Motoman PX2850 Manuals

Motoman PX2850 Manuals

Manuals and User Guides for Motoman PX2850. We have 1 Motoman PX2850 manual available for free PDF download: Manual

Motoman PX2850 Manual

Motoman PX2850 Manual (611 pages)

XRC 2001 Controller Manipulator Manual

Brand: Motoman | Category: Controller | Size: 22 MB

Table of Contents

Table of Contents

3
1 Safety

21
- 1 Safety
  
  25
  - For Your Safety
    25
  - Special Training
    27
  - Motoman Manual List
    27
  - Personnel Safety
    28
  - Motoman Safety
    30
    
    Installation and Wiring Safety
    30
    
    Work Area Safety
    34
    
    Operation Safety
    35
  - Notes for Moving and Transferring the MOTOMAN
    38
  - Notes on MOTOMAN Disposal
    39
- 2 Product Confirmation
  
  41
  - Contents Confirmation
    41
  - Order Number Confirmation
    42
- 3 Installation
  
  43
  - Handling Procedure
    43
    
    Using a Crane to Move the Controller
    43
    
    Using a Forklift to Move the Controller
    44
  - Place of Installation
    44
  - Location
    45
  - Mounting the Controller
    46
- 4 Connection
  
  47
  - Notes on Cable Junctions
    48
  - Power Supply
    49
    
    Three-Phase Power Supply
    49
    
    Leakage Breaker Installation
    50
    
    Noise Filter Installation
    50
    
    Primary Power Supply Switch Installation
    51
  - Connection Methods
    52
    
    Connecting the Primary Power Supply
    52
    
    Connecting the Power Supply
    55
    
    Connecting the Programming pendant
    57
- 5 Turning on the Power Supply
  
  59
  - Turning on the Main Power Supply
    59
    
    Startup Diagnostics
    59
    
    When Startup Diagnostics Are Complete
    60
  - Turning on the Servo Power
    60
    
    During Play Mode
    60
    
    During Teach Mode
    61
  - Turning the Power off
    62
    
    Turning the Main Power off
    62
    
    Turning the Servo Power off (Emergency Stop)
    62
- 6 Test of Program Operation
  
  63
  - Movement of the Axes
    65
  - Home Position Confirmation
    67
    
    Operating Procedure
    69
- 8 Final Notes
  
  71
1 Safety Precautions

78
- 1 Safety Precautions
  
  81
- 2 Features
  
  83
  - Methods of Protection
    83
  - Teaching
    83
- 3 Installation
  
  85
  - Requirements
    85
  - Installation Site
    86
- 4 Handling and Installation
  
  88
  - Preparation
    88
  - Receiving and Handling
    88
  - Installation of MOTOMAN
    89
    
    Installation of Manipulator
    90
    
    Safeguard Installation
    90
    
    Common Base
    91
    
    When the Manipulator and Mounting Fixture Are Installed on a
    91
    
    Location
    92
    
    Controller and Programming pendant
    93
    
    Safety Devices
    93
- 5 Connection
  
  94
  - Wiring
    94
    
    Grounding
    94
  - Cable Connection
    95
    
    Connection to the Manipulator
    95
    
    Connection to the XRC
    96
    
    Metal Pipe Construction
    97
    
    Power Cable Construction Method Example
    97
    
    The Cables & Air-Tubing Connection(Procedure)
    98
  - Internal Wiring
    98
- 6 System Configuration
  
  102
  - Manipulator
    102
  - Robot Controller
    105
  - Pneumatic Unit
    105
  - O-Ring in the Wrist
    107
- 7 Basic Specifications
  
  108
  - Wrist Flange
    110
  - System Application
    112
- 8 Frequent Inspections
  
  113
  - Daily Inspections
    115
    
    Dried Paint, Dust, and Dirt
    115
    
    Manipulator
    115
    
    Tubes
    115
    
    Visual Inspection
    115
    
    Air Leakage
    116
    
    Drained Water from Air Filter
    116
    
    Emergency Stop Button and Safety Plug
    116
    
    Noise and Vibration During Operation
    116
    
    Pneumatic Unit
    116
    
    Pressure
    116
    
    Safety Devices
    116
    
    Gun Tilt Switching
    117
    
    Limit Switch
    117
    
    Options
    117
    
    Photoelectric Intrusion Detecting Switch
    117
    
    Shear Pin
    117
- 9 Maintenance and Inspection
  
  118
  - Inspection Schedule
    118
  - Maintenance for Manipulator
    121
    
    Grease Replenishment/Replacement
    121
    
    Gears
    122
    
    Harmonic Drive Speed Reducer
    123
    
    RV Speed Reducer
    124
    
    Cross Roller Bearing
    126
    
    Lubricating Oil Replacement for R- and B-Axes
    127
    
    Speed Reducers
    127
    
    Tightening Bolts
    127
    
    Air Sealings for Internal Air Pressure
    129
    
    Packing on the Motor Case
    129
    
    Wrist Speed Reducer and Bearing
    129
    
    Manipulator Base Box Cover Packings
    131
  - Maintenance and Inspection of the Pneumatic Unit
    132
    
    Pressure Reducing Valve
    132
    
    Solenoid Valve
    132
  - Inspection of Explosion-Proof Devices
    132
    
    Master Valve
    132
    
    Pressure Switch
    132
    
    Pressurized Explosion-Proof Barrier
    133
    
    Recommended Spare Parts
    134
  - Parts List(PX2750-B30)
    138
  - Parts List(PX2850-B10)
    150
  - Parts List(PX2850-B20)
    162
6 Yasnac Xrc Specification

197
- YASNAC XRC Specification
  
  199
- 6L6 Specification List
  
  201
- 6L4 Function List
  
  202
- Programming pendant
  
  203
- Equipment Configuration
  
  204
  - L6 Arrangement of Units and Circuit Boards
    204
    
    Configuration
    204
  - L4 Cooling System of the Controller Interior
    210
- Description of Units and Circuit Boards
  
  211
- 4L6 Power Supply Unit
  
  212
- 4L4 Brake Release Unit
  
  214
  - 4L4L6 Operation Methods
    214
- CPU Rack
  
  215
  - L6 CPU Rack Configuration
    215
  - L4 Circuit Board in the CPU Rack
    215
    
    System Control Circuit Board (JANCD-XCP01)
    215
    
    Control Power Supply Unit (CPS-150F)
    216
    
    Wiring WAGO Connector
    217
    
    Wiring PHOENIX Connector
    219
    
    Direct in
    222
    
    Connected Jumper Leads before Shipment
    223
    
    Deadman Switch Signal Output
    224
    
    Connection to I/O External Power Supply
    225
    
    FORCE (Forced Reset)
    226
    
    FST (Full-Speed Test)
    227
    
    Hanger Switch (HSW)
    228
    
    1St Safety Speed and 2Nd Safety Speed
    229
    
    Safety Plug Input Signal
    232
  - L4 General I/O Circuit Board (JARCR-XCI03)
    232
    
    Connection Wire with General I/O (CN10, 11, 12, 13)
    233
    
    Specific I/O Signal Related to Start and Stop
    234
    
    L_ Power on Unit (Jzrcr-Xsu)
    236
  - 4L_L6 Power on Circuit Board (JARCR-XCT01)
    237
    
    Connection of Shock Sensor
    237
    
    Method of Connecting External Axis Overrun Signal
    238
    
    Servo on Enable Input (ON_EN1 and 2)
    239
- Servopack
  
  240
  - L6 SERVOPACK Configuration
    240
    
    Amplifier
    249
    
    Converter
    249
    
    L4 Description of each Unit
    249
    
    Servo Control Power Supply (JUSP-RCP01AA#)
    249
    
    Speed Monitor Board (Jancd-Xfc)
    249
  - 4La Playback Panel
    250
    
    Contact Output for Emergency Stop Button
    250
  - 4Lb General I/O Signal Assignment
    251
    
    4Lbl6 Arc Welding
    251
    
    4Lbl4 Handling
    258
    
    4Lbl] General Application
    265
    
    4Lbl^ Spot Welding
    272
    
    Arc Welding Application
    281
- Inspections
  
  283
  - L6 Regular Inspections
    283
  - L4 XRC Inspections
    284
    
    L4L6 Checking if the Doors Are Firmly Closed
    284
  - L] Cooling Fan Inspections
    285
  - L^ Emergency Stop Button Inspections
    286
  - L_ Deadman Switch Inspections
    286
  - L` Battery Inspections
    287
  - La Power Supply Voltage Confirmation
    287
  - Lb Open Phase Check
    288
  - Replacing Parts
    289
  - L6 Replacing XRC Parts
    289
    
    L6L6 Replacing the Disconnecting Switch
    290
    
    L6L4 Replacing Parts of Power Supply Unit
    293
  - L4 YASNA XRC Parts List
    294
  - L] Supplied Parts List
    300
  - L^ Recommended Spare Parts
    302
Setup • Diagnosis 15

326
- Setup • Diagnosis
  334
- 1 Outline of Setting and Diagnosis
  
  336
- 2 Security System
  
  338
  - Protection through Security Mode Settings
    338
    
    Security Mode
    338
    
    Modification of Security Mode
    342
    
    Changing a User ID
    343
    
    User ID
    343
- 3 System Setup
  
  346
  - Home Position Calibration
    346
    
    Calibrating Operation
    348
    
    Registering All Axes at on Time
    348
    
    Registering Individual Axes
    349
    
    Changing the Absolute Data
    350
    
    Clearing Absolute Data
    351
    
    Home Position of the Robot
    352
    
    Specified Point
    353
    
    Purpose of Position Check Operation
    355
    
    Specified Point Setting
    356
    
    Procedure after an Alarm
    357
  - Setting the Controller Clock
    358
  - Setting Play Speed
    359
  - All Limits Releasing
    361
  - Overrun / Shock Sensor Releasing
    363
  - Interference Area
    364
    
    Cubic Interference Area
    365
    
    Setting Method
    365
    
    Setting Operation
    366
    
    Axis Interference Area
    371
    
    Setting Operation
    371
    
    Clearing Interference Area Data
    374
  - Operation Origin Point Setting
    375
    
    Operation Origin Point Display
    375
    
    Registering/Changing the Operation Origin Point
    375
    
    Setting Operation Origin Point
    375
    
    What Is the Operation Origin Point
    375
    
    Output of the Operation Origin Point Signal
    376
    
    Returning to the Operation Origin Point
    376
- Tool Data Setting
  
  377
  - Registering Tool Files
    377
  - Number of Tool Files
    377
  - Registering Coordinate Data
    377
  - Registering Tool Pose
    379
  - Setting the Tool Load Information
    380
  - Tool Calibration
    381
    
    Teaching
    381
    
    Clearing Calibration Data
    384
    
    Checking the Tool Center Point
    385
  - Automatic Measurement of the Tool Load and the Center of Gravity
    386
    
    Measurement of the Tool Load and the Center of Gravity
    386
    
    What Is the Automatic Measurement of the Tool Load and the Center of Gravity
    386
- 3.10 User Coordinates Setting
  
  390
  - User Coordinates
    390
    
    Definition of User Coordinates
    390
    
    User Coordinates File
    390
    
    Selecting User Coordinates File
    391
    
    Teaching User Coordinates
    392
    
    Clearing User Coordinates
    393
- ARM Control
  
  394
  - ARM CONTROL Display
    394
    
    Robot Setup Condition
    395
    
    Setting
    397
  - Tool Load Information Setting
    398
    
    How to Calculate Tool Load Information
    399
    
    Tool Load Information
    399
    
    Tool Load Information Registering
    406
- Shock Detection Function
  
  409
  - Shock Detection Function Setting
    409
    
    Shock Detection Level Setting
    409
    
    Tool Load Information Setting
    412
    
    Instruction of Shock Detection Function
    413
    
    Reset Shock Detected
    418
  - Alarm List
    419
- 3.13 Instruction Level Setting
  
  420
  - Setting Contents
    420
    
    Instruction Set
    420
    
    Learning Function
    421
  - Setting Instruction Set Level Operation
    421
  - 3.14 Number Key Customize Function
    422
    
    Allocatable Functions
    422
    
    What Is the Number Key Customize Function
    422
    
    Key Allocation (EACH)
    423
    
    Key Allocation (SIM)
    423
    
    Allocating an Operation
    424
    
    Allocation Display
    424
    
    Instruction Allocation
    425
    
    Job Call Allocation
    426
    
    Display Allocation
    427
    
    Alternate Output Allocation
    428
    
    Momentary Output Allocation
    428
    
    Pulse Output Allocation
    429
    
    Analog Output Allocation
    430
    
    Group (4-Bit/8-Bit) Output Allocation
    430
    
    Allocation of I/O Control Instructions
    431
    
    Analog Incremental Output Allocation
    431
    
    Executing the Display Allocation
    433
    
    Executing the I/O Control Allocation
    433
    
    Executing the Instruction/Output Control Allocation
    433
    
    Executing the Job Call Allocation
    433
    
    Execution of Allocation
    433
  - 3.15 Changing the Output Status
    434
  - 3.16 Temporary Release of Soft Limits
    436
  - 3.17 File Initialize
    438
    
    Initialize Job File
    438
    
    Initialize Data File
    439
    
    Initialize Parameter File
    440
    
    Initializing I/O Data
    441
    
    Initializing System Data
    442
- 4 Modification of System Configuration
  
  444
  - Addition of I/O Modules
    444
  - Addition of Base and Station Axis
    446
    
    Base Axis Setting
    448
- System Version
  
  466
- Input/Output Status
  
  466
  - Universal Input
    466
    
    Universal Input Display
    466
    
    Universal Input Detailed Display
    467
  - Universal Output
    467
    
    Universal Output Display
    467
    
    Modify the Output Status
    468
    
    Universal Output Detailed Display
    468
    
    Modify the Signal Name
    469
    
    Search the Signal Number
    471
  - Specific Input
    473
    
    Specific Input Detailed Display
    473
    
    Specific Input Display
    473
  - Specific Output
    474
    
    Specific Output Detailed Display
    474
    
    Specific Output Display
    474
  - Rin Input
    475
    
    Rin Input Display
    475
- System Monitoring Time
  
  476
- Alarm History
  
  479
  - Alarm History Display
    479
  - Clearing the Alarm History
    479
- I/O Message History
  
  480
  - I/O Message History Display
    480
  - Clearing the I/O Message History
    481
  - Power On/Off Position Display
    482
    
    Regular Inspections
    498
  - Xrc Inspections
    499
    
    Checking if the Doors Are Firmly Closed
    499
  - Cooling Fan Inspections
    500
    
    Deadman Switch Inspections
    501
    
    Battery Inspections
    502
  - Open Phase Check
    504
    
    Replacing Parts of the Cpu Rack
    507
    
    Replacing the Battery
    507
    
    Replacing the Jancd-Xcp01 Circuit Board
    508
    
    Replacing the Control Power Unit (Cps-150F)
    509
    
    Replacing the Servopack
    510
    
    Checking and Replacing Fuses
    513
    
    Replacing the Parts of I/O Power-On Unit
    513
    
    Recommended Spare Parts for SK45X
    522
    
    Alarm Message List
    532

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