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PEITIAN ROBOTICS ARC4-50 Manual

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  • Page 3 ARC4-50 Control Cabinet Manual Introduction Introduction About this manual This manual is for technicians to quickly, correctly and safely install and use the ARC4-50 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 ARC4-50 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"...
  • Page 5 ARC4-50 Control Cabinet Manual Introduction Table 4 Declaration of applicable safety standards Standard Description Version Machinery directive: Machinery Directive 2006/42/EC (new edition) 2006/42/EC 2006 released by the European Parliament and Council on May 17, 2006, including changes to 95/16/EC EMC directive:...

  • Page 7: General Safety Instructions

    ARC4-50 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 ARC4-50 Control Cabinet Manual ⚫ Use in water or high humidity environment ⚫ 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 ◼...
  • Page 9 ARC4-50 Control Cabinet Manual General safety instructions ⚫ Operate it after ensuring the whole system state to prevent the operating personnel from caught in danger due to the remote-control command or motion for peripheral equipment. ◼ Operators who use the manipulator should wear the following safety equipment before performing work: ⚫...
  • Page 10 General safety instructions ARC4-50 Control Cabinet Manual specified by the company. But beyond this, it may cause damage to the manipulator. When dismounting motor or brake, it shall be dismantled after ◼ crane lifting and other measures are taken to prevent manipulator arm, etc.
  • Page 11 ARC4-50 Control Cabinet Manual General safety instructions ◼ During the maintenance, appropriate luminaire shall be equipped, but note that this cannot be the sources to cause new danger. Take periodic maintenance with reference to this instruction; if ◼ not, it will cause the service life of the manipulator and may...

  • Page 12: Safety Precautions

    Safety precautions ARC4-50 Control Cabinet Manual 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 13 ARC4-50 Control Cabinet Manual Safety precautions The operation machine can be maintained (repair, adjustment, replacement, etc.) ◼ operations. Safety of operating personnel 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;...
  • Page 14 Safety precautions ARC4-50 Control Cabinet Manual When taking single commissioning of peripheral equipment, the manipulator power shall ◼ be disconnected. The safety of operator Operator is not entitled to operate in the safety barriers: If the manipulator motion is not required, its control cabinet power shall be disconnected ◼...
  • Page 15 ARC4-50 Control Cabinet Manual Safety precautions Continuously operate for at least one cycle at intermediate speed to ensure there is no abnormal sign; Continuously operate for at least one cycle at intermediate speed to ensure there is no abnormal sign;...
  • Page 16 Safety precautions ARC4-50 Control Cabinet Manual Safety of peripheral equipment Attentions on relevant program Checkout equipment such as limit switch, etc. shall be used in order that dangerous ◼ condition is detected, and the manipulator shall be shut down as appropriate according to the signal of checkout equipment;...
  • Page 17 ARC4-50 Control Cabinet Manual Safety precautions Set a specified work origin for manipulator program and create a program starting from work origin and ending at this one to see clearly whether operation of the manipulator is finished or not from the outer edge.

  • Page 19: Table Of Contents

    Installation environment of control cabinet ......................7 Working environment of control cabinet ........................ 7 ARC4-50 control cabinet transportation and handling ..................... 9 Installation and Connection of ARC4-50 Control Cabinet ..................11 Check item................................11 Definition of control cabinet electrical connection ....................11 Connection method of control cabinet and manipulator ..................

  • Page 21: Overview Of Arc4-50 Control Cabinet

    ARC4-50 Control Cabinet Manual Overview of ARC4-50 Control Cabinet Overview of ARC4-50 Control Cabinet 1.1 Overview of industrial robot The industrial robot is composed of the following components: Manipulator ◼ ◼ Control cabinet Teach pendant ◼ Connection (power supply) cables, etc.

  • Page 22: Basic Composition Of Control Cabinet

    Overview of ARC4-50 Control Cabinet ARC4-50 Control Cabinet Manual Figure 1-2 Control cabinet appearance Teach pendant The teach pendant is connected to the master control system of the robot’s control cabinet. It is used to remotely control the robot to run manually and automatically, record the running trajectory, display playback or record teach points and program according to the teach points.

  • Page 23: Control Cabinet Characteristics

    *: Excluding the size of connector outside the cabinet ◼ **: Including the height of support feet 1.4 Label and meaning of control cabinet ARC4-50 type control cabinet contains five kinds of labels. Refer to Figure 1-4 for the specific location of each label.
  • Page 24 Overview of ARC4-50 Control Cabinet ARC4-50 Control Cabinet Manual...
  • Page 25 ARC4-50 Control Cabinet Manual Overview of ARC4-50 Control Cabinet Figure 1-4 Location diagram of labels contained in control cabinet Pairing information indicator The pairing information indicator is shown in Figure 1-5. Figure 1-5 Pairing information indicator Door opening and power-off & maintenance indicator The door opening and power-off &...
  • Page 26 Overview of ARC4-50 Control Cabinet ARC4-50 Control Cabinet Manual High temperature sign The place with high temperature sign (Figure 1-7) may get hot again. When you see this sign, you should pay attention to it to avoid scalding. If you have to touch the equipment under the condition of heat, please use protective equipment such as inner heat gloves before touching.

  • Page 27: Installation Environment Of Control Cabinet

    ARC4-50 Control Cabinet Manual Overview of ARC4-50 Control Cabinet Figure 1-9 Nameplate of control cabinet 1.5 Installation environment of control cabinet The ambient temperature should be 0° C -45° C. ◼ The relative humidity should be 20%-80% RH. ◼ ◼...

  • Page 29: Arc4-50 Control Cabinet Transportation And Handling

    ARC4-50 Control Cabinet Manual ARC4-50 control cabinet transportation and handling ARC4-50 control cabinet transportation and handling Four M12 lifting screws are provided above the control cabinet, as shown in Figure 2-1. Four lifting rings can be used for lifting and handling.

  • Page 31: Installation And Connection Of Arc4-50 Control Cabinet

    3.2 Definition of control cabinet electrical connection Interface definition of aviation plug power line and holding brake line at cabinet side ARC4-50 control cabinet side aviation plug power line and band brake line connector (WEEN H24B-TEH-4B-M32, part number P04083000076) is shown in Figure 3-1.
  • Page 32 Installation and connection of ARC4-50 Control Cabinet ARC4-50 Control Cabinet Manual...
  • Page 33 Definition of power line and holding brake line interface of aviation plug on manipulator side The power line and brake wire connector of aviation plug on the manipulator side of ARC4-50 control cabinet (WEEN H24B-TEH-4B-M32, part number P04083000076) is shown in Figure 3-3.
  • Page 34 Installation and connection of ARC4-50 Control Cabinet ARC4-50 Control Cabinet Manual...
  • Page 35 ARC4-50 Control Cabinet Manual Installation and connection of ARC4-50 Control Cabinet Figure 3-4 ARC4-50 control cabinet manipulator side aviation plug power line and band brake line interface definition Cabinet side encoder line interface definition Encoder wire connector on the side of ARC4-50 control cabinet (WEEN H10B-TEH-4B-M25, part number P04083000012) is shown in Figure 3-5.
  • Page 36 Figure 3-7 Encoder wire connector on manipulator side of ARC4-50 control cabinet See Figure 3-8 for the definition of encoder line interface on the manipulator side of ARC4-50 control cabinet. Figure 3-8 Encoder line interface definition on manipulator side of ARC4-50 control cabinet...
  • Page 37 ARC4-50 Control Cabinet Manual Installation and connection of ARC4-50 Control Cabinet Table 3-1 ARC4-50 encoder cable specification table Connection form of end Connection form of end Wire diameter Minimum bending Name radius ARC4-50 encoder Snap connection Snap connection cable Figure 3-10 Encoder line heavy-duty connector size...

  • Page 38: Connection Method Of Control Cabinet And Manipulator

    0.98-1.02 times nominal frequency (short time operation). 3.3 Connection method of control cabinet and manipulator The ARC4-50 control cabinet has one external cable, that is, one 4-core main power cable connected to the power supply. The power cable specifications are shown in Table 3-5.
  • Page 39 ARC4-50 Control Cabinet Manual Installation and connection of ARC4-50 Control Cabinet When connecting the heavy load connector, insert the male plug of the heavy load connector of the cable outside the cabinet into the female plug of the control cabinet shell. It is necessary to prevent wrong insertion and fasten the lock.

  • Page 41: Safe Use Of Arc4-50 Control Cabinet

    ARC4-50 control cabinet is grounded through the PE pin in the power line inlet. It is necessary to ensure that the cable input end connected to the control cabinet has a reliable ground connection. Under normal circumstances, the resistance between the cable input end PE and the ground is not more than 100Ω.

  • Page 43: Description Of Arc4-50 Control Cabinet Interface

    Description of ARC4-50 Control Cabinet Interface 5.1 Description of control cabinet indicator ARC4-50 control cabinet provides three indicator lights, as shown in Figure 5-1, among which: The white indicator light is a power indicator, which is on when the control cabinet is startup.

  • Page 44: Functions Of Switches Inside The Control Cabinet

    Description of ARC4-50 Control Cabinet Interface ARC4-50 Control Cabinet Manual Turn the switch to the "OPENRESET" position before opening the control cabinet door, otherwise the knob switch and circuit breaker will be damaged! Emergency stop button Press the emergency stop button and the robot will stop immediately (see Figure 5-1). When it is necessary to release the safety status, the emergency stop button shall be turned in the direction indicated on the button.

  • Page 45: External Interface Of Control Cabinet

    ARC4-50 Control Cabinet Manual Description of ARC4-50 Control Cabinet Interface When using the manual brake release function, please pay attention to the possibility that the corresponding axis may fall suddenly under the action of gravity. The auxiliary support and personnel safety must be considered in advance.
  • Page 46 Figure 5-5. Figure 5-5 ARC4-50 control cabinet external cable The power and holding brake heavy-load line and encoder heavy-load line are both divided into in-cabinet harness and out-of-cabinet harness.

  • Page 47: Arc4-50 Control Cabinet Hardware Module Introduction

    ARC4-50 Control Cabinet Manual ARC4-50 control cabinet hardware module introduction ARC4-50 control cabinet hardware module introduction 6.1 PLC_MF Definition of each port PLC_MF is used to communicate with external devices. As shown in Figure 6-1. Figure 6-1 PLC_MF Station address dial switch S2 high-order ◼...
  • Page 48 ARC4-50 control cabinet hardware module introduction ARC4-50 Control Cabinet Manual Figure 6-2 DI port serial number DO port connector The serial number of DO port connector is shown in Figure 6-3. Figure 6-3 DO port serial number Baud rate setting...

  • Page 49: Plc_Int

    ARC4-50 Control Cabinet Manual ARC4-50 control cabinet hardware module introduction Table 6-1 PLC_ MF baud rate setting Dial switch points Baud rate Dial switch points Baud rate 1200 56000 2400 57600 4800 115200 9600 230400 14400 460800 19200 921600 38400...
  • Page 50 ARC4-50 control cabinet hardware module introduction ARC4-50 Control Cabinet Manual Pin number Signal name Pin number Signal name COMMON_MOTOR/GND DI_MOTOR2 (Common terminal of brake alarm signal of (Driver 2 brake alarm signal/input) drive 2) COMMON_MOTOR/GND DI_MOTOR3 (Common terminal of brake alarm signal of...
  • Page 51 ARC4-50 Control Cabinet Manual ARC4-50 control cabinet hardware module introduction Pin number Signal name Pin number Signal name (SAF module reset signal positive/output) (SAF module control signal negative/output) DO_CONTACTOR2 DO_CTR_STATE_P (SAF module control signal positive/output) (Contactor control signal 2/output) DO_CONTACTOR1...
  • Page 52 ARC4-50 control cabinet hardware module introduction ARC4-50 Control Cabinet Manual Pin number Signal name Pin number Signal name (Panel signal 2 corresponds to ground) (Panel signal 2/output) DO_RESERVE1GND DO_RESERVE1 (Panel signal 1 corresponds to ground) (Panel signal 1/output) Definition of PLC_INT input reserved connector (X6) See Table 6-7 for the definition of PLC_INT input reserved connector (X6).

  • Page 53: Security Module

    ARC4-50 Control Cabinet Manual ARC4-50 control cabinet hardware module introduction Pin number Signal name Pin number Signal name COMMON_KEY_EN/+24V DI_KEY_EN (Common end of teaching pendant enable (Teaching pendant enable signal/input) signal) Baud rate setting See Table 6-9 for the setting method of PLC_INT baud rate.
  • Page 54 ARC4-50 control cabinet hardware module introduction ARC4-50 Control Cabinet Manual Table 6-10 Definition of PLC connector (X1) inside the safety module Pin number Signal name Pin number Signal name DGND_IO DO_SAFE_STATE (Common ground) (Security module status) DGND_IO DI_RSTN (Common ground)

  • Page 55: Mcb Module

    ARC4-50 Control Cabinet Manual ARC4-50 control cabinet hardware module introduction Pin number Signal name Pin number Signal name (Reserved safety input 1) (Reserved safety input 2) COMMON_OTHER D+24V_IO (Control cabinet travel switch ground) (24VDC) DI_PANEL_SAFE COMMON_PANEL_SAFE (Panel safety input) (Panel safety input ground)
  • Page 56 ARC4-50 control cabinet hardware module introduction ARC4-50 Control Cabinet Manual Figure 6-6 MCB module MCB module connector (X1) definition See Table 6-14 for the definition of MCB module connector (X1). Table 6-14 MCB module connector (X1) definition Pin number Signal name...

  • Page 57: Maintenance And Troubleshooting Of Arc4-50 Control Cabinet

    Maintenance and troubleshooting of ARC4-50 control cabinet Maintenance and troubleshooting of ARC4-50 control cabinet 7.1 Routine maintenance items and cycles See Table 7-1 for routine maintenance items and cycle of ARC4-50 control cabinet. Table 7-1 Routine maintenance items and cycle Maintenance item...
  • Page 58 Maintenance and troubleshooting of ARC4-50 control cabinet ARC4-50 Control Cabinet Manual Indicator light When the indicator light and other indicating devices cannot send signals normally, first determine whether the connecting line is faulty; If there is no fault in the circuit, replace the indicating device and observe whether the signal can be sent normally.
  • Page 59 ARC4-50 Control Cabinet Manual Maintenance and troubleshooting of ARC4-50 control cabinet Serial number Fuse Corresponding terminal Function Specifications Protection 220V to 24V power supply module 1 1.6A X211、X212、X213 Protection fan and contactor coil power supply 0.8A X251、X252 Protection 220V standby power supply 1.6A...
  • Page 60 Maintenance and troubleshooting of ARC4-50 control cabinet ARC4-50 Control Cabinet Manual Alarm code Alarm name Solution Check whether the shielded network cable is used and Er405 Bus UpdateCnt error whether the communication is disconnected Er410 Bus signal synchronization error Restart...
  • Page 61 ARC4-50 Control Cabinet Manual Maintenance and troubleshooting of ARC4-50 control cabinet Alarm code Alarm name Solution Er832 Encoder overheating Check the encoder cooling environment Er833 Encoder battery voltage alarm Check the encoder battery voltage Er834 Encoder battery voltage fault Check the encoder battery voltage...

  • Page 63: Arc4-50 Control Cabinet Storage Conditions

    ARC4-50 Control Cabinet Manual ARC4-50 control cabinet storage conditions ARC4-50 control cabinet storage conditions During long-term storage, the control cabinet shall be placed in a cool and waterproof place away from direct sunlight. The specific environmental requirements are shown in Table 8-1:...

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