Summary of Contents for Eshed Robotec Controller-PC
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- Page 3 Eshed Robotec bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software, hardware and manual without prior...
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Page 5: Table Of Contents
CHAPTER 1 About Controller-PC ......1 SCORPOWER Control Box ..... . . 1 PC Servo Control Card . - Page 6 Windows 95 ......28 Windows 3.11 ......31 Controller-PC User’s Manual...
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Page 7: General Information
I/O signals. Acceptance Inspection After removing the Controller-PC from the shipping carton, examine all components for signs of shipping damage. If any damage is evident, do not install or operate the Controller-PC. Notify your freight carrier and begin appropriate claims procedures. -
Page 8: Repacking Controller-Pc
SCORPOWER Control Box 110/220VAC PC Servo Control Card Teach Pendant (Optional): Teach Pendant Mounting fixture; Teach Pendant for Controller-PC User’s Manual Emergency By-Pass Plug (required when TP not connected) Cables: Power Cord 110/220 VAC SCORPOWER Box Cable-Computer connector cable (D-62-pin, high density) SCORBASE for Windows software diskettes. -
Page 9: Specifications
Specifications The following table gives the specifications of the Controller-PC. Controller-PC Specifications Item Specification Real-time; Multi-tasking; Type of Control PID (proportional, integral, differential); PWM (pulse width modulation). Number of Servo Axes Maximum: 8 8 axes can be divided into 2 control groups: robot axes Groups of Control and peripheral axes. - Page 10 Controller-PC Specifications Item Specification 8 digital inputs: Source; 24V maximum. 4 analog inputs: 8-bit resolution; input voltage 0-10V 8 digital outputs, 24V max: Inputs/Outputs 4 relays, changeover contacts 4 open collectors, sink 2 analog outputs: 8-bit resolution; output voltage 0-10V...
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Page 11: Chapter 2 Safety
• press the red EMERGENCY button on the teach pendant. Warnings 1. Do not operate the Controller-PC until you ha ve studied this manual thoroughly. 2. Always turn on the PC before you turn on the power box. Always turn off the power box before you turn off the PC. - Page 12 3. Do not install or operate the Controller-PC under any of the following conditions: • Where a safety ground connection does not exist. • Where the ambient temperature drops below or exceeds the specified limits. • Where exposed to large amounts of dust, dirt, salt, iron powder, or similar substances.
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Page 13: Hardware Installation
CHAPTER Hardware Installation Getting to Know Controller-PC Before you install the Controller-PC, familiarize yourself with the SCORPOWER box. Refer to Figures 1 and 2 and the legend which follows. Figure 1: SCORPOWER Back Panel Figure 2: SCORPOWER Front Panel User’s Manual... -
Page 14: Pc Servo Card Installation
15 Motors LED indicator PC Servo Card Installation PC Requirements The PC which will be used in conjunction with Controller-PC must meet the following requirements: • CPU : 80486 or higher, with one free 8-bit or 16-bit AT ISA slot •... -
Page 15: Pc Servo Control Card
If you will be using a teach pendant, connect it at this time. Follow the instructions for installing the teach pendant which follow. It is recommended that you set the teach pendant Auto/Teach switch to AUTO before you power on the system. User’s Manual Controller-PC 9709... -
Page 16: Teach Pendant Installation (Optional)
Although SCORBASE programs for Controller-PC cannot be executed from the teach pendant, mounting the TP is recommended, since it ensures that the operator is safely out of the robot’s working range. -
Page 17: Remote Emergency Switch
The installation creates a program icon group, similar to the one shown in Figure 3. Figure 3: SCORBASE for Windows Program Group Note: By default, the PC servo control card occupies addresses 0300-0307 and interrupt 7. If you encounter a conflict of addresses, refer to the instructions in Chapter 6. User’s Manual Controller-PC 9709... - Page 18 Ã Controller-PC User’s Manual 9709...
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Page 19: Scorpower Box Functions
The D9 connectors on the front panel of the SCORPOWER box, marked AXIS 7 and AXIS 8, permit motorized devices to be connected to and controlled by Controller-PC. Turn off both the power box and the PC before you connect any device. -
Page 20: Emergency Button And Led
Reactivate user programs. (All positions, including Home, remain in memory.) Remote Emergency Switch When a remote emergency switch is connected to the controller, it functions exactly like the EMERGENCY button. To connect a remote emergency switch, refer to the instructions in the preceding chapter. Controller-PC User’s Manual 9709... -
Page 21: Output Terminals And Leds
Output Terminals and LEDs The 10 output terminals allow Controller-PC to transmit signals to external devices in the robot’s environment. Controller-PC has 4 digital relay outputs, 4 digital open collector outputs and 2 analog outputs. Eight yellow LEDs, which correspond to the digital outputs, light up when these outputs are on. -
Page 22: Open Collector Outputs
The analog outputs have 8-bit resolution and an output voltage of 0-10V. Maximum current allowed: 20 mA The analog outputs are activated by software commands. Figure 6 is a basic diagram of a digital to OUTPUTS analog converter. Figure 6: Digital to Analog Converter Controller-PC User’s Manual 9709... -
Page 23: Input Terminals And Leds
The 12 inputs allow the system to receive signals from external devices in the robot’s environment. Controller-PC has 8 digital inputs and 2 analog inputs. Eight green LEDs, which correspond to the digital inputs, light up when the inputs are on. -
Page 24: Analog Inputs
Figure 8 is a basic diagram of an analog to digital converter. It is strongly recommended that analog inputs which are not in use be connected to ground, in order to reduce electrical noise interference. Figure 8: Analog to Digital Converter Controller-PC User’s Manual 9709... -
Page 25: Controller-Pc Circuitry
CHAPTER Controller-PC Circuitry This chapter describes the main features of the PC servo control card and the two main circuit boards in the SCORPOWER box. PC Servo Control Card Servo Control Card Reference Description ICs. Provide servo control of eight individual axes. U1–U6 control robot U1–U8... - Page 26 Figure 9: Servo Control Card Controller-PC User’s Manual 9709...
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Page 27: Scorpower Power Card
Motor Power Relay. D50 Female Robot Connector. D62 Female High Density Power Box to PC Connector. Emergency Terminal Block. Teach Pendant Connector. Emergency Button Connector. Power Supply Connector. Motor Power Diode Bridge Connector. I/O Card Connector. User’s Manual Controller-PC 9709... - Page 28 Figure 10: Power Card Controller-PC User’s Manual 9709...
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Page 29: Scorpower I/O Card
U7, U9, U13 Internal bus drivers. Open collector and relay output drivers. RS232 driver. Microcontroller. Power on Reset. Digital to Analog converter. Analog to Digital converter. RL1 — RL4 Relay Outputs. Power Card Connector. Emergency LED Connector. User’s Manual Controller-PC 9709... - Page 30 Figure 11: I/O Card - Front Figure12: I/O Card - Back Controller-PC User’s Manual 9709...
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Page 31: Chapter 6 Maintenance
CHAPTER Maintenance The Controller-PC has no maintenance requirements. To ensure continued optimum performance of the Controller-PC, heed all safety guidelines and warnings, and regularly perform the inspection procedure. Inspection Perform a routine inspection of your system at the start of every working session, in the following order: 1. -
Page 32: Troubleshooting
Be sure components are turned on in the correct order. • If problem persists, it is probably due to a faulty RS232 cable. 3. Controller-PC functioning, but robot arm cannot be activated; or one axes fails to respond and an error message is displayed. •... - Page 33 • Execute the Home routine, and reload the program you want to run. • If the fault occurs frequently, use filtering equipment on your power line. • If problem persists, contact your agent. User’s Manual Controller-PC 9709...
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Page 34: Changing The Voltage Setting
From the Computer Properties menu, select the select the View Resources tab. • Select Interrupt Request (IRQ) to see which IRQs are in use. (Figure 14) • Select Input/Output (I/O) to see which I/O addresses are in use. (Figure 15) Controller-PC User’s Manual 9709... - Page 35 If IRQ 7 is in use (which is likely if a printer is connected to your PC), check whether IRQ 5 or IRQ 3 is available. (No other options will be possible.) User’s Manual Controller-PC 9709...
- Page 36 Install the PC Controller card in the PC. 6. Turn on the PC. Restart Windows 95. 7. Select . From the Controller Card Setup window, click the Test button. Setup PC Controller Figure 16: Controller Card Setup Controller-PC User’s Manual 9709...
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Page 37: Windows 3.11
Figure 18 shows the possible settings for the J5 jumpers and the corresponding addresses. Note, however, it is unlikely that you will need to change the interrupt number. Return the card to the PC and restart the PC. User’s Manual Controller-PC 9709... - Page 38 7. Once the addresses and interrupt settings are correct, select Save. These settings will now become the default settings. Figure 17: Jumper J4 - Address Setting Figure 18: Jumper J5 - IRQ Setting Controller-PC User’s Manual 9709...