Shibaura ROIbot BA-II Series User manual

Front cover

Keep this manual at hand after operators have read it thoroughly.

Operating Manual (Basic Section)

MODEL:CA20-M10/M40

CA20-S10/S40

CONTROLLER

Introduction

Thank you for selecting the ROIbot BA  series.

To ensure correct usage, read this instruction manual before starting use of

the ROIbot BA  series.

For information on the actuators in ROIbot BA  series, refer to the Actuator

Operating Manual supplied with the actuator.

PRECAUTION

1. The contents of this manual are subject to change without prior

notice.

2. An effort has been made to ensure the contents of this manual.

If you have any questions, or find any mistakes, please contact

us.

3. Regardless of item 2 above, we will not be held responsible for

any effect caused by using this robot.

Contents

Chapter 1 General Safety Instruction

1.1 Important messages ···································································· 1-1

1.2 Safe Operation ············································································ 1-6

1.2.1 Auxiliary safety precautions before ROIbot installation ····················· 1-6

1.2.2 Precautions for installing the ROIbot ············································ 1-7

1.2.3 Precautions for operation of the ROIbot········································ 1-7

1.3Warranty ···················································································· 1-9

1.3.1 Warranty period ······································································ 1-9

1.3.2 Warranty details······································································ 1-9

1.3.3 Exemption of liability ································································ 1-9

1.3.4 Notes ···················································································· 1-9

Chapter 2 Devices

2.1 Features ····················································································· 2-1

2.2 System components and specifications ········································· 2-3

2.2.1 System components································································· 2-3

2.2.2 Controller specifications····························································· 2-4

(1) Master unit specifications··························································· 2-5

(2) Slave unit specifications ···························································· 2-6

(3) Various units and options··························································· 2-7

2.3 Explanation of each part······························································· 2-8

2.3.1 External dimensions and explanation of each part··························· 2-8

2.3.2 Function of each part································································ 2-9

2.3.3 Explanation of expansion input/output unit····································· 2-11

2.3.4 Explanation of Teach Pendant···················································· 2-12

2.4 Procedures from installation to operation······································· 2-15

2.4.1 Installing the controller ······························································ 2-16

2.4.2 Supply power and grounding······················································ 2-17

2.4.3 Improvement of noise resistance················································· 2-19

2.4.4 Connecting the axis and controller··············································· 2-20

2.4.5 Connecting the emergency stop circuit ········································· 2-23

2.4.6 Effect of leakage current···························································· 2-23

2.4.7 Setting the Robot Type······························································ 2-24

2.4.8 Setting the software limit and Return to Origin································ 2-26

2.4.9 Servo gain adjustment ······························································ 2-28

2.4.10 Absolute encoder backup························································· 2-29

2.5 Moving the ROIbot······································································· 2-32

III

Chapter 3 General Programming

3.1 Explanation of operation modes···················································· 3-1

3.1.1 Explanation of RUN mode·························································· 3-3

3.1.2 Explanation of PRGM mode······················································· 3-4

3.1.3 Return to Origin······································································· 3-5

3.2 General programming ·································································· 3-6

3.2.1 Basic programming ·································································· 3-10

3.2.2 Position data input···································································· 3-12

(1) Remote teaching······································································ 3-13

(2) Direct teaching ········································································ 3-15

(3) MDI (Manual Data Input)···························································· 3-17

3.2.3 Memory Clear (Initialization)······················································· 3-19

3.2.4 MOV system command words and parameters ······························ 3-22

Chapter 4 Sequential Mode

4.1 Sequential PRGM mode································································ 4-1

4.1.1 How to enter and leave PRGM (program) mode ····························· 4-1

4.1.2 Editing of steps in sequential program·········································· 4-2

4.1.3 Copy editing of sequential programs ············································ 4-4

4.1.4 Clearing of sequential programs·················································· 4-5

4.1.5 HELP function in entering a command·········································· 4-7

4.1.6 Method to restart operation of sequential mode

after turning power OFF ···························································· 4-8

4.1.7 Palletizing work with MVM commands·········································· 4-10

4.2 Sequential RUN mode ·································································· 4-16

4.2.1 AUTO mode of sequential mode ················································· 4-16

(1) Continuous operation································································ 4-16

(2) Single operation······································································· 4-17

4.2.2 STEP mode of sequential mode·················································· 4-18

4.2.3 Changing of speed during operation (override)······························· 4-29

Chapter 5 Multi-task

5.1 Multitasking················································································ 5-1

5.2 Merits of multitasking··································································· 5-1

5.3 Multitasking usage methods ························································· 5-2

5.3.1 Multitasking specifications·························································· 5-2

5.3.2 Multitasking functions and settings··············································· 5-2

5.3.3 Starting and stopping tasks························································ 5-3

5.3.4 Multitasking operation ······························································· 5-4

5.3.5 Applying timing between tasks···················································· 5-5

5.4 Details on multitasking································································· 5-6

5.4.1 Task status············································································· 5-6

5.4.2 Transition of states··································································· 5-6

5.4.3 Transfer of data between tasks··················································· 5-7

5.4.4 Task priority············································································ 5-7

Chapter 6 Easy Mode

6.1 PRGM mode of easy mode···························································· 6-2

6.1.1 How to enter and leave the easy mode········································· 6-2

6.1.2 Editing easy mode program························································ 6-3

6.1.3 Copy editing of easy mode························································· 6-15

6.1.4 Clearing of easy mode programs················································· 6-16

6.2 RUN mode of easy mode ······························································ 6-17

6.2.1 AUTO mode of easy mode························································· 6-17

(1) Continuous operation································································ 6-17

(2) Single operation······································································· 6-18

6.2.2 STEP mode of easy mode························································· 6-19

6.2.3 Changing of speed during operation (override)······························· 6-20

Chapter 7 Palletizing mode

7.1 Basic flow chart of palletizing mode··············································· 7-3

7.2 PRGM mode in palletizing mode···················································· 7-4

7.2.1 How to enter and leave the PRGM mode ······································ 7-7

7.2.2 Editing palletizing mode program················································· 7-8

7.2.3 Copy editing of palletizing mode·················································· 7-11

7.2.4 Clearing of palletizing mode programs·········································· 7-12

7.2.5 How to restart operation after turning power OFF

in palletizing mode ··································································· 7-13

7.3 RUN mode of palletizing mode ······················································ 7-14

7.3.1 AUTO mode of palletizing mode·················································· 7-14

(1) Continuous operation································································ 7-14

(2) Single operation······································································· 7-17

7.3.2 STEP mode of palletizing mode ·················································· 7-17

7.3.3 Changing of speed during operation (override)······························· 7-19

Chapter 8 External Point Designation Mode

8.1 Explanation of external point designation mode······························ 8-1

8.2 Operation method of external point designation mode····················· 8-5

8.2.1 Execution with input/output························································· 8-5

8.2.2 Operation with Teach Pendant···················································· 8-6

8.3 Changing of speed during operation (Override)······························· 8-6

Chapter 9 Pulse train input mode

9.1 System······················································································· 9-1

9.1.1 System configuration method ····················································· 9-1

9.1.2 Specifications of pulse train input mode········································ 9-2

9.2 Input/output signals····································································· 9-3

9.2.1 Input/output connector signal names and pin numbers····················· 9-3

9.2.2 Functions of each input/output signal ··········································· 9-4

9.2.3 Example of input/output signal connection····································· 9-8

9.3 Operation methods······································································ 9-10

9.3.1 Designation of pulse train input mode··········································· 9-10

9.3.2 Matters to be set for pulse train input mode ··································· 9-10

9.3.3 Protective functions·································································· 9-11

9.4 Precautions for operation ····························································· 9-12

9.5 Operation procedures ·································································· 9-12

Chapter 10 Connection with External Devices

10.1 Input/output signal····································································· 10-1

10.1.1 Master unit input/output connector signal names

and pin numbers ···································································· 10-1

10.1.2 Slave unit input/output connector signal names

and pin numbers ···································································· 10-2

10.1.3 Expansion input/output signal names and pin Nos.························ 10-8

10.1.4 Names of general-purpose input/output ports

and Teach Pendant displays····················································· 10-9

10.1.5 Example of input/output signal connection··································· 10-10

10.2 Details of system input/output function ········································ 10-13

10.2.1 Return to origin input······························································· 10-13

10.2.2 Start input············································································· 10-13

10.2.3 Stop input············································································· 10-14

10.2.4 Reset input ··········································································· 10-14

10.2.5 Robot single operation input ····················································· 10-14

10.2.6 Continuous start input ····························································· 10-15

10.2.7 Escape input········································································ 10-15

10.2.8 Pause (temporary stop) input ·················································· 10-15

10.2.9 Program No. selection input······················································ 10-16

10.2.10 Palletizing input···································································· 10-17

10.2.11 Running output····································································· 10-17

10.2.12 Error output········································································· 10-17

10.2.13 Positioning complete output···················································· 10-17

10.2.14 Return to origin complete output ·············································· 10-17

10.2.15 Input wait output··································································· 10-18

10.2.16 Pausing (temporarily stopped) output········································ 10-18

10.2.17 READY output ····································································· 10-18

10.2.18 Individual task positioning complete output································· 10-18

10.2.19 Individual task return to origin complete output···························· 10-18

10.2.20 Battery alarm output······························································ 10-18

10.3 RS-232C communication specifications········································ 10-18

Chapter 11 CC-Link

11.1 CC-Link Function ······································································ 11-1

11.1.1 Overview·············································································· 11-1

11.1.2 CC-Link specifications····························································· 11-2

11.1.3 How to attach the CC-Link module············································ 11-2

11.1.4 Explanation of CC-Link component and external dimensions········· 11-3

11.1.5 Connection of exclusive CC-Link cable······································ 11-4

11.1.6 CC-Link settings···································································· 11-4

11.2 Connection with External Devices··············································· 11-5

11.2.1 List of master unit I/O signals··················································· 11-5

11.2.2 System I/O ··········································································· 11-6

11.2.3 Name of general-purpose I/O port and teach pendant display········ 11-7

11.2.4 Jog input/output····································································· 11-8

11.3Data Communication ································································· 11-10

11.3.1 Overview of data communication ·············································· 11-10

11.3.2 Command mode···································································· 11-11

11.3.2.1 Transmitting and receiving data ·········································· 11-11

11.3.2.2 Command table ······························································· 11-13

11.3.2.3 Descriptions on each command ·········································· 11-14

11.3.3 Monitor mode········································································ 11-21

11.3.3.1 Data receiving method ······················································ 11-21

11.3.3.2 List of monitor types·························································· 11-22

11.3.3.3 Explanation of monitors····················································· 11-22

11.4Speed control mode through CC-Link ········································· 11-27

11.4.1 Overview·············································································· 11-27

11.4.2 Speed control specifications ···················································· 11-27

11.4.3 Items prohibited····································································· 11-27

11.4.4 Settings of speed control mode ················································ 11-28

11.4.5 List of I/O signals··································································· 11-28

11.4.6 List of I/O data ······································································ 11-29

11.4.7 Details of I/O signals ······························································ 11-30

11.5Selection table extension in external point designation mode ······· 11-34

11.5.1 Overview·············································································· 11-34

VII

11.5.2 How to set selection table extension·········································· 11-34

11.5.3 Assignment of input signals and tables······································ 11-35

11.6Maximum torque limit function ··················································· 11-38

11.6.1 Overview·············································································· 11-38

11.6.2 Specifications for the maximum torque limit function ···················· 11-38

11.6.3 Setting of the maximum torque limit function······························· 11-38

11.6.4 Setting of a maximum torque limit value····································· 11-39

11.6.5 Special I/O signals ································································· 11-39

11.7 CC-Link status ·········································································· 10-41

Chapter 12 DeviceNet

12.1 DeviceNet Function ··································································· 12-1

12.1.1 Overview·············································································· 12-1

12.1.2 DeviceNet specifications ························································· 12-1

12.1.3 How to attach the DeviceNet module········································· 12-2

12.1.4 Explanation of DeviceNet component and external dimensions ······ 12-2

12.1.5 Connection of exclusive DeviceNet cable ··································· 12-4

12.1.6 DeviceNet settings································································· 12-4

12.2 Connection with External Devices··············································· 12-5

12.2.1 List of master unit I/O signals··················································· 12-5

12.2.2 System I/O ··········································································· 12-6

12.2.3 Name of general-purpose I/O port and teach pendant display········ 12-7

12.2.4 Jog input/output····································································· 12-8

Chapter 13 Parameter Setting

13.1 How to enter and leave the PARA mode········································ 13-1

13.2 Method of mode setting······························································ 13-2

13.2.1 Designation of single operation mode input bit······························ 13-3

13.2.2 Designation of continuous start input bit······································ 13-3

13.2.3 Designation of escape input bit·················································· 13-3

13.2.4 Designation of pause input bit··················································· 13-4

13.2.5 Designation of program selection input bit ··································· 13-4

13.2.6 Designation of return to origin input bit········································ 13-5

13.2.7 Designation of pausing output bit··············································· 13-5

13.2.8 Designation of input wait output bit············································· 13-5

13.2.9 Setting of Teach Pendant display (Japanese/English) mode············ 13-5

13.2.10 OFF (Invalid), easy, point, pulse 1, pulse 2································· 13-6

13.2.11 Setting of general-purpose output clear mode

during emergency stop and reset ············································· 13-6

13.2.12 Setting of state when continuous start is valid (Input ON)··············· 13-7

13.2.13 Setting of state when continuous start is valid (Input OFF)·············· 13-7

13.2.14 Setting of direct output bit······················································· 13-7

VIII

13.2.15 Designation of READY output bit ············································· 13-8

13.2.16 Designation of palletizing input bit ············································ 13-8

13.2.17 Expansion input/output during external point designation mode

Valid/Invalid ········································································· 13-8

13.2.18 Setting of task positioning output·············································· 13-8

13.2.19 Setting of task return to origin output········································· 13-9

13.2.20 Setting of CC-Link································································ 13-9

13.2.21 Setting of DeviceNet····························································· 13-10

13.2.22 Designation of battery alarm output bit····································· 13-10

13.2.23 Moving coordinate table number output

in external point designation mode ············· 13-10

13.3 Parameter 1 setting···································································· 13-11

13.3.1 Setting of software limit value (upper limit)··································· 13-12

13.3.2 Setting of software limit value (lower limit)···································· 13-12

13.3.3 Setting of servo gain (position/speed)········································· 13-12

13.3.4 Setting of pass area································································ 13-13

13.3.5 Setting of origin offset value······················································ 13-13

13.3.6 Setting of sequence of return to origin ········································ 13-14

13.3.7 Setting of JOG speed······························································ 13-15

13.3.8 Setting of JOG inching movement·············································· 13-15

13.4 Parameter 2 setting··································································· 13-16

13.4.1 Setting of axis display······························································ 13-18

13.4.2 Setting of in-position data value················································· 13-18

13.4.3 Setting of overflow data value ··················································· 13-18

13.4.4 Setting of feed forward data value·············································· 13-19

13.4.5 Setting of direction of motor revolution········································ 13-19

13.4.6 Setting of maximum speed······················································· 13-19

13.4.7 Setting of return to origin speed················································· 13-20

13.4.8 Setting of return to origin method··············································· 13-22

13.4.9 Setting of origin sensor logic····················································· 13-23

13.4.10 Setting of high speed return to origin position ····························· 13-23

13.4.11 Setting of lead······································································ 13-23

13.4.12 Setting of encoder No. of divisions ··········································· 13-24

13.4.13 Setting of encoder pulse multiplier············································ 13-24

13.4.14 Setting of encoder type·························································· 13-24

13.4.15 Setting of task and axis combination········································· 13-25

13.4.16 Setting of task order of priority················································· 13-25

13.4.17 Setting of task point table ······················································· 13-26

13.4.18 Setting of No. of task steps····················································· 13-26

13.4.19 BA I/O compatibility mode ······················································ 13-26

13.5 How to set the tables·································································· 13-27

13.5.1 Setting of coordinate (point) table ·············································· 13-28

13.5.2 Setting of speed table······························································ 13-28

13.5.3 Setting of acceleration/deceleration table····································· 13-29

13.5.4 Setting of MVM table······························································· 13-30

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