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Motoman XRC 2001 Controller DR2C Conversion Instructions Part Number: 146822-1CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200...
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COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc.
Section Page Slave XRC 2001 Separation ..................4-3 4.3.1 Disconnecting DR2C Communication Cable ..........4-3 4.3.2 Installing the Programming Pendant ............... 4-4 4.3.3 Installing the Playback Panel ................4-4 4.3.4 Installing the XEW01 board ................4-4 Connecting the Power....................4-5 Initialization of the Controllers ..................
The Double-Robot, 2-Controller (DR2C) is part of the Motoman family of robotic solutions and is fully supported by Motoman, Inc. The DR2C features two Motoman robots and two XRC 2001 controllers connected together by a series of cables. This configuration allows the two robots to operate as a fully functional triple robot system, taking full advantage of all the unique functions available only in a triple robot system configuration.
INTRODUCTION System Overview The DR2C is designed around two XRC 2001 controllers - master and two slaves. The master controller will hold the programming pendant. A communication cable connects the two controllers, giving the master control over both slaves. Figure 1-1 illustrates the system layout of the DR2C.
We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following: •...
SAFETY Standard Conventions This manual includes information essential to the safety of personnel and equipment. As you read through this manual, be alert to the four signal words: • DANGER • WARNING • CAUTION • NOTE Pay particular attention to the information provided under these headings which are defined below (in descending order of severity).
SAFETY General Safeguarding Tips All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows: •...
• Any modifications to PART 1 of the XRC 2001 controller PLC can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! •...
SAFETY • Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc. • Be sure that all safeguards are in place. • Check the E-STOP button on the teach pendant for proper operation before programming.
SAFETY Maintenance Safety All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. Maintenance tips are as follows: •...
SECTION 3 SETUP INSTRUCTIONS Two XRC 2001 controllers can be easily combined to create the DR2C in just a short time. Follow established safety procedures at all times throughout the setup process. Failure to use safe work practices can result in damage to the equipment and injury to the workers.
Several modifications must be made to a slave controller. To set up a Slave XRC 2001 controller for DR2C operation, proceed as follows: 3.2.1 Removing Cables from the Slave Controllers 1. Open the slave XRC 2001 cabinet and locate XCP01 board (see Figure 3-1). XSU02 BOARD XCO02B BOARD XCP01 BOARD...
SETUP INSTRUCTIONS 4. Remove cable from the following WRCA01 servo board connector and store in wire duct above board: • CN10 3.2.2 Removing the Playback Panel 1. Locate playback panel on door and disconnect all cables. Wrap metal terminals individually using black electrical tape. Store cables in wire duct below playback panel.
SETUP INSTRUCTIONS Master XRC 2001 Setup CAUTION! Be sure to follow proper anti-static procedures to avoid damage to system components. 3.3.1 Connecting the DR2C Communication Cable The DR2C communication cable enables communication between the master and slave servo control boards and I/O units. To begin connecting the DR2C communication cable to the master controller, proceed as follows: 1.
Installing the Slave XEW01 Board If the DR2C is to be set up for welding applications, the XEW01 board removed from the slave controllers must be installed into the master XRC 2001. To install the XEW01 board, proceed as follows: 1.
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SETUP INSTRUCTIONS W iring the S lave XEW01 B oard 1. Locate CN01 connector on Master XEW01 board (see Figure 3-4). MASTER SLAVE XEW01 XEW01 XSU02 XCO02B XEW01- XEW01- REV. 3 0 0 CN04 REV. 3 0 0 $& 2+2 ' ! > ' ' 2 ' 0 8>...
SETUP INSTRUCTIONS Power up Instructions WARNING! The Master XRC 2001 controller must first be configured as a dual before any external axes can be added. Failure to do so will cause the DR2C system to not operate correctly. 1. Turn on power to Slave controllers first.
SECTION 4 SEPARATION INSTRUCTIONS DANGER! All power must be removed from both XRC 2001 controllers before beginning the separation process. Failure to remove power before separation can cause serious personal injury, loss of life, or equipment damage. Be sure to follow all Lockout/Tagout procedures.
Removing the Slave XEW01 Board If the DR2C was set up for welding application, the XEW01 board must be removed from the master controller and installed into the slave XRC 2001. To remove the slave XEW01 board from the master controller, proceed as follows: 1.
SEPARATION INSTRUCTIONS Slave XRC 2001 Separation CAUTION! Be sure to follow proper anti-static procedures to avoid damage to system components. Several modifications must be made to the slave controller before wiring can begin. Some components removed from the master controller must be placed in the slave controller.
4.3.4 Installing the XEW01 board If the XRC 2001 is to be set up for welding application, the XEW01 board removed from the master controller must be installed into the slave XRC 2001. To install the XEW01 board, proceed as follows: 1.
2001 controllers by a non-Motoman employee may void your warranty. After all of the system components have been separated and power has been connected, both XRC 2001 controllers must be configured as single robot systems. Configuration of the XRC 2001 controllers must be performed by a Motoman technician.
APPENDIX A SYSTEM DRAWINGS This section contains references to system drawings for the DR2C system. For information on specific part numbers, call the Motoman service staff at 937.847.3200. Drawing Number Title Sheet Number 145605 Controller Kit, DR2C, XRC 2001 145605...
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SYSTEM DRAWINGS NOTES DR2C Conversion Instructions MOTOMAN...
INDEX About this Document Safety ANSI/RIA Slave XRC 2001 Separation Slave XRC 2001 Setup Software Version, Reference Connecting the DR2C Communication Cable Standard Conventions Connecting the Power System Overview Customer Service Information Customer-Supplied Items Wiring the Slave Controller Wiring the Slave XEW01 Board...
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