Installation and Commissioning
Installation and Commissioning Installation and Commissioning
Installation and CommissioningCONTENTSPage3 Connecting Signals.......................................................................................................... 313.1 Signal classes.......................................................................................................... 313.2 Selecting cables ...................................................................................................... 313.3 Interference elimination.......................................................................................... 323.4 Connection types .................................................................................................... 323.5 Connections ............................................................................................................ 333.5.1 To screw terminal......................................................................................... 333.5.2 To connectors (option) ................................................................................. 333.6 Customer connections on manipulator ................................................................... 353.7 Connection to screw terminal................................................................................. 383.8 The MOTORS ON / MOTORS OFF circuit .......................................................... 393.9 Connection of safety chains.................................................................................... 403.9.1 Connection of ES1/ES2 on panel unit.......................................................... 413.9.2 Connection to Motor On/Off contactors ...................................................... 423.9.3 Connection to operating mode selector........................................................ 423.9.4 Connection to brake contactor ..................................................................... 423.10 External customer connections............................................................................. 433.11 External safety relay ............................................................................................. 463.12 Safeguarded space stop signals............................................................................. 473.12.1 Delayed safeguarded space stop ................................................................ 473.13 Available voltage .................................................................................................. 473.13.1 24 V I/O supply.......................................................................................... 473.13.2 115/230 V AC supply................................................................................. 483.14 External 24 V supply ............................................................................................ 483.15 Connection of extra equipment to the manipulator .............................................. 493.15.1 Connections on upper arm ......................................................................... 493.15.2 Connection of signal lamp on upper arm (option) ..................................... 503.16 Distributed I/O units ............................................................................................. 503.16.1 General....................................................................................................... 503.16.2 Sensors ....................................................................................................... 513.16.3 Connection and address keying of the CAN-bus....................................... 513.16.4 Digital I/O DSQC 328 (optional)............................................................... 533.16.5 AD Combi I/O DSQC 327 (optional) ........................................................ 563.16.6 Analog I/O DSQC 355 (optional) .............................................................. 593.16.7 Encoder interface unit, DSQC 354 ............................................................ 633.16.8 Relay I/O DSQC 332 ................................................................................. 66Product Manual IRB 1400 2
Installation and CommissioningCONTENTSPage3.16.9 Digital 120 VAC I/O DSQC 320................................................................ 693.17 Field bus units....................................................................................................... 723.17.1 RIO (Remote Input Output), remote I/O for Allen-Bradley PLCDSQC 350 ................................................................................................. 723.17.2 Interbus-S, slave DSQC 351 ...................................................................... 743.17.3 Profibus-DP, slave, DSQC352 ................................................................... 773.18 Communication .................................................................................................... 793.18.1 Serial links, SIO ......................................................................................... 793.18.2 Ethernet communication, DSQC 336......................................................... 813.19 External operator’s panel...................................................................................... 834 Installing the Control Program...................................................................................... 854.1 System diskettes ..................................................................................................... 854.1.1 Installation procedure................................................................................... 854.2 Calibration of the manipulator................................................................................ 864.3 Cold start................................................................................................................. 864.4 How to change language, options and IRB types................................................... 874.5 How to use the disk, Manipulator Parameters ................................................ 884.6 Robot delivered with software installed.......................................................... 884.7 Robot delivered without software installed .................................................... 884.8 Saving the parameters on the Controller Parameter disk................................ 895 External Axes................................................................................................................... 915.1 General.................................................................................................................... 915.2 Easy to use kits ....................................................................................................... 935.3 User designed external axes. .................................................................................. 945.3.1 DMC-C......................................................................................................... 945.3.2 FBU.............................................................................................................. 955.3.3 Measurement System ................................................................................... 965.3.4 Drive System................................................................................................1005.3.5 Configuration Files ......................................................................................107Product Manual IRB 1400 3
- Page 133 and 134: RobView 3.17.2 RobView 3.1RobView i
- Page 135 and 136: RobView 3.1File managerWhen the use
- Page 137 and 138: RobView 3.1In addition, also a butt
- Page 139 and 140: RobView 3.1Technical specificationP
- Page 141 and 142: DDE Server 2.3SCWriteThe user can a
- Page 143 and 144: DDE Server 2.3DDE Server for multip
- Page 145 and 146: SafetyCONTENTSPage1 General........
- Page 147 and 148: SafetySafety1 GeneralThis informati
- Page 149 and 150: Safety5 Safe Working ProceduresSafe
- Page 151 and 152: Safety7.2 Emergency stopsAn emergen
- Page 153 and 154: SafetyWhen the Hold-to-run control
- Page 155 and 156: Safety8.2 Tools/workpiecesIt must b
- Page 157 and 158: Safety- The external voltage connec
- Page 159 and 160: To the User“Declaration by the ma
- Page 161 and 162: System DescriptionCONTENTSPage1 Str
- Page 163 and 164: System DescriptionStructure1 Struct
- Page 165 and 166: System DescriptionStructureAxis 3Up
- Page 167 and 168: System DescriptionStructure1.2 Cont
- Page 169 and 170: System DescriptionStructureLithium
- Page 171 and 172: System DescriptionComputer System2
- Page 173 and 174: System DescriptionServo System3 Ser
- Page 175 and 176: System DescriptionI/O System4 I/O S
- Page 177 and 178: System DescriptionSafety System5 Sa
- Page 179 and 180: System DescriptionSafety System5.4
- Page 181 and 182: System DescriptionExternal Axes6 Ex
- Page 183: Installation and CommissioningCONTE
- Page 187 and 188: Installation and CommissioningTrans
- Page 189 and 190: Installation and CommissioningOn-Si
- Page 191 and 192: Installation and CommissioningOn-Si
- Page 193 and 194: Installation and CommissioningOn-Si
- Page 195 and 196: Installation and CommissioningOn-Si
- Page 197 and 198: Installation and CommissioningOn-Si
- Page 199 and 200: Installation and CommissioningOn-Si
- Page 201 and 202: Installation and CommissioningOn-Si
- Page 203 and 204: Installation and CommissioningOn-Si
- Page 205 and 206: Installation and CommissioningOn-Si
- Page 207 and 208: Installation and CommissioningOn-Si
- Page 209 and 210: Installation and CommissioningOn-Si
- Page 211 and 212: Installation and CommissioningOn-Si
- Page 213 and 214: Installation and CommissioningConne
- Page 215 and 216: Installation and CommissioningConne
- Page 217 and 218: Installation and CommissioningConne
- Page 219 and 220: Installation and CommissioningConne
- Page 221 and 222: Installation and CommissioningConne
- Page 223 and 224: Installation and CommissioningConne
- Page 225 and 226: Installation and CommissioningConne
- Page 227 and 228: Installation and CommissioningConne
- Page 229 and 230: Installation and CommissioningConne
- Page 231 and 232: Installation and CommissioningConne
- Page 233 and 234: Installation and CommissioningConne
<strong>Installation</strong> <strong>and</strong> <strong>Commissioning</strong>CONTENTSPage3.16.9 Digital 120 VAC I/O DSQC 320................................................................ 693.17 Field bus units....................................................................................................... 723.17.1 RIO (Remote Input Output), remote I/O for Allen-Bradley PLCDSQC 350 ................................................................................................. 723.17.2 Interbus-S, slave DSQC 351 ...................................................................... 743.17.3 Profibus-DP, slave, DSQC352 ................................................................... 773.18 Communication .................................................................................................... 793.18.1 Serial links, SIO ......................................................................................... 793.18.2 Ethernet communication, DSQC 336......................................................... 813.19 External operator’s panel...................................................................................... 834 Installing the Control Program...................................................................................... 854.1 System diskettes ..................................................................................................... 854.1.1 <strong>Installation</strong> procedure................................................................................... 854.2 Calibration of the manipulator................................................................................ 864.3 Cold start................................................................................................................. 864.4 How to change language, options <strong>and</strong> IRB types................................................... 874.5 How to use the disk, Manipulator Parameters ................................................ 884.6 Robot delivered with software installed.......................................................... 884.7 Robot delivered without software installed .................................................... 884.8 Saving the parameters on the Controller Parameter disk................................ 895 External Axes................................................................................................................... 915.1 General.................................................................................................................... 915.2 Easy to use kits ....................................................................................................... 935.3 User designed external axes. .................................................................................. 945.3.1 DMC-C......................................................................................................... 945.3.2 FBU.............................................................................................................. 955.3.3 Measurement System ................................................................................... 965.3.4 Drive System................................................................................................1005.3.5 Configuration Files ......................................................................................107Product Manual IRB 1400 3
Change language