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PEITIAN ROBOTICS inCube22 Manual

Control cabinet
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Summary of Contents for PEITIAN ROBOTICS inCube22

  • Page 1 V1.1.0...

  • Page 3: Introduction

    Control Cabinet Manual Introduction Introduction About this manual This manual is for technicians to quickly, correctly and safely install and use the inCube22 control cabinet, familiarize themselves with relevant precautions and do regular routine maintenance of the control cabinet. Operating prerequisites Before operating the robot, please read the general safety instructions and safety precautions of the product carefully.
  • Page 4 Introduction inCube22 Control Cabinet Manual Sign Meaning You are prompted to refer to other documents and instructions for additional information or more detailed operating instructions Manual description The content of this manual will be supplemented and modified. Please pay attention to the "Download Center"...
  • Page 5 Control Cabinet Manual Introduction Table 4 Declaration of applicable safety standards Standard Description Version Machinery directive: Machinery Directive 2006/42/EC (new edition) released 2006/42/EC 2006 by the European Parliament and Council on May 17, 2006, including changes to 95/16/EC EMC directive:...

  • Page 7: General Safety Instructions

    Control Cabinet Manual General safety instructions General safety instructions Thanks very much for your purchase of the manipulator made by the company. The information described is necessary for safely using the manipulator. Please read associated manual carefully before using the manipulator, and properly use it under the premise of understanding its contents.
  • Page 8 General safety instructions inCube22 Control Cabinet Manual ⚫ Use for the purpose of transporting people or animals. ⚫ Use as a tripod (such as climbing on top of the manipulator, or hanging below) Operators who use the manipulator should wear the following safety ◼...
  • Page 9 Control Cabinet Manual General safety instructions ◼ Operators who use the manipulator should wear the following safety equipment before performing work: Work clothes suitable for the content of the job ⚫ Safety shoes ⚫ Safety helmet ⚫ ◼ When programming, it should be carried out outside the safety fence as much as possible.
  • Page 10 General safety instructions inCube22 Control Cabinet Manual ⚫ Constantly notice whether there is danger around, and make preparations for pressing emergency stop button at any time when needed. When mobile motor, reducer, etc. equipped with parts unit with a certain ◼...

  • Page 11: Safety Precautions

    Control Cabinet Manual Safety precautions Safety precautions Before operating the manipulator, peripheral equipment and its manipulator system, sufficiently study the safety precaution for operating personnel and system. Figure 1 is a diagram of the safe work of industrial robots.
  • Page 12 Safety precautions inCube22 Control Cabinet Manual When operating, programming, and maintaining the manipulator, operators, instructors, and maintenance engineers must pay attention to safety and at least wear the following items for work: Appropriate working clothes; ◼ Safety shoes; ◼ ◼...
  • Page 13 Control Cabinet Manual Safety precautions ◼ To prevent irrelevant personnel from spraying into manipulator motion range or to prevent operator from entering into hazardous area, protective fence and safety door shall be set; Emergency stop button shall be set in arm's reach for operator.
  • Page 14 Safety precautions inCube22 Control Cabinet Manual ◼ Take maintenance when the power supply of control device is disconnected. Apply lock, etc. to lock on main circuit breaker to prevent other personnel from connecting the power; Press control cabinet or demonstrator emergency stop button if entering into the manipulator motion ◼...
  • Page 15 Control Cabinet Manual Safety precautions ◼ Keep the system of the manipulator clear and use it under environment without influence from grease, water, dust, etc.; Cutting fluid and cleaning agent are not allowed to use; ◼ Control the operation of the manipulator with limit switch and mechanical brake in case of mutual ◼...

  • Page 17: Table Of Contents

    Control Cabinet Manual Contents Contents Introduction ..................................I General safety instructions .............................. V Safety precautions ................................IX Contents .................................... i Product specification ............................... 1 Range of applications for general functions and intended purposes ....................1 Environmental conditions and restrictions on work and storage ..................... 1 1.2.1...
  • Page 18 Replace the dust filter ..................................41 Fault finding, diagnosis and repair ......................... 43 Indicator light ....................................43 Heavy duty connector ..................................43 Fan ........................................43 Fuse ........................................ 43 Appendix A inCube22 accessories list ..........................45 Appendix B inCube22 accessories description ........................ 47...

  • Page 19: Product Specification

    Table 1-1 Long-term storage environmental conditions of the control cabinet Parameter Value Minimum ambient temperature -25° C Maximum ambient temperature +60° C Maximum humidity 90% non-condensing under constant temperature conditions Basic specifications The basic specifications of inCube22 control cabinet are shown in Table 1-2:...
  • Page 20 Product specification inCube22 Control Cabinet Manual Table 1-2 Basic specifications of inCube22 control cabinet Name Characteristic Cabinet type 19 inches cabinet Colour Black Weight 20kg Noise 50dB (A) AC220V±10% Rated supply voltage Power frequency 49Hz~61Hz Full load power 2.2KVA Fusing current...

  • Page 21: Definition

    Control Cabinet Manual Definition Definition Introduction to industrial robots The industrial robot system is mainly composed of three basic parts: an industrial robot manipulator, a control cabinet and a teach pendant: ◼ Manipulator: refers to the mechanism used to grab or move objects (tools or workpieces) in the robot system, also known as the robot body.
  • Page 22 Definition inCube22 Control Cabinet Manual Figure 2-2 Control cabinet appearance Table 2-1 The appearance of the inCube22 control cabinet and the names and descriptions of its various parts Name Description Control cabinet cover The upper cover of the control cabinet...
  • Page 23 Control Cabinet Manual Definition Figure 2-3 Diagram of the internal components of the upper cavity of the control box Table 2-2 The name and description of each part of the internal components of the upper cavity of the control box...

  • Page 24: Product Label And Meaning

    Control Cabinet Manual Product label and meaning The inCube22 control cabinet contains 5 types of labels. Please refer to Figure 2-5 for the specific location of each label. See Table 2-4 for specific instructions. Figure 2-5 Diagram Of the location of the label contained in the control cabinet...
  • Page 25 Control Cabinet Manual Definition Name Description Open the door and power off Open the door and power off & maintenance signs as shown in Figure 2-7 & maintenance signs There may be heat in the place where there is a high temperature mark (see Figure 2-8).
  • Page 26 Definition inCube22 Control Cabinet Manual Figure 2-9 Control cabinet nameplate Figure 2-10 Control cabinet manual brake release identification...

  • Page 27: Preparation Before Product Use

    3.1.1 Unpacking method The unpacking diagram of the inCube22 control cabinet and ARCSP-AIR_TP teach pendant is shown in Figure 3-1. The names of the parts in the figure are shown in Table 3-1. Table 3-1 The name of each part of the control cabinet and the teaching pendant box...

  • Page 28: Repacking To Prevent Shipping Damage

    Preparation before product use inCube22 Control Cabinet Manual 3.1.2 Repacking to prevent shipping damage The schematic diagram of the inCube21 control cabinet and the repacking box of the ARCSP-AIR_TP teach pendant is shown in Figure 3-1. The names of the parts in the figure are shown in Table 3-1.

  • Page 29: Transportation And Handling

    Ensure that the control cabinet installation environment meets the requirements of section 1.2 of this manual. ◼ Installation and assembly 3.4.1 Installation size The inCube22 control cabinet is a 3U height control cabinet, which supports installation in a 19-inch cabinet. The specific dimensions are shown in Figure 3-3.

  • Page 30: Installation Method

    19 inch cabinet installation The inCube22 can be installed in a 19-inch cabinet, and the depth of the cabinet is required to be greater than 600mm, with vents on the left and right sides. The accessories shown in Figure 3-4 can be used for installation. For more information about the accessories that may be required to install the control cabinet, please refer to the inCube22 accessory list in Appendix A of this manual.

  • Page 31: Connect The Control Cabinet

    Figure 3-5 Cabinets stacking 3.4.3 Connect the control cabinet Connect the teach pendant The upper left corner of the front panel of the inCube22 control cabinet is the teach pendant connection interface, which is connected by a quick-plug connector (see Figure 3-6).
  • Page 32 Connect the manipulator The lower right corner of the rear panel of the inCube22 control cabinet is the connection interface for the operating power encoder, which uses heavy-duty connectors. The two ends of the heavy-duty wire are used to connect the manipulator and the control cabinet, respectively.
  • Page 33 Control Cabinet Manual Preparation before product use Figure 3-8 Manipulator heavy-duty line connection interface Insert one end of the heavy-duty line plug into the heavy-duty line connection port of the control cabinet (see Figure 3-9), and fasten the lock.
  • Page 34 Preparation before product use inCube22 Control Cabinet Manual Figure 3-10 Dimensions of heavy-duty plugs on the manipulator side and cabinet side Connect power supply Both ends of the power cord are used to connect the control cabinet and the power supply.

  • Page 35: Control Cabinet Electrical Connection Definition

    EtherNET network port, the crystal head must be fully inserted into the plug when connecting; When connecting the power cord, fully insert the pin shaped power plug into the socket. For the connection cable information of the above interfaces, refer to Appendix A of this manual inCube22 accessory list.
  • Page 36 White/Green ENA_INT- Orange Green ENA_SAF+ Blue Shielding layer Shell ENA_SAF_ Overload interface definition The definition of the inCube22 control cabinet overload interface is shown in Figure 3-15, and the overload interface definition is detailed in Table 3-3 to Table 3-6.
  • Page 37 Control Cabinet Manual Preparation before product use Figure 3-15 Power line encoder interface Table 3-3 Definition of power line encoder interface (Side A) Pin number Definition Pin number Definition Table 3-4 Definition of power line encoder interface (Side B)
  • Page 38 Preparation before product use inCube22 Control Cabinet Manual Table 3-6 Definition of power line encoder interface (Side D) Pin number Definition Pin number Definition Pin number Definition Pin number Definition J1_5V J2_PS+ J4_5V J5_PS+ J1_0V J2_PS- J4_0V J5_PS- J1_PS+ J3_5V...

  • Page 39: Safe Use Of The Product

    Figure 4-1 Diagram of the location of each interface of inCube22 All operation buttons, instructions, and connection interfaces of the inCube22 control cabinet are designed on the front panel, as shown in Figure 4-1. The name and function of each interface are shown in Table 4-1.

  • Page 40: Control Cabinet Interface Instructions

    Control cabinet interface instructions 4.2.1 Control cabinet indicator light description The inCube22 control cabinet provides 2 indicator lights (refer to Figure 4-2), of which: ◼ The green indicator light is the RUN indicator, which lights up when the drive power is turned on.

  • Page 41: Control Cabinet Operation Button Description

    4.2.2 Control cabinet operation button description Switch The power switch of the inCube22 control cabinet is a ship type switch with lights, and the switch is printed with the words O/I. Under normal use: ◼ When the switch is in the I position, it means that the control cabinet is on, and the indicator light inside the switch is on.
  • Page 42 Notice Teaching pendant shielding knob The inCube22 control cabinet teaching pendant shield knob has two positions of 0/1 (refer to Figure 3-6): ◼ When the knob is set to level 1, it means that the teach pendant must be connected for normal use, otherwise the control cabinet will give an alarm.

  • Page 43: Instructions For The External Interface Of The Control Cabinet

    Safety IO interface inCube22 control cabinet Safety IO interface, the definition of each interface signal is fixed, and the user cannot configure it. Refer to Figure 4-5 for the wiring diagram and pin identification diagram of Safety IO interface, and Table 4- 3 for pin definitions.
  • Page 44 Safe use of the product inCube22 Control Cabinet Manual (b) Safety IO interface pin identification diagram Figure 4-5 Safety IO interface and pin diagram Table 4-3 Safety IO interface definition list Pin number Signal name Signal meaning In/Out D+24V_EX 24V power supply...
  • Page 45 User DI interface The inCube22 control cabinet provides users with 26 channels of DI, 2 channels of input common interface, and 4 channels of power interface. The "D+24V-EX" and "GND_EX" of this power interface can only be used for DI function testing, and cannot be used for power output above 0.5W, otherwise it will cause abnormal or ineffective IO function.
  • Page 46 Safe use of the product inCube22 Control Cabinet Manual The wiring diagram and interface pin labels of the User DI interface are shown in Figure 4-7. The definition of the User DI interface is detailed in Table 4-4, and the interface usage information is shown in Figure 4-8 and Figure 4-10. The User DI pin number will be identified by screen printing on the sheet metal surface.
  • Page 47 PNP or NPN type sensor signals, switch signals, and relay contact signals can be used as inputs for user DI. The inCube22 control cabinet supports PNP and NPN type sensor inputs. When using an NPN type sensor, the common end corresponding to this DI needs to be directly connected to an external 24V power source.
  • Page 48 Figure 4-10 (b). The definition of the User DO interface is detailed in Table 4-5. The inCube22 control cabinet provides users with 26 DO interfaces with NPN polarity, and the maximum single input current of all DOs is 160mA. When DO is connected to an external load, to avoid damage to the interface during shutdown, it is necessary to connect "24V"...
  • Page 49 Control Cabinet Manual Safe use of the product (a) User DO interface wiring diagram (b) User DO interface pin identification diagram Figure 4-10 User DO interface and pin diagram Table 4-5 User DO interface definition list Screen printing position...
  • Page 50 Safe use of the product inCube22 Control Cabinet Manual Screen printing position Signal significance In/Out DO 10 NPN digital output DO 11 NPN digital output DO 12 NPN digital output DO 13 NPN digital output DO 14 NPN digital output...
  • Page 51 When using the RS232 interface, you can select the cables that are paired with the RS232 interface according to the inCube22 accessory list in Appendix A. The wiring diagram and pin identification diagram of the RS232 interface refer to Figure 4-12, and the cable definition refers to Table 4-6.
  • Page 52 When using this interface, you can refer to the inCube22 accessory list in Appendix A and the cables paired with the MF-RS485 interface. The MF-RS485 interface wiring diagram and pin identification diagram refer to Figure 4-13, and the cable definition refers to Table 4-7.
  • Page 53 When using this interface, you can refer to the inCube22 accessory list in Appendix A and the cables paired with the PLC-RS485 interface. The PLC-RS485 interface is the same as MF-RS485, and the wiring diagram and pin identification diagram of the PLC-RS485 interface refer to Figure 4-12, and the cable definition refers to Table 4-7.
  • Page 54 Figure 4-14 Interface and label diagram of user Ethernet network interface User EtherCAT network port The inCube22 control cabinet reserves one EtherCAT interface as the expansion external axis interface and EtherCAT protocol conversion port. Maximum support for expanding 6 external axes. Refer to Figure 4-15 for the interface and pin labeling diagram of the user EtherCAT network port.

  • Page 55: Control Cabinet Grounding

    The inCube22 control cabinet is grounded through the PE pin in the power cord inlet, and it is necessary to ensure that the input end of the cable connected to the control cabinet has a reliable ground connection. In addition, the control cabinet body provides a grounding point, and if necessary, the ground wire can be connected to the grounding point shown in Figure 4-16.

  • Page 56: Robot Stop Method

    The signal definition of the above safety devices is fixed in the Safety IO interface of the inCube22 control cabinet. The control cabinet can only be used normally when the safety signal of Safety IO has a reasonable level, otherwise the control cabinet will alarm.

  • Page 57: Control Cabinet Start

    The control cabinet will judge whether the robot needs to be stopped according to the state of the external system. External safety input signal is valid at high level Control cabinet start In order to ensure the normal startup and use of the inCube22 control cabinet, you must strictly follow the steps below to start the operation:...

  • Page 59: Preventive Maintenance

    Preventive maintenance The Servo Debugger interface of the inCube22 control cabinet is a multi axes drive debugging interface located on the rear panel of the control cabinet, as shown in Figure 5-1. When debugging multi axis drive parameters, it is necessary to use an RS422 to USB cable to connect to the interface shown in Figure ①.
  • Page 60 Preventive maintenance inCube22 Control Cabinet Manual inCube21 is equipped with a dust-proof net at the entrance of the air duct of the control cabinet. Refer to Figure 5-2. Under normal use, the dust-proof net of the control cabinet should be cleaned every 3 months and replaced every other year;...

  • Page 61: Fault Finding, Diagnosis And Repair

    Control Cabinet Manual Fault finding, diagnosis and repair Fault finding, diagnosis and repair Indicator light When the indicating device such as the indicator lamp fails to send out signals normally, first determine whether the connection line is faulty; if there is no fault in the line, replace the indicating device and observe whether the signal can be sent out normally.

  • Page 63: Appendix A Incube22 Accessories List

    Control Cabinet Manual Appendix A inCube22 accessories list Appendix A inCube22 accessories list Schedule 1 inCube22 control cabinet installation accessories list Accessory name Part number Quantity Accessory attributes inCube22-19 inches cabinet mounting bracket - left P01035000764 Optional inCube22-19 inches cabinet mounting bracket - right...

  • Page 65: Appendix B Incube22 Accessories Description

    Appendix B inCube22 accessories description Appendix B inCube22 accessories description Figure 1 inCube22 control cabinet accessories diagram External wiring of heavy load interface The basic specifications and installation methods of external wiring for heavy-duty interfaces are detailed in Schedule 1.
  • Page 66 Cable length 5 meters (standard) Encoder cable, 24 core (23AWGx12P) The wiring sequence of the control cabinet side interface and the body side interface of the inCube22 cabinet external heavy-duty ◼ harness corresponds one-to-one. The definition of overloaded interfaces can be found in Chapter 3.4.4.
  • Page 67 If selecting a wiring harness, it is recommended to select cables with wire diameters of AWG22~AWG24. ◼ RS232 interface external wiring The basic specifications and installation method of external wiring for inCube22- RS232 interface are detailed in Schedule 6. Schedule 6 The basic specifications and installation method of external wiring for inCube22- RS232 interface...
  • Page 68 Cable length 5 meters MF-RS485 interface external wiring The basic specifications of inCube22-MF-RS485 cable are the same as Schedule 7. Ethernet interface external wiring The basic specifications of industrial network cables are detailed in Schedule 8. Schedule 8 inCube22- Basic specifications of industrial network cables...
  • Page 69 Control Cabinet Manual Appendix B inCube22 accessories description Schedule 10 inCube22- Basic specifications and installation method for installing sheet metal Serial number Name ARCCD20- Installation of buckle plate sheet metal Device code P01035000547 Length 185mm Width Height 60mm Plate thickness 1.2mm...
  • Page 70 The basic specifications and installation method of the inCube22-19 inches cabinet installation bracket and handle are detailed in Attached Schedule 14 and Schedule 15. Schedule 14 The basic specifications and installation method of the inCube22-19 inches cabinet installation bracket and handle Serial number...
  • Page 71 Control Cabinet Manual Appendix B inCube22 accessories description Schedule 16 The basic specifications and installation method of cabinet stacked connectors Serial number Name ARCCD20- Cabinet stacking connectors Device code P01035000521 Length 88mm Width 15mm Height Plate thickness 1.5mm Installation method Refer to Section 3.4.2...

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