Controller-PC, Scorpower Control box, PC Servo Control Card Manual
Contents
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4. 25 multi function keys 4 line LCD display 20 characters per line Emergency Stop push button Deadman switch Auto Teach selector switch Full control features Mounted full features Hand held no program execution Controller PC 4 User s Manual 9709 CHAPTER 2 Safety Handling Controller PC Do not grasp the power box on either the front or back panel Handle the servo control card gently as you would with any PC expansion card Precautions 1 Turn off both the power box and the PC before you do any work within the operating range of a connected robot or automated device 2 Turn off both the power box and the PC before you connect any inputs or outputs 3 The power cable must have a ground connection If your power outlet does not have a safety ground do not connect the power box The power box is designed to work with a safety ground connection Failure to connect the power cable to a grounded outlet could result in electrical shock 4 Know how to immediately stop all running programs and movement of axes To abort operation do one of the following press the red EMERGENCY button on the power box or press the red EMERGENCY button on the teach pendant Warnings 1 Do not operate the Controller PC until you have studied this manual thoroughly 2 Always turn on the PC before you turn on the power box Always turn off the power box before you turn off the PC If you turn on the PC
5. Download provided by eLABZ com the information source for CNC Robotics Microcontroller and other electronics projects http elabz com Controller PC SCORPOWER Control Box PC Servo Control Card User s Manual Catalog 7 100117 Rev B ESHE O E Copyright O 1999 Eshed Robotec Catalog 100117 Rev B September 1997 December 1999 Reprinted PDF version Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied Eshed Robotec is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Eshed Robotec bears no responsibility for errors which may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice Table of Contents CHAPTER 1 General Information q About Controller PO 204 5 a seca d a ek Rk Oe rank da 1 SCORPOWER Control Box 1 PC Servo ControlCard 1 Acceptance Inspectton 1 Repacking Controller PC 2 Specifications 26 csm ee giras e a Ed a ah 3 CHAPTER 2 Safety 5 Handling Controller PC 5 Precautions a 5 WAININOS mr cere tt sme Aa dee ER te Bate ee alna 5 CHAPTER 3 Hardware Inst
6. Standard Floppy Disk Controller Printer Port LPT1 System CMOS real time clock Figure 14 ES Control Panel A Find Fast H ds gt Keyboard i i Yh Standard PS 2 Port 3 Standard Serial Mo System Properties Disk drives Display adapters Floppy disk controllers Hard disk controllers Keyboard Modem Monitor Mouse Network adapters Other devices Ports COM amp LPT Sound video and game Jojx Computer Properties si O s s 0170 0177 01F0 01F7 01 FO 01F7 8 0200 0207 NO 0220 022F AY 02F8 02FF 2 0376 0376 iy 0376 0376 tanana ana Secondary IDE controller Intel PIIX PIIX3 Bus Master IDE Controllers Primary IDE controller Gameport Joystick Creative Labs Sound Blaster 16 or AWE 32 Communications Port COM2 Intel PIIX PIIX3 Bus Master IDE Controllers Secondary IDE controller mea n Figure 15 Note which IRQs and I O addresses are available If any address within the range 0300 0307 is in use you must determine where another 8 consecutive addresses are available If IRQ 7 is in use which is likely if a printer is connected to your PC check whether IRQ 5 or IRQ 3 is available No other options will be possible User s Manual 9709 29 Controller PC 3 From the SCORBASE program group select Setup PC Controller The Controller Card Setup window will be di
7. Windows 3 11 Before you use the Setup PC Controller module try the following First remove all nonessential expansion cards from the computer and then try operating the software Alternately try changing the address or interrupt on the card which is causing the conflict and disable the software which controls the card by editing the AUTOEXEC BAT and or CONFIG SY S file If neither of the above is possible you will need to change the address used by the PC servo control card by altering the settings of jumpers J4 and or J5 on the card Use SCORBASE s Setup PC Controller module to help you resolve the address conflict as follows 1 Click on the Setup PC Controller icon in the SCORBASE program window The Controller Card Setup window will be displayed on your screen as shown in Figure 16 on preceding page 2 Select Test The software will test the PC board address setting If the address is correct the interrupt setting will also be tested If the address is not correct a message will be displayed the interrupt setting will not be tested 3 If the tested address is not correct select an address setting from the Address field The graphic display Jumper model will change according to your selection Write down the jumper settings for the address you have selected 4 Exit the software do not save any changes and turn off the PC Remove the PC Controller Card from the PC and change the jumpers according to the
8. 110 220V AC power is being supplied to the power box MOTORS LED The green MOTORS LED indicates whether or not power is being supplied to all connected motors This LED lights up whenever the power box receives a CON control on command This LED shuts off whenever any of the following occurs The power box receives a COFF control off command The EMERGENCY button is pressed The power box detects a communication time out and shut itself down The power box detects an overcurrent error Peripheral Axes AXIS 7 and AXIS 8 The D9 connectors on the front panel of the SCORPOWER box marked AXIS 7 and AXIS 8 permit motorized devices to be connected to and controlled by Controller PC Turn off both the power box and the PC before you connect any device The following SCORBOT motorized accessories can be orderd and used with Controller PC 48 Linear Slidebase 24V 1 0m Linear Slidebase belt drive 24V 1 0m Linear Slidebases screw drive 24V __ 1 5m Linear Slidebases screw drive 24V __ Conveyor Belt orange 12V Conveyor Belt gray 12V User s Manual 13 9709 Catalog 1001 Catalog 41018 Catalog 1008 Catalog 41007 Catalog 1003 Catalog 41006 discontinued Controller PC Conveyor Belt gray 24V Catalog 41010 Linear Table 0 3m 24V Catalog 41013 XY Table 24V Catalog 1014 Rotary Table 12V Catalog 41005 Rotary Table 24V Catalog 41009
9. Motor Kit 1 127 12V Catalog 41206 Motor Kit 1 65 5 12V Catalog 1211 Motor Kit 1 19 5 12V Catalog 1212 EMERGENCY Button and LED When the red EMERGENCY button on the front panel of the SCORPOWER box is pressed the following occurs Motor power is disconnected all motor movement stops the green MOTORS LED shuts off The COFF state is activated The red emergency LED lights up An emergency message appears All running programs are aborted The inputs and outputs are frozen in their current state The SCORBASE commands HOME and CON cannot be activated Release the EMERGENCY button by pulling it out as indicated by the button When the EMERGENCY button is released the following occurs The red emergency LED shuts off A message appears prompting you to activate CON or to remain in COFF state To resume normal operation do the following Activate CON The green MOTORS LED turns on Reactivate user programs All positions including Home remain in memory Remote Emergency Switch When a remote emergency switch is connected to the controller it functions exactly like the EMERGENCY button To connect a remote emergency switch refer to the instructions in the preceding chapter Controller PC 14 User s Manual 9709 Output Terminals and LEDs The 10 output terminals allow Controller PC to transmit signals to external devices in the robot s environment Controller PC has 4
10. relay or motor When using an inductive load such as a solenoid or a relay connect a reversed biased protection diode across the load You may directly connect a SCORPOWER open collector output to a SCORPOWER digital input Maximum voltage allowed 24V Maximum current allowed 0 5A Never drive a current totaling A pole more than 1 5 amps through the Sk open collector outputs ST Never connect voltage from a Se Ra Femina power supply directly to any open commands collector outputs terminals 5 8 L The open collector outputs must popar always be connected to a load User GND Never connect a load to any voltage exceeding 24VDC Figure 5 Open Collector Output Analog Outputs Make sure the power box is switched off before you make any I O connection Analog Outputs 1 and 2 allow you to control a device which operates in accordance with an input voltage such as a LED or a motor driver The analog outputs have 8 bit resolution and an output voltage of 0 10V Maximum current Meje PEE allowed 20 mA ANALOG SIGNALS The analog outputs are CONDITIONING activated by software 1 lt k 8 BIT commands DIGITAL TO ANALOG Figure 6 is a basic CONVERTER diagram of a digital to SEA INPUT analog converter Figure 6 Digital to Analog Converter Controller PC 16 User s Manual 9709 Input Terminals and LEDs The 12 inputs allow the syst
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12. Contact your agent 7 The power box does not receive an input signal Check the input wiring 8 The power box does not give output signals Check the output wiring Check whether a load has been correctly connected 9 The Home position suddenly changes and the robot continues operation in relation to the new Home This fault may occur continually or occasionally due to a noisy electrical system which disturbs the communication between the robot and the computer Execute the Home routine and reload the program you want to run Ifthe fault occurs frequently use filtering equipment on your power line If problem persists contact your agent User s Manual 27 Controller PC 9709 Changing the Voltage Setting If the power box s voltage setting does not match your AC power supply you must change the power box s voltage setting and AC power fuse 1 Disconnect the power box from the AC power source Disconnect the power cable from the power box 2 Using a pen or screwdriver push the voltage selector to the opposite side so that the proper voltage selection is visible 3 Again using a pen or screwdriver pull out the fuse drawer Remove the fuse from its holder 4 Replace the fuse with the appropriate fuse for your power supply Figure 13 AC Power Fuse IIOVAC requires 1 6A fuse 220VAC requires 0 8 fuse 5 Reinsert the fuse drawe
13. Inputs 1 through 4 allow you to receive data from sensors which produce an analog output as when measuring conditions such as temperature noise and light In addition analog inputs can measure DC voltages which are applied to the inputs The analog inputs have 8 bit resolution and an input voltage of 0 10V Do not connect voltage exceeding 10VDC to the analog inputs The analog inputs are read by software commands Figure 8 is a basic diagram of an analog to digital converter It is strongly recommended that analog inputs which are not in use be connected to ground in order to reduce electrical noise interference V REFERENCE vec ANALOG SIGNALS CONDITIONING 8 BIT ANALOG TO DIGITAL CONVERTER DIGITAL OUTPUTS Figure 8 Analog to Digital Converter Controller PC 18 User s Manual 9709 CHAPTER 5 Controller PC Circuitry This chapter describes the main features of the PC servo control card and the two main circuit boards in the SCORPOWER box PC Servo Control Card Servo Control Card Reference Description UI US ICs Provide servo control of eight individual axes U1 U6 control robot axes U7 and U8 control peripheral axes U17 IC Provides control of the card itself and integration of the card with the PC U16 IC Performs address autoincrementation when the PC accesses the card su
14. The SCORBASE software for Controller PC may not run properly under Windows 3 1 Controller PC User s Manual 9709 PC Servo Control Card To install the servo control card do the following Turn off the PC It is recommended that you also disconnect the PC from the AC power source Remove the cover of the PC and locate an available 8 or 16 bit expansion slot Remove the expansion slot cover at the back of the PC Save the screw Align the servo control card with the expansion slot Carefully and gently press the card into the slot until it snaps into place Using the screw you removed earlier secure the card s metal bracket into place Tighten the bracket screw Replace the cover of the PC SCORPOWER Box Installation Do not yet connect the power box to the AC power supply Numbers in parenthesis refer to Figure 1 Cable Connections 1 Make sure that the power box s voltage setting 3 matches your voltage supply If the voltage setting does not match your supply follow the instructions in Chapter 6 for changing the power box s voltage setting Make sure you have properly installed the servo control card in the PC Make sure the PC power switch is turned off Make sure the power box power switch 1 is turned off Connect the PC Servo Control Card to the COMPUTER port 7 on the power box Use the cable with the D62 pin high density connectors Tighten the connector screws Connect the robot to ROBOT p
15. digital relay outputs 4 digital open collector outputs and 2 analog outputs Eight yellow LEDs which correspond to the digital outputs light up when these outputs are on Controller PC s digital outputs are all configured as SINK For proper I O operation a paired source sink connection is reguired When connecting a Controller PC output to an external device be sure the external device input is SOURCE PNP type Digital Outputs Make sure the power box is switched off before you make any I O connections The digital outputs are activated by software commands Relay Outputs Digital Outputs 1 to 4 include a relay in the final stage Each relay includes the three contact points Common C Normally Closed NC Normally Open NO In steady state before the relay functions the NO terminal is disconnected from the common line and the NC terminal is shorted to the COM terminal When the relay functions the situation reverses the NO terminal is shorted to the COM terminal and the NC terminal is disconnected from the COM terminal OUTPUT OFF Figure 4 shows the on and off states of the OUTPUT ON digital relay outputs Maximum voltage allowed 30V Maximum current allowed 1 5A Figure 4 Relay Output User s Manual 15 Controller PC 9709 Open Collector Outputs Digital Outputs 5 to 8 include a transistor with an open collector in its final stage These outputs must be connected to a load resistor solenoid
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17. ido lr Bree aed aed 25 Troubleshooting 26 Changing the Voltage Setting 28 Resolving AddressConflicis 28 WindowS 95 reai E a BR E Rae DEE LE AE A Se 28 Windows 3 11 31 vi User s Manual 9709 CHAPTER 1 General Information About Controller PC Controller PC is an integral part of the SCORBOT ER 4pc robotic system It can also be used to control many of the peripheral devices offered by Eshed Robotec Controller PC has two main components SCORPOWER external power control box Servo control PC expansion card In addition a teach pendant is available for this system SCORPOWER Control Box The SCORPOWER control box provides the 24V power supply to six robot motors and two optional accessory motors and relays the encoder signals to the PC servo control card In addition this unit provides the bi directional signals which enable both digital and analog I O interfacing with the host PC PC Servo Control Card The PC servo control card plugs into an 8 bit AT ISA slot of a PC 386 or higher This card contains the circuits which operate the robot s motors by means of PWM signals read the encoder and microswitch signals and communicate with a teach pendant and I O signals Acceptance Inspection After removing the Controller PC from the shipping carton examine all components for signs of shipping damage If any damage i
18. o m m m m m m m m TW gt o o o o o o o o o o o 19 CD m o O 9 CDE z Ru o o slo seje sn e am sn Ey e CD m zz A o m ole o CO ce cce com Soccer con 7 moco TT A Meococoseo Ea a m w 8 Jojo Jo Tocooo caco Mi tina 915 m e Tm Y z ole em m m m m m m m m e ln gt o mje eo a o o o o o o o o lel ooooooo 0000000 sij S ZA ENNS ue 80000000009 000000000m 0000000000 of e ENKE S ine o ENNY SNNY 3 O CHAPTER 6 Maintenance The Controller PC has no maintenance requirements To ensure continued optimum performance of the Controller PC heed all safety guidelines and warnings and regularly perform the inspection procedure Inspection Perform a routine inspection of your system at the start of every working session in the following order 1 Before you power on the system check the following items The installation meets all safety standards The robot is properly bolted to the work surface All cables are properly and securely connected Cable connector screws are fastened Replace any cables which show signs of abrasion or wear No output is connected directly to a power supply No people are within the robot s working range 2 After you have switched on the PC and the power box check the following items The power and motor LEDs on the power box light up No unusual noises are heard No unusual vibrations are observed in any of the robot axes There are no obstacles in the robot s working ran
19. safely out of the robot s working range 1 Install the teach pendant mounting fixture safely outside the working range of the robot and peripheral axes Use the set of screws supplied with the fixture 2 Place the teach pendant into the fixture Note that two magnetic switches on the teach pendant are activated by magnetic strips on the fixture 3 Connect the plug on the teach pendant cable to the port marked TEACH PENDANT on the power box s rear panel Teach Pendant Not Connected When the teach pendant is not connected to the controller the Emergency By Pass Plug must be connected instead This plug prevents the controller from activating EMERGENCY status when the teach pendant is absent Connect the by pass plug to the power box s TEACH PENDANT port Controller PC 10 User s Manual 9709 Remote Emergency Switch The EMERGENCY terminal at the back of the SCORPOWER box allows you to connect a remote switch such as a mushroom button which will function exactly like the power box s EMERGENCY button To connect a remote emergency switch do the following 1 Remove the wire which shorts the two poles of the EMERGENCY terminal block at the rear of the power box To do so insert a small screwdriver into the upper square openings in the terminal and press down to release each end of the wire 2 Connect the two wires of the remote emergency switch to the EMERGENCY terminal To do so insert a small screwdriver into the upper s
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21. MERGENCY 10 23456781 INPUTS OUTPUTS 15 ll o rNcif o Sj o o x dll call te 6 gl INPUTS MOTORS O 3 o Lro o ri o lalala del AXIS 7 slo l2c o ESHED SoscoTrecn 9 STOP 6 o Lno o 71 7 o FNC O 8j o ANALOG AXIS 8 PULL TO E ida el RS 11 O o L o OPEN 1 RELEASE ro COLLECTOR ERR OUTPUTS L ig ooo ooo ooo o 4c o 1 1 3 1 3 12 L o tro o RELAYS 12 3 4 v 12 O A Figure 2 SCORPOWER Front Panel User s Manual 7 Controller PC 9709 Legend Back Panel Power On Off Switch Power Line 110 220V AC socket Line Voltage Indicator AC Power Fuse Drawer TEACH PENDANT 6 pin telephone jack Remote EMERGENCY Switch 2 pin WAGO connector COMPUTER 62 pin D type high density connector OWIANITDI nN HR WOLN ROBOT D50 connector Front Panel Axes 7 and 8 Driver D9 connectors 10 Digital Input Output screw terminals 11 Analog Input Output screw terminals 12 Emergency Button and LED indicator 13 Input Output LED indicators 14 Power LED indicator 15 Motors LED indicator PC Servo Card Installation PC Requirements The PC which will be used in conjunction with Controller PC must meet the following requirements CPU 80486 or higher with one free 8 bit or 16 bit AT ISA slot RAM minimum 8 MB Hard disk space minimum 10 MB Windows 3 11 Windows for Workgroups or Windows 95
22. address you selected Figure 17 shows the possible settings for the J4 jumpers and the corresponding addresses Figure 18 shows the possible settings for the JS jumpers and the corresponding addresses Note however it is unlikely that you will need to change the interrupt number Return the card to the PC and restart the PC User s Manual 31 Controller PC 9709 5 Activate the PC Controller Setup Select the address for the jumpers you have set Select Test 6 Repeat Steps 3 through 5 until the correct address is set If the interrupt setting is also incorrect repeat the same procedure until the interrupt number is correct 7 Once the addresses and interrupt settings are correct select Save These settings will now become the default settings Address 0x300 Interrupt 7 Address 0x320 Interrupt 7 a set free Figure 17 Jumper J4 Address Setting Figure 18 Jumper J5 IRQ Setting Controller PC 32 User s Manual 9709
23. allation____________7 Getting to Know Controller PC 7 PC Servo Card Installaton 8 PC Requirements 8 PC Servo Control Card 9 SCORPOWER Box Installation 9 Cable Connections 9 Teach Pendant Installation Optional 10 Teach Pendant Not Connected 10 Remote Emergency Switch 11 Software Installaton 11 CHAPTER 4 SCORPOWER Box Functions 13 POWER Switch and LED 13 MOTORS LED Ss seus hoe EN ETA sl elite Ri a a 13 Peripheral Axes AXIS 7andAXIS8 13 EMERGENCY Button and LED 14 Remote Emergency Switch 14 Output TerminalsandLEDs 15 Digital Ouiputs 15 RelayOuputs 15 Open Collector Ouiputs 16 Analog QUIPE sc ce o ag i a NE ee li 16 Input TerminalsandLEDs 17 Digitalllpuss 17 Analog Inputs 18 CHAPTER 5 Controller PC Circuitry 19 PC Servo Control Card 19 SCORPOWER Power Card 21 SCORPOWERIl OCad 23 User s Manual v Controller PC 9709 CHAPTER 6 Controller PC Maintenance 25 lASpo tlON za eek seas mp
24. and then discover the power box is already on do the following Turn off the power box Turn off the PC Tum on the PC Turn on the power box Failure to turn the equipment on and offin the proper order will cause unpredictable performance of the Controller PC User s Manual 5 Controller PC 9709 3 Do not install or operate the Controller PC under any of the following conditions Where a safety ground connection does not exist Where the ambient temperature drops below or exceeds the specified limits Where exposed to large amounts of dust dirt salt iron powder or similar substances Where subject to vibrations or shocks Where exposed to direct sunlight Where subject to chemical oil or water splashes Where corrosive or flammable gas is present Where the power line contains voltage spikes or near any equipment which generates large electrical noises 4 Do not plug the power box into the AC power outlet before you are sure that its voltage requirement as marked at the rear of the power box matches your voltage supply If the voltage setting does not match your supply follow the instructions in Chapter 6 for changing the power box s voltage setting 5 Do not connect voltage exceeding 24V to input terminals 6 Never connect voltage from a power supply directly to any open collector outputs The open collector outputs must always be connected to a load Never connect a load to any voltage exceeding 24VDC 7 Never d
25. ble pack expanded foam chunks Seal the carton securely with strapping or packing tape Do not use cellophane or masking tape Controller PC 2 User s Manual 9709 Specifications The following table gives the specifications of the Controller PC Controller PC Specifications Item Specification Type of Control Real time Multi tasking PID proportional integral differential PWM pulse width modulation Number of Servo Axes Maximum 8 Groups of Control 8 axes can be divided into 2 control groups robot axes and peripheral axes Axis interpolation in robot and peripherals groups Axis Drivers PWM H bridge drivers 15 KHz 3A standard 7A peak 24V depending on input voltage and load Path Trajectory Control CP Joint Linear Circular 1 5 ms control cycle parameter Software controlled acceleration deceleration PID parameters Speed Control Speed and Travel time definitions Speed programmed as a percentage of range Control Parameters Servo control Speed velocity profile smoothing Axis position error Gripper operation Thermic impact limit protection Homing Encoder interface Cartesian calculations Power Requirements 110 220V AC 415 10 50 60Hz 180W max Internal Power Supplies Servo 24V depending on input voltage and load Digital 5V 15V 12V Power Box Weight Tkg Power Box Dimensions L 315mm W 223 5
26. ccessively U13 IC Dual port RAM DPRAM through which the PC accesses the card reading writing a IC Converts encoder signals to count up and count down signals to U15 U1 U8 IC Dual UART Converts parallel data into serial data and vice versa U22 Enables teach pendant communication via the power box Checks state of inputs and operates outputs J2 High Density D62 Connector Connection to power box J4 Jumpers for defining the base address of the card J5 Jumpers for defining the interrupt IRQ used by the card User s Manual 19 Controller PC 9709 0000000000000000 000 HHHHHHHHHHHHDHHHHOHOHOHO EO0000000000000000000
27. em to receive signals from external devices in the robot s environment Controller PC has 8 digital inputs and 2 analog inputs Eight green LEDs which correspond to the digital inputs light up when the inputs are on Controller PC digital inputs are all configured as SOURCE For proper I O operation a paired source sink connection is required When connecting a Controller PC input to an external device be sure the external device output is SINK NPN type The state of the inputs are read by software commands Digital Inputs Make sure the power box is switched off before you make any I O connections Digital Inputs 1 through 8 are activated by external devices outputs which are connected to corresponding inputs on the power box in either of the following ways A microswitch is connected to a SCORPOWER input and to a SCORPOWER input ground External voltage is connected to a SCORPOWER input and external ground is connected to a SCORPOWER input ground Voltage and input states are as follows External voltage of 0 1 5V DC relative to SCORPOWER ground turns ON the input External voltage of 2 5 24V DC relative to SCORPOWER ground turns OFF the input Do not connect voltage exceeding 24VDC to the digital inputs INPUT Terminal ZENER ml DIODE Figure 7 Digital Input User s Manual 17 Controller PC 9709 Analog Inputs Make sure the power box is switched off before you make any I O connections Analog
28. ge 3 Bring the robot to a position near home and activate the homing procedure Check the following items Robot movement is normal No unusual noise is heard when robot arm moves Robot reaches home position in every axis User s Manual 25 Controller PC 9709 Troubleshooting Whenever you encounter a malfunction try to pinpoint its source by exchanging the suspected faulty component for example servo control card power box robot arm PC cables with an identical component from a working system Do not open the power box There are no user serviceable parts inside Do not attempt repairs for which you are not qualified Contact your agent or an authorized technician for repairs The following chart provides guidelines for identifying and rectifying problems which you may encounter 1 SCORPOWER power does not turn on The LED on the controller POWER switch does not light up Make sure the AC power supply matches the controller s voltage requirement as seen on the tag at the back of the controller If the voltage supply and controller voltage setting do not match disconnect immediately and change the voltage setting as described later in this chapter Make sure AC power is being supplied to the power outlet Make sure the power cable is connected to both the proper power source and the controller Check the 220V 110V 1 6A 0 8A fuse 2 No communication between the controller and computer Communica
29. mm H 117 Ambient Operating Temperature 2 40 C 36 104 F Microcontrollers Servo Control Card PIC 17C42 per axis Power Box PIC 17C42 on I O card Communication 2 integrated RS232 channels one for teach pendant one for power box I O card User s Manual 3 Controller PC Controller PC Specifications Item Specification Inputs Outputs 8 digital inputs Source 24 V maximum 4 analog inputs 8 bit resolution input voltage 0 10V 8 digital outputs 24V max 4 relays changeover contacts 4 open collectors sink 2 analog outputs 8 bit resolution output voltage 0 10V Programming Language SCORBASE for Windows Software Position Teaching SCORBASE for Windows Teach Pendant Absolute Relative Cartesian Joint Positioning System Incremental optical encoders Coordinate System XYZ coordinates Joint coordinates LED Indicators Main power Digital Inputs Digital Outputs Servo Power Motors Emergency Safety Features Emergency switches on power box on teach pendant optional connection of remote switches Short circuit protection On overheating driver power shut down On PC failure motor power shut down On communication failure motor power shut down Thermal impact and limit software protection Hardware watchdog for each axis protects against software faults Teach Pendant optional
30. o S e oe o e e jej e o jel e o e Sleje slelejoje jo o o o e o jel e o jej e o lolojojo e e e e JB 2 10 20 30 40 e se 9 o jej o jej O ca5 O o ojo e o ojo jo p 1 7 1 e I 1 ely 1 p ID Io o o e 080 00000000000000000000 en Cm S oe 9 IF ets els a o Bol o Ws 3 1D000000000000000000039 E EU 2 E 3 8 Figure 10 Power Card Controller PC 22 User s Manual 9709 SCORPOWER I O Card There are no user serviceable parts inside the SCORPOWER box Only authorized technicians may open the SCORPOWER box SCORPOWER Box I O Card Reference Description FRONT Ji J2 Axes 7 and 8 D9 Female Connectors J3 Input Terminal Block J5 Relay Output Terminal Block J6 J7 Open Collector Terminal Blocks J9 J10 Analog Input Terminal Blocks J4 Analog Output Terminal Block BACK Ul Axes 7 and 8 Encoders Signal Buffer U2 U3 U4 US U6 Digital Input and Output LED drivers U7 U9 U13 Internal bus drivers U8 Open collector and relay output drivers U10 RS232 driver U11 Microcontroller U12 Power on Reset U14 Digital to Analog converter U15 Analog to Digital converter RL1 RL4 Relay Outputs J8 Power Card Connector J13 Emergency LED Connector 23 Controller PC
31. ort 8 on the power box 8 Use the robot cable with the D50 connector Tighten the connector screws If you will not be using a teach pendant connect the Emergency By Pass plug into the TEACH PENDANT port 5 on the power box If you will be using a teach pendant connect it at this time Follow the instructions for installing the teach pendant which follow It is recommended that you set the teach pendant Auto Teach switch to AUTO before you power on the system User s Manual 9 Controller PC 9709 7 Connect the power cable to the POWER socket 2 on the power box and to an AC power source 8 Once you have made all the required hardware connections you can turn on the PC 9 After you have turned on the PC you can turn on the power box The green power and motor LEDs light up Always turn on the PC before you turn on the power box Always turn off the power box before you turn off the PC Teach Pendant Installation Optional If you do not intend to connect the teach pendant skip this section and go to the following section Teach Pendant Not Connected Turn off both the power box and the PC before you connect the teach pendant Some controllers allow programs to be executed from the teach pendant but only when the teach pendant is mounted in a special fixture Although SCORBASE programs for Controller PC cannot be executed from the teach pendant mounting the TP is recommended since it ensures that the operator is
32. quare opening in the terminal and press down while inserting each wire into the lower round openings in the terminal remove the screwdriver to clamp the wire in place Note that the remote EMERGENCY switch terminal is normally closed Software Installation The SCORBASE for Windows software should be installed from the Windows environment By default the software will be installed in the path C SBW_ER4 However you can define a different path for the installation Insert disk 1 of the SCORBASE for Windows software into the floppy drive of the PC From the Windows Program Manager select File Run setup exe At this point you should turn to the SCORBASE for Windows User s Manual and follow the installation instructions detailed in that manual The installation creates a program icon group similar to the one shown in Figure 3 Ed m a Y corbase OEA Scorbase Level 3 Scorbase PRO Setup PC Readme Uninstall SBW Controller Figure 3 SCORBASE for Windows Program Group Note By default the PC servo control card occupies addresses 0300 0307 and interrupt 7 If you encounter a conflict of addresses refer to the instructions in Chapter 6 User s Manual 11 Controller PC 9709 Controller PC 12 User s Manual 9709 CHAPTER SCORPOWER Box Functions POWER Switch and LED The power ON OFF switch is located at the back of the power box The green POWER LED lights up when the power switch is on It indicates that
33. r and press it until it snaps into place Resolving Address Conflicts By default the PC servo control card uses eight consecutive addresses 0300 0308 and interrupt 7 Other devices may occupy the address space used by the servo control card causing the software to report an address error or to perform unreliably The following instructions will help you resolve the address conflict Windows 95 In Windows 95 you can easily determine which IRQ and I O addresses are available or in use Do the following 1 Exit the software and turn off the PC Remove the PC Controller Card from the PC Restart Windows 95 2 Refer to Figures 14 and 15 on the following page Select Start Settings Control Panel System Device Manager In the Device Manager menu select View Devices by Type and double click on Computer From the Computer Properties menu select the select the View Resources tab Select Interrupt Request IRQ to see which IRQs are in use Figure 14 Select Input Output I O to see which I O addresses are in use Figure 15 Controller PC 28 User s Manual 9709 Ei Control Panel y Mouse ER Network adapte System Properties Monitor Zh Standard PE a Standard Se Other devices Ports COM amp L Sound video ar System timer Standard 101 102 Key or Microsoft Natural Keyboard Programmable interrupt controller Communications Port COM2 Communications Port COM1
34. rive a current of more than 1 5A through the relay outputs Never drive a current of more than 0 5A through the open collector outputs Controller PC 6 User s Manual 9709 CHAPTER Hardware Installation Getting to Know Controller PC Before you install the Controller PC familiarize yourself with the SCORPOWER box Refer to Figures 1 and 2 and the legend which follows 000000000000000000000000000000000 0000000000000000000000000000000000 00000000000000000000000000000000000 0000000000000000000000000000000000 000000000000000000000000000000000 Ov LINE VOLTAGE 3 BJ AX WARNING A FOR CONTINUED PROTECTION ON AGAINST FIRE REPLACE ONLY WITH FUSES OF THE SPECIFIED RATING OFF UNE ZA O N 110V 220V 48 66Hz 4 FUSE mm 180W MAX 110 220v 1 6A 0 8A hi J S it S il 1 250v ZA WARN NG N o MAINTAIN GROUND TO TEACH EMERGENCY PENDANT l ly COMPUTER 8 7 6 5 AVOID ELECTRIC SHOCK TJ y Figure 1 SCORPOWER Back Panel 7 POWER DIGITAL OUTPUTS 14 O E
35. s evident do not install or operate the Controller PC Notify your freight carrier and begin appropriate claims procedures The following items are standard components in the Controller PC package Make sure you have received all the items listed on the shipment s packing list If anything is missing contact your supplier User s Manual 1 Controller PC 9709 Controller PC Package SCORPOWER Control Box 110 220V AC PC Servo Control Card Teach Pendant Optional Teach Pendant Mounting fixture Teach Pendant for Controller PC User s Manual Emergency By Pass Plug required when TP not connected Cables Power Cord 110 220 VAC SCORPOWER Box Cable Computer connector cable D 62 pin high density SCORBASE for Windows software diskettes Documentation Controller PC User s Manual SCORBASE for Windows Reference Guide Repacking Controller PC Save the packing materials and shipping carton You may need them later for shipment or for storage of the Controller PC The servo control card and the power box should be repacked in their original packaging for transport If the power box s original carton is not available wrap the power box in plastic or heavy paper Put the wrapped power box in a strong cardboard carton at least 15cm about 6 inches longer in all three dimensions than the power box Fill the carton equally around the unit with resilient packing material shredded paper bub
36. splayed on your screen as shown in Figure 16 From the Address drop down list select an available I O address AND OR From the IRQ drop down list select an available IRQ Once you make your selections the proper jumper settings will be displayed on the screen 4 Take the PC Controller card in hand Set the jumpers on the card in accordance with the jumper settings displayed in the Controller Card Setup window Click on the Save button These settings will now become the default settings 5 Exit the software and turn off the PC Install the PC Controller card in the PC 6 Turn on the PC Restart Windows 95 7 Select Setup PC Controller From the Controller Card Setup window click the Test button ER 4PC CONTROLLER CARD SETUP Ver 1 04 QEshed Robotec ER 4 PC BOARD ADDRESS SETTING INTERRUPT REQUEST IRQ SETTING Address Jumpers model Jumpers model IRQ Number 1m 300 JB 2 EM 12345 7 e T COCO 5 J5 IRQ 6 EE 7 O 80 Figure 16 Controller Card Setup Controller PC 30 User s Manual 9709 The software will test the PC board address setting If the address is correct the interrupt setting will also be tested The test should be successful If the address is not correct a message will be displayed and the interrupt setting will not be tested If the test fails repeat this entire procedure Make sure you select available addresses and or IRQs Make sure you set the jumpers properly
37. tion error message while operating robot from computer Make sure the controller POWER switch is on Make sure the connecting cable is properly connected to the controller and to the computer Make sure you have loaded SCORBASE with the proper C switch Turn off the power box and then turn off the PC Turn on the PC and then turn on the power box Be sure components are turned on in the correct order If problem persists it is probably due to a faulty RS232 cable 3 Controller PC functioning but robot arm cannot be activated or one axes fails to respond and an error message is displayed Make sure an obstacle is not blocking the robot Make sure none of the axes has reached its mechanical limit Make sure the robot cable is properly connected to the controller Controller PC 26 User s Manual 9709 4 The gripper does not respond to open or close commands or responds incorrectly Make sure the robot cable is properly connected to the controller Turn the power box off then on again If problem persists contact your agent 5 Motor turns constantly in one direction or responds incorrectly Make sure the robot cable is properly connected to the controller Turn the power box off then on again If problem persists contact your agent 6 Errors in the accuracy of the robot Position deviations in one or more of the axes during the running of a program may be caused by a faulty encoder
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