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Robostar N1 Series Instruction Manual

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Robostar Robot Controller Manual
ROBOSTAR ROBOT
N1 Series
INSTRUCTION MANUAL
√
INSTRUCTION MANUAL
OPERATION MANUAL
PROGRAMMING MANUAL
UNI-HOST MANUAL
GAIN SETUP MANUAL
ALARM CODE MANUAL
www.robostar.co.kr
Robostar Co., Ltd.

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  • Page 1 Robostar Robot Controller Manual ROBOSTAR ROBOT N1 Series INSTRUCTION MANUAL √ INSTRUCTION MANUAL OPERATION MANUAL PROGRAMMING MANUAL UNI-HOST MANUAL GAIN SETUP MANUAL ALARM CODE MANUAL www.robostar.co.kr Robostar Co., Ltd.
  • Page 2 Copyright ⓒ ROBOSTAR Co,. Ltd 2012 Copyright of this instruction manual is reserved to Robostar Co., Ltd. Any part of this manual cannot be used as other forms or other means without permission of Robostar. The specifications are subject to change without notice in advance.
  • Page 3 About Product Warranty About Product Warranty Products of Robostar Co., Ltd. are manufactured under the strict quality control. All the Robostar products’ warranty period is one year from the date of manufacture. During this period, Robostar is only responsible for the mechanical failures due to negligence of Robostar, or the problems on design and manufacture occurring during normal use, in which the service is free of charge.

  • Page 4: For Safe Use

    This sign shows the matter that is to be prohibited for normal use of the product. PROHIBITION E.g.) Never use a fire. This sign shows the matter that must be performed for normal Required use of the product. E.g.) Compulsory ground is required. Robostar Co., Ltd.
  • Page 5 WARNING and power spec. In particular, make sure before use that the input power is AC 220V. When installed, the robot must be CAUTION securely fixed so as not to be shaken. Robostar Co., Ltd.
  • Page 6 Make sure to check the wirings of CHECK a controller before powering on it. CAUTION Due to the incorrect wirings, the machine may not work properly. To prevent electrical shock, be sure to install FG (Frame Ground). Robostar Co., Ltd.
  • Page 7 ON/OFF DANGER and driving a motor manually, be sure to check the mutual safety before starting the work. When in maintenance of the robot, be sure to unplug a power cord of CAUTION the controller Robostar Co., Ltd.
  • Page 8 ④ If you are installing a safety net having a door, install a detector or other sensors so that the robot is stopped immediately after the door is opened. ⑤ The safety net must be distanced by 40 cm or farther from robot motion area and the robot body. Robostar Co., Ltd.
  • Page 9 10) Ground Spec. - Class 3 Ground (Ground resistance is not more than 100Ω.) 11) Lamp indicating the robot power supplying status - Install a lamp which indicates whether the power source is being supplied to the robot. Robostar Co., Ltd.

  • Page 10: Table Of Contents

    3.3.1 Cable Connection Diagram ........................3-3 3.3.2 Specifications for Cable ........................... 3-4 ....................3-4 EACHING ENDANT ONNECTION ETHOD ......................... 3-6 OBOT ONNECTION ETHOD 3.5.1 Encoder, Sensor and Brake Interface ....................... 3-8 3.5.2 Motor Power Interface ........................... 3-10 Robostar Co., Ltd.
  • Page 11 CHAPTER 5 CONTROLLER ALARM CODE TABLE ..................5-10 ............................ 5-10 YSTEM LARMS ............................. 5-10 ROTECTIVE LARMS ............................5-11 LARMS ............................ 5-12 OMPILE LARMS ............................ 5-12 RAJECTORY LARMS COMMUNICATON ............................5-13 SERVO AMP ..............................5-14 ENCODER ..............................5-16 Robostar Co., Ltd.
  • Page 12 Contents SV_MEMORY .............................. 5-18 Robostar Co., Ltd.

  • Page 13: Chapter 1 Controller Overview

    Controller Overview Chapter 1 Controller Overview Features N1 Series Controller is a high-performance robot controller for a wide variety of applications, and has the following features. Controls 2 to 6 axes Cartesian coordinate robot and SCARA r  Full-d ...

  • Page 14: Name Plate

    SERVO 2 : 100M 100M SER.NO : Robostar Co.Ltd. 1.2.2 6-axis Controller Nameplate Robostar Robot System N1 CONTROLLER MODEL: N1-888888-NXX -H-X-G-C1-S01 INPUT : AC230V.20A SERVO 1: 800M 800M SERVO 2: 800M 800M SERVO 3: 800M 800M SER.NO: Robostar Co., Ltd. Robostar Co., Ltd.
  • Page 15 D: 2-axis CASE Q: 4-axis CASE Case H: 6-axis CASE R: RTEX Main Board X: None Power G: Single power U: Power separation Separation Safety Level C1: Safety Level 1 C3: 안전등급 4 S00: StandardD00: DE Version S01: CE Robostar Co., Ltd.

  • Page 16: Product Code Of N1 Controller

    MAIN BD 옵션 ETHERNET ETHERNET+USB 없음 전원분리 단일전원 전원분리 안전등급 안전등급1 안전등급4 VERSION S00 : 로봇 초도품 T00 : TR 일반 RS-50-24 SMPS 포함 T01 : TR CE D01 : 부전전자 데스크탑 S01 : 로봇 CE S02 : CATEGORY4 Robostar Co., Ltd.

  • Page 17: Software Version

    Step 1. SYSTEM MODE MODE J_NUM STATE Exit from SYSTEM MODE. AUTO NONE AUTO NONE EXIT Robostar NewRo N1-Series Ver: 03.02.03-SB Check Software Version (RO 120727) Press ENTER Key Robostar Co., Ltd.

  • Page 18: Name Of Parts

    Controller Overview Name of Parts The following shows the names of each part of the appearance of the controller. For more information, see the table below. 1.5.1 4-axis Controller Name 13 14 <FRONT> <REAR> <TOP> <BOTTOM> Robostar Co., Ltd.
  • Page 19 Motor Power Output Connector (No. 3 axis) AL/RD/SV/POW Servo Module Status Indication(No. 4 axis) ENC #4 Encoder Input Connector (No.4 axis) U V W FG Motor Power Output Connector (No.4 axis) Regenerative Resistor Connector (3, 4 axis) Air Exhaust Fan Robostar Co., Ltd.

  • Page 20: 6-Axis Controller Name

    Controller Overview 1.5.2 6-axis Controller Name <FRONT> <REAR> <TOP> <BOTTOM> Robostar Co., Ltd.

  • Page 21: Description Of Connectors

    Servo Module Status Indication (No. 6 axis) ENC #6 Encoder Input Connector (No.6 axis) U V W FG Motor Power Output Connector (No.6 axis) Regenerative Resistor Connector (5, 6 axis) FILTER Air Intake Filter Air Exhaust Fan Robostar Co., Ltd.

  • Page 22: Specifications

    1.5kW Max for 2-axis module, 3kW Max for overall 4-axis Minimum Input 5mA/1 point Current Maximum 50mA/1 point Output Current Brake Control 24V Motor bake driving Motor Driving Type AC Servo motor driving (Sine wave PWM current control) 1-10 Robostar Co., Ltd.
  • Page 23 Direct Teaching (Teach Pendant) Teaching Type On-Line Teaching (Uni-Host) 2 channels Multi Robot Support (See Reference 1) Robot Language RRL (ROBOSTAR Robot Language) Maximum 200 pieces Maximum 2000 pcs per job (Local) , Maximum 1000 pcs per job Robot Point (Global) Program...

  • Page 24: 4-Axis Controller Product Dimension

    Controller Overview 1.6.2 4-axis Controller Product Dimension  General Configuration [Unit: mm] 440 (W) x 182.8 (D) x 245.0 (H) 1-12 Robostar Co., Ltd.

  • Page 25: 6-Axis Controller Product Dimension

    Controller Overview 1.6.3 6-axis Controller Product Dimension  General Configuration [Unit: mm] 535.8 (W) x 182.8 (D) x 245.0 (H) 1-13 Robostar Co., Ltd.
  • Page 26 Controller Overview  External Mounting of Regenerative Resistor (Optional) [Unit: mm] 573.8 (W) x 182.8 (D) x 245.0 (H) 1-14 Robostar Co., Ltd.

  • Page 27: Chapter 2 Installing Method Of Controller

    If the installation environment is not proper, the CAUTION function and performance may not be fully accomplished, as well as the life of the device may be shortened and unexpected failures may be caused. Robostar Co., Ltd.

  • Page 28: Preparation Of Installation Space

    Be sure to prepare the space so that the cooling fan is not subjected to the occurrence of interference. CAUTION Make room and tidy up wires so that robot cables connected to the controller may not be compressed and entangled. CAUTION Robostar Co., Ltd.

  • Page 29: Ventilation Direction

    Ventilation direction of the controller is as follows. Consider it when in controller installation. Inside Air Exhausted Ventilation Ports Ventilation Ports Outside Air In-taken Ventilation Ports An air filter for the front ventilation ports must be replaced from time to time by checking the contaminated state. CAUTION Robostar Co., Ltd.

  • Page 30: Chapter 3 Robot Connection Method And External Interface

    (2 channels). (E.g., Cartesian Coordinate Robot 2-axis + Cartesian Coordinate Robot 2-axis) Higher Network Field Bus Setter Computer Controller PLC Controller System I/O, User I/O RS485 (CC-Link, Profibus) Power, Encoder, Sensor, Brake Power Teach-Pendant Robostar Co., Ltd...

  • Page 31: How To Connect Power To Robot

    Signal AC220V ±10%, 50-60Hz, Input AC220V ±10%, 50-60Hz, Input In case the connector of the power cable to robot is wrongly connected, a circuit breaker shuts off or thethe inside of the controller may be damaged. CAUTION Robostar Co., Ltd...

  • Page 32: Online Connection Method

    H-OPEN: If Pin 6 is a GND Input when the power is turned on (Reset), a mode is CAUTION automatically changed to PC communication mode. If the H-OPEN signal is HIGH, a mode is changed to the PC communication mode when '3. HOST' mode is selected in the Teaching Pendant. Robostar Co., Ltd...

  • Page 33: Specifications For Cable

    Teaching Pendant is to be connected to ‘T/P’ Connector of a controller, as shown below. For the more detailed connection method and the information on the teaching pendant, refer to ‘Chapter 4. About Teaching Pendant’. Teaching Pendant Robot controller ‘T/P’ Connection Connector Robostar Co., Ltd...

  • Page 34: Robot Interface

    Ref. 3) ‘-‘ sign means the unused pin. Ref. 4) An encoder FG is different from a motor FG. Be careful when in wiring them. Connector and pin maps of all axes from ‘No.1 Axis’ to ‘No.4 Axis’ are the same. CAUTION Robostar Co., Ltd...

  • Page 35: Robot Connection Method

    No.2 Axis (Label ’B’, ‘Y’) No.3 Axis (Label ’Z’) No.4 Axis (Label ’W’) After connecting the robot cable, make sure that housing locks (a connector locking device) of the controller-side connector are completely engaged with each other. CAUTION Robostar Co., Ltd...
  • Page 36 For a motor cable and an encoder cable, use a cable dedicated to the robot. ∙ Always check the wiring before powering on, to prevent device destruction due to the mis-wiring. CAUTION ∙ Always use a moving cable for moving parts,. Be sure to install a ground FG (Frame Ground). WARNING Robostar Co., Ltd...

  • Page 37: Encoder, Sensor And Brake Interface

    An interface for wiring the encoder, sensor, and brake. Controller Interface  Controller-Side Connector (Encoder) 10150-3000PE, 50P, 3M (Ref. 1) <Encoder> Ref. 1) Connected 1:1 to pins of a robot cable-side connector. ENCODER Pin No. Signal Pin No. Signal BRK+ P24V G24V CASE Robostar Co., Ltd...
  • Page 38 Ref. 3) ‘-‘ sign means the unused pin. Ref. 4) An encoder FG is different from a motor FG. Be careful when in wiring them. Connector and pin maps of all axes from ‘No.1 Axis’ to ‘No.4 Axis’ are the same. CAUTION Robostar Co., Ltd...

  • Page 39: Motor Power Interface

    3.5.2 Motor Power Interface Interface for Motor Power Connection. controller Interface  controller-Side Connector (Power) MC101-508-04 DECA (Ref. 1) <Power> Ref. 1) Connected 1:1 to pins of a robot cable-side connector. MOTOR POWER Pin No. Signal 3-10 Robostar Co., Ltd...

  • Page 40: In/Out Connection Method

    Number of I/O Contacts 28 points (8 points/1 Common) common) Controller-Side Connector MCR50FL31/ DSUB-25P MDR50FL31/ DSUB-25S Cable-Side Connector MC50MA/DSUB-25S MC50MA/DSUB-25P Ref. 2) N1-Series does not provide internal power source for I/O. Be sure to use the external power source. 3-11 Robostar Co., Ltd...

  • Page 41: I/O Interface (Standard I/O)

    If I/O marking on a controller model name is ‘N’ (N-TYPE), Input → Positive Common (24V+) and Output → Negative Common (24V-); If I/O marking on a controller model name is ‘P’ (P-TYPE), Input → Negative Common CAUTION (24V-) and Output → Positive Common (24V+) 3-12 Robostar Co., Ltd...

  • Page 42: Functions Of System I/O

    VEL +/MOV + one point has been moved. - One time of the signal can increase 5% each, and the range is 20 to 100%. - Set axis is moved in Jog Mode in the direction of (+). 3-13 Robostar Co., Ltd...
  • Page 43 - Emergency stop signal. If this signal is cut off, the controller stops all SYS_EMG+ operations in progress and turns into an emergency stop (Alarm State). - Refer to 3.7 Emergency Stop Circuit Wiring SYS_EMG- <Caution> Carefully use this signal while in operation. 3-14 Robostar Co., Ltd...
  • Page 44 - This function is the same as ORIGIN OK #1. RUNNING #2 - This function is the same as RUNNING #1. INPOS/INRNG #2 - This function is the same as INPOS/INRNG #1. SERVO ON #2 - This function is the same as SERVO ON #1. 3-15 Robostar Co., Ltd...

  • Page 45: System I/O Circuit Diagram

    REBOOT ORG #1 4.7K START #1 20, 45 ● DC 24V STOP #1 4.7K ● 4.7K SERVO ON #1 ORG #2 START #2 STOP #2 SERVO ON #2 4.7K SYS- SYS_EMG + SYS_EMG - 1,26 2,27 3-16 Robostar Co., Ltd...

  • Page 46: P-Type System I/O Circuit Diagram (Input: Ncom, Output: Pcom)

    ∙ Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts. CAUTION ∙ The external supply voltage has to be DC 24V±10%. ∙ When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. 3-17 Robostar Co., Ltd...
  • Page 47 ■ Step Run Mode : In an advanced function, the execution mode is set to branch to Step Run Mode. ■ Jog Mode : In an advanced function, the execution mode is set to branch to Jog Mode. 3-18 Robostar Co., Ltd...
  • Page 48 - How to execute the first execution job while INTER.Job is being executed. (Execution starts for the fist step of the job) Reset Signal Input, Execution Job No Input, PROG_SEL Input, START Signal Input STOP Signal Input, Execution Job No Input, PROG_SEL Input, START Signal Input 3-19 Robostar Co., Ltd...
  • Page 49 - After the temporary stop and if this signal is additionally “A step number” is input one time, Servo is turned OFF. displayed. - If homing is being executed, the homing is stopped. - During homing: “Org” is displayed. 3-20 Robostar Co., Ltd...
  • Page 50 ▶ MODE_SEL: After M1/A1 and M0/A0 signals are input and if - During homing: the key is pressed, the relevant mode is selected. “Org” is displayed. ▶ STOP: If Alarm is generated, this clears the alarm. 3-21 Robostar Co., Ltd...
  • Page 51 USER IN 12 System/User Input Contact 12 USER IN 13 System/User Input Contact 13 USER IN 14 System/User Input Contact 14 USER IN 15 System/User Input Contact 15 Ref. 1) ‘-‘ sign means the unused pin. 3-22 Robostar Co., Ltd...
  • Page 52 System/User Output Contact 12 USER OUT 13 System/User Output Contact 13 USER OUT 14 System/User Output Contact 14 USER OUT 15 System/User Output Contact 15 12, 24 13, 25 Ref. 1) ‘-‘ sign means the unused pin. 3-23 Robostar Co., Ltd...

  • Page 53: Input/Output Circuit Diagram For User I/O

    ∙ Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts. CAUTION ∙ The external supply voltage has to be DC 24V±10%. ∙ When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. 3-24 Robostar Co., Ltd...

  • Page 54: P-Type User I/O Circuit Diagram (Input: Ncom, Output: Pcom)

    ∙ Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts. CAUTION ∙ The external supply voltage has to be DC 24V±10%. ∙ When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. 3-25 Robostar Co., Ltd...

  • Page 55: Extended User I/O Interface

    If I/O marking on a controller model name is ‘N’ (N-TYPE), Input → Positive Common (24V+) and Output → Negative Common (24V-); If I/O marking on a controller model name is ‘P’ (P-TYPE), Input → Negative Common CAUTION (24V-) and Output → Positive Common (24V+) (Ref.2) 3-26 Robostar Co., Ltd...

  • Page 56: Extended User I/O Connector Configuration & Circuit Diagram

    Extended User Input Contact 44 USER IN 45 Extended User Input Contact 45 USER IN 46 Extended User Input Contact 46 USER IN 47 Extended User Input Contact 47 Ref. 1) ‘-‘ sign means the unused pin. 3-27 Robostar Co., Ltd...
  • Page 57 USER OUT 17 Extended User Output Contact 17 USER OUT 16 Extended User Output Contact 16 N type : GND Common OUT_COM0 P type : VCC Common <Ref.> Refer to I/O Circuit Diagram.  Ref. 1) ‘-‘ sign means the unused pin. 3-28 Robostar Co., Ltd...

  • Page 58: Extended User I/O Circuit Diagram

    ∙ Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts. CAUTION ∙ The external supply voltage has to be DC 24V±10%. ∙ When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. 3-29 Robostar Co., Ltd...

  • Page 59: P-Type Extended User I/O Circuit Diagram (Input: Ncom, Output: Pcom)

    ∙ Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts. CAUTION ∙ The external supply voltage has to be DC 24V±10%. ∙ When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. 3-30 Robostar Co., Ltd...

  • Page 60: I/O Connection Checking

    Display Robostar ① NewRo N1-Series Version: N1-1.05.E1 FPGA: 05(110516) Press ENTER Key ② <MAIN MENU> Enter 1. JOB 2.RUN 3 HOST 4. PARA 5 ORIGIN 6. I/O 7.SYSTEM 8. GLB PNT 9. INT/FLT A.ALARM SELECT # 3-31 Robostar Co., Ltd...
  • Page 61 Input # ② System Output Contact Monitor Screen <I/O-DIO(OUT)> OUT 0123456789ABCDEF PO0:0000000000000000 SS0:0000000000000000 Step 4. Press 「F2」. Then, User Input Contact Monitor Screen appears. User Input Contact Monitor Screen <I/O-DIO(IN)> 0123456789ABCDEF ① PI0 :0000000000000000 SS0:0000000000000000 SS1:00000000000 3-32 Robostar Co., Ltd...
  • Page 62 Robot Connection Method & External Interface Step 5. If 「ESC」 is pressed, a higher level menu screen appears. <I/O MAIN> 1. DIO 2.PLC Input # 3-33 Robostar Co., Ltd...
  • Page 63 Screen Example 2 of <I/O-DIO(OUT)> OUT 0123456789ABCDEF Checking PO0:0000000000000000 User Output Contact SS0:0000000000000000 PgDn If SS0 is intended to be ON(=1)/OFF(=0), first move a cursor (:) <I/O-DIO(OUT)> PO0:→SS0: by OUT 0123456789ABCDEF PO0:0000000000000000 using 「PgDn」 key. SS0:0000000000000000 3-34 Robostar Co., Ltd...
  • Page 64 「PgDn」 key PO0:0000000000000000 SS0:0001000000000000 to change the screen to the system output contact monitor screen. Check ‘RUN1’ Output of No.1 Robot. <I/O-DIO(OUT)> OUT 0123456789ABCDEF PO0:0000000000000000 SS0:0001000000000000 Check ‘ALR1’ Output of No.1 Robot. <I/O-DIO(OUT)> OUT 0123456789ABCDEF PO0:0000000000000000 SS0:0100000000000000 3-35 Robostar Co., Ltd...
  • Page 65 <I/O-DIO(IN)> 0123456789ABCDEF User Input PI0 :0000000000000000 Contact SS0:0000000000000000 SS1:00000000000 On a user output contact monitor screen, press <I/O-DIO(IN)> 「F2」 key 0123456789ABCDEF PI0 :0000000000000000 to change the SS0:1000000000000000 screen to SS1:00000000000 the user input contact monitor screen. 3-36 Robostar Co., Ltd...
  • Page 66 ‘PROG0’ Input 확인 <I/O-DIO(IN)> 0123456789ABCDEF Checking System PI0 : 0000000000000000 Input Contact SS0: 0100000000000000 SS1: 00000000000 On a user input contact monitor screen, press 「PgDn」 key to change the screen to the system input contact monitor screen. 3-37 Robostar Co., Ltd...
  • Page 67 Set Value Description Basic I/O (System I/O (24/12) + User I/O (16/16)) Basic I/O + Option I/O (32/32) VALUE Basic I/O + Option I/O (64/64) Important ▶ N1-SYS I/O is supported by only the first slot. 3-38 Robostar Co., Ltd...
  • Page 68 PO0: 0000000000000000 PO0: 0000001000000000 E.g.) If OUT20 is intended to be ON(=1)/OFF(=0), first move a cursor (:) USR: → OP0: by using PgDn key. OUT 0123456789ABCDEF OUT 0123456789ABCDEF PO0 0000000000000000 PO0 0000000000000000 PO1: 0000010000000000 PO1: 0000000000000000 3-39 Robostar Co., Ltd...
  • Page 69 S S 0 : 1 1 0 0 0 0 1 1 1 0 0 0 1 1 1 0 S S 1 : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3-40 Robostar Co., Ltd...

  • Page 70: Emergency Stop Circuit Wiring

    ∙ Since, if Teaching Pendant is not connected to the circuit, ‘T/P Emergency Alarm’ is generated, be sure to have the teaching pendant be connected to the circuit or to connect to it Teaching Pendant Dummy Connector supplied by Robostar. 3-41...

  • Page 71: Chapter 4 About Teaching Pendant

    Teaching Pendant Robot controller <Figure 4.1.2> Connection of Teaching Pendant After connector connection, be sure to engage a CAUTION screw-lock of the connector. If the connector is unexpectedly separated, the controller will fall into the emergency state. Robostar Co., Ltd...

  • Page 72: Using Controller Without Teaching Pendant

    ‘Pendant Dummy Connector’ to it. In order to operate the robot without using the teaching pendant, an I/O control signal must be received from the external device. <<Using Connector without Pendant>> Pendant Dummy Connector Pin Connection Connect ‘Pin 14(/TP_EMG_NC)’ with ‘Pin 1 or Pin 2 (GND)’. Robostar Co., Ltd...

  • Page 73: Exterior Apperance & Manipulation Method

    Number & Signs key ∙ Servo ON/OFF in point ∙ Change to Edit mode when in teaching(CURR) program correction ∙ Torque monitoring while in ∙ Entering symbols when in program operation writing Z-axis brake ON/OFF in point teaching(CURR) Robostar Co., Ltd...
  • Page 74 ∙ Servo ON/OFF in point teaching(CURR) ∙ Torque monitoring while in operation Number & Signs key ∙ Change to Edit mode when in program correction ∙ Entering symbols when in program Z-axis brake ON/OFF in writing point teaching(CURR) Robostar Co., Ltd...

  • Page 75: Function Of Manipulation Keys

    A cursor can be moved on a basis of screen. ▶ ‘Pg Up’ key moves up a screen, and ‘Pg Dn’ key moves Pg Up Pg Dn down a screen. If these keys are used in point teaching, the point number can be increased or decreased. Robostar Co., Ltd...
  • Page 76 Used to input the desired data. ▶ Usage is dependent on a mode. ENTER E.g.) Parameter mode→ The sign changes whener this key is pressed. JOB mode→ This key is used to input the command when writing a program. Robostar Co., Ltd...
  • Page 77 ▶ JOG movement and INCH movement can be performed. 12) Character Key ▶ Used to enter the characters. ▶ Used to type JOB name, or to enter variable name, label name, sub-execution sentence name in commands. Robostar Co., Ltd...
  • Page 78 On a point teaching (CURR) screen, the brake of each axis can be turned on/off. ▶ While in operation (RUN mode), robot moving velocity is △ increased. ▶ While in operation (RUN mode), robot moving velocity is `` ▽ decreased. Robostar Co., Ltd...

  • Page 79: Deadman Switch

    If the Deadman Switch is turned OFF, the robot does not operate or stops while in operation. To use such deadman function, T/P of System Parameter is to be set to DEADMAN S/W to enable the function. CAUTION Robostar Co., Ltd...

  • Page 80: Chapter 5 Controller Alarm Code Table

    Positional error due to operation error of a controller RESET E1168 Servo ON POS Error Amount of rotation of a motor exceeds the permissible value when in Servo ON RESET E1169 TASK EXIT FAIL Abnormal system task in the controller POWER ON/OFF 5-10 Robostar Co., Ltd...

  • Page 81: Run Time Alarms

    Point data of Master and Slave of synchronizing axes do not match RESET E1235 Data Miss match SLV3 Point data of Master and Slave of synchronizing axes do not match RESET E1237 Not find Fieldbus Setups of Fieldbus card and system parameters (FDBUS-CARD) are not identical RESET 5-11 Robostar Co., Ltd...

  • Page 82: Job Compile Alarms

    The coordinate of Axis 1 entered in X,Y mode deviates from the setup range E1416 IK Range Over 1 Axis RESET of the system parameter (RANG) E1417 IK Range Over 2 Axis The coordinate of Axis 2 entered in X,Y mode deviates from the setup range RESET 5-12 Robostar Co., Ltd...

  • Page 83: Communicaton

    E2131 SYNC SIGNAL Err 1 SM Failure in Sync signal for synchronization of the servo module 1 RESET E2132 SYNC SIGNAL Err 2 SM Failure in Sync signal for synchronization of the servo module 2 RESET 5-13 Robostar Co., Ltd...

  • Page 84: Servo Amp

    RESET parameter (E-STOP->OVS) in urgently stopping the no.5 axis When the motor rate of rotation goes beyond the set value of the system E2183 E-STOP OVS6 AXIS RESET parameter (E-STOP->OVS) in urgently stopping the no.6 axis 5-14 Robostar Co., Ltd...
  • Page 85 Positional error value of Axis 5 motor exceeds the setup value range of the E2218 Following Err 5 AXIS RESET system parameter (FOW) Positional error value of Axis 6 motor exceeds the setup value range of the E2219 Following Err 6 AXIS RESET system parameter (FOW) 5-15 Robostar Co., Ltd...

  • Page 86: Encoder

    There is no reply from a communicational encoder of Axis 2 motor in a servo E2245 Enc Timeout 2 AXIS RESET module E2246 Enc Timeout 3 AXIS There is no reply from a communicational encoder of Axis 3 motor in a servo RESET 5-16 Robostar Co., Ltd...
  • Page 87 Multi-turn data overflow of an absolute encoder of Axis 3 RESET E2277 Enc Over Flow 4 AXIS Multi-turn data overflow of an absolute encoder of Axis 4 RESET E2278 Enc Over Flow 5 AXIS Multi-turn data overflow of an absolute encoder of Axis 5 RESET 5-17 Robostar Co., Ltd...
  • Page 88 Failure in an internal EEPROM of a servo module of Axis 5 RESET E2297 SV ParaRom Err 6 AXIS Failure in an internal EEPROM of a servo module of Axis 6 RESET E2298 Fac. Para Err 1 AXIS Failure in the parameter of Axis 1 RESET 5-18 Robostar Co., Ltd...
  • Page 89 Failure in the parameter of Axis 4 RESET E2302 Fac. Para Err 5 AXIS Failure in the parameter of Axis 5 RESET E2303 Fac. Para Err 6 AXIS Failure in the parameter of Axis 6 RESET 5-19 Robostar Co., Ltd...

  • Page 90: Controller Manual

    Revised Rev. Description Revisor Date Version 2012.07.30 First Edition Printed Hong 2013.02.25 Hong 4-axis Controller integrated 6-axis N1 ROBOT CONTROLLER CONTROLLER MANUAL FIRST EDITION JULY 2012 ROBOSTAR CO., LTD. ROBOT R&D CENTER Robostar Co., Ltd.

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