Transcript
EQUIPMENT OPERATION MANUAL
Loctite 200, 300, and 400 Series Benchtop Robots Book 4 of 4: Specifications A
Company
FOR SAFE USE Safety Notes Read the following Warnings and Cautions thoroughly for the safe use of the Desktop Robot. Keep them in mind during use in order to prevent injuries and damage to property. Be sure to heed the following Warnings and Cautions faithfully. Various symbols are used to indicate the matters to be attended to. Please read the following explanations to understand what each symbol means.
λ Symbols for the Degree of Damage and Danger The following symbols indicate the degree of damage and danger which may result if you neglect the safety notes. The Warnings are mainly concerned with incorrect and dangerous
Warnings uses which could lead to serious damage, such as death or serious injuries. The Cautions are mainly concerned with improper operation which
Cautions
could lead to minor damage, such as injuries or damage to properties.
λ Symbols for the Content of the Danger and Preventive Measures The following symbols indicate the types of the safety measures you should take. indicates the content of the safety measures you should take. General Caution Indicates prohibition. Never do this. Do not disassemble, modify or repair. Do not touch. Indicates obligation. Be sure to follow these directions. Be sure to unplug the power cord from the wall outlet. Be sure to check grounding.
FOR SAFE USE Specifications
i
continued from the previous page
Dispensing
Warnings Be sure to check grounding. Improper grounding can cause electric shocks or fire. Be sure to use power in the range indicated on the unit . Otherwise electric shocks or fire may ensue. Plug the power cord into the wall outlet firmly. Otherwise the input can become hot and may lead to fire. Make sure that the power plug is clean. Be sure to unplug the power cord from the wall outlet when you examine or grease the machine. Otherwise electric shocks or fire may ensue. Stop operation and unplug immediately whenever you sense any abnormalities, such as pungent odor. Immediately contact the dealer from which you purchased the product. If you continue operation, electric shock, fire or malfunction may ensue. Install the product in a place which can endure the weight and running conditions. If the machine falls down or turns over due to improper installation, injuries or defects may ensue. Be sure to prepare protective measures such as an area sensor or enclosure to avoid injury when you install the product. Entering the robot’s work range during operation could lead to injury. Do not attempt to disassemble or modify the machine. Disassembly or modification could lead to electric shocks, fire or malfunction. Use the machine indoors where no flammable gas nor corrosive gas is present. Emission and accumulation of corrosive gas could lead to fire.
FOR SAFE USE Specifications
ii
continued from the previous page
Dispensing
Warnings Be sure to unplug the power cord from the wall outlet if the robot will be left unused for a long time. Otherwise gathered dust could lead to fire. Be sure to use power in the proper range. Otherwise fire or malfunction may ensue. When you use an extension cord, keep it off from water or oil. Otherwise electric shocks or fire may ensue.
Cautions Be sure to check grounding. Improper grounding could lead to malfunction or defects. Use the Desktop Robot in an environment of 0 to 40 degrees centigrade and humidity of 20 to 95 percent without condensation. Otherwise malfunction may ensue. Use the machine where no electric noise is present. Otherwise malfunction or defects may ensue. Use the machine where it is not exposed to direct sunlight. Otherwise malfunction or defects may ensue. Be sure to confirm that the tools such as an electric screwdriver unit, etc. are connected properly. Otherwise injuries or defects may ensue. Check the mounting screws regularly so that they are always firmly tightened. Loosened screws may lead to injuries or defects.
Specifications
iii
Dispensing
FOR SAFE USE
continued from the previous page
Cautions Be sure to confirm the wiring to the main unit. Improper wiring may lead to malfunctions or defects. Be sure to secure the movable parts of the robot before transportation. Otherwise injuries or defects may ensue. Do not bump or jar the machine while it is being transported or installed. Otherwise defects may ensue.
Keep hand away from moving parts to avoid injury.
Specifications
iv
Dispensing
ν PREFACE ν The Loctite Benchtop Cartesian Series is a new type of robot with high performance for low cost. We succeeded in reducing the price while maintaining its functionality. Energy and space saving is made possible through the combined use of stepping motors and special micro step driving circuits. This manual describes basic operation of the Loctite Benchtop Cartesian Series. In addition to this Specifications section, there are Basic Concepts, Quick Start and Functions sections. Also refer to them in actual operation of the machine.
Basic Concepts Quick Start
Information necessary for basic operation of the robot, including safety information and part names. ν Be sure to read it. ν Describes how to operate the Benchtop Cartesian Series by making and running a simple program.
Functions
Gives various examples of applications and explains the functions and operations necessary to perform them.
Specifications
Gives complete specifications for the Benchtop Cartesian Series, including dimensions, weight, and I/O specifications.
Please be sure to follow the procedures described in this manual. Proper use of the robot will ensure fine and precise production for a reasonably long time.
BE SURE TO MAKE A PROPER GROUNDING WHEN YOU INSTALL THE ROBOT. Note: The product may be modified without prior notification, so there may be discrepancies between your Desktop Robot and the product described in this manual. Program data stored in the robot will only be maintained for about 72 hours when the power is turned off. Therefore, you should save the data to a flash memory card, which can keep the data indefinitely. The data in a memory card can be used as backup data in case of a breakdown, power failure, etc. Be sure to save your data in a memory card after any addition or modification to the taught data. Please refer to “Saving Backup Data” on p. A-25 of the Functions section.
Specifications
v
Dispensing
ν CONTENTS ν SPECIFICATIONS For Safe Use .............................................................................................................
i
Preface
................................................................................................................
v
Contents
................................................................................................................
vi
1. External Dimensions.........................................................................................
1-1
2. Installation .........................................................................................................
2-1
3. Attaching Equipment ........................................................................................
3-1
4. Specifications for I/O-1 Ports............................................................................
4-1
I/O-1 System Operation........................................................................
4-1
System Input / Output Functions of I/O –1 Signals.............................
4-2
I/O-1 Input Signal ..................................................................................
4-8
I/O-1 Output Capacity...........................................................................
4-8
I/O-1 Circuit Wiring ...............................................................................
4-9
Switching I/O-1 Power Supply ............................................................. 4-10 5. I/O-1Cables .......................................................................................................
5-1
6. Timing Charts....................................................................................................
6-1
7. Switch Box.........................................................................................................
7-1
8. Error Messages.................................................................................................
8-1
9. Command Summary ........................................................................................
9-1
10. Default Summary .............................................................................................. 10-1 11. Operation Process Flow Chart (DISPENSING APPLICATION)................... 11-1 12. LED
................................................................................................................ 12-1
13. Specifications .................................................................................................... 13-1
Specifications
vi
Dispensing
1. EXTERNAL DIMENSIONS ν 203
η The longer frame is an optional model. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work.
Specifications
1-1
Dispensing
ν 204
*Tool Attaching Range
η The longer frame is an optional model. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work.
Specifications
1-2
Dispensing
ν 303
η The longer frame is an optional model. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work.
Specifications
1-4
Dispensing
ν 304
η The longer frame is an optional model. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work.
Specifications
1-5
Dispensing
ν 403
η The longer frame is an optional model. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work.
Specifications
1-7
Dispensing
ν 404
η The longer frame is an optional model. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work.
Specifications
1-8
Dispensing
Specifications
1-9
Dispensing
2. INSTALLATION ν 200 Series
There are four places of the rubber feet (φ30). When you fix the body use the M8 screws which are weldered to the robot on the four places where the rubber feet is attached.
Note that the value inside the brachets is just an example for your reference. It changes depend upon how the installment is done.
Specifications
2-1
Dispensing
ν 300 Series
There are four places of the rubber feet (φ27). When you fix the body, use the M8 screws which are weldered to the robot on the four places where the rubber feet are attached. Please make sure to use spacers more than 20 mm in height on that 4 positions to make stable.
Specifications
2-2
Dispensing
ν 400 Series
There are four places of the rubber feet (φ27). When you fix the body, use the M8 screws which are weldered to the robot on the four places where the rubber feet are attached. Please make sure to use spacers more than 20 mm in height on that 4 positions to make stable.
Specifications
2-3
Dispensing
3.ATTACHING EQUIPMENT There are two vertical grooves for M4 nut on both right and left sides of the post as shown below on the right. And there are M4 screws (200: 8 positions, 300: 16 positions, 400: 12 positions) on the base as shown below on the left. Please use the grooves and the screws for attaching a controller, tool or jig of a feeder to the body of the robot. Please refer to attaching positions on “1. EXTERNAL DIMENSIONS” of page 1-1 to 1-9.
200 series M4 Screws (8 positions)
2 Vertical Grooves for M4 Nuts on both right and left sides.
Specifications
3-1
Dispensing
300 series M4 Screws (16 positions)
400 series M4 Screws (12 positions)
Specifications
3-2
Dispensing
4. I/O-1 CABLES
Type
Input
Output
Input Other
Pin Number 1 2
I/O Identification A01 A02
3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37
A03 A04 A05 A06 A07 A08 A09 A10 A11 A12 A13 A14 A15 A16 B01 B02 B03 B04 B05 B06 B07 B08 B09 B10 B11 B12 B13 B14 B15 B16 MPON
Specifications
Signal Description Start Free / Start prohibition / Stop-start prohibition / Soft lock / Emergency stop Program number LOAD 0 Program number bit 0 2 =1 1 Program number bit 1 2 =2 2 Program number bit 2 2 =4 3 Program number bit 3 2 =8 4 Program number bit 4 2 =16 5 Program number bit 5 2 =32 6 Program number bit 6 2 =64 Last work Temporary stop Dispenser Response Free Free Free Ready to Start Robot stopped Program number ACK Program number error Running Error Emergency stop Position Error Dispenser Error Dispenser ON/OFF Free Free Free Free Free Free Unused COM + (DC24V) COM – (GND) COM – (GND) COM – (GND)
4-1
Wire Color
Marking Color
Green White
Black
White White White White White White White Yellow Yellow Yellow Yellow Yellow Yellow Green Green Green Green Black Brown Red Orange Yellow Green Blue Violet Black Brown Red Orange Green Blue Black Red Orange Blue
Brown Red Orange Yellow Green Blue Violet Black Brown Red Orange Green Blue Black Red Orange Blue White White White White White White White White Yellow Yellow Yellow Yellow Yellow Yellow Green Green Green Green
Dispensing
ν System Input/Output Functions of I/O- 1 Signals Input Start (A01):
Turn on this signal to start or restart the program in EXT. Run mode. This signal is also used for the mechanical initialization when the power switch is turned on, or for returning to the coordinates of Work Home Position. This signal is enabled when “Ready to start”(B01) is on.
When the robot is set on “External Run Mode”, “IO-S input is ON”, and “A02 Start Prohibition is OFF”, if the A01 Start is turned on, the mechanical initialization, running, or re-starting will start with the following conditions.
← When waiting for the mechanical initialization after the power switch is turned on. ↑ When the robot is stopped by emergency stop, emergency stop is released, and waiting for the mechanical initialization.
→ When waiting for a program to start at Work Home Point. ↓ When stopped temporarily and waiting for re-start. ° When stopping at start waiting position and waiting for re-start. ± When waiting for start by a Point Job command, WAIT-START.
“A01 Start” signal is invalid when the pulse is 20 msec. or under in order to distinguish a noise and a signal. If the pulse is 30 msec. or more, the value is enough to be valid. But instead of providing the value of time we recommend to use “B01 Start Ready” signal off as response signal (ACK signal). For example, when “A01 Start” is turned OFF, “B01 Start Ready” signal is turned ON. And when “A01 Start” is turned ON, “B01 Start Ready” signal is turned OFF. A01 Start
B01 Ready to start
Free (A02):
Specifications
The default condition of A02 is FREE.
4-2
Dispensing
Unless changing function on I/O Function Setting Screen after selecting System Settings from MENU, it is used as FREE signal.
Specifications
4-3
Dispensing
Start Prohibition (A02): When Start Prohibition is set on A02 by selecting MENU, System Settings and I/O Function Settings in order, it functions as prohibiting a start. This signal works when
it
is
turned
OFF
(Negative
Logic).
When Robot Stopped (B02) is turned ON, if this signal (A02) is turned OFF, start is prohibited. Even you try to start the robot, it doesn’t move. When Robot Stopped (B02) is turned OFF (It means the robot is moving), this signal (A02) is invalid. Temporary Stop, Start Prohibition (A02): When Temporary Stop or Start Prohibition is set on A02 by selecting MENU, System settings and I/O Function settings in order, this signal functions as to stop the running temporarily, and prohibits a start. When this signal is turned off, these functions
work
(Negative
Logic).
When Robot Stopped is turned ON (B02), if this signal is turned OFF, a start is prohibited. Though you try to start the robot, it doesn’t move. When Robot stopped (B02) is turned OFF and if this signal is turned OFF, the robot moves until the end point of PTP Driving and stops temporarily. Turned ON the start signal to re-start after this signal is turned ON. Soft Lock (A02):
When Soft Lock is set on A02 by selecting MENU, System Settings, and I/O Function Settings in order, this signal functions as Start Prohibition and Emergency stop while running. This signal works as it is turned OFF (Negative Logic). When Robot Stopped (B02) is turned ON, if this signal is turned OFF, a starting is prohibited.
Though
you
try
to
start
the
robot,
it
doesn’t
move.
When Robot Stopped (B02) is turned OFF, then if this signal is turned ON, emergency stop works to the robot. Emergency
Stop
(A02):
Emergency Stop is set on A02 by selecting MENU, System Settings and I/O Function Settings in order, it functions by urgently stopping the robot while running. When this signal is turned OFF, this function works (Negative Logic). When this signal is turned OFF in run mode, it stops in emergency. Program
number
LOAD
(A03):
This signal gives instructions to load the program number. When it is turned on, the robot starts reading the “Program number bits” (A04 to A10). This signal is enabled when the “Program Change” setting for the external I/O is specified as “Valid” and “I/O LOAD Function” is set to “LOAD/ACK Handshake.”
Specifications
4-4
Dispensing
Program number bit (A04 to A10): Turn
on
these
signals
to
specify
the
program
number.
EX: Specifying the program number “67” 67=64(A10)+2(A05)+1(A04) = Turn on A10, A05 and A04 This signal is enabled when the “Program Change” setting for the external I/O is specified
as
“Valid.”
If “I/O LOAD Function” is set to “Load at Start,” specify the program number with these signals before starting the program. Command for the final workpiece (A11): If the cycle mode is set to “Continuous Run,” the tool unit moves to Point 01 to continue operation after finishing the last point. To discontinue the operation, execute “End Program” in a point job routine or turn on this “Command for the final workpiece” signal. This signal is only enabled when the last point is finished and the tool unit has not started moving. You cannot end the operation in the middle of the program. Temporary stop (A12):
Turn on this signal to stop the current program temporarily. However, a temporary stop during a CP movement is impossible. Only points in PTP movements are eligible for a temporary stop. When this signal is turned ON, a start is prohibited.
Dispenser busy signal (A13):
When Dispense Devise Signal is set on No Busy Signal Operation, the signal (A13) is invalid. But when it is set on Busy Signal Operation and the signal (A13) is turned on, the robot judges dispensing is being carried out. When it is set on Finish Signal Operation, and the signal (A13) is turned on, the robot judges dispensing has finished. This signal (A13) judges Dispense Device ON/OFF Error.
Specifications
4-5
Dispensing
Output Ready to start (B01):
This signal turns on when Start signal (A01) is valid in EXT. Run mode.
There
are
the
following
cases:
・Ready to start at initialization after power switch is turned on ・ Ready ・
to
start
for
Ready
moving to
to
Work start
Home
Point running
・Ready to restart after temporary stop B01 Start Ready turns ON when the robot is set to External Run Mode, IO-S input is ON, A02 Start Prohibition is not set, and one of the following conditions is set.
← Ready to start at initialization after power switch is turned on ↑ Ready to start for initialization after releasing emergency stop → Ready to start running a program at Work Home Point ↓ Ready to restart after temporary stop ° Ready to restart at wait start point ± Ready to start by receiving Point Job WAIT_START command When B05 While Running is turned OFF, ←, ↑ or → apply. In the other cases, just receiving B01 signal doesn’t distinguish which one to apply for ↓, °, or ±.
When B01 Start Ready is turned on, B02 Robot Stopped is always turned on, too. But the reverse doesn’t work. That is to say, when stopped and waiting for a signal to be received, B02 Ready to Start is turned on, but B01 doesn’t.
Robot Stopped (B02):
When the robot is stopped, it is turned ON. When the robot is running, it is turned OFF. When this signal is turned ON, if Soft Lock (A02) is turned OFF, a start is prohibited. Even though you try to start the robot, it doesn’t move. When this signal is turned OFF, if Soft Lock (A02) is turned OFF, emergency stop works to the robot.
Specifications
4-6
Dispensing
Program number ACK (B03):
The response signal to “Program number LOAD” (A03). It comes on when “Program number LOAD” (A03) is turned on and the “Program number bits” (A04 to A10) are loaded. When “Program number LOAD” (A03) is turned off, this signal also goes off.
Specifications
4-7
Dispensing
Program number error (B04):
This signal turns on if an unregistered program number is specified.
Running (B05):
This signal comes on when the program has started running and goes off when it is finished.
Error detected (B06):
This signal turns on when an error has occurred.
Emergency stop (B07):
This signal turns on when an emergency stop error (ex. When the emergency stop button is pressed.) When this signal is turned on, “Error detected” (B06) also turns on.
Position Error (B08):
When Position Error Detection is set as VALID, just before running is finished (before returning to Work Home Point), a sensor performs a movement of confirmation for detecting Position Error and if position error is detected, this signal is turned ON.
Dispenser Error (B9):
When Dispense Device Signal ON Error, No. 26 or Dispense Device Signal OFF Error No. 27 occurs, this signal turns on. At the same time, Error Detected of (B06) also turns on.
Dispense Device ON/OFF (B10): This signal is for turning ON the Dispense Devise to run. There is only an exception when Dispense Device Signal is set on Busy Signal Operation in PTP dispensing. Please refer to p.6-1 of Timing Chart for details.
Specifications
4-8
Dispensing
Others COM+(DC24V):
If I/O is set to “External” (i.e. an external power supply is used for those I/O ports), connect this pin to + (plus) of the external power supply
(DC24V).
If I/O is set to “Internal” (i.e. an internal power supply is used for those I/O ports), the output will be DC 24 V (+).
COM -(GND):
If I/O is set to “External” (i.e. an external power supply is used for those I/O ports), connect this pin to GND (ground) of the external power
supply.
If I/O is set to “Internal” use it as a common GND.
Specifications
4-9
Dispensing
ν I/O-1 Input Signal An
input
signal
is
active
when
the
photocoupler
is
on.
When the internal power supply is used, this condition is realized when the input pin and the COM-pin are shorted.
Internal power supply 24V
A01～A16 A17～A24
ＣＯＭ－ (GND)
When an external power supply is used, this condition is realized when the input pin and the GND of the external power supply are shorted.
External power supply 24V ＣＯＭ＋ (DC24V) A01～A16 A17～A24
ν I/O-1 Output Capacity The internal or the external Power Switch should be used with DC24V100mA or less for each pin.
Specifications
4-10
Dispensing
ν I/O-1 Circuit Wiring I NPUT
O UTPUT
PI N. No
PI N. No 17 B1
1
A1
2
A2
3
A3
4
A4
18 B2
19 B3 20 B4 21 B5 22 B6
5
A5
6
A6
7
A7
23 B7 24 B8 25 B9
26 B10 8
A8
9
A9
27 B11 28 B12 29 B13
10 A10 30 B14 11 A11
12 A12
13 A13
31 B15
32 B16 35 CO M (G ND) 36 CO M (G ND)
14 A14
37 CO M (G ND)
15 A15
16 A16
33 N. C.
34 CO M + ( DC24V)
G ND G ND
Specifications
4-11
Dispensing
ν Switching I/O-1 Power Supply The power supply for I/O-1 can be switched from internal to external and vice versa. 1) Press MENU to display the options at right. Select System Settings.
Select Item 1/2 Program Data Settings Point Job Settings Point Job Settings System Settings Sequencer Settings Teaching Data Copy, Delete Menu
2) Then the screen at right will appear. Select Parameter (Playback).
Select Item Display Default Program Control Data Parameter (Teaching) Parameter(Playback) Transmit Condition System Setting Menu
3) After selecting Parameter (Playback), the screen will display operation parameters. Select I/O-1 Power Supply.
4) When you choose I/O-1 Power Supply, the screen will display the I/O-1 power supply selections (see right). Select the one you would like to use. After you select the power supply, the screen will return to the Operation Parameter Selection Screen.
Select Item Initialize Program Change I/O-1 Power Supply External I/O-S (Standby) Inter Lock I/O-S (Stop) Emergency Sequencer number Operation Parameters
Select Item I/O-1 Power Supply I/O-1 Power Supply
External Internal
I/O-1 Power Supplies
Specifications
4-12
Dispensing
6. Timing Charts 1. This timing chart shows the progress of power switch on, initialization, returning to work home and running a program. Default is set. And Work Home is set by selecting Menu, System Setting, Parameter (Playback) and Initialization in order.
Power source A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped B03 Program number ACK B04 Program number error
Initialization. To Work Home
Running Program
Running Program
B05 Running B06 Error detected B07 Emergency stop
Specifications
6-1
Dispensing
2. This timing chart shows the progress of power switch on, initialization and running a program. Work Home after First Cycle is set by selecting Menu, System Setting, Parameter (Playback) and Initialization in order.
Power source A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped Initialization
B03 Program number ACK B04 Program number error
Running Program
Running Program
B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-2
Dispensing
3. This timing chart shows the progress of power switch on, initialization, returning to work home and running a program. Work Home at the first start is set by selecting Menu, System Setting, Parameter (Playback) and Initialization in order.
Power source A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped Initialization To Work Home
Running Program Running Program
B03 Program number ACK B04 Program number error B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-3
Dispensing
4. This timing chart shows the progress of changing program number by selecting LOAD, and running program. The conditions of this chart are: i) Setting VALID by selecting MENU, System Settings, Parameter (Playback) and External I/O in order. ii) Setting LOAD/ACK Handshake by selecting Parameter (Playback) and Initialization. iii) Setting Work Home after First Cycle or returning to Work Home by selecting Parameter (Playback) and Initialization.
A01 Start A02 Free 30msec min.
A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped B03 Program number ACK
Running Program
B04 Program number error B05 Running B06 Error detected B07 Emergency stop
Specifications
6-4
Dispensing
5. This timing chart shows the progress of changing program number by selecting LOAD, returning to work home and running program. The conditions of this chart are: i) Setting VALID by selecting MENU, System Settings, Parameter (Playback), Changing Program Number and External I/O in order. ii) Setting LOAD/ACK Handshake by selecting Parameter (Playback) and I/O LOAD Function. iii) Setting Work Home at the First Start by selecting Parameter (Playback) and Initialization.
A01 Start A02 Free 30msec min.
A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped
B03 Program number ACK B04 Program number error
To Work Home
Running Program
B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-5
Dispensing
6. This timing chart shows the progress of changing program number by LOAD, and program number error. The conditions of this chart are: i) Setting VALID by selecting Menu, System Setting, Parameter (Playback), Changing Program Number and External I/O in order. ii) Setting LOAD/ACK Handshake by selecting Parameter (Playback) and I/O LOAD Function. Or the condition of this chart is set as the loaded number that has no teaching program.
A01 Start A02 Free 30msec min.
30msec min.
A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped Running Program
B03 Program number ACK B04 Program number error B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-6
Dispensing
7. This timing chart shows the progress of changing program number by loading at start, and running program. The conditions of this chart are: i) Setting Valid by selecting Menu, System Setting, Parameter (Playback), Changing Program Number and External I/O in order. ii) Setting Loading at Start by selecting Parameter (Playback) and I/O LOAD Function.
30msec min.
A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped Running Program
B03 Program number ACK B04 Program number error B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-7
Dispensing
8. This timing chart shows the changing program number by loading at the start, and program number error. The conditions of this chart are: i) Setting VALID by selecting Menu, System Setting, Parameter (Playback), Changing Program Number and External I/O in order. ii) Setting Loading at Start by selecting Parameter (Playback) and I/O LOAD Function. Program Number Error is results.
30msec min.
30msec min.
A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit
A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped B03 Program number ACK
Running Program
B04 Program number error B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-8
Dispensing
9. Start prohibition is set on A02.
A01 Start Start Prohibition
Start Prohibition
A02 Start prohibition
A03 Program number LOAD
Invalid
A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped Temporary Stop B03 Program number ACK B04 Program number error Running Program
B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-9
Dispensing
10. Start prohibition and Temporary stop are set on A02.
A01 Start Start Prohibition
Start Prohibition
A02 Start prohibition Temporary stop A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped
Temporary Stop
B03 Program number ACK B04 Program number error
Running Program
B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-10
Dispensing
11. Software lock is set on A02. Timing is the same as I/O-S is interlocked.
Following the same movement as the power switch when turning on. A01 Start Start Prohibition
A02 Software lock
A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped Emergency B03 Program number ACK
Stop
B04 Program number error B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-11
Dispensing
12. Emergency stop is set on A02 Emergency stop activates at anytime. The emergency stop button on the robot works the same as the emergency stop of the I/O.
Following the same movement as the power switch is
turning on.
Following the same movement as the power switch is
turning on.
A01 Start A02 Emergency stops
A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped B03 Program number ACK
Emergency
Emergency
Stop
Stop
B04 Program number error B05 Running B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-12
Dispensing
13. Temporary stop is set on A12. A12 temporary stop is active high. It has start prohibition function, too.
A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit A11 Final work Start Prohibition
Start Prohibition
A12 Temporary stop
B01 Ready to start B02 Stopped Temporary Stop B03 Program number ACK B04 Program number error B05 Running
Running Program
B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-13
Dispensing
14. Final work command is set on A11. When Cycle mode is set as the Continuous Playback, the robot repeats the program. Turn on the Final Work Command to end running the program.
A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit
A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped
B03 Program number ACK B04 Program number error B05 Running
Running Program
B06 Error detected B07 Emergency stop B08 Position error
Specifications
6-14
Dispensing
15. Errors are detected on B06. When error is occurring, you have to turn power switch off and on again.
Power Source
A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped B03 Program number ACK B04 Program number error B05 Running B06 Error detected
Running Program
B07 Emergency stop B08 Position error
Specifications
6-15
Dispensing
16. Position error is set on B08. The position error is detected at the end of the running program. Even though if an error occurs, the next program can be started.
A01 Start A02 Free A03 Program number LOAD A04-A10 Program number bit A11 Final work A12 Temporary stop
B01 Ready to start B02 Stopped B03 Program number ACK B04 Program number error
Running Program
Running Program
B05 Running B06 Error detected B07 Emergency stop B08 Position error Position Error
Specifications
6-16
Dispensing
17. Line dispensing movements (No Busy Signal Operation) These timing charts show the movements of Line & Point Dispensing under the condition of No Busy Signal Operation in Steady Mode.
Start (A1) X,Y Work Home
X,Y Driving
Next Work Home
Line Dispense Driving
Work Home
Move to Z Height
Line Dispense Driving
Z Driving Wait Time at Start
Wait Time at Stop
Wait Time at Up
ON
Dispense ON (B10)
Line Dispensing
OFF
X,Y Home Point
Next Work Home
Standby Position
X,Y Driving
Z Work Home
Move to Z Height
Standby Position
Reverse
Z Driving
(Reverse Speed)
Wait Time at Stop
Wait Time at Up ON
Dispense ON OFF (B10)
Point Dispensing
Point Dispense Time
Specifications
6-17
Dispensing
18. Point dispensing movements (Busy Signal Operation) This timing chart shows the movements of Point Dispensing under the condition of Busy Signal Operation in Timer Mode.
Start (A1)
X,Y Work Home
X,Y Work Home
X,Y Standby Position
X,Y Driving
Move to Work Position
Move to Z Height
Z Standby Position
Reverse
Z Driving
(Reverse Speed
Wait Time at Stop
Wait Time at Up ON
Dispense On (B10)
OFF ON
Busy Dispense OFF Device (A13)
Timer Setting for the Dispense Device
1. After turning on the Dispense ON/OFF Signal (B10), the robot waits for the Dispense Device Busy signal (A13) to turn on. 2. When Dispense Device Busy Signal (A13) does not turn on after 0.5 second, the robot stops recognizing it as an error of failure to connect the device with the robot, or malfunction of the device itself. (No. 27 Dispense Device OFF Error) 3. When Busy Signal (A13) turns on, the robot turns off the Dispense ON/OFF Signal (B10) recognizing that the dispensing has started. Wait till the Dispense Device Busy Signal (A13) turns off. 4. When it turns off, the robot starts the next movement recognizing that the dispensing has finished.
Specifications
6-18
Dispensing
19. Point dispensing movements (End Signal Operation) This timing chart shows the movements of Point Dispensing under the condition of the End Signal Operation in Timer Mode.
Start (A1)
X,Y Work Home
Next X,Y Work Home
X,Y Standby Position
Move to Z Height
Z Standby Position
X,Y Driving
Moving to Work Home
Reverse
Z Driving
(Reverse Speed)
Wait Time at Stop
Wait Time at Up ON
Dispense OFF ON (B10) Dispense Device End Signal (A13)
ON OFF Timer Setting for Dispense Device
1. After turning on the Dispense ON/OFF Signal (B10), the robot waits for the Dispense Device End Signal (A13) to come. 2. After turning on the A13 signal, the robot turns off the Dispense ON/OFF signal (B10). 3. Then the Dispense Device End Signal (A13) turns off, the robot starts to the next movement recognizing that the dispensing has finished.
Specifications
6-19
Dispensing
7. SWITCH BOX
２４Ｖ
Pin 3 4 5 6
4.7KΩ
Function Emergency Stop input to CPU Input to the power supply relay of the motor driver
１ Uses a normal close switch that connects between 3 – 4 pins and between 5 – 6 pins, when you connect a switch
２
to one of the above signals. Output currency of the photo copula is 100 mA or under.
GND Pins 8 and 9 are unconnected. Emergency input to CPU
３
Stop condition Input circuit
Power supply circuit for motor driver
４ ５ ６
７ ８ ９
Specifications
7-1
Dispensing
8. ERROR MESSAGES When an error occurs, the teaching pendant screen displays the error number and the description of the error. The program number display on the front control panel of the robot also blinking to show “Er” (meaning “Error”) and the error number alternately (except when the error number is 100 or above). If the teaching pendant is not connected to the robot, turn off the power and connect it. By turning on the power again, the screen will display the error number and the error description.
ν Errors in Running 001 004
Message The program isn't taught. Error on program data
006
Point type error
007
Position is out of range.
Remedy Enter the number of an existing program. Correct the program data. Type Error is detected when CP Passing Point follows after PTP Point. Correct the point type. The cases are, the point to teach on the out of range, and the movement of the CP arch to pass through the out of range. (Out of range means the tool tip doesn’t move within the range specified at Move Area Limit.) Check the Move Area Limit and TCPC of tool data, then correct the position coordinates of the point. Point job errors, which are not classified as Errors 009 to 013, fall into this category. See the examples below: · A condition command series does not include LD or LDI corresponding to ANB or ORB.
008
· There are more than ten THEN/ELSE/TIMEUP nests in a single point job routine.
Error on point job
· A THEN/ELSE/ENDIF command does not have a corresponding IF. · A TIMEUP/WEND command does not have a corresponding WAIT↓. Correct the point job routine.
Specifications
8-1
Dispensing
Message 009
Remedy
THEN/ELSE for IF doesn't exist
This error includes the following cases. ·There is no THEN/ELSE command corresponding to an IF. ·There is a command other than condition commands between IF and THEN/ELSE. · A WEND command is used in place of ENDIF.
010
ENDIF for IF doesn't exist
Check the point job routine and enter appropriate settings. Correct the point job routine.
011
WEND for WAIT↓ doesn't exist
Correct the point job routine.
012
Label for Jump doesn't exist
Correct the point job routine.
013
Point for Go doesn't exist
Correct the point job routine.
015
Error on tool data
016
Error on pallet routine data
022
CP Speed Over
Correct the Tool Data settings under Additional Function Data. Correct the Pallet routine settings under Additional Function Data. Decrease the (CP) Line Speed.
026
Dispense Device Signal ON Error
Check the Dispense Device Signal.
027
Dispense Device Signal OFF Error
Check the Dispense Device Signal.
ν Hardware Error
032
Message Card Erase Error
033
Card Write Error
037
Motor Power Supply Error
Remedy Replace the memory card. Replace Board B. Replace the memory card. Replace Board B. This message appears when the motor power is not supplied. Check the motor driving power supply. ·A connector of the power supply or one of the thermal protectors is defective. ∧Check the connection of the parts.
041
Z Adjustment Data Error
Specifications
·The power supply unit is defective. ∧Replace the power supply unit. Incorrect response when receiving data from height sensor. Check the setting of the height sensor and connection.
8-2
Dispensing
ν Emergency Stop Error 082
Message Emergency Stop
Remedy This message appears when the emergency stop button on the teaching pendant or switch box is pressed or the emergency stop function of I/O-S is activated. After release the emergency stop, press the start switch when manual run mode. Press the F • 3 key, when teaching mode. Input the start signal when external run mode. After initialize machine become to “Start wait” condition or “Base” condition it is depend on the mode.
ν Taught Data Error When the teaching pendant is connected to the robot, the message to the right appears. If you select “YES”, all the taught data will be deleted.
085
Message Incorrect Use
086
Incorrect Data Version
Specifications
Incorrect ××××× All Teaching Data Delete OK? YES NO
Remedy This message appears when the system program and the taught data are made for different types of applications. For example, if you have taught dispensing programs and setting in the robot’s RAM and then insert a standard-application memory card into the card slot, the robot recognizes an error when the power is turned on. Delete all the taught data or replace the memory card with one for an appropriate application. This message appears when the data version number of the system program is smaller than that of the taught data. This means that the program in the system card cannot deal with the newer version of taught data registered in the robot’s RAM. Delete all the taught data or replace the system card with one of an appropriate version.
8-3
Dispensing
87
Incorrect Data Tag Value
Specifications
This message appears when the tag value of the system program (main tag value) is smaller than that of the taught data (main tag value). This means that the program in the system card cannot deal with the newer version of taught data registered in the robot’s RAM. Delete all the taught data or replace the system card with one of an appropriate version.
8-4
Dispensing
ν Mechanical Initialization Error 89
Message Z Sensor/Motor Error
90
Z Driver 0-Phase Error
92
X Sensor/Motor Error
93
X Driver 0-Phase Error
95
Y Sensor/Motor Error
96
Y Driver 0-Phase Error
98
R Sensor/Motor Error
99
R Driver 0-Phase Error
Remedy This error is indicated when Z sensor doesn’t work though when initialization is made. If Z-axis motor is working, error is caused by the sensor malfunction, if not, it is by the motor. This error is indicated when Z Driver 0-Phase signal is not outputted at all, or is outputted endlessly when initialization is made. This error is indicated when X sensor doesn’t work though when initialization is made. If X-axis motor is working, error is caused by X sensor, if not, it is by the motor. This error is indicated when Z Driver O-Phase signal is not outputted at all, or is outputted endlessly when initialization is made. This error is indicated when Y sensor doesn’t work though when initialization is made. If Y-axis motor is working, error is caused by Y sensor, if not, it is by the Y motor. This error is indicated when Z Driver O-Phase signal is not outputted at all, or is outputted endlessly when initialization is made. This error is indicated when R sensor doesn’t work though when initialization is made. If R-axis motor is working, error is caused by R sensor, if not, it is by the Y motor. This error is indicated when Z Driver O-Phase signal is not outputted at all, or is outputted endlessly when initialization is made.
ν Logical Error This type of error is not shown on the program number display on the operation box. Message Remedy 100 Logic Error XXXXXXXX Turn the power off, then on again. If the error repeatedly occurs, contact your dealer with the detailed description of the error message on the screen.
Specifications
8-5
Dispensing
ν Trap Error No error message appears at the moment a trap error has occurred. When you turn the power off, then on again, the teaching pendant screen displays the error number and the description of the error. Message 102
Trap Error (Bus Error)
103
Trap Error (Address Error)
104160
Trap Error/illegal instruction
Remedy Reinsert the connector of the board D, A, B and C. If the problem remains, replace the PC boards (A, B, C, D). Reinsert the connector of the board D, A, B and C. If the problem remains, replace the PC boards (A, B, C, D). Replace Board A.
ν Error at Start Remedy Inserted memory card is not the right one for this desktop robot. No error number or message appears at the screen. Identify the error type by means of the buzzer sound.
080
Message It is a wrong memory card.
Buzzer No message. The alarm buzzer beeps twice when the power is turned on. No message. The alarm buzzer beeps three times when the power is turned on.
Remedy An error is detected in the reading or writing function of the RAM on Board A. Replace Board A. The card slot is empty or a memory card for a machine other than the desktop robot is inserted in the card slot. Check if the correct program card is inserted in the card slot. No message. The memory card is defective. The alarm buzzer beeps four Replace the card. times when the power is turned on. No message. The memory card is defective. The alarm buzzer beeps five Replace the card. times when the power is turned on. No message. An error is detected in the deletion function of The alarm buzzer beeps six the FLROM on Board A. times when the power is turned Replace Board A. on. No message. An error is detected in the deletion function of The alarm buzzer beeps seven the FLROM on Board A. times when the power is turned Replace Board A. on.
Specifications
8-6
Dispensing
9. COMMAND SUMMARY Point Job Commands Command Category
Command
Set/ Reset IF, WAIT IF
SET RST PULS IPULS IF THEN ELSE ENDIF WAIT↓ Time Time Up WEND WAIT Forever
Condition Wait Pallet Other
Specifications
LD LDI AND ANI OR ORI ANB ORB WAIT Time WAIT Start WAIT Start (BZ)
Name Set Reset Pulse Pulse inverse If Then Else End if Conditional wait with time limit Time up Wait end Conditional wait Load Load inverse And And inverse Or Or inverse And block Or block Wait time
Parameters Factor, number Factor, number Factor, number, pulse length Factor, number, pulse length
Pallet loop Reset pallet Increment pallet Z up
Down Z Move to Z Go PTP Point
Z down Z move Point jump
Go PTP Point
Relative point jump
JUMP L
Label jump
Label End Program End Job
Label End program End job
ON output OFF output ON pulse output OFF pulse output Conditional branch Execute if true Execute if false End of conditional branch
Wait for conditions for a certain period Execute when time is up End of WAIT command
Factor, number Factor, number Factor, number Factor, number Factor, number Factor, number
Wait for conditions ON input OFF input Serial ON input Serial OFF input Parallel ON input Parallel OFF input Block serial connection Block parallel connection
Wait start Wait start with buzzer
LOOP D RST D INC D Up Z
Content
Pallet number Pallet number Pallet number Move distance, speed Move distance, speed Move distance, speed PTP condition number, point number PTP condition number, relative point number Destination point number, Label number Label number
9-1
Wait for the specified period Wait for a start signal Wait for a start signal while acknowledging an error with an alarm buzzer Repetition loop of Pallet Reset pallet Increase pallet counter Z axis rise Z axis descent Z move Jump to the specified point Jump to the relative point Specified label Label Program end Point job end
Dispensing
If you assign a point job routine which includes one of the highlighted (
)
commands above to a CP passing point or CP arc point, this command will be ignored.
Stop Condition Data Command Category
Command
Condition
LD LDI AND ANI OR ORI ANB ORB
Name Load Load inverse And And inverse Or Or inverse And block Or block
Parameters Factor, number Factor, number Factor, number Factor, number Factor, number Factor, number
Content ON input OFF input Serial ON input Serial OFF input Parallel ON input Parallel OFF input Block serial connection Block parallel connection
Output While Moving Command Category
Command
Name
Output
SET RST PULS
Set Reset Pulse
IPULS
Pulse inverse
Parameters Factor, number Factor, number Factor, number, pulse length Factor, number, pulse length
Content ON output Off output ON pulse output Off pulse output
Execute Condition Command Category
Condition
Specifications
Command
Name
LD LDI AND ANI OR ORI ANB
Load Load inverse And And inverse Or Or inverse And block
ORB
Or block
Parameters Factor, number Factor, number Factor, number Factor, number Factor, number Factor, number
9-2
Content ON input OFF input Serial ON input Serial OFF input Parallel ON input Parallel OFF input Block serial connection Block parallel connection
Dispensing
Sequencer Command Category
Condition Coil Connection Others
Command
Name
Parameters
LD
Load
Factor, number
LDI
Load inverse
Factor, number
AND
And
Factor, number
ANI
And inverse
Factor, number
OR
Or
Factor, number
ORI
Or inverse
Factor, number
OUT SET RST PLS PLF ANB
Out Set Reset Pulse Pulse F And block
Factor, number Factor, number Factor, number Factor, number Factor, number
ORB
Or block
NOP
NOP
Content Bus connection of constant open contact point Bus connection of constant close contact point Serial connection of constant open contact point Serial connection of constant close contact point Parallel connection of constant open contact point Parallel connection of constant close contact point Coil drive Motion hold output Motion hold release First transition pulse output Last transition pulse output Serial circuit block parallel connection Parallel circuit block serial connection No operation
Factors Factor Input Output Internal relay
Number of Factors 16 (A01 to A16) 16 (B01 to B16) 99 (M01 to M99)
Timer
50 (T01 to T50)
Counter Pallet counter
50 (C01 to C50) 50 (D01 to D50)
Note I/O-1 I/O-1 One timer can count from 0.01 to 327.67 seconds (in 0.01 increments). One counter can count from 1 to 32767. Corresponds to Pallet 01 to 50.
ηIn models that have the I/O-2 option. (Note that JR2200 series doesn’t have this option.) Factor Number of Factors Note Input 24 (A01 to A24) A01 to A16: I/O-1, A17 to A24: I/O-2 Output 24 (B01 to B24) B01 to B16: I/O-1, B17 to B24: I/O-2
Specifications
9-3
Dispensing
10. DEFAULT SUMMARY LCD Display
Back Light Auto-Off
No Auto-Off Function
Work Home
Position: X: 0, Y: 0, Z: 0, R: 0 Type: PTP Point Job Number at Start/End: 0
Dispense Condition
Default settings in Program Data
Cycle Mode Setting
PTP Condition
Tool Data Move Area Limit Rotate Speed Limit (CP) Rotate Acceleration Limit (CP) Work Weight
GO Function
Parameter (Teaching) Jog Speed
Parameter (Playback)
Initialization Program Change I/ O -1 I/O-S (Standby) I/O-S (Stop) Sequencer Number I/O-LOAD Function Resume Function
Specifications
No Busy Signal Operation Device Mode: Steady Wait Time at Start: 0 sec Maximum: 99.99, Minimum: 0.00 sec Wait Time at Stop: 0 sec Maximum: 99.99, Minimum: 0.00 sec Up Amount: 10 mm Maximum: The Max. Z Coordinate, Minimum: 0.01 mm Up Speed: 10 mm/s Maximum: 50, Minimum: 0.10 mm/s Wait Time at Up: 0 sec Maximum: 99.99, Minimum: 0.00 sec 1 Cycle PTP Speed: 100% R-Axis Rotate Speed: 100 % Relative Mode Z Move Height : The Max. Z Coordinate Z Up Distance : The Max. Z Coordinate Z Down Distance: The Max. Z Coordinate R-Axis Acceleration: 100 % Weight: 3 kg, TCP-X: 0 mm, TCP-Y: 0 mm X Axis at Max.: The Max. X Coordinate, Y Axis at Max.: The Max. Y Coordinate Z Axis at Max.: The Max. Z Coordinate R Axis at Max.: 360 deg., R Axis at Min.: -360 deg. 100 % 100 % 8 kg PTP Speed: 20 % R-Axis Rotate Speed: 20 % Relative Mode Z Move Height: The Max. Z Coordinate Z Up Distance: The Max. Z Coordinate Z Down Distance: The Max. Z Coordinate R-Axis Acceleration: 20 % Low Speed : 0.5 mm/s : Max 40, Min 0.1 mm/s Middle Speed: 5 mm/s : Max 40, Min 0.1 mm/s High Speed 40 mm/s : Max 40, Min 0.1 mm/s To Work Home After First Start Teaching Pendant: Valid Operation Switch: Valid I/ O -1: Valid External Supply Emergency Stop Emergency Stop 0 LOAD/ACK Handshake None
10-1
Dispensing
Initialization at start
Valid
Transmit Condition
COM1 Transmit Condition
I/O System Operation
A01 A02 A03 A04 A05 A06 A07 A08 A09 A10 A11 A12 A13 A14 A15 A16 B01 B02 B03 B04 B05 B06 B07 B08 B09 B10 B11 B12 B13 B14 B15 B16
Specifications
Baud Rate: 9600 Character Length: 8 bit Stop Bit: 1 bit Parity: None Start Free Program number LOAD Program number bit 0 Program number bit 1 Program number bit 2 Program number bit 3 Program number bit 4 Program number bit 5 Program number bit 6 Command for the final workpiece Temporary stop Dispense Device Busy Signal Free Free Free Start ready Robot Stopped Program Number ACK Program Number Error Running Error Detected Emergency stop Position error Dispense Device Error Dispense Device ON/OFF Free Free Free Free Free Free
10-2
Dispensing
12．LED
LED (Red)
LED (Green)
Program Number display)
[ LED] ∙ Red
Blinking
Start prohibition
∙ Green
Blinking
Waiting for start
∙ Green
Blinking quickly
Waiting for a start signal from external switch (A01)
∙ Green
Blinking
Running
∙ Red/Green
Blinking
Emergency stop
In the following cases the robot is “Start prohibition”. ∙ When the Temporaty stop signal (A12) is ON. ∙ When the robot has stopped (B02) and the Start prohibition (A02) is OFF. ∙ While the robot has stopped or stood by when I/O-S is turned ON where interlock is set. (Only for CE)
[Program number display] The numbers from “01” to “00” is displayed. The displaying number is the program currently selected. The “00” indicates the program number 100.
Specifications
12-1
Dispensing
13. SPECIFICATIONS
200 Series Model Number Axis *1(Simultaneous Control)
Moving range
203
204
3
4
X
200mm
Y
200mm
Z
50mm ±360°
R Portable weight *2
Work
7 kg
Tool
3.5 kg
Maximum R axis inertia
65 kg•cm²
Max. Speed (PTP)
X/Y
500mm/sec (5 ～500 mm/sec)*4
Z
250 mm/sec ( 2.5～ 250mm/sec)*4 600°/sec (6～600°/sec)*4
R Max. speed (CP)＊3
X/Y/Z
500mm/sec (0.1-500mm/sec)*4
X/Y
±0.01mm
Z
±0.01mm
Repeatability accuracy
R External input/output
±0.02° I/O-1
16 points for input, 16 points for output
Weight
18 kg
Ａｉｒｂｏｒｎｅ Noise
70 dB or less
*1: We can supply 2-axis Desktop robot. *2: The maximum portable weight of 2-axis robot is Tool: 10kg / Work: 11kg. *3: However, please note that it may change by the driving conditions. *4: Speed range ☆ We can supply the robot for CE certified (optional).
Specifications
13-1
Dispensing
300 & 400 Series Model Axis *1(Simultaneous Control)
Moving range
303
304
403
404
3
4
3
4
X
300mm
400mm
Y
320mm
400mm
Z
100mm
150mm ±360°
R Portable weight *2
Work
11 kg
Tool
6 kg
Maximum R axis inertia
90 kg•cm²
320mm/sec ( 3.2 ～ 320mm/sec)*4 800°/sec 800°/sec *4 (8～800°/sec) (8～800°/sec)*4
Z R
Max. speed (CP)＊3 Repeatability accuracy
X/Y/Z
800mm/sec (0.1- 800mm/sec)*4
X/Y
±0.01 mm
Z
±0.01 mm ±0.02°
R External input/output
90 kg•cm²
800mm/sec (8 ～800 mm/sec)*4
X/Y Max. Speed (PTP)
±360°
±0.02°
I/O-1 16 points for input, 16 points for output I/O-2 (optional)8 points for input, 8 points for output (Including 4 points relay)
Weight Airborne Noise
35 kg
42 kg
70 dB or less
70 dB or less
*1: We can supply 2-axis Benchtop robot. *2: The maximum portable weight of 2-axis robot is Tool: 10kg / Work: 11kg. *3: However, please note that it may change by the driving conditions. *4: Speed range ☆ We can supply the robot for CE certified (optional).
Specifications
13-2
Dispensing
Common to all the 200, 300 and 400 Series Teaching methods
Remote teaching (JOG), MDI (Manual Data Input) teaching JR Points: Simple and broad-use teaching system
Teaching system
・Simple: Easy teaching only by registering position and parameter. Optional memory card is supplied corresponding to all applications. ・Broad-use: Programming the original I/O control, etc. for users by registering the Point job teaching.
Teaching method
・Teaching by teaching pendant (optional) ・Teaching by PC (off-line teaching) (optional)
Program system
100 programs
Data memory capacity
6,000 points maximum
Drive method
5-phase stepping motor
Control method
Point to point (PTP) control, Continuous Path (CP) control
Interpolating function
3 dimensional line and arc interpolation
External interface
RS232C PC (COM1) Teaching pendant External equipment (COM2) :1ch (optional)
PLC function
50 programs, 100 steps/1 program
Power supply
AC90-132V / AC180-250V (single phase)
Consumption current
200VA
Working ambient temperature
0～40℃
Relative humidity
20-95%, no condensation
Specifications
13-3
Dispensing
2ch :1ch :1ch
