Hirata Corporation 580 Series User manual

World Leader in Production Technology

World Leader in Production TechnologyWorld Leader in Production Technology

World Leader in Production Technology

OPERATION MANUAL

OPERATION MANUALOPERATION MANUAL

OPERATION MANUAL

580 SERIES CONTROLLER

TEACH PENDANT

HD-3810E-1

World Leader in Production Technology

World Leader in Production TechnologyWorld Leader in Production Technology

World Leader in Production Technology

The information contained herein is the property of Hirata Corporation and shall not be

reproduced in whole or in part without prior written approval of Hirata Corporation. The

information contained herein is subject to change without notice and should not be

constructed as a commitment by Hirata Corporation.

Hirata Corporation assumes no responsibility for any errors or omissions in this document.

Warranty

All of Hirata's products which is passed our formal inspection test shall be guaranteed against

faults due to the negligence of Hirata for either earlier period of one year or four thousand

hours of operation from the day of shipment from Hirata Factory.

This warranty shall be applicable to the parts replacement and/or labor for repair in our factory

and transportation cost shall not be applied.

We will charge the repair of faults caused by the following reasons:

* Wrong usage which are prohibited in the instruction manual.

* After the expiration of guarantee period.

* Earthquake, fire, riot, violence, war and other force majeure.

* Modification, repair or adjustment is performed by unauthorized person.

Contact your sales agent for individual warranty coverage.

580 Series Controller Teach Pendant

Operation Manual (HD-3810E-1)

First published in October 1998

First revision in June 1999

Printed in Japan

Hirata Corporation

Tokyo Head Quarters

3-9-20 Togoshi, Shinagawa, Tokyo 142-0041 JAPAN

Phone (03) 3786-1226

Facsimile (03) 3786-1264

Robotics Division

1016-6 Kusuno, Kumamoto 861-5511 JAPAN

Phone (096) 245-1333

Facsimile (096) 245-0816

NOTATIONS

Notations

NotationsNotations

Notations

1Dangers,

Dangers,Dangers,

Dangers, Warnings

WarningsWarnings

Warnings,

, Cautions, and Notes

Cautions, and NotesCautions, and Notes

Cautions, and Notes

There are four levels of special notations are used in this manual.

Table

TableTable

Table 1

Special Notation List

Special Notation ListSpecial Notation List

Special Notation List

Notation

NotationNotation

Notation Description

DescriptionDescription

Description

!DANGER

DANGERDANGER

DANGER If the actions indicated by a DANGER are not complied

with, sever injury or death could result.

!WARINIG

WARINIGWARINIG

WARINIG If the actions indicated by a WARNING are not complied

with, injury or major equipment damage could result.

!CAUTION

CAUTIONCAUTION

CAUTION If the action specified by the CAUTION is not complied

with, damage to your equipment could result.

!NOTE

NOTENOTE

NOTE

A NOTE provides supplementary information,

emphasizes a point or procedure, or gives a tip for

easier operation.

2Message, Menu, LED, and Keys

Message, Menu, LED, and KeysMessage, Menu, LED, and Keys

Message, Menu, LED, and Keys

There are four more types of notations are used in this manual.

Table

TableTable

Table 2

2 The Other Types of Notation List

The Other Types of Notation ListThe Other Types of Notation List

The Other Types of Notation List

Notation

NotationNotation

Notation Description

DescriptionDescription

Description

“Message”It describes the message on the Teach Pendant inside

of ““.

｢Menu｣It describes the menu on the Teach Pendant inside of

｢｣.

『LED』It describes the monitor LED on the Teach Pendant

inside of 『』(e.g., the 『SHIFT』LED)

END It describes keys on the Teach Pendant.

3Key Operation

Key OperationKey Operation

Key Operation

Following table describes notations for the key operation.

Table

TableTable

Table 3

3 Key Operation Notation List

Key Operation Notation ListKey Operation Notation List

Key Operation Notation List

Notation

NotationNotation

Notation Description

DescriptionDescription

Description

END

It describes sigle key you need to press. (In this

case, press the END key )

FUNC

HIGH ＋

spd

CAN

It describes 2 keys you need to press simultaneously.

(In this case, press the

spd

CAN key while pressing the

FUNC

HIGH key.)

CHAPTER 1 ABOUT THIS MANUAL AND NOTICE

1-1

CHAPTER 1

CHAPTER 1CHAPTER 1

CHAPTER 1

About This Manual and

About This Manual andAbout This Manual and

About This Manual and Notice

NoticeNotice

Notice

This manual is quick start guide manual for Hirata HNC-580 series robot

controller. This controller is designed to control SCARA (Hirata AR series :

horizontal multi-articulated type) and Cartesian manipulators.

The Hirata robot operating system is configured as in the following figure.

PLC

Teach Pendant

Servo LINK

580 series

controller

RS-232C

Compo/Bus

Interface

board

CC-Link

Interface

board

DI/DO

Interface

board

580 series controller interface unit

(Select one of the interface form the following.)

Hirata Robot System Configuration

Servo driver

Repeater

Fig.1.

Fig.1.Fig.1.

Fig.1.1

1 Hirata Robot System Configuration

Hirata Robot System ConfigurationHirata Robot System Configuration

Hirata Robot System Configuration

CHAPTER 1 ABOUT THIS MANUAL AND NOTICE

1-2

The basic outline for setting up the robot system is described in this chapter.

It may differs depending on robot and controller type.

(1) External cables

Power cable, servo LINK cable, Motor line, etc.

(2) E.S. release

•Check if the Deadman switch is not pressed in TEACH or

CHECK mode when the power is ON.

•Check if the E.S. switch on the Teach Pendant is pressed when

the power is ON.

•Check if the E.S. connectors on the controller are opened.

•Check if the DC24 fuse is blown.

Refer to separate volume, “Robot Controller Users Guide,

Emergency Stop (E.S.) Functions” for details.

(3) A-CAL

Refer to Chapter 3, “A-CAL (Automatic Calibration)” for details.

(4) Teaching

Before the robot starts automatic operation, it is required to pre-

teach the operating positions.

The Hirata robot operating system can accept following methods to

teach the robot position.

•Enter the coordinate manually via key pad on the Teach

Pendant.

•MDI (Manual Data Input). Move the robot physically and

store the position (hereinafter referred to as “Teaching”).

•Off-line teaching. Data transfer via memory card or RS-

232C.

•Data transfer via HR editor i.

After teaching positions to the robot, check to see that the robot

moves to the taught position correctly. Then, automatic operation

is performed by transmitting signals with external devices.

Using the Teach Pendant, the robot data, which called “system

data”, can be entered. Input and output operations can be

performed.

Refer to Chapter 5, “TEACH Mode” for details.

i: Refer to separated volume, “HR Editor Operation Manual.”

CHAPTER 1 ABOUT THIS MANUAL AND NOTICE

1-3

(5) Check

•Set the conditions of robot operations using System Parameters.

Speed, Acceleration/Deceleration, “PULL-UP” motion, “ARCH

UP/DOWN” motion, etc.

Refer to Chapter 19, “Details of System Parameters” for details.

•Check the entered position data in CHECK mode.

Refer to Chapter 6, “CHECK Mode” for details.

(6) Automatic operation

Check the robot operations after checking the following items.

Refer to later chapter 7, “ON-LINE Mode” for details.

•AUTO Mode

I/O signal check

•ON-LINE Mode

Data transmission speed with host PC.

Station ID number for each robot.

There are some differences in operating procedures depending upon the

robot model or system configuration. Ask your system integrator for

detailed specification. Hirata also offers robot control language HARL-U1

and HARL-III as add-ons to the standard operating system. Contact your

distributor for details.

・

Verify all the cable connectors are properly and firmly connected.

・

Confirm there is no operator or any obstacles in robot’s working envelope.

・

Unspecified usage of this robot may result severe injury or death. Do

not install the robot in any other manner than the ones specified in this

manual.

・Do not throw or drop the Teach Pendant.

・

Do not use the entire system at higher than 40℃and high humidity.

The surroundings must be no dust, no smoke, no combustion, and no

corrosion.

・

Do not stress the Teach Pendant cable connection. Hold the Pendant

body when carrying.

・

When servicing or teaching, no one should put the system into operation.

It is suggested to prepare a sign stating not to activate the system.

CHAPTER 2 CONNECTING THE TEACH PENDANT

2-1

CHAPTER 2

CHAPTER 2CHAPTER 2

CHAPTER 2

Connecting the Teach Pendant

Connecting the Teach PendantConnecting the Teach Pendant

Connecting the Teach Pendant

2.1

2.12.1

2.1

Naming and

Naming andNaming and

Naming and F

Function

unctionunction

unction

ofof

the

thethe

the T

Teach

eacheach

each P

Pendant

endantendant

endant

2.1.1

2.1.12.1.1

2.1.1

Appearance of the Teach Pendant

Appearance of the Teach PendantAppearance of the Teach Pendant

Appearance of the Teach Pendant

Fig.2.

Fig.2.Fig.2.

Fig.2.1

Naming

amingaming

aming of the Teach Pendant

of the Teach Pendantof the Teach Pendant

of the Teach Pendant

Emergency Stop

(E.S.) Button

LCD (Liquid

Crystal Display)

LED Display

Numeric Keys

Axis Keys

Function Keys

Deadman Switch

Set Keys

Data Entry Key

CHAPTER 2 CONNECTING THE TEACH PENDANT

2-2

(1) Emergency Stop (E.S.) button

Emergency Stop button is equipped to the Teach-pendant for the

purpose of stopping the robot immediately when an abnormal

conditions occur. When this button is pressed, the servo

amplifiers/drivers are disconnected electrically from the motors of

each axis, and the indicator also lights. Rotate the button

clockwise to release from the Emergency Stop status, 『E-STOP』

indicator will then go out after releasing the Emergency Stop

status.

(2) Deadman switch

Keep pressing the Deadman-Switch when operating the robot in

RO-TEACH, LI-TEACH, or CHECK mode. If this switch is

released, the robot will be in Emergency Stop status and it will be

stopped.

Release the Deadman switch if any error or abnormal occurrences are

happened.

(3) Function keys

Changes the mode on the Teach Pendant. To change the mode,

press the F1 , F2 , F3 , or the F4 key during pressing the FUNC

HIGH

key on the Teach Pendant. The controller is equipped with a

MANUAL/AUTO mode selection key switch. Any conflict between

the mode of the Teach Pendant and the controller MANUAL/AUTO

selection causes the alert buzzer to sound and the conflicting key

entry is ignored. Refer to 2.4, “Mode Select Operation” for details.

(4) Set keys

Modifies the position data or the like.

(5) Numeric keys

Inputs the numeric data.

(6) Axis keys

Moves the robot axis by pressing the axis key. The robot axis

moves during this key is pressed. The axis moves at high speed by

pressing the axis key with the FUNC

HIGH key.

(7) Data entry key

Confirms the entered data by pressing the data entry key, ENTER .

(8) LCD (Liquid Crystal Display)

Displays the data and message. Refer to 2.7, “LCD (Liquid Crystal

Display)” for details.

CHAPTER 2 CONNECTING THE TEACH PENDANT

2-3

(9) LED display

①『SHIFT』

Every time the SHIFT key is pressed, the 『SHIFT』LED will

switch between ON and OFF. When the 『SHIFT』LED is lit,

the functions of the lower case letters on the pink are selected.

②『HOLD』

The 『HOLD』LED is lit if any axis is held (servo lock). There

is a “＊” mark next to the axis which is held.

(Example) Only Z-Axis is held

００５０　Ｍ１０　Ｆ９９　Ｓ００　Ｒ　０

Ｘ　０５００．０５　Ｙ　００８０．００

＊Ｚ　００２０．１０　Ｗ　０１００．００

ＬＩ－ＴＥＡＣＨＲＢ１［ＷＯＲＬＤ］

In KEY-IN mode, the HOLD will be cleared; however, the only

axes equipped with a brake is held by the brake instead. The

『HOLD』LED becomes OFF.

③『READY』

Turns ON when the controller is ready for the automatic

operation, and it satisfied the following conditions:

•Mode is in ON-LINE on the Teach Pendant.

•A-CAL is completed.

•No error is occurred.

•DI signal inputs the IN0 (SELECT signal).

Normally ON during the automatic operation. Check the

conditions if the 『READY』LED becomes OFF during the

automatic operation.

④『A-CAL』

Turns ON if A-CAL is/has been completed.

⑤『OVER』

Turns ON when the OVERRUN (OVR) sensor is ON.

“OVERRUN” is also displayed on the message line.

⑥『E-STOP』

Turns ON when an abnormal condition or an error occurs.

“EMERGENCY STOP” is also displayed on the message line.

2.1.2

2.1.22.1.2

2.1.2

Specification of the Teach Pendant

Specification of the Teach PendantSpecification of the Teach Pendant

Specification of the Teach Pendant

Table 2.

Table 2.Table 2.

Table 2.1

Specification of the Teach Pendant

Specification of the Teach PendantSpecification of the Teach Pendant

Specification of the Teach Pendant

Item

ItemItem

Item Specification

SpecificationSpecification

Specification

Type H-3335

Size 107mm(W) 238mm(D) 40mm(H)

Cable length 4m(15m as option)

Weight 1kg（including 4m cable）

Environment Operating temperature : 0 to 40 ℃

Storage temperature : -20 to 60℃

Modes KEY-IN, TEACH, CHECK, ON-LINE

Display LCD(20×4), LED

Motion stop Using by Emergency Stop button (lock type), Deadman switch

This manual suits for next models

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