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DAINCUBE DTP10-L Hardware User Manual

Embedded based teaching pendant optimized for industrial robots, arm cortex-a9 linux system
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Embedded based teaching pendant optimized for industrial robots.
DTP10-L
Hardware user's manual
(R1) Version
DAINCUBE Corp.
ARM Cortex-A9 Linux system
FORM 170703F – 2018.07.03
DTP10-L Hardware user's manual
Form 140108F-180703— July, 2018
DAINCUBE Corp.
Web: www.daincube.com
E-mail: support@daincube.com
Tel: 82-32-329-9783~4
Fax: 82-32-329-9785
#401-701, Bucheon TechnoPark 4-Danji,
655 Pyeongcheon-ro, Wonmi-gu, Bucheon-Si,
Gyeonggi-Do, Republic of Korea
Copyright © 2005–2018 Daincube
All rights reserved.
Printed in the Republic of Korea

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  • Page 1 Embedded based teaching pendant optimized for industrial robots. DTP10-L Hardware user’s manual (R1) Version DAINCUBE Corp. ARM Cortex-A9 Linux system FORM 170703F – 2018.07.03 DTP10-L Hardware user’s manual Form 140108F-180703— July, 2018 DAINCUBE Corp. Web: www.daincube.com E-mail: support@daincube.com Tel: 82-32-329-9783~4 Fax: 82-32-329-9785...
  • Page 2 Copyright notice . All rights reserved. Copyright © 2005–2018 Daincube Copying of this document, and giving it to others and the use or communication of the Contents thereof, is forbidden without express authority. Offenders are liable to the payment of damages.
  • Page 3 Revision history Revision Data Comment Version 0.1 2017.06.03 Initial Version Version 0.2 2018.07.03 New Version Version 1.0 2018.11.23 Change option Add Emergency Stop Switch table, Change Mode Select Switch Version 1.1 2019.04.01 table Version 1.2 2019.06.20 Excluding external SPI memory specifications...

  • Page 4: Table Of Contents

    4.4. Rear view and dimension ...................... 11 4.5. System cable ........................11 Features ........................12 5.1. The key features of DTP10-L include ..................12 5.2. Operating and Display panel ....................12 5.3. LCD & Touch screen ......................12 5.4. Safety switch ......................... 12 5.5.
  • Page 5 10. General care and maintenance .................. 40 10.1. Cleaning ..........................40 11. EC directives and standards ..................40 11.1. EC directives........................40 11.2. Standards .......................... 40 12. Reference list ....................... 41...

  • Page 6: Introduction

    DTP10-L hardware user’s manual 1. Introduction Thank you very much for purchasing our product. Improper usage or mishandling may result in a product not only being unable to deliver full functions but also produce unexpected troubles or shorten the product’s life.

  • Page 7: Warranty And Warranty Coverage

    DTP10-L hardware user’s manual  Avoid exposing the device to mechanical vibrations, excessive dust, and humidity or to strong magnetic fields.  Make sure that no foreign objects or liquids can penetrate into the device.  Wipe the power plug with a clean, dry cloth periodically to eliminate dust.

  • Page 8: Description

    DTP10-L hardware user’s manual 4. Description The DTP10-L is an embedded-based teaching pendant with a high-performance Cortex-A9 (ARM Cortex-A9 1GHz) processor. It accommodates various demands of the industrial field, supports various communication methods, and uses royalty free Linux OS. With most known Linux development tools and Open Sources, you can develop applications more easily.
  • Page 9 DTP10-L hardware user’s manual  DTP10 hardware specifications Item Contents Remarks Processor ARM Cortex-A9 Quad core 1GHz (11500 DMIPS) i.MX6 Quad Memory DDR3 800 MHz 1GByte FLASH MLC type eMMC 8GByte SPI flash 4MByte(booting) M-RAM 2MByte(nonvolatile memory) TFT 10.1inch 1280x800, 16.7M Color, LED Backlight...

  • Page 10: Front View

    DTP10-L hardware user’s manual 4.2. Front view 1 - TFT-LCD with touch screen 2 - Mode Switch 3 - Motor ON, Error clear Switch 4 - Emergency Switch 5 - Enabling SwitchHand Strap 6 - 3Coler LED * 3 7 - Right Keypad [Figure 4-2] Front function 4.3.

  • Page 11: Rear View And Dimension

    DTP10-L hardware user’s manual 4.4. Rear view and dimension Hand Strap Touch Pen 13 – Hand Strap 14 : Touch PEN [Figure 4-4] Rear function 4.5. System cable 1 - Circular plug 26pin connector 2 - Power and Switch connector...

  • Page 12: Features

    Enabling Switch has used the 3 Level switch to operate all the emergency situation. Select Switch has been implemented to allow you to select the three states. 5.5. User’s interface DTP10-L user interface is a touch screen and can use the touch screen to easily control a GUI of the platform. ...

  • Page 13: Communication

    DTP10-L hardware user’s manual 5.6. Communication DTP10-L provide different interfaces for communication with the main controller, and basically provides the EtherCAT communication. RS-485 can be used to select one ways. 6. Function This chapter describes how to operate the teaching pendant.
  • Page 14 DTP10-L hardware user’s manual (3) Right keypad (Axis Keys) The functions for each key is set when the user development. See the software API manual for more information. Generally, Use the axis keys to move the robot. The axis key’s specific functions are available only from the Manual Menu screen, as manual robot motion can be initiated from only the teaching pendant Manual Motion screen.
  • Page 15 [그림 6.4] How to connect with debug serial dongle Plug in the USB port of the PC and connect the USB socket (Debug Serial) to the Debug connector of the DTP10-L using a micro USB cable. This port is used for development purposes.
  • Page 16 DTP10-L hardware user’s manual (5) Emergency Stop Switch External Emergency Stop Switch EMTP1+ EMTP2+ EMTP2- EMTP1- [Figure 6.6] Emergency Stop Switch The teaching pendant Emergency stop Switch (the large red knob at the top right of the pendant) is a safety feature which disables the Robot power, immediately stopping the robot.
  • Page 17 DTP10-L hardware user’s manual Action Position Picture Symbol SWEN2- SWEN2+ SWEN1- Not pressed Null SWEN1+ SWEN2- SWEN2+ SWEN1- Pressed Enabling SWEN1+ SWEN2- SWEN2+ SWEN1- Pressed strong Panic SWEN1+ Enabling switch function table [Table 6-2] (7) Mode Select Switch This switches operation modes between Auto, Manual and Teaching check modes.

  • Page 18: System Cable And Connector

    DTP10-L hardware user’s manual 6.2. System cable and connector System cable is a customer order specifications. Cable lengths and types, connector types and specifications can be selected by the customer. System cable 26pin Circular plug (DTP-CU-26P) SWEN2+ Green SWEN2- Green Strip...
  • Page 19 DTP10-L hardware user’s manual (1) System Cable configuration 10.5mm Urethane jacket Aluminum mylar 26AWG Pair Pair Braided shield 24AWG jacket Aluminum mylar [Figure 6-10] System Cable configuration 26pin circular plug pin map Plug Pin Name Description Cable Color System I/O...
  • Page 20 DTP10-L hardware user’s manual Serial – RS-485 Pink TRX D+ Data+ TRX D- Data- Pink Strip 485_GND Isolation RS-485 GND S3 Shield Power DC 24V Blue Sky Ground Blue Sky Strip Samwoo Connector Part number : SRC6A21-26P-G(26p) [Table 6-4] Circular plug pin assignment ✏...

  • Page 21: Optional Accessories

    DTP10-L hardware user’s manual (5) Circular receptacle connector Part Number Ø B C(C') SRC2A21-26S 25.6 23.6 27.7(25.5) [Figure 6-52] Circular receptacle connector information 7. Optional accessories 7.1. Junction box Signal of the 26pin receptacle connector are connected to each function Connector or terminal block.

  • Page 22: Junction Box Pin Configuration

    DTP10-L hardware user’s manual DTP-E Network 1 26pin TX1+ Enabling Switch1+ Circular Enabling Switch 1- TX1- Connector Select switch 1+ RX1+ Select switch 1- RX1- Emergency 1+ Earth Emergency 1- Option Enabling Switch 2+ Enabling Switch 2- Select switch 2+...

  • Page 23: Junction Box Mechanical Information

    DTP10-L hardware user’s manual  Serial terminal block RS-485 TRX D+ TRX D- * Option: For Use to Please test.  Network 1,2 LAN1 7.1.2. Junction box Mechanical Information 20mm 67mm 17.5mm 32mm 17.5mm M3 nuts 3.3Ø holes 11.5mm 50mm 7.5mm...

  • Page 24: Junction Box Installation Instructions

    Junction box mounting: junction box is fixed using a circular 26pin connector mounting hole.  Use the M4 (length 8mm) screw when mounted on the wall. 7.2. Wall Bracket The bracket for mounting the DTP10-L to the wall. [Figure 7-5] Wall Bracket Mechanical dimensions Mount hole (3.8Ø X 2) 45mm...

  • Page 25: Touch Pen

     Use M4(10mm) screw type bolts. [Figure 7-7] Wall mounted appearance 7.3. Touch Pen [Figure 7-8] Touch Pen 7.4. Holder This is the holder that the DTP10-L Mounting on a desk. Width 220mm [Figure 7-9] holder DAINCUBE Corp. 25 / 42...

  • Page 26: Other Accessories Parts

    DTP10-L hardware user’s manual 7.5. Other accessories parts USB Cable Debug Serial Cable USB To LAN Cable (DTP-CU-LAN) (DTP-CU-USB) (DTP-CU-DBG) [Figure 7-8] Other accessories parts  USB Cable : USB 2.0 Cable - A-Male to Mini-B (1.2Meters)  Serial Debug cable : USB 2.0 Cable - A-Male to Micro 5Pin-B...

  • Page 27: Installation Guide

    DTP10-L hardware user’s manual 8. Installation guide Thank you for purchasing the DTP10-L Teaching pendant. Please install the device after you understand in detail the contents of the document. This document contains recommendations for wiring, to reduce noise emissions generated by the driven components.

  • Page 28: 26Pin System Cable Configuration

    DTP10-L hardware user’s manual 8.1. 26pin system cable configuration Please turn off the main power and connect the DTP10-L. 26pin receptacle connector Enable switch 2+ Enable switch 2- Emergency 1+ Emergency 1- TO System I/O Emergency 2+ Emergency 2- Enabling switch1+...

  • Page 29: Connections Example

    DTP10-L hardware user’s manual 8.2. Connections example  Junction box Control Panel Junction Box (DTP-CU-JB) DTP-E Cable Length 1.5 or 3 or 5m 26pin Circular plug (DTP-CU-26P) 26pin Circular receptacle (DTP-CU-26R) [Figure 8-3] Connections to junction box  Control box Control BOX Cable Length 1.5 or 3 or 5m...

  • Page 30: Wiring

    DTP10-L hardware user’s manual 8.3. Wiring 8.3.1. Emergency Switch wiring The emergency stop switch used on the DTP10-L features two circuits. The contacts are normally closed. 26pin Circular Add Emergency DTP10 receptacle Switch (DTP-CU-26R) Emergency 1+ Safety Emergency 1- Control...

  • Page 31: Power

    DTP10-L hardware user’s manual 8.3.4. Power  The power supply is DC24V. Voltage regulation should be within ± 5%.  Power lines are twisted a densely as possible, and should be connected as short as possible.  Please use power with less Noise between lines and ground.
  • Page 32  The supply cable to the noise filter and outgoing cables from the noise filter must not run parallel to each other (see illustration):  Servo Motor part and DTP10-L part Filter method used as below. AC Servo Motor part Emergency Motor filter...

  • Page 33: Method Wiring

    DTP10-L hardware user’s manual 8.3.6. Method wiring (1) Signal and communication cables is placing a high-voltage cable or power line over a distance of 10cm, please not affected by the noise and magnetic field (2) If possible use separate ducts for power cables and control lines.
  • Page 34 DTP10-L hardware user’s manual (7) Ferrite core Ferrite core turn [Figure 8.15] Ferrite core turn ✏ Note Using ferrite cores, increase the maximum number of turns around the ferrite for optimum results.  Servo drive wiring for conformity to EC directives and UL standards.

  • Page 35: Earthing

    Receive Data - shield Cable shield Functional earth [Table 8-1] Ethernet connector map 8.3.9. Ethernet cable  DTP10-L Ethernet communication cable recommended specification  Cable minimum requirements : CAT.5E STP  Recommended: over CAT6  Plug: STP CAT.5E RJ-45 8P8C (Metal materials) ※...
  • Page 36 DTP10-L hardware user’s manual [Figure 8-20] Cat 5e, Cat 6 cable ⚠ Risk of communication faults! Malfunctions in communications may happen when using inappropriate cables. Use only network cables of the categories 5 (Cat 5e, Cat 6 or Cat 7) or higher CAUTION within EtherCAT ®...

  • Page 37: Package

    DTP10-L hardware user’s manual 9. Package 9.1. Packing list DTP10-L purchase the package configuration is shown below.  Basic parts Item Photo Description Quantity DTP10-L Basic configuration  Main part  Linux  coreCon System Cable Length option : 1.5 ~ 5m...
  • Page 38 DTP10-L hardware user’s manual USB cable Option DTP-CU-USB USB to Serial only Option Dongle. USB Host Debug Serial Debug Serial Cable Option DTP-CU-DBG USB To LAN cable Option DTP-CU-LAN DTP10-holder Option DTP- Wall Bracket Option [Table 9-1] Packing list ✏...

  • Page 39: Packing & Label

    DTP10-L hardware user’s manual 9.2. Packing & label (1) Label Model name : DTP10-L Standard : DTP10-LQCE05 Seria l Number : DTP10LYYMM0001 WWW.DAINCUBE.COM DTP10-LQCE05 (2) (3) [Figure 9-1] Labeling position (1)Model name (2) Item (3) O/S (4) Communication (5) Cable length ◆...
  • Page 40 DTP10-L hardware user’s manual 10. General care and maintenance Your device is a product of superior design and craftsmanship and should be treated with care. The following suggestions will help you.  Keep the device dry. Precipitation, humidity, and all types of liquids or moisture can contain minerals that will corrode electronic circuits.
  • Page 41 DTP10-L hardware user’s manual EN 61000-4-6:2009: Conducted disturbances, induced by radio-frequency fields EN 61000-4-8:2010: Power frequency magnetic field EN 61000-4-11:2004: Voltage dips, short interruptions and voltage variations Korea Standard KN 61000-6-3 : Conducted tests (mains port), electromagnetic conduction test (communication ports)
  • Page 42 DTP10-L hardware user’s manual Check the local regulations for disposal of electronic products. This symbol on the product or on its packaging indicates that this product must not be disposed of with your other household waste. Instead, it is your responsibility to dispose of your waste equipment by handing it over to a designated collection point for the recycling of waste electrical and electronic equipment.

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