Delta SCARA DRS40L ASDA-MS Electric Control

Delta SCARA DRS40L
ASDA-MS Electric Control
Instructions
www.deltaww.com
Preface
Thank you for using this product. This manual provides information regarding safe operation of Delta
SCARA robot that users must take note in following. Before operating the SCARA robot, to ensure your
safety, please be sure to carefully read through this manual. Content of this manual includes:
Installation and inspection of the robot
Functions and descriptions for operating the human-machine interface(HMI)
Checkup and maintenance
Troubleshooting
Considering operation environment and safety of operating personnel, we offer specialized training for
staffs of different types of robot applications. This manual is suitable for reference by the following types of
users:
Designers for integration of system
Personnel performing installation or wiring
Personnel performing test run and adjustment on the machine
Maintenance and inspection personnel
Personnel operating the equipment
Before using, please read this manual carefully to ensure proper use of the robotic arm. Also, please place
the manual at a safe location for reference at any time. Before finishing reading this manual, be sure to
follow these guidelines:
The installation environment must be from water vapor, corrosive, and flammable gas.
When wiring, do not connect the 3-phase power to the connectors on U, V, W motor. Erroneous connection
will damage the servo electrics.
Grounding must be performed correctly.
When connecting power, do not disassemble drive, motor, or change wiring.
Before connecting power to run the robotic arm, make sure the emergency stop device can start at any time.
When connecting power and running the robotic arm, do not touch heat sink to avoid burn injury.
Should you still have questions on use of the robot, please contact your sales agent or our customer service center.
iii
Safety Precaution
SCARA robot series includes the All-in One ASDA-MS controller which integrates motion controller, robot
controller and four servo drives in one single unit with high-speed computing capability. For the safety use,
take precaution on safety of the work environment during the operation and ensure safety of operation for
the users. Also, the teach pendant and the driver cannot be operated separately.
ASDA-MS series control cabinet can be used on industrial applications and are recommended for installation in a wiring (electric) box specified in the manual (controller, wires, and motors must all be installed in
a location that meets the minimum requirement from UL level 1 for the environment of installation). Take
the following precautions at any time when receiving, inspecting, installing, wiring, operating, maintaining,
and checking the robot.
Meanings represented by symbols for “Danger”, “Warning”, and “Stop”:
Please follow the methods specified for use with servo drives and servo motors, as
doing otherwise might cause fire or failure of equipment.
Means there might be a potential danger that non-compliance might result in
medium level hazard, serious damage, or failure of the product.
Means forbidden acts that non-compliance might result in damage or failure of the
product beyond use.
Receiving and inspecting
Please follow the methods specified for use with the robotic arm, as doing otherwise
might cause fire or failure of equipment.
Note upon installation
It is forbidden to expose the product to places with water vapor, corrosive gas, and
flammable gas. Otherwise electric shock or fire might result.
Note upon
wiring
Please connect ground protection terminals with grounding systems. Improper
grounding might result in electric shock or fire.
Do not connect three-phase power to U, V, W motor output terminals as personnel
injury or fire might result if done otherwise.
Tighten fixing screws for the power and motor output terminals, as fire might result if
done otherwise.
To avoid hazard, refer to selection of wires when performing wiring.
iv
Note upon operating
Before starting to run, the robot needs adjustment on settings based on parameters
set by users. If not adjusted to the correct matching value, loss of control or failure
for the operation of machine might result.
Before starting to run, make sure the emergency stopping device could be started
at any time.
When robot moves, do not touch any moving part of the robot, as personnel injury
might result if done
After robot connecting, any error in operation will not only cause damages on the
robot but also result in bodily harm.
Strongly recommended: Test to see if the robot would operate normally under no
loading and then connect the load to prevent unnecessary hazard.
Do not touch the controller when running the machine, as doing otherwise might
result in burn injury or danger of electric shock because of high temperature.
Do not touch the controller and inside of the robot, as electric shock might result if
done otherwise.
Maintenance
and check When turning on power, do not disassemble HMI, as electric shock and damage on
the HMI might result if done otherwise.
Do not touch the wiring terminals within 30 minutes after turning off the power as
residual voltage may cause electrical shocks.
Do not change wiring with power on, as electric shock or personnel injury might
result if done otherwise.
Only trained and qualified professional electric personnel are allowed to perform
installation, wiring, repairing, and maintaining this robot.
Wiring of circuits
When wiring, disassemble the terminal base from the servo drive.
Plug one wire into one plug on the terminal base
When plugging wires, do not short-circuit the core wire and its nearby wires.
Before powering on, thoroughly check for proper wiring.
Do not frequently switch the power on or off. If there is a need to turn the power on
and off in succession, keep the frequency below once within one minute.
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Table of Contents
Preface...................................................................................................................iii
Safety Precaution....................................................................................................iv
1.Product description
1.1 Operating direction............................................................................................1
1.2 Dimensional drawing ........................................................................................2
1.3 Motion range ....................................................................................................3
1.4. Robot specification ..........................................................................................4
1.5 Specification of ASDA-MS controller ................................................................5
2. Wiring sequence
3. Exterior Look of ASDA-MS controller and Descriptions of Connectors
3.1 Exterior look and dimension ..............................................................................8
3. 2 Descriptions of external ports on the ASDA-MS controller ...................................... 9
3.3 D
efinitions and descriptions for terminals on the ASDA-MS controller.............. 10
3.3.1 Definitions of pins on major loop power terminal: ����������������������������������������������������� 11
3.3.2 Definitions of pins on control power terminal: ����������������������������������������������������������� 11
3.4 Wiring for ROBOT and controller: ......................................................................12
3.4.1 Specifications for connectors on the base and controller ������������������������������������������ 12
3.4.2 Definitions for connectors on motor power cable������������������������������������������������������� 13
3.4.3 Definitions for connectors for motor brake (BRK.DIO)����������������������������������������������� 14
3.4.4 Definition of Encoder connector �������������������������������������������������������������������������������� 15
3.4.5 STD.DIO connectors ������������������������������������������������������������������������������������������������ 16
DI12 & DI19~DI24. ������������������������������������������������������������������������������������������������������������ 16
3.4.6 SYS.DIO connectors ������������������������������������������������������������������������������������������������ 17
3.4.7 Specifications of the communication connector��������������������������������������������������������� 22
3.4.8. I/O Input wiring examples����������������������������������������������������������������������������������������� 24
3.4.9 Wiring example of I/O Output ����������������������������������������������������������������������������������� 25
3.4.10 SCARA body connector description������������������������������������������������������������������������� 26
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4. Battery replacement
4.1 Notes..................................................................................................................28
4.2 Battery replacement procedures........................................................................29
5. Hardware components
5.1 Connector components .....................................................................................30
5.2 Optional items ...................................................................................................32
6. Descriptions for Troubleshooting
6.1 Display of status.................................................................................................33
6.1.1 Display of system status������������������������������������������������������������������������������������������� 33
6.1.2 Display of alert message������������������������������������������������������������������������������������������ 34
6.2 Description of P0-01 parameter ........................................................................34
6.3 Troubleshooting of abnormal alarms..................................................................35
6.4 Index of alarm....................................................................................................36
6.4.1 Group type���������������������������������������������������������������������������������������������������������������� 36
6.4.2 Axis type������������������������������������������������������������������������������������������������������������������� 37
6.4.3 Control type�������������������������������������������������������������������������������������������������������������� 38
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List of Tables
Table 1-1 Specification of DRS40L series ���������������������������������������������������������������������������� 4
Table 1-2 Specification of ASDA-MS Controller�������������������������������������������������������������������� 5
Table 3-1 Manual power pin ���������������������������������������������������������������������������������������������� 10
Table 3-2 Definitions for 4.2 in-flight connectors on motor power cable������������������������������ 13
Table 3-4 Definitions of the pins on Encoder connector������������������������������������������������������ 15
Table 3-5 Definitions of the pins on Delta Encoder������������������������������������������������������������ 15
Table 3-6 Definitions of pins for user’s IO��������������������������������������������������������������������������� 16
Table 3-7 Definitions of the pins for system IO��������������������������������������������������������������������� 16
Table 3-8 Definitions of functions for the system I/O ����������������������������������������������������������� 18
Table 3-9 Definitions of the connectors������������������������������������������������������������������������������� 22
Table 5-1 ASDA-MS Accessories List �������������������������������������������������������������������������������� 30
Table 6-1 System Status Display���������������������������������������������������������������������������������������� 33
Table 6-2 Alert Message Display �������������������������������������������������������������������������������������� 34
Table 6-3 P0-01 Parameter Description ����������������������������������������������������������������������������� 34
Table 3-3 Definitions of the motor pins������������������������������������������������������������������������������� 14
Table 3-10 Definitions of RS232/RS485 pins���������������������������������������������������������������������� 23
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List of Figures
Figure 1-1 Directions of SCARA Motions��������������������������������������������������������������������������� 1
Figure 1-2 External Dimension of the SCARA������������������������������������������������������������������� 2
Figure 1-3 SCARA Motion range �������������������������������������������������������������������������������������� 3
Figure 2-1 Peripheral Device Wiring Diagram������������������������������������������������������������������� 7
Figure 3-1 Exterior look of ASDA-MS Controller ��������������������������������������������������������������� 8
Figure 3-2 Descriptions of external pins on the back of the controller������������������������������� 9
Figure 3-3 Actual main circuit circuit power connector figure��������������������������������������������� 11
Figure 3-4 Definition for the motor power terminal������������������������������������������������������������� 11
Figure 3-5 Connector for power on control circuit �����������������������������������������������������������������������11
Figure 3-6 Definition for the control power terminal����������������������������������������������������������� 11
Figure 3-7 Wiring diagram for the SCARA and MS controller������������������������������������������� 12
Figure 3-8 Motor Power Cable ���������������������������������������������������������������������������������������� 12
Figure 3-9 Motor Encoder Cable ������������������������������������������������������������������������������������� 12
Figure 3-10 Motor connectors������������������������������������������������������������������������������������������� 13
Figure 3-11 Connectors on motor power cable������������������������������������������������������������������ 13
Figure 3-12 Definitions of Encoder pins ���������������������������������������������������������������������������� 14
Figure 3-13 Brake Release Button Location���������������������������������������������������������������������� 14
Figure 3-14 Definitions of pins on motor Encoder�������������������������������������������������������������� 15
Figure 3-15 Definitions of pins on motor Encoder�������������������������������������������������������������� 15
Figure 3-16 External View of the Connectors ������������������������������������������������������������������� 16
Figure 3-17 Configuration of Rear Pins����������������������������������������������������������������������������� 16
Figure 3-18 Definitions of SYS.DIO pins �������������������������������������������������������������������������� 17
Figure 3-19 E-STOP Wiring Example ������������������������������������������������������������������������������� 18
Figure 3-20 Wiring Example of the Safety Door���������������������������������������������������������������� 18
Figure 3-21 MODE SELECT Wiring Example�������������������������������������������������������������������� 19
Figure 3-22 RUN/STOP SWITCH Wiring Example ����������������������������������������������������������� 20
Figure 3-23 Reset Wiring Example ����������������������������������������������������������������������������������� 20
Figure 3-24 TP connector�������������������������������������������������������������������������������������������������� 22
Figure 3-25 Configurations of RS232/RS485 Pins������������������������������������������������������������ 23
Figure 3-26 Ethernet Port�������������������������������������������������������������������������������������������������� 23
Figure 3-27 USB B-type port5. ����������������������������������������������������������������������������������������� 23
Figure 3-28 USB port ������������������������������������������������������������������������������������������������������� 23
Figure 3-29 DMCNet port ������������������������������������������������������������������������������������������������� 23
Figure 3-30 Wiring Example of the Button or Inching Switch��������������������������������������������� 24
Figure 3-31 Wiring example of proximity switch ��������������������������������������������������������������� 24
Figure 3-32 Wiring example of light signal or relay (loading positive)�������������������������������� 25
Figure 3-33 Wiring example of light signal or relay (loading negative))���������������������������� 25
Figure 3-34 SCARA Body Connector Configuration���������������������������������������������������������� 26
Figure 3-35 SCARA I/O Connector Description����������������������������������������������������������������� 26
ix
Figure 3-36 SCARA Air Tube Configuration������������������������������������������������������������������������ 27
Figure 5-1 Delta DC24V Power Supply������������������������������������������������������������������������������ 32
Figure 6-1 7-segment Display ������������������������������������������������������������������������������������������� 33
Figure 6-2 Display of MS board������������������������������������������������������������������������������������������ 34
Figure 6-3 Seven-segment display of MS error code��������������������������������������������������������� 35
x
1.Product description
1.1 Operating direction
DSR40L series is a robot consisted of four axes, which are first arm (J1), second arm (J2), axis
Z (J3), and axis R (J4). Directions of their motions are shown in Figure 1-1 Directions of SCARA
Motions, with (+) and (-) on the graph representing directions of each axis defined by user in the
editor program.
Cartesian coordinates
(Z+)
(Y+)
(X+)
(Y-)
(X-)
(Z-)
Figure 1-1 Directions of SCARA Motions
1
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
1.2 Dimensional drawing
External dimensions of the mechanism are shown in Figure 1-2. Please use 4-M8 locking screws to
secure the mechanism on a platform
Unit: mm
Figure 1-2 External Dimension of the SCARA
2
1. PRODUCT DESCRIPTION
1.3 Motion range
When SCARA robots line up, the maximum turning radius for first arm is 400 mm and the range of
rotation movement is ±130°; when first arm reaches its limit, second arm can move for other 100°
to reach its limit. The maximum turning radius for second arm is 200 mm and the range of rotation
movement is ±146.6°. The detailed motion range of SCARA is as shown in Figure 1-3.
First Arm
Figure 1-3 SCARA Motion range
3
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
1.4. Robot specification
The specification of DRS40L series is shown in Table 1-1.
Table 1-1 Specification of DRS40L series
Model
DRS40L
Axis count
4
Arm length( Arm 1+Arm 2 )
400 mm
Rated/Maximum payload
Maximum speed
Range of motion
1 Kg / 3 Kg
X-Y
4710 mm / sec
Z
1250 mm / sec
R
1875° / sec
J1
±130°
J2
±146.6°
Z
150 mm
RZ
±360°
Standard time for a cycle *
Accuracy of repetition
Motor power
0.42 sec
X/Y
±0.01 mm
Z
±0.01 mm
R
±0.01°
J1
200 W
J2
200 W
Z
100 W
RZ
100 W
Rated/max. pressing strength (Z)
100 / 250N
0.0091 / 0.075 Kg-m2
Max. allowable load inertia (R)
Cable connector for customer installation
15Pin D-Sub
Air pipe for customer installation
ø4 mmx2, ø6 mmx1
Body weight
16 Kg
*25mm-300mm-25mm & Payload: 1Kg, test environment temperature 25oC, environmental relative humidity 45% ~ 65% RH
*Delta reserves the right to change specifications without further notice.
4
1. PRODUCT DESCRIPTION
1.5 Specification of ASDA-MS controller
The detailed specification shown as below:
Table 1-2 Specification of ASDA-MS Controller
Model ASDA-MS series
Power Supply
Phase Number / Voltage
Single phase: 200~230VAC, -15%~10%, 23.8A (for DRS40L: 5A)
Control Power Supply
24VDC, -10%~10%, 5A (for DRS40L: 3A)
Size (W) X (H) X (D) mm / Weight
Cooling Method
External Optical Scale or Encoder
Communication
Interface
Environmental
Specification
Fan cooling
A, B, and Z format
Programming Language
Delta robot language
Motion Model
Point-to-point motion, linear interpolation, and circular interpolation
Memory Capacity
20MB: for programming editor and data users
1K location point is available for global variables
(which can be shared among different programs).
30K location point is available for all programming editors.
Standard I/O
User I/O: 24 sets of input and 12 sets of output
System I/O: 8 sets of output and 8 sets of input
Ethernet
One channel
RS-232 / RS-485
One connecting port
(one connecting port allows switching between two communication
functions)
DMCNET
One channel
USB Host
Two connecting port
Installation Site
Indoor (avoid direct sunlight) and no corrosive vapor
(avoid oily fume, inflammable gas, and dust)
Elevation
Less than 1000M above sea level
Atmosphere Pressure
86 kPa ~ 106 kPa
Ambient Temperature
0°C ~ 55°C (Please force surrounding air circulation when ambient
temperature is above 45°C)
Storage Temperature
-20°C ~ 65°C
Humidity
0 ~ 90% RH (no fog)
Vibration
9.80665 m/s2 (1G) below 20 Hz, 20 ~ 50 Hz 5.88 m/s2 (0.6G)
IP Grade
IP20
Electrical System
TN system*
Robot Control
Input / Output
175 mm x 300 mm x 159 mm / 5.6 kg
IEC/EN 61800-5-1, UL 508C, C-tick
Safety Certification
Note: TN system refers to that the neutral point of the electrical system is directly connected to the ground and the exposed
metal components are connected to the ground via protective grounding conductor.
5
2. Wiring sequence
1. Please lock SCARA and the ASDA-MS drive controller in place properly.
2. Connect SCARA and the ASDA -MS drive controller:
(1) Encoder Cable: Connect the encoder connector of the encoder cable to the motor encoder feedback
connector on ASDA-MS.
(2) Motor Power Cable:
A.Connect the power connector of the power cable to the servo motor output (U, V, W) on the ASDA-MS;
please note the connector label when connecting and do not connect the wrong cable.
B.Connect the brake connector of the power cable to the BRK.DIO connector on the ASDA-MS and connect
the brake input power. Please refer to 3.4.3 break connector (BRK.DIO) definitions for the BRK.DIO pins.
3. E-STOP signal: Please connect the E-STOP cable properly and please refer to the E-STOP wiring
example as illustrated in 3.4.6 SYS.DIO connector.
4. Connecting the power:
(1) Main circuit power input: Connect the single-phase AC 200V to 230V single-phase 50/60 Hz to the
main circuit power input terminal of the drive controller and properly ground it.
(2) Control circuit power input: Connect 24V (3A) DC power (please use Class 2) to supply control power
for the ASDA-MS drive controller.
5. Teach pendant can be purchased optionally.
(1) Please insert or remove the teach pendant when it is unpowered.
(2) If the teach pendant is not connected, please connect the teach pendant short-circuit connector.
Please refer to the specification manual for details on the specifications of the teach pendant
6
Power Supply
750W Single-phase /
Three-phase 200-230V
No-fuse breaker (NFB)
Set to prevent damages to the driver
due to excessive instant current
generated when powering on/off or
short-circuit.
Filter
Reduce the electromagnetic interference
transmitted through the power cable
between the device and power.
Teach Pendant (Optional)
Teach pendant can be
purchased to operate SCARA
Magnetic Control (MC)
Connected to the emergency
stop. when the user presses
the emergency stop button,
the MC will be triggered and
cut the power of driver.
POWER
connector
Computer
DROE software shall
be installed
POWER BUS connector
RJ45 cable
Motor brake
connector
Shielding recommended
3M MDR Connector 50PIN
Standard I/O
D-sub connector 26PIN
DI 24 sets
DO 12 sets
System I/O
DI 8sets
DO 8sets
ENCODER connector
CONTROL BUS
connector
POWER SUPPLY(At lease 5A)
Figure 2-1 Peripheral Device Wiring Diagram
7
3. Exterior Look of ASDA-MS controller
and Descriptions of Connectors
3.1 Exterior look and dimension
175.2
175.2mm
mm
300.8
mm
300.8
mm
70
mm
70 mm
175.2
mm
175.2 mm
159.3
159.3mm
mm
50.3 mm
50.3 mm
50.3 mm mm
50.3
Figure 3-1 Exterior look of ASDA-MS Controller
8
8
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
3.2 Descriptions of external ports on the ASDA-MS controller
Serial Communication Port
For MODBUS communication control, supporting RS-485 / RS-232 serial
communication.
Teaching Pendant Connection Port
Used to connect the teaching pendant
High-speed Communiction Port
(Ethernet) / USB Connetion Port
(USB1, USB2) / DMCNET
Connection Port (DMCNET)
LED Display
The 5 digit, 7 segment
LED displays the controller status
or fault codes.
• Ethernet: Used to connect PCs
or ntebooks, capable of accesing
data through DROE software.
• USB1, USB2: Direct connectivity
to USB flash drives
• DMCNET: Used to connect
DMCNET peripherals
Servo Motor Output (U, V, W)
Used to connect servo motor.
Never connect the output terminal
to main circuit power as the AC
drive may be damaged beyond
repair if incorrect
cables are connected
to the output terminals.
Main Circuit Terminal (R, S)
Used to connect 200 ~ 230Vac,
50/60Hz commercial power
supply.
Motor Brake Output Terminal
(BRK. DIO)
Standard I/O Terminal
(STD. DIO)
Full-Closed Loop Control
Interface (EXT. ENG)
Used to connect linear scale
and encoder. Feeds back
the position signals of the full
closed linear scale and encoder
for controlling A, B, Z phase
signals.
STO I/O Terminal
(Safe Torque Off)
Used to connect a certified
safety relay or switch for
controlling STO I/O signals.
Control Circuit Terminal
Used to connect DC24V
power supply.
Motor Encoder Interface
(MOTOR. ENC.)
Used to connect the encoder
signals of four servo motors
System I/O Terminal
(SYS. DIO)
Ground Terminal
Used to connect grounding
wire of power supply and servo
motor.
Figure 3-2 Descriptions of external pins on the back of the controller
9
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
3.3 Definitions and descriptions for terminals on the
ASDA-MS controller
Table 3-1 Manual power pin
Terminal marking
Name
Description
24V, 0V
24V power input end
Connect 24V DC power supply
R, S,
Power input end for
major loop
Connect single-phase AC power supply (220V AC)
U1, V1, W1
U2, V2, W2
U3, V3, W3
U4, V4, W4
FG
Motor connecting wire Connect to the motor power cable
Terminal
marking
Description
U
V
Main power cable for the motor
W
FG
Connect to grounding terminal of the drive
Grounding terminal
Connect with ground wires for the power supply and motor
STD.DIO
I/O connector
Connect USER I/O
SYS.DIO
I/O connector
Connect SYSTEM I/O
BRK.DIO
DO connector
Release electromagnetic brake on the motor
EXT.ENC.
Encoder connector
Connect external Encode
Motor ENC.
Encoder connector
Connect the motor Encode
TP
Teach Pendant
connector
Connect HMI interface
RS232
Communication port
connector
Connect RS-232 (supports Modbus ASCII Server)
RS485
Communication port
connector
Connect RS-485
ETHERNET
Communication port
connector
Connect the internet (supports Modbus TCP/IP Server)
USB1
Communication port
connector
Connect PC
USB2
Communication port
connector
Connect USB drive
DMCNET
Communication port
connector
Connect related Delta products
10
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
3.3.1 Definitions of pins on major loop power terminal:
The circuit input terminal of the main circuit; connect AC 200V to 230V single-phase 50/60 Hz
input power.
R
S
Figure 3-3 Actual main circuit circuit power
connector figure
Figure 3-4 Definition for the motor
power terminal
3.3.2 Definitions of pins on control power terminal:
Connect +24VDC (3A) input power to the control circuit input terminal.
DC 24V
24G
GND
Figure 3-6 Definition for the control
power terminal
Figure 3-5 Connector for power on
control circuit
11
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
3.4 Wiring for ROBOT and controller:
Two cables must be connected between the controller and SCARA body:
1. Motor Power Cable: The outlet connectors from the base of SCARA are two sets of 6P male connectors which are connected to the female ports for MOTOR POWER on the
controller; and J3 brake is connected to Pin 5 and Pin 6 on the BRK.DIO port,
the cable of button for unlocking J3 brake connect to Pin 1 on the BRK.DIO
port.
2. Encoder Cable: The connector from the base of SCARA is MDR 26PIN connectors and connects to MOTOR ENC on the controller.
Figure 3-7 Wiring diagram for the SCARA and MS controller
3.4.1 Specifications for connectors on the base and controller
1. Motor power cable: 0.75mm2 *20C (Shield) +
[DINKLE] 0134-34-06P*2
2. Encoder cable: 24AWG * 8 P + [3M] MDR 26PIN
Figure 3-8 Motor Power Cable
Figure 3-9 Motor Encoder Cable
12
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
3.4.2 Definitions for connectors on motor power cable
The connectors are connected to the motor power cable and shall be connected according to U, V
and W specifications. Part of the power cable use the same connectors J1+J3 and J2+J4 shared by
both axiss, so the marking shall be made when inserting the connectors.
Figure 3-10 Motor connectors
Figure 3-11 Connectors on motor power cable
Table 3-2 Definitions for 4.2 in-flight connectors on motor power cable
Motor POWER connectors
Pin
Definition
Description
Pin
Definition
Description
1
U1
J1 motor power supply
1
U2
J2 motor power supply
2
V1
J1 motor power supply
2
V2
J2 motor power supply
3
W1
J1 motor power supply
3
W2
J2 motor power supply
4
U3
J3 motor power supply
4
U4
J4 motor power supply
5
V3
J3 motor power supply
5
V4
J4 motor power supply
6
W3
J3 motor power supply
6
W4
J4 motor power supply
13
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
3.4.3 Definitions for connectors for motor brake (BRK.DIO)
This function mainly provides DC24V to release the motor from its brake status. Through communication function, it utilizes DO function to give orders to output the signal for unlocking the brake. This
connector provides four sets of signals to unlock motor brake. Out of the four groups, one is for use
by SCARA J3 vertical axis and the other is for use by the button to release motor brake on J3 axis.
Figure 3-12 Definitions of pins for motor brake
Pin definition:
1. J3 axis motor brake signal: ZBK and 24G are connected to Pin5 and Pin6.
2. Signal for release of button on J3 axis motor brake: 24V is connected to Pin1
Table 3-3 Definitions of the motor pins
PIN 1
PIN
NAME
1
24V Always on
2
0V
3
MOTOR BRAKE 24VDC
4
0V
5
MOTOR J3 BRAKE 24VDC
6
0V
7
MOTOR BRAKE 24VDC
8
0V
9
INPUT 24V DC
10
INPUT 0V
Figure 3-12 Definitions of Encoder pins
Brake release button function description:
This button is located on the head of SCARA, as
shown in the figure to the left; if the system servo
went off and caused the J3 axle brake to lock down,
pressing this button will release the J3 brake, allowing users to manually move the J3 axle and perform
operations more conveniently.
Note: If load is added to the head, users must beware that when this button is pressed, the unlocked
J3 axle break will slide downwards.
Note: if loads are added on the top, watch out for
fall down of J3 axis unlocking brake with this button pressed.
Figure 3-13 Brake Release Button Location
14
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
3.4.4 Definition of Encoder connector
PIN 1
PIN 18
Figure 3-14 Definitions of pins on motor Encoder
1. The connector accepts input via motor pulse.
Table 3-4 Definitions of the pins on Encoder connector
PIN
NAME
PIN
NAME
PIN
NAME
PIN
NAME
1
2
3
4
5V
16
5V
17
T+_3
GND
18
GND
19
T-_3
5
T+_1
6
7
T-_1
8
9
11
T+_2
13
T-_2
15
14
21
20
10
5V
22
5V
23
T+_4
12
GND
24
GND
25
T-_4
26
2. Motor Encode connector
This connector is connected to the motor Encode cable.
Figure 3-15 Definitions of pins on motor Encoder
Table 3-5 Definitions of the pins on Delta Encoder
PIN
NAME
PIN
NAME
PIN
NAME
PIN
NAME
1
Z+_1
2
Z-_1
19
Z+_3
20
Z-_3
3
B+_1
4
B-_1
21
B+_3
22
B-_3
5
A+_1
6
A-_1
23
A+_3
24
A-_3
7
5V
8
GND
25
5V
26
GND
9
X
10
X
27
X
28
X
11
GND
12
5V
29
GND
30
5V
13
Z+_2
14
Z-_2
31
Z+_4
32
Z-_4
15
B+_2
16
B-_2
33
B+_4
34
B-_4
17
A+_2
18
A-_2
35
A+_4
36
A-_4
15
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
3.4.5 STD.DIO connectors
The connector is defined based on pins used for input and output by the user’s IO. Currently, the internally planned I/O is described as follows and the other parts are available to users.
Figure 3-16 External View of the Connectors
Figure 3-17 Configuration of Rear Pins
Table 3-6 Definitions of pins for user’s IO
PIN
NAME
PIN
NAME
PIN
NAME
PIN
NAME
1
DI1
2
DI2
26
DI7
27
DI8
3
DI3
4
DI4
28
DI9
29
DI10
5
DI5
6
DI6
30
DI11
31
DI12
7
DI13
8
DI14
32
DI19
33
DI20
9
DI15
10
DI16
34
DI21
35
DI22
11
DI17
12
DI18
36
DI23
37
DI24
13
DI_COM1
14
DO01+
38
DI_COM2
39
DO01-
15
DO02+
16
DO03+
40
DO02-
41
DO03-
17
DO04+
18
DO05+
42
DO04-
43
DO05-
19
DO06+
20
DO07+
44
DO06-
45
DO07
21
DO08+
22
DO09+
46
DO08-
47
DO09-
23
DO10+
24
DO11+
48
DO10-
49
DO11-
25
DO12+
50
DO12-
Note. DI_COM1 is the ground of DI1~DI6 & DI13~DI18,DI_COM2 is the ground of DI7~DI12 & DI19~DI24.
16
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
3.4.6 SYS.DIO connectors
The connectors are defined based on pins used for output and input by the system IO.
Figure 3-18 Definitions of SYS.DIO pins
PIN
NAME
PIN
NAME
PIN
NAME
PLC INPUT
FUNTION
1
DO3-
10
DO2-
19
DO5+
DI1
E-STOP
2
DO3+
11
DO2+
20
DO5-
DI2
SAFETY DOOR
3
DO4-
12
DO7-
21
DO6-
DI3
SAFETY DOOR
4
DO4+
13
DO7+
22
DO6+
DI4
MODE SELECT
5
DI_COM3
14
DO1+
23
DO8-
DI5
MODE SELECT
6
DI_COM3
15
DO1-
24
DO8+
DI6
RUN/STOP SWITCH2
7
DI5
16
DI1
25
DI2
DI7
RUN/STOP SWITCH2
8
DI3
17
DI6
26
DI7
DI8
RESET
9
DI8
18
DI4
DO1
Group Alarm status
DO2
Group Servo status
DO3
Group positioning status
DO4
Grating trigger status
DO5
RL running status (same as
how the IO controls the RL
running status)
DO6
RL running status (same as
how the IO controls the RL
running status)
DO7
Controller ready status
DO8
Reserved
17
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
Table 3-7 Definitions of the pins for system IO
Table 3-8 Definitions of functions for the system I/O
E-STOP signal:
E-STOP Input is the DI1 (Pin16) connected to SYS.DIO, therefore users must connect DI1 of this
connector to the external emergency stop button switch to use. E-STOP wiring example is as shown in
the figure.
PNP (SORCE MODE)
NPN (SINK MODE)
Figure 3-19 E-STOP Wiring Example
SAFETY DOOR Signal
There are two input points planned on the safety door; DI2 is the door opening detection sensor input
and DI3 is the door reversion ready button. As shown in the figure.
PNP (SORCE MODE)
NPN (SINK MODE)
Figure 3-20 Wiring Example of the Safety Door
18
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
MODE SELECT Signal
The mode selection is planned via 2 input points, as shown in the figure below.
PNP (SORCE MODE)
NPN (SINK MODE)
Figure 3-21 MODE SELECT Wiring Example
Item
Mode
Disconnected
Auto Mode
DI4
DI5
0
0
0
1
Description
•
The controller LED displays E1.998
This mode will be deactivated
after the wire is connected
correctly.
•
The user must not use the teach
pendant to control the robot.
The user may use the PC to control
the robot.
The user may use the systematic
digital input to control the operation
The JOG synthetic speed shall
not exceed 250 mm/s (latch
JOG and shaft JOG)
The maximum running speed is less
than 250 mm/s.
The user may use the teach pendant
to control the robot.
The user may use the PC to control
the robot.
The user may not use the systematic
digital input to control the operation.
The JOG synthetic speed shall
not exceed 250 mm/s (latch
JOG and shaft JOG)
•
•
•
•
T1 Mode
1
1
•
•
•
•
T2 Mode
1
1
Note
•
•
The maximum running speed is 2000
mm/s.
The user may use the teach pendant
to control the robot.
The maximum running speed
is less than 250 mm/s.
The user may use the PC to control
the robot.
The user may not use the systematic
digital input to control the operation.
19
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
RUN/STOP SWITCH signal
The operating mode selection is planned via 2 input points under the AUTO MODE, as shown in the
figure.
PNP (SORCE MODE)
NPN (SINK MODE)
Figure 3-22 RUN/STOP SWITCH Wiring Example
Reset signal
It is an input of Reset signal, which can reset alarm and abnormal states by means of external button,
as shown in the figure.
PNP (SORCE MODE)
NPN (SINK MODE)
Figure 3-23 Reset Wiring Example
20
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
2. DO Instruction
•
Display for the alarm description of the robot
This is the description for the status of the systematic digital output SysDO1
SysDOStatus
Item
SysDO1
•
There is no abnormal alarm status.
ON
OFF
The servo motor is on.
The servo motor is off.
Display of the positioning status regarding the robot
This is the description for the status of the systematic digital output SysDO3.
Item
SysDOStatus
SysDO3
ON
OFF
The robot is moving.
The robot reaches a position and
stops.
Display of the status regarding the functional temporary suspension
This is the description for the status of the systematic digital output SysDO4
Item
SysDOStatus
SysDO4
•
The abnormal alarm status shows.
SysDOStatus
SysDO2
•
OFF
Display of the servo status regarding the robot
This is the description for the status of the systematic digital output SysDO2.
Item
•
ON
ON
OFF
This function is not triggered.
This function is triggered.
Display of the program operating status
This is the description for the status of the systematic digital outputs SysDO4 and SysDO5.
SysDO5 Status
ON
OFF
ON
The program is operating.
The program operation stops.
OFF
The program operation pauses.
None
SysDO4 Status
•
The display of the ready status regarding the controller.
This is the description for the status of the systematic digital output SysDO7.
Item
SysDOStatus
SysDO7
ON
OFF
The controller function is ready.
The controller function is not ready.
21
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
3.4.7 Specifications of the communication connector
1. TP connector
The connector is connected to HMI.
Figure 3-24 TP connector
Table 3-9 Definitions of the connectors
D-SUB 25PIN
Pin No
FUNCTION
TWISTED
1
ETH_TX+
TWISTED PAIR
2
ETH_TX-
3
DGND
7
E-STOP_NO+(NO)
8
E-STOP_NO-(NO)
9
E-STOP_NO+(NC)
10
E-STOP_NO-(NC)
13
24V
14
ETH_RX+
15
ETH_RX-
18
PW
TWISTED PAIR
TWISTED PAIR
TWISTED PAIR
20
ENC_EXA
21
ENC_EXB
TWISTED PAIR
22
ENSW_NC+
23
ENSW_NC-
25
PW
17
-
Reserved
18
PW
24V
19
GND
0V
20
ENC_EXA
Enter TP hand wheel (A)
21
ENC_EXB
Enter TP hand wheel (B)
22
ENSW_NC+
Inching(NC)
23
ENSW_NC-
Inching(NC)
TWISTED PAIR
24
PW
24V
25
PW
24V
22
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
2. RS232RS485 connector
The connector is used for communication bus (serial communication).
Table 3-10 Definitions of RS232/RS485 pins
PIN
NAME
PIN
NAME
1
RS485+
6
RS485-
2
RS232_RX
7
X
3
RS232_TX
8
X
4
X
9
X
5
GND
Figure 3-25 Configurations of RS232/RS485 Pins
3. ETHERNET connector
4. USB B-type connectors
The connector is used for network communication.
The connectors are used for communication cables (USB 2.0 communication).
Figure 3-27 USB B-type port5.
Figure 3-26 Ethernet Port
5. USB A-type connectors
6. DMCNET connectors
The connectors are used for communication cables
(USB 1.1 communication).
The connectors are used for the communication
bus (serial communication).
Figure 3-29 DMCNet port
Figure 3-28 USB port
23
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
3.4.8. I/O Input wiring examples
Button or inching switch
I/O connector (MDR 50pin Female)
NPN (SINK MODE)
PNP (SORCE MODE)
Figure 3-30 Wiring Example of the Button or Inching Switch
Proximity Switch
I/O connector (MDR 50pin Female)
NPN (SINK MODE)
PNP (SORCE MODE)
Figure 3-31 Wiring example of proximity switch
24
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
3.4.9 Wiring example of I/O Output
Light signal or relay (loading negative)
I/O connector (MDR 50pin Female)
Figure 3-32 Wiring example of light signal or relay (loading positive)
Light signal or relay (loading positive)
I/O connector (MDR 50pin Female)
Figure 3-33 Wiring example of light signal or relay (loading negative))
25
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
3.4.10 SCARA body connector description
For user friendliness, one group of signal connectors and three groups of air tubes are provided on
the SCARA robot for use by customers:
Figure 3-34 SCARA Body Connector Configuration
1. Signal connector description
D-Sub15 pin is adopted for the connector. The head part is female connector, and the base part is male
connector. Please use them according to the signal connectors for the accessory package, with pin locations shown as follows:
Figure 3-35 SCARA I/O Connector Description
26
3. EXTERIOR LOOK OF ASDA-MS CONTROLLER AND DESCRIPTIONS OF CONNECTORS
2. Air tube description
Sequence for configuring SCARA body air tube containing 1 *ϕ6, 2* ϕ4 is as follows:
1
2
3
3
2
1
Figure 3-36 SCARA Air Tube Configuration
27
4. Battery replacement
4.1 Notes
1. Display of Alarm AL061 on the drive suggests overly low voltage that the battery shall be replaced.
2. When the value displayed by Parameter P0-02 is 31, namely the voltage is less than 3.1, the
battery must be replaced immediately to prevent loss of data.
3. The battery voltage less than 2.7V will cause loss of data on absolute position, please exchange
batteries in 3 days.
4. Replacement of the battery is recommended when the drive is powered on, so as to avoid loss
of data on absolute position.
5. Please install new batteries within 5 minutes after removing the old ones, so as to avoid loss of
data on absolute position.
6. Please proceed with the home return again when the data on the absolute position is lost.
28
28
4. BATTERY REPLACEMENT
4.2 Battery replacement procedures
1. Remove the front plate on the SCARA body,
2. First pull out the connector for the battery to be
replaced.
behind which is where the batteries are placed.
Figure 4-1 Battery placement location
Figure 4-2 Battery Replacement Step 1
(Do not remove the metal seats for securing the batteries!
The following flow chart only serves for illustration.)
4. Install a new battery into the battery holder. Insert the
connector and then pull out the connector for another
battery.
3. Remove the old battery from the battery holder.
Figure 4-3 Battery Replacement Step 2
Figure 4-4 Battery Replacement Step 3
6. The following battery replacement steps are the same.
Install the rest of new batteries into the holders and
insert the connectors to complete the replacement.
5. Remove another old battery from the battery holder.
Figure 4-5 Battery Replacement Step 4
Figure 4-6 Battery Replacement Step 5
29
5. Hardware components
5.1 Connector components
Table 5-1 ASDA-MS Accessories List
ITEM
Picture
NAME
NOTES
Q’TY
1
1
MOTOR POWER Connector J1&J3
3050248246
2
MOTOR POWER Connector J2&J4
3050248646
3
MAIN POWER INPUT Connector
3051611346
1
4
DC 24V INPUT Connector
3051627346
1
5
Motor brake release Connector
3051618746
1
30
30
5. HARDWARE COMPONENTS
ITEM
Picture
NAME
NOTES
Q’TY
6
Base CN1 Connector
3074051921
1
7
Base CN1 Connector Cover
3050284421
1
8
Head CN2 Connector
3074051821
1
9
Head CN2 Connector
Cover
3050284121
1
10
Controller STD I/O Connector
307740100L
1
11
Controller STD I/O Connector Cover
305059000L
1
12
Controller SYS I/O connector
307280183C
1
13
Controller SYS I/O Connector Cover
305005303C
1
14
Short-circuit connector of Teach
Pendant for the controller box
3050594900
1
31
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
5.2 Optional items
1. DC24V Power Supply
Recommended Model name:
150W: PMC-24V150W1AA
200W: PMC-24V200W1AA
Figure 5-1 Delta DC24V Power Supply
Note: Select Delta Power Supply – Output DC24V series as needed.
Please refer to the Delta http://www.deltapsu.com/products/din-rail-power-supply?serie=cliq
2. Filter :
Recommended Model name:
EMF023A21A
http://www.delta-americas.com/Products/CategoryListT1.aspx?CID=0406&PID=ALL&hl=en-US
32
6. Descriptions for
Troubleshooting
6.1 Display of status
Display
Figure 6-1 7-segment Display
6.1.1 Display of system status
Table 6-1 System Status Display
Display symbol
Description
Status of powering on or restarting
Power on completed
Displayed during firmware update
Displayed when burning
Burning completed
33
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
6.1.2 Display of alert message
Table 6-2 Alert Message Display
Display symbol
Description
The first code: fixed display of “E”
The second code: Type
(Error d : axis13
Error code : 013)
1. Controller: “C”
2. Group: number 1 (use decimal points to represent the group)
3. Axis: use binary-coded decimal system to represent the axis, such
as 1~6, 13~16, 17, 18 (1~6, D~G, H, I).
4. User: “U”
The last three digits: for the meaning of the Error Code, please refer to
P0-01 Parameter Description or Chapter 6.3 for Troubleshooting
6.2 Description of P0-01 parameter
When 0 is written in P0-01 to clear the error code, the panel display will restore the following status.
Figure 6-2 Display of MS board
If there is Error not cleared during the reading, the numerical value being not 0 and of 32 bits shall
be sent back. The first 16 bits represent the Index and the last 16 bits represent Error code, as
shown in the table below.
Table 6-3 P0-01 Parameter Description
Index(16-bits)
U
Z
NO
Error code (16-bits)
Y
X
Reserved
(0x0)
Type
Error Code
(WORD)
Symbol
U, Z
Description
NO: represents the number for Group or Axis and the size is 4-bits
Y
System reserved, size 4-bits
X
Type, size 4-bits
(1) 0x0: Controller
(2) 0x1: Group
(3) 0x2: Axis
(4) 0x3: User
(5) 0x4~0xF: system reserved
Error Code
Refer to Chapter6.3 Troubleshooting for Abnormal Alarms
34
6. DESCRIPTIONS FOR TROUBLESHOOTING
6.3 Troubleshooting of abnormal alarms
There are 4 major categories of abnormal alarms, namely the control type, customized type, group
type, and axis type, the meanings of which are described as follows:
■■ Control type: alarms sent out by the controller.
■■ Customized type: alarms customized by the users through the PLC program written.
■■ Group type: alarms sent out by a group which is combined randomly from an axis group.
■■ Axis type: alar ms sent out by individual axis.
The 7-segment display shows the abnormal alarm code in the following way.
Figure 6-3 Seven-segment display of MS error code
1. Fixed display for abnormal alarm E
2.
Control type (Controller):
C This type of abnormal alarm is currently reserved.
Customized type (User):
U
Group type (Group):
1-2
*
“?” is used to represent numbers in the List of Abnormal Alarms.
Axial type (Axis):
1-6 axis: number 1-6.
7-12 axis: reserved.
13-18 axis: English letter D-I
*
“?” is used to represent numbers and English letters in the List of
Abnormal Alarms.
For example:
Abnormal alarm code E1.803 is the alarm of Group 1 in the group type.
Abnormal alarm code E1803 is the alarm of Axis 1 in the axial type.
Abnormal alarm code ED803 is the alarm of Axis 13 in the axial type.
Abnormal alarm code EI803 is the alarm of Axis 18 in the axial type.
3. Codes for Abnormal Alarms
35
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
6.4 Index of alarm
6.4.1 Group type
Abnormal
Alarm Display
Abnormal Alarm Name
Abnormal
Alarm Type
ALM
WARN
Servo
Status
ON
OFF
○
Arm gesture is inconsistent
○
○
○
○
○
○
○
○
○
E?822
Target position for P2P motion command is out of Robot’s
operating range
○
○
E?823
Target position of command for continuous path is out of
Robot’s operating range
○
○
E?824
Spatial movement exceeds the operating range of Robot
○
E?825
P2P movement path exceeds the operating range of Robot
E?827
Group does not exist
E?829
Error in switching the coordinates
E?82A
Error in switching user coordinates
E?82B
Error in switching tool coordinates
E?832
Loss of internal communication packet
E?833
Error in check code for internal communication
E?841
The arc command is out of boundary
E?842
The arc cannot be formed
○
○
○
○
○
○
○
○
○
○
E?843
Arc mode error
○
○
E?851
Time out error in transmission of vision parameters followed
by conveyor belt
○
○
E?852
The following speed for conveyor belt exceeds limits
○
○
E?801
Axis did not return to the origin
E?803
Incompatible motion command
E?80A
Motion command is not ready
E?80B
Unknown motion command
E?80C
Error of the motion command in buffer region
E?813
Axis error during interpretation of commands
E?814
Axis error during implementation of the motion commands
E?815
Mono-axis exceeds the software limit
E?821
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
E?853
Overtime error in transmission of vision parameters
followed by conveyor belt
○
○
E?861
The jogging speed of the TP hand wheel is too fast.
○
○
E?862
The TP hand wheel is jogging.
○
○
Note :
If there’s other alarm code appearing, please contact the technique team or agent directly for further support.
"?"represents the number of "1. ~ 2." in the alarm of group type.
36
6. DESCRIPTIONS FOR TROUBLESHOOTING
6.4.2 Axis type
Abnormal
Alarm Display
Abnormal Alarm Name
Abnormal Alarm Type
ALM
WARN
Servo State
ON
○
○
E?001
Overcurrent
E?002
Overvoltage
E?003
Low voltage
E?004
Motor matching error
E?005
Retrogradation error
E?006
Overload
E?007
Over speed
E?009
Error in position control is too large
E?011
Encoder abnormal
E?012
Calibration abnormal
E?013
Emergency stop
E?014
Reverse limit abnormal
E?015
Direct limit abnormal
E?016
IGBT overheated
E?017
Memory abnormal
E?018
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
OFF
○
Detector output abnormal
○
○
○
○
○
○
E?019
Serial communication abnormal between
controller and drive
○
○
E?020
Overtime in sSerial communication between
controller and drive
○
E?022
Power abnormal on the main loop
E?023
Advanced overload warning
○
○
E?024
Error in Initial magnetic field for the internal
encoder
○
○
E?025
Internal error on the encoder
○
○
E?026
Error in reliability of internal data for the
encoder
○
○
E?027
Error in internal reset for the encoder
○
○
E?028
High voltage on the encoder or internal error
on the encoder
○
○
E?029
Gray code error
E?030
Motor collision error
E?031
Detection on disconnection of the motor power cable
E?034
Error in internal communication for the encoder
E?035
Encoder temperature exceeded protection limit.
○
○
○
○
○
○
○
○
○
○
E?044
Warning on usage of the drive functions
E?060
Loss of absolute position
E?061
Low voltage error on the encoder
37
○
○
○
○
○
○
○
○
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
Abnormal
Alarm Display
Abnormal Alarm Name
E?062
Absolute position laps overflow
E?067
Encoder temperature alarm
E?069
Motor type error
E?06A
Loss of absolute position
E?070
Incomplete encoder processing
E?099
EEPROM needs updating
E?111
DMCNET packet receiver overflows
E?185
DMCNET Bus hardware abnormal
E?201
Initial error of DMCNET data
E?235
Position command overflows
E?245
Positioning overtime
E?283
Drive direct limit
E?285
Drive reverse limit
E?289
Position counter overflows
E?301
DMCNET synchronizing signal failed
E?302
DMCNET synchronizing signal is too fast
E?303
DMCNET synchronizing signal overtime
E?304
DMCNET IP command invalid
E?500
STO function is activated
E?501
STO_A lost
E?502
STO_B lost
E?503
STO_error
E?555
Drive failure
Abnormal Alarm Type
ALM
Servo State
WARN
ON
○
○
○
○
○
OFF
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Note:
"?"represents the number of "1~6"and alphabet"D ~ I" in the alarm of axis type
6.4.3 Control type
Abnormal
Alarm Display
Abnormal Alarm Name
EC001
PLC timeout
EC002
PLC Image load failed
EC003
PLC Exception
EC004
Motion module failed
EC005
Controller failed
EC006
Continuous 30 second write in alarm
EC007
DMCNET device setting mismatch
EC008
Mechanism parameter file load failed
EC009
Robot Type inconsistent
E1998
Operation mode not started
38
Abnormal Alarm Type
ALM
○
○
○
○
○
○
○
○
○
○
WARN
Servo State
ON
OFF
○
○
○
○
○
○
○
○
○
○
6. DESCRIPTIONS FOR TROUBLESHOOTING

Group type:
E?801 Axis did not return to the origin
Cause
Axis did not return to the origin
Check and Correction
If the axis fails to return to the origin before the coordinates moved, please return
the axis to the origin.
Solution
Reset alarm
E?803 Incompatible motion command
Cause
The motion command does not support over-lapping mode
Check and Correction
Whether commands such as mono-axial P2P (MovJ), multi-axial P2P (MovP,
MovPR, MArchP) and spatial commands (MovL, MovLR, MArc, MCircle,
MArchL) are blended at the same time since these three types of motion
commands cannot overlap. Please use other motion commands to replace or
avoid command overlapping.
Solution
Reset alarm
E?80A Motion command is not ready
Cause
The motion command is not ready and cannot be interpreted.
Check and Correction
Return to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?80B Unknown motion command
Cause
The motion command cannot be identified.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?80C Error of the motion command in buffer region
Cause
Error in Interpretation of the motion command for cache region.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?813 Axis error during interpretation of commands
Cause
Axis error during interpretation of commands.
Check and Correction
lease use the original software (DROE) to check whether any abnormality
P
of axis is found and eliminate any abnormality in accordance with the
troubleshooting of alarms.
Solution
Reset alarm
39
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
E?814 Axis error during implementation of motion commands
Cause
Axis error during implementation of the motion commands.
Check and Correction
Please use the original software (DROE) to check whether any abnormality
of axis is found and eliminate any abnormality in accordance with the
troubleshooting of alarms.
Solution
Reset alarm
E?815 Mono-axis exceeds the software limit
Cause
Target position of the mono-axis exceeds the software limit.
Check and Correction
Whether target position of the command for each axis is within configured limits
of software. If not, please move the arm (manual or Jog) back into the limits of
software.
Solution
Reset alarm
E?821 Arm gesture is inconsistent
Cause
Current arm gesture is inconsistent with gesture at target position.
Check and Correction
1. Continuous path command (MovL, MArc, MCircle, MArchL) does not support
movements under hand changes. Check whether the gesture at current
position is consistent with that at the target position. If not, please change
the gesture at target position or use another motion command.
2. Please check whether this motion path can be ignored. If not, then determine
the arm gesture with the controller.
Solution
Reset alarm
E?822 Target position for P2P motion command is out of Robot’s operating range
Cause
The target position for issued mono-axial P2P (MovJ), multi-axial P2P (MovP,
MovPR, MArchP) is out of the operating range.
Check and Correction
Whether the target position of the motion command for each axis is within the
software limits configured by the drive.
Solution
Reset alarm
E?823 Target position of command for continuous path is out of Robot’s operating range
Cause
The target position of spatial command issued (MovL, MovLR, MArc, MCircle,
MArchL) is out of the operating range.
Check and Correction
Whether the target position of the motion command for each axis is within the
software limits configured by the drive.
Solution
Reset alarm
40
6. DESCRIPTIONS FOR TROUBLESHOOTING
E?824 Spatial movement exceeds the operating range of Robot
Cause
Spatial command movement exceeds the operating range of Robot.
Check and Correction
Whether the target position of the motion command for each axis is within the
configured limits of software.
Solution
Reset alarm
E?825 P2P movement path exceeds the operating range of Robot
Cause
Check and Correction
Error of computation for forward kinematics. Path of movements for monoaxial/multi-axial P2P commands exceeds the operating range.
1. Whether the setting of software limits is normal. Whether the target position
of the motion command for each axis is within the software limits configured
by the drive.
2. Whether path is within the operating range defined by the user.
3. W hether the machine dimension is correct. (Please contact original
manufacturer)
Solution
Reset alarm
E?827 Group does not exist
Cause
The designated group does not exist.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?829 Error in switching the coordinates
Cause
The coordinates to be switched to do not exist.
Check and Correction
Whether the designated coordinate number is between 0 and 9. If not, please
fill in or select the correct coordinate number. Currently, only four coordinates
systems of “world”, “tool”, “user” and “axis” are supported.
Solution
Reset alarm
E?82A Error in switching user coordinates
Cause
Switching error of the user coordinates
Check and Correction
1. Whether the designated number of user coordinates system has been
established or is between 0 and 9. If not, please fill in or select the correct
coordinate number.
2. Please use the original software tool to check the coordinates instruction.
Solution
Reset alarm
41
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
E?82B Error in switching tool coordinates
Cause
Switching error of the tool coordinates
Check and Correction
1. Whether the designated number of tool coordinates system has been
established or is between 0 and 9. If not, please fill in or select the correct
coordinate number.
2. Please use the original software tool to check the coordinates instruction.
Solution
Reset alarm
E?832 Loss of internal communication packet
Cause
Between the controller and the drive, three continuous losses of the
communication packet.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?833 Error in check code for internal communication
Cause
Between the controller and the drive, three continuous errors of the
communication check code (CRC).
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?841 The arc command is out of boundary
Cause
The target position of the command issued is out of the operating range.
Check and Correction
Whether the target position of the motion command for each axis is within the
configured limits of software.
Solution
Reset alarm
E?842 The arc cannot be formed
Cause
The input conditions cannot form an arc.
Check and Correction
Whether the input conditions for forming an arc is correct, conditions like 3
points are collinear, the radius is 0, or the centre falls on the circumference
cannot form a circle. Please reissue command positions according to conditions
that can form a circle.
Solution
Reset alarm
E?843 Arc mode error
Cause
Setting error of arc parameter mode.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
42
6. DESCRIPTIONS FOR TROUBLESHOOTING
E?851 Time out error in transmission of vision parameters followed by conveyor belt
Cause
1. Data transmission error
2. Vision system has not been triggered.
Check and Correction
1. Ensure the vision system has been triggered before the robot starts.
2. Check if the configuration and settings for the vision system are correct.
Solution
Reset alarm
E?852 The following speed for conveyor belt exceeds limits
Cause
The speed of conveyor belt is too fast.
Check and Correction
Reduce the speed of conveyor belt.
Solution
Reset alarm
E?853 Overtime error in transmission of vision parameters followed by conveyor belt
Cause
Error in setting of number for the user coordinates used in the conveyor belt
following application.
Check and Correction
Whether the setting of number for the user coordinates used in the conveyor
belt following meets the application specification (it cannot be 0 or larger than 9).
Solution
Reset alarm
E?861 TP handwheel Jog speed too fast
Cause
TP handwheel Jog speed too fast.
Check and Correction
Please decrease TP handwheel jog speed.
Solution
Alarm reset.
E?862 TP handwheel performing jog
Cause
TP handwheel performing jog.
Check and Correction
Stop TP handwheel jog first and then perform original movement.
Solution
Alarm reset.
43
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS

Axis type:
E?001 Overcurrent
Cause
1. Short circuit of the drive output
2. Abnormal motor wiring
3. Abnormal IGBT
1.Whether wiring between the motor and drive has short-circuited, and if
circuited, eliminate the short-circuit condition and prevent exposed wiring.
Check and Correction
2.Please refer to the wiring sequence in the instruction Manual and check
whether the wiring sequence from the motor to the drive is correct and rewire.
If the alarm continues, return it to the dealer or original manufacturer for
repairing.
Solution
Reset alarm
E?002 Overvoltage
Cause
Check and Correction
Solution
1. Input voltage for the main loop is too high
2. Hardware failure on the drive
1. Whether the input voltage of the main loop is within the rated voltage value;
if not, use the correct voltage components or tandem voltage stabilizer to
transform the voltage within the rated voltage value.
2. Whether the input voltage of the main loop is within the rated voltage value;
if this error continues, please return the drive back to the dealer or original
manufacturer for overhauling.
Reset alarm
E?003 Low voltage
Cause
Check and Correction
1. Input voltage for the main loop is too low
2. The main loop has no source of input voltage
3. Power input error
1. Use the electric meter to check whether the voltage of the main loop is
normal.
2. Please refer to the wiring sequence in the Instruction Manual to check
whether the wiring for input voltage on the main loop is normal, if not, please
rewire.
3. Whether the power system agrees with the definition of the specification, use
the correct voltage elements or tandem voltage stabilizer to transform the
voltage within the rated voltage value.
Solution
Clear alarm when voltage restores
E?004 Motor matching error
Cause
1. Position encoder is loose
2. Motor matching error
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
44
6. DESCRIPTIONS FOR TROUBLESHOOTING
E?005 Retrogradation error
Cause
1. Wrong retrogradation resistance is chosen or no external retrogradation
resistance is connected.
2. Parameter setting error
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?006 Overload
Cause
1. Continuously exceeding the rated load of the drive
2. Error in wiring for the motor and the encoder
3. Motor drive abnormal
Check and Correction
1. Whether the wiring of U, V, W and the encoder is correct; if not, please rewire
correctly.
2. Return the motor to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?007 Over speed
Cause
Improper setting for parameter P2-34 (warning conditions for over speed) Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?009 Error in position control is too large
Cause
1. External load is too large
Check and Correction
Please use within the maximum Payload value or adjust the Payload value.
Solution
Reset alarm
E?011 Encoder abnormal
Cause
1. Wiring error for the encoder
2. Encoder is loose or the wiring is poor.
3. Encoder is damaged.
Check and Correction
1. Whether the wiring follows the suggested path in the Instruction Manual.
2. Whether the connection of MotorENC. in the drive and the encoder in the
motor position is loose; if loose, reconnect MotorENC. of the drive with a
position detector.
Solution
Reconnect power and clear alarm.
45
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
E?012 Calibration abnormal
Cause
Current calibration is abnormal
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?013 Emergency stop
Cause
Emergency stop switch is pressed.
Check and Correction
Whether the emergency switch is activated. The emergency stop switch is
normally off; if activated unintentionally, please turn it off.
Solution
Reset alarm
E?014 Reverse limit abnormal
Cause
1. The reverse limit switch is activated
2. The servo system is unstable
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?015 Direct limit abnormal
Cause
1. The direct limit switch is activated
2. The servo system is unstable
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?016 IGBT overheated
Cause
1. Continuous overloading on the drive
2. Short circuit upon output from the drive
Check and Correction
1. Check whether the load is too large, and use within the maximum Payload
value or adjust the Payload value.
2. Check the drive output wiring to ensure the wiring is correct.
Solution
Reset alarm
E?017 Memory abnormal
Cause
1. R
eference data write-in error or parameter error, which occurs at factory
reset for parameters due to error in setting of drive types.
2. Drive memory abnormal
3. R
OM data is damaged, if error occurs during power transmission, it is
usually due to damage on ROM data or no data available in the ROM.
Please return it to the dealer or original manufacturer for repairing.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
46
6. DESCRIPTIONS FOR TROUBLESHOOTING
E?018 Detector output abnormal
Cause
1. Encoder error
2. The output pulse exceeds a permissible range for the hardware.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?019 Serial communication abnormal between controller and drive
Cause
1. Improper settings for communication parameters
2. Incorrect communication address
3. Incorrect communication value
Check and Correction
1. Reset to the factory setting
2. Or return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?020 Overtime in serial communication between controller and drive
Cause
The drive has not received communication command for a long time.
Check and Correction
Check whether the communication cable is loose or broken to ensure correct
wiring.
Solution
Reset alarm
E?022 Power abnormal on the main loop
Cause
Power abnormal on the main loop
1. Whether RS power cable is loose or non-conductive.
Check and Correction
2. Connect the power correctly. If power supply is normal but alarm remains,
return the drive to the dealer or manufacturer for repairing.
Solution
Reset alarm
E?023 Advanced overload warning
Cause
Advanced overload warning
Check and Correction
1. Whether the use of overloading. Please refer to the Corrective Action for
E?006
Solution
Reset alarm
E?024 Error in Initial magnetic field for the internal encoder
Cause
Error in initial magnetic field for the encoder
(error in the magnetic field positions U, V and W) Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
47
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
E?025 Internal error on the encoder
Cause
1. Internal error on the encoder (internal memory error and error in internal
counting) .
2. The motor rotates due to mechanical inertia or other reasons when it is
connected to the power.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?026 Error in reliability of internal data for the encoder
Cause
Encoder error (three continuous errors in internal data) Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?027 Error in internal reset for the encoder
Cause
Encoder chip reset
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?028 High voltage on the encoder or internal error on the encoder
Cause
1. Over- voltage on battery
2. Internal error of the encoder
Check and Correction
1. Whether the drive has a charging circuit and whether battery
installation (voltage >3.8 V) is abnormal. Please use an electric meter to check
whether the voltage is higher than 3.8V.
Solution
Reconnect power and clear alarm.
E?029 Gray code error
Cause
Error in absolute position of one-loop
Check and Correction
Reconnect the power supply and run the motor to see if alarm reappears, if it
remains, return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?030 Motor collision error
Cause
1. Whether anti-collision function for the motor is activated.
2. Return it to the dealer or original manufacturer for repairing.
Check and Correction
Reconnect the power supply and run the motor to see if alarm reappears, if it
remains, replace the encoder.
Solution
Reconnect power and clear alarm.
48
6. DESCRIPTIONS FOR TROUBLESHOOTING
E?031 Detection on disconnection of the motor power cable
Cause
Disconnection of the motor power cable
Check and Correction
Whether the motor power cables (U, V, W, GND) are disconnected, please
connect the cables correctly according to the Instruction Manual and ground
them correctly.
Solution
Reconnect power and clear alarm.
E?034 Error in internal communication for the encoder
Cause
Error in internal communication for the encoder
Check and Correction
hether the battery wiring is loose; if loose, reconnect the battery correctly and
W
turn on the power again
Solution
Reconnect power and clear alarm.
E?044 Warning on usage of the drive functions
Cause
Warning on usage of the drive functions
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?060 Loss of absolute position
Cause
1. Battery voltage is too low
2. Replace the battery when power of the drive control is turned off
3. The initialization on coordinates for the absolute position has not been
completed after activating the absolute function.
4. Poor contact or disconnection on the circuit for supply of battery power.
5. Change of the ratio on the electronic gear.
Check and Correction
1. Whether the battery voltage is lower than 2.8V.
2. Do not change or remove the battery when the drive control power is turned off.
3. Reset the coordinates for the absolute position after completing the
initialization on the coordinates for the absolute position and the zero return
procedure.
4. (1) Whether the battery installation and wiring is correct. (2) Check the encoder
wiring (3) Check the wiring between the external battery holder and the drive
Corrective action: Repeat the zero return procedure
Solution
Reconnect power and clear alarm.
E?061 Low voltage on the encoder
Cause
Battery voltage is too low.
Check and Correction
1. Whether the voltage on panel battery is lower than 3.1V (provisional
specification) .
2. Whether the battery voltage is lower than 3.1V (provisional specification) ; if
lower, please replace the battery with power ON for the drive control.
Solution
Auto-clear
49
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
E?062 Absolute position laps overflow
Cause
The stroke is out of range.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?067 Encoder temperature alarm
Cause
Temperature of the encoder is too high (85~100 ℃ ) Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?069 Motor type error
Cause
Activation of absolute function by the incremental motor is not allowed.
Check and Correction
Whether the motor is of incremental motor or absolute encoder.
Solution
Reconnect power and clear alarm.
E?06A Loss of absolute position
Cause
The initialization on coordinates for the absolute position has not been
completed after activating the absolute function.
Check and Correction
1. Reset the coordinates for the absolute position after completing the
initialization on the coordinates for the absolute position and the zero return
procedure.
2. Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?070 Incomplete encoder processing
Cause
Related commands are not completed when the encoder conducts Barcode
write-in or relevant actions.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?099 EEPROM needs updating
Cause
EEPROM needs updating
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
50
6. DESCRIPTIONS FOR TROUBLESHOOTING
E?111 DMCNET packet receiver overflows
Cause
More than 2 packets are received within 1ms.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?185 DMCNET Bus hardware abnormal
Cause
DMCNET Bus hardware abnormal or loss of communication packet
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?201 Initial error of DMCNET data
Cause
Initial error of DMCNET data
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reconnect power and clear alarm.
E?235 Position command overflows
Cause
1. When temporary register for the feedback position overflows;
2. When the zero return is triggered, but the zero return procedure is not completed;
3. When E?060 and E?062 occur.
Check and Correction
Implement the zero return procedure.
Solution
Reconnect power and clear alarm.
E?245 Positioning overtime
Cause
Positioning overtime for the position mode .
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
None.
E?283 Drive direct limit
Cause
Exceeding software direct limit.
Check and Correction
Whether the position exceeds the value of P5‑09. Please set the limit according
to actual conditions; if the position doesn’t exceed the limit, please set the
maximum:2147483648.
Solution
Reset alarm.
51
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
E?285 Drive reverse limit
Cause
Exceeding software reverse limit.
Check and Correction
Whether the position exceeds the value of P5-09. Please set the limit according
to actual conditions; if the position doesn’t exceed the limit, please set the
maximum:-2147483648.
Solution
Reset alarm.
Note: D
irect and reverse limits for the software are determined according to the position commands and not the actual feedback
positions, because the commands always arrive before the feedback. When the limits play a protective role, the actual position may not have exceeded the limit; therefore, desired effect can be achieved by setting appropriate deceleration time.
Please refer to the description of Parameter P5-03
E?289 Position counter overflows
Cause
Position counter overflows.
Check and Correction
Do not make any modification on the original machine if this alarm occurs;
return it back to the original manufacturer directly.
Solution
None.
E?301 DMCNET synchronizing signal failed
Cause
Failure on transmission of synchronizing signal.
Check and Correction
1. Whether the quality of communication line is poor.
2. Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?302 DMCNET synchronizing signal is too fast
Cause
Synchronizing signal is too fast.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm
E?303 DMCNET synchronizing signal overtime
Cause
Synchronizing signal overtime
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm.
E?304 DMCNET IP command invalid
Cause
The IP mode operation time is too long.
Check and Correction
Return it to the dealer or original manufacturer for repairing.
Solution
Reset alarm.
52
6. DESCRIPTIONS FOR TROUBLESHOOTING
E?500 STO function is activated
Cause
Safety function STO is activated.
Check and Correction
Safety function STO is manually activated; please check the activating cause.
Solution
Reset alarm.
E?501 STO_A lost
Cause
STO_A loses enabling signal or STO_A and STO_B have not been synchronized
for more than 1 second.
Check and Correction
Whether the STO_A wiring is correct.
Solution
Reset alarm.
E?502 STO_B lost
Cause
STO_B loses enabling signal or STO_A and STO_B have not been synchronized
for more than 1 second.
Check and Correction
Whether the STO_B wiring is correct.
Solution
Reset alarm.
E?503 STO_error
Cause
STO self-diagnosis error.
Check and Correction
Whether STO_A and STO_B correctly connected.
Solution
Reset alarm.
E?555 Drive failure
Cause
Drive processor abnormal.
Check and Correction
Do not make any modification on the original machine if this alarm occurs; return
it to the original manufacturer directly.
Solution
None.
Note: If abnormal alarm code that isn’t listed above, please notify the original manufacturer.
53
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS

Control type:
EC001 PLC timeout
Cause
1. PLC program too big, execution time too long.
2. Debug operation.
Check and Correction
1. Confirm PLC Debug is closed.
Solution
Alarm reset.
EC002 PLC Image load failed
Cause
The library version in the PLC Image does not match with the system.
Check and Correction
Check whether the controller parameter P1-01 is 1; if so, version mismatch is
caused by firmware update. Please update to the same version of PLC Image.
Solution
Alarm reset.
EC003 PLC Exception
Cause
PLC execution error.
Please refer to the following error message for troubleshooting.
Error Message
Check and Correction
Solution
Exception Code
PlcExcNon
0
ExcOutOfMemory
1
ExcDivisionByZero
2
ExcIndexOutOfRange
3
ExcIllegalCast
4
ExcStackOverflow
5
ExcNullReference
6
ExcMissingMethod
7
ExcThreadCreation
8
ExcThreadAbort
9
ExcSynchronizationLockException
10
ExcBreakpointIllegal
11
ExcBreakpoint
12
ExcExecutionEngine
13
ExcExternal
16
PlcExcString
32
PlcExcWatchDogExceeded
33
PlcExcMaximumCpuLoadExceeded
34
PlcExcSystem
35
PlcExcEnd
36
Alarm reset.
54
6. DESCRIPTIONS FOR TROUBLESHOOTING
EC004 Motion module failed
Cause
Abnormal movement module function.
Check and Correction
If this alarm occurred, do not make any modifications to the original machine and
send it back to the manufacturer directly.
Solution
None.
EC005 Controller failed
Cause
Abnormal controller function.
Check and Correction
If this alarm occurred, do not make any modifications to the original machine and
send it back to the manufacturer directly.
Solution
None.
EC004 Motion module failed
Cause
Abnormal movement module function.
Check and Correction
If this alarm occurred, do not make any modifications to the original machine and
send it back to the manufacturer directly.
Solution
None.
EC006 Continuous 30 second write in alarm
Cause
Write in operation executed for 30 seconds continually without interruptions.
Check and Correction
Check whether the logic of the PLC and RL program or Modbus operation has
errors that caused continuous write in. If it occurs repeatedly, it is recommended
to remove all external devices and restore original PLC settings and debug step
by step.
Solution
Alarm reset.
EC007 DMCNET device setting mismatch
Cause
DMCNET power on scan results does not match with the maintain power
parameter settings.
Check and Correction
Please check the connection status of the DMCNET device and confirm whether
the controller parameter P3-31~P3-42 settings matches the current DMCNET
external device.
Solution
Alarm reset, to change settings please scan again and save the power maintain
parameter.
55
SCARA DRS40L ASDA-MS ELECTRIC CONTROL INSTRUCTIONS
EC009 Robot Type mismatch
Cause
Check and Correction
Solution
The Robot Type set in the parameter does not match the one loaded by the
current movement module.
1. Confirm the firmware version; is it an updated firmware (downgraded or failed)
that caused parameters P1-00 and P0-03 to be inconsistent.
2. Reset parameter P1-00, confirm that the current firmware version supports
this type, disconnect the power and restart.
Reconnect the power and clear.
E1998 Operation mode not started
Cause
Operation mode not started, please confirm the reason or System DI4 and DI5
contact are not connected.
Check and Correction
Please conform the System DI4 and DI5 contacts of the operation mode, and
restart the controller.
Solution
Alarm reset.
Note: If abnormal alarm code that isn’t listed above, please notify the original manufacturer.
56
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan Dist.,
Taoyuan City 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province,
People's Republic of China (Post code: 215200)
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
Delta Electronics (Japan), Inc.
Tokyo Office
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int’l (S) Pte Ltd
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Americas
Delta Products Corporation (USA)
Raleigh Office
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A
Sao Paulo Office
Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: +55 11 3568-3855 / FAX: +55 11 3568-3865
Europe
Delta Electronics (Netherlands) B.V.
Eindhoven Office
De Witbogt 20, 5652 AG Eindhoven, The Netherlands
TEL: +31 (0)40-8003800 / FAX: +31 (0)40-8003898
*We reserve the right to change the information in this catalogue without prior notice.
Edition March, 2016
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