Installation and Commissioning
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Installation and Commissioning

Installation and Commissioning Installation and Commissioning

rab.ict.pwr.wroc.pl
from rab.ict.pwr.wroc.pl More from this publisher
12.07.2015 Views

Connecting SignalsInstallation and Commissioning3.15.2 Connection of signal lamp on upper arm (option)R3.H1 +R3.H2 -Signal lampFigure 38 Location of signal lamp.3.16 Distributed I/O units3.16.1 GeneralUp to 20* units can be connected to the same controller but only four of these can beinstalled inside the controller. Normally a distributed I/O unit is placed outside the controller.The maximum total length of the distributed I/O cable is 100 m (from one end of thechain to the other end). The controller can be one of the end points or be placed somewherein the middle of the chain. For setup parameters, see User’s Guide, section System Parameters,Topic: I/O Signals.*) some ProcessWare reduces the number due to use of SIM boards.50 Product Manual IRB 1400

Installation and CommissioningConnecting Signals3.16.2 SensorsSensors are connected to one optional digital unit.Technical dataSee Product Specification IRB 1400, chapter 3.10.The following sensors can be connected:Sensor typeSignal levelDigital one bit sensors High “1”Low “0”Digital two bit sensors High “01”No signal “00”Low “10”Error status “11” (stop program running)3.16.3 Connection and address keying of the CAN-busControllerPanel unit:X9CAN1Back plane:X10X16CAN3CAN2I/O unit I/O unit I/O unitSee Figure 40.X9/X10/X16. 1 0V_CAN2 CAN_L3 drain4 CAN_H5 24V_CANX5. 1 0V_CAN2 CAN_L3 drain4 CAN_H5 24V_CANX5. 12345Termination oflast unit120 ΩFigure 39 Example of connection of the CAN-bus1. When the I/O unit is fitted inside the control cabinet (this is standard when choosingthe options on the Specification form), its CAN bus is connected to CAN1, X9 on thepanel unit (see 3.7). No termination is required when only CAN1 is used.2. When the I/O unit is fitted outside the control cabinet, its CAN bus must be connectedto CAN3, X10 on the backplane of the control cabinet.3. When the I/O unit is fitted on the manipulator, its CAN bus must be connected toCAN2, X16 on the backplane of the control cabinet.Product Manual IRB 1400 51

Connecting Signals<strong>Installation</strong> <strong>and</strong> <strong>Commissioning</strong>3.15.2 Connection of signal lamp on upper arm (option)R3.H1 +R3.H2 -Signal lampFigure 38 Location of signal lamp.3.16 Distributed I/O units3.16.1 GeneralUp to 20* units can be connected to the same controller but only four of these can beinstalled inside the controller. Normally a distributed I/O unit is placed outside the controller.The maximum total length of the distributed I/O cable is 100 m (from one end of thechain to the other end). The controller can be one of the end points or be placed somewherein the middle of the chain. For setup parameters, see User’s Guide, section System Parameters,Topic: I/O Signals.*) some ProcessWare reduces the number due to use of SIM boards.50 Product Manual IRB 1400

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