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UserManual CS7M PDF
UserManual CS7M PDF
Ill. CONTROLLER
CS7M
PAGE
C H A P T E R 3 - R E C O M M E N D E D SPARE P A R T S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1
APPENDIX . 3.A.1
& D . 2 8 0 . 0 1 7 . 3 4 . A - 07/97
.f''
CONTROLLER
PAGE
CHAPTER 1 - INSTALLATION
•
1.,.
� J
CHAPTER 2 - DESCRIPTION
PAGE
APPENDIX 3.A.1
3.111
028001734 • 0797
CONTROLLER
C H A P T E R 1 - INSTALLATION
Figure 3 . 1 . 1
Figure 3 . 1 . 2
3.1.2 0 2 8 0 0 1 7 - 0797
CONTROLLER
C H A P T E R 1 • INSTALLATION
1 . 1 . C O N T R O L L E R CS7 M P A C K A G I N G (figure 3 . 1 . 1 )
Gross weight 1 7 0 kg
Net weight 80 kg
1 . 2 . HANDLING OF PACKING
1 . 3 . U N P A C K I N G A N D INSTALLATION OF C O N T R O L L E R
ill According to European Directive CEE 89-392, the hoisting rings' threaded holes
used for the CS7M controller hoisting are defined according to the ISO 262 standard.
- U s i n g the hooks (8), place a sling (6) (200 kg fabric sling) between the hoisting rings (7) of the controller
- Slowly raise the controller using the hoist and place it beside the base (2).
The overall dimensions of the controller are as follows: Length x Height x Depth= 437 mm x 685 mm x 480 mm
ffi Before remove the protection, please check if the length of the interconnect cable
and the
NOTE
operating conditions (tem p erature and humidi ty) and a dustfree environment .
The a i r inlets and outlets of the CS7 M must be free in order to allow a
0 2 8 0 0 1 7 3 4 - 0797 3.1.3
2---,
Figure 3 . 1 . 3
The teach pendant ( 1 ) is attached on the receptacle (2) provided for this purpose. This receptacle has two
functions:
- to make the teach pendant easily accessible to the operator. The installation of receptacle (2) is u n d e r the
- to hold the "dead man" button (3) in activated position to authorize power s u p p l y to the robot arm by closing
The connecting cable (4) of the teach pendant is connected to the front panel (5) at (6).
When the teach pendant is not connected to (6), it must be replaced by the dummy plug (7) provided with the
accessories.
The teach pendant is also equipped with a lockable emergency stop button (8).
& If the manual control pendant is not connected, it must be removed from its location
on the controller and stored, since the emergency stop button (8) cannot be used.
For use and description of this pendant, see chapter 3 of the "V+ 1 Instruction Manual".
Figure 3 . 1 . 4
3.1.6 0 2 8 0 0 1 7 - 0797
CONTROLLER
1 . 5 . C O N N E C T I O N O F C O N T R O L L E R CS7 M (figure 3 . 1 . 4 )
1 . 5 . 1 . C O N N E C T I O N TO ROBOT A R M
C o n n e c t the i n t e r c o n n e c t i n g cable ( 1 ) to the connector located on the base of the robot, on the one hand, and
to t h e h a rt i n g connector ( 2 ) , on the other h a n d . Latch the two locks (3) on the four studs (4).
1 . 5 . 2 . C O N N E C T I O N TO ELECTRICAL NETWORK
ffi Use a cable appropriately rated to the power required and protect the line to suit.
ffi Check that the voltage supplied corresponds to the one shown on the
1 . 5 . 3 . C O N N E C T I O N OF INPUT/OUTPUT S I G N A L S
Must be achieved on connector (7) (refer to the Electrical Drawing Set manual for wiring).
0 2 8 0 0 1 7 3 4 - 0797 3.1.7
Figure 3 . 1 . 5
1 . 6 . C O N N E C T I O N OF P R O G R A M M I N G CONSOLE (figure 3 . 1 . 5 )
A
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Connect the interconnecting cable@ with the terminal at (2) and connect the keyboard to the terrmnal ( 3 ) .
The configuration of the WYSE keyboard/screen assembly is given in the Electrical Drawing Set manual.
H u m i d i t y : 30% to 80% n o n - c o n d e n s i n g
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Figure 3 . 1 . 6
1 . 7 . PRESENTATION OF FRONT P A N E L
Its main function is to activate the various running modes and to indicate the state of the system. The
Indicator lights :
POWER ( 1 2 ) Indicates that power is supplied to the controller (when switch (14) of the
ARM POWER ON ( 1 1 ) Arm power enable request signal (to validate power, press ARM POWER ON
FAULT (9) Indicates opening of the emergency stop circuit (see chapter 2.4.3) which may
- Brake selection
PROG ST A R T (5) Program run request signal in pendant mode or in "auto start" mode.
P u s h b u tt o n s :
ARM POWER ON (11) Validates e ffecti ve energization of the arm when the light is flashing * .
E MERGEN CY STOP ( 8) C uts off power to the arm and activates the b ra ke s .
LL B e fore s wi t ching o ff the Adept controlle r, y ou must cut o ff the power to the arm
stop.
unit.
PROG ST ART (5) Program start validation from manual control pendant or in automatic start
procedure.
Connectors :
M C P connector (3) Connector for the teach pendant or MCP dummy p l u g . This connector
S P E E D SELECT ( 1 3 ) In option, the switch allows to select the normal speed ("rabbit" position), or
a reduced speed ("turttle" position) for which the arm avaible power on is
This license is a legal agreement between you, the system user, and Adept Technology, I nc . ( ' ADEPT"). II you do
not agree to the termes of this license, promptly return the license package and accompanying items to Adept
1 . GRANT OF LICENSE. This Adept Software License ('License') permits you to use the software option specified
below ('SOFTWARE') on the Adept controller with the serial number indicated below.
2. COPYRIGHT. The SOFTWARE is owned by ADEPT and is protected by United States copyright laws and
international treaty provisions. Therefore. you must treat SOFTWARE like any other copyrighted material except
that you may (a) make as many backup copies of the distribution media as you like, and (b) transfer copies of the
files on the distribution media to the hard disk of any Adept controller.
3. DATA AND PRO PR I ETARY RIGHTS IN DATA. The data supplied are proprietary to ADEPT. ADEPT retains for
itself all proprietary rights in and to all designs, engineering details. and other data pertaining to any product sold
except where rights are assigned under written agreement by a corporate officer of ADEPT.
4. OTHER RESTRICTIONS. You may not copy the written materials accompanying the SOFTWARE. You may not
5. LIMITED WARRANTY. The warranty for the SOFTWARE is described in the 'Terms and Conditions of Sale'
• If you have purchased this software option on the same purcharse order as an Adept controller, then the option
will already be installed on the controller. However, please save this software license so that, ii necessary, you can
* If you have purchased this software option as an upgrade, then you must tum on power to the controller, wait for
the Adept V+ message to appear. and then type "INSTALL XXXX·XXXXX·XXXX' at the monitor prompt, to enter
the password shown below. The option will be permanently installed in the controller. You must re-bootthecontroller
DATE: 23-Jul-93
PASSWORD: XXXX·XXXXX-XXXX
3.1.12 0 2 8 0 0 1 7 34 - 0797
CONTROLLER
Licenses
The "Adept Software License" forms are delivered with each installation guaranteeing the o r i g i n of the software
and e n a b l i n g the use r to use specific options (see original text opposite for more details). These documents
NOTE
They must be conserved so that they can be reinstalled if the module on which
The passwords are "installed" when the controller is configured in our workshops and are permanent: they are
Refer to the "INSTALL" command in the "V+ Language" manual for more information concerning option
e installation procedures.
Software
The basic software packages are installed on the controller hard di s k and are also saved on at least two 3 1 /
2" diskettes :
- A system diskette containing the "Adept V+ Operating System and System Files" associated with the
delivered robot (type, calibration data, etc.). The hard disk is delivered in the same configuration.
· A utility diskette containing the copy, calibration, formatting and configuration software packages, etc . .
The software packages are also installed on the hard disk in directory C:\UTIL\.
ill These two "source" diskettes must never be modified. If the installation is
modified, transfer any changes onto a copy of these two diskettes and not
A
•t-?H
CHAPTER 2 - DESCRIPTION
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Figure 3.2.1
3.2.2 0 2 8 0 0 1 7 - 0797
CONTROLLER
CHAPTER 2 • DESCRIPTION
2 . 1 . GENERAL DESCRIPTION
The controller cabinet consists of a controller (1 ), the intelligent part of the installation, which controls the robot
through power amplifiers (2) dedicated to each arm joint. Interpolation used is a linear interpolation. The
electrical power is converted by a power block which supplies to each of the items above the voltages required
for correct operation from the three-phase voltage delivered by the electrical network. The f un ct i o n s
A ll of these items are placed in a controller intended to be integrated into an assembly ensuring IP54 protection
level and an ambient temperature of 40° C maximum. The integrator is responsible for e n s uri n g the operating
c o n d i t i o n s to avoid all risk of malfunctions due to temperatures which are too h i g h or presence of dust or
Power must be switched off before any operations are performed on the
To switch off the controller, place the main switch (3) on the O position. Before this is done, you must stop the
operation of the arm and cut off the power to the robot then to the controller (see chapter 2 - Section I ).
An hour meter (4) shows the number of hours during which power is supplied to the arm.
3.2.3
0 2 8 0 0 1 7 3 4 - 0797
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Figure 3.2.2
3.2.4 0 2 8 0 0 1 7 • 0797
CONTROLLER
. a system processor board ( C P U 030) to control the assembly and provide the l i n k with the alphanumerical
terminal,
. a peripheral management module (SIO) which controls the disk drive and the hard disk, the basic input/output
s i g n a l s , the general purpose serial links and the dialog with the teach pendant and the control p a n e l ,
The SAFETY board includes all the signals and the components ensuring the r u n n i n g of the installation u n d e r
The A M P L I F I E R S supply power to the motors according to the commands received from the M l 6 boards and
return to the controller information concerning the position of the motors from a multi resolver system (a master
resolver and an I M A S ) or, according to the type of robot, from a resolver and from an RPT board which allows
to keep the resolver f u n c t i o n n i n g in case of power cut and post the number of revolutions done by the resolver.
Characteristics are :
. CS7 M type controller (Staubli 7 controller) controlled by a 68030 microprocessor (40 MHz) and a 68882
. V M E bus
1 RS422/485 l i n k
3.2.5
028001734 - 0797
4 -----
3 ------...
2--
Figure 3.2.3
3.2.6 0 2 8 0 0 1 7 - 0797
CONTROLLER
2.2. C O N T R O L L E R
The Adept controller represents the heart of the installation. From commands given by the operator i n
co nj unction with a powerful software package, the V+, it .generates motion commands (movement, speed,
a c ce le rat ion ) for each of the arm joints. It is structured around a V M E bus and is composed of the following
components :
- 030 board ( 1 ) this is the system processor board with its Motorola 68030 microprocessor.
- S I O module (2) this is the indispensable inpuVoutput module associated with the 030 board
that is to allow the absolute position of the arm to be known from information given
by various coders and the ones memorised by the RPT board according to the robot.
-VGB board allowing use of a graphic screen and a mouse in place of the alphanumeric
screen.
- 0 1 0 board board allowing the number of "on/off" inputs/outputs of the system to be increased
Each board is held in place by a m i n i m u m of 2 screws. To extract a board, unscrew its screws and pull on the
top and bottom extractors. To insert a board, place it in its slot, push on its extractors and tighten the attaching
screws. Take care not to damage the pitch of the screws by overtightening.
ill Before extracting o r inserting a Staubli certified Adept controller board, switch off
the arm then the controller following the procedure described in chapter 2.5 .
- -
J-____2
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·�·
Figure 3.2.4
2 . 2 . 1 . 030 BOARD
The controller system processor board is structured around a Motorola 68030 microprocessor operating at 40
MH z. The board is equipped with a Motorola 68882 arithmetic coprocessor operating at 32 M H z for making
ca lculati o ns and a 4 megabyte RAM for temporary storage of software and data.
- indicator lights (1 ) .
The "OK" indicator light comes on to indicate that the V+ start-up procedure has been completed without
problems. The other 4 indicator lights have no specific m ean i n g. They flash du r i ng the start-up phase
- microswitches (2)
For general purpose communication use use or reserved for the APT board if it is installed.
- an Eprom dependent on the V+ operating system version used and a 4-Mbyte DRAM (dynamic RAM)
0 28 0 0 1 7 34 - 0797 3.2.9
1-----�---
't-'H------5
2--rl-------11
3����L_------------11
4���_L----------1
6-----�-------_,,,...
Figure 3.2.5
2 . 2 . 2 . S I O BOARD
M o d u l e e n t e ri ng into the basic configuration of the controller providing it with m i n i m u m inputs/outputs to ensure
correct o p e ra ti o n .
The m o d u l e is e q u i p p e d :
The "OK" l i g h t comes on to indicate that the V+ start-up procedure has been completed without problems.
The "E-STOP" lig h t comes on to indicate that the emergency stop circuit is o p e n .
The "SCSI/HD" light comes on to indicate that the controller is accessing the hard d i s k , in read or i n write
mode.
- microswitches (2)
For automatic start-up procedure, switch 1 must be in ON position (see chapter 1 1 of the "Operator manual"
for use).
This connector is used to connect the front panel and the teach pendant via the safety board.
- a d i s k drive (5)
This drive is designed to take 3 1 /2" diskettes, double side, high or single density, 1.44 Mbytes, PC
compatible.
These are general use R S 232 ty pe serial links, the i r characteristics can be programmed ( t ransmiss i on
1 2 inputs and 6 outputs for general p u rp ose use , transferred to the "B AS I C I O " board ( see chapter 2 . 4 . 2 ) .
2 outputs to contro l the robot's gr i p solenoid valves transferred to the "B AS I C I O " board.
- a hard dis k (8 )
H ard dis k of 85 megabytes m inimum to save system software, ut i lities and a p p l ications.
3 .2.11
0 2 8 0 0 1 7 34 - 0797
00
oO
oO
oO
oO
oO
-,
oO
oO 1
oO
oO
oO
oO
oO
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----3
-----4
Figure 3.2.6
3.2.12 0 2 8 0 0 1 7 - 0797
CONTROLLER
.�,.
� 2 . 2 . 3 . M l 6 BOARD
I n t e rf a c e board between the system processor and the power a m p l i f i e r s allowing up to 6 joints to be controlled.
- indicator lights (1 ).
The "ES" light comes on to indicate that an error signal has been transmitted by the Ml6 board or that an
external fault has occurred (for example: pressing of an emergency stop b u tt o n ) . This fault is cancelled in
2 s t e p s :
Lights " F 1 " to "F6" for joints 1 to 6 indicate respectively, when on, that a fault has occurred on the joint in
question. The o r i g i n of the f a u l t can be: an a m p l i f i e r fault or overheating of a motor (the motor t h e r m a l switches
Nota: For robots with a 4- or 5-axis configuration, indicators of the unused axes will be lighted. In this case,
The "HPE" light comes on to indicate that supply of power to the arm is enabled.
Lights " D E 1 " to "DE6" for joints 1 to 6 indicate respectively, when they are on, that the command for the joint
in question is valid.
. "ENCODER" signals (2) from the position encoders installed on each motor of the arm.
. "MACHINE" signals (3) for brake control, for the motor thermal switches and to enable power to the arm .
. "SE RVO" signals (4). Analog signals for controlling the movements of each motor.
NOTE
3.2.14 0 2 8 0 0 1 7 • 0797
CONTROLLER
2 . 2 . 4 . ACB B O A R D
T h i s board provides the interface between the Adept V+ operating system and the amplifiers in order to read
- i n t h e case of IMAS, the absolute position is obtained by reading the signals supplied by the "absolute"
encoders installed on each motor. Each absolute encoder is in fact composed of three resolvers. They include
a master o r f i n e resolver and two coarse resolvers. These resolvers are coupled by means of gears, the fine
- in the case of APT baord, the absolute position is obtained by conversion into numerical of the analog s i g n a l
given by the resolvers. This conversion is done by the multiresolver board installed on amplifiers and
transmitted via a SSI serial l i n k (2 ) (between the A CS board and each amp l ifier ) each t i me t h e Ad ep t c ontr o ller
is s witched o n .
These e ig hteen resolvers ( three resolvers p er motor (x) si x joints ) are read via an SSI seri al l in k (2) (b e tw een
the ACS board and each am p lifier ) each time the Adept c o n tro ll e r is s w itche d o n .
I f the calibration p rocedure has not been correctly e x ecuted on one or more jo ints , the corre s pon d in g i n d i c a to r
l i g hts ( 1 ) are he l d in state 1 and it will be im p os s i ble to s upply power to the arm.
�
. -
Figure 3.2.8
- -
2 . 2 . 5 . POWER SUPPLY
It supplies the DC voltages required for the operation of the various controller boards, from a 220 VAC input
voltage.
The various components of the power supply are accessible by removing the screws ( 1 ) located on the front
- a VTB board (4) to control the relay (3) from the signal delivered by the main power-up switch and
- protective fuses : F7 et F9 on the 22 0 VAC inp ut, 24V DC for the VTB board ( s e e § 2.4. 2 ).
4°".·
The backplane s u p p l i e s the various boards of the controller with power and conveys between them the various
s i g n a l s required for their dialog. Interconnection between the boards is made according to V M E standard.
Each controller board must have a u n i q u e V M E address so that it can be recognized and differentiated from
the other boards. I n the original as-delivered configuration, these addresses are correct.
If a board is added, make sure that these addresses are configured according to the new configuration (refer
ffi Before extracting or i n s e rt i n g a Staubli certified Adept controller board, switch off
the power to the arm then to the control bay according to the procedure described
i n chapter 2 . 5 , and place the switch located on the front face of the
028001734 - 0797
3.2.18
CONTROLLER
2 . 2 . 7 . S E C O N D S O U R C E BOARDS
It is prohibited to use second source boards in the controller which are not valida
ted by Staubli. The use of boards which have not been qualified by Staubli will
The use of second source boards requires the use of the "V+ Extensions" software option which must be
& Before i n s e rt i n g a board o t h e r than a Staubll c e rt i f i e d Adept board into the VME
bus, you must first of all disconnect the VME bus flat cable connector P2 for the
•
3.2.19
028001734 - 0797
•
Figure 3.2.9
a 2.3. POWER R A C K
·� The amplifiers s u p p l y the power required to the motors according to the control s i g n a l s generated by the
controller.
- a power supply ( 1 ).
- 6 amplifiers ( 2), each being dedicated to a joint on the arm. The amplifiers are installed in increasing order
- a backplane (3).
The power supply and the amplifiers are locked on the front face by screws (4).
To extract a board :
To insert a b o a r d :
- at end of travel, push a little harder to make connection with the backplane,
- tighten the attaching screws (4) taking care not to damage the screw threads by overtightening.
Power supply ( 1 ) is attached according to the same principle and is accessible via the rear of the CS7 M o n c e
ill Before extracting or inserting a board, switch off the installation following
,-- - - 1
Figure 3 . 2 . 1 0
3.2.22 0 2 8 0 0 1 7 - 0797
CONTROLLER
2 . 3 . 1 . POWER S U P P L Y
The power s u p p l y board generates the DC voltage required for the amplifiers from a three-phase AC voltage.
When the speed of the motors must be reduced, the power supply can absorb the excess power not required
by the motors in its energy d u m p resistor located (3) in the power supply.
- the " M A I N S U P P L Y " indicator l i g h t ( 1 ) which comes on to show that the power supply is operating; this occurs
- the " R E G . L O A D " indicator light (2) which comes on to show that the system is in energy dump mode
0 2 8 0 0 1 7 3 4 - 0797 3.2.23
5
-------1
·--r-------3
Figure 3 . 2. 1 1
3.2.24 0 2 8 0 0 1 7 - 0797
CONTROLLcR
2.3.2. AMPLIFIERS
Each a m p l i f i e r is dedicated to a joint and depends on type of motor controlled and desired characteristics. Two
ill The interchangeability of the amplifier boards does not depend only on their
Refer to the "Electrical drawing set" manual for more details on amplifier ratings and their possible
interchangeability.
Note: Only axis 3 (multiresolver board) generates the resolvers "reference" s i g n a l . This signal is transmitted
- the "PROTECTION ENABLE" indicator light ( 1 ) indicates green when operation is correct or red when a fault
has occurred.
- the "It LIMIT" indicator light (2) turns on when an overcurrent occurs.
If one of these two indicator lights comes on, more details concerning the origin of the fault can be obtained
by o b s e rvi n g the indicator lights on the amplifier backplane (see chapter 2 . 3 . 3 ) . Switch power off to the
controller, correct the fault and reapply power to remedy the problem indicated.
- The adjustment points (4) are configured correctly during installation at the factory and must in no case be
- The measurement points (3) are associated with the adjustment points (4).
ffi Do not modify the amplifier potentiometer settings. Incorrect adjustment may
A daughter board called "multiresolver board" is connected onto each amplifier. It is used as an interface
between the amplifier and the position sensor. I n the case of APT calibration, only the axis 3 board generates
In case of exchange of this daughter board, please refer to the "Electrical Drawing Set" to get its configuration.
02 8 0 0 17 3 4 - 0797 3.2.25
4
Figure 3.2.12
3.2.26 0 2 8 0 0 1 7 - 0797
CONTROLLER
2 . 3 . 3 . B A C K P LA N E
The backplane distributes the s u p p l y voltage to the amplifiers and s u p p l i e s the measurement and control
The 6 connectors ( 1 ) are used to connect the power (UVW) of each motor via the interconnecting cable.
The a m p l i f i e r electronics is supplied with a 24 VDC external voltage at (3) to prevent loss of position value when
A l l the control and check s i g n a l s , delivered by the M l 6 board to the motors, are located on connectors (4) and
0 2 8 0 0 1 7 3 4 • 0797 3.2.27
ERROR MESSAGES
FO F1 F2 Error description
0 0 1 Overtemperature
0 1 0 Undervoltage
0 1 1 Electronic f u s i n g
1 0 0 Overvoltage
1 0 1 Resolver fault
1 1 0 Overcurrent
When the s u p e rv i s i o n circuit detects one of these faults (except "It limit" error), the LED "enable protection"
is at red, the power stage is inhibiting and the origin of the error can be read. When the LED is at green, the
What to do i n c a s e of error?
ERROR 0 0 1 : When the motor load is heavy and the temperature of the electric cabinet too high, the
amplifier can not evacuate the heat accumulated in its radiator anymore. As soon as the
temperature of the radiator reaches 55° C, a bi metal contact opens and causes the defect.
Solution : Ventilate the cabinet and check the fans under the amplifier rack. If you are in
ERROR 0 1 0 : This alarm appears when one of the control voltages - 1 5 V c c , +5Vcc (and 24 Vee for BTS
10P/20PA with option 24 V) is too low ( l i m i t s : +/-12 V, +4.75 et +20 Vee for option 24 V),
or when it appears too late (more than 300 ms) after the 200 Vee or 300 Vee bus voltage
increase. This defect can indicate a problem of CD/DC converter or of an integrated circuit.
Make sure that the control voltages are normal. If you do not detect any external apparent
ERROR 0 1 1 : Electronic fusing : When the current supplied to the motor exceeds the nominal value of
the current amplifier for too long, then error 1 1 1 appears ("I t" limit) and LED "Protection
e n ab le" is at yellow. If it lasts more than 1 5 seconds, the error 0 1 1 appears. It can due to:
- a too heavy motor load (i.e. brake pulled during the motor motion or gear locked),
- phases crossing at the level of the motor wiring or/and sine and cosine resolver s i gna l s ,
If the defect appears with an unloaded motor.check the wiring system and the motor/
resolver cable.
If it is not, make sure that no mechanical problem occured and that both the amplifier and
ERROR 1 0 0 : This alarm appears when the bus voltage exceeds 290 Vee. It usually happens at random
when starting u p , and is due to the voltage overshoot in the transformer output ( especially
load the transformer output for a short time (500 ms) at the start-up with resistances, or
E RRO R 1 0 1 : The resolver cable is damaged or uncorrectly connected, or the resolver or the IMAS or
the multiresolver board is faulty. Check, with the help of an oscilloscope, the reference
signal between points R1 and R3 at motor level (signal 21 Vpp, 7,2 KHz), between points
51 and 53 (cosine) and between points 52 and 54 (sine) at motor and amplifier levels
(signals situated between O and 2 1 Vpp considering the motor shaft position, 7,2 KHz).
If the sine and cosine signals are present on the motor output but not present on the
amplifier inputs, check lines 5 1 , 52, 53 and 54. It means that the cable has been cut or that
there is a bad contact in the resolver connector or on the amplifier side of the backplane.
ERROR 1 1 0 : This defect indicates that a short-circuit occured at motor cable level or of the power stage.
In some cases, the power transistors can be damaged. Power off the machine, make sure
that the state of the wiring and of the motor cable is correct, inhibate the amplifier and
restart the machine. If the defect is still present while the amplifier is inhibated, send the
amplifier back to the supplier. If the defect appears as soon as the power stage is activated
3.2.29
0 2 8 0 0 173 4 - 0797
5
Figure 3 . 2 . 1 3
- a three-phase transformer (6) accommodating the rectification diodes for generating the 24V.
- a safety board (7) which controls the 2 main contactors (4) A P 1 and AP2 for the amplifier backplane (3) 1 4 0
VAe power s u p p l y . These contactors are part of "safety" installation and their power switches are connected
in series : they can only be controlled if they are both at rest; they can only remain active if they are both in
operation.
Take care not to block the ventilation circuit inlets ( 1 ) and outlets ( 8 ) .
2 . 4 . 1 . T R A N S F O R M E R A N D POWER S U P P L I E S (3)
The main power input is on a three-phase transformer (220 or 400 V) which is connected in factory during
controller installation. ·
- three-phase 35 VAe for the amplifier rack in "safety voltage" mode in order to limit the maximum possible
& The transformer and its power supplies are dimensioned for the power required
for the good operation of the controller and the robot. It is prohibited to connect
3.2.31
0 2 8 0 0 1 7 3 4 - 0797
1 4 5 6 7
Figure 3 .2 . 1 4
3.2.�32�---
0280017 - 0797
CONTROLLER
2 . 4 . 2 . T E R M I N A L BLOCK
Th i s assembly is located at the rear of the controller on the transformer and c o n s i s ts of (refer to the "Electrical
- g ro u n d terminals (7)
ffi These fuses do not protect the i n c o m i n g main power (i n p u t voltage) which must be
- a three-phase fuse-holder (2) with power rack 1 4 0 VAe power supply protective fuses, and a three-phase
fuse-holder (3) with power rack 35 VAe power supply protective fuses (for the safe teaching speed option).
. 24 voe fuse-holder (5) for the SAFETY board, the BAs1e10 board .
0 2 8 0 0 1 7 3 4 - 0797 3.2.33
a o
00000000000000000 @ I o o j o o I I o o o I
, 0000000000000000 0 . . · ·
1 ---e:::i---1+
2 OUT SIO BASICIO
� I �1 1
4 1 01
1 0
5 2 02
06
6 3 03
4 04
5 05
7 OUT
6 06
8 -K - - - - · - · - - .. - - ------------
301
.
.
=8 7 301
1 00 1 302
8 302
1002
ENTREE
1 003
1004
+ SIO BASICIO
1005
IN
1006 �
11
� 1 00 1 11
1007
.
1 0 . .
1008 . .
. .
. .
1009 . .
. .
1010 . .
112 . .
1011
1012 112
1012
Figure 3 .2 . 1 5
3.2.34 0 2 8 0 0 1 7 • 0797
CONTROLLER
2 . 4 . 3 . B A S I C I O BOARD
- two 24 V DC transistor outputs for s u p p l y i n g the robot gripper control solenoid valves. Each output includes
Refer to the "Instruction for Adept Utility Programs" manual for the configuration and the addressing of these
outputs link e d with instructions OPEN, CLOSE. The command instructions of solenoid valves (OPEN,
CLOSE) are defined in the "V• Language Reference Guide" and "V• Language User's G u i d e " manuals.
- six relay outputs each with an available switch protected by a fuse. This switch is without potential and
protected by a fuse. An indicator light shows the status of the relay : light on when the relay is controlled.
- twelve inputs connected directly to the SIO module. Each input has an indicator light which comes on when
the input is active. The inputs have optocouplers (on the S I O module).
Refer to the "Electrical drawing set'' file for the electrical characteristics of the inputs/outputs.
Inputs 1 0 0 1 , 1 0 0 2 and 1 0 0 3 can be configured (using utility software CONFIG_C) as "high-speed inputs" ( h i g h
3.2 . 3 5
0 280 0 1 73 4 - 0797
5
11
12
Figure 3.2.16
3.2.36 0 2 8 0 0 1 7 - 0797
CONTROLLER
2 . 4 . 4 . SAFETY B O A R D
The SAFETY board i n c l u d e s all the components required to power-up the arm and for arm emergency
stop u n d e r good electrical safety conditions. It is equipped with redundant safety relays.
- to the controller via J3 (4) for the l i n k with the teach pendant and via J6 (6) for the thermal switch, brake
- to the robot arm via J2 (8) for the l i n k with the thermal switches, the limit switches, the brake release
request.
The board is s u pplied via JS (9) with 24 VDC and supplies external information to J8 ( 1 2 ) .
The SAFETY board ensures the continuity of the emergency stop circuit by connecting the various emergency
stop switches together, which state is given by indicator lights ( 1 3 ) (see figure 3 . 2 . 1 7 ) :
- c e l l door switch or MANU mode enabled and user input allowed (08),
If one of these switches is open, the robot will not start or it will stop if it is in operation. This fault will be indicated
If the emergency stop circuit continuity is ensured, power can be applied to the arm provided that there are no
controller internal faults ( D 1 0 ) , that power has been enabled by the controller ( 0 1 1 ) (ENABLE POWER switch
0 2 8 0 0 1 7 3 4 - 0797 3 . 2 . 37
SIO
Operator/teach pendant
interface connector
[each
Brake
release
Emergency
JS: 1Extamal
stop
I
r--- - , J3
1
, __
Estop V
I Safely
I
+24V I
relay
A dept :
Estop+
Emergency · L oca l ·
ES+
: ;;_ ��;� �ain- - - - :
Enable power
I I I
I
Emergency 1Remote
I I
I l I
+24V2
J11B I
I
slop �ront panel
I � I
I I I
I :
I ---------J
Safely board
Passive
Es top
Figure 3.2 . 1 7
The SAFETY board controls the brake power supply via the redundant safety relays from the signal delivered
by the controller or from the signal delivered by the pushbutton located on the base of the robot.
- " I NF O E XTAU TOMAN" indicating that the controller is in "MANU" mode when the contact is unused or in
- " I N F O E X T L O R E M " indicating that the controller is i n "LOCAL" mode when the contact is u n u s e d or in
- "AUE XTI NF O" indicating that the emergency stop channel is closed (809 - 8 1 0 ) ,
On this connector, it is possible to connect an external emergency off switch "AUEXT" between 807 and 808
by removing the wire bridge installed in the factory, a "DOOR" cell contact between 8 1 3 and 8 1 4 , and a " U S E R "
The SAFETY board allows connection of a second front panel (J1 B) the operation of which is exclusive with
the controller front panel. Choice between the front panels is made by means of a switch ( 1 ) (figure 3 . 2 . 1 6 ) :
- "REMOTE" position to use the remote front panel (for connections, refer to the "Electrical drawing set"
manual).
A switch connected to J 1 B informs the remote front panel of our position ("LOCAL" or "R E MOTE ").
The r u n n i n g modes, controller and arm power-up and the "PROG START" button operate only on the selected
front panel. The emergency stop buttons and the indicator lights operate on both panels.
C H A P T E R 3 - R E C O M M E N D E D SPARE PARTS
NOTE
LevelO Maintenance
Level2 Client with more than 1 0 robots who has internal service repair
capability.
- Fuse 5 x 20 6,3A
- Fuse 5 x 20 1 A
- Fuse 1 0 , 3 x 38 10AM
- Fuse 1 0 , 3 x 38 SAM
- Fuse 5 x 20 10AT
• Fuse 5 x 20 SAT
- Fuse 5 x 20 2AT
- Amplifier joints 3 et 4
- Amplifier joints 5 et 6
- Teach pendant
- 010 board
APPENDIX
power s u p p l y l i n e
I. CABINET CHARACTERISTICS
The CS? I CS? M transformer p r i m a ry is protected against the risk of s h o rt - c i r c u i t by fuses. type
Am.
The p r i m a ry current depends on both the type of arm installed and the supply voltage (current =
cabinet supply current when the arm is running).
At the cabinet power on sequence, a surge current is generated. The current reaches the level of
continuous duty a ft e r = 8 periods, i.e. = 160 ms for a 50 Hz power frequency. The first peak of
20,,..,....,...,...-,--,.--,�,--..--.--�
18
16
14
12
10
In . . . . . 2
1er 2e 3e 4e Se 6e 7e Be
When the level of continuous duty is reached (In = 1 . 4 A), regardless of the type of arm: the
current corresponds to the current demand of the cabinet with the arm power off.
The upstream protection of the cabinet allows protection of the secondaries of the upstream
r--------,
, - · \ - - . , B i I
I -------··--· '
Upstream transformer
- the g l fuses
- a m a g n e t o t h e r m i c b r e a k e r , type D
Choice of the protection: the NF C 15-100 standard provides the calculation method for the
( Summary }
1) Protection a g a i n s t s u r g e s :
The degree of protection must be less or e q u a l to secondary surge current of the upstream
2) Protection a g a i n s t s h o rt - c i r c u i t s :
Calculate minimum short-circuit current at the furthest point in the installation (in 8) and
choose the protection level so as to get a disconnection time < 5 s for this current.
Us
Ice m i n i =
2
(Us x Ucc%) + gQ!
P 100 S
p
= power of the upstream transformer. ; on the identification plate of the
s = section of the l i n e (in mrrr'). The wires section must be chosen according to the current
3) U s e the f u n c t i o n i n g curves of both the breakers a n d the fuses to c h e c k that the power
: t ; l l :
Ex.: Us = 400V : ; ! : : j
p :-·t :· 7�
= 1 0 kVA I ' ' • t '
I : I . •
Ucc% = 4 % • � . • ! •
' I . ' . •
2 . ' ' .
s = 6 mm
2
p = 0.027 n mm /m
400
Ice m i n i = ·- _
2
(400 x _1_) + 2 x 0 . 0 2 7 x 20
4
10 100 6