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Rbostar Robot Controller Manual
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□ Instruction and Maintenance Manual
□ Operation Manual
□ Programming Manual
□ Unihost Manual
□ Alarm Code Manual
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Robostar Robot Controller Manual
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Table of Contents
Related Manuals for Robostar RcT Series
Summary of Contents for Robostar RcT Series
- Page 1 Rbostar Robot Controller Manual √ □ Instruction and Maintenance Manual □ Operation Manual □ Programming Manual □ Unihost Manual □ Alarm Code Manual Robostar Robot Controller Manual Robostar Co., Ltd.
- Page 2 Copyright ⓒ ROBOSTAR Co., Ltd 2010 The copyright of this instruction manual belongs to Robostar Co., Ltd. No part of this manual can be used in any form or by any means without the permission of Robostar Co., Ltd. Specifications are subject to change without prior notice.
- Page 3 ◈ Contents of the operation manual may vary depending on the software version and may be notified to the user without notice. ◈ Contact the person in charge in Robostar Co., Ltd for an inquiry about the updated manual version.
- Page 4 During the warranty period, free services shall be provided only for : mechanical failure due to the negligence of Robostar, or failure caused by designs and in the manufacturing process during normal operation, Free services are not provided in the following cases.
- Page 5 Describes environmental conditions in controller installation and ventilation direction. Ch.4 Controller Configuration Describes controller size, Connector and names of main components. Ch.5. Teach Pendant(T/P) Configuration Describes how to connect T/P, how to use a Deadman. Robostar Co., Ltd...
- Page 6 It indicates things prohibited for the normal use of the product. Ex.) Mark for use of fire prohibited It indicates what should be done for normal use of the product. 필수 Ex.) Mark for mandatory grounding Robostar Co., Ltd...
- Page 7 Keep all loads and power supplies within the rated range. Particularly, do ensure input power supply is AC 220V before use. When installing a robot, fix it firmly so that it cannot be moved. Robostar Co., Ltd...
- Page 8 Be sure to check the wiring before turning ON the controller power. An incorrect wiring may lead to the abnormal system operation. For prevention of electric shock 필수 accidents, be sure to install FG (Frame Ground). Robostar Co., Ltd...
- Page 9 ON/OFF, motor activation, and hand-operated operation. In robot maintenance, be sure to Disconnect controller power switch, remove the power plug from the controller, and wait for over 3 minutes before starting the inspection. Robostar Co., Ltd...
- Page 10 Safe Use Guidelines When turning off the controller power while the robot is working or Servo On, Z (up, down) axis may fall 5~10mm. Stop the robot from working, turn Servo Off and turn the power Off. Robostar Co., Ltd...
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Page 11: Table Of Contents
SD Version ..............................4-75 4.3.2 LD Version ..............................4-76 4.3.3 CS Version(Safety Unit Ver.) ......................... 4-77 CH.5 TEACH PENDANT(T/P) ..................5-1 T/P ............오류! 책갈피가 정의되어 있지 않습니다. HOW TO CONNECT ......................5-2 HOW TO USE EADMAN ........................5-3 WITCH Robostar Co., Ltd... -
Page 12: 1 Controller Overview
Ch.1 Controller Overview Ch.1 Controller Overview 1.1 Features RcT Series is a high-performance robot motion controller suitable for a variety of applications, containing the following features below PC-based robot controller Multitasking support Easy to expand an Option Card by employing an industrial standard PCI bus ... - Page 13 4 : Categor4 – PLC(Omron) T : Categor3 – CS PLC(Pilz) F : Categor4 – PLC(Pilz) Axis Number 0 ~ Z Option 1(Servo List) 0 ~ Z S : Small Type Option 2(Size) M : Middle Type L : Large Type Robostar Co., Ltd...
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Page 14: Nameplate
Ch.1 Controller Overview 1.3 Nameplate 1.3.1 M Type(Mid-size) Front EMO Cover EMO Emergency Power OFF (CS Version) 1.3.2 L Type(Large Size) EMO Emergency Power OFF (CS Version) (Attached inside Door) Robostar Co., Ltd... -
Page 15: 2 Basic Specifications
Ch.2 Basic Specifications Ch.2 Basic Specifications 2.1 Size 2.1.1 M type Connector Protective Cover (Unit : mm) Robostar Co., Ltd... - Page 16 Ch.2 Basic Specifications 2.1.2 L type 1300 157.5 Connector Protective Cover (Unit : mm) When installing a controller, keep the front/rear at an interval of 250mm or over to connect robot cables. Robostar Co., Ltd...
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Page 17: Installation And Surrounding Environment
Position Precision ±1 PULSE of ENCODER Servo Capacity Max. 5Kw Min Input Current 5mA/1 point Max Output 50mA/1 point Current Brake Control 24V Motor Brake operation Motor Control Method AC Servo Motor operation (Sine wave PWM current control) Robostar Co., Ltd... -
Page 18: Specifications
Input : 32 Points Extension I/O Output : 32 Points Direct Teaching (Teach Pendant) Teaching Method On-Line Teaching (Uni-Host) Multi-robot Support Maximum 3 Robot Language RRL (ROBOSTAR Robot Language) Max 250/ Channel(3Ch) Specifications Point Max 40000 for Robot Program Step Max 10000... -
Page 19: 3 How To Install A Controller
Keep the humidity below 80 % RH(MAX). ■ Keep the place well ventilated, and dust, dirt and humidity at minimized level. 3.1.3 Vibration ■ Install the machine away from the environment where an excessive vibration and impacts are imposed. Robostar Co., Ltd... -
Page 20: Securing Installation Space
This is for robot cables not to have a sharp curve. ▶ Secure space in the right part in charge of storing T/P so that an emergency switch should not operate. Robot can stop in an emergency by operating the emergency switch. Robostar Co., Ltd... - Page 21 This is for robot cables not to have a sharp curve. If storing T/P on the left T/P rack, secure space so that an emergency ▶ switch should not operate. Robot can stop in an emergency by operating the emergency switch Robostar Co., Ltd...
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Page 22: Ventilation Direction
The controller takes ventilation directions as shown below. Refer to this when installing the controller. 3.3.1 M type Ventilation Opening Do the installation so the flow of air is not disturbed. ▶ Refer to < 3.2 Securing Installation Space>. Robostar Co., Ltd... - Page 23 Ch.3 How to Install a Controller 3.3.2 L Type Ventilation Opening Ventilation Opening Do the installation so the flow of air is not disturbed. ▶ Refer to < 3.2 Securing Installation Space>. Robostar Co., Ltd...
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Page 24: Power Supply And Connecting Method
AWG 16, BK AWG8~12, BK Terminal Block Terminal Block SL3T,30A SL6T,60A AC INPUT (SEOIL) (SEOIL) AC INPUT RcT Controller RcT Controller *Note. 1. Noise Filter specified, the same part as the filter inside the controller, is for a reference. Robostar Co., Ltd... -
Page 25: Protective Cover Installation
1. Loosen ½ of the bolts in the marked part. 2. Install the protective cover on the controller in the marked direction. (Be careful that cables should not be interfered when installing.) 3. After installation, completely tighten the loosened bolts in 1. Robostar Co., Ltd... - Page 26 Loosen ½ of the bolts in the marked part. Install the protective cover on the controller in the marked direction. (Be careful that cables should not be interfered when installing.) After installation, completely tighten the loosened bolts in 1. Robostar Co., Ltd...
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Page 27: 4 Controller Configuration
Servo Lamp Warning Lamp Front EMO S/W Safety Controller Window Controller Mode S/W Controller Power S/W Main Power S/W ⑨ ⑩ <Front> Main SMPS FAN 1 FAN 2 FAN 3 Handle Servo Driver I/O SMPS <Left> <Rear> Robostar Co., Ltd... - Page 28 Ch.4 Controller Configuration Handle Regenerative Resistor Mobile <Right> Wheel ⑧ ① ③ ② <Main Connector Bracket> ○ ○ STATUS ④ ⑦ ⑮ ⑭ Ethernet Port ⑥ USB Port ⑤ ○ ○ ⑬ ⑫ ⑪ <PC BOX> Robostar Co., Ltd...
- Page 29 I/O SMPS(Large Capacity - 10A) Installation Unit Servo Driver Servo Driver Installation Unit Regenerative Resistance Regenerative Resistor Installation Unit Fan 1, 2, 3 Controller Internal Fan FG Terminal FG(Frame Ground) Connection Terminal Handle Controller Plastic Handle Mobile Wheel Mobile Wheel Robostar Co., Ltd...
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Page 30: Connector In-Depth Description
In case the robot cable is wrongly connected, a circuit breaker shuts off or the CN No External Display Power Display In-depth Description controller may face internal damage. AC220V ±10%, 50-60Hz Input AC220V ±10%, 50-60Hz Input MAIN POWER AC220V ±10%, 50-60Hz Input Frame Ground Robostar Co., Ltd... - Page 31 L-axis Motor ‘V’ Phase W(L) L-axis Motor ‘W’ Phase FG(L) L-axis Motor Ground U(R(U)) R(U)-axis Motor ‘U’ Phase V(R(U)) R(U)-axis Motor ‘V’ Phase W(R(U)) R(U)-axis Motor ‘W’ Phase FG(R(U)) R(U)-axis Motor Ground U(X) T-axis Motor ‘U’ Phase Robostar Co., Ltd...
- Page 32 V(LV) LV-axis Motor ‘V’ Phase W(LV) LV-axis Motor ‘W’ Phase FG(LV) LV-axis Motor Ground U(R(U)V) R(U)V-axis Motor ‘U’ Phase V(R(U)V) R(U)V-axis Motor ‘V’ Phase W(R(U)V) R(U)V-axis Motor ‘W’-axis FG(R(U)V) R(U)V-axis Motor Ground 1~10 Motor Power Spare Spare Robostar Co., Ltd...
- Page 33 ▶After connecting the motor cable, be sure to turn off the controller lever. When the cable is removed while the robot is working, it may bring a critical danger. *Note. means an unused pin. 1. The mark “-“ 2. Connector specifications and Pin Map may vary depending on Robot specifications. Robostar Co., Ltd...
- Page 34 Ankle Detection NC Contact 22 INDEX MANUAL NO1 Top Manual Mode NO Contact 1 INDEX MANUAL NO2 Top Manual Mode NO Contact 2 P24V_S Safety P24V Power G24V_S Safety G24V Power EXT RESET NO2 External Reset NO Contact 2 Robostar Co., Ltd...
- Page 35 INTER LOCK M NC 21 ● INTER LOCK M NC 22 INTER LOCK M NC 12 ● Enable HOLD ● Enable HOLD NO 11 ● Enable HOLD NO 12 EXT Reset Reset S/W ● Ext Reset NO1 ● Ext Reset NO2 Robostar Co., Ltd...
- Page 36 ▶Dummy Connector is basically provided and should be used by connecting a corresponding Connector. (Controller Connector : SMP-04, SMP-02– JST) ▶When the connection is wrongly made, it may cause an error in controller operation. Robostar Co., Ltd 4-10...
- Page 37 LIGHT CURTAIN1 NC21 Ankle Detection NC Contact 21 LIGHT CURTAIN1 NC22 Ankle Detection NC Contact 22 LIGHT CURTAIN2 NC21 Ankle Detection2 NC Contact 21 LIGHT CURTAIN2 NC22 Ankle Detection2 NC Contact 22 G24V_S Safety G24V Power Robostar Co., Ltd 4-11...
- Page 38 ▶Interlock M operates only in controller’s Manual Mode. ▶When using Light Curtain 2, N.O contact (Monitoring contact) of Light Curtain Sensor should be wired to controller I/O. * Note . - Safety Interlock configuration may vary upon request. Safety in Dummy Connector Robostar Co., Ltd 4-12...
- Page 39 Dummy Connector to disable safety function. ▶Dummy Connector is basically provided and should be used by connecting a corresponding Connector. (Controller Connector: SMP-04, SMP-02– JST) ▶When the connection is wrongly made, it may cause an error in controller operation. Robostar Co., Ltd 4-13...
- Page 40 User SAFETY Power(Internal DC 24V) Be sure to use SCREW products for HOOD in cable side connector. * Note . 1. The mark “-“ means an unused pin. 2. User SAFETY power must be used in SAFETY-related signals. Robostar Co., Ltd 4-14...
- Page 41 T/P Enable NO Contact 12 SAFETY OUT EMG OUT_21 Robot Emergency Stop NC Contact 21 EMG OUT_22 Robot Emergency Stop NC Contact 22 T/P Enable NO Contact 21 R TP DEADMAN_21 T/P Enable NO Contact 22 R TP DEADMAN_22 Robostar Co., Ltd 4-15...
- Page 42 ▶Outputs Enable Switch contact status of Teach Pendant. Enable HOLD N.O contact should turn On/Off depending on this contact status among Safety Input signals. ■ Safety Output Dummy Connector ▶When the connection is wrongly made, it may cause an error in controller operation. Robostar Co., Ltd 4-16...
- Page 43 User Input Contact 11 DIN12 User Input Contact 12 DIN13 User Input Contact 13 DIN14 User Input Contact 14 DIN15 User Input Contact 15 DOUT0 User Output Contact 0 DOUT1 User Output Contact 1 DOUT2 User Output Contact 2 Robostar Co., Ltd 4-17...
- Page 44 User Input Contact 30 DIN31 User Input Contact 31 DOUT16 User Output Contact 16 DOUT17 User Output Contact 17 DOUT18 User Output Contact 18 DOUT19 User Output Contact 19 DOUT20 User Output Contact 20 DOUT21 User Output Contact 21 Robostar Co., Ltd 4-18...
- Page 45 2. For user I/O power (Internal DC24V), use small-capacity Sensor power. (ex. Detect Sensor) 3. I/O power basically utilizes internal(controller) power. When using external power, user I/O power (Internal DC24V) power is not allowed to be used. Robostar Co., Ltd 4-19...
- Page 46 JP2 Short DIO_PW (Controller 24V connector) ▶ Selecting External Power and Internal Power is optional. ▶ Do not use External Power and Internal Power simultaneously. ▶ Be sure to do the setting with the controller power OFF. Robostar Co., Ltd 4-20...
- Page 47 G24V P24V Internal ● ● Power Source 4.7K ● ● ● Internal 4.7K ● Circuit ● ● 4.7K ● ● Photo-coupler G24V Digital I/O board Digital I/O board connector Robot Controller Using Internal Power (NPN Type) Robostar Co., Ltd 4-21...
- Page 48 Output Circuit (NPN Type) in Using External Power P24V G24V ● P24V Internal ● Power Source ● ● ● ● ● Photo-coupler ● Digital I/O board Digital I/O board connector Robot Controller Output Circuit (NPN Type) in Using Internal Power Robostar Co., Ltd 4-22...
- Page 49 USER_OUT26 LO AD LOAD USER_OUT11 USER_OUT27 LO AD LOAD USER_OUT12 USER_OUT28 LO AD LOAD USER_OUT13 USER_OUT29 LO AD LOAD USER_OUT14 USER_OUT30 LO AD LOAD USER_OUT15 USER_OUT31 LOAD LOAD DC 24V DC 24V External External DC24V DC24V Robostar Co., Ltd 4-23...
- Page 50 Be sure to use SCREW products for HOOD in Safety OUT cable side connector. ▶ 1 The mark.“-“ means an unused pin. 2. I/O power is internal power to controller so external power connection is not allowed. 3. Use SAFETY-related signals only for user SAFETY power. Robostar Co., Ltd 4-24...
- Page 51 케이블 측 커넥터의 HOOD는 반드시 SCREW 나사의 제품을 사용해야 합니다. Be sure to use SCREW products for HOOD in cable side connector. *Note. 1. 외부 Cable 제작 시 Connector 옆의 스티커의 색상과 일치하는 수축튜브를 사용하여 제작 하시기 바랍니다. Robostar Co., Ltd 4-25...
- Page 52 HOST RS 232 CTS *Note. 1. The mark “-“ means an unused pin. To connect HOST, it is required to convert T/P to 7.ONLINE mode. Cable Connection Diagram Serial Cable Connection Computer FG Connection Controller Robostar Co., Ltd 4-26...
- Page 53 Channel 2 RS 232 Ground *Note. 1. The mark “-“ means an unused pin. Upper RS-232 2 channels available for use. Use each RS-232 channel individually. Cable Connection Diagram Serial Cable Connection Computer FG Connection Controller Robostar Co., Ltd 4-27...
- Page 54 T/P RS232 Data Reception T/P TX T/P RS232 Data Transmission Graphic T/P RD+ Graphic T/P Ethernet Data Reception + Graphic T/P RD- Graphic T/P Ethernet Data Reception - Graphic T/P TD+ Graphic T/P Ethernet Data Transmission Robostar Co., Ltd 4-28...
- Page 55 T/P Emergency Stop NC Contact 22 *Note. 1. The mark “-“ means an unused pin. ▶ When the controller boots and T/P Connector is removed, the controller power should be OFF→ON. (Applies in installing Safety Module.) Robostar Co., Ltd 4-29...
- Page 56 4. I/O basically utilizes internal(controller) power. For use of external power, refer to ‘4.1.2. CN6,CN7(I/O)’ IO Board Setting Description. 5. Produce an external Cable by using the shrink tube that matches the color of the sticker next to Connector as an identifier. Robostar Co., Ltd 4-30...
- Page 57 - Max 128 points I/O data Data -16 word I/O Configuration - From jumper or application program LED Display -RDY, RUN, STA, ERR 5V ±5% / 500mA Power Consumption External Dimension 134 x 107 x 20mm Operating Temperature 0~50℃ Robostar Co., Ltd 4-31...
- Page 58 156Kbps 625Kbps 2.5Mbps BAUD 5Mbps 10Mbps Invalid Baud rate is taken over from the configuration file Status Display Refer to CC-Link Manual. * Note . 1. Used a dedicated CC-Link Cable for CC-Link connection Cable. Robostar Co., Ltd 4-32...
- Page 59 3. User Sensor power is internal (controller) power. The sensor using external power cannot be used. CN13 LATCH R Align Signal 1 R/AL 1 R/AL 2 R Align Signal 2 T/AL 1 T Align Signal 1 T/AL 2 T Align Signal 2 14~25 Robostar Co., Ltd 4-33...
- Page 60 Ch.4 Controller Configuration (4) CN18(OPTION3)– CS Version(Unit) For Pin Map, setting method and structure, refer to CS Version(Unit) in 4.1.2 CN4(Safety IN). Robostar Co., Ltd 4-34...
- Page 61 Ch.4 Controller Configuration (5) CN19(OPTION3)– CS Version(Unit) Refers to the external safety interface which varies depending on specifications. Controller Side Connector HD-26SS(Misumi) Robostar Co., Ltd 4-35...
- Page 62 Ankle Detection NC Contact 21 LIGHT CURTAIN1 NC22 Ankle Detection NC Contact 22 LIGHT CURTAIN2 NC21 Ankle Detection2 NC Contact 21 LIGHT CURTAIN2 NC22 Ankle Detection2 NC Contact 22 G24V_S Safety G24V Power Configuration Diagram of Safety Input Interlock Robostar Co., Ltd 4-36...
- Page 63 ON-OFF. (Use of 2B) ▶System EMG operates in controller’s Manual/Auto mode. ▶Light Curtain operates in controller’s Manual/Auto mode. ▶Interlock A operates only in controller’s Auto Mode. Robostar Co., Ltd ▶Interlock M operates only in controller’s Manual Mode. 4-37...
- Page 64 ▶Dummy Connector is basically provided and should be used by connecting a corresponding Connector. (Controller Connector : SMP-04, SMP-02– JST). ▶When the connection is wrongly made, it may cause an error in controller operation. Robostar Co., Ltd 4-38...
- Page 65 R1 Hand ⑨ 9 Axis(V1) 100W Variable ▶Classification A enables installation up to 5kW. ▶Classification B enables installation up to 750W. ▶Installation enables up to 8 axes. ▶Make an inquiry before applying a Robot with new specifications. Robostar Co., Ltd 4-39...
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Page 66: L Type(Large Size)
Front EMO S/W ○ Segment Handle S/W Servo Driver Regenerative Resistor Box Caster <Front> <Rear> ⑭ ⑮ ① ③ ⑦ ⑨ ⑤ ⑪ ○ ○ ⑫ ⑬ ⑥ ⑧ ⑩ ② ④ Fan4 <Main Connector Bracket> Fan5 <Side> Robostar Co., Ltd 4-40... - Page 67 Teach Pendant Regenerative Resistor Regenerative Resistor Installation Unit Servo Driver Servo Driver Installation Unit Fan 1, 2, 3 Controller Internal Fan Fan 4, 5 Regenerative Resistor Fan FG Terminal FG(Frame Ground) Connection Terminal Caster Mobile Wheel Robostar Co., Ltd 4-41...
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Page 68: Connector In-Depth Description
AC220V ±10%, 50-60Hz Input AC220V ±10%, 50-60Hz Input MAIN POWER AC220V ±10%, 50-60Hz Input Frame Ground In case the robot cable is wrongly connected, a circuit breaker shuts off or the controller may face internal damage. Robostar Co., Ltd 4-42... - Page 69 R1-axis Motor ‘U’ Phase V(R1) R1-axis Motor ‘V’ Phase W(R1) R1-axis Motor ‘W’ Phase FG(R1) R1-axis Motor Ground U(R2) R2-axis Motor ‘U’ Phase V(R2) R2-axis Motor ‘V’ Phase W(R2) R2-axis Motor ‘W’ Phase FG(R2) R2-axis Motor Ground Robostar Co., Ltd 4-43...
- Page 70 Q3-axis Motor ‘U’ Phase V(Q3) Q3-axis Motor ‘V’ Phase W(Q3) Q3-axis Motor ‘W’ Phase FG(Q3) Q3-axis Motor Ground U(V3) V3-axis Motor ‘U’ Phase U(V3) V3-axis Motor ‘U’ Phase V(V3) V3-axis Motor ‘V’ Phase W(V3) V3-axis Motor ‘W’ Phase Robostar Co., Ltd 4-44...
- Page 71 1. The mark “-“ means an unused pin. 2. Connector specifications and Pin Map may vary depending on Robot specifications. 3. Depending on Robot specifications, the Cover is installed in Motor/Brake-2 Connector when using Motor/Brake-1 Connector only. Robostar Co., Ltd 4-45...
- Page 72 ▶ When using CN3 and CN4 simultaneously, configure CN3 and CN4 connectors differently to prevent the Connectors from making a connection in turn due to the user’s mistake. (Different configuration of CN3 F,G Frame(10Pin) and CN4 F,G Frame(20Pin) Connector) Robostar Co., Ltd 4-46...
- Page 73 Ankle Detection NC Contact 22 INDEX MANUAL NO1 Top Manual Mode NO Contact 1 INDEX MANUAL NO2 Top Manual Mode NO Contact 2 P24V_S Safety P24V Power G24V_S Safety G24V Power EXT RESET NO2 External Reset NO Contact 2 Robostar Co., Ltd 4-47...
- Page 74 ● INTER LOCK M NC 22 INTER LOCK M NC 12 ● Enable HOLD ● Enable HOLD NO 11 ● Enable HOLD NO 12 EXT Reset Reset S/W ● Ext Reset NO1 ● Ext Reset NO2 Robostar Co., Ltd 4-48...
- Page 75 ▶Dummy Connector is basically provided and should be used by connecting a corresponding Connector. (Controller Connector : SMP-04, SMP-02– JST). ▶When the connection is wrongly made, it may cause an error in controller operation. Robostar Co., Ltd 4-49...
- Page 76 LIGHT CURTAIN1 NC21 Ankle Detection NC Contact 21 LIGHT CURTAIN1 NC22 Ankle Detection NC Contact 22 LIGHT CURTAIN2 NC21 Ankle Detection2 NC Contact 21 LIGHT CURTAIN2 NC22 Ankle Detection2 NC Contact 22 G24V_S Safety G24V Power Robostar Co., Ltd 4-50...
- Page 77 ▶Interlock M operates in controller’s Manual Mode only. ▶When using Light Curtain 2, Light Curtain Sensor’s N.O contact(Monitoring contact) should be wired to controller I/O. * Note . - Safety Interlock configuration may vary upon request. Safety In Dummy Connector Robostar Co., Ltd 4-51...
- Page 78 ▶Dummy Connector is basically provided and should be used by connecting a corresponding Connector. (Controller Connector : SMP-04, SMP-02– JST). ▶When the connection is wrongly made, it may cause an error in controller operation. Robostar Co., Ltd 4-52...
- Page 79 LIGHT CURTAIN1 NC21 Ankle Detection NC Contact 21 LIGHT CURTAIN1 NC22 Ankle Detection NC Contact 22 LIGHT CURTAIN2 NC21 Ankle Detection2 NC Contact 21 LIGHT CURTAIN2 NC22 Ankle Detection2 NC Contact 22 G24V_S Safety G24V Power Robostar Co., Ltd 4-53...
- Page 80 Light Curtain 1 NC12 Light Curtain 2 Safety Sensor ● Light Curtain 2 NC11 ● Light Curtain 2 NC21 ● Light Curtain 2 NC22 ● Light Curtain 2 NC12 Configuration Diagram of Safety Input Interlock Robostar Co., Ltd 4-54...
- Page 81 ▶Dummy Connector is basically provided and should be used by connecting a corresponding Connector. (Controller Connector : SMP-04, SMP-02– JST). ▶When the connection is wrongly made, it may cause an error in controller operation. Robostar Co., Ltd 4-55...
- Page 82 T/P Enable NO Contact 22 R TP DEADMAN_22 Be sure to use SCREW products for HOOD in Safety OUT cable side connector. ▶ ▶When the robot cable side connector is wrongly connected, it may cause an error in controller operation. Robostar Co., Ltd 4-56...
- Page 83 ▶Outputs Enable Switch contact status of Teach Pendant. Enable HOLD N.O contact should turn On/Off depending on this contact status among Safety Input signals. Safety Output Dummy Connector ▶ When the connection is wrongly made, it may cause an error in controller operation. Robostar Co., Ltd 4-57...
- Page 84 User Input Contact 12 DIN13 User Input Contact 13 DIN14 User Input Contact 14 DIN15 User Input Contact 15 DOUT0 User Output Contact 0 DOUT1 User Output Contact 1 DOUT2 User Output Contact 2 DOUT3 User Output Contact 3 Robostar Co., Ltd 4-58...
- Page 85 User Input Contact 31 DOUT15 User Output Contact 15 DOUT16 User Output Contact 16 DOUT17 User Output Contact 17 DOUT18 User Output Contact 18 DOUT19 User Output Contact 19 DOUT20 User Output Contact 20 DOUT21 User Output Contact 21 Robostar Co., Ltd 4-59...
- Page 86 4. I/O basically utilizes internal(controller) power. For use of external power, refer to ‘Ch.2 Description of Interface IO Board Setting. 5. Produce an external Cable by using the shrink tube that matches the color of the sticker next to Connector as an identifier. Robostar Co., Ltd 4-60...
- Page 87 DIO_PW JP2 Short (Controller 24V connector) ▶ Selecting External Power and Internal Power is optional. ▶ Do not use External Power and Internal Power simultaneously. ▶Be sure to do the setting with the controller power OFF. Robostar Co., Ltd 4-61...
- Page 88 Power Source 4.7K ● ● ● Internal 4.7K ● Circuit ● ● 4.7K ● ● Photo-coupler G24V Digital I/O board Digital I/O board connector Robot Controller Using Internal Power (NPN Type) Output Interface Structure Diagram Robostar Co., Ltd 4-62...
- Page 89 Output Circuit (NPN Type) in Using External Power) P24V G24V ● P24V Internal ● Power Source ● ● ● ● ● Photo-coupler ● Digital I/O board Digital I/O board connector Robot Controller Output Circuit (NPN Type) in Using Internal Power) Robostar Co., Ltd 4-63...
- Page 90 USER_OUT26 LO AD LOAD USER_OUT11 USER_OUT27 LO AD LOAD USER_OUT12 USER_OUT28 LO AD LOAD USER_OUT13 USER_OUT29 LO AD LOAD USER_OUT14 USER_OUT30 LO AD LOAD USER_OUT15 USER_OUT31 LOAD LOAD DC 24V DC 24V External External DC24V DC24V Robostar Co., Ltd 4-64...
- Page 91 Be sure to use SCREW products for HOOD in cable side connector. * Note . 1 The mark.“-“ means an unused pin. 2. I/O power is internal power to controller so external power connection is not allowed. 3. Use SAFETY-related signals only for user SAFETY power. Robostar Co., Ltd 4-65...
- Page 92 1. Produce an external Cable by using the shrink tube that matches the color of the sticker next to Connector.. 2. Depending on Robot specifications, the Cover is installed in CN16, CN17 Connector when using CN14, CN15 only. Robostar Co., Ltd 4-66...
- Page 93 HOST RS 232 CTS *Note. 1. The mark “-“ means an unused pin. To connect HOST, it is required to convert T/P to 7.ONLINE mode. Cable Connection Diagram Front Door Connection 제어기 Computer Serial Cable Connection Robostar Co., Ltd 4-67...
- Page 94 Graphic T/P Ethernet Data Reception + Graphic T/P RD- Graphic T/P Ethernet Data Reception - Graphic T/P TD+ Graphic T/P Ethernet Data Transmission Graphic T/P TD- Graphic T/P Ethernet Data Transmission EMG NC 11 T/P Emergency Stop NC Contact 11 Robostar Co., Ltd 4-68...
- Page 95 T/P Emergency Stop NC Contact 22 *Note. 1. The mark “-“ means an unused pin. ▶ When the controller boots and T/P Connector is removed, the controller power should be OFF→ON. (Applies in installing Safety Module.) Robostar Co., Ltd 4-69...
- Page 96 4. I/O basically utilizes internal(controller) power. For use of external power, refer to ‘Ch.2. Interface IO Board Setting Description. 5. Produce an external Cable by using the shrink tube that matches the color of the sticker next to Connector as an identifier. Robostar Co., Ltd 4-70...
- Page 97 - Max 128 points I/O data Data -16 word I/O Configuration - From jumper or application program LED Display -RDY, RUN, STA, ERR 5V ±5% / 500mA Power Consumption External Dimension 134 x 107 x 20mm Operating Temperature 0~50℃ Robostar Co., Ltd 4-71...
- Page 98 0 ~ 4 ( Station occupied: 4 stations) Baudrate Setting External Switch Baudrate Display 156Kbps 625Kbps 2.5Mbps BAUD 5Mbps 10Mbps Invalid Baud rate is taken over from the configuration file Status Display Refer to CC-Link Manual. Robostar Co., Ltd 4-72...
- Page 99 * Note . 1 The mark “-“ means an unused pin. 2. Use user Sensor power in Latch-related Sensor. 3. User Sensor power is internal (controller) power. The sensor using external power cannot be used. Robostar Co., Ltd 4-73...
- Page 100 R3 Variable 100W ▶Classification B enables installation up to 7.5kW. ⑮ 15 Axis(V4) R4 Hand 가변 100W ▶ Classification C enables installation up to 2kW. ▶ Make an inquiry before applying a Robot with new specifications. Robostar Co., Ltd 4-74...
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Page 101: Safety Interface Option(Common)
있는 상태에서 수행 하여야 합니다. LightCurtain NC11 LightCurtain NC12 발목감지 LightCurtain NC21 Light Curtain LightCurtain NC22 Enable/HOLD11 Si12 Enable/HOLD12 이네이블장치 Enable/HOLD21 HOLD Si13 Enable/HOLD22 Safety Board Interlock EXT Reset 1 Si11 Interface EXT Reset 2 EXT Reset Reset S/W CN11 Robostar Co., Ltd 4-75... -
Page 102: Ld Version
Light Curtain1 NC11 Light Curtain1 NC12 발목감지 Light Curtain1 NC21 Light Curtain1 Light Curtain1 NC22 Light Curtain2 NC11 Si12 Light Curtain2 NC12 발목감지 Light Curtain2 NC21 Si13 Light Curtain2 Light Curtain2 NC22 DIO Board CN11 Light Curtain2 Robostar Co., Ltd 4-76... -
Page 103: Cs Version(Safety Unit Ver.)
P24V_S Mode Select (AC200~230V MODE S/W T/P MODE S/W 3 Phase ,60Hz) (AC 220V) Safety B/D G24V_S G24V_S Monitoring Interlock M (AC 220V) (AC 220V) P24V_S (AC 220V) SERVO MOTOR G24V_S DRIVE R Motor P ower Robostar Co., Ltd 4-77... -
Page 104: 5 Teach Pendant(T/P)
▶ After connecting to Connector, be sure to connect Connector’s Screw-Lock. The controller turns into emergency stop when the Connector is removed. ▶ The controller is not reset after removing the Connector. The power should be off→on. Robostar Co., Ltd... -
Page 105: How To Use Deadman
When a switch push intensity is at an appropriate level When a switch push intensity is too high Note : When turning OFF the deadman switch, the robot dies not operate or the robot in motion comes to a stop. Robostar Co., Ltd... -
Page 106: Mode Switch
Edit-related keys does not operate when setting Auto mode. ‘Manual’ Mode Enables the operator to do robot’s point teaching and program editing. ▶ Key lock mode operates in a mode identical to Auto mode. ▶ Enter a Password in converting a mode. Robostar Co., Ltd... - Page 107 ROBOSTAR TRANSFER CONTROLLER RcT SERIES CONTROLLER MANUAL FIRST EDITION OCTOBER2015 ROBOSTAR CO, LTD ROBOTR&DCENTER Robostar Co., Ltd...
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