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Estun TRIO RX Operator's Manual

Estun TRIO RX Operator's Manual

Scara robot mechanical unit
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RX
SCARA ROBOT
MECHANICAL UNIT OPERATOR MANUAL
(Page 68: assembly and wiring manual)

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  • Page 1 SCARA ROBOT MECHANICAL UNIT OPERATOR MANUAL (Page 68: assembly and wiring manual)
  • Page 2 Thank you for purchasing TRIO robots. Before using the robot, be sure to read the SAFETY PRECAUTION and understand the content. TRIO endeavours to improve the products. All specifications and designs are subject to change without notice. In this manual, all specifications and information are checked on a regular basis. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity.
  • Page 3 Document Version: 1.1(Error! © 2021 Error! Unknown document property name. Unknown document property All right reserved. name.)
  • Page 4 Scara Mechanical Unit Manual Safety Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables. Always keep this manual handy for easy access.
  • Page 5 Scara Mechanical Unit Manual Personnel who design and/or construct the robot system with this product must read the Safety chapter to understand the safety requirements before designing and/or constructing the robot system. Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, may result in serious bodily injury and/or severe equipment damage to the robot system, and may cause serious safety problems.
  • Page 6 Scara Mechanical Unit Manual (5) To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source.
  • Page 7 Scara Mechanical Unit Manual Emergency Stop There may be several Emergency Stop buttons in a robot system to stop the robot in case of emergencies. The red button, as shown in the left figure, shall be mounted on the teach pendant. Certainly, the emergency buttons can be mounted by your requirement.
  • Page 8 Scara Mechanical Unit Manual Document Version: Error! Unknown document property name. (Error! © 2020 Error! Unknown document property name. Unknown document property All right reserved. name.)
  • Page 9 Scara Mechanical Unit Manual Robot Labels （1）Electric Shock Warning Fig 0.1 Electric shock warning This label indicates hazardous voltage or electric shock. Do not touch any electronic parts inside. （2）Personal Injury Warning Fig 0.2 Personal injury warning Never enter the operation area while the Robot is moving. This is extremely hazardous and may result in serious safety problems.
  • Page 10 Scara Mechanical Unit Manual Fig 0.3 Hand pinch warning Never touch the robot when it is moving. This is extremely hazardous and may injury your hand. （4）Manual Reading Warning Fig 0.4 Manual reading warning Be sure to read and understand the content of the manual and the labels before installation and operation.

  • Page 11: Preface

    Scara Mechanical Unit Manual Preface This manual describes the following robots. Robot Type Load Capacity RX3-400-SR RX6-500-SR RX6-600-SR RX6-700-SR Related manuals TRIO SCARA Robot Mechanical Unit Operator’s Manual TRIO Robot SCARA Series Cabinet Operator’s Manual TRIO RCS2 System Operator’s Manual Document Version: Error! Unknown document property name.

  • Page 12: Table Of Contents

    Scara Mechanical Unit Manual Contents Safety ....................iii Preface....................x Specifications ................1 1.1. Model Number ....................1 1.2. Part Names and Outer Dimensions .................2 1.3. Specifications ....................7 Environment and installation ............10 2.1. Environmental Conditions ................. 10 2.1.1. Special Environmental Conditions ..............10 2.2.
  • Page 13 Scara Mechanical Unit Manual 5.3. Tightening Hexagon Socket Head Cap Bolts ............37 5.4. Maintenance of the Belt .................. 39 5.4.1. Belt specifications ................... 39 5.4.2. Failure mode of timing belt ................ 39 Calibration ................. 41 6.1. Introduction ....................41 6.2.

  • Page 14: Specifications

    Scara Mechanical Unit Manual 1. Specifications 1.1. Model Number Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.

  • Page 15: Part Names And Outer Dimensions

    Scara Mechanical Unit Manual 1.2. Part Names and Outer Dimensions Be careful of the shaft while the brake release switch is being pressed because the shaft may be lowered by the weight of the end effector. While the LED lamp is on, the current is being applied to the robot. WARNING Performing any work with the power ON is extremely hazardous and it may result in electric shock and/or improper function of the robot system.
  • Page 16 Scara Mechanical Unit Manual Fig 0.2 Dimension of RX3 robot Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.
  • Page 17 Scara Mechanical Unit Manual Joint #3,#4 LED lamp brake release switch Signature label Arm #1 Arm #2 Base Shaft Fig 0.3 Part name (RX6) Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.
  • Page 18 Scara Mechanical Unit Manual Fig 0.4 Dimension of RX6 (STANDARD) robot Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.
  • Page 19 Scara Mechanical Unit Manual Fig 0.5 Dimension of RX6 (PROTECTIVE) robot Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.

  • Page 20: Specifications

    Scara Mechanical Unit Manual 1.3. Specifications Item RX3 series RX6 series 500 series Arm#1, #2 (mm) 600 series 700 series Arm length 500 series Arm#1 (mm) 600 series 700 series Arm#2 (mm) 500 series 6000 Joint#1, #2 (mm/s) 5400 600 series 6650 Max.
  • Page 21 Scara Mechanical Unit Manual 120×120 150×150 Mounting hole 4-M8 4-M8 Colour of the robot Traffic white (No: RAL 9016) 500 series Weight (3m cables included) (kg) 600 series 700 series 500 series 0.244 Max. power consumption (kW) 0.214 600 series 0.248 (at max.
  • Page 22 Scara Mechanical Unit Manual 1 pneumatic tube (ø4 mm): 0.59 Mpa (6 kgf/cm : 86 psi) Ambient Temp. 5 to 40 degrees C (with minimum temperature variation) Environmental requirements Ambient relative 10 to 80% (no condensation) humidity Noise level (*1) 70dB（A）...

  • Page 23: Environment And Installation

    Scara Mechanical Unit Manual 2. Environment and installation 2.1. Environmental Conditions A suitable environment is necessary for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions: Item Conditions Ambient temperature*...

  • Page 24: Base Table

    Scara Mechanical Unit Manual Use an earth leakage breaker on the AC power cable of the Controller to avoid the electric shock and circuit breakdown caused by an unexpected water leak. Prepare the earth leakage brake that pertains the controller you are using. For details, refer to the controller manual.
  • Page 25 Scara Mechanical Unit Manual Fig 0.6 Connector Do not remove the M/C cables from the Robot. Min. bending radius Above 80mm Cable support deposition rate Within 50% Installation method Fixed Tab 0.2 Specifications of M/C cables To ensure safety, a safeguard must be installed for the robot system. Cable break may occur when the robot is operating on the rail or lifting platform, due to factory-set configuration with a fixed installation standard for cables between devices.

  • Page 26: Mounting Dimension

    Scara Mechanical Unit Manual 2.3. Mounting Dimension The maximum space described in section 1.2 shows that the radius of the end effector is 60 mm or less. If the radius of the end effector exceeds 60 mm, define the radius as the distance to the outer edge of maximum space.
  • Page 27 Scara Mechanical Unit Manual Fig 0.7 Motion range (RX3-400-SR) Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.
  • Page 28 Scara Mechanical Unit Manual Fig 0.8 Motion range (RX6 Standard model) Standard model Item RX6-500-SR RX6-600-SR RX6-700-SR a Length of Arm #1& Arm #2 (mm) b Length of Arm #1 (mm) c Length of Arm #2 (mm) d Motion range of Joint #1 (°) ±132 ±132 ±132...

  • Page 29: Unpacking And Transportation

    Scara Mechanical Unit Manual e Motion range of Joint #2 (°) ±150 ±150 ±150 f Motion range (mm) 138.1 162.6 g Motion range of backside (mm) 425.6 492.5 559.4 h Mechanical stop position angle of Joint #1 (°) i Mechanical stop position angle of Joint #2 (°) j Mechanical stop position range (mm) 121.8 142.5...
  • Page 30 Scara Mechanical Unit Manual M4x20 screw Wire tie After removing the bolts securing the Robot to the delivery equipment, the Robot can fall. Be careful not to get hands or fingers caught. The arm is secured with a wire tie. Leave the wire tie secured until you finish the installation so as not to get hands or fingers caught.

  • Page 31: Installation Procedure

    Scara Mechanical Unit Manual Parts Weight (kg) RX6-500-SR RX6-600-SR RX6-700-SR Cabinet Some lightweight parts are not listed on the above table. Please contact us if necessary. 2.5. Installation Procedure The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping hazard or pinch points.
  • Page 32 Scara Mechanical Unit Manual Fig 0.5 Secure the base table (RX3 & RX6) Use bolts with specifications conforming to ISO898-1 Property Class: 10.9 or 12.9. The tightening torque is 32.0 N·m (326kgf·cm). Use bolts with specifications conforming to ISO898-1 Property Class: 10.9 or 12.9.

  • Page 33: Connecting The Cables

    Scara Mechanical Unit Manual 2.6. Connecting the Cables To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source. Before performing any replacement procedure, turn OFF the Controller and related equipment, and then pull out the power plug from the power source.

  • Page 34: User Wires And Pneumatic Tubes

    Scara Mechanical Unit Manual Fig 0.6 Connecting the cable 2.7. User Wires and Pneumatic Tubes Only authorized or certified personnel should be allowed to perform wiring. Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system. The serial number of the robot should be accordance with the serial number of the cabinet.

  • Page 35: Pneumatic Tubes

    Scara Mechanical Unit Manual D-SUB casting [09670090344] 2.7.2. Pneumatic Tubes Max. Usable Pneumatic Pressure Pneumatic tubes Outer Diameter × Inner Diameter ø6 mm × ø4 mm 0.59 MPa (6 kgf/cm ：86 psi) ø4 mm × ø2.5 mm Fittings for ø6 mm and ø4 mm (outer diameter) pneumatic tubes are supplied on both ends of the pneumatic tubes.
  • Page 36 Scara Mechanical Unit Manual Fig 0.7 Fittings for tubes (RX3 & RX6) Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.

  • Page 37: Relocation And Storage

    Scara Mechanical Unit Manual 2.8. Relocation and Storage 2.8.1. Precautions for Relocation and Storage When transporting the Robot for a long distance, secure it to the delivery equipment so that the Robot cannot fall. If necessary, pack the Robot in the same way as it was delivered. If necessary, pack the Robot in the same way as it was delivered.
  • Page 38 Scara Mechanical Unit Manual (2) Cover the arm with a sheet so that the arm will not be damaged. Tie the lower end of the shaft and arm, and the base and arm together with the wire tie. Be careful not to tie them too tight. Otherwise, the shaft may bend.

  • Page 39: Setting Off End Effectors

    Scara Mechanical Unit Manual 3. Setting Off End Effectors 3.1. Attaching an End Effector Users are responsible for making their own end effector(s). Before attaching an end effector, observe these guidelines. If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF.

  • Page 40: Layouts

    Scara Mechanical Unit Manual 3.1.3. Layouts When you operate the robot with an end effector, the end effector may interfere with the Robot because of the outer diameter of the end effector, the size of the work piece, or the position of the arms.

  • Page 41: Equivalent Weight

    Scara Mechanical Unit Manual Fig 0.10 Dimensions for attaching cameras and valves (RX6) 3.2.1. Equivalent weight When you attach a camera or valve to the arm, calculate the weight as the equivalent of the shaft. Then add this to the load. Equivalent weight formula is shown below. When you attach the equipment near Arm #2: ��...
  • Page 42 Scara Mechanical Unit Manual distance from rotation center of Joint #2 to center of gravity ： �� �� Example: A “1kg” camera is attached to the end of the arm (550mm away from the rotation center of Joint #2)with a load weight of “1kg”. ��...

  • Page 43: Motion Range

    Scara Mechanical Unit Manual 4. Motion Range 4.1. Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Robot can move. Mechanical stop of Joint #3 (lower limit mechanical stop) Mechanical stop of Joint #2 (adjustable) Mechanical stop of Joint #1 (fixed)

  • Page 44: Setting The Mechanical Stops Of Joints #1 And #2

    Scara Mechanical Unit Manual Do not move the upper limit mechanical stop. Moving the upper limit mechanical stop may lead to collision with robot and may result in malfunction of the robot system. 4.1.1. Setting the Mechanical Stops of Joints #1 and #2 Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings.
  • Page 45 Scara Mechanical Unit Manual Fig 0.4 Mechanical stops (RX6) Type Angle for the J1 axis mechanical stop Angle for the J2 axis mechanical stop ±110° ±125° ±115° ±125° Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.

  • Page 46: Maintenance

    Scara Mechanical Unit Manual 5. Maintenance This chapter describes maintenance inspections and procedures. Performing maintenance inspections and procedures properly is essential for preventing trouble and ensuring safety. Be sure to perform the maintenance inspections in accordance with the schedule. Never perform any maintenance unless shut down the system. 5.1.
  • Page 47 Scara Mechanical Unit Manual 20000h √ Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.

  • Page 48: Inspection While Power Is Off (Robot Is Not Operating)

    Scara Mechanical Unit Manual 5.1.1. Inspection While Power is OFF (Robot is not operating) Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual End effector mounting bolts √ √ √ √ √ Robot mounting bolts √ √ √ √ √ Check looseness or backlash Each arm locking bolts √...

  • Page 49: Greasing

    Scara Mechanical Unit Manual Push each arm in MOTOR ON status Each arm √ to check whether backlash exists. Check whether unusual sound or Whole √ √ √ √ √ vibration occurs. Measure the accuracy repeatedly by Whole √ a gauge. Turn ON and OFF the brake release switch and check the sound of the Brake...

  • Page 50: Tightening Hexagon Socket Head Cap Bolts

    Scara Mechanical Unit Manual (2) Move the arm to the position that Joint #3 is to its full motion distance. (3) Press the brake release switch. Meanwhile, move the shaft to the upper limit. (4) Turn off the controller. (5) Clean up the remaining grease on the shaft and add new grease. Use tools such as a clean brush to paint the new grease until it covers the slot on the upper end of the shaft.
  • Page 51 Scara Mechanical Unit Manual Bolt Tightening Torque 73.5±3.43 N·m 129±6.37 N·m Refer below for reducer tightening bolt. Bolt Tightening Torque 2.35 N.m 5.4 N.m 10.8 N.m 18.36 N.m Refer below for the set screw. Set screw Tightening Torque 0.9 N·m（9kgf·cm） 2.5 N·m（26 kgf·cm）...

  • Page 52: Maintenance Of The Belt

    Scara Mechanical Unit Manual Fig 0.13 Tightening the bolts 5.4. Maintenance of the Belt Item Model Notes Tool Acoustic tension gates U507 For details about measurement, refer to specification of meter the acoustic tension meter. 5.4.1. Belt specifications Tab 0.4 Belt specifications Model Belt Mess (g/mm*m)

  • Page 53: Failure Mode Of Timing Belt

    Scara Mechanical Unit Manual 5.4.2. Failure mode of timing belt Periodical maintenance of the timing belt should be performed. Abnormal item Appearance Abnormal wear on The tooth cloth fiber fluffs, the rubber peels down, the gear tooth the color tends to white, the vein of the cloth tends to (initial) indistinct.
  • Page 54 Scara Mechanical Unit Manual Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.

  • Page 55: Calibration

    Scara Mechanical Unit Manual 6. Calibration and battery 6.1. Introduction Calibration associates the angle of each robot axis with the pulse count value supplied from the absolute Pulse coder connected to the corresponding axis motor. To be specific, calibration is an operation for obtaining the pulse count value, corresponding to the home position.
  • Page 56 Scara Mechanical Unit Manual 6.2.1. Battery Replacement Steps Turn power off for all axis drives. Move J1, J2, J3 and J4 and align the mark on the different arms to the position as shown in the figures below. Fig 0.1 Home position of Joint #1 (RX3&RX6) Fig 0.2 Home position of Joint #2 (RX3 &...
  • Page 57 Scara Mechanical Unit Manual Fig 0.4 Home position of Joint #3 and #4 (RX6) Remove the backplate of the battery compartment in the robot base Replace batteries of J1, J2, J3 and J4 or unplug and then plug them again so absolute encoders multi turn is set to 0.
  • Page 58 Scara Mechanical Unit Manual 6.2.2. Calibration Values Reset Start Motion Perfect and create a new project in Motion Perfect Make sure the Ethercat network is in operational state and all axes are all in working state (no errors). You can do this via Intelligent Drive window in Motion Perfect. Master State of the Ethercat network and each axis should look like below in Intelligent Drive.
  • Page 59 Scara Mechanical Unit Manual Fig 0.7 Motion Perfect Intelligent Drives window Make sure the controller status is without errors as shown below Fig 0.8 Controller status in Motion Perfect Import CALIBRATION program Notice that axis parameter ENCODER for each axis should now be around 0 due to battery power loss Document Version: V1.1(Error! ©...
  • Page 60 Scara Mechanical Unit Manual Run CALIBRATION program Restart the cabinet Via Motion Perfect, make sure the Ethercat network is operational. If not, restart Ethercat network via Controller pane in Motion Perfect. 10. Axis parameter ENCODER (previously of about 0) for each axis should now reflect the proximity of the value executed in CALIBRATION program.
  • Page 61 Scara Mechanical Unit Manual Inputs State Keyswitch manual Keyswitch auto Estop Demand Reset Safety Drive Enable External Drive Enable Check machine error output = 0, if not toggle reset input. When machine error output = 0, axis parameter FRAME 41 (SCARA) should be activated by now. Test jogging each axis via Robot Jog window.

  • Page 62: Appendix

    Scara Mechanical Unit Manual Appendix Appendix A RX3 Maintenance Parts List RX3 Robot Parts Name Part name Code Note Maintenance Joint #1 12700000053 ● AC Servo Joint #2 12700000049 ● Motor Joint #3/#4 12700000048 Joint #3 G5401000067 ● Timing belt G5401000068 Long Timing Belt ●...
  • Page 63 Scara Mechanical Unit Manual Battery 51205A00001 Ball Screw Spline A2144000012 AFB-LF+400 Grease Contact franchiser or TRIO Reduction Gear Unit for purchasing grease. RX3 Robot Parts List Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.

  • Page 64: Appendix B Rx6 Maintenance Parts List

    Scara Mechanical Unit Manual Appendix B RX6 Maintenance Parts List RX6 Robot Parts Name Part name Code Note Maintenance Joint #1 12700000057 ● AC Servo Joint #2 12700000053 ● Motor Joint #3/#4 12700000048 ● Joint #3 G5401000046 ● Timing belt G5401000047 Long Timing Belt ●...
  • Page 65 Scara Mechanical Unit Manual Contact franchiser or TRIO for Reduction Gear Unit purchasing grease. RX6 Robot Parts List Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.

  • Page 66: Revision History

    Scara Mechanical Unit Manual Revision History Date Version Revised Contents Jan 2021 V1.0 First Draft -ER3 & ER6 checks – RX3 & RX6 May 2021 V1.1 Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.
  • Page 67 Trio Motion Technology Limited www.triomotion.uk Document Version: V1.1(Error! © 2021 Error! Unknown document property name. All right Unknown document property name.) reserved.
  • Page 68 SCARA ROBOT ASSEMBLY AND WIRING MANUAL...
  • Page 69 About this Manual Purpose This manual provides the information required for the Selection, Wiring, Connection, Setup, Trial Operation, Tuning and Functions of the RX – Scara robots range and DX4 Servo Drive (referred to as DX4). Please read and understand this manual to ensure correct usage of the product. Terms Terms that may be used in this manual are defined as follows.
  • Page 70 DX4 Product Manual Safety Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables. Always keep this manual handy for easy access.
  • Page 71 DX4 Product Manual Safety Precautions General Precautions Never remove covers, cables, connectors, or optional devices while power is being ⚫ supplied to the Drive. Wait for five minutes after turning the power supply OFF and then make sure that ⚫ the CHARGE indicator is not lit before starting wiring or inspection work.
  • Page 72 DX4 Product Manual Storage Precautions Follow all instructions on the packages, and never place an excessive load on the ⚫ product during storage. Never install or store the product in any of the following locations. ⚫ Locations that are subject to direct sunlight ⚫...
  • Page 73 DX4 Product Manual Operation Precautions In order to prevent accidents, please test the Motor with no load (not connected to ⚫ the Drive shaft). When starting to operate on the supporting machine, set the user parameters that ⚫ match the machine in advance. Note that the signals for the Forward Drive Prohibit (P-OT) and the Reverse Drive ⚫...
  • Page 74 DX4 Product Manual Contents Chapter 1 System Configuration overview ........... 1-1 Chapter 2 DX4 Servo drive ..............2-3 Chapter 3 Wiring and Connections ............. 3-1 3.1 Precautions for Wiring .................. 3-1 3.2 Power Supply (X1, X2) .................. 3-3 3.3 Motor Power (X3) ..................3-5 3.4 Encoder (X8) .....................

  • Page 75: Chapter 1 System Configuration Overview

    DX4 Product Manual System Configuration overview Chapter 1 System Configuration overview Example Diagram Main power circuit breaker External Regenerative Resistor Noise filter Safety Controller Brake power supply +24v Relay Relay part) +24v Document Version: V1.051 (Jan, © 2021 Trio Motion Technology Ltd. All right reserved. 2021)
  • Page 76 DX4 Product Manual System Configuration overview Minimum system configuration is: • Scara robot body • 4 DX4 Drives • 4 Regen resistors • Trio Controller • 24v power supply • Brake power supply • Circuit breaker • Main power noise filter •...

  • Page 77: Chapter 2 Dx4 Servo Drive

    DX4 Product Manual DX4 Servo drive Chapter 2 DX4 Servo drive 2.1 Part names Name Description Control Circuit Connector Control power supply (5 pins) Main Circuit Connector Main circuit power supply (6 pins) Status Display Drive status display CHARGE Indicator Lamp Main circuit power supply indicator Motor Connector Motor power...

  • Page 78: Chapter 3 Wiring And Connections

    DX4 Product Manual Wiring and Connections Chapter 3 Wiring and Connections 3.1 Precautions for Wiring 3.1.1 General Precautions Never change any wiring while power is being supplied in case of risk of electric ⚫ shock or injury. Wiring and inspections must be performed only by qualified engineers. ⚫...
  • Page 79 DX4 Product Manual Wiring and Connections Whenever possible, use the Cables specified by Trio. ⚫ Securely tighten cable connector screws and lock mechanisms to prevent mechanical ⚫ failure during operation. Ensure that power lines (e.g. Main Circuit Cable) and low-current lines (e.g. I/O Signal ⚫...

  • Page 80: Power Supply (X1, X2)

    DX4 Product Manual Wiring and Connections 3.2 Power Supply (X1, X2) 3.2.1 Terminals Arrangement The power supply to Drive includes main circuit terminals and control circuit terminals. Signal Diagram Pin Layout Symbols Name Specifications and Reference Main circuit power supply Three-phase, 200 V ac to 240 V ac, -15% to +10%, 50 Hz L1, L2, L3 input terminals...
  • Page 81 DX4 Product Manual Wiring and Connections In case of using Single phase AC, parameter Pn007.1 has to be set to “0”: 3.2.2 External regenerative resistor Use external regenerative resistor of 60W at 25Ohm in every servo drive. Specifications Drive configuration Pn535 (resistance value) 60W 25Ohm Pn536 (power value)

  • Page 82: Motor Power (X3)

    DX4 Product Manual Wiring and Connections 3.3 Motor Power (X3) Connection Diagram Terminals Arrangement Terminals Pin Layout Def. Description Def. Description Power J1-axis motor J4-axis motor interface power line power line J2-axis motor power line Robot connection side J3-axis motor power line Protective Protective...

  • Page 83: Encoder (X8)

    DX4 Product Manual Wiring and Connections Terminals Pin Layout Def. Description Signal ground Brake interface J3-axis brake line Robot connection side J4-axis brake line Body indicator Brake release signal line Symbols Color Brown Drive connection side Gray Black 3.4 Encoder (X8) Connection Diagram Document Version: V1.051 (Jan, ©...
  • Page 84 DX4 Product Manual Wiring and Connections Terminals Arrangement Terminals Pin Layout Pin Def. Description Pin Def. Description 1S＋ 13 4S＋ 23 1S﹣ 29 4S﹣ J1-axis J4-axis 39 5V-1 44 5V-4 motor motor 41 0V-1 46 0V-4 encoder encoder wiring － －...
  • Page 85 DX4 Product Manual Wiring and Connections 3.4.1 Encoder Battery Connection Absolute encoders are fitted on motors with an encoder type of L; e.g. MXL-02A0630LA222. These encoders require a battery supply to retain the absolute encoder data when the Drive power is removed. This battery supply is provided by an in-line battery fitted into the back of the robot which allows the encoder supply to be retained when the Encoder Cable is removed from the Drive.
  • Page 86 DX4 Product Manual Wiring and Connections Turn power off for all axis drives. Move J1, J2, J3 and J4 to the position as shown in the figures. Align the mark on the different arms as shown in the figures. Replace batteries of J1, J2, J3 and J4 or unplug and then plug them again so absolute encoders multi turn is set to 0.
  • Page 87 DX4 Product Manual Wiring and Connections Zero position of J4- joint Zero position of J3- joint Fig 3.3 Home position of Joint #3 and #4 (RX3) Notes: Zero position of J4-joint X=62mm Zero position of J3-joint Fig 3.4 Home position of Joint #3 and #4 (RX6) Fig 3.1 Back plate where batteries are stored (RX3&RX6) Document Version: V1.051 (Jan, ©...
  • Page 88 DX4 Product Manual Wiring and Connections It is possible that some errors must be cleared after batteries are replaced. To clear errors, go to Intelligent Drives Configuration in Motion Perfect and open the EtherCAT device with the error, like in the picture below: Fig 3.5 EtherCAT device error reset Press over “Clear Multi-Turn Errors”, then “Clear All Errors”...
  • Page 89 DX4 Product Manual Wiring and Connections After do that with all error drives, restart the EtherCAT network. Fig 3.6 EtherCAT network restart ADD NEW HOME_POS COMMAND EXAMPLE TO SET CALIBRATED VALUES Document Version: V1.051 (Jan, © 2021 Trio Motion Technology Ltd. All right reserved. 3-12 2021)

  • Page 90: Chapter 4 Sto

    DX4 Product Manual Chapter 4 STO 4.1 Terminals Arrangement (X6) Signal Diagram Pin Layout Please use the PELV/SELV switching power supplying to the IO signal of the STO ⚫ function. The external signal shall meet the Idle-current principle. ⚫ Signal Name Function －...

  • Page 91: Safety Function Device Connection

    DX4 Product Manual 4.2 Safety Function Device Connection 4.2.1 Disconnecting a Safety Function Device If a safety function device is not connected, keep the Safety Connector plugged into the X6 port, and the shorting pins on the connector remain in the default state. In this case, the STO function will be disabled and the Drive will not be able to ⚫...
  • Page 92 DX4 Product Manual 4.2.2 Connecting a Safety Function Device Remove the shorting pins on the Safety Connector as shown in Figure 4-1. Step 1 Figure 4-1 Remove the shorting pins Wiring the Safety Function Device Step 2 Connect the Safety Function Device to the X6 port according to the wiring example shown in Error! Reference source not found..

  • Page 93: Chapter 5 Holding Brake

    DX4 Product Manual Holding Brake Chapter 5 Holding Brake A holding brake is used to hold the position of the moving part of the machine when the drive is turned off, so that moving part does not move due to gravity or an external force. ONLY AXIS 3 AND AXIS 4 have holding brakes.
  • Page 94 DX4 Product Manual Holding Brake Name Type Function DOUT1+ Output General purpose digital output 1. DOUT1- Output DOUT2+ Output General purpose digital output 2. DOUT2- Output DOUT3+ Output General purpose digital output 3. DOUT3- Output In the case of using DOUT0, Pn511.0 is set with value 4 as shown in the picture below: To know more about braking signal and its features please, refer to DX4 Servo drive product manual, Chapter 6, section 6.4.1 Holding brake.
  • Page 95 DX4 Product Manual Holding Brake Brake signals must be connected to motor brake through power cable with brakes. Power interface Brake interface Refer to section 3.3 for pin-out information. ⚫ Brake relay circuit example: DX4 Servo Drive +24V BK Relay /BK+ /BK- BK Relay...

  • Page 96: Chapter 6 Ethercat Communication (X4, X5)

    DX4 Product Manual EtherCAT Communication (X4, X5) Chapter 6 EtherCAT Communication (X4, X5) Connection Diagram X4-IN – connects to the OUT of the previous device or controller X5-OUT – connects to the IN of the next device or can be left un-connected EtherCAT communication (X4-IN and X5-OUT) are RJ45 terminals.

  • Page 97: Chapter 7 Revision History

    DX4 Product Manual Revision History Chapter 7 Revision History Date Version Revised Contents May, 2021 V0.01 First Draft...
  • Page 98 Trio Motion Technology Limited www.triomotion.uk...

This manual is also suitable for:

Trio rx3-400-srTrio rx6-500-srTrio rx6-600-srTrio rx6-700-sr

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