controller or injuries and other danger to the workers. ...

  • Page 82: Controller Accessory Pack

    9. Accessories 9.1 Controller Accessory Pack The robot is a semi-finished product and the robot system must be correctly installed and integrated with safety protection devices according to your applications. Accessories are located in the accessory pack included in each DCV controller. These accessory can assist you in installing and performing the integrated wiring with their upper controller (such as a PLC), as well as the peripheral system and safety protection devices.

  • Page 83: Optional Controller Peripheral Accessories

    Figure 9.1 shows the installation dimensions. Table 9.2 EMI Accessory Specifications Item Order Part Name Specifications Function Number Number 115/250 Vac, 16 A, 50/60 Hz Wave Filter Filters noise DPCG5 Leakage current: 0.8 mA maximum Figure 9.1 Delta wave filter 16DPCG5-1 dimensions...

  • Page 84: Extension Cord Accessories

    9. Accessories 9.2.2 Extension Cord Accessories We provide optional extension cord accessories if you do not want to perform wiring using the connectors in the accessory pack described in Section 9.1. Table 9.3 Extension Cord Accessory Specifications Item Name Specifications Order Part Number Number System DI/O Extension Cord...

  • Page 85: Figure 9.3 User Di/O Extension Cord (3081425700) Figure

    DRV70L/90L Series Manual Figure 9.3 shows the user-defined DI/O extension cord (3081425700), and Table 9.5 lists the cord colors.. You can connect to peripheral components such as an upper controller, buttons or indicators through these extension cords. Figure 9.3 User. DI/O Extension Cord (3081425700) Table 9.5 User.

  • Page 86: Figure 9.4 Safety Extension Cord (3081735000) Figure

    9. Accessories Figure 9.4 shoes the safety extension cord (3081735000), and Table 9.6 lists the cord colors. You can connect to Emergency Stop buttons and safety protection devices installed as part of the integrated safety system. Figure 9.4 Safety Extension Cord (3081735000) Table 9.6 Safety Extension Cord (3081735000) Cable Color NAME...

  • Page 87: Figure 9.6 Rs-232/485 Extension Cord (3081427100) Figure

    DRV70L/90L Series Manual Figure 9.6 shows the RS-232/485 extension cord (3081421000), and Table 9.8 lists the cord colors. You can use this extension cord to connect communication equipment equipped with RS-232 or RS-485, and then perform connection, control or data transmission with the DCV controller. Figure 9.6 RS-232/485 Extension Cord (3081427100) Table 9.8 RS-232/485 Extension Cord (3081427100) Cord Color...

  • Page 88: Handheld Teaching Pendant

    9. Accessories If you need more DI/O contacts than the ones provided by the DCV controller, or if you want to use other numbers of axes, Table 9.10 lists additional optional accessories. Table 9.10 DI/O Expansion, Driver Accessories Item Name Specifications Order Part Number Number...
  • Page 89 Delta Electronics Inc. No.18, Xinglong Road, Taoyuan District, Taoyuan City 33068 TEL: 886 3626301 FAX: 886 3716301 *No further notices will be given for any changes in the content of this manual.

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