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Manuals
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Delta Manuals
Robotics
DRV70L Series
User manual
Delta DRV70L Series User Manual
Articulated robot; controller
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Contents
Table of Contents
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Table of Contents
Caution
Table of Contents
1 Warning Label Explanations
Warning Label Explanations
Figure 1.1 Sticker Locations on the Front of the Controller
Figure 1.2 Sticker Location Behind the Controller
Table 1-1 Sticker Label Name
Product Label Explanations
Figure 1.3 Product Label Location
Figure 1.4 Product Label Location
Table 1.2 Product Label
Table 1.3 Controller Model Number Table
2 Controller Specifications
Controller Specifications
Table 2.1 Controller Specifications
Figure 2.1 Controller Appearance and Dimensions
3 Transport and Installation
Transportation
Transport of the Robot and Controller Together
Figure 3.1 Fork Lift and Lift Icons
Transporting the Controller Alone
Figure 3.2 Fork Lift Transportation Illustration
Installation
Figure 3.3 Controller Installation Space
4 Robot Safety Protection
Robot Safety Protection
Robot Safety Protection Construction and Installation
Emergency Stop Device Installation
Figure 4.1 Emergency Stop Button
Figure 4.2 Emergency Stop Switch Reset Method
Figure 4.3 Emergency Stop Safety Disconnect Symbol
Emergency Pull-Rope Device Installation
Figure 4.4 Safety Pull-Rope Switch Construction Example
Railings Installation
Figure 4.5 Robot Installation and Railing Protection Installation Height
Table 3.1 Installation Distance between the Robot and Railings
Figure 4.6 Wrong Railings Installation Height
Safety Gratings Installation
Figure 4.7 DRV70L Safety Grating Installation Distance
Table 3.2 DRV70L/90L Safety Grating Safe Distance Table
Safety Mat Installation
Figure 4.8 DRV70/90L Safety Mat Laying Range
Table 3.3 DRV70L/90L Safety Mat Distance Table
Laser Scanner Installation
Figure 4.9 Laser Scanner Installation Illustration
5 Wiring
Construction of the Controller Peripheral System
Figure 5.1 Controller Peripheral System Composition
Controller Interface Description
Power Input
Figure 5.2 Power Input Terminal Location
Figure 5.3 Power Terminal Wiring
Figure 5.4 Controller with EMI Filter and Electric Reactor
RS-232/485 Wiring
Figure 5.5 RS-232/485 Connector Location
Table 5.1 RS-232/485 Connector Pin Definition Table
Ethernet Connector
DMCNET Connector
Figure 5.6 Ethernet Connector Adapter Figure
Figure 5.7 DMCNET Connector Location
Figure 5.8 DMCNET Connection Figure
Figure 5.9 Controller with External Driver System Architecture Connected
Figure 5.10 ASD-DMC-RM32MN
Handheld Teaching Pendant Connector
Figure 5.11 ASD-DMC-RM32NT
Figure 5.12 Handheld Teaching Pendant Connection Figure
Figure 5.13 Handheld Teaching Pendant Enabling Switch Figure
Figure 5.14 Handheld Teaching Pendant Bypass Connector Location
Safety Connector
Figure 5.15 Safety Connector Location
Table 5.2 RS-232/485 Connector Pin Definition Table
Figure 5.16 Wiring Example of a Single Emergency Stop Button
Figure 5.17 Wrong Wiring of a Single NC Emergency Stop
Figure 5.18 Wrong Wiring of a Single NC Emergency Stop with Safety Signal Connected
Figure 5.19 Wiring Example of Multiple Emergency Stop Buttons
Figure 5.20 Wiring Figure of Multiple Safety Protection Devices
Figure 5.21 Safety Door Switch Figure
System. DI/O
Figure 5.22 Electromagnetic Safety Switch Wiring
Table 5.3 System DI/O Pin Definition
Figure 5.23 System .DIO and DC Output Connector Locations
Figure 5.24 Input Signal DI Wiring
Figure 5.25 System DO Controller Voltage Output NPN Wiring
Figure 5.26 System DO Controller Voltage Output NPN Wiring
Figure 5.27 System DO Controller Voltage Mixed Output Wiring
Figure 5.28 System DO Upper Controller Voltage Output NPN Wiring
Figure 5.29 System DO Upper Controller Voltage Output PNP Wiring
Figure 5.30 System DO Upper Controller Voltage Mixed Output Wiring
Table 5.4 Operation Mode Selection Table
Table 5.5 Run/Pause/Stop Selection Table
Table 5.6 Project Running Status Output Table
User. DI/O
Table 5.7 User. DI/O Pin Definitions
Figure 5.31 User .DIO Jack Locations
Figure 5.32 NPN Wiring for When the Input Signal DI Uses the Power of the Controller Itself
Figure 5.33 PNP Wiring for When the Input Signal DI Uses the Power of the Controller Itself
Figure 5.34 Input Signal DI Connected to the Upper Controller Using NPN Connection
Figure 5.35 Input Signal DI Connected to the Upper Controller Using PNP Connection
Figure 5.36 User DO Controller Voltage Output NPN Wiring
Figure 5.37 PNP Wiring for When the Input Signal DI Uses the Power of the Controller Itself
Figure 5.38 User DO Controller Voltage Mixed Output Wiring
Figure 5.39 User DO Upper Controller Voltage Output NPN Wiring
Figure 5.40 User DO Upper Controller Voltage Output PNP Wiring
Figure 5.41 User DO Upper Controller Voltage Mixed Output Wiring
External Encoder
Figure 5.42 External Encoder Connector Location
Table 5.8 External Encoder Pin Definitions
Robot Connector
Figure 5.43 Robot Connector Connection Location
Figure 5.44 Robot Cable
Table 5.9 Robot Cable Pin Definitions
6 Connecting with the Robot
Robot Signal Connector
Figure 6.1 Internal Wiring of the Robot 12Pos Signal Connector
Wiring of the Robot's Built-In Solenoid Valve
Figure 6.2 Location of Solenoid Valve Inside the Robot
Figure 6.3 Wiring Diagram of the Robot's Built-In Solenoid Valve
Figure 6.4 Internal Wiring of the Robot's 12Pos Signal Connector
Figure 6.5 TCP Terminal Air Pipe and Sensor Wiring Example
Figure 6.6 Robot Clasping Jaw Signal and DCV Controller Connection Example
Figure 6.7 Wiring Example for Driving Solenoid Valve
Table 6.1 Robot Signal Connector Pin Table
7 Quick Wiring
Figure 7.1 Emergency Stop Button and Safety Signal Wiring
Figure 7.2 Handheld Teaching Pendant Connection Method
Figure 7.3 Robot and Controller Connection
Figure 7.4 DI Quick Wiring Example
Table 7.1 Operation Mode Selection Table
Figure 7.5 Quick Wiring Example-Power Wiring
Figure 7.6 Quick Wiring Example-Power on Power Switch on
8 Maintenance
Fan Filter Cleaning
Figure 8.1 Controller Ventilation Filter Locations
9 Accessories
Controller Accessory Pack
Table 9.1 Controller Accessory Pack Contents
Optional Controller Peripheral Accessories
EMI Peripheral Accessories
Figure 9.1 Delta Wave Filter 16DPCG5-1 Dimensions
Table 9.2 EMI Accessory Specification Table
Extension Cord Accessories
DI/O Expansion, Driver Accessories
Figure 9.2 System DI/O Extension Cord (3081425800) Figure
Table 9.3 Extension Cord Accessories Specification Table
Table 9.4 System DI/O Extension Cord (3081425800) Cable Color Table
Figure 9.3 User DI/O Extension Cord (3081425700) Figure
Table 9.5 User DI/O Extension Cord (3081425700) Cable Color Table
Figure 9.4 Safety Extension Cord (3081735000) Figure
Figure 9.5 Ext.encoder Extension Cord (3081427000) Figure
Table 9.6 Safety Extension Cord (3081735000) Cable Color Table
Table 9.7 Safety Extension Cord (3081735000) Cable Color Table
Figure 9.6 RS-232/485 Extension Cord (3081427100) Figure
Figure 9.7 RS-232/485 Extension Cord (3081427100) Figure
Table 9.8 RS-232/485 Extension Cord (3081427100) Cable Color Table
Table 9.9 Robot Arm Signal Extension Cord (3081734700, 3081734800, 3081734900) Cable Color Table
Handheld Teaching Pendant
Robot Cable
Figure 9.8 Robot Cable Figure
Table 9.10 DI/O Expansion, Driver Accessories Table
Table 9.11 Handheld Teaching Pendant Optional Purchase Table
Table 9.12 Robot Cable Specifications
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DCV Controller
User Manual
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