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Agilebot IRC-D6A Product Manual

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Instructions for IRC-D6A Controller

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Summary of Contents for Agilebot IRC-D6A

  • Page 1 Product Manual Instructions for IRC-D6A Controller...
  • Page 2 Product Manual Instructions for Controller V1.1 Copyright,2023AgilebotRoboticsCo.,Ltd.Allrightsreserved...
  • Page 3 Instructions for IRC-D6A Controller The information in this Manual must not be considered as a commitment of Agilebot and may be changed without prior notice. Agilebot assumes no responsibility for errors (if any) in this Manual. Except as expressly specified, nothing in this Manual shall be construed as any warranty or guarantee made by Agilebot for personal loss, property damage or specific applicability.
  • Page 4 Instructions for IRC-D6A Controller Revision Ver. Date Status V1.0 Oct 19, 2023 Deactivated V1.1 Feb 27,2024 Release Instructions for IRC-D6A Controller 4 / 48...

  • Page 5: Table Of Contents

    Instructions for IRC-D6A Controller Table of Contents SAFETY INSTRUCTIONS ........................ 7 MAINTENANCE ........................12 SUMMARY ..........................12 STRUCTURE ........................... 13 APPEARANCE OF CONTROLLER ..................... 13 COMPONENT UNITS ........................15 MAINTENANCE AND REPAIR ....................16 RESOLUTION OF COMMON FAULTS ..................17 DON’T POWER ON ........................
  • Page 6 Instructions for IRC-D6A Controller HANDLING AND MOUNTING ....................42 HANDLING METHOD ........................42 MOUNTING METHOD ......................... 44 MOUNTING CONDITIONS ......................45 ADJUSTMENT AND CONFIRMATION ITEMS DURING MOUNTING ........45 APPENDICE ........................... 46 MEANING OF CONTROL SYSTEM I/O SIGNALS OF PERIPHERAL DEVICES ...... 46...

  • Page 7: Safety Instructions

    Co., Ltd. shall assume no responsibility for any damage to the industrial robot or its components due to the use of any other components (software, tools, etc.) not provided by Agilebot. Agilebot Robotics Co., Ltd. assumes no responsibility for any consequences caused by misuse of the industrial robot. The misuse includes: ➢...
  • Page 8 Instructions for IRC-D6A Controller Definition of safety signs This Manual includes safety warnings to ensure personal safety of the users and avoid any damage to the machine tool and describes them with "Danger" and "Warning" in the main text based on their importance in safety.
  • Page 9 Instructions for IRC-D6A Controller Definition of user The operators are defined as follows: ➢ Operator Perform power-on/off operation on the robot. Start the robot program from the panel board. ➢ Robot Engineer Operate the robot. Perform teaching and programming debugging of the robot within its working range.
  • Page 10 Warnings and precautions related to operation of the controller IRC-D6A is a closed structure. During design, it is required to prevent dust, oil mist and other conductive foreign objects around the controller from entering its interior. Regardless of whether the controller is running or not, its airtightness may be lost if it is not locked properly, leading to a malfunction and even possible electric shock, leakage or fire due to insulation degradation.
  • Page 11 Instructions for IRC-D6A Controller Safety warning label Both the robot and the controller bear several safety and information labels, which contain important information related to the product. This information is very useful for all persons operating the robot system, e.g. during mounting, maintenance or operation.

  • Page 12: Maintenance

    This Instructions is applicable to the IRC-D6A controller. It describes the maintenance and connection of IRC-D6A for the robot. Maintenance: Resolution of common faults, unit setting, adjustment and replacement methods Connection: Methods for connecting IRC-D6A and the robot mechanism and peripheral devices and mounting the controller. Warning Provide more than one (inclusive) emergency stop button within reach of the operator according to the system configuration.

  • Page 13: Structure

    Instructions for IRC-D6A Controller STRUCTURE 2.1 APPEARANCE OF CONTROLLER The appearance and components of the controller may vary slightly according to the robot, various option configurations and application programs. I/O Outlet Power switch Ethernet port Control handle connector Power inlet...
  • Page 14 Instructions for IRC-D6A Controller Fig. 2.2 Dimensions of Controller (unit: mm) Fig. 2.3 Appearance of Handle Instructions for IRC-D6A Controller 14 / 48...

  • Page 15: Component Units

    Clear the error while enabling. However, RESET is invalid when the Reset "forced drive" function is in effect. 2.2 COMPONENT UNITS The following figure shows main components inside the IRC-D6A controller. AC-DC Power Supply module Controller module Cooling module Power board module Fig.

  • Page 16: Maintenance And Repair

    Instructions for IRC-D6A Controller 2.3 MAINTENANCE AND REPAIR It is possible to maintain the performance of the robot in a long-term stable state through daily maintenance, regular maintenance and regular repair. ⚫ Daily maintenance During daily operation of the system, clean and repair all parts, check for cracks or damage on each part and conduct maintenance for the following items at any time.

  • Page 17: Resolution Of Common Faults

    Instructions for IRC-D6A Controller RESOLUTION OF COMMON FAULTS 3.1 DON’T POWER ON Inspection and treatment Diagram Inspection 1: Confirm that the circuit breaker has been switched on. Treatment 1: Switch on the circuit breaker when Power switch it is not connected.

  • Page 18: Alarm Screen

    Instructions for IRC-D6A Controller 3.3 ALARM SCREEN Check if the robot currently has alarms and view the alarm history by the following operations. 1． In the main screen of the operating terminal, click on the character in the red box in Fig. 3.1 to pop up the screen as shown in Fig.
  • Page 19 Instructions for IRC-D6A Controller Fig. 3.3 Alarm History Screen After filtering the alarm types, you can see corresponding alarm messages as shown in Fig. 3.4. Fig. 3.4 Alarm Information Instructions for IRC-D6A Controller 19 / 48...

  • Page 20: Resolution Of Common Faults Based On Alarm Codes

    Instructions for IRC-D6A Controller 3.4 RESOLUTION OF COMMON FAULTS BASED ON ALARM CODES Motion-A32097 - UI servo enable is off* Phenomenon: UI servo enable is off Result: Stop Cause: triggered by UI signal Countermeasure: Keep the UI signal at a high level. Otherwise, the low level may trigger a Cat. 0 stop.
  • Page 21 Instructions for IRC-D6A Controller (3) After opening the I/O status screen, click on the part in the circle to view different types of signals as shown in the following figure. (4) UI1, UI2 and UI5 signals should be normally off as shown in the following figure.
  • Page 22 Instructions for IRC-D6A Controller Safety-2115 - The safety board dual channel data are not the same.* Phenomenon: The safety board dual channel data are not the same. Result: ESTOP status Cause: error in hardware signal Countermeasure: Check if the safety circuit on the safety board is normal.
  • Page 23 Instructions for IRC-D6A Controller Safety-2118 - The safety board detects limited stop signal.* Phenomenon: The safety board detects limited stop signal. Result: ESTOP status Cause: status of hardware signal Countermeasure: Check the limit signal. Safety-2119 - The safety board detects Deadman Normal is abnormal when in manual mode.* Phenomenon: The safety board detects that Deadman Normal is releases in manual mode.
  • Page 24 Instructions for IRC-D6A Controller View current position message and soft limit position message of each axis. Implement zero calibration due to the soft limit caused by the loss of zero calibration. The operation steps are as follows for Case 1: Click the menu and then current pose icon.
  • Page 25 Instructions for IRC-D6A Controller Click on the system icon as shown in the figure below and then the Basic Setting to open the Soft Limit Setting screen. Click on the Soft Limit Setting to view the soft limit value of each axis.
  • Page 26 Instructions for IRC-D6A Controller The following figure shows upper and lower limits of the soft limit of each axis. The operation steps are as follows for Case 2: The soft limit error may also be caused in case of loss of zero calibration. Click Basic Setting - Zero Setting to open the zero calibration screen.

  • Page 27: Replacement Of Units

    Instructions for IRC-D6A Controller A prompt message may appear in the upper right corner after calibration. Then, click "Save” below it to save the calibration information and then complete the calibration. REPLACEMENT OF UNITS Warning When units or printed circuit boards are replaced through maintenance and repair, turn off the circuit breaker and remove the power cord.

  • Page 28: Steps Before Replacement

    Instructions for IRC-D6A Controller Warning When replacing parts, make sure to read the Maintenance Manual in advance and proceed with the operation after fully understanding the operating steps. Operations in wrong steps may lead to unexpected accidents, resulting in damage to the robot or injury to the operator.
  • Page 29 Instructions for IRC-D6A Controller Power cable Fig. 4.1 Power inlet (3) Open the top cover of the controller with the triangular key. Instructions for IRC-D6A Controller 29 / 48...

  • Page 30: Connection

    Instructions for IRC-D6A Controller CONNECTION SUMMARY 1.1 OVERVIEW OF ROBOT COMPONENTS Robot connection cable Fig. 1.1 Diagram of Robot System Instructions for IRC-D6A Controller 30 / 48...
  • Page 31 Instructions for IRC-D6A Controller External ports The following diagram describes the connection ports on the front panel of the IRC-D6A controller. Caution Before connecting the connector to the controller, make sure to check for dirt or damage. Please clean the components or replace damaged ones.

  • Page 32: Connection With Devices

    Instructions for IRC-D6A Controller CONNECTION WITH DEVICES 2.1 CONNECTING CABLES OF THE ROBOT The connecting cables between the robot and the controller include robot connection cables. Robot connection cable Fig. 2.1 Connection between Robot and Controller Caution Ground the controller before startup. Otherwise, the risk of electric shock exists.

  • Page 33: Wired Handle Cable

    2.2 WIRED HANDLE CABLE Wired handle cable The wired handle connector on IRC-D6A is located on the controller. Make sure to check for dirt or damage before connecting the connector to the controller. Please clean the components or replace damaged ones.

  • Page 34: Grounding And Shielding Connection

    Instructions for IRC-D6A Controller Caution It is required to observe any local standards and regulations regarding insulation and cross-sectional area. 2.4 GROUNDING AND SHIELDING CONNECTION The following figure shows two examples of grounding and shielding methods. Fig. 2.4 Grounding Connection Example 1: If all components are well grounded, the best shielding effect can be achieved by grounding all shielding layers at both ends of all components.

  • Page 35: About Leakage Circuit Breaker

    PERIPHERAL DEVICES 3.1 CONTROLLER WIRING PANEL The controller wiring panel of IRC-D6A has signal inputs, signal outputs, safety outputs, safety inputs, emergency inputs, user inputs, encoder inputs and analog inputs. Instructions for IRC-D6A Controller...

  • Page 36: Digital Inputs

    Instructions for IRC-D6A Controller Fig. 3.1 Wiring Panel of IRC-D6A Controller Signal inputs DIGITAL INPUTS SIGNAL SIGNAL PIN NO. PIN NO. DEFINITION DEFINITION DI 1 24V+ DI 2 24V+ DI 3 DI_COM_1-8 DI 4 DI_COM_1-8 DI 5 DI_COM_1-8 DI 6...
  • Page 37 Instructions for IRC-D6A Controller Signal outputs DIGITAL OUTPUTS SIGNAL SIGNAL PIN NO. PIN NO. DEFINITION DEFINITION DO 1 24V+ DO 2 24V+ DO 3 DO_PS_IN_1-8 DO 4 DO_PS_IN_1-8 DO 5 DO_PS_IN_1-8 DO 6 DO_PS_IN_1-8 DO 7 DO 8 DO 9...

  • Page 38: Safety Outputs

    Instructions for IRC-D6A Controller Safety outputs SAFETY OUTPUTS SIGNAL SIGNAL PIN NO. PIN NO. DEFINITION DEFINITION SO1A 24V+ SO1B 24V+ SO2A SO_PS_IN_1-5 SO2B SO_PS_IN_1-5 SO3A SO_PS_IN_1-5 SO3B SO_PS_IN_1-5 SO4A SO_PS_IN_1-5 SO4B SO_PS_IN_1-5 SO5A SO5B TABLE 3.3 SAFETY OUTPUT LIST Safety input...
  • Page 39 Instructions for IRC-D6A Controller SI2A GND SI2A SI2B GND SI2B SI3A GND SI3A SI3B GND SI3B SI4A GND SI4A SI4B GND SI4B SI5A GND SI5A SI5B GND SI5B TABLE 3.4 SAFETY INPUT LIST Instructions for IRC-D6A Controller 39 / 48...
  • Page 40 Instructions for IRC-D6A Controller Emergency inputs If e-stop signals are not used in practical applications, the emergency inputs should be shorted out. If only some e-stop signals are used, those unused should be shorted out. Emergency Inputs Signal Signal Pin No.
  • Page 41 Instructions for IRC-D6A Controller User inputs User Signal Signal Pin No. Pin No. definition definition Power ON Power OFF 485_A 485_B TABLE 3.6 USER INPUTS LIST Encoder inputs Encode-ABZ Signal Signal Pin No. Pin No. definition definition Table 3.7 Encoder Input List...

  • Page 42: Connection Of Communication Device (Ethernet Port)

    Table 3.8 Analog Input List 3.2 CONNECTION OF COMMUNICATION DEVICE (ETHERNET PORT) The IRC-D6A controller is provided with standard Ethernet RJ45 ports and supports multiple protocols, and one Ethernet port is interconnected internally. Caution Please consult various device manufacturers for the construction of the network or the operating conditions of the devices other than robot controller (HUBs, transceivers, cables, etc.).
  • Page 43 Instructions for IRC-D6A Controller Belt Caution 1 Caution 1 Fix the belt to the Transport fixture transport fixture. Fig. 4.1 Fixing of Controller Caution If being tied too tightly to the controller, the belt may damage the sealing gasket of the door, and the damaged state of the sealing gasket may not be restored after removal of the belt.

  • Page 44: Mounting Method

    Instructions for IRC-D6A Controller 4.2 MOUNTING METHOD Fig. 4.3 Mounting of Controller Caution The dimensional units for all measurements of the drawings in this section are in millimeters (mm). • If mounted on a desktop (without a rack), the controller requires 100mm free space on both sides.

  • Page 45: Mounting Conditions

    Instructions for IRC-D6A Controller 4.3 MOUNTING CONDITIONS The IRC-D6A controller may not intentionally generate/use high-frequency energy of wireless bandwidth in the combined electromagnetic, inductive or capacitive form. Except for ordinary household devices directly connected to low-voltage networks, this controller can be used for induction and radiation barriers in material handling/investigation/analysis facilities.

  • Page 46: Appendice

    APPENDICE A. MEANING OF CONTROL SYSTEM I/O SIGNALS OF PERIPHERAL DEVICES The following table lists the system I/O signals for the ports of the peripheral devices on IRC-D6A. List of UI/UO signals Servo_Enable is usually ON. Output high level when...
  • Page 47 Instructions for IRC-D6A Controller Request terminate program execution paused state. It is usually ON. In the OFF state, the system performs the following processing: The alarm bar indicates a This signal is set to high program abort request and level when the robot...
  • Page 48 Instructions for IRC-D6A Controller Contact us Agilebot Robotics Co., Ltd. (Shanghai Headquarters): Floor 8, Tower 6, Zhongjian Jinxiu Plaza, No. 50, Lane 308, Xumin Road, Qingpu District, Shanghai Agilebot Operation and Technical Service Center: Building 1, No. 338 Jiuye Road, Qingpu District, Shanghai Service hotline: +86-21-5986 0805 Website: www.sh-agilebot.com...

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