Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Related Manuals for Commonplace Robotics igus robolink DCi
Summary of Contents for Commonplace Robotics igus robolink DCi
- Page 2 Operating Instructions for the Embedded Control System of the igus robolink DCi Version 2018/11 V01.1-EN Software Version TinyCtrl V980-04-031 Software Version CPRog V902-10 Firmware Version Supply 0x37 - 0x0302 Firmware Version Stepper 0x42 - 0x0210 Firmware Version DigitalIO 0x39-0x0309 © Commonplace Robotics GmbH, 2011 – 2018 The terms igus ®...
-
Page 3: Table Of Contents
Content Safety instructions ..............................3 Introduction ................................. 4 Robot components ............................4 Specification ................................ 5 Dimensions ................................... 6 Lateral view ................................6 Hole pattern flange (axis 5) and bottom ....................7 Connections and LEDs ............................8 Connections ................................. 8 Digital Inputs/Outputs ........................... 9 LEDs .................................. -
Page 4: Safety Instructions
1. Safety instructions Always pay attention to safety of people while operating a robot arm or commissioning a robot cell! Make sure that nobody is within the operating range of the arm or other danger spots! CE marking: Robot arm and control system are just a part of one facility, which is assessed in its entirety for risks and must comply with currently applicable safety regulations. -
Page 5: Introduction
2. Introduction 2.1 Robot components Components of the robot: robot, emergency stop, control unit with joystick Rear view of the robot... -
Page 6: Specification
2.2 Specification Type igus robolink DCi Number of axes Depending on the type: 4 - 5 Payload Depending on the type: 0.5kg Power electronics Voltage supply 24V >= 5A Communication Internal CAN field bus 500kBaud External via Ethernet Supply module SlowStart function to prevent overload of the power supply. -
Page 7: Dimensions
3. Dimensions 3.1 Lateral view Diagram 1: Side view of the DCi robot. The robot axes (motors) are basically counted from the robot base. So axis 1 is the vertical axis in the robot base. An effector (e.g., gripper) can be attached to axis 4/5 (4 or 5-axis version). -
Page 8: Hole Pattern Flange (Axis 5) And Bottom
3.2 Hole pattern flange (axis 5) and bottom Diagram 2: Top: Hole pattern flange of the axis 5; Bottom: Hole pattern of the robot base. -
Page 9: Connections And Leds
4. Connections and LEDs 4.1 Connections Diagram 3: Rear view of the robot base, here in the 5-axis version. In the 4-axis version the values in parentheses apply to the motor modules. -
Page 10: Digital Inputs/Outputs
4.1.1 Pin assignment of support module and power supply DC24V In 0V Outer 24V Inner Ethernet RJ45 Standard Ethernet socket Ext. Relay / Motor bridge For motors, power supply Motor bridge can be interrupted here. Pin 1: 24V output Pin 2: 24V Input for power electronics Connection... - Page 11 If an external signal from an external device has to be processed by the robot control system, this can be given to one of the digital inputs (DInX). The digital inputs are always galvanically isolated from the robot control system by means of an optocoupler with 12K current limiting resistor, so as to connect both signal and 0V to the external device.
- Page 12 4.2.3 Use of digital I/Os in robot programmes The use of the inputs and outputs takes place in CPRog with the number 21 upwards: I/O Module Physical input/output Name in CPRog and in the robot programme DIO 1 (standard) DIn1 to DIn4 on rear wall Inputs: DIn21 to DIn27 DIn5 to DIn7 on inner side Outputs: DOut21 to DOut27...
-
Page 13: Leds
4.3 LEDs Diagram 5: Organisation of the robot control and LED signal lights of the individual modules. After the power supply is established, the green LEDs of all modules light up. Approximately 20-30s later, the green LEDs of the motor and IO modules start flashing, which means that the control computer has established communication with the modules. -
Page 14: Commissioning
5. Commissioning Do not disconnect or connect any electrical connections to the robot while it is plugged into the mains. Make all plug-in connections: Fasten display/emergency stop with D-Sub connector and screw together Check that the motor bridge is plugged in Plug in power connector Provide the power supply unit with power Turn on the main switch on the rear side of the robot. -
Page 15: Operation
6. Operation After all electrical connections to the robot have been established, the robot has been switched on and the emergency stop has been released, it must first be activated. When moving the robot, always keep a hand on the emergency stop to prevent it from hitting an object unexpectedly, for example if it is about to collide with the table. -
Page 16: Manual Method Of The Robot
6.2 Manual method of the robot Once the robot is enabled, the axes of the robot can be moved. 1. To do this, press the "Jog" button at the top of the display 2. Press A1. Then move and turn the joystick. You can now move the axes 1, 2 and 3. -
Page 17: Referencing The Robot
6.3 Referencing the robot To enable an automatic programme sequence, the robot electronics must be referenced. To do this, press the "Enable" button at the top edge of the display. 2. The robot must be in "NoError" status. If it is in an error state, enable it with "Reset"... -
Page 18: Starting And Stopping A Programme
6.4 Starting and stopping a programme After referencing, the robot is ready to replay a programme. To do this, press the "Play" button at the top edge of the display and use the "prev" and "next" buttons to select the Igus5DOF_TestMotion programme. -
Page 19: Display Of Status Information
6.6 Display of status information Status information can be displayed by pressing the "Status" button at the top left corner of the display. The name of a programme is displayed, for example while a programme is running. The axis positions of axes 1-5 (or 1-4 for 4-axis robots) are displayed (A1-A5). -
Page 20: Programming
7. Programming The robolink DCi is programmed on a Windows computer using the 3D robot control system CPRog. To do this, install the CPRog software as described in the CPRog operating instructions. 7.1 Establish connection Connect the right Ethernet port of the robot to a Windows PC using a standard LAN cable. -
Page 21: Creating A Programme
7.2 Creating a programme The creation of the programme is carried out as described in the CPRog operating instructions. 7.3 Uploading a programme Before a programme created in CPRog can be played back on the robot, it must be uploaded to the robot's internal computer. -
Page 22: Integration In Safety Circuit
8. Integration in safety circuit The robot control system does not provide any safety-related functions. The integrated emergency stop functions are executed in a single channel. In order to operate the complete, customer-specific robot system, the commissioning engineer has to carry out, among other things, a risk assessment within the framework of the CE certification and, depending on the result, integrate further safety components. -
Page 23: Interfaces
9. Interfaces 9.1 Digital inputs and outputs The simplest connection, for example to a PLC, is possible via digital inputs and outputs. Each robolink control system comes with a DIO module. See section 4.2 If additional inputs and outputs are required, up to two additional DIO modules can be integrated. -
Page 24: Cri Interface
9.4 CRI interface The CRI interface allows the robot to be controlled via Ethernet. The robot can be moved, programmes can be uploaded and executed. This interface makes it possible to combine the CPRog functions with application-specific algorithms, such as a teleoperation system or a database. The CRI documentation and a C# sample project for a client have to be downloaded from the wiki.cpr-roboter.de, section "Interfacing". -
Page 25: Extensions / Adjustments
10. Extensions / Adjustments 10.1 Galvanic isolation of digital outputs If an external device with a different potential than the robot control system (for example a self-powered LED) has to be switched, the DOut pins must be disconnected from the robot's 24V supply voltage GND. -
Page 26: Troubleshooting And Support
11. Troubleshooting and support 11.1 Error codes The robot control system gives several status information: Status LEDs on the electronic modules CPRog status information, received via the CAN status bytes Green LED On: Logic voltage available Green LED flashes: CAN communication active Orange LED On: Error Red LED On: Emergency stop pressed... -
Page 27: Can-Bus And Cprog Status Information
11.2 CAN-Bus and CPRog status information Error Bit in the Meaning Measures error byte Bus dead The CAN-Bus is not available. Check the connections of the Reasons are missing power power supply and the CAN cable. supply or missing plug Reboot the control computer. -
Page 28: Hardware
11.3 Hardware The green LED on the modules is not on? Check the power supply and the safety fuse. Aren't the motors moving? Make sure the emergency stop button is pulled out. The red LED on the support module must not be on. -
Page 29: Software
11.4 Software The software that runs on the robot's internal control system is called TinyCtrl. It can be updated in CPRog. Download the latest version of TinyCtrl https://wiki.cpr-robots.com/index.php/TinyCtrl_Downloads It often makes sense to update CPRog at the same time since CPRog and TinyCtrl work together. -
Page 30: Support Contact
11.5 Support contact In case of problems we would be happy to help! Wiki page: wiki.cpr-roboter.de with a lot of instructions and articles Team-Viewer: www.cpr-roboter.de, section "Support" Mail: support@cpr-robots.com Please describe the problem briefly and send the file "logMessages.log" from the folder c:\CPRog\. - Page 32 © Commonplace Robotics November 2018...
Need help?
Do you have a question about the igus robolink DCi and is the answer not in the manual?
Questions and answers