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Delta DCS User Manual

Delta DCS User Manual

Delta scara robot controller
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DCS Controller
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Summary of Contents for Delta DCS

  • Page 1 Delta SCARA Robot DCS Controller User Manual www.deltaww.com...

  • Page 3: Preface

    Preface Thank you for using this product. This manual provides information regarding safe operation of Delta SCARA robot that users must take note in following. Before operating the SCARA robot, to ensure your safety, please be sure to carefully read through this manual. Content of this manual includes: ...

  • Page 4: Safety Precaution

    Also, the teach pendant and the driver cannot be operated separately. DCS series control cabinet can be used on industrial applications and are recommended for installa- tion in a wiring (electric) box specified in the manual (controller, wires, and motors must all be installed in location that meets the minimum requirement from UL level 1 for the environment of installation).
  • Page 5 Note upon operating  Before starting to run, the robot needs adjustment on settings based on parameters set by users. If not adjusted to the correct matching value, loss of control or failure for the operation of machine might result. ...

  • Page 6: Table Of Contents

    3. Exterior Look of DCS controller and Descriptions of Connectors 3.1 Exterior look and dimension ................. 8 3. 2 Descriptions of external ports on the DCS controller ........... 9 3.3 Definitions and descriptions for terminals on the DCS controller ....... 10 3.3.1 Definitions of pins on major loop power terminal: ............
  • Page 7 4. Battery replacement 4.1 Notes ........................28 4.2 Battery replacement procedures ................. 29 5. Hardware components 5.1 Connector components ..................30 5.2 Optional items ...................... 32 6. Descriptions for Troubleshooting 6.1 Display of status ....................33 6.1.1 Display of system status .................... 33 6.1.2 Display of alert message ....................
  • Page 8 Table 3-2 Definitions for 4.2 in-flight connectors on motor power cable ........ 13 Table 3-4 Definitions of the pins on Encoder connector ............15 Table 3-5 Definitions of the pins on Delta Encoder ............... 15 Table 3-6 Definitions of pins for user’s IO ................16 Table 3-7 Definitions of the pins for system IO ................
  • Page 9 Figure 1-3 SCARA Motion range ................... 3 Figure 2-1 Peripheral Device Wiring Diagram ............... 7 Figure 3-1 Exterior look of DCS Controller ................8 Figure 3-2 Descriptions of external pins on the back of the controller ......... 9 Figure 3-3 Actual main circuit circuit power connector figure ..........11 Figure 3-4 Definition for the motor power terminal ...............
  • Page 10 Figure 3-36 SCARA Air Tube Configuration ................27 Figure 5-1 Delta DC24V Power Supply................32 Figure 6-1 7-segment Display....................33 Figure 6-2 Display of MS board ....................34 Figure 6-3 Seven-segment display of MS error code ..............35...

  • Page 11: Product Description

    1. Product description 1.1 Operating direction DSR40L series is a robot consisted of four axes, which are first arm (J1), second arm (J2), axis Z (J3), and axis R (J4). Directions of their motions are shown in Figure 1-1 Directions of SCARA Motions, with (+) and (-) on the graph representing directions of each axis defined by user in the editor program.

  • Page 12: Dimensional Drawing

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 1.2 Dimensional drawing External dimensions of the mechanism are shown in Figure 1-2. Please use 4-M8 locking screws to secure the mechanism on a platform Unit: mm Figure 1-2 External Dimension of the SCARA...

  • Page 13: Motion Range

    1. PRODUCT DESCRIPTION 1.3 Motion range When SCARA robots line up, the maximum turning radius for first arm is 400 mm and the range of rotation movement is ±130°; when first arm reaches its limit, second arm can move for other 100° to reach its limit.

  • Page 14: Robot Specification

    Air pipe for customer installation ø 4 mmx2, ø 6 mmx1 Body weight 16 Kg *25mm-300mm-25mm & Payload: 1Kg, test environment temperature 25oC, environmental relative humidity 45% ~ 65% RH *Delta reserves the right to change specifications without further notice.

  • Page 15: Specification Of Dcs Controller

    1. PRODUCT DESCRIPTION 1.5 Specification of DCS controller The detailed specification shown as below: Table 1-2 Specification of DCS Controller Model DCS series Phase Number / Voltage Single phase: 200~230V , -15%~10%, 23.8A (for DRS40L: 5A) Power Supply Control Power Supply...

  • Page 16: Wiring Sequence

    DCS. (2) Motor Power Cable: A. Connect the power connector of the power cable to the servo motor output (U, V, W) on the DCS; please note the connector label when connecting and do not connect the wrong cable.

  • Page 17: Figure 2-1 Peripheral Device Wiring Diagram

    Power Supply 750W Single-phase / No-fuse breaker (NFB) Three-phase 200-230V Set to prevent damages to the driver due to excessive instant current generated when powering on/off or Filter short-circuit. Reduce the electromagnetic interference transmitted through the power cable between the device and power. Teach Pendant (Optional) Teach pendant can be Magnetic Control (MC)

  • Page 18: Exterior Look Of Dcs Controller And Descriptions Of Connectors

    3. Exterior Look of DCS controller and Descriptions of Connectors 3.1 Exterior look and dimension 175.2 mm 175.2 1 75.2 mm m m 300.8 mm 300.8 3 00.8 mm m m 175.2 mm 70 mm 159.3 mm 175.2 1 75.2 70 7 0 mm m m 159.3 1 59.3...

  • Page 19: Descriptions Of External Ports On The Dcs Controller

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 3.2 Descriptions of external ports on the DCS controller Serial Communication Port Teaching Pendant Connection Port For MODBUS communication control, sup- Used to connect the teaching pendant porting RS-485 / RS-232 serial communication.

  • Page 20: Definitions And Descriptions For Terminals On The Dcs Controller

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 3.3 Definitions and descriptions for terminals on the DCS controller Table 3-1 Manual power pin Terminal marking Name Description 24V, 0V 24V power input end Connect 24V DC power supply R, S, Power input end for...

  • Page 21: Definitions Of Pins On Major Loop Power Terminal

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 3.3.1 Definitions of pins on major loop power terminal: The circuit input terminal of the main circuit; connect AC 200V to 230V single-phase 50/60 Hz input power. Figure 3-3 Actual main circuit circuit power...

  • Page 22: Wiring For Robot And Controller

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 3.4 Wiring for ROBOT and controller: Two cables must be connected between the controller and SCARA body: 1. Motor Power Cable: The outlet connectors from the base of SCARA are two sets of 6P male con- nectors which are connected to the female ports for MOTOR POWER on the controller;...

  • Page 23: Definitions For Connectors On Motor Power Cable

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 3.4.2 Definitions for connectors on motor power cable The connectors are connected to the motor power cable and shall be connected according to U, V and W specifications. Part of the power cable use the same connectors J1+J3 and J2+J4 shared by both axiss, so the marking shall be made when inserting the connectors.

  • Page 24: Definitions For Connectors For Motor Brake (Brk.dio)

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 3.4.3 Definitions for connectors for motor brake (BRK.DIO) This function mainly provides DC24V to release the motor from its brake status. Through communi- cation function, it utilizes DO function to give orders to output the signal for unlocking the brake. This connector provides four sets of signals to unlock motor brake.

  • Page 25: Definition Of Encoder Connector

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 3.4.4 Definition of Encoder connector PIN 1 PIN 18 Figure 3-14 Definitions of pins on motor Encoder 1. The connector accepts input via motor pulse. Table 3-4 Definitions of the pins on Encoder connector...

  • Page 26: Std.dio Connectors

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 3.4.5 STD.DIO connectors The connector is defined based on pins used for input and output by the user’s IO. Currently, the in- ternally planned I/O is described as follows and the other parts are available to users.

  • Page 27: Sys.dio Connectors

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 3.4.6 SYS.DIO connectors The connectors are defined based on pins used for output and input by the system IO. Figure 3-18 Definitions of SYS.DIO pins NAME NAME NAME PLC INPUT...

  • Page 28: Table 3-7 Definitions Of The Pins For System Io

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS Table 3-7 Definitions of the pins for system IO Table 3-8 Definitions of functions for the system I/O  E-STOP signal: E-STOP Input is the DI1 (Pin16) connected to SYS.DIO, therefore users must connect DI1 of this connector to the external emergency stop button switch to use.

  • Page 29: Figure 3-21 Mode Select Wiring Example

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS  MODE SELECT Signal The mode selection is planned via 2 input points, as shown in the figure below. PNP (SORCE MODE) NPN (SINK MODE) Figure 3-21 MODE SELECT Wiring Example...

  • Page 30: Figure 3-22 Run/Stop Switch Wiring Example

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS  RUN/STOP SWITCH signal The operating mode selection is planned via 2 input points under the AUTO MODE, as shown in the figure. PNP (SORCE MODE) NPN (SINK MODE) Figure 3-22 RUN/STOP SWITCH Wiring Example ...
  • Page 31 3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 2. DO Instruction • Display for the alarm description of the robot This is the description for the status of the systematic digital output SysDO1 SysDOStatus Item SysDO1 The abnormal alarm status shows.

  • Page 32: Specifications Of The Communication Connector

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 3.4.7 Specifications of the communication connector 1. TP connector The connector is connected to HMI. Figure 3-24 TP connector Table 3-9 Definitions of the connectors D-SUB 25PIN Pin No FUNCTION TWISTED ETH_TX+ TWISTED PAIR...

  • Page 33: Table 3-10 Definitions Of Rs232/Rs485 Pins

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 2. RS232RS485 connector The connector is used for communication bus (serial communication). Table 3-10 Definitions of RS232/RS485 pins NAME NAME RS485+ RS485- RS232_RX RS232_TX Figure 3-25 Configurations of RS232/RS485 Pins 3.

  • Page 34: I/O Input Wiring Examples

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 3.4.8. I/O Input wiring examples  Button or inching switch I/O connector (MDR 50pin Female) NPN (SINK MODE) PNP (SORCE MODE) Figure 3-30 Wiring Example of the Button or Inching Switch  Proximity Switch...

  • Page 35: Wiring Example Of I/O Output

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 3.4.9 Wiring example of I/O Output  Light signal or relay (loading negative) I/O connector (MDR 50pin Female) Figure 3-32 Wiring example of light signal or relay (loading positive)  Light signal or relay (loading positive)

  • Page 36: Scara Body Connector Description

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 3.4.10 SCARA body connector description For user friendliness, one group of signal connectors and three groups of air tubes are provided on the SCARA robot for use by customers: Figure 3-34 SCARA Body Connector Configuration 1.

  • Page 37: Figure 3-36 Scara Air Tube Configuration

    3. EXTERIOR LOOK OF DCS CONTROLLER AND DESCRIPTIONS OF CONNECTORS 2. Air tube description Sequence for configuring SCARA body air tube containing 1 *ϕ6, 2* ϕ4 is as follows: Figure 3-36 SCARA Air Tube Configuration...

  • Page 38: Battery Replacement

    Battery replacement 4.1 Notes 1. Display of Alarm AL061 on the drive suggests overly low voltage that the battery shall be replaced. 2. When the value displayed by Parameter P0-02 is 31, namely the voltage is less than 3.1, the battery must be replaced immediately to prevent loss of data.

  • Page 39: Battery Replacement Procedures

    4. BATTERY REPLACEMENT 4.2 Battery replacement procedures . Remove the front plate on the SCARA body, 2. First pull out the connector for the battery to be behind which is where the batteries are placed replaced. Figure 4-1 Battery placement location Figure 4-2 Battery Replacement Step 1 Do not remove the metal seats for securing the batteries! The following flow chart only serves for illustration.)

  • Page 40: Hardware Components

    4. Hardware components 5.1 Connector components Table 5-1 DCS Accessories List Q’TY ITEM Picture NAME NOTES MOTOR POWER Connector J1&J3 3050248246 MOTOR POWER Connector J2&J4 3050248646 MAIN POWER INPUT Connector 3051611346 DC 24V INPUT Connector 3051627346 Motor brake release Connector...
  • Page 41 5. HARDWARE COMPONENTS Q’TY ITEM Picture NAME NOTES Base CN1 Connector 3074051921 Base CN1 Connector Cover 3050284421 Head CN2 Connector 3074051821 Head CN2 Connector 3050284121 Cover Controller STD I/O Connector 307740100L Controller STD I/O Connector Cover 305059000L Controller SYS I/O connector 307280183C Controller SYS I/O Connector Cover 305005303C...

  • Page 42: Optional Items

    1. DC24V Power Supply Recommended Model name: 150W: PMC-24V150W1AA 200W: PMC-24V200W1AA Figure 5-1 Delta DC24V Power Supply Note: Select Delta Power Supply – Output DC24V series as needed. Please refer to the Delta http://www.deltapsu.com/products/din-rail-power-supply?serie=cliq 2. Filter : Recommended Model name：...

  • Page 43: Descriptions For Troubleshooting

    6. Descriptions for Troubleshooting 6.1 Display of status Display Figure 6-1 7-segment Display 6.1.1 Display of system status Table 6-1 System Status Display Display symbol Description Status of powering on or restarting Power on completed Displayed during firmware update Displayed when burning Burning completed...

  • Page 44: Display Of Alert Message

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 6.1.2 Display of alert message Table 6-2 Alert Message Display Display symbol Description he first code: fixed display of “E” The second code: Type 1. Controller: “C” 2. Group: number 1 (use decimal points to represent the group) 3.

  • Page 45: Troubleshooting Of Abnormal Alarms

    6. DESCRIPTIONS FOR TROUBLESHOOTING 6.3 Troubleshooting of abnormal alarms There are 4 major categories of abnormal alarms, namely the control type, customized type, group type, and axis type, the meanings of which are described as follows: ■ Control type: alarms sent out by the controller. ■...

  • Page 46: Index Of Alarm

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS 6.4 Index of alarm 6.4.1 Group type Abnormal Servo Abnormal Alarm Type Status Abnormal Alarm Name Alarm Display WARN ○ ○ E?801 Axis did not return to the origin ○ ○ E?803 Incompatible motion command ○...

  • Page 47: Axis Type

    6. DESCRIPTIONS FOR TROUBLESHOOTING 6.4.2 Axis type Abnormal Alarm Type Servo State Abnormal Abnormal Alarm Name Alarm Display WARN ○ ○ E?001 Overcurrent ○ ○ E?002 Overvoltage ○ ○ E?003 Low voltage ○ ○ E?004 Motor matching error ○ ○ E?005 Retrogradation error ○...

  • Page 48: Control Type

    SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS Abnormal Alarm Type Servo State Abnormal Abnormal Alarm Name Alarm Display WARN ○ ○ E?062 Absolute position laps overflow ○ ○ E?067 Encoder temperature alarm ○ ○ E?069 Motor type error E?06A Loss of absolute position ○...
  • Page 49 6. DESCRIPTIONS FOR TROUBLESHOOTING  Group type: E?801 Axis did not return to the origin Cause Axis did not return to the origin If the axis fails to return to the origin before the coordinates moved, please return Check and Correction the axis to the origin.
  • Page 50 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS E?814 Axis error during implementation of motion commands Cause Axis error during implementation of the motion commands. Please use the original software (DROE) to check whether any abnormality Check and Correction of axis is found and eliminate any abnormality in accordance with the troubleshooting of alarms.
  • Page 51 6. DESCRIPTIONS FOR TROUBLESHOOTING E?824 Spatial movement exceeds the operating range of Robot Cause Spatial command movement exceeds the operating range of Robot. Whether the target position of the motion command for each axis is within the Check and Correction configured limits of software.
  • Page 52 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS E?82B Error in switching tool coordinates Cause Switching error of the tool coordinates 1. Whether the designated number of tool coordinates system has been established or is between 0 and 9. If not, please fill in or select the correct Check and Correction coordinate number.
  • Page 53 6. DESCRIPTIONS FOR TROUBLESHOOTING E?851 Time out error in transmission of vision parameters followed by conveyor belt 1. Data transmission error Cause 2. Vision system has not been triggered. 1. Ensure the vision system has been triggered before the robot starts. Check and Correction 2.
  • Page 54 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS  Axis type: E?001 Overcurrent 1. Short circuit of the drive output 2. Abnormal motor wiring Cause 3. Abnormal IGBT 1. Whether wiring between the motor and drive has short-circuited, and if circuited, eliminate the short-circuit condition and prevent exposed wiring.
  • Page 55 6. DESCRIPTIONS FOR TROUBLESHOOTING E?005 Retrogradation error 1. Wrong retrogradation resistance is chosen or no external retrogradation Cause resistance is connected. 2. Parameter setting error Check and Correction Return it to the dealer or original manufacturer for repairing. Solution Reset alarm E?006 Overload 1.
  • Page 56 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS E?012 Calibration abnormal Cause Current calibration is abnormal Check and Correction Return it to the dealer or original manufacturer for repairing. Solution Reconnect power and clear alarm. E?013 Emergency stop Cause Emergency stop switch is pressed.
  • Page 57 6. DESCRIPTIONS FOR TROUBLESHOOTING E?018 Detector output abnormal 1. Encoder error Cause 2. The output pulse exceeds a permissible range for the hardware. Check and Correction Return it to the dealer or original manufacturer for repairing. Solution Reset alarm E?019 Serial communication abnormal between controller and drive 1.
  • Page 58 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS E?025 Internal error on the encoder 1. Internal error on the encoder (internal memory error and error in internal counting) . Cause 2. The motor rotates due to mechanical inertia or other reasons when it is connected to the power.
  • Page 59 6. DESCRIPTIONS FOR TROUBLESHOOTING E?031 Detection on disconnection of the motor power cable Cause Disconnection of the motor power cable Whether the motor power cables (U, V, W, GND) are disconnected, please Check and Correction connect the cables correctly according to the Instruction Manual and ground them correctly.
  • Page 60 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS E?062 Absolute position laps overflow Cause The stroke is out of range. Check and Correction Return it to the dealer or original manufacturer for repairing. Solution Reconnect power and clear alarm. E?067 Encoder temperature alarm Temperature of the encoder is too high (85~100 ℃...
  • Page 61 6. DESCRIPTIONS FOR TROUBLESHOOTING E?111 DMCNET packet receiver overflows Cause More than 2 packets are received within 1ms. Check and Correction Return it to the dealer or original manufacturer for repairing. Solution Reconnect power and clear alarm. E?185 DMCNET Bus hardware abnormal Cause DMCNET Bus hardware abnormal or loss of communication packet Check and Correction...
  • Page 62 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS E?285 Drive reverse limit Cause Exceeding software reverse limit. Whether the position exceeds the value of P5-09. Please set the limit according to actual conditions; if the position doesn’t exceed the limit, please set the Check and Correction maximum:-2147483648.
  • Page 63 6. DESCRIPTIONS FOR TROUBLESHOOTING E?500 STO function is activated Cause Safety function STO is activated. Check and Correction Safety function STO is manually activated; please check the activating cause. Solution Reset alarm. E?501 STO_A lost STO_A loses enabling signal or STO_A and STO_B have not been synchronized Cause for more than 1 second.
  • Page 64 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS  Control type: EC001 PLC timeout 1. PLC program too big, execution time too long. Cause 2. Debug operation. Check and Correction 1. Confirm PLC Debug is closed. Solution Alarm reset. EC002 PLC Image load failed Cause The library version in the PLC Image does not match with the system.
  • Page 65 6. DESCRIPTIONS FOR TROUBLESHOOTING EC004 Motion module failed Cause Abnormal movement module function. If this alarm occurred, do not make any modifications to the original machine and Check and Correction send it back to the manufacturer directly. Solution None. EC005 Controller failed Cause Abnormal controller function.
  • Page 66 SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS EC009 Robot Type mismatch The Robot Type set in the parameter does not match the one loaded by the Cause current movement module. 1. Confirm the firmware version; is it an updated firmware (downgraded or failed) that caused parameters P1-00 and P0-03 to be inconsistent.
  • Page 67 Delta Electronics (Korea), Inc. 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 TEL: 82-2-515-5303 / FAX: 82-2-515-5302 Delta Electronics Int’l (S) Pte Ltd 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt. Ltd.

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