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Adtech ADT-RC400 User Manual

Robotic drive system
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ADTECH Robotic Drive System
ADT-RC400
User Manual
(Electrical Wiring)

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Summary of Contents for Adtech ADT-RC400

  • Page 1 ADTECH Robotic Drive System ADT-RC400 User Manual (Electrical Wiring)
  • Page 2 The version of this manual：V2.0 Copy Right All parts of this manual, property right owned by Adtech (Shenzhen) Technology Co.,LTD (hereinafter referred to as) to all, without permission, no unit or individual is not any imitation, copying, copying or translation. Position this guide without warranty of any kind, expressed or implied.
  • Page 3 Range of manual This is the first manual of QC400 drive robotic control system including full description, drive control for the initial users, to help users select reasonable motor type; followed this specification for drive control electrical wiring between the machine and the robot in detail. Precautions ※Transport and storage ...
  • Page 4  Do not open the Cabinet without permission,  Long when not in use, please cut off the power.  To pay special attention not to let dust, iron powder into the controllers.  Output relay if the use of solid state relays shall be freewheeling diode in parallel in the relay coil.
  • Page 5 Since the robot system is more complex, dangerous. The manual records and security-related precautions, please strictly observe transactions as recorded. Safety Precautions and mark Mark Mark meaning Use wrongly, it will lead to a dangerous situation, Danger causing serious injury or death Use wrongly，It will lead to a dangerous situation that note may cause personal injury or damage to equipment...
  • Page 6 Easy electric shock. Please be sure to take a reliable grounding between the drive and the robot body. When the fault occurs easily lead to electric shock, fire incident, easy to trigger errors.  Non professional personnel, please do not open the drive and control one machine shell, please do not use hand to touch the drive and control of internal components Easy electric shock ...
  • Page 7  Attention Please pay attention to the drive and control of the motor and the heat of the peripheral equipment. Easy to burn. When a fault occurs, the power supply is cut off, the cause is identified and removed, and the low speed running equipment should be removed.
  • Page 8 Should be regularly on the implementation of the robotics drive system maintenance and inspection operations. Neglect of maintenance and inspection is an important cause of equipment failure and accidents. Please do not put heavy objects on the product. Easily cause damage Please correct the wiring in the instruction manual.
  • Page 9  In the course of the robot's movement, no person is allowed to stand in the robot action area. There will be a major injury accident. Equipment to prevent the movement of the robot in the workplace. When the device is abnormal, it is easy to cause damage.
  • Page 10 Will reduce the system performance and may malfunction Please do not remove the cleaning. Easy to cause fire, easy to get electric shock. Please don't make the product stored in the leaks, water, and other harmful gases in the environment. Prone to failure ...
  • Page 11 Power cord must be used with the specified wire. Prone to fire and failure.
  • Page 12 Safety regulations  Before starting the run, we need to know all the tasks of robot in accordance with the program to be executed;  Robots run in automatic mode, personnel are not allowed to enter any of its movement reach areas;...

  • Page 13: Table Of Contents

    Catalogue 1. System Introduction and Overview of Functions ..............14 1.1 System Components....................14 1.2 Robotics Drive System Instructions................14 1.3 FlexPendant Introduction ................... 15 1.4 Feature Overview ....................... 16 1.4.1 Technical Parameters ..................16 1.4.2 Product Configuration ..................18 1.4.3 Basic Specifications ..................
  • Page 14 4.3.3 Sanyo Electric Wiring Instance ................ 39 4.3.4 SANKYO Electric Wiring Instance ..............43 4.4 Signals’ Definition for <48Pin> Motor Terminal ............47  Definition of 16Pin Encoder ................49  Definition of two-channels External Encoders ........... 51  Definition of 19Pin Power .................. 52 ...

  • Page 15: System Introduction And Overview Of Functions

    1. System Introduction and Overview of Functions 1.1 System Components Drive machine control system mainly consists of the following three parts: 1）QC400 drive control system 2）Handheld FlexPendant 3）Connecting Cables 1.2 Robotics Drive System Instructions  Figure 1-1 shows the schematic side of robotic drive controller(QC400); ...

  • Page 16: Flexpendant Introduction

    1.3 FlexPendant Introduction Front view of Flexpedant is shown in Figure 1-2: Figure 1-2 Front view of FlexPendant Back view of Flexpedant is shown in Figure 1-3: Three Position Switch Figure 1-3 Back view of FlexPendant...

  • Page 17: Feature Overview

    Manual Teach Size/weight 355mm*248mm*70mm/2KG control axes 4 axis supports all-digital AC servo motors (for support motor example: Sanyo, Panasonic, Tamagawa, type Adtech and other brands) Drive control position function detection detection encoder (incremental / absolute) method Drive single-axis power below 1.2KW, four-axis...
  • Page 18 system, the tool coordinate system, User Coordinate System Cartesian coordinate Cartesian coordinate display mode, the joint display mode coordinate RS-232：2CH（9 pin） 、Ethernet：1CH External communication （100Mbps/10Mbps）USB2.0：2CH length (including aviation head) 517mm * Dimensions / Weight Width 160mm * high 273mm / 20KG Power Single-phase within AC200V~230V，50Hz...

  • Page 19: Product Configuration

    1.4.2 Product Configuration Table 1-2 Product configurations Name Descriptions QC400 host controller 1 set Plug the host power supply plug 1 pcs USB download cable 1 pcs(optional) serial line 9 female-female serial line 1 pcs(optional) Connecting cable Cable host and motor, encoder cable 1 pcs Input connecting cable Input Wiring 37-pin host input port junction...
  • Page 20 Peripheral Devices SCARA Robot QC400 Controller FlexPendant IO Board Figure 2-1 System Configuration...
  • Page 21 Four-axis horizontal articulated robot plan as follows: Figure 2-2 horizontal axis robot plan Industrial robot axes are defined as follows: for the J1 axis arm, the arm of J2 axis, the vertical axis J3 axis, J4 axis rotation axis.

  • Page 22: Product Description Of Each Part

    2.2 Product Description of Each Part  External Profile of 72Pins Robot Controller Lock Terminal of System LED of Power Supply State LED of Servo Enable State LED of Run State of System LED of Alarm State of System Connector Terminal of 72Pins Overloaded Communication Terminal of LAN Communication Terminal of U...

  • Page 23: External Profile Of 48Pins Robot Controller

     External Profile of 48Pins Robot Controller Lock Terminal of System LED of Power Supply State M5、M6 External LED of Servo Enable State Encoder Connector LED of Run State of System LED of Alarm State of System Connector Terminal of 48Pins Overloaded LAN connector Connection Terminal of Input...

  • Page 24: Power Cord Connect

    POWER LED indicator light Indicate Host power status SERVO ON LED indicator light Indicate servo enable status LED indicator light Indicate system running status ALARM LED indicator light Indicate system alarm status Ethernet port Internet communication USB2.0 port U-disk communication USB1.1 port USB communication COM1...

  • Page 25: Io Power Supply

     60W-24V power has been involved within IO board; several internal 24V included in IO board can be used by customers.  IO Power Supply Inside of IO board has provided DC24V power for IO using. So DC24V is existed between 5Pin and 11pin within ADT9137 input board.

  • Page 26: Motor Wiring Terminals

    4. Motor Wiring Terminals  ADTECH has two standard kinds of terminals for load connector, one is 72Pins, another one is 48Pins;  In order to make the connection more clear, the line numbers are given in actual wiring diagram for each motor. These numbers are corresponding to 72 Pins. If 48Pins are used, please base on actual wiring definition to connect them(for example, descriptions as U/V/W, PS2+);...

  • Page 27: Motor Terminal<72Pin> Signal Description

    Figure 4-1-2 48Pin Heavy load connector definition 4.2 MOTOR Terminal<72Pin> Signal Description Table 4-2-1 Heavy load connector instruction 72Pin Heavy load connector Signal Instructions pin item 1/4/7/10/13/16 Motor 1/2/3/4/5/6 Power terminal U phase input 2/5/8/11/14/17 Motor 1/2/3/4/5/6 Power terminal V phase input 3/6/9/12/15/18 Motor 1/2/3/4/5/6 Power terminal W phase input 19/20/21/22/23/24...
  • Page 28 49/50/57/58/65/66 Ground pin (GND) of motor 1/2/3/4/5/6 encoders 55/56/63/64/71/72 Power pin (5V) of motor1/2/3/4/5/6 encoders Signal negative (PS1-/ PS2-/ PS3-/ PS4-/PS5-/PS6-) of 53/54/61/62/69/70 motor 1/2/3/4/5/6 encoders Signal positive (PS1+/ PS2+/ PS3+/ PS4+/PS5+/PS6+) 51/52/59/60/67/68 of motor 1/2/3/4/5/6 encoders For user connect simply, QC400 factory. With 72pin male connector, male connector to cable，User just connect cable terminal to motor’s encoder wire, power wire, I/O port.

  • Page 29: 26-Pins Encoder Definition

     26-Pins Encoder Definition Table 4-2 26 twisted pair definition PCBA Definition 72 Pin Heavy load 26 wire shield twisted pair connector item (wire color) GrayRed GrayBlack Motor1 PS1- WhiteRed PS1+ WhiteBlack OrangeRed OrangeBlack Motor2 PS2- PinkRed PS2+ PinkBlack YellowRed YellowBlack Motor3 PS3-...

  • Page 30: 20-Pins Power Definition

     20-Pins Power Definition 20 wire twisted pair definition is power cable, Definition is as following: Table 4-3 20 wire twisted pair definition PCBA Definition 72 Pin Heavy load 20 wire shield twisted pair connector item (wire No.) Motor 1 Motor 2 Motor 3 Motor 4...

  • Page 31: 16-Pins Io Line Definition

     16-Pins IO Line Definition Driver-controller integration in addition to the digital input/output pin end defines multiple input and output, the overloading jilt terminal also defines a certain number of input and output, while the number of the input and output port enough, users do not need the back of the port：...

  • Page 32: Io Wiring Diagram For 72Pin Robot

     IO Wiring Diagram for 72Pin Robot Definitions of 26Pin signals (at the back of robot body): IN28 GrayRed IN28 GrayRed IN29 GrayBlack IN29 GrayBlack IN30 WhiteRed IN30 WhiteRed IN31 WhiteBlack IN31 WhiteBlack IN32 OrangeRed IN32 OrangeRed IN33 OrangeBlack IN33 OrangeBlack Relay1 PinkRed Relay1 PinkRed Relay2 PinkBlack...

  • Page 33: Connection Instances Of Motors For 72Pin

    Connection Instances of Motors for 72Pin Driver-controller integration support of motor encoder types are: panasonic, sichuan, ADTECH, all the more for such as many motor. Wiring for the convenience of customers, enumerated several motor type and its connection mode, provide the reference for the user.
  • Page 34 Chart 4-2 Panasonic motor encoder terminal connection  Wiring of Electrical Power 17 Bits Absolute Motor of Panasonic Definition of Power Wire Definition of 20-pins Cable White Black Yellow/Green Yellow/Green Motor 1 Shielded White Black Yellow/Green Motor 2 White Black Definition of 16-pins Cable Yellow/Green Yellow...
  • Page 35 Notes: Panasonic and QC400 servo motor encoder count procedures defined in the way of counting, UV line number 26 pin cable end connection mode in contrast to the co nventional way.  Wiring of Electrical Brake Robot has one or more brakes needed in practical use. And realization of brakes’ on and off is through opening or closing the relays on IO board.
  • Page 36 17 Bits Absolute Motor of Panasonic Definition of Brake Adapter Plate of Brake Yellow Blue Definition of 16-pins Cable Motor1 （J1） Pink/Red Relay1 Yellow Pink/Black Relay2 Blue White/Red/Red Relay3 White/Black/Black Motor2 Relay4 （J2） Orange/Red/Red Internal Yellow Blue Motor3 （J3） Yellow Blue Motor4 （J4）...

  • Page 37: Tamagawa Motor Wiring Instance

    4.3.2 Tamagawa Motor Wiring Instance  Wiring of 17bits Absolute Encoder 17-bits Absolute Motor of TAMAGAWA Definition of encoder Blue Blue/White Definition of 26-pins Cable Purple BAT+ White/Black PS1+ Vacant Battery White/Red PS1- Vacant Motor 1 Green Gray/Black Green/White Gray/Red Purple/White BAT- Pink/Black...
  • Page 38  Wiring of Electrical Power 17-bits Absolute Motor of TAMAGAWA Definition of encoder Blue Blue/White Definition of 26-pins Cable Purple BAT+ White/Black PS1+ Vacant Battery White/Red PS1- Vacant Motor 1 Green Gray/Black Green/White Gray/Red Purple/White BAT- Pink/Black PS2+ Shield Shield Cable Pink/Red PS2- Motor 2...
  • Page 39  Wiring of Electrical Brake Tamagawa motor brake line wiring and Matsushita Electric brake line wiring is similar. Specific implementation is as follows: (1) Brake wiring; (2) IO board 24V power supply, specific wiring refer to “3-power cable”. 17-bits Absolute Motor of TAMAGAWA Definition of Brake Adapter Plate of Brake Yellow...

  • Page 40: Sanyo Electric Wiring Instance

    Practical application, the need to complete the brakes according to the terminal of the robot body. If only one axis with the brakes, then brake to the shaft. After wiring is complete, the handheld FlexPendant in brake port configuration please refer to “teach Operation Manual.” 4.3.3 Sanyo Electric Wiring Instance ...
  • Page 41  Wiring of Electrical Power 17-bits Absolute motor of SANYO Definition of Encoder Brown Blue Definition of 26-pins Cable Vacant Purple White/Black BAT- PS1+ White/Red Vacant PS1- Motor 1 Battery Gray/Black Vacant Shield Gary/Red Shield Cable Peach BAT+ Pink/Black PS2+ Pink/Red PS2- Motor 2...
  • Page 42  Wiring of Electrical Brake Sanyo Electric Brake wire connection method similar to Matsushita Electric brake line wiring. Specific implementation is as follows: (1) brake wiring; (2) IO board 24V power supply, specific wiring refer to "3- power cable." 17-bits Absolute Motor of SANYO Definition of Brake Adapter Plate of Brake Yellow...
  • Page 43 Practical application, the need to complete the brakes according to the terminal of the robot body, if only one axis with the brakes, then brake to the shaft. After wiring is complete, the handheld FlexPendant in brake port configuration please refer to “teach Operation Manual.”...

  • Page 44: Sankyo Electric Wiring Instance

    4.3.4 SANKYO Electric Wiring Instance  Wiring of 17bits Absolute Encoder 17 Bits Absolute Encoder of SANKYO Wiring Definition of Encoder YellowBlack BAT+ YellowRed Definition of 26Pins Cable vacant Shielding Black Shield Layer WhiteRed WhiteBlack PS1+ Battery WhiteBlack WhiteRed PS1- Motor 1 GrayRed GrayBlack...
  • Page 46  Wiring of Electrical Power Definition of Power for Definition of SANKYO-17Bits Absolute 20Pins Cables White Black Green Yellow/ Shield Motor1(J1) Green White Black Green Motor2(J2) White Black Green Yellow Motor3(J3) (With brake) Blue White Black Green Motro4(J4) Others are not used Figure 4-12Wiring of electrical power for SANKYO Note: ...
  • Page 47  Power’s shield cannot be connected to the encoder’s shield;  Motor’s brake can be controlled by the relay terminal of 16Pins cables or can be controlled by the relay terminal of output board.  Wiring of Electrical Brake For brake wiring, SANKYO motors have similar mode with Tamagawa. Specific implementations are as follows: （1）Brake Wiring;...

  • Page 48: Signals' Definition For <48Pin> Motor Terminal

    Brake Definition for SANKYO-17Bits Absolute Brake Adapter Plate Yellow Blue IO Cables of 16 Pins Motor1(J1) PinkRed Relay1 Yellow PinkBlack Relay2 Blue WhiteRedRed Relay3 Motor2(J2) WhiteBlackBlack Relay4 OrangeRedRed Internal Yellow Blue Motor3(J3) Yellow Blue Motor4(J4) Figure 4-13 Brake Wiring of SANKYO Motor For practical application, you must finish brake wiring based on the robot used firstly.
  • Page 49 Numbers of 48Pin connector Signal Instructions U phase input of motor 1/2/3/4 power terminal A1/A4/B1/B4 V phase input of motor 1/2/3/4 power terminal A2/A5/B2/B5 W phase input of motor 1/2/3/4 power terminal A3/A6/B3/B6 D2/D3/D4 IO signal inputs C1/C2 Relay 1/Relay 2 C5/C6/D1 IO signal outputs C3/C4...

  • Page 50: Definition Of 16Pin Encoder

    *1：For QC400-D00 version，E5/E6/F5/F6/G5/G6/H5/H6 have their definitions. Details can refer to definitions of 20Pin IO in 4.4 Chapter.  Definition of 16Pin Encoder...
  • Page 51 Table 4-4-2 Definitions of 16Pin twisted pair Shielding twisted pair of Number of 48Pin connector PCBA Definition 16Pin（Colors of each wire） GrayRed GrayBlack Motor 1 WhiteRed WhiteBlack OrangeRed OrangeBlack Motor 2 PinkRed PinkBlack YellowRed YellowBlack Motor 3 GrayRedRed GrayBlackBlack WhiteRedRed WhiteBlackBlack Motor 4 OrangeRedRed...

  • Page 52: Definition Of Two-Channels External Encoders

     Definition of two-channels External Encoders Buckles Figure 4-4-1Front view of M5/M6 Encoders Table 4-4-3 Definition of M5/M6 Encoders Number of M5/M6 encoders Number of 8–cores aviation PCBA Definition 10Pin plug wire (2pcs) plug M5/M6...

  • Page 53: Definition Of 19Pin Power

    Note： 1. For absolute encoder, E1+ and E1- are data signals of serial communication; 2. For incremental encoder(ABZ), E1+ and E1- are corresponding to A+ and A-; E2+ and E2- are corresponding to B+ and B-; E3+ and E3- are corresponding to Z+ and ...

  • Page 54: Definition Of 16Pin Or 20Pin Io

    YellowGreen  Definition of 16Pin or 20Pin IO IOs are not only provided by ADTECH controller, but also provided by over-load connector. For 48Pin over-load connector, it has two types of IO wire; one is 16Pin twisted pair, another is 20Pin twisted pair. Specific definitions of each type are as follows:...
  • Page 55 Note: Considering that total load capacity of 16Pin IO wire is 500mA, it is advised to use IO signals of IO board (ADT-9137, ADT-9125). Table 4-4-6 Definitions of 20Pin twisted pair Shielding twisted pair of 20Pin Definition Number of 48Pin connector （color of each wire）...

  • Page 56: Io Wiring Diagram For 48Pin Robot

    Internal 24V power YellowRedRed YellowBlackBlack Shell Shilded wire Note: Please use G5/G6/H5 as the power of brake coil when connector has 20Pin IO wire. For example, One terminal of Z-axis brake is connected to C3, another terminal of Z-axis brake is connected to G5 or G6 or H5. ...

  • Page 57: Connection Instances Of Motors For 48Pin

    Connection Instances of Motors for 48Pin  Wiring Instance of Panasonic Motor  Wiring of 17Bits Absolute Encoder (Panasonic) Wiring diagram of encoder for QC400 robot Definition of encoder(17bits absolute encoder of Panasonic) Battery BAT+ Pink Definition of 16Cores cable BAT- YellowGreen Shielded wire...
  • Page 58  Wiring of Power Line (UVW) Wiring diagram of UVW wiring for QC400 robot： Definition of UVW (17bits absolute encoder Definition of 19Core cables of Panasonic) White Black YellowGreen YellowGreen Shield Motor1(J1) White Black YellowGreen Motor2(J2) White Black YellowGreen Yellow Motor3(J3) (with brake) Blue...
  • Page 59 in program of QC400 servo. Wiring mode of UV phase for 26Pin cable terminal is in contrast to the conventional way.  Wiring of Motor Brake (Panasonic) Robot has one or more brakes needed in practical use. And realization of brakes’ on and off is through opening or closing the relays on IO board.
  • Page 60 Wiring diagram of brake wiring for ADTECH robot Definition of brake(17bit absolute encoder of Panasonic) Adapter plate of brake Yellow Blue IO of 16Core cables Motor1（J1） GrayRed Relay1 Yellow GrayBlack Relay2 Blue WhiteRed Relay3 Motor2（J2） WhiteBlack Relay4 OrangeRedRed Internal 24V...
  • Page 61  Wiring Instance of Tamagawa Motor  Wiring of 17Bits Absolute Encoder (Tamagawa) Wiring diagram of encoder for ADTECH robot Definition of encoder(17bits absolute encoder of Tamagawa) Blue BlueWhite 16Core cables Purple BAT+ Shielding layer of cable WhiteBlack Vacant Battery...
  • Page 62  Wiring of Power Line (UVW) Wiring diagram of UVW for ADTECH robot: Definition of UVW(17bits absolute 19Core cable encoder of Tamagawa) White Black YellowGreen YellowGreen Shield Motor1(J1) White Black YellowGreen Motor2(J2) White Black YellowGreen Yellow Motor3(J3) (with brake) Blue...
  • Page 63 For brake wiring, Sanyo motors have similar mode with Panasonic. Specific implementations are as follows: （1）Brake Wiring; （2）Which is supplied by IO board(24V). Specific wiring can refer to chapter 3. Wiring diagram of brake for ADTECH robot： Definition of brake(17bit absolute encoder of Tamagawa) Adapter plate of brake Yellow...
  • Page 64 For practical application, you must finish brake wiring based on the robot used firstly. Then configure brake port, please refer to【Teaching Pendent Operation】.
  • Page 65  Wiring Instance of Sanyo Motor  Wiring Instance of 17Bits Absolute Encoder (Sanyo) Wiring diagram of encoder for ADTECH robot： Definition of Encoder(17Bits absolute Sanyo motor) brown Blue 16Core cable Vacant Purple WhiteBlack BAT- WhiteRed Vacant Motor 1 Battery...
  • Page 66  Wiring of Power Line (UVW) Wiring diagram of UVW for ADTECH robot： Definition of UVW(17bits absolute Sanyo motor) 19Cores cable White Black YellowGreen YellowGreen Shield Motor1(J1) White Black YellowGreen Motor2(J2) White Black YellowGreen Yellow Motor3(J3) (with brake) Blue White...
  • Page 67  Power’s shield cannot be connected to the encoder’s shield;  Motor’s brake can be controlled by the relay terminal of 16Pins cables or can be controlled by the relay terminal of output board.  Wiring of Motor(Sanyo) Brake For brake wiring, Sanyo motors have similar mode with Panasonic. Specific implementations are as follows: （1）Brake Wiring;...
  • Page 68 Wiring diagram of brake for ADTECH robot Definition of brake(17bits absolute Sanyo motor) Adapter plate of brake Yellow Blue 16Cores IO cable Motor1(J1) GrayRed Relay1 Yellow GrayBlack Relay2 Blue WhiteRed Relay3 Motor2(J2) WhiteBlack Relay4 OrangeRedRed Internal24V Yellow Blue Motor3(J3) Yellow...
  • Page 69  Wiring Instance of SANKYO Motor  Wiring of 17Bits Absolute Encoder (SANKYO) Wiring diagram of encoder for ADTECH robot Definition of encoder(17bits absolute Sankyo motor) YellowBlack BAT+ YellowRed 16Cores IO cable Vacant Black Shield Shielded layer WhiteRed WhiteBlack Battery...
  • Page 70  Wiring of Power Line (UVW) Wiring diagram of UVW for ADTECH robot Definition of UVW(17Bits absolute Sankyo motor) 19Cores cable White Black Green YellowGreen Motor1(J1) Shield White Black Green Motor2(J2) White Black Green Yellow Motor3(J3) (With brake) Blue White...
  • Page 71  Motor’s brake can be controlled by the relay terminal of 16Pins cables or can be controlled by the relay terminal of output board.  Wiring of Motor (SANKYO) Brake For brake wiring, SANKYO motors have similar mode with Tamagawa. Specific implementations are as follows: （1）Brake Wiring;...
  • Page 72 Wiring diagram of brake for ADTECH robot Definition of brake(17Bits absolute Sankyo motor) Adapter plate of brake Yellow Blue 16Core Cable Motor1(J1) GrayRed Relay1 Yellow GrayBlack Relay2 Blue WhiteRed Relay3 Motor2(J2) WhiteBlack Relay4 OrangeRedRed Internal24V Yellow Blue Motor3(J3) Yellow Blue Motor4(J4) For practical application, you must finish brake wiring based on the robot used firstly.

  • Page 73: Digital Input And Output Interfaces

    5. Digital Input and Output Interfaces 5.1 Digital Inputs QC400 contains an extended wiring IO board, which is powered by an independent external 24V power supply. It has 34 ordinary inputs and 27 ordinary outputs (6 relays are included). Effective input level can be determined to high or low according to the level configuration of common terminal.
  • Page 74 Definitions and functions of each input pin are described as follows: Table 5-1 digital input ports are defined Interface Interface Pin No Features Pin No Features Definition Definition input port ordinary general input port input port ordinary general input port input common, then INPUTCO GND_24V...

  • Page 75: Digital Input Schematic Diagram

    5.1.2 Digital Input Schematic Diagram Digital input brief internal circuit: INCOM 354NT 354NT P24V Internal Power GND_24V Figure 5-2 Digital Input Internal Circuit Proximity switches, photoelectric switch wiring diagram is as follows: INCOM 354NT 354NT P24V Internal Power GND_24V Figure 5-3 Digital input associated wiring diagram External module "+"...
  • Page 76 Note: OUT terminal for the output signal, the general proximity switch selected working power 10-30V, and the NPN output, photoelectric switches is similar. Common input interface, based on the level of public input conditions corresponding to the input active level is different. EXT_24V INPUT Input...

  • Page 77: Digital Output Interface

    5.2 Digital Output Interface 5.2.1 Output Interface Definition and Pin Functions Output port use a 25-pin and 20-pin socket DB head, including the power supply wiring port. Digital output port pin arrangement as shown: OUT_0 OUT_10 OUT_1 OUT_11 OUT_2 OUT_12 OUT_3 OUT_13 P24V...
  • Page 78 Output port and pin function definitions as follows: Table 5-2Digital Output port definition Port Definition Function DES Port Definition Function DES Common Common OUT0 OUT1 output port output port Common Common OUT2 OUT3 output port output port internal 24V Common P24V OUT4 power supply...

  • Page 79: Schematic Diagram Of A Digital Output

    5.2.2 Schematic Diagram of a Digital Output Digital output brief internal circuit is shown follows: P24V NT357 OUTn Internal BSP76 OVDC GND_24V Figure 5-5Digital output internal circuit And the machine wiring diagram (spindle forward as an example): 12V+/24V+ Output Interface Figure 5-6 the digital output associated wiring diagram Relay internal circuit:...
  • Page 80 P24V NT357 P24V Internal BSP76 OVDC SVST_A SVST_B GND_24V G5NB-1A Figure 5-7 Relay Internal Connection diagram Table 5-3 Relay interface functions Signal Name SVST_A ~ SVST_B Output port OUTPUT-12 ~ OUTPUT-24 Short Output port Open circuit Signal Output Signal logic Function Servo status :on , output ports short circuit EXT_SVON (I)
  • Page 81 Relay output port control panel opening and closing motor brake wiring diagram: SVST_B Brake terminal of motor’s side SVST_A Internal 24V Supply Power Figure 5-8 Brake-port junctions Note: Flexible wiring diagram above, the port number 12 and 24 positions are interchangeable, the motor-side brake line terminals are also used interchangeably.

  • Page 82: Communication Port

    6. Communication Port 6.1 COM1 Port Wire Drawing In order to facilitate integrated servo drive control program upgrade and maintenance， QC400 and PC via COM1 port to communication, COM1 port using a standard DB9 female terminal, using RS-232 interface, without the level of the adapter plate. Ports defined below: 2#DSP_RX 2#DSP_TX...
  • Page 83 Shielded wire When QC400 robot drive system servo debugging, via COM1 terminal and PC connection, connection Schematic diagram as below: COM1 COM of PC 3Pin(Send) 1Pin(Receive) 6Pin(Send) 2Pin(Receive) 5Pin(0V) 5Pin(Ground) Figure 6-2 COM1 port with PCCOM port connection diagram...

  • Page 84: Com2 Port Connection

    6.2 COM2 Port Connection In order to facilitate the maintenance of robot drive system, a COM2 communication port is provided by QC400. COM2 port is provided with a standard DB9 head terminal, which is no need to connect a voltage switch board. Each pin of COM2 is defined as follows: 485_A 485_B Figure 6-3 Schematic diagram of COM2...

  • Page 85: Lan Port

    6.3 LAN Port QC400 robot drive system provide Ethernet interface, support TCP/UDP protocol. Network interface definition is as follows: Figure 6-4 LANNet export Each pin functions and instructions as shown in the table： Table 6-3 LAN Network port terminal signal description Pin number Signal name Explain...

  • Page 86: Usb Interface

    6.4 USB Interface  RC400 controller provides standard USB(master/slave) communication interface; they cannot be used at same time;  For USB-slave communication, one D-type USB cable is used to connect controller and  For USB-master communication, MEM interface is used to read data from USB diak. 6.5 Product Installation Size Chart Figure 6-6 Robot drive system dimension chart Power must be cut off when connect power line, encoder line and IO line to RC400...

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