igus ReBeL Manuals

Manuals and User Guides for igus ReBeL. We have 1 igus ReBeL manual available for free PDF download: User Manual

igus ReBeL User Manual (66 pages)

Software and Electronics

Brand: igus | Category: Robotics | Size: 10.75 MB

Table of Contents
3
Introduction
6
Contact
6
Intended Use
7
Target Group and Qualification
7
Symbols Used
7
Product Safety
7
Regulations
7
System Overview
8
Specifications
8
Mechanical Dimensions
9
Safety Instructions
10
Requirements
11
Environmental Conditions
11
Software Requirements
11
Quick Start Guide
12
Set up and Connect
12
Switch on
13
Connecting and Moving the Robot
13
Preparation with the Integrated Computer
13
Moving the Robot for the First Time
13
Moving the Robot with Irc
16
The Graphical User Interface
16
Selecting the Type of Robot
17
Navigation and Movement of the Robot in the 3D View
18
Connecting the Robot
18
Hardware Connection
18
Move the Robot
19
Referencing the Robot
19
Step by Step Guide of Referencing
19
Moving the Robot
20
Starting Robot Programs
21
Digital Inputs and Outputs
23
Software Interfaces
23
Updating the Software
23
Programming a Robot with Irc
24
Program Editor
24
Changing the Command Sequence
24
Touching up Positions
25
Set Start Command
25
Comments and Information Within the Program
26
Information about the Program
26
Descriptions
26
Comments
26
Motion
26
Abort Conditions
26
Acceleration and Smoothing
26
Joint Motion
27
Linear Motion
28
Relative Motion
29
Circular Motion
29
Set Velocity
30
Gripper and Digital In-/Outputs
30
Digital Inputs
30
Digital Outputs
30
Opening/Closing the Gripper
30
Program Flow
31
Conditions
31
Stop
31
Pause
31
Wait
32
If-Then-Else
32
Loops
32
Matrices / Palettizing
32
Subprograms
34
Variables and Variable Access
34
User-Defined Variables
34
System Variables
35
Accessing Elements
35
Calculating with Variables
36
Observing Variables
36
Camera
36
Hardware Configuration
38
In-/Outputs
38
Electrical Integration
38
Software-Configuration
39
Connecting Sensors and Buttons at the Base
40
Connecting Sensors and Buttons at the Robot Arm
40
Connect Actuator at the Arm
40
Motor Brake
41
Motor Control Configuration
41
Software Configuration
42
Project Configuration
43
Program
43
Tool
43
Inputs/Outputs
43
Virtual Box
43
Interfaces
44
PLC Interface
44
Program Selection Via Digital Inputs
45
Modbus
45
CRI Interface
45
Camera Interface
46
Network
48
Cloud
48
Secure Shell Access
49
SFTP Access
50
Uninterruptible Power Supply (UPS)
51
Advanced Configuration
52
Modbus
53
Licensing
53
Configuration of the Modbus Server
53
TIA-Portal Library
53
Creating the Robot Data Block
53
Inserting the Robot Communication FB
54
Data Access
54
Address Mapping
55
Coils and Discrete Inputs - 1 Bit, Read Only
56
Input Registers - 16 Bit, Read Only
58
Holding Registers - 16 Bit, Read and Write
59
Number and Position Variables
60
Meaning of Enumeration Values
61
Maintenance
64
Cleaning
64
Troubleshooting
65
Frequently Asked Questions
65
Error Codes and Solutions
65
Test Software Module Control
65
Support Contact
66

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igus ReBeL User Manual (66 pages)

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