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Delta SCARA DRS50L Series Robotics Manuals
Manuals and User Guides for Delta SCARA DRS50L Series Robotics. We have
1
Delta SCARA DRS50L Series Robotics manual available for free PDF download: User Manual
Delta SCARA DRS50L Series User Manual (203 pages)
Robot Syetem
Brand:
Delta
| Category:
Robotics
| Size: 6.42 MB
Table of Contents
Table of Contents
12
1 Warning Label Explanations
22
DRS40L/50L/60L/70L/60H CE Series Sticker Label Location
23
Figure1. 1 DRS40/50/60/70L CE Series Warning Sticker Locations
23
Figure1. 2 DRS60H CE Series Warning Sticker Locations
24
Table1. 1 DRS CE Series Warning Sticker Content Descriptions
24
Figure1. 3 DRS CE Series Robot Head Sticker Location
26
Figure1. 4 DRS CE Series Robot Rear and Base Details Sticker Location
26
DCS Controller Sticker Mark Location
27
Figure1. 5 DCS Controller Warning Sticker Location
27
Table1. 2 Warning Sticker Content Explanation
27
DRS CE Series Robot Nameplate Description
28
Figure1. 6 DRS CE Series Robot Nameplate Figure
28
Table1. 3 DRS CE Series Robot Nameplate Description
28
2 Transport and Installation
29
Transportation
30
Figure2. 1 Transportation Device Type
30
Figure2. 2 Fork Lift Transportation Illustration
30
Figure2. 3 DRS40L/50L/60L/70L Series Package Removal Figure
31
Figure2. 4 DRS60H Series Package Removal Figure
31
Figure2. 5 DRS40L/50L/60L/70L Series Transportation Method
32
Figure2. 6 DRS60H Series Transportation Method
32
Installation
33
SCARA Robot Main Body Installation
35
Figure2. 7 Robot Installation Screw Lock Position
35
Figure2. 8 DRS60H Installation
35
Table2. 1 Robot Installation Lock Torque Table
35
Table2. 2 Installation Conditions
36
Controller Installation
37
Figure2. 9 Power Control Box Installation Space
37
Figure2. 10 Power Control Box Door Open Space
38
Figure2. 11 Power Control Box Fixture Method
38
3 Robot Safety Protection
39
Robot Safety Protection
40
Robot Safety Protection Construction and Installation
41
Emergency Stop Device Installation
41
Figure3. 1 Emergency Stop Button
41
Figure3. 2 Emergency Stop Switch Re-Set Method
41
Figure3. 3 Emergency Stop Safety Disconnect Symbol
41
Emergency Pull-Rope Device Installation
42
Figure3. 4 Safety Pull-Rope Switch Construction Example
42
Railings Installation
43
Figure3. 5 Correct Railings Installation Height
43
Safety Gratings Installation
44
Figure3. 6 DRS40L./50L/60L/70L CE Series Safety Grating Installation Distance
44
Figure3. 7 DRS60H6 CE Safety Grating Installation Distance
44
Safety Mat Installation
45
Figure3. 8 DRS40L/50L Series Safety Mat Laying Range
45
Figure3. 9 DRS60L/70L Series Safety Mat Laying Range
46
Figure3. 10 DRS60H Series Safety Mat Laying Range
46
Laser Scanner
47
Figure3. 11 Laser Scanner Installation Illustration
47
4 Specifications and Dimensions
48
DRS40L Series Robot Specifications
49
Table4. 1 DRS40L Series Robot Specification Table
49
DRS50L Series Robot Specifications
50
Table4. 2 DRS50L Series Robot Specification Table
50
DRS60L3 Series Robot Specifications
51
Table4. 3 DRS60L3 Series Robot Specification Table
51
DRS60L6 Series Robot Specifications
52
Table4. 4 DRS60L6 Series Robot Specification Table
52
DRS70L Series Robot Specifications
53
Table4. 5 DRS70L Series Robot Specification Table
53
DRS60H Series Robot Specifications
54
Table4. 6 DRS60H Series Robot Specification Table
54
DCS Controller Specifications
55
Table4. 7 DCS Controller Specifications
55
Dimensions
56
DRS40L Series Robot Arm Dimensions
56
DRS50L Series Robot Arm Dimensions
57
Figure4. 1 DRS40L Series Dimensions Figure
57
Figure4. 2 DRS50L Series Dimensions Figure
58
DRS60L3 Series Robot Arm Dimensions
60
DRS60L6 Series Robot Arm Dimensions
61
Figure4. 3 DRS60L3 Series Dimensions Figure
61
DRS70L Series Robot Arm Dimension
62
Figure4. 4 DRS60L6 Series Dimensions Figure
62
Figure4. 5 DRS70L Series Dimensions Figure
64
DRS60H Series Robot Arm Dimension
65
Figure4. 6 DRS60H Series Dimensions Figure
65
DCS Controller Dimensions
66
Figure4. 7 Controller Dimensions Figure
66
5 Hardware Point
67
DRS 3Kg Series Limit Hardware Point
68
Figure5. 1 DRS 3Kg Series Limit Hardware Point Installation Illustration
68
Table5. 1 DRS 3Kg Series Limit Hardware Point Locking Torque
68
DRS 6Kg Series Limit Hardware Point
69
Figure5. 2 DRS 6Kg Series First Arm Limit Hardware Point Installation Illustration
69
Figure5. 3 the Installation Position of the First Arm Limit Point of DRS 6Kg Series
69
Figure5. 4 DRS 6 Kg Series Second Arm Limit Hardware Point Installation Illustration
70
Table5. 2 DRS 6Kg Series Hardware Point Locking Torque
70
Table5. 3 DRS 6Kg Series Hardware Point Locking Torque
70
DRS60H Series Limit Hardware Point
71
Figure5. 5 DRS60H First Arm Limit Hardware Point Installation Illustration
71
Figure5. 6 DRS60H6 Second Arm Limit Hardware Point Installation Illustration
71
Table5. 4 DRS60H Series First Arm Active Hardware Point Locking Torque
71
DRS40L3 Series Active Hardware Point
72
Figure5. 7 DRS40L3 Series First Arm Active Point Position and the Various Operation Ranges
72
Table5. 5 DRS40L3 Series Point Screw Locking Torque
72
Figure5. 8 DRS40L3 Second Arm Active Point Position and Working Ranges
73
Table5. 6 DRS40L3 Series Second Arm Active Point Locking Torque
73
DRS60L3 Series Active Hardware Point
74
Figure5. 9 DRS60L3 Series First Arm Active Point Position and the Various Operation Ranges
74
Table5. 7 DRS60L3 Series Point Screw Locking Torque
74
Figure5. 10 DRS60L3 Second Arm Active Point Position and Working Ranges
75
Table5. 8 DRS60L3 Series Second Arm Active Point Locking Torque
75
DRS 50L6/60L6/70L 6 Kg Series Active Hardware Point
76
Figure5. 11 the Installation Position of the First Arm Limit Point of DRS50L6 Series
76
Table5. 9 DRS50L6 Series First Arm Active Hardware Point Locking Torque
76
Figure5. 12 the Installation Position of the First Arm Limit Point of DRS60L6 Series
77
Table5. 10 DRS60L6 Series First Arm Active Hardware Point Locking Torque
77
Figure5. 13 the Installation Position of the First Arm Limit Point of DRS70L6 Series
78
Figure5. 14 DRS 6Kg Series Installation Position of the Second Arm Active Point and Angle
78
Table5. 11 DRS70L6 Series First Arm Active Hardware Point Locking Torque
78
DRS 60H Series Active Hardware Point
79
Figure5. 15 the Installation Active Hardware Position of the First Arm Limit Point of DRS60H Series
79
Table5. 12 DRS60H Series First Arm Active Hardware Point Locking Torque
79
Figure5. 16 DRS60H Series Installation Position of the Second Arm Active Point and Angle
80
Table5. 13 DRS60H Series Second Arm Active Point Locking Torque
80
DRS CE Series Active Hardware Point
81
Figure5. 17 DRS 3Kg Series Z Axis Active Hardware Adjustment Position
81
Figure5. 18 DRS 6Kg Series Z Axis Active Hardware Adjustment Position
81
Figure5. 19 DRS60H Series Z Axis Active Hardware Adjustment Position
82
6 Robotparts Descriptions
83
DRS 3Kg Series Robot Parts Descriptions
84
Figure6. 1 DRS 3Kg Series Appearance Figure
84
Figure6. 2 Internal Components of the DRS 3Kg Series Robot Base
84
Figure6. 3 Internal Components of the DRS 3Kg Series Second Arm
85
DRS 6Kg Series Robot Parts Descriptions
86
Figure6. 4 DRS 6Kg Series Appearance Figure
86
Figure6. 5 Internal Components of the DRS 6Kg Series Robot Base
86
Figure6. 6 Internal Mechanisms and Components of the DRS 6Kg Series Second Arm
87
DRS 60H Series Robot Parts Descriptions
88
Figure6. 7 DRS60H Series Appearance Figure
88
Figure6. 8 Internal Components of the DRS60H Series Robot Base
88
Figure6. 9 Internal Mechanisms and Components of the DRS60H Series Second Arm
89
DRS Robot Operation Directions
90
Table6. 1 DRS Series Robot Coordinates Description
90
DRS 3Kg Series Buttons and Lamps
91
Figure6. 10 DRS 3Kg Series Break Release Button Position
91
Figure6. 11 DRS 3Kg Series Break Release Attention
91
DRS 3Kg Series Lamp Descriptions
92
Figure6. 12 DRS 3Kg Series Lamp Location
92
DRS 6Kg Series Buttons and Lamps
93
Figure6. 13 DRS 6Kg Series Break Release Button Position
93
Figure6. 14 DRS 6Kg Series Break Release Attention
94
Figure6. 15 DRS 6Kg Series Lamp Location
94
DRS60H Series Air Hose and Signal Connector Configuration
95
Figure6. 16 DRS60H Series Break Release Attention
95
Figure6. 17 DRS60H Series Break Release Attention
96
Figure6. 18 DRS60H Series Lamp Location
96
DRS CE Series Air Hose and Signal Connector Configuration
97
Figure6. 19 Installation Location of DRS 3Kg Series Air Hose Connector
97
Figure6. 20 Installation Location of DRS 6Kg Series Air Hose Connector
97
Figure6. 21 Installation Location of DRS60H Series Air Hose Connector
98
Figure6. 22 Air Hose Burst Pressure Table
98
Figure6. 23 Signal Connector Wiring Table
99
DRS CE Series Battery Location
100
Figure6. 24 DRS CE Series Battery Location
100
Figure6. 25 DRS60H Series Battery Location
100
7 Wiring
101
Controller Peripheral Interface
102
Introduction to the Controller Interface
103
Figure7. 1 Power Control Box Interface Peripheral Combination
103
Figure7. 2 DCS Robot Control Box Connection Definitions
103
Figure7. 3 Power Cable Penetrating the Forced Connector
104
Main Circuit Power Connection
104
Table7. 1 Main Circuit Power Specification Table
104
Table7. 2 Forced Connector Specification Table
104
Figure7. 4 Power Breaker Location
105
Figure7. 5 Primary Power Breaker Protection Cover Location
105
Figure7. 6 Power Cable and Ground Cable Installation Location
106
Figure7. 7 Add Filter & Reactor to the Controller Power
106
Figure7. 8 Robot Connecting Seat
107
Figure7. 9 Robot Standard Connection Cable
107
Robot Connectors
107
External Encoder Connector
108
Figure7. 10 External Encoder Connection Seat
108
Table7. 3 External Encoder Connector Pin Definition Table
108
Figure7. 11 User Output Input Connector Seat
109
Table7. 4 User Digital Output Input Connector Pin Definition Table
109
User.DI/O
109
Figure7. 12 NPN Wiring for When the Input Signal DI Uses Power of the Controller Itself
110
Figure7. 13 PNP Wiring for When the Input Signal DI Uses Power of the Controller Itself
110
Figure7. 14 Input Signal DI Connected to Upper Controller Using NPN Connection
111
Figure7. 15 Input Signal DI Connected to Upper Controller Using PNP Connection
111
Figure7. 16 User DO Controller Voltage Output NPN Wiring
112
Figure7. 17 User DO Controller Voltage Output NPN Wiring
112
Figure7. 18 User DO Controller Voltage Mixed Output Wiring
112
Figure7. 19 User DO Upper Controller Voltage Output NPN Wiring
114
Figure7. 20 User DO Upper Controller Voltage Output PNP Wiring
114
Figure7. 21 User DO Upper Controller Voltage Mixed Output Wiring
114
Figure7. 22 System Output Input Connector Seat
116
System Digital Output Input Connectors
116
Table7. 5 System Pin Definition Table
116
Figure7. 23 DC Output Connector Location
117
Figure7. 24 Input Signal DI Wiring
117
Figure7. 25 System DO Controller Voltage Output NPN Wiring
118
Figure7. 26 System DO Controller Voltage Output PNP Wiring
118
Figure7. 27 System DO Controller Voltage Mixed Output Wiring
118
Figure7. 28 System DO Upper Controller Voltage Output NPN Wiring
119
Figure7. 29 System DO Upper Controller Voltage Output PNP Wiring
119
Figure7. 30 System DO Upper Controller Voltage Mixed Output Wiring
119
Table7. 6 DI4, DI5 Mode Selection Truth Table
120
Figure7. 31 Two-Stage Key Switch Figure
121
Figure7. 32 Mode Selection Symbol
121
Figure7. 33 Mode Selection Switch Installation Location
121
Figure7. 34 Reset Button Installation Location
122
Table7. 7 Program Execution Signal Truth Table
122
Table7. 10 SYS.DO3 Status Descriptions
123
Table7. 11 SYS.DO4 Status Descriptions
123
Table7. 8 SYS.DO1 Status Descriptions
123
Table7. 9 SYS.DO2 Status Descriptions
123
Table7. 12 SYS.DO5 Status Descriptions
124
Table7. 13 SYS.DO7 Status Descriptions
124
Figure7. 35 Safety Connector Seat
125
Safety Connector
125
Table7. 14 Safety Connector Pin Definition Table
125
Figure7. 36 Wiring Example of a Single Emergency Stop Button
126
Figure7. 37 Wrong Wiring of a Single NC Emergency Stop
127
Figure7. 38 Wrong Wiring of a Single NC Emergency Stop with Safety Signal Connected
127
Figure7. 39 Wiring Example of Multiple Emergency Stop Buttons
128
Figure7. 40 Wiring Figure of Multiple Safety Protection Devices (for Fance)
128
Figure7. 41 Safety Door Switch Figure
130
Figure7. 42 Electromagnetic Safety Switch Wiring
130
Direct Current Output Connector
131
Figure7. 43 DC Output Connector Location
131
Table7. 15 DC Output Pin Definition
131
Figure7. 44 Communication Connector Seat
132
Figure7. 45 TP Enable Switch Icon
132
Handheld Teach Pendant Connector
132
Figure7. 46 TP Enable Switch Icon
133
Figure7. 47 Correct Way to Hold the TP
134
Figure7. 48 TP Handheld Teach Pendant
134
Figure7. 49 TP Installation Location
134
Figure7. 50 RS-232/485 Connector Location
135
Serial Transmission (RS-232, RS-485)
135
Table7. 16 Serial Transmission (RS-232, RS-485) Connector Function Definition Table
135
Communication Port (ETHERNET)
136
Figure7. 51 Communication Port
136
Communication Port (DMCNET)
137
Figure7. 52 DMCNET Communication Port
137
Figure7. 53 DMCNET Connection Icon
137
Figure7. 54 Power Control Box with External Driver System Architecture
138
Figure7. 55 ASD-DMC-RM32MN
139
Figure7. 56 ASD-DMC-RM32NT
139
8 Installation and Operation
140
Robot and Power Control Box Installation
143
Robot Installation
143
Figure8. 1 Robot Installation Screw Lock Position
143
Controller Installation
144
Figure8. 2 Controller Cooling
144
Figure8. 3 Controller Installation Cooling Distance
145
Figure8. 4 Controller Installation Height
145
Figure8. 5 Controller Box Door Open Space
146
Figure8. 6 Controller Installation Fixture Method
146
Safety Protection Device Construction
147
Railing Construction Notes
147
Figure8. 7 Key Safety Switch
147
Figure8. 8 Safety Railing Signal Installation Example
148
Figure8. 9 Wiring Example of Multiple Safety Railing Signals
148
Emergency Stop Installation Notes
149
Figure8. 10 Example of Installing Multiple Emergency Stop Switches Outside the Railing
149
Figure8. 11 Example of Installing Multiple Emergency Stop Buttons Inside the Railing
150
Figure8. 12 Wiring Example of Multiple Emergency Stop Buttons
150
Wiring
151
Figure8. 13 User Interface Installation Height
151
Figure8. 14 Robot Cable Connection Figure
152
Figure8. 15 Locking the Connector Fixture Seat
152
Figure8. 16 Air Pipe Path Inside the Robot
153
Figure8. 17 Detailed Locations of the Robot Air Pipes
154
Figure8. 18 Signal Path Inside the Robot
155
Figure8. 19 Wiring Example Connecting the Sensor Using the Robot Connector
156
Inspection before Power Transmission
157
Emergency Stop Signal Check
157
Figure8. 20 Reset Emergency Stop Signal and Measure Pin1 and 2
157
Figure8. 21 Reset Emergency Stop Signal and Measure Pin3 and 4
157
Figure8. 22 Press the Emergency Stop Signal and Measure Pin1 and 2
158
Figure8. 23 Press the Emergency Stop Signal and Measure Pin3 and 4
158
Railing Safety Signal Check
159
Figure8. 24 Turn off Railing Safety Signal and Measure Pin5 and 6
159
Figure8. 25 Turn off Railing Safety Signal and Measure Pin7 and 8
159
Figure8. 26 Turn on Railing Safety Signal and Measure Pin5 and 6
160
Figure8. 27 Turn on Railing Safety Signal and Measure Pin7 and 8
160
Robot Cable Check
161
Figure8. 28 Location of Robot Cable to Check
161
Controller DI/O Signal Check
162
Air Hose Installation Check
163
Figure8. 29 Location of Robot Air Hose to Check
163
Input Power Check
164
Figure8. 30 Controller Power Switch Primary Power Check
164
Figure8. 31 Controller Grounding Cable Check
164
Safety Protection Device Check
165
Initial Operation
166
Initial Operation Risk Notification
166
Figure8. 32 Location of Robot to be Careful Not to Get Pinched
166
Figure8. 33 Location to be Careful of When the Z-Axis Slides down
167
Figure8. 34 Working Area and Safe Area of the Robot Inside the Railing
168
When Operating TP for the First Time
169
Figure8. 35 Teach Pendant Connection Location
169
Figure8. 36 Location of the Emergency Stop Button on the Teach Pendant
169
Figure8. 37 Location of the Enable Switch Behind the Teach Pendant
170
Figure8. 38 Servo Button Position on Teach Pendant Screen
170
Figure8. 39 Location of Teach Pendant Physical Buttons
171
Figure8. 40 TP Short-Circuit Connector Figure
171
Abnormal Condition Disposal
172
How to Save Injured Workers
173
Figure8. 41 Press the Emergency Stop Button
173
Figure8. 42 Push Robot Figure
173
Figure8. 43 Save Worker by Lifting Z-Axis
174
How to Turn off the Power
175
Figure8. 44 Turn off the Controller Power
175
Figure8. 45 Place a Lock on the Power Switch
175
9 Maintenance
176
DRS CE Series Inspection Table
177
Table9. 1 DRS CE Series Inspection Table
177
Table9. 2 Oil Table of the Maintenance Oil for each Axis Parts
178
Robot Battery Maintenance and Replacement
179
Table9. 3 Battery Specification Table
179
Figure9. 1 DRS CE Series Battery Location
180
10 Bill of Materials
181
DCS Controller Bill of Materials
182
Figure10. 1 Controller Internal Parts Layout
182
11 Simple Troubleshooting
185
Fuse Replacement
186
Table11. 1 Fuse Specifications and Corresponding Fault Status List
186
Table11. 2 Fuse Replacement Steps
187
Troubleshooting Temperature of Power Control Box Being too High
188
Table11. 3 Temperature Sensor Component Specifications
188
Abnormality Warning List
189
Table11. 4 Group Abnormality Warning Codes
189
Table11. 5 Axis Category Abnormality Warning Code Number
190
Abnormality Warning Cause and Disposal Method
192
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