Lataa Sankyo Robotics SC3000 sarjan ohjaimen asennus ja spesifikaatio-ohje

Lataa Sankyo Robotics SC3000 sarjan ohjaimen asennus ja spesifikaatio-ohje
Sankyo
R O B O T I C S™
SC3000 Series Installation
and Specifications Manual
CONTENTS
Preface
Safety
Getting Ready for Your System
Site Installation Requirements
Installation Instructions
Digital Input/Digital Output
Specifications
Glossary
ADS Communications Port Cable Wiring
RS-232C Communications Port Cable Wiring
Physical (User) DI/DO Charts
Warranty
SC3000 Series Installation and Specifications Manual
SC3000 Robot Systems
Federal Communications (FCC) Statement
Warning:
This equipment generates, uses, and can radiate radio frequency energy
and if not installed and used in accordance with the instructions manual, may cause
interference to radio communications. It has been tested and found to comply with the limits
for a Class A computing device pursuant to Subpart J of Part 15 of FCC Rules, which are
designed to provide reasonable protection against such interference when operated in a
commercial environment. Operation of this equipment in a residential area is likely to cause
interference, in which case the user, at his own expense, will be required to take whatever
measures may be required to correct the interference.
September 2001
SC3000 Series Installation and Specifications Manual Version 2.10
Updates text and graphics regarding AC power in Chapter 3, "Installation"; and specifications
data in Chapter 5, "Specifications".
Changes are periodically made to the information herein. Refer to the last page of the
Preface Chapter to see a history of changes to this manual. Sankyo will make its best
effort to report any changes in subsequent revisions, or in Technical Newsletters.
This publication could contain technical inaccuracies or typographical errors. Also,
illustrations contained herein may show prototype equipment. Your system configuration
may differ slightly. Any questions concerning the use of a Sankyo robotic product or on the
contents of this document should be directed to any of the Sankyo Seiki Robotics Divisions.
Refer to the Preface for information on the nearest Sankyo Robotics Division contact.
IBM is a registered trademark of International Business Machines Inc.
Motorola is a trademark of Motorola Incorporated.
Windows is a registered trademark of the Microsoft Corporation.
Windows 95, Windows 98, Windows NT, Windows 2000 and Windows ME are
registered trademarks of the Microsoft Corporation.
 Copyright Sankyo Seiki Mfg. Co., Ltd. 1994 - 2001
Sankyo is a trademark of Sankyo Seiki Mfg. Co., Ltd.
SC3000 Series Installation and Specifications Manual
CONTENTS
Preface .......................................................................................................................... vii
Audience .................................................................................................................................................vii
About this Manual....................................................................................................................................vii
Conventions used in this Manual ........................................................................................................... viii
Related Publications ................................................................................................................................ix
SC3000 Series Installation and Specifications Manual - History ............................................................. x
Safety.............................................................................................................................. xi
Installation Site Safety Precautions ....................................................................................... xi
Safety Notices .........................................................................................................................................xii
Operation and Maintenance Safety Procedures .....................................................................................xii
Safety Inspection....................................................................................................................................xiv
Electrical Safety.......................................................................................................................................xv
Chapter 1 Getting Ready for Your System ................................................................ 1-1
Considerations ...................................................................................................................................... 1-3
Safety .................................................................................................................................................... 1-4
What You Supply - Summary................................................................................................................ 1-5
Schedule of Events ............................................................................................................................... 1-6
Important Contacts ................................................................................................................................ 1-7
Chapter 2 Site Installation Requirements.................................................................. 2-1
Power Distribution ................................................................................................................. 2-3
Emergency Power-Off........................................................................................................................... 2-3
Grounding.............................................................................................................................................. 2-3
Neutral................................................................................................................................................... 2-3
Convenience (Service) Outlets ............................................................................................................. 2-3
Preparation of the 19-inch Rack (option) ............................................................................. 2-4
Electrical Noise ...................................................................................................................... 2-5
EMI (Electromagnetic Interference) ...................................................................................................... 2-5
ESD (Electro Static Discharge) ............................................................................................................. 2-5
Safety and Remote Circuits................................................................................................... 2-6
Emergency Stop Circuit Extension........................................................................................................ 2-6
Remote Manipulator Power-On Switch ................................................................................................. 2-6
Remote "Error-On" Indicator ................................................................................................................. 2-6
Robot Mounting Dimensions ................................................................................................ 2-7
SR8437/SR8438 and SR8447/SR8448 Series .............................................................................. 2-7
CCR Models – Standard X Axis ..................................................................................................... 2-8
CCR Models – LONG X Axis.......................................................................................................... 2-9
Environment ......................................................................................................................... 2-10
Climate and Altitude ............................................................................................................................ 2-10
Atmosphere ......................................................................................................................................... 2-11
Particulate Contaminates .................................................................................................................... 2-11
Copyright © Sankyo Robotics, 1994-2001
CONTENTS
i
SC3000 Robot Systems
Corrosive Gas Contaminates .............................................................................................................. 2-11
Vibration .............................................................................................................................................. 2-11
Lightning Protection ............................................................................................................ 2-12
Exhaust Piping ..................................................................................................................... 2-12
Chapter 3 Installation Instructions ............................................................................ 3-1
Installation .............................................................................................................................. 3-3
Lockout/Tagout...................................................................................................................................... 3-3
Installation Checklist ............................................................................................................. 3-4
Unpacking the Components.................................................................................................. 3-5
Packaging.............................................................................................................................................. 3-5
Installation Steps.................................................................................................................... 3-6
SC3000 Robot System Packing List ..................................................................................................... 3-6
Lifting the SR8437/38 and SR8447/48 Series Robot............................................................................ 3-7
Installing the SR8437/38 and SR8447/48 Series Robot ....................................................................... 3-8
Lifting the CCR-M Series Robot............................................................................................................ 3-9
Installing the CCR-M Series Robot ..................................................................................................... 3-12
Lifting the SC3000 Series Robot Controller ........................................................................................ 3-12
Installing the SC3000 Series Robot Controller ................................................................................... 3-12
AC Power Distribution ......................................................................................................... 3-13
Emergency Power-Off......................................................................................................................... 3-13
Grounding............................................................................................................................................ 3-13
Neutral................................................................................................................................................. 3-13
Convenience (Service) Outlets ........................................................................................................... 3-13
AC Power Considerations ................................................................................................... 3-14
Electrical Noise.................................................................................................................................... 3-14
EMI (Electromagnetic Interference) .................................................................................................... 3-14
ESD (Electro Static Discharge) ........................................................................................................... 3-14
SC3000 Series AC Power Wiring ........................................................................................ 3-15
SC3000 Series AC Connector wiring (SC3000-010/030) ................................................................... 3-15
SC3000 Series AC Connector wiring (SC3000-001/100) ................................................................... 3-16
SC3000 Series AC Wiring for Peripheral Devices .............................................................................. 3-17
Cabling the Robot System .................................................................................................................. 3-18
Connect the cables ....................................................................................................................... 3-18
Running the SC3000 Robot System for the first time ......................................................................... 3-18
Power-On Self-Test (POST) ............................................................................................................... 3-19
Absolute Home Position (Pendant) ..................................................................................................... 3-20
Absolute Home Position (ADSMT)...................................................................................................... 3-21
Installation Checkout Procedure ......................................................................................................... 3-22
Optional Tasks – SCARA Series Robot models ................................................................ 3-23
End-of-Arm Interface........................................................................................................................... 3-23
End-of-Arm Interface Installation......................................................................................................... 3-23
Installation procedure ................................................................................................................... 3-23
Cable Connector chart......................................................................................................... 3-25
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SC3000 Series Installation and Specifications Manual
Option Boards and Features ............................................................................................... 3-26
Description .......................................................................................................................................... 3-26
Expansion Slots................................................................................................................................... 3-26
Optional Feature Installation ............................................................................................................... 3-27
3101 CPU Board Removal and Replacement..............................................................................3-27
3102 AD1319 – 64 Point DI/DO Board (P/N SCF323) ................................................................ 3-28
RS-232C Port ............................................................................................................................3-28
3103 AD1309 128-Point DI/DO Board (P/N SCF302)................................................................. 3-29
RS-232C Port ............................................................................................................................3-29
3104 AD1308 32/64-Point DI/DO Board...................................................................................... 3-30
3105 AD1313-4 Axis HS Board P/N SCF310) ............................................................................ 3-31
RS-232C Port ............................................................................................................................3-31
3106 Over Drive Processor (ODP) Board (P/N SCF317)............................................................ 3-32
Follow-on Topics ................................................................................................................................. 3-34
Chapter 4 Digital Input/Digital Output (DI/DO) .......................................................... 4-1
Digital Input / Digital Output Points...................................................................................... 4-3
DI/DO Configuration:............................................................................................................................. 4-3
Physical DI/DO ...................................................................................................................................... 4-4
Physical DI/DO Address Chart ....................................................................................................... 4-5
Standard DI/DO....................................................................................................................... 4-6
Standard Input circuit...................................................................................................................... 4-7
DI Point Specifications.................................................................................................................... 4-7
Standard Output circuit ................................................................................................................... 4-7
DO Point Specifications .................................................................................................................. 4-7
Standard Digital Input (DI)..................................................................................................................... 4-8
Open collector type sensor DI - I/O 1 connector ............................................................................ 4-8
Using the Internal +24V supply ...................................................................................................4-9
Open collector type sensor DI - I/O 2 connector .......................................................................... 4-10
Using the Internal +24V supply .................................................................................................4-11
Open emitter type sensor DI - I/O 1 connector............................................................................. 4-12
Open emitter type sensor DI - I/O 2 connector............................................................................. 4-14
Standard Digital Output (DO) .............................................................................................................. 4-16
Open collector sinking type DO - I/O 1 connector ........................................................................ 4-16
Using the Internal +24V supply .................................................................................................4-17
Open collector sinking type DO - I/O 2 connector ........................................................................ 4-18
Using the Internal +24V supply .................................................................................................4-19
Open emitter sourcing type DO - I/O 1 connector ........................................................................ 4-20
Open emitter sourcing type DO - I/O 2 connector ........................................................................ 4-22
Customer D/O Error circuit.................................................................................................................. 4-24
Customer Safety circuits - Before May, 1995 ..................................................................................... 4-25
Customer Safety circuits - After May, 1995 ........................................................................................ 4-26
I/O 1 Connector Pin Assignments ....................................................................................................... 4-27
I/O 2 Connector pin assignments........................................................................................................ 4-28
128 Point DI/DO Option (P/N SCF302) ................................................................................ 4-29
DO Point Fuses ............................................................................................................................ 4-29
CONTENTS
iii
SC3000 Robot Systems
Card Jumpers ............................................................................................................................... 4-29
Modifying the HWDEF.CFG file.................................................................................................... 4-29
128 Point I/O - DI Circuit diagram................................................................................................. 4-30
128 Point I/O - DO Circuit diagram............................................................................................... 4-30
128 Point I/O - Wiring DI/DO points.............................................................................................. 4-31
Connector Charts ................................................................................................................................ 4-32
128 Point I/O - CN1 Connector..................................................................................................... 4-32
128 Point I/O - CN2 Connector..................................................................................................... 4-33
128 Point I/O - CN3 Connector..................................................................................................... 4-34
128 Point I/O - CN4 Connector..................................................................................................... 4-35
128 Point - DATA Communications.............................................................................................. 4-36
64 Point DI/DO Option (P/N SCF323) .................................................................................. 4-37
DO Point Fuses ............................................................................................................................ 4-37
Card Jumper ................................................................................................................................. 4-37
Modifying the HWDEF.CFG file.................................................................................................... 4-37
64 Point I/O - DI Circuit Diagram .................................................................................................. 4-38
64 Point I/O - DO Circuit Diagram ................................................................................................ 4-38
64 Point I/O - Wiring DI/DO points................................................................................................ 4-39
Connector Charts ................................................................................................................................ 4-40
64 Point I/O - CN1 Connector (DI Only) ....................................................................................... 4-40
64 Point I/O - CN2 Connector (DO Only) ..................................................................................... 4-41
64 Point I/O - CN3 Connector (DI Only) ....................................................................................... 4-42
64 Point I/O - CN4 Connector (DO Only) ..................................................................................... 4-43
External DI/DO Cable Routing............................................................................................. 4-44
Some Good Rules To Follow .............................................................................................................. 4-44
Signal Cable Selection ........................................................................................................................ 4-45
Chapter 5 Specifications............................................................................................. 5-1
Introduction ............................................................................................................................ 5-3
Sankyo SC3000 Series Robot Controller ............................................................................. 5-4
SC3000 Series Controller - Dimensions and Operating Specifications ................................................ 5-5
Environment.................................................................................................................................... 5-5
Motion Control Specifications................................................................................................................ 5-6
Option Boards ........................................................................................................................ 5-7
128 Point DI/DO Option (P/N SCF302) .......................................................................................... 5-7
High Speed (HS) Processor Option (P/N SCF310)........................................................................ 5-7
Over Drive Processor (ODP) Option (P/N SCF317)....................................................................... 5-7
64 Point DI/DO Option (P/N SCF323) ............................................................................................ 5-8
Expansion RS-232C Panel (P/N SCF324) ..................................................................................... 5-8
DeviceNet Option (P/N SCF336).................................................................................................... 5-8
Sankyo SR8437/SR8447 Series Robot ................................................................................. 5-9
SR8437/SR8447 Dimensions and Operating Specifications .............................................................. 5-10
SR8437/SR8447 Robot Arm Dimensions..................................................................................... 5-11
SR8437/SR8447 Robot Arm Clearance Dimensions ................................................................... 5-12
SR8437/SR8447 Robot Workspace ............................................................................................. 5-13
SR8437/SR8447 Robot Workspace Dimensions ......................................................................... 5-14
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SC3000 Series Installation and Specifications Manual
SR8437/SR8447 Robot Performance Specifications ................................................................... 5-15
SR8437/SR8447 Robot Positioning Specifications ......................................................................5-15
Sankyo SR8438/SR8448 Series Robot ............................................................................... 5-16
SR8438/SR8448 Dimensions and Operating Specifications .............................................................. 5-17
SR8438/SR8448 Robot Arm Dimensions..................................................................................... 5-18
SR8438/SR8448 Robot Arm Clearance Dimensions ................................................................... 5-19
SR8438/SR8448 Robot Workspace ............................................................................................. 5-20
SR8438/SR8448 Robot Workspace Dimensions ......................................................................... 5-21
SR8438/SR8448 Robot Performance Specifications ................................................................... 5-22
SR8438 Positioning Specifications............................................................................................... 5-22
SR8437/SR8447 and SR8438/SR8448 Robot Tool Tip....................................................... 5-23
SR8437/SR8447 Series Robot Tool Tip Dimensions ......................................................................... 5-23
SR8438/SR8448 Series Robot Tool Tip Dimensions ......................................................................... 5-23
SR8437/SR8447 Series Robot Tool Tip Flange .................................................................................5-24
SR8438/SR8448 Series Robot Tool Tip Flange .................................................................................5-25
Sankyo CCR Model 1X Series Robot.................................................................................. 5-26
CCR-M1X Dimensions and Operating Specifications......................................................................... 5-27
CCR-M1X Series - X Axis Base mounting plates......................................................................... 5-28
CCR-M1X Series – X to Y Axis mounting bracket........................................................................ 5-29
CCR-M10 Lite Dimensions ........................................................................................................... 5-30
CCR-M10 Dimensions / Standard X Axis ..................................................................................... 5-31
CCR-M10 Dimensions / Long X Axis............................................................................................ 5-32
CCR-M12 Dimensions / Standard X Axis ..................................................................................... 5-33
CCR-M12 Dimensions / Long X Axis............................................................................................ 5-34
CCR-M14 Dimensions / Standard X Axis ..................................................................................... 5-35
CCR-M14 Dimensions / Long X Motor ......................................................................................... 5-36
CCR-M14 Series Robot Tool Tip Dimensions (Servo Z).............................................................. 5-37
CCR-M1X Robot Workspace........................................................................................................5-38
CCR-M1X Robot Performance Specifications..............................................................................5-39
CCR-M10 Lite Robot Performance Specifications ....................................................................... 5-40
CCR-M1X Positioning Specifications ........................................................................................... 5-40
Sankyo CCR Model 3X Series Robot.................................................................................. 5-41
CCR-M3X Dimensions and Operating Specifications......................................................................... 5-42
CCR-M3X Dimensions / Standard X Axis..................................................................................... 5-43
CCR-M3X Workspace .................................................................................................................. 5-44
CCR-M3X Performance Specifications ........................................................................................ 5-45
CCR-M3X Positioning Specifications ........................................................................................... 5-45
Glossary .......................................................................................................................... 1
Appendix A ADS Communications Port Cable Wiring ................................................ 1
ADS Port .................................................................................................................................................. 1
9 pin to 9 pin Cable – Buzz version ................................................................................................... 1
Appendix B RS-232C Communications Port Cable Wiring......................................... 1
RS-232C Port ........................................................................................................................................... 1
CONTENTS
v
SC3000 Robot Systems
9 Pin to 9 Pin RS-232C Cable ........................................................................................................... 1
9 Pin to 25 Pin RS-232C Cable ......................................................................................................... 2
Appendix C Physical (User) DI/DO Charts ................................................................... 1
Standard DI/DO........................................................................................................................................ 1
Expanded DI/DO - First Option-64 I/O Board .......................................................................................... 2
First 32 Points of 64 I/O Board: ......................................................................................................... 2
Second 32 Points of 64 I/O Board: .................................................................................................... 3
Expanded DI/DO - First Option-128 I/O Board ........................................................................................ 4
First 32 Points of 128 I/O Board: ....................................................................................................... 4
Expanded DI/DO ...................................................................................................................................... 5
Second 32 Points of 128 I/O Board: .................................................................................................. 5
Expanded DI/DO ...................................................................................................................................... 6
Third 32 Points of 128 I/O Board: ...................................................................................................... 6
Expanded DI/DO ...................................................................................................................................... 7
Last 32 Points of 128 I/O Board: ....................................................................................................... 7
Appendix D Warranty ..................................................................................................... 1
LIMITED PRODUCT WARRANTY (United States and Puerto Rico) ...................................... 1
Sankyo Robot Systems............................................................................................................................ 1
Sankyo Maintenance Parts ...................................................................................................................... 1
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SC3000 Series Installation and Specifications Manual
Preface
Audience
For safety reasons, users of this manual are expected to be trained on the operation of
the SR8437/SR8447 and the SR8438/SR8448 Series Robot Systems, or, the CCR-M10
and CCR-M30 Series Robot Systems. Users should also be familiar with Robot System
safety. The Safety chapter, which immediately follows, should be read and understood
in its entirety before any Robot System work begins.
About this Manual
This manual provides information for planning the installation of the SR8437/SR8447
Series, the SR8438/SR8448 Series, and the CCR-M Series Robot Systems. Each
chapter is complete for the topic. For example, Chapter 1, "Getting Ready for Your
System", contains the information for all components associated with any Sankyo
Robot System.
The subject matter in this manual is divided into the following chapters and appendices:
•
Preface, This chapter
•
Safety, Safety guidelines are presented
•
Chapter 1, "Getting Ready for Your System," explains the steps necessary to
complete before your Robot System arrives.
•
Chapter 2, "Site Installation Requirements" discusses power distribution, grounding,
safety devices and Robot System mounting structures.
•
Chapter 3, "Installation Instructions", contains step by step instructions for installing
your Robot System.
•
Chapter 4, "Digital Input/Digital Output (DI/DO)," contains information on installing
external devices through the digital input / digital output feature.
•
Chapter 5, "Specifications," provides complete specifications and dimensions for all
Robots.
•
Glossary, provides definitions of the special terms used in this manual.
•
Appendix A, "ADS Communications Port Cable Wiring", explains how the ADS cable
is wired.
•
Appendix B, "RS-232C Communications Port Cable Wiring", explains how the RS232C cable is wired.
•
Appendix C, "Physical (User) DI/DO Charts", is a form for the user to record
pertinent data about the physical DI/DO wiring for an Robot system. Make copies
for additional systems.
•
Appendix D, "Warranty", explains the terms and conditions of the SC3000 Robot
System product warranty.
Copyright © Sankyo Robotics, 1994-2001
Preface
vii
SC3000 Robot Systems
Conventions used in this Manual
ADS for DOS is the Application Development System for use with DOS Version 5.0 and
higher.
Buzz, (ADS for Windows), is the Application Development System for use with
Windows 95, Windows 98, Windows NT, Windows 2000 and Windows ME.
The SC3000 Robot Controller is known throughout this manual as "Controller".
The Manipulator, or, the Industrial Robot, is known throughout this manual as "Robot".
Manip.-Power, Servo power and Robot power are the same, power applied to the robot.
Unless specifically stated, a high quality, digital multi-meter should be used for voltage
and resistance checks.
The SR8437/SR8447 Series Robot System is meant to include the SC3000 Series
Robot Controller, the optional Pendant, and one of the following Robot models:
•
SR8437, the standard model
•
SR8437C, the Cleanroom model
•
SR8437C-550Z, the Cleanroom model with an extended 550mm Z axis
•
SR8437DP, the Dustproof model
•
SR8437WP, the Water proof model
•
SR8447, the standard model
•
SR8447C, the Cleanroom model
The SR8438/SR8448 Series Robot System is meant to include the SC3000 Series
Robot Controller, the optional Pendant, and one of the following Robot models:
•
SR8438, the standard model
•
SR8438C, the Cleanroom model
•
SR8438DP, the Dust Proof model
•
SR8448, the standard model
•
SR8448C, the Cleanroom model
The CCR-M10 Series Robot System is meant to include the CCR-M10 Series Robot,
the SC3000 Series Robot Controller and the optional Pendant.
The CCR-M30 Series Robot System is meant to include the CCR-M30 Series Robot,
the SC3000 Series Robot Controller and the optional Pendant.
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SC3000 Series Installation and Specifications Manual
Related Publications
Related publications can be ordered directly from Sankyo Robotics:
Sankyo Robotics
1001-D Broken Sound Parkway NW
Boca Raton, FL 33487
USA
AES Motomation GmbH
Nikolaus-Otto-Str. 8
D-40670 Meerbusch
Germany
561-998-9775
561-998-9778 FAX
(49) 2159-4088
(49) 2159-3872 FAX
Sankyo Seiki Mfg. Co., Ltd.
Machine Tools Division
17-2, 1 Chome, Shinbashi
Minato-Ku, Tokyo, 105
Japan
(81) 3-3508-1156
(81) 3-3502-1353 FAX
[email protected]
Related publications are:
•
Buzz Application Development System User’s Guide
•
Sankyo CCR-M Series Hardware Manual
•
Sankyo SCARA Series Hardware Manual
•
Sankyo SSL/E Language Reference Manual
•
Sankyo SC3000 Robot System User’s Guide
Preface
ix
SC3000 Robot Systems
SC3000 Series Installation and Specifications Manual - History
Version 2.10 - 09/01
Updates text and graphics regarding AC power in Chapter 3, "Installation"; and
specifications data in Chapter 5, "Specifications".
Version 2.00 - 11/00
Changes the name of this manual to the “SC3000 Series Installation and
Specifications Manual”, from “SR8437/SR8438 and CCR-M Series Site Preparation,
Installation and Specifications Manual”. Updates text in Chapter 3 and 4 for reasons of
clarity. Updates drawings in Chapter 4 and 5, deleting CCR Series Inline axes
drawings in Chapter 5. Updates the entire manual with references to the
SR8447/SR8447C Robot models, and the SR8448/SR8448C Robot models.
Version 1.60 - 12/99
Updates the DI/DO charts and Communications port addresses in Chapter 4, and
deletes the inline axes CCR drawings in Chapter 5.
Version 1.50 - 11/98
Updates the CCR drawings in Chapter 5 and deletes the information on the CCR-M20
Series Robot models. Updates the Preface Chapter with a History of Manual revisions.
Version 1.40 - 10/97
Introduces Buzz (ADS for Windows) information.
Version 1.30 - 03/97
This Version updates the manual with an example of Data communications as used
with the 128 I/O feature card, p/n SCF302. The 64 I/O feature card is also introduced,
p/n SCF323.
Version 1.21 - 07/96
This Version updated the manual with information on the SC3000-030 model Controller
and its features (DRAM, etc.).
Version 1.2 - 03/96
This Version of the manual includes minor corrections. Drawings were added to
provide more comprehensive data for the Chapter 3, “Installation”. Additional data for
Chapter 4, “Digital Input/Digital Output (DI/DO)” and their associated features is
provided.
Version 1.11 - 04/95
Versions 1.11 and prior contain introductory information.
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SC3000 Series Installation and Specifications Manual
Safety
Safety cannot be overemphasized when using Robot Systems. Only qualified service
personnel may install or service the Robot System. Before operating, installing or
performing any maintenance on these systems, be sure to read and understand the
following safety notices:
Installation Site Safety Precautions
Be familiar with the American National Standards Institute/Robotic Industries
Association (ANSI/RIA) safety standard R15.06-1999. As of September 1999, this is
the latest published safety standards for Robotic systems.
Some countries require a lock out/tag out for the primary power when the Robot System
is being serviced. If your country has this requirement, it is the users responsibility to
ensure that the primary power source has a disconnecting means in the OFF or OPEN
position which can be locked, and/or tagged. Therefore, the Robot System cannot be
operated until the locking means is removed.
•
Ensure compliance with all local and national safety and electrical codes for the
installation and operation of the Robot System.
•
Observe the power and grounding instructions given in the SC3000 Series
Installation and Specifications Manual.
•
The Robot System should not be installed in an explosive atmosphere.
•
Fire extinguishers must be located within easy access of the Robot System.
•
Consider installing intrusion devices or safety mats around the Robot to stop Robot
motion if the work area is penetrated.
•
Consider installing additional Emergency Stop switches for feeders and other
fixtures to stop the Robot System’s motion.
•
Consider installing an Emergency Stop switch in any mounting enclosure, to
simultaneously turn off the Robot Controller and stop Robot motion.
Copyright © Sankyo Robotics, 1994-2001
Safety
xi
SC3000 Robot Systems
Safety Notices
This document may contain the following safety notices:
DANGER
This notice advises of a condition that could present a potential hazard where
serious personal injury or loss of life is possible unless care is exercised.
CAUTION: This notice advises of a condition that could present a potential hazard where
serious personal injury, except as defined for a DANGER notice, is possible unless
care is exercised
Warning: This notice advises of a potential condition that could cause machine or
program damage unless care is exercised.
NOTE:
This notice advises of information that is important to consider during this particular step
or action.
Operation and Maintenance Safety Procedures
Safety precautions should always be observed when operating or servicing Robot
Systems. As with any electromechanical machine or component, unpredictable failures
could occur while the system is in operation.
CAUTION: Whenever possible, electrical power and air pressure to the Robot System should
be turned off and disconnected before any maintenance or penetration of the Robot
work area begins. If it is not possible to disconnect power and air pressure due to
the nature of maintenance, extreme caution must be observed.
If you must penetrate the work area without disconnecting electrical power and air
pressure, press the Emergency Stop push-button on the Robot Controller front panel,
or the remote cable, to remove power to the Robot. Then place a "DO NOT
OPERATE" sign near the front of the Robot Controller, and, if possible, carry the remote
cable into the work area with you, to ensure that you remain in control of Robot power.
NOTE:
Pressing the Emergency Stop push-button on the Robot Controller or the remote cable
does not remove potential dangers created by other devices in the work area. You must
ensure that all potentially hazardous devices are powered-off or otherwise secured
before penetrating the work area.
The Robot arm moves with great force and speed. Therefore, serious injury could
result from failure to observe caution when the work area is penetrated. As stated
above, power and air pressure to the Robot must be turned off and disconnected first,
whenever possible.
Before reconnecting power and air pressure, always check the Robot work area for
adequate clearance; be absolutely sure no one is in the Robot work area.
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SC3000 Series Installation and Specifications Manual
In addition to the precautions previously stated, the following precautions must also be
observed when performing any maintenance or service on any Robot System:
•
All personnel working with the system must have, at minimum, instruction and
practice in the use of the safety devices on the system. Safety procedures should
be thoroughly reviewed to ensure complete understanding.
•
Observe safe access routes to and from the Robot.
•
Utilize signs around the Robot and at power disconnects to alert others to potential
hazards.
•
Remove watches, rings, and all other jewelry before performing any service.
•
Always wear safety glasses when servicing the system.
•
If heavy units are to be installed or removed, wear safety shoes or other appropriate
foot protection.
•
Stay out of the Robot work area when Robot power is on. The Robot arm moves
rapidly and with great force.
•
Press the Emergency Stop push-button on the Robot Controller front panel, or the
remote cable, to stop the Robot in an emergency.
Safety
xiii
SC3000 Robot Systems
Safety Inspection
Before you service the Robot System, you should perform the following inspection.
Verify that:
xiv
•
Any safety shield installed over electrical components that was previously removed,
is now in place.
•
Pressing the Emergency Stop push-button on the Robot Controller front panel, or
on the remote cable, causes Robot power to drop immediately.
•
The Power switch located on the Robot Controller front panel will drop all power to
the Robot Controller and Robot.
•
The Power indicator located on the Robot Controller front panel is illuminated when
there is power applied to the Robot Controller.
•
All primary power cord grounds are properly attached and labeled.
•
Line voltage warning labels are located near the Power switch inside the Robot
Controller.
•
No external wiring is connected to the power supply of the Robot Controller.
SC3000 Series Installation and Specifications Manual
Electrical Safety
Look for similar warning labels as shown below, when working on electrical equipment.
•
You should not work alone under hazardous conditions or around equipment that could
expose you to hazardous voltages.
•
Disconnect all power before removing or assembling major components, working in the
immediate area of power supplies, performing mechanical inspection of power supplies,
or installing changes to the machine circuitry.
•
Unplug the machine's power cord whenever possible before working on the machine.
The wall box switch, when turned off, should be locked in the "Off" position or tagged
with a "DO NOT OPERATE" sign. Be aware that a non-Sankyo attachment to a Sankyo
Robot System may be powered from another source and be controlled by a different
disconnect, circuit breaker or process.
•
Always advise your manager or supervisor if there is a potential problem, or if you must
work alone.
•
Observe special safety instructions when working with extremely high voltages. These
instructions are stated in the Safety chapter of the maintenance documentation for that
equipment. Use extreme care when measuring high voltage.
•
Avoid use of tools and test equipment that have not been approved. Electrical hand
tools, such as wire wrap guns, drills, etc., should be inspected periodically.
•
Do not use worn or broken tools and test equipment.
•
After maintenance, restore all safety devices such as shields, guards, ground leads, etc.
Replace any safety device that is defective. (These safety devices are there to protect
you from hazards; you can defeat their purpose by not replacing defective items upon
completion of service.)
•
When it is absolutely necessary to work on equipment having exposed electrical circuitry,
observe the following precautions:
•
Another person familiar with power-off controls must be in the immediate vicinity to
turn the power off should it become necessary.
•
Do not wear metallic items such as watches, jewelry, metallic frame eyeglasses, etc.
More electrical current can flow because of the greater contact area provided by the
metal surfaces.
•
Use only those tools and test equipment that are necessary for the task being
performed.
Safety
xv
SC3000 Robot Systems
CAUTION: Cushioning grips for tools are designed for comfort and do not provide adequate
insulation for working with live electrical circuits.
NOTE:
•
When possible, use only one hand when working on energized equipment. Keep
the other hand in your pocket or behind your back. This procedure will help prevent
an electrical current path through vital organs of the body.
•
When using test equipment, be certain that controls are set correctly and that
insulated probes of the proper capacity are used.
•
Avoid contacting ground potential such as metal floor strips and machine frames.
Many customers use rubber floor mats which contain tiny carbon or metal fibers to help
reduce static discharge. Be especially cautious of this type of mat and do not use it to
provide protection from electrical shock. Purchase rubber mats locally if necessary.
Safety glasses must be worn when:
xvi
•
Using a hammer to drive pins, etc.
•
Power hand drilling
•
Using spring hooks, attaching springs
•
Soldering, wire cutting, removing steel bands
•
Parts cleaning, using solvents, chemicals and cleaners
•
All other conditions which might be hazardous to your eyes
•
Never assume that a circuit is de-energized. Check it first.
•
Always be alert to potential hazards in your working environment, for example; damp
floors, non-grounded extension cords, power surges, missing safety grounds, etc.
•
Do not touch live electrical circuits with the surface of the plastic dental mirrors. The
glass surface of the mirror is conductive and can result in machine damage or personal
injury.
•
A power supply, circuit board, sensor, or other electronic component must not be
serviced with power applied when it is removed from its normally mounted position,
unless specifically stated in the documentation. (This is done to ensure that proper
grounding is maintained.)
SC3000 Series Installation and Specifications Manual
Chapter 1 Getting Ready for Your System
CONTENTS
Considerations ...................................................................................................................................... 1-3
Safety .................................................................................................................................................... 1-4
What You Supply - Summary................................................................................................................ 1-5
Schedule of Events ............................................................................................................................... 1-6
Important Contacts ................................................................................................................................ 1-7
Copyright © Sankyo Robotics, 1994-2001
Chapter 1 Getting Ready for Your System
1-1
SC3000 Robot Systems
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1-2
SC3000 Series Installation and Specifications Manual
Considerations
When getting ready for your Sankyo Robot System, you should consider the following:
•
Review the dimensions, specifications, and recommendations provided in this manual,
then select a suitable site in which to install your Sankyo Robot System.
•
Carefully plan the placement and installation of feeders, fixtures, conveyors, and other
equipment that will enhance your total manufacturing operation.
•
Be sure to allow for additional space to store all supplies, parts, and other essentials to
your operation.
•
Complete a realistic, complete, and orderly schedule for accomplishing the installation.
•
Generate all drawings and written explanations that are necessary to define your
installation plans clearly.
•
Personal safety must be considered in every step of the plan. Make sure that your plans
conform to all local, state, and national safety codes.
Chapter 1 Getting Ready for Your System
1-3
SC3000 Robot Systems
Safety
Safety cannot be overemphasized. As with any electromechanical machine an
unpredictable failure can occur. Keep this in mind when you plan operator and service
access areas.
REMEMBER:
YOU ARE RESPONSIBLE
FOR
OPERATOR AND MAINTENANCE PERSONNEL SAFETY.
1-4
•
Observe all power and grounding instructions.
•
All power connections must be made by qualified personnel.
•
Do not install the system in an explosive atmosphere.
•
Provide safe access routes to and from the system.
•
Consider installing intrusion devices or safety mats around the industrial Robot to provide
an emergency stop if the work area is penetrated. For information about this topic, refer
to "Safety Devices" in this chapter and to Chapter 4 of this manual, "Controller Digital
Input/Digital Output (Dl/DO).''
•
Consider installing signals to warn people when the machine is in an automatic
operational mode. For information about this topic, refer to "Safety Devices'' in this
chapter and to Chapter 4 of this manual, " Digital Input/Digital Output (Dl/DO).''
•
Plan to install warning signs around the system alerting people to potential hazards.
Also, mark an area on the floor or table showing the full sweep of the industrial Robot
arm with end-of-arm tooling.
•
Consider installing additional emergency-off switches for feeders, fixtures, and other
application devices. These switches must disconnect the power service to the system
Controller and to other equipment in the general work area.
SC3000 Series Installation and Specifications Manual
What You Supply - Summary
While planning your installation, keep in mind that you must supply the following items.
Specifications for most of these items appear in this manual.
NOTE:
•
A suitable flat surface to hold the SC3000 Series Robot Controller
•
An optional 19” rack and mounting slides for the Robot Controller
•
AC Electrical power: In the United States and all other countries:
•
200 - 240V AC 50 - 60 Hz, 20 amp circuit for the Robot Controller
•
Convenience (service) outlets for peripheral and servicing equipment
Sankyo supplies the Robot Controller AC power receptacle and a mating connector. It is
the responsibility of the user to supply the wiring and an electrical connector that matches
the user wall receptacle. The installer/technician must attach wiring from the Sankyo
supplied mating connector to the user supplied AC power. Instructions for this task are
found in Chapter 3 of this manual, “Installation Instructions”.
•
Proper environment
•
Moisture-free (as through a moisture separator), shop-type compressed air and
hoses
•
Industry standard optical isolation input/output circuit boards and modules.
•
Dl/DO external circuitry and power source (for the input/output circuit isolation
boards, if used)
•
Mounting fixture and bolts to secure the industrial Robot
•
Service access areas
The following items are recommended:
•
Safety signs and other safety-related equipment
•
Fire extinguishers
•
Mobile cart for the roll-up programming tool
Chapter 1 Getting Ready for Your System
1-5
SC3000 Robot Systems
Schedule of Events
The smoothness with which your system is installed greatly depends upon meeting your
schedule of events. The following schedule lists the tasks to be performed for a typical
installation, and includes a column for tracking dates. This schedule is based on a 12week countdown, which should provide ample time for a well planned and well carried
out installation. Consult your Sankyo Robotic Systems Representative for additional
suggestions and advice.
Week
12
or
prior
Target
Date
Date
Complete
Event
Assign a project leader responsible for the
overall installation, including software.
Assign a person to install power, air and
external devices.
Contact suppliers for feeders, fixtures and
external devices.
Complete a Robot cell layout plan showing
positions for Controller, Robot arm, and
workspace items such as feeders, fixtures and
external devices. Include power and air
drawings.
11
Resolve any questions/concerns on layout.
10
Release work orders for all installation services,
including external devices.
9
Define training program for all employees
involved, including safety.
8
Review plan for fixtures, feeders and external
devices. Resolve any schedule conflicts.
Review overall plan, resolve schedule conflicts.
7
Start installation of hardware, air and power.
6
Start maintenance training.
Review plan with Sankyo Representative.
1-6
5
Start employee training, including safety.
4
Complete installation of mounting hardware, air
and power.
3
Review total installation.
2
Move Robot System to installation site. Review
system with Installation manual.
1
Install, test and run application.
Person
Assigned
SC3000 Series Installation and Specifications Manual
Important Contacts
List here the names, functions, and phone numbers of people you will be depending on
to support your installation.
Name / Function
Phone Number
Sankyo Robotics, Boca Raton, FL / Technical Support
561-998-9775
Chapter 1 Getting Ready for Your System
1-7
SC3000 Robot Systems
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1-8
SC3000 Series Installation and Specifications Manual
Chapter 2 Site Installation Requirements
CONTENTS
Power Distribution ................................................................................................................. 2-3
Emergency Power-Off........................................................................................................................... 2-3
Grounding.............................................................................................................................................. 2-3
Neutral................................................................................................................................................... 2-3
Convenience (Service) Outlets ............................................................................................................. 2-3
Preparation of the 19-inch Rack (option) ............................................................................. 2-4
Electrical Noise ...................................................................................................................... 2-5
EMI (Electromagnetic Interference) ...................................................................................................... 2-5
ESD (Electro Static Discharge) ............................................................................................................. 2-5
Safety and Remote Circuits................................................................................................... 2-6
Emergency Stop Circuit Extension........................................................................................................ 2-6
Remote Manipulator Power-On Switch ................................................................................................. 2-6
Remote "Error-On" Indicator ................................................................................................................. 2-6
Robot Mounting Dimensions ................................................................................................ 2-7
SR8437/SR8438 and SR8447/SR8448 Series .............................................................................. 2-7
CCR Models – Standard X Axis ..................................................................................................... 2-8
CCR Models – LONG X Axis.......................................................................................................... 2-9
Environment ......................................................................................................................... 2-10
Climate and Altitude ............................................................................................................................ 2-10
Atmosphere ......................................................................................................................................... 2-11
Particulate Contaminates .................................................................................................................... 2-11
Corrosive Gas Contaminates .............................................................................................................. 2-11
Vibration .............................................................................................................................................. 2-11
Lightning Protection ............................................................................................................ 2-12
Exhaust Piping ..................................................................................................................... 2-12
Copyright © Sankyo Robotics, 1994-2001
Chapter 2 Site Installation Requirements
2-1
SC3000 Robot Systems
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2-2
SC3000 Series Installation and Specifications Manual
Power Distribution
The system requires standard 200-240V AC single phase power distribution. Ensure
the power distribution circuits you intend to use are compatible with the system's power
requirements and comply with all local, state, and national safety and electrical codes.
Branch circuits should be protected by circuit breakers that limit branch current to 20
amperes. These circuit breakers should be placed in a well-lighted spot near the
system, with unobstructed access.
Emergency Power-Off
An Emergency Power-Off switch should be installed on any optional 19” rack , if your
SC3000 Series Controller is installed in such a rack. When operated, all power to the
rack and its Robot System components is immediately removed. This also pertains to
any peripheral equipment installed in the rack.
Grounding
The branch circuit you install must have a grounding conductor for connecting to any
optional 19-inch rack or to any Robot System Component. Also:
•
Any branch-circuit receptacles must have mating equipment ground.
•
Any ground wire must be at least as large as the current-carrying wires for that
circuit. Conduit ground is not recommended as there exists a possibility of
separation, or poor connection/connectivity over time.
•
A single, common-ground wire must run from the distribution panel ground bus back
to a suitable building earth ground, typically to the MAIN distribution panel and its
ground rod.
•
Multiple grounds are not recommended and can introduce “ground loops”, which
may cause intermittent problems in an otherwise properly installed location.
Neutral
An isolated branch circuit neutral line for 110/120 Volt circuits should be tied to the
neutral bus at the distribution panel, then routed to receptacles providing electrical
service to any Robot System peripheral equipment. In no case should neutral and
ground be tied together at any distribution panel.
Convenience (Service) Outlets
Convenience (service) outlets should be installed within 1.8 m (6 ft.) from the Robot
System for service personnel and for powering the ADS personal computer.
Chapter 2 Site Installation Requirements
2-3
SC3000 Robot Systems
Preparation of the 19-inch Rack (option)
The SC3000 Robot Controller is optionally designed for installation inside a standard
19-inch rack. The rack must meet Electronic Industries Association (EIA) standards for
19-inch rack mounting. It must also comply with RS-310B (ANSI C83.9 1972)
dimensional specifications and use the universal mounting rail hole pattern. Any
mounting rack should be of sufficient size to house the Robot Controller. The front
opening of the rack must have a minimum height of at least 200 mm (7.9 inches). (This
opening size allows sufficient air flow around the Controller and assumes that no
optional features are to be installed in the rack. If such features are to be installed, the
opening size must be appropriately larger.)
The following preparations should be made to the mounting rack before attempting to
install the Robot Controller:
NOTE:
•
An emergency power-off (EPO) switch should be installed in the rack to remove all
power from the Robot System when the switch is operated. The EPO switch should
be mounted in a prominent area on the front of the rack.
•
An electrical power distribution box should be installed to accommodate the power
requirements of the system.
If plug-in connectors are to be used (rather than permanent wiring), be sure to install
the appropriate matching receptacles.
Warning: Rubber grommets must be inserted in all cable entry holes to prevent damage to the cable jackets.
NOTE:
2-4
•
To provide for maintenance access, chassis slide mounts are installed for mounting
the Robot Controller.
•
The cables from the industrial Robot(s) must be routed into the mounting cabinet.
•
The rack should be bolted down or otherwise secured to prevent it from tipping,
especially when units are pulled forward for servicing.
Rack-mounting hardware features for the SC3000 may be purchased from Sankyo
Robotics.
SC3000 Series Installation and Specifications Manual
Electrical Noise
Ensure that the electrical power source (branch circuit) you intend to use for your Robot
system does not exhibit excessive electrical noise. Some common sources of electrical
noise are:
•
Air conditioning units
•
Electric welders
•
Electric furnaces
•
Elevators
•
Electrostatic copiers
•
Any large, brush-type motor
If high noise levels cannot be avoided, it may be necessary to install an RF filter or an
isolation transformer or both. In either case, the filter and transformer must be capable
of withstanding an in-rush current 11 times the rated system load while maintaining
voltage within ±5% of nominal.
EMI (Electromagnetic Interference)
Avoid placing the system near sources of radiated or conducted electromagnetic
energy. Such areas may exist near:
•
Radio-transmitting antennas
•
Radar
•
Radio Frequency (RF) induction welders, RF arc welders, and insulation testers
•
Time clocks
•
High-energy power lines
If placing your system near any of these is unavoidable, contact your Sankyo Robotic
Systems Representative.
ESD (Electro Static Discharge)
Listed below are possible sources and conditions of ESD energy:
•
Plastic or plastic coated parts
•
Rubber or rubber coated parts
•
Areas where low temperature and/or low humidity may be present
High levels of ESD may diminish the operation and performance of the Sankyo Robotic
System. The customer is responsible for isolating and minimizing the sources and
conditions of ESD energy.
NOTE:
If electrical noise is suspected in your environment, refer to Chapter 4 of your
Hardware Manual, topic, “Other Problems”. This topic is near the end of Chapter 4.
Chapter 2 Site Installation Requirements
2-5
SC3000 Robot Systems
Safety and Remote Circuits
Emergency Stop Circuit Extension
I/O connectors 1 and 2 allow an extension of the industrial Robot Emergency stop
circuit. This extension operates with a "safety extra low voltage" of 24V DC. Current is
approximately 200 ma. Extensions of the stop circuit should be resistive only and
should not exceed 5 ohms.
A safety zone can be established around the industrial Robot by installing intrusion
warning devices on the I/O connectors. Some such devices are:
• safety mats
• gates with safety interlocks
• photoelectric cells and light beams.
I/O 1. At the rear of the Robot Controller, the I/O 1 connector allows a connection at
pins 13 and 25 for a normally closed switch to act as a safety intrusion device. This is
an extension of the Emergency stop switch function. If the safety device is not to be
installed at this time, pins 13 and 25 must be jumpered (on all SC3000 Controller
models) in order to provide servo motor power to the Robot.
I/O 2. At the rear of the Robot Controller, the I/O 2 connector allows a connection at
pins 1 and 25 for a normally closed switch to act as a safety intrusion device. This is an
extension of the Emergency stop switch function. If the safety device is not to be
installed at this time, pins 1 and 25 must be jumpered (on the SC3000-010 and 030
Controller models) in order to provide servo motor power to the Robot. (On the
SC3000-100 Controllers, pins 14 and 25 are jumpered.)
NOTE:
For convenience, these jumpers are factory-installed on each connector provided with
your Controller. Thus, if you install the recommended external safety circuit, you must
remove the factory-installed jumper.
Refer to Chapter 4, “Digital Input/Digital Output (DI/DO)”, topic, “Customer Safety
circuits” for wiring instructions.
Remote Manipulator Power-On Switch
Pins 1 and 12 of the I/O 2 connector allow for the installation of a remote servo motor
power (Manip. power) on switch. This should be a toggle switch, that when a normally
opened switch is installed across pins 1 and 12, then momentarily activated, servo
motor power (Manip. power) comes on. The switch does not need to stay in a normally
closed state, only activated to the normally closed state.
Refer to Chapter 4 of this manual, topic “Customer Safety circuits” for details.
Remote "Error-On" Indicator
Pins 19 and 24 of the I/O 2 connector allow for an error output signal (DO), when the
Controller has detected an error. When the Controller Error LED is on or flashing, a DO
signal is present on pin 19 (ERRN) and pin 24 (ERRP) of I/O 2. Refer to Chapter 4,
topic “Customer DO Error circuit” for details.
2-6
SC3000 Series Installation and Specifications Manual
Robot Mounting Dimensions
Whatever the application, the Robot must be securely bolted to a sturdy base. At
minimum, the base or stand should be a steel plate that is:
• 25 mm (1 in.) thick
• Flat within 0.05 mm (0.002 in.)
The hole dimensions for mounting the Robot are shown in the following figures. For
additional physical dimensions, refer to Chapter 5, "Specifications".
SR8437/SR8438 and SR8447/SR8448 Series
NOTE:
The 4 - 16mm holes are not threaded, and four bolts are supplied for mounting the
Robot securely to a table or stand.
Chapter 2 Site Installation Requirements
2-7
SC3000 Robot Systems
CCR Models – Standard X Axis
NOTES:
Standard X Axis lengths range from 200 to 800 mm in length.
Inside holes are 6 mm threaded, for mounting to the X axis.
Outside holes are 7 mm (not threaded), for mounting to a table or stand.
Two mounting plates per X Axis.
2-8
SC3000 Series Installation and Specifications Manual
CCR Models – LONG X Axis
NOTES:
Long X Axis lengths are 1000, 1250, 1500, and optionally 1750 and 2000 mm in
length.
Inside holes are 6 mm threaded, for mounting to the X axis.
Outside holes are 7 mm (not threaded), for mounting to the table or stand.
Three mounting plates per Long X Axis.
Chapter 2 Site Installation Requirements
2-9
SC3000 Robot Systems
Environment
This equipment is designed to operate in an area that stays within the following
environmental limits.
Climate and Altitude
Acceptable climate and altitude ranges (upper and lower limits) are:
•
•
•
NOTE:
2-10
Temperature:
•
Operating: 0 ° C to 40 ° C (32 ° F to 104 ° F)
•
Storage: -15 ° C to 60 ° C (5 ° F to 140 ° F)
Relative humidity:
•
Operating: 8% to 80% (non-condensing)
•
Storage: 5% to 80%
Maximum wet bulb temperature: 26.7 ° C (80 ° F)
High-precision applications can tolerate small ambient temperature variations. To
ensure machine repeatability, plan to run the application at the same temperature
range for which the application points are taught.
SC3000 Series Installation and Specifications Manual
Atmosphere
This equipment must not be installed or operated in an explosive atmosphere or in an
environment where the concentration of particulate, liquid or gaseous atmospheric
contaminants exceeds the following limits. Such environments can cause corrosion,
contact failures, and electrical short circuits.
Particulate Contaminates
The following specifications represent a "P1-Extended" environment. The upper limit is
expressed as arithmetic mean values in µg/m3 (micrograms per cubic meter) or µ
g/cm2/30 days (micrograms per square centimeter per 30 days).
•
Suspended particles: 500 µg/m3
•
Benzene soluble organics 30 µg/m3
Settling particles: 1500 µg/cm2/30 days.
•
Corrosive Gas Contaminates
The following specifications represent a "clean" industrial environment. Corrosive gas
upper limit is expressed as arithmetic mean values (averaged over one year) in
micrograms per cubic meter (µg/m3) and parts per billion (ppb), by volume.
•
•
Total reactive sulfur: 3.2 µg/m3). This includes elemental sulfur vapor (S ) of up to
2.1 µg/m3. Total reactive sulfur is the quantity of elemental sulfur expressed in µ
g/m3 in all gaseous species that react with silver to form silver sulfide (such as S H
S, CH SH, etc., but not SO ). The 3.2 µg/m3 of reactive sulfur is equivalent to 3.4 µ
g/m3 or 2.5 ppb of H S.
Sulfur dioxide: 262 µg/m3 (100 ppb).
•
Nitrogen dioxide: 141 µg/m3 (75 ppb).
Acidic gaseous chlorine: 3 µg/m3. Acidic gaseous chlorine is the quantity of
elemental chlorine expressed in µg/m3 in chlorine containing acidic gases (such as
HCI Cl CIO etc.). The 3 µg/m3is equivalent to 2 ppb of HCI or 1 ppb of Cl.
•
Ozone: 98 µg/m3 (50 ppb).
•
Vibration
This equipment is designed to operate within the following limits of vibration:
•
5 to 17 Hz at 0.1270 mm (0.005 inch) double amplitude displacement
•
17 to 200 Hz at 0.07 G peak
•
200 to 500 Hz at 0.036 G peak.
System performance can be affected by excessive vibration from other machinery or
heavy moving equipment. You should try to minimize vibration in the area where your
industrial Robot system is to be installed. If you think the vibration at your site could be
detrimental to your system's performance, contact your Sankyo Robotic Systems
Representative.
Chapter 2 Site Installation Requirements
2-11
SC3000 Robot Systems
Lightning Protection
The communications interface is not lightning protected internally. You should protect
the communications lines under either of the following conditions:
•
When using communications lines that run between buildings
•
When using communications lines that exceed 122 m (400 ft.) in length
Lightning protection devices should be installed by a qualified electrician. If you desire
more information, contact your Sankyo Robotic Systems Representative.
Exhaust Piping
Piping the exhaust from the user-installed gripper (or other user-installed industrial
Robot tooling) can result in a quieter operation.
2-12
SC3000 Series Installation and Specifications Manual
Chapter 3 Installation Instructions
CONTENTS
Installation .............................................................................................................................. 3-3
Lockout/Tagout...................................................................................................................................... 3-3
Installation Checklist ............................................................................................................. 3-4
Unpacking the Components.................................................................................................. 3-5
Packaging.............................................................................................................................................. 3-5
Installation Steps.................................................................................................................... 3-6
SC3000 Robot System Packing List ..................................................................................................... 3-6
Lifting the SR8437/38 and SR8447/48 Series Robot............................................................................ 3-7
Installing the SR8437/38 and SR8447/48 Series Robot ....................................................................... 3-8
Lifting the CCR-M Series Robot............................................................................................................ 3-9
Installing the CCR-M Series Robot ..................................................................................................... 3-12
Lifting the SC3000 Series Robot Controller ........................................................................................ 3-12
Installing the SC3000 Series Robot Controller ................................................................................... 3-12
AC Power Distribution ......................................................................................................... 3-13
Emergency Power-Off......................................................................................................................... 3-13
Grounding............................................................................................................................................ 3-13
Neutral................................................................................................................................................. 3-13
Convenience (Service) Outlets ........................................................................................................... 3-13
AC Power Considerations ................................................................................................... 3-14
Electrical Noise.................................................................................................................................... 3-14
EMI (Electromagnetic Interference) .................................................................................................... 3-14
ESD (Electro Static Discharge) ........................................................................................................... 3-14
SC3000 Series AC Power Wiring ........................................................................................ 3-15
SC3000 Series AC Connector wiring (SC3000-010/030) ................................................................... 3-15
SC3000 Series AC Connector wiring (SC3000-001/100) ................................................................... 3-16
SC3000 Series AC Wiring for Peripheral Devices .............................................................................. 3-17
Cabling the Robot System .................................................................................................................. 3-18
Connect the cables ....................................................................................................................... 3-18
Running the SC3000 Robot System for the first time ......................................................................... 3-18
Power-On Self-Test (POST) ............................................................................................................... 3-19
Absolute Home Position (Pendant) ..................................................................................................... 3-20
Absolute Home Position (ADSMT)...................................................................................................... 3-21
Installation Checkout Procedure ......................................................................................................... 3-22
Optional Tasks – SCARA Series Robot models ................................................................ 3-23
End-of-Arm Interface........................................................................................................................... 3-23
End-of-Arm Interface Installation......................................................................................................... 3-23
Installation procedure ................................................................................................................... 3-23
Cable Connector chart......................................................................................................... 3-25
Option Boards and Features ............................................................................................... 3-26
Description .......................................................................................................................................... 3-26
Copyright © Sankyo Robotics, 1994-2001
Chapter 3 Installation Instructions
3-1
SC3000 Robot Systems
Expansion Slots................................................................................................................................... 3-26
Optional Feature Installation ............................................................................................................... 3-27
3101 CPU Board Removal and Replacement..............................................................................3-27
3102 AD1319 – 64 Point DI/DO Board (P/N SCF323) ................................................................ 3-28
RS-232C Port ............................................................................................................................3-28
3103 AD1309 128-Point DI/DO Board (P/N SCF302)................................................................. 3-29
RS-232C Port ............................................................................................................................3-29
3104 AD1308 32/64-Point DI/DO Board...................................................................................... 3-30
3105 AD1313-4 Axis HS Board P/N SCF310) ............................................................................ 3-31
RS-232C Port ............................................................................................................................3-31
3106 Over Drive Processor (ODP) Board (P/N SCF317)............................................................ 3-32
Follow-on Topics ................................................................................................................................. 3-34
3-2
SC3000 Series Installation and Specifications Manual
Installation
Lockout/Tagout
Some countries require a lock out/tag out for the primary power when the Robot System
is being installed and/or serviced. If your country has this requirement, it is the users
responsibility to ensure that the primary power source has a disconnecting means in the
OFF or OPEN position which can be locked and tagged by a servicing technician. For
safety considerations, the Robot System cannot be operated until the locking means is
removed by the servicing technician.
NOTE:
Installation of the Sankyo Robot System must only be performed by qualified service
personnel.
This chapter describes the procedures for the installation and setup of the Sankyo
Robot System. Your Robot System should be already configured to your
specifications. If you need options installed after purchasing the SC3000 Series Robot
Controller, you will need to go that specific option in this chapter.
Particular emphasis is given to the discussion dealing with the preparation, installation,
and setup of the SC3000 Series Robot Controller. Since only a few optional Controller
features are available, procedures for the installation of supported Controller features
are included in this chapter.
During the initial installation of a Sankyo Robot System, the procedures in this chapter
should be performed in the order in which they appear; however, individual procedures
may also be used for reference when features are added or replaced.
The mounting platform or table on which the Robot is to be installed must be drilled
and the mounting holes tapped as described in the topic "Robot Mounting Structure" in
Chapter 2, and "Specifications" in Chapter 5 of this manual.
Also, the user-supplied optional 19-inch rack into which the Controller can be installed
must be of adequate size and prepared as described in the topic "Preparation of the 19Inch Rack" in Chapter 2 of this manual.
CAUTION:
1. Before starting any installation procedure in this section, ensure that the
SC3000 Series Robot Controller power switch is off and that the AC power
cable is removed.
2. Observe cable routing and other precautionary measures to avoid damage to
cables, connectors, and other components.
3.
While removing or replacing any component in the Controller, maintain
contact with frame ground. (This is necessary because components could
otherwise be damaged by static discharge.)
Chapter 3 Installation Instructions
3-3
SC3000 Robot Systems
Installation Checklist
The installation of your Sankyo Robot System can be made easier by the planning and
preparation discussed in this manual. You should prepare the following in advance:
•
Robot mounting table or stand
•
Optional 19-inch rack (including rack-mounting hardware, electrical service, and an
optional emergency power-off (EPO) switch)
•
Safety devices and related cabling
•
Input and output devices
The following checklist can be used to guide you through the installation of your Sankyo
Robot System:
Check √
Description
◊
Unpack the components, use the Customer checklists
3
◊
Lift and carry components to the installation site
3
◊
Ensure the Robot base mounting hole pattern is prepared
2,5
◊
Install the Robot
3
◊
Ensure the optional 19” rack is prepared, if needed
2
◊
Install any Controller options not already installed
3
◊
Install the SC3000 Robot Controller
3
◊
Install the cables and connect power
3
◊
Power on and run POST
3
◊
Attach the ADS PC or the Pendant and perform the Absolute
3
Home adjustment
3-4
Chapter
SC3000 Series Installation and Specifications Manual
Unpacking the Components
For each Sankyo Robot System, you will receive the following packages:
NOTE:
•
A wood crate containing a cardboard box with the SC3000 Series Robot Controller
inside, along with the Robot. (The Controller may also be shipped separately.)
•
A cardboard box containing the ship group (cables, rack-mounting shim strips,
manuals, etc.).
•
A cardboard box containing any multiple Robot Controller Interface unit required for
multiple Robot use (option).
Be sure to leave any shipping straps around the Robot arm or axes to hold it secure while
the Robot is being transported to its final destination.
An inventory checklist is included in the SC3000 Robot Controller box. You should
inventory and check off all items on the list.
Packaging
Sankyo 8437/38 or SR8447/48
Series Robot. SC3000 may be
boxed inside.
Sankyo Robot System Controller
or ship group. (cardboard box)
Sankyo CCR-M Series Robot.
SC3000 may be boxed inside.
(wood crate package)
Multiple Robot Controller Interface unit.
(cardboard box)
Chapter 3 Installation Instructions
3-5
SC3000 Robot Systems
Installation Steps
SC3000 Robot System Packing List
The following information is supplied on a Packing List sheet with your new Robot
System. Check √ the appropriate items for your Robot System.
◊
SC3000 Series Controller
◊
Serial number
◊
C-Code
◊
Controller to Robot Motor cable (1 per Robot)
◊
Controller to Robot Encoder cable (1 per Robot)
◊
ADS Cable
◊
ADS Software
◊
I/O 1 connector
◊
I/O 2 connector
◊
Aux connector
◊
Pendant connector
◊
Power cord connector
◊
2 - 10 amp Fuses, AC line
◊
SC3000 Series Robot Arm
Robot model
Serial number
C-Code
◊
Optional Accessories
Teach Pendant
Emergency stop switch assembly with 3 or 5 meter cable (attaches to Pendant)
Feature AD1309, 128 point DI/DO board (3 maximum may be installed)
Feature AD1319, 64 point DI/DO board (2 maximum may be installed)
Over Drive Processor (ODP) option (SC3000-030 models only)
Front Bezel kit
Five (5) meter Robot Motor and Encoder cable kit
Ten (10) meter Robot Motor and Encoder cable kit
Robot Expansion unit with cables (for multiple Robot Systems)
High Speed Processor option
3-6
SC3000 Series Installation and Specifications Manual
Lifting the SR8437/38 and SR8447/48 Series Robot
The SR8437/SR8438 and SR8447/SR8448 Series Robots weigh from 70 kg (154 lb.) to
90 kg (198 lb.). They should be hoisted with a lifting device, such as a lift truck,
attaching a sling through the eyebolts.
1. The top portion of the crate is held around the bottom outside edge with 10mm or
17mm lag bolts. Remove these lag bolts and employ at least two people to remove the
top portion of the crate.
2. Remove the Robot base screws near the Theta 1 end, so that the Robot may be lifted
from the shipping container base.
3. Remove any shipping or strapping material, and cartons that may contain peripheral
equipment and books, that would prevent lifting the Robot cleanly from the shipping
container.
4. Ensure the two eyebolts are securely fastened near the top of the Theta 1 axis, one on
each side.
5. Attach a lifting sling (a chain will scratch the surface) through the eyebolts and lift
according to the following CAUTION steps.
CAUTION:
1. Do not put the lifting sling around the Robot arm. Lift only by the eyebolts.
2. Be sure that the Robot arm is secured by a strap, as shown in the figure
below, to prevent it from swinging. (The original shipping strap around the
Robot arm should still be in place.)
3. Take precaution to keep the lifting sling or chain from scratching the paint on
the Robot.
Chapter 3 Installation Instructions
3-7
SC3000 Robot Systems
Installing the SR8437/38 and SR8447/48 Series Robot
The mounting platform or table on which the Robot is to be installed must be drilled and
the mounting holes tapped as described in the topic "Robot Mounting Dimensions" in
Chapter 2, or in Chapter 5, "Specifications".
The recommended surface is a bolted down, steel table; or a platform of equal strength.
The Sankyo Robot is capable of very high speed and high torque movement, and a
very secure mounting is required.
1. Install the two eyebolts in the back support of the Robot, one on each side of the Theta
1 axis, if they are not already installed.
2. Attach a lifting sling securely between the eyebolts.
3. Use a lift truck or portable crane to lift the Robot into position on the table.
4. Install the four base mounting bolts and tighten.
5. Remove the lift truck or portable crane.
6. Remove the lifting sling from the eyebolts.
7. Remove the two eyebolts. (Store them for possible use in the future.)
CAUTION: The two eyebolts must be removed; they are in the path of the Robot arm.
8. Remove the strap that secured the Robot arm.
3-8
SC3000 Series Installation and Specifications Manual
Lifting the CCR-M Series Robot
The minimum weight of a standard CCR Robot is 23.0 kg (50.6 lb.), and the maximum
weight is approximately 75 kg (165.0 lb.). Two (2) or three (3) people are required to lift
the Robot from the shipping crate, depending on the Robot model.
CAUTION: A multi-axis CCR-M Series Robot can be top or side heavy (unbalanced).
1. The top portion of the crate is held around the bottom outside edge with 10mm or
17mm lag bolts. Remove these lag bolts and employ at least two people to remove the
top portion of the crate.
2. With a shipment of a new multiple axis Robot, a strap should already be tied around
adjacent axes, or an L shaped bracket is bolted into the axis side plate with 2-4mm
screws, so that one axis may not move away from its adjacent axis.
3. Remove the 3 or 4 pallet mounting screws from each X axis base (2). One of the 4
holes in the base may used for a locating bolt. This allows the Robot to be lifted from
the crate.
4. Remove any shipping or strapping material, and cartons that may contain peripheral
equipment and books, that would prevent lifting the Robot cleanly from the shipping
container.
5. It is advised to place one person on each end of the X (base) axis, and one person on
the end of the Y axis, if your Robot has a Y axis.
6. After lifting the Robot from the crate, you should place the Robot on a carrying device
with casters (wheels), in order to move the Robot to its mounting destination.
X axis only, one person on each end.
X Axis
One person here
One person here
For other CCR-M Series Robots, continue with the following topics.
Chapter 3 Installation Instructions
3-9
SC3000 Robot Systems
X and Y axis only, one person on each end of X axis, one person on Y axis end.
If the Y axis has shifted during shipment, perform all the steps below. If not, perform
steps 2 and 3.
X Motor end
Move Y
Y Axis
X Axis
One person here
One person here
Y axis end
One person here
1. If the Y axis has moved during shipment, tie a strap which can reach around the Y axis
and the X axis, so that the Y axis cannot move away from the X axis motor end.
2. Ensure the 3 or 4 pallet mounting screws were removed from each X axis base (2).
One of the 4 holes in the base may used for a locating bolt.
3. Employ three (3) people to lift the Robot from its crate.
3-10
SC3000 Series Installation and Specifications Manual
X, Y and Z axis models, one person on each end of X axis, one person on the Y axis end.
If the Y or Z axis has shifted during shipment, perform the steps below. If not, perform
steps 5 and 6.
X
Y Axis
One person here
Z
A
x
i
s
Motor end
Move Y
Z
X Axis
One person here
Y axis end
One person here
1. Move the Y axis toward the X axis Motor end, until it reaches the limit of its travel.
2. Move the Z axis all the way up to the limit of its travel.
3. Tie a strap which can reach around the Y axis and the X axis, so that the Y axis cannot
move away from the X axis motor end.
4. Tie a strap which can reach around the Z axis and the Y axis, so that the Z axis cannot
move downward.
5. Ensure the 3 or 4 pallet mounting screws were removed from each X axis base (2).
One of the 4 holes in the base may used for a locating bolt.
6. Employ three (3) people to lift the Robot from its crate.
Chapter 3 Installation Instructions
3-11
SC3000 Robot Systems
Installing the CCR-M Series Robot
The mounting platform or table on which the Robot is to be installed must be drilled
and the mounting holes tapped as described in the topic "Robot Mounting Dimensions"
in Chapter 2, or in Chapter 5, "Specifications".
The recommended surface is a bolted down, steel table; or a platform of equal strength.
The Sankyo Robot is capable of very high speed and high torque movement, and a
very secure mounting is required.
NOTE:
It is possible for 2 people to manually lift and handle small 1 and 2 axis CCR-M Series
Robots. For 3 axis Robots, or for multiple axis Robots that exceed a 600mm axis length,
it is possible for 3 people to move the Robot from the carrying device to the mounting
table. If you wish to use a sling, the following procedure is recommended:
1. Attach a lifting sling around the outside areas of the 2 end base sections for the X
(base) axis. See the previous page for an axis reference. If the sling overlaps the axis
ends, fold the sling so it cannot slip off.
2. Ensure the sling is long enough to clear any attached vertical axis (Z axis) and is secure
at the lifting point.
3. Use a lift truck or portable crane to lift the Robot from the crate or carrying device and
into position on the table. If the Robot has a Y axis, manually support this axis to keep
the load balanced.
4. Install the eight or twelve base mounting bolts (depending on your Robot model) and
tighten.
5. Remove the lift truck or portable crane.
6. Remove the lifting sling from the outside end base sections of the X axis.
7. Remove the shipping strap(s) that secure any Robot axis.
Lifting the SC3000 Series Robot Controller
The SC3000 Series Robot Controller unit weighs approximately 12 kg (26.4 lb.), and is
easily handled by one person.
Installing the SC3000 Series Robot Controller
1. Unpack the system unit.
2. Ensure that all items checked with the Packing list on page 6 of this chapter were
received in good condition.
3. If you wish to install the optional rack mount feature, or any other optional feature,
proceed to the topic, “Optional Feature Installation Procedures”. Otherwise, proceed to
the "AC Power Distribution" topic, which follows.
NOTE:
3-12
Any optional feature that was ordered with the Robot system should already be installed.
If not, refer to the appropriate Hardware Manual, Chapter 2, for instructions.
SC3000 Series Installation and Specifications Manual
AC Power Distribution
The system requires standard 200-240V AC single phase power distribution. Ensure
the power distribution circuits you intend to use are compatible with the system's power
requirements and comply with all local, state, and national safety and electrical codes.
Branch circuits should be protected by circuit breakers that limit branch current to 20
amperes. These circuit breakers should be placed near the system, with unobstructed
access.
A typical installation provides one of the two following wiring configurations:
Emergency Power-Off
An Emergency Power-Off switch should be installed on any optional 19” rack , if your
SC3000 Series Controller is installed in such a rack. When operated, all power to the
rack and its Robot System components is immediately removed. This also pertains to
any peripheral equipment installed in the rack.
Grounding
The branch circuit you install must have a grounding conductor for connecting to any
optional 19-inch rack or to any Robot System Component. Also:
•
Any branch-circuit receptacles must have mating equipment ground.
•
A ground wire must be at least as large as the current-carrying wires for that circuit.
•
Conduit ground is not recommended as there exists a possibility of separation, or
poor connection/connectivity over time.
•
A single, common-ground wire must run from the distribution panel ground bus back
to a suitable building earth ground, typically to the MAIN distribution panel and its
ground rod.
•
Multiple grounds are not recommended and can introduce “ground loops”, which
may cause intermittent problems in an otherwise properly installed location.
Neutral
An isolated branch circuit neutral line should be tied to the neutral bus at the
distribution panel, then routed to receptacles providing electrical service to any Robot
Controller or peripheral equipment. In no case should neutral and ground be tied
together at any distribution panel.
Convenience (Service) Outlets
Convenience (service) outlets should be installed within 1.8 m (6 ft.) from the Robot
System for service personnel and for powering the Buzz/ADS PC.
Chapter 3 Installation Instructions
3-13
SC3000 Robot Systems
AC Power Considerations
Certain problems can occur in any electrical environment. Review the following
potential problem areas for AC power.
Electrical Noise
Ensure that the electrical power source (branch circuit) you intend to use for your Robot
system does not exhibit excessive electrical noise. Some common sources of electrical
noise are:
•
Air conditioning units
•
Electric welders
•
Electric furnaces
•
Elevators
•
Electrostatic copiers
•
Any large, brush-type motor
If high noise levels cannot be avoided, it may be necessary to install an RF filter or an
isolation transformer or both. In either case, the filter and transformer must be capable
of withstanding an in-rush current 11 times the rated system load while maintaining
voltage within ±5% of nominal.
EMI (Electromagnetic Interference)
Avoid placing the system near sources of radiated or conducted electromagnetic
energy. Such areas may exist near:
•
Radio-transmitting antennas
•
Radar
•
Radio Frequency (RF) induction welders, RF arc welders, and insulation testers
•
Time clocks
•
High-energy power lines
If placing your system near any of these is unavoidable, contact your Sankyo Robotic
Systems Representative.
ESD (Electro Static Discharge)
Listed below are possible sources and conditions of ESD energy:
•
Plastic or plastic coated parts
•
Rubber or rubber coated parts
•
Areas where low temperature and/or low humidity may be present
High levels of ESD may diminish the operation and performance of the Sankyo Robotic
System. The customer is responsible for isolating and minimizing the sources and
conditions of ESD energy.
NOTE:
3-14
If electrical noise is suspected in your environment, refer to Chapter 4 of your
Hardware Manual, topic, “Other Problems”. This topic is near the end of Chapter 4.
SC3000 Series Installation and Specifications Manual
SC3000 Series AC Power Wiring
NOTES: Any 2 lines may be used, but they must be different, i.e. 1 and 2, or 2 and 3, etc.
Ground and Neutral are only connected at the Main Electrical Power source (outside).
Conduit ground is not recommended. Over time this has proven to be ineffective.
SC3000 Series AC Connector wiring (SC3000-010/030)
1. Attach AC wiring (14 gauge) to the Sankyo supplied AC power connector, then to
the user supplied AC plug connector or electrical box. See the drawing below:
Sankyo supplied AC connector (female)
A = LINE 1
B = LINE 2
C = Not connected
D = GROUND
A
D
B
C
Chapter 3 Installation Instructions
3-15
SC3000 Robot Systems
SC3000 Series AC Connector wiring (SC3000-001/100)
1. Attach AC wiring (14 gauge) to the Sankyo supplied AC power connector, then to
the user supplied AC plug connector or electrical box. See the drawing below:
Sankyo supplied AC connector (female)
1 = Line 1
2 = Ground
3 = Line 2
3
1
2
3-16
SC3000 Series Installation and Specifications Manual
SC3000 Series AC Wiring for Peripheral Devices
MAIN ELECTRICAL POWER
G
N
15 AMP
CIRCUIT
BREAKER
15
N
GROUND
STAKE
1
2
3
110/120 VOLTS
15 AMP CIRCUIT
SINGLE PHASE
GROUND
110/120 Volt
RECEPTACLE
For Peripheral
Equipment
DISTRIBUTION
PANEL
NOTES: Any 1 line may be used, i.e. 1, or 2, or 3.
Ground and Neutral are only connected at the Main Electrical Power source (outside).
Conduit ground is not recommended. Over time this has proven to be ineffective.
If AC power problems are suspected, use a Power Conditioner Unit (PCU), or an
Isolation Transformer.
Chapter 3 Installation Instructions
3-17
SC3000 Robot Systems
Cabling the Robot System
After all components of the Robot system are properly mounted, use the following
procedure to connect any cables that were not already connected in a previous
procedure. Be careful to route each cable so that it will not be pinched or scraped,
especially if the SC3000 is moved on its optional rack mounting slides.
CAUTION: Ensure that all power switches are off and that power is removed from the
Controller
Connect the cables
1. Install the C1 Motor, and C5 Encoders, cables between the Controller and the Robot
arm. Each end has different connectors, and cannot be attached incorrectly.
2. Install the remote Emergency Stop switch cable to the SC3000 Controller Pendant
port. If this cable is not supplied for the Controller, attach the Pendant dummy
connector. The Emergency Stop switch cable or the dummy connector must be
attached for the Robot to power on. The dummy Pendant connector has pins 10, 23
and 24 jumpered.
3. If desired, connect the Pendant to the remote Emergency stop switch.
4. If an external safety circuit is not to be connected to I/O 1 or I/O 2, ensure their dummy
connectors are in place. Install the AUX connector as well. These connectors are
shipped with the Robot System. They are jumpered as follows:
•
The dummy I/O 1 connector has pins 13 and 25 jumpered on all Controller models.
•
The dummy I/O 2 connector has pins 1 and 25 jumpered. (Pins 14 and 25 are
jumpered on systems prior to May 1995, and on the SC3000-100 models.)
•
The AUX connector is jumpered as follows:
1. SC3000-010 model - pins 4 and 5 jumpered, pins 7 and 14 a 470 ohm
resistor.
2. SC3000-030 model - pins 1 and 27 jumpered, pins 23 and 48 a 470 ohm
resistor.
3. SC3000-100 model - pins 4 and 12 jumpered, pins 7 and 14 a 470 ohm
resistor.
5. If an external safety circuit is to be installed, remove the jumpers on the dummy I/O
connectors (step 4), and the external safety circuit wiring attached in their place.
6. Attach the Sankyo supplied AC connector, that you wired in a previous step, to the
Controller AC receptacle.
7. Attach the other end (the user supplied plug connector) to the appropriate AC outlet
receptacle.
8. Connect AC power to any optional Robot System peripheral user equipment that
require their own power source and proceed to "Running the SC3000 Robot System for
the first time", which follows.
Running the SC3000 Robot System for the first time
Before powering on, ensure the following:
3-18
•
All mounting screws are tightened and all cables and connectors are properly
connected.
•
The power cords are attached correctly and are tight.
•
The Controller, if extended out from the rack, does not bind, chip, or jam with any
other installed device.
SC3000 Series Installation and Specifications Manual
Power on the SC3000 Series Controller.
Power-On Self-Test (POST)
The Sankyo SC3000 Series Robot Controller automatically runs a Power-On Self-Test
(POST) every time the power is switched on. The Power-On Self-Test checks out the
base SC3000 system and memory and takes approximately 20 - 30 seconds to run.
If any error occurs other than those discussed in the following text, refer to Chapter 4,
“Symptom/Fix”, of the SCARA Series Hardware Manual, or the CCR-M Series
Hardware Manual.
The first time the Robot system is powered on, one of two errors may occur:
1. The Controller error LED flashes 4 times, pauses, then repeats. This a normal
condition and is error code 250, “Zero point lost”. For this error, go to the following
procedure, “Absolute Home Position adjustment”, which follows this topic.
2. The Controller error LED flashes 6 times, pauses, then repeats. This is error code 252,
“Real-time error”. Power off, then on the Controller and try again. If this error persists,
refer to Chapter 4, “Symptom/Fix” of the SCARA Series Hardware Manual, or the
CCR-M Series Hardware Manual.
NOTE:
If any other error occurs, it is unexpected. Refer to Chapter 4, “Symptom Fix”, of the
SCARA Series Hardware Manual, or the CCR-M Series Hardware Manual,
depending on your robot type.
Chapter 3 Installation Instructions
3-19
SC3000 Robot Systems
Absolute Home Position (Pendant)
Before the Robot System can be used for the first time, you must perform the absolute
home adjustment. This procedure describes the Pendant method.
(1)
1. Place the Pendant key switch in Local mode.
2. Press the blue Error button at the top of the Pendant to reset the Error pop-up. For the
SR8437/SR8438 and SR8447/SR8448 Series Robot, ensure that Servo Power is on. If
not, press the green Manip. Power button. CCR-M Series Robots are homed manually.
3. From the Local mode display, press the ABS HOME button (1), as pictured above. The
following pop-up appears:
CAUTION: Ensure the Robot can be returned to the home position without striking fixtures and
feeders in the work space.
4. Press and hold the Servo Enable key, then press ENTER. Press ESC (2) if you change
your mind.
5. Follow the remaining prompts on the Pendant for homing your specific Robot. A
detailed homing procedure (screen by screen), appears in the SCARA Series
Hardware Manual, or the CCR-M Series Hardware Manual. Refer to Chapter 3,
“Checks and Adjustments”, for your Robot type.
This completes the installation setup procedure. You should now proceed to the
"Installation Checkout Procedure", which follows the Buzz homing procedure.
3-20
SC3000 Series Installation and Specifications Manual
Absolute Home Position (ADSMT)
If you have already performed an ABS Home procedure with the Pendant, skip to the
“Installation Checkout Procedure”.
Before the Robot System can be used for the first time, you must perform the absolute
home adjustment. This procedure describes the ADS for DOS method.
1. Obtain the ADS computer and attach the cable from the PC COM1 or COM2 serial port
to the ADS port on the Robot Controller. In the ship group, this is a 9 pin to 9 pin cable.
2. After the ADS PC boots, change directory to ADS. Type cd\ads press enter.
3. At the \ads prompt, type ADSMT press enter.
NOTE:
If a problem exists with the ADS software or the communications cable, the adsmt
program will terminate. If so, refer to Chapter 4, "Symptom/Fix", in the SCARA Series
Hardware Manual, or the CCR-M Series Hardware Manual, topic - “ADS or ADSMT
exits”.
4. When the main adsmt screen appears on the PC monitor, select the Manip. Robot
Action Bar item with a mouse. You may also press function key F10 on the keyboard
and use the cursor keys.
CAUTION: Ensure the Robot can be returned to the home position without striking fixtures and
feeders in the work space.
5. Select the ABS Homing... option from the Manip. Robot pull-down menu.
6. For SCARA Robots, right home position is the default and the adjustment requires no
manual intervention. However, for CCR Robots you are required to manually place the
Robot at the home position, which requires placing each linear axis toward its motor
end. In either case, follow the instructions given on the PC display.
This completes the installation setup procedure. You should now proceed to the
"Installation Checkout Procedure", which follows.
Chapter 3 Installation Instructions
3-21
SC3000 Robot Systems
Installation Checkout Procedure
If you have a SCARA series robot model, continue with the following page.
If you have a CCR series robot model, skip to “Optional Features”, following the SCARA
robot topics.
After all units have been properly installed and “homed” according to the procedures
given in the prior topics, the Robot System is ready for the application/programmer
engineer.
Before any end-of-arm tooling or any fixtures are installed in the Robot workspace, the
Robot may be exercised.
3-22
SC3000 Series Installation and Specifications Manual
Optional Tasks – SCARA Series Robot models
End-of-Arm Interface
The following air lines and cable are pre-installed inside the SCARA Robot models and
routed through to the End-of-Arm (EOA) interface.. These provide pneumatic and
electric power to an end-of-arm device, such as a gripper.
•
*Air lines
6 mm (O.D.) x 4 mm (I.D.)
4 mm (O.D.) x 2.5 mm (I.D.)
•
User cable
15-pin female D shell (both ends)
*The SR8437/SR8447C model Robot can have up to 6 air lines. These air lines can be 4
mm O.D., or a combination of 4 and 6 mm O.D.
The air lines are of polyurethane construction and can be used for both pressurized air and
vacuum air. These air lines and cable are passed through the Robot from its base
connector panel to the user interface bracket at the Z axis assembly. Source air can be
supplied to the air fittings installed on the Robot base connector panel.
End-of-Arm Interface Installation
The standard three air lines and the 15 wire user interface cable are incorporated inside the
Robot as shown on the next page. (Standard SR8437/SR8438 and SR8447/SR8448
models).
•
*Pneumatic Interface:
6 mm (OD) x 4 mm (ID)
4 mm (OD) x 2.5 mm (ID)
•
Electrical Interface:
1 - 15 wire cable with a 15-pin female D shell at
each end. Voltage load is +/- 24V DC or less,
amperage load is 0.5 amps or less
*The SR8437C/SR8447C model Robot can have up to 6 air lines. These air lines can be 4
mm O.D., or a combination of 4 and 6 mm O.D.
The electrical interface is factory installed from the Robot base to the Z axis. The user
is responsible for the attachment of a mating 15-pin male D shell at the Robot base,
and a 15-pin male D shell at the Z axis.
Installation procedure
1. Remove the Z axis head cover. The internal air lines and EOA cable should already be
installed, per the drawing on the following page. If not, continue. Otherwise, skip to
“Optional features”, third page following.
2. Install the air lines to the fittings on the inside of the robot base connector bracket. The
air lines you provide are recommended to be polyurethane or vinyl tubes with either 4
mm or 6 mm O.D. construction.
3. Lace the air lines through the robot arm to the Z Axis flex guide. Then, through the Z
Axis flex guide and on through the center of the Z shaft.
4. The air lines, and cable if installed, should be clamped with cable ties at appropriate
locations so as to prevent chafing. Do not pull tightly on the cable ties.
5. Install source air lines, to the air fittings on the Robot rear main connector panel.
Chapter 3 Installation Instructions
3-23
SC3000 Robot Systems
Standard SR8437/SR8438 and SR8447/SR8448 Series Robot EOA Air lines and Cable
3-24
SC3000 Series Installation and Specifications Manual
Cable Connector chart
User
User 15-pin D shell (At the SCARA Robot base only)
C1
Encoder
I/O 1
I/O 2
Controller motor drive output to Robot
Controller (Encoders and Sensors), to/from Robot
Controller User DI/DO 1 and external user Safety circuit
Controller User DI/DO 2 also,
external use Safety circuit, remote Servo power on,
and DO Error On signal
RS-232C
Aux
Controller RS-232C connection to a host (optional)
Controller attachment of optional features
Pendant
ADS
Controller remote Emergency Stop (Pendant attaches to this cable end)
Controller Application Development System to PC serial port
AC Power
Controller AC input
NOTES: All Robot connectors are male, except for the User 15-pin D shell.
All Controller connectors are female, except for AC power input
Chapter 3 Installation Instructions
3-25
SC3000 Robot Systems
Option Boards and Features
Description
If adding or removing any of the following options at a later time, do so with the
referenced procedures, described on the following pages.
•
3101 CPU Board
•
3102 AD1319 64-Point I/O Board (up to two maximum).
•
3103 AD1309 128-Point I/O Board (up to three maximum).
•
3104 AD1308 64-Point I/O Board (up to two maximum).
•
3105 AD1313 – 4 Axis HS Board option (SC3000-010).
•
3106 Over Drive Processor (ODP) Board (SC3000-030 models only).
Expansion Slots
The SC3000 Controller has 3 available board slots for the expansion of optional
features. They are listed as follows, in relation to the mounting of the CPU board. The
CPU board is always installed as the bottom board.
SC3000 Unit (rear of the unit)
•
The highest priority feature option is the “High Speed Board”, and if installed, it must
always be the top option board. If any option board is installed after the “HS Board”, the
“HS board” must be moved upward.
•
Since DI/DO boards have fixed addressing, the lowest addressable board is the top
board. For example, if the maximum of 2 - 64 DI/DO boards (AD1319) are installed:
•
•
3-26
•
DI/DO board #1 (Addresses 25-88)
•
DI/DO board #2 (Addresses 89-152) -bottom board- expansion slot 1
-top board- expansion slot 2
And, if the maximum of 3 - 128 DI/DO boards (AD1309) are installed:
•
DI/DO board #1 (Addresses 153-280)
•
DI/DO board #2 (Addresses 281-408)
•
DI/DO board #3 (Addresses 409-536)
-top board- expansion slot 3
-bottom board- expansion slot 1
The Over Drive Processor (ODP) board installs directly on the CPU board.
SC3000 Series Installation and Specifications Manual
Optional Feature Installation
Normally, when your Robot System is ordered, any option board(s) is installed and
checked out for you, before shipment. If however, any options are ordered after
shipment of your Robot System, you must install them.
3101 CPU Board Removal and Replacement
Perform the following procedure only if your CPU board does not have standoff screws
installed in each corner of the CPU board, and you need to install an option board.
CAUTION: Any time the C5 or CN9 cable on the CPU board is disconnected, absolute home
position is LOST!
NOTES: A Personal Computer, capable of communicating with the SC3000 Robot Controller ADS
port, and an ADS software package, or a Pendant, is required to re-establish the absolute
home position.
1. Ensure that electrical power and air pressure has been turned off and removed from all
units.
2. Remove the 5 top cover screws and the top cover. Ensure the orange LED on the
Mother board is extinguished. (As viewed from the Controller rear, the orange LED is
on the lower right corner of the Mother board).
3. Remove the 2 rear screws that mount each dummy Controller connector plate(s) to the
rear of the unit. Remove each CPU corner mounting screw (4) and replace with a
standoff screw (4).
4. Attach one end of the 50 core flat cable to the CN1 connector on the CPU board, that
was shipped with your option board.
5. Verify that all cables are properly seated.
6. If you were sent here from the topic, “Installing the SC3000 Series Robot Controller”,
step 3, return there now, or, go to the appropriate option installation procedure, 3102
through 3106.
Chapter 3 Installation Instructions
3-27
SC3000 Robot Systems
3102 AD1319 – 64 Point DI/DO Board (P/N SCF323)
1. This procedure requires that the HWDEF.CFG file be updated. Before starting this
procedure, upload a current copy of the HWDEF.CFG file from the Controller and:
•
Send an email to [email protected] and attach a copy of your HWDEF.CFG file.
In the email text, state the number of 32/64 Point I/O board(s) you installed; or,
•
Call 1-561-998-9775 and request technical support (North America and Puerto Rico
only). If you are outside North America, refer to the Preface Chapter and contact
the nearest Sankyo office for assistance with your HWDEF.CFG file.
2. Power off the Controller. Remove the 5 screws and the top cover. Ensure the orange
LED on the Mother board is extinguished (high voltage).
3. Remove the rear dummy Controller plate(s) (2 screws in each plate). When removing
the rear dummy Controller plate(s), always break off and remove the top dummy plate,
as the bottom dummy plate has a lip to ensure proper air flow inside the Controller.
4. Up to 2 AD1319 feature boards may be installed above the CPU board.
5. If you have an AD1313 HS board already installed, you must remove it now and place
to one side. (This board must be re-installed later as the top board.)
6. If not already installed, install the 50 pin flat pigtail cable to CN1 of the CPU board, any
remaining pigtail connectors may attach to any installed option board.
7. Install the AD1319 board(s) using the following table for jumpers.
•
DI/DO board #1 (Addresses 25-88)
•
DI/DO board #2 (Addresses 89-152) -bottom board-, expansion slot 1
-top board-, expansion slot 2
Function
Board 1
Expansion Slot
2
Board 2
1
Jumper JP1
OFF
ON
AD1319 Option board
Controller rear
8. If you removed an AD1313 HS board, go to Procedure 3106 or 3107 now to re-install
this feature. Return here when finished.
9. Install all board screws, and verify that all cables are properly installed.
RS-232C Port
1. A second RS-232C communications port is available on the AD1319 board, and the
Port address is 2 or 3. To use this port, install companion option SCF324. Connect the
flat cable between CN4 of the AD1319 board to CN4 of option SCF324.
2. Install any remaining hardware, and test the Robot system.
3-28
SC3000 Series Installation and Specifications Manual
3103 AD1309 128-Point DI/DO Board (P/N SCF302)
1. Power off the Controller. Remove the 5 screws and the top cover. Ensure the orange
LED on the Mother board is extinguished (high voltage).
2. Remove the rear dummy Controller plate(s) (2 screws in each plate). When removing
the rear dummy Controller plate(s), always break off and remove the top one, as the
bottom one has a lip to ensure proper air flow inside the Controller.
3. Up to 3 AD1309 feature boards may be installed above the CPU board.
4. If you have an AD1313 HS board already installed, you must remove it now and place
to one side. (This board must be re-installed later as the top board.)
5. If not already installed, install the 50 pin flat pigtail cable to CN1 of the CPU board, any
remaining pigtail connectors may attach to any installed option board.
6. Install the AD1309 board(s) using the following table for jumpering.
•
DI/DO board #1 (Addresses 153-280)
•
DI/DO board #2 (Addresses 281-408)
•
DI/DO board #3 (Addresses 409-536)
•
The application person requires this information.
-top board-, expansion slot 3
-bottom board-, expansion slot 1
Board 1
Board 2
Board 3
Expansion Slot
3
2
1
Jumper JP1
Jumper JP2
OFF
OFF
ON
OFF
OFF
ON
AD1309 Option board
Controller rear
7. If you removed an AD1313 HS board, go to Procedure 3106 or 3107 now to re-install
this feature. Return here when finished.
8. Install all board screws, and verify that all cables are properly installed.
RS-232C Port
1. A second RS-232C communications port is available on the AD1309 board, and the
Port address is 4, 5 or 6. To use this port, install companion option SCF324. Connect
the flat cable between CN4 of the AD1309 board to CN4 of option SCF324.
2. Install any remaining hardware, and test the Robot system.
Chapter 3 Installation Instructions
3-29
SC3000 Robot Systems
3104 AD1308 32/64-Point DI/DO Board
NOTE: The AD1308 option is not available in the USA and some other countries. This
procedure requires that the HWDEF.CFG file be updated. Refer to the Preface Chapter
and contact the nearest Sankyo office for assistance with the HWDEF.CFG file update.
1. Power off the Controller. Remove the 5 screws and the top cover. Ensure the orange
LED on the Mother board is extinguished (high voltage).
2. Remove the rear dummy Controller plate(s) (2 screws in each plate). When removing
the rear dummy Controller plate(s), always break off and remove the top one, as the
bottom one has a lip to ensure proper air flow inside the Controller.
3. Up to 2 AD1308 feature boards may be installed above the CPU board.
4. If you have an AD1313 HS board already installed, you must remove it now and place
to one side. (This board must be re-installed later as the top board.)
5. Install the adapter board(s) using the following table. If you are installing more than one
DI/DO option board, refer to the following:
•
DI/DO board #1 (Addresses 25-88)
•
DI/DO board #2 (Addresses 89-152) -bottom board-, expansion slot 1
-top board-, expansion slot 2
Board 1
Board 2
Expansion Slot
2
1
Jumper JP1
OFF
ON
AD1308 Option board
Controller rear
6. Install any remaining board hardware, and verify the cabling.
7. If you removed an AD1313 HS board, go to Procedure 3106 or 3107 now to re-install
this board. Return here when finished.
8. Install any remaining hardware, and test the Robot system.
3-30
SC3000 Series Installation and Specifications Manual
3105 AD1313-4 Axis HS Board P/N SCF310)
NOTE: This option is available for the SC3000-010 4 Axis Controller only.
1. Turn the Controller off. Wait for one minute for the orange LED on the Mother board to
turn off and show that the high voltage has discharged sufficiently.
2. Remove the 5 screws from the top cover, and remove the top cover.
3. Remove the rear dummy Controller plate(s) (2 screws in each plate). When removing
the rear dummy Controller plate(s), always break off and remove the top one, as the
bottom one has a lip to ensure proper air flow inside the Controller.
NOTE:
The HS option board must always be the top board in the Controller.
4. Insert the HS option board from the rear and install the following cables:
Rear of Controller
5. Install any remaining board hardware, and verify the cabling.
6. Install any remaining hardware, and test the Robot system, or, return to the procedure
that sent you here.
RS-232C Port
1. A second RS-232C communications port is available on the HS board, and the Port
address is 7. The RS-232C connector is at the rear of this board.
2. Install all remaining hardware, and perform the "Absolute Home Position" adjustment
depending on your Robot type, found in a previous topic in this chapter. Test the Robot
System.
Chapter 3 Installation Instructions
3-31
SC3000 Robot Systems
3106 Over Drive Processor (ODP) Board (P/N SCF317)
Pre-requisites:
A. SC3000-030 Controller.
B. CPU Board - must be at level SB225008 (P/N E10A65P ) - refer to Installation, step 2,
below.
C. Robot System / ODP Files:
•
STRATE.BIN
V203.11 or later
•
SC3000.BIN
(Companion file to STRATE.BIN)
•
HSENGINE.BIN
(Companion file to STRATE.BIN)
• HSBOOT.BIN
(Companion file to STRATE.BIN)
D. Buzz application development software,-orADS for DOS software
All SC3000-030 systems
E. Pendant w/V2.02 software or later All SC3000-030 systems with a Pendant
Installation:
1. Power on the Controller and use the Buzz File manager or ADSMT to upload all critical
files:
•
HWDEF.CFG
•
JOBDEF.CFG
•
Retrieve the JOB, or upload all files with an extension of .DAT (Unique teaching
data files), and any other user files (these may be *.TXT, *.TSK, SSL, etc. , if
they are not part of a Cell Controller download process)
2. Power off the Controller and remove the 5 screws and the top cover. Ensure the
Controller CPU board is at level SB225008, and contains 1MB of Flash Memory:
•
If any option board is installed above the CPU board, disconnect any cables to
the board, and remove the four board corner screws. Perform this step for each
option board.
•
Look between the AUX and I/O 1 connectors on the CPU Board component side
for the number -SB225008. Also, 1MB of Flash Memory MUST be installed.
See the following drawing:
Rear of Controller
3-32
•
If the CPU board is not at level SB225008 with 1MB of Flash Memory, it must be
replaced with a CPU board with 1 MB of memory. Continue with step 3.
•
If the CPU board is at level SB225008 with 1 MB of Flash Memory, skip to step
12.
SC3000 Series Installation and Specifications Manual
3. Ensure that electrical power and air pressure has been turned off and removed from all
units, if possible.
4. Ensure the orange LED on the Mother board is extinguished, usually one minute after
removing power from the Controller.
5. Disconnect, and label if necessary, all cables from the CPU Board.
6. Remove the four corner screws that mount the CPU Board to the unit base.
7. Remove the 2 rear screws that mount the CPU Board connector plate to the rear of the
unit. It may also be necessary to remove any blank rear plates, 2 screws per plate.
8. Carefully remove the 512K CPU board through the rear of the unit.
9. For replacement of the 1 MB CPU board, reverse steps 3 through 8.
10. Download the files that were uploaded in step 1. See the following CAUTION note.
Caution:
If you Deploy the JOB with Buzz, you could create a new blank Teaching data file.
DO NOT Deploy the JOB, unless you want to reteach the points! Use the Buzz File
Manager or the ADSMT program for downloading.
11. Power on the Controller and test the Robot System by performing an ABS Home
procedure. This verifies the integrity of the new CPU board before installing the
ODP board and supporting files.
CAUTION: Do not power off the SC3000 until after all four of the following files are downloaded.
12. Ensure the Controller power is on and download the four ODP System files, in the
sequence given. Use the Buzz File Manager or the ADSMT program.
Download sequence:
•
STRATE.BIN
•
SC3000.BIN
•
HSENGINE.BIN
•
HSBOOT.BIN
13. If you skipped steps 3 through 11, download the files uploaded in step 1. See the
following CAUTION note.
Caution:
If you Deploy the JOB with Buzz, you could create a new blank Teaching data file.
DO NOT Deploy the JOB, unless you want to reteach the points! Use the Buzz File
Manager or the ADSMT program for downloading.
•
HWDEF.CFG
•
JOBDEF.CFG
•
All files with an extension of .DAT (Unique teaching data files)
•
Any other user files (These may be *.TXT, *.TSK, etc. , if they are not part of a
Cell Controller download process)
14. Power off the Controller, wait one minute, then install the ODP board on top of the
CPU board. Temporarily disconnect, then re-connect, any cables that may interfere
with the safe plugging of the ODP board. Refer to the drawing on the following
page.
Chapter 3 Installation Instructions
3-33
SC3000 Robot Systems
15. Install the ODP board power connector to CN9 of the Power Supply. As viewed from
the front of the Controller, CN9 is at the upper right hand corner of the Power
Supply. Ensure the power connector locking tab is toward the P/S connector locking
clip. Refer to the following drawing.
(back of Controller
)
mounting screws
Fan
ODP board
CPU board
DC Power supply
(top view)
CN9 location
16. Remove the rear blank mounting plate just above the CPU board, and replace it with
the rear vented mounting plate that is supplied with the ODP board option.
17. Install all remaining cables and hardware.
18. Power on the Controller. Sometimes a false Real-time error occurs on the first
power on. If this condition occurs, power the Controller off, then on again. The
normal condition is Error 250, “Home Position Lost”.
19. Perform an “ABS Home Procedure”. Test the system.
Follow-on Topics
The following topics may be researched in this manual.
3-34
•
Wiring the User (physical) DI/DO points, Chapter 4.
•
ADS Communications port cable wiring, Appendix A.
•
RS-232C Communications port cable wiring, Appendix B.
•
DI/DO wiring charts to keep track of User DI/DO wiring, Appendix C.
SC3000 Series Installation and Specifications Manual
Chapter 4 Digital Input/Digital Output (DI/DO)
CONTENTS
Digital Input / Digital Output Points ...................................................................................... 4-3
DI/DO Configuration: ............................................................................................................................. 4-3
Physical DI/DO ...................................................................................................................................... 4-4
Physical DI/DO Address Chart ....................................................................................................... 4-5
Standard DI/DO ....................................................................................................................... 4-6
Standard Input circuit ...................................................................................................................... 4-7
DI Point Specifications .................................................................................................................... 4-7
Standard Output circuit ................................................................................................................... 4-7
DO Point Specifications .................................................................................................................. 4-7
Standard Digital Input (DI)..................................................................................................................... 4-8
Open collector type sensor DI - I/O 1 connector ............................................................................ 4-8
Using the Internal +24V supply ...................................................................................................4-9
Open collector type sensor DI - I/O 2 connector .......................................................................... 4-10
Using the Internal +24V supply .................................................................................................4-11
Open emitter type sensor DI - I/O 1 connector ............................................................................. 4-12
Open emitter type sensor DI - I/O 2 connector ............................................................................. 4-14
Standard Digital Output (DO) .............................................................................................................. 4-16
Open collector sinking type DO - I/O 1 connector ........................................................................ 4-16
Using the Internal +24V supply .................................................................................................4-17
Open collector sinking type DO - I/O 2 connector ........................................................................ 4-18
Using the Internal +24V supply .................................................................................................4-19
Open emitter sourcing type DO - I/O 1 connector ........................................................................ 4-20
Open emitter sourcing type DO - I/O 2 connector ........................................................................ 4-22
Customer D/O Error circuit .................................................................................................................. 4-24
Customer Safety circuits - Before May, 1995 ..................................................................................... 4-25
Customer Safety circuits - After May, 1995 ........................................................................................ 4-26
I/O 1 Connector Pin Assignments ....................................................................................................... 4-27
I/O 2 Connector pin assignments........................................................................................................ 4-28
128 Point DI/DO Option (P/N SCF302) ................................................................................ 4-29
DO Point Fuses ............................................................................................................................ 4-29
Card Jumpers ............................................................................................................................... 4-29
Modifying the HWDEF.CFG file.................................................................................................... 4-29
128 Point I/O - DI Circuit diagram................................................................................................. 4-30
128 Point I/O - DO Circuit diagram............................................................................................... 4-30
128 Point I/O - Wiring DI/DO points.............................................................................................. 4-31
Connector Charts ................................................................................................................................ 4-32
128 Point I/O - CN1 Connector..................................................................................................... 4-32
128 Point I/O - CN2 Connector..................................................................................................... 4-33
128 Point I/O - CN3 Connector..................................................................................................... 4-34
128 Point I/O - CN4 Connector ..................................................................................................... 4-35
128 Point - DATA Communications.............................................................................................. 4-36
Copyright © Sankyo Robotics, 1994-2001
Chapter 4 Digital Input/Digital Output (DI/DO)
4-1
SC3000 Robot Systems
64 Point DI/DO Option (P/N SCF323) .................................................................................. 4-37
DO Point Fuses ............................................................................................................................ 4-37
Card Jumper ................................................................................................................................. 4-37
Modifying the HWDEF.CFG file.................................................................................................... 4-37
64 Point I/O - DI Circuit Diagram .................................................................................................. 4-38
64 Point I/O - DO Circuit Diagram ................................................................................................ 4-38
64 Point I/O - Wiring DI/DO points................................................................................................ 4-39
Connector Charts ................................................................................................................................ 4-40
64 Point I/O - CN1 Connector (DI Only) ....................................................................................... 4-40
64 Point I/O - CN2 Connector (DO Only) ..................................................................................... 4-41
64 Point I/O - CN3 Connector (DI Only) ....................................................................................... 4-42
64 Point I/O - CN4 Connector (DO Only) ..................................................................................... 4-43
External DI/DO Cable Routing............................................................................................. 4-44
Some Good Rules To Follow .............................................................................................................. 4-44
Signal Cable Selection ........................................................................................................................ 4-45
4-2
SC3000 Series Installation and Specifications Manual
Digital Input / Digital Output Points
The SC3000 Series Controllers utilize three types of Digital Input and Digital Output
(DI/DO) points. DI/DO is also called I/O. In some documentation you may see the term
“port” or “ports”, when I/O points are discussed. Point(s), port(s), I/O and DI/DO are all
interchangeable terms. The three types of DI/DO are:
Physical I/O is the I/O that will be utilized by the customer for wiring external devices
that interact with the application. The user has 24 points of I/O standard, and up to 384
points of extended I/O. This chapter describes the use of physical DI/DO.
Memory I/O is used by the customer for task to task communication. 1024 points are
reserved by the system for this purpose. This type of DI/DO is not discussed in this
manual. Refer to the SC3000 SSL/E Language Reference, “Chapter 3”, for additional
information on this topic.
System I/O contains useful information about each task. 2048 points are available , 64
points per task, 32 for SI (System Input), and 32 for SL (System Load). For System
Load, the term Load is the same as Output. This type of DI/DO is not discussed in this
manual. Refer to the SC3000 SSL/E Language Reference, “Chapter 3”, for additional
information on this topic
DI/DO Configuration:
I/O Type
Point #
Physical I/O
1
CPU Board
Physical I/O
24
25
Extended
Board(s)
Memory I/O
536
1025
CPU Board
System I/O
2048
2049
CPU Board
4096
4097
All DI/DO points with a
value or status of 1 is
true. Likewise, a value
or status of 0 is false.
The monitoring of all
DI/DO points can be
done with the Pendant
or the ADS personal
computer.
Reserved
nnnn
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-3
SC3000 Robot Systems
Physical DI/DO
Physical DI/DO is also called User DI/DO. This is the DI/DO furnished by the SC3000
Series Controller for customer use with external devices. The SC3000 Series
Controllers contains 2 types of DI/DO:
1. Standard DI/DO
•
Points 1 - 16 are DI and points 17 - 24 are DO points. They are supplied on the
CPU board, through connectors I/O 1 and I/O 2 as follows:
•
I/O 1. DI Points 1 - 8 and DO points 17 - 20.
•
I/O 2. DI Points 9 - 16 and DO points 21 - 24.
•
Standard DI/DO points are fixed, not selectable or programmable.
2. Extended DI/DO (optional)
32/64 Point Extended DI/DO option, up to 64 points per board, and up to 2 boards per
Controller. This provides a total of an additional 128 DI/DO points. The DI/DO points
have fixed addresses, but each point may be configured individually as a DI or a DO
point. This is option AD1319 or AD1308.
•
A maximum of 2 Option boards (total) may be added to the Controller.
•
Each DI/DO point has a unique address, regardless of the option(s) installed, but
may be a DI or a DO point. Each I/O point definition is selectable.
•
The first DI/DO point on the first option board is point number 25 and by default is
configured as a DI point. By default, the first DO point on the first option board is
point number 41.
•
If you were to install one DI/DO expansion board now, you may add one later
without changing any DI/DO address. All physical DI/DO points have unique
addresses.
128 Point Extended DI/DO option, 128 points per board, and up to 3 boards per
Controller. This provides a total of an additional 384 DI/DO points. The Extended
DI/DO points, like the Standard DI/DO points, are fixed, not selectable, and each point
has a unique address. This is option AD1309.
•
A maximum of 3 Option boards (total) may be added to the Controller.
•
Each 128 POINT DI/DO point has a unique address, regardless of the option(s)
installed.
•
The first DI/DO point on the first 128 POINT expansion option is point number 153,
and it is a DI point. The first DO point on the first 128 POINT option is point number
217.
•
If you were to install one DI/DO expansion board now, you may add one later
without changing any DI/DO address. All physical DI/DO points have unique
addresses.
You can mix and match these I/O board options. You can have one 32/64 POINT
option and one 128 POINT option installed on your Controller.
Refer to the Address Chart on the following page for Physical I/O addresses.
4-4
SC3000 Series Installation and Specifications Manual
Physical DI/DO Address Chart
DI/DO Type
Board ID
Address Range
Standard I/O
24 points total
CPU
1-24
1-16 DI
17-24 DO
Expanded I/O
Board 1
25-88
25-40 DI
41-56 DO
57-72 DI
73-88 DO
Board 2
89-152
89-104 DI
105-120 DO
121-136 DI
137-152 DO
Board 1
153 - 280
153 - 216 DI
217 - 280 DO
Board 2
281 - 408
281 - 344 DI
345 - 408 DO
Board 3
409 - 536
409 - 472 DI
473 - 536 DO
AD1319 Feature
or
*AD1308 Feature
64 points total
Expanded I/O
Definition
AD1309 Feature
128 points total
*AD1308 Feature is not available in all countries.
•
All addresses are fixed for standard and extended Physical (user) DI/DO.
•
The AD1308 32/64 POINT option DI/DO points are individually selectable.
•
All Standard, AD1309 and AD1319 Feature option DI/DO points are fixed, not
programmable or selectable.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-5
SC3000 Robot Systems
Standard DI/DO
Connector I/O 1 at the rear of the Controller contains DI points 1 through 8, and DO
points 17 through 20. Connector I/O 2 at the rear of the Controller contains DI points 9
through 16, and DO points 21 through 24. Each of the DO points are fused on the CPU
board, to protect circuit logic and each has its own spare logic fuse.
The user must supply a +24V DC power source to power external devices. The +24V
DC supply should meet international requirements for safety isolation transformers and
provide safety extra-low voltages (SELV).
The SC3000 Series Controllers provides a +24V DC level at 2 amps for DI/DO test
purposes only. The +24V DC is present at pin 1 on both I/O connectors, +24V DC
common is present on pin 14 on both I/O connectors. It is recommended to use this
internal +24V DC power only as a way to test DI/DO points when an external +24V DC
power supply is not readily available. Once the application design is complete, the user
should have acquired an external +24V DC power supply to meet the requirements of
the application.
CAUTION: Any user wiring attached to the Robot Controller other than at the user interface
connectors may cause:
•
a safety hazard
•
warranty invalidation
•
unexplained system errors
•
unreliable operation.
Refer to the following wiring examples for Standard DI/DO.
4-6
SC3000 Series Installation and Specifications Manual
Standard Input circuit
DI Point Specifications
•
DI points are powered by an external +24V DC power supply (± 10 %).
•
The minimum current draw for each DI point is 10 ma.
Standard Output circuit
DO Point Specifications
•
DO points are powered by an external +24V DC power supply (± 10 %).
•
The maximum current draw for any DO point is 500 ma.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-7
SC3000 Robot Systems
Standard Digital Input (DI)
Open collector type sensor DI - I/O 1 connector
The following figure shows the digital input I/O 1 connector pin assignments from the
16-point standard DI group that is part of the CPU board logic. Any DI optical isolation
circuit can be used as an open collector DI type as follows:
4-8
NOTE:
Pins 1 and 14 (Controller internal 24V DC and DC Common) are used for test purposes.
NOTE:
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
SC3000 Series Installation and Specifications Manual
The preceding page shows:
•
The external power source +24V DC, connected at pin 2 of I/O connector 1.
•
The external power source DC common, connects to one side of the user sensor.
•
The other side of the user sensor is connected to any DI input pin, 3 through 10, of I/O
connector 1, depending on the DI point used.
NOTES: Minimum of 10 ma per DI point is expected
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO sensors. It is recommended to copy the blank charts in Appendix C, and
keep the originals as master copies.
Using the Internal +24V supply
If you want to test with the internal +24V DC power supply:
1. Jumper pin 1 to pin 2 on I/O 1. (The internal +24V DC is present at pin 1).
2. Use pin 14 of I/O 1 as the DC common side to connect to one side of any sensor.
3. Connect the other side of the user sensor to pins 3 through 10 of I/O connector 1,
depending on the DI point you want to use. (In our example, pin 5, DI point 3).
NOTE:
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-9
SC3000 Robot Systems
Open collector type sensor DI - I/O 2 connector
The following figure shows the digital input I/O 2 connector pin assignments from the
16-point standard DI group that is part of the CPU board logic. Any DI optical isolation
circuit can be used as an open collector DI type as follows:
4-10
NOTE:
Pins 1 and 14 (Controller internal 24V and DC common) are used for test purposes.
NOTE:
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
SC3000 Series Installation and Specifications Manual
The preceding page shows:
•
The external power source +24V DC, connected at pin 2 of I/O connector 2.
•
The external power source DC common, connects to one side of the user sensor.
•
The other side of the user sensor is connected to any DI input pin, 3 through 10, of I/O
connector 2, depending on the DI point used.
NOTES: Minimum of 10 ma per DI point is expected
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO sensors. It is recommended to copy the blank charts in Appendix C, and
keep the originals as master copies.
Using the Internal +24V supply
If you want to test with the internal +24V DC power supply:
1. Jumper pin 1 to pin 2 on I/O 2. The internal +24V DC is present at pin 1.
2. Use pin 14 of I/O 2 as the DC Common side to one side of the sensor.
3. Connect the other side of the user sensor to pins 3 through 10 of I/O connector 2,
depending on the DI point you want to use. In our example, pin 5, DI point 11.
NOTE:
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-11
SC3000 Robot Systems
Open emitter type sensor DI - I/O 1 connector
The following figure shows the digital input I/O 1 connector pin assignments from the
16-point standard DI group that is part of the CPU board logic. Any DI optical isolation
circuit can be used as an open emitter DI type as follows:
NOTE:
4-12
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
SC3000 Series Installation and Specifications Manual
The example on the preceding page shows:
•
The external power source DC common, connected at pin 2 of I/O connector 1.
•
The external power source +24V DC connects to one side of the user sensor.
•
The other side of the user sensor is connected to any DI input pin, 3 through 10, of I/O
connector 1, depending on the DI point used.
NOTES: Minimum of 10 ma per DI point is expected
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO points. It is recommended to copy the blank charts in Appendix C, and keep
the originals as master copies.
If you want to test with the internal +24V DC power supply:
Use the open collector DI type, explained in the previous topic.
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-13
SC3000 Robot Systems
Open emitter type sensor DI - I/O 2 connector
The following figure shows the digital input I/O 2 connector pin assignments from the
16-point standard DI group that is part of the CPU board logic. Any DI optical isolation
circuit can be used as an open emitter DI type as follows:
NOTE:
4-14
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
SC3000 Series Installation and Specifications Manual
The example on the preceding page shows:
•
The external power source DC common, connected at pin 2 of I/O connector 2.
•
The external power source +24V DC, connects to one side of the user sensor.
•
The other side of the user sensor is connected to any DI input pin, 3 through 10, of I/O
connector 2, depending on the DI point used.
NOTES: Minimum of 10 ma per DI point is expected
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO points. It is recommended to copy the blank charts in Appendix C, and keep
the originals as master copies.
If you want to test with the internal +24V DC power supply:
Use the open collector DI type, explained in the previous topic.
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-15
SC3000 Robot Systems
Standard Digital Output (DO)
Open collector sinking type DO - I/O 1 connector
The following figure shows the digital output I/O 1 connector pin assignments from the
8-point standard DO group that is part of the CPU board logic. Any DO optical isolation
circuit can be used as an open collector DO type as follows:
NOTE:
Pins 1 and 14 (internal 24V and DC common) are used for test purposes. See the
following page, "Using the Internal +24V supply".
NOTES: The arc suppression diode, pictured above across each user output device, is customer
supplied.
Each DO point is fused on the CPU board. Refer to Chapter 2.2, the topic “Repairing
Standard DO fuses” of the SR8437 and SR8438 Series Hardware Manual, or the CCRM Series Hardware Manual for more information on repairing DO fuses.
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
4-16
SC3000 Series Installation and Specifications Manual
The example on the preceding page shows:
•
The external power source +24V DC, connected to one side of the user device. This
can be a relay, solenoid, etc.
•
The other side of the user device is connected to a DO pin, 20 through 23, of I/O
connector 1, depending on the DO point used
•
The external power source DC common is connected to a DO pin, 15 through 18, of I/O
connector 1, depending on the DO point used.
•
The arc suppression diode is installed across the DO load for the user output device.
NOTES: Maximum of 500 ma per DO point is expected, 2 amps per group of 4 DO points.
Each DO point is individually fused on the CPU board.
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO sensors. It is recommended to copy the blank charts in Appendix C, and
keep the originals as master copies.
Using the Internal +24V supply
1. For test purposes only. Use pin 1 as a common to one side of the user device. The
internal +24V DC is present at pin 1 of the I/O 1 connector.
2. Connect the other side of the user device to a DO pin, 20 through 23, of I/O connector
1, depending on the DO point used. In our example, pin 22 for DO point 19.
3. Use pin 14 of I/O 1 as the DC common side, connecting to a DO pin, 15 through 18, of
I/O connector 1, depending on the DO point used. In our example, pin 17, DO point 19.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-17
SC3000 Robot Systems
Open collector sinking type DO - I/O 2 connector
The following figure shows the digital output I/O 2 connector pin assignments from the
8-point standard DO group that is part of the CPU board logic. Any DO optical isolation
circuit can be used as an open collector DO type as follows:
NOTE:
Pins 1 and 14 (internal 24V and DC common) must only be used for test purposes. See
the following page, "Using the Internal +24V supply".
NOTES: The arc suppression diode, pictured above across each user device, is customer
supplied.
Each DO point is fused on the CPU board, and a spare circuit fuse is provided in the
event the primary fuse becomes defective. Refer to Chapter 2.2, “Repairing Standard
DO fuses” of the SR8437 and SR8438 Series Hardware Manual, or the CCR-M Series
Hardware Manual for more information on repairing DO fuses.
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
4-18
SC3000 Series Installation and Specifications Manual
The example on the preceding page shows:
•
The external power source +24V DC, connected to one side of the user device. This
can be a relay, solenoid, etc.
•
The other side of the user device is connected to a DO pin, 20 through 23, of I/O
connector 2, depending on the DO point used
•
The external power source DC common is connected to a DO pin, 15 through 18, of I/O
connector 2, depending on the DO point used.
•
The arc suppression diode is installed across the DO load for the user output device.
NOTES: Maximum of 500 ma per DO point is expected, 2 amps per group of 4 DO points.
Each DO point is individually fused.
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO sensors. It is recommended to copy the blank charts in Appendix C, and
keep the originals as master copies.
Using the Internal +24V supply
1. For test purposes only. Use pin 1 as a common to one side of the user device. The
internal +24V DC is present at pin 1 of the I/O 2 connector.
2. Connect the other side of the user device to a DO pin, 20 through 23, of I/O connector
2, depending on the DO point used. In our example, DO point 23.
3. Use pin 14 of I/O 2 as the DC common side, connecting to a DO pin, 15 through 18, of
I/O connector 2, depending on the DO point used. In our example, DO point 23.
NOTE:
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-19
SC3000 Robot Systems
Open emitter sourcing type DO - I/O 1 connector
The following figure shows the digital output I/O 1 connector pin assignments from the
8-point standard DO group that is part of the CPU board logic. Any DO optical isolation
circuit can be used as an open emitter DO type as follows:
NOTES: The arc suppression diode, pictured above across each user device, is customer
supplied.
Each DO point is fused on the CPU board, and a spare circuit fuse is provided in the
event the primary fuse becomes defective. Refer to Chapter 2.2, “Repairing Standard
DO fuses” of the SR8437 and SR8438 Series Hardware Manual, or the CCR-M Series
Hardware Manual for more information on repairing DO fuses.
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
4-20
SC3000 Series Installation and Specifications Manual
The example on the preceding page shows:
•
The external power source DC common, connected to one side of the user device. This
can be a relay, solenoid, etc.
•
The other side of the user device is connected to a DO pin, 15 through 18, of I/O
connector 1, depending on the DO point used
•
The external power source 24V DC is connected to a DO pin, 20 through 23, of I/O
connector 1, depending on the DO point used.
•
The arc suppression diode is installed across the inductive load for the user device.
NOTES: Maximum of 500 ma per DO point is expected, 2 amps per group of 4 DO points.
Each DO point is individually fused.
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO sensors. It is recommended to copy the blank charts in Appendix C, and
keep the originals as master copies.
If you want to test with the internal +24V DC power supply:
Use the open collector DO type, explained in the previous topic.
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-21
SC3000 Robot Systems
Open emitter sourcing type DO - I/O 2 connector
The following figure shows the digital output I/O 2 connector pin assignments from the
8-point standard DO group that is part of the CPU board logic. Any DO optical isolation
circuit can be used as an open emitter DO type as follows:
NOTES: The arc suppression diode, pictured above across each user device, is customer
supplied.
Each DO point is fused on the CPU board, and a spare circuit fuse is provided in the
event the primary fuse becomes defective. Refer to Chapter 2.2, “Repairing Standard
DO fuses” of the SR8437 and SR8438 Series Hardware Manual, or the CCR-M Series
Hardware Manual for more information on repairing DO fuses.
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
4-22
SC3000 Series Installation and Specifications Manual
The example on the preceding page shows:
•
The external power source DC common, connected to one side of the user device. This
can be a relay, solenoid, etc.
•
The other side of the user device is connected to a DO pin, 15 through 18, of I/O
connector 2, depending on the DO point used
•
The external power source 24V DC is connected to a DO pin, 20 through 23, of I/O
connector 2, depending on the DO point used.
•
The arc suppression diode is installed across the inductive load for the user device.
NOTES: Maximum of 500 ma per DO point is expected, 2 amps per group of 4 DO points.
Each DO point is individually fused.
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO sensors. It is recommended to copy the blank charts in Appendix C, and
keep the originals as master copies.
If you want to test with the internal +24V DC power supply:
Use the open collector DO type, explained in a previous topic.
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-23
SC3000 Robot Systems
Customer D/O Error circuit
When the Controller front panel Error LED is on or flashing, pin 24 and pin 19 of the I/O 2
connector provide a DO signal: (This signal is not present on I/O 1)
Pin 19 is the Error N signal
Pin 24 is the Error P signal
This can be connected via the open collector type, or the open emitter type, as shown
above.
The purpose is to provide an Error output signal (DO) when the Robot Controller has
detected an error.
NOTES: Maximum of 500 ma for the DO point is expected, not fused.
Install an arc suppression diode across any user load that is being utilized as a DO
device. See circuit example above.
Appendix C contains blank Physical (user) DI/DO charts that can be used to keep track
of all DI/DO sensors. It is recommended to copy the blank charts in Appendix C and
keep the originals as master copies.
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
4-24
SC3000 Series Installation and Specifications Manual
Customer Safety circuits - Before May, 1995
CAUTION: If pins 12 and 14 of I/O 2 are jumpered, Servo power can come on automatically.
You are advised not to jumper pins 12 and 14. If necessary, place a momentary type
toggle switch across pins 12 and 14, so that Servo power may be controlled by this
momentary switch. (Pendant must be in Remote Mode.)
NOTES: The Emergency stop (n/c) switch must exceed a 24V, 200 ma rating.
The Servo power on (n/o) switch must exceed a 24V, 10 ma rating.
The Aux L connector has pins 4 and 12 jumpered, pins 7 and 14 have a 470 ohm
resistor, for noise suppression.
If the Pendant is not attached, the dummy Pendant connector must be installed for
Servo power to be switched on.
If an E-Stop switch circuit is not used with I/O 1 and/or I/O 2, then the dummy I/O 1
and/or I/O 2 connectors must be installed for Servo power to be switched on.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-25
SC3000 Robot Systems
Customer Safety circuits - After May, 1995
CAUTION: If pins 12 and 14 of I/O 2 are jumpered, Servo power can come on automatically.
You are advised not to jumper pins 12 and 14. Place a momentary type toggle
switch across pins 12 and 14, so that Servo power may be controlled by this
momentary switch. (Pendant must be in Remote Mode.)
NOTES: The Emergency stop (n/c) switch must exceed a 24V, 200 ma rating.
The Servo power on (n/o) switch must exceed a 24V, 10 ma rating.
The SC3000-010 Aux H connector has pins 4 and 5 jumpered, pins 7 and 14 have a
470 ohm resistor, for noise suppression. See the drawing above.
The SC3000-030 Aux H connector has pins 1 and 27 jumpered, pins 23 and 48 have
a 470 ohm resistor, for noise suppression. (Not shown in drawing above.)
If the Pendant is not attached, the Dummy Pendant connector must be installed.
If an E-Stop switch circuit is not used with I/O 1 and/or I/O 2, then the dummy I/O 1
and/or I/O 2 connectors must be installed for Servo power to be switched on.
4-26
SC3000 Series Installation and Specifications Manual
I/O 1 Connector Pin Assignments
Pin #
Name
Description
I/O point #
1
2
24V DC
ICOM2
Internal +24V DC P/S
Input circuit common
3
4
5
6
I1
I2
I3
I4
DI point 1
DI point 2
DI point 3
DI point 4
1
2
3
4
7
8
9
10
I5
I6
I7
I8
DI point 5
DI point 6
DI point 7
DI point 8
5
6
7
8
11
12
13
14
EMS1
G24
not connected
not connected
Servo power source switch
Internal 24V DC P/S common
15
16
17
18
O 1N
O 2N
O 3N
O 4N
DO point 1 emitter
DO point 2 emitter
DO point 3 emitter
DO point 4 emitter
19
20
21
22
23
not connected
O 1P
O 2P
O 3P
O 4P
24
25
17
18
19
20
DO point 1 collector
DO point 2 collector
DO point 3 collector
DO point 4 collector
17
18
19
20
not connected
EMS2
Servo power source switch
Chapter 4 Digital Input/Digital Output (DI/DO)
4-27
SC3000 Robot Systems
I/O 2 Connector pin assignments
4-28
Pin #
Name
1
2
24V DC
ICOM2
Internal +24V DC P/S
Input circuit common
3
4
5
6
I9
I 10
I 11
I 12
DI point 9
DI point 10
DI point 11
DI point 12
9
10
11
12
7
8
9
10
I 13
I 14
I 15
I 16
DI point 13
DI point 14
DI point 15
DI point 16
13
14
15
16
Description
I/O point #
11
12
13
14
G24
Sankyo reserved
Servo power source on
not connected
Internal 24V DC P/S common
15
16
17
18
O 5N
O 6N
O 7N
O 8N
Output 5 emitter
Output 6 emitter
Output 7 emitter
Output 8 emitter
19
ERRN
Error (LED) output collector N
20
21
22
23
O 5P
O 6P
O 7P
O 8P
Output 5 collector
Output 6 collector
Output 7 collector
Output 8 collector
24
ERRP
Error (LED) output collector P
25
EMS2
Servo power source switch
/STBY
21
22
23
24
21
22
23
24
SC3000 Series Installation and Specifications Manual
128 Point DI/DO Option (P/N SCF302)
The 128 POINT DI/DO option board (Feature AD1309) contains 64 points of DI and 64
points of DO, and one RS-232C communications port:
•
All addresses on the adapter board(s) are fixed and unique for all DI/DO points.
•
Up to three 128 POINT DI/DO adapter boards may be installed in any one SC3000
Series Controller. Refer to the Card Jumpers topic below, for jumpering information
when more than one 128 POINT option board is installed.
•
An external +24V DC power supply is required to power the DI/DO points and their
devices.
•
The communications port number address is 4 through 6, depending on the board
number being used. Option SCF324, “Expansion RS-232C Panel, SC3000”, is
recommended for use with the RS-232C communications port.
DO Point Fuses
Each group of 16 DO points is fused (2.0 amps), P/N E10A43P. The fuse is the only
board component that may be replaced, and 2 spare fuses come with each board.
Card Jumpers
When more than one 128 Point I/O board is installed, jumper the boards as follows:
Jumper JP1 and JP2 chart
First board
JP1 is OFF, JP2 is OFF, RS-232C port ID is 4
Second board
JP1 is ON, JP2 is OFF, RS-232C port ID is 5
Third board
JP1 is OFF, JP2 is ON, RS-232C port ID is 6
Modifying the HWDEF.CFG file
The HWDEF.CFG file does not require changes with the 128 I/O Board option.
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-29
SC3000 Robot Systems
128 Point I/O - DI Circuit diagram
Input Circuit
DI Point Specifications
•
DI points are powered by an external +24V DC power supply (± 10 %).
•
The minimum current draw for each DI point is 10 ma.
128 Point I/O - DO Circuit diagram
Output Circuit
DO Point Specifications
4-30
•
DO points are powered by an external +24V DC power supply (± 10 %).
•
The maximum current draw for any one DO point is 500 ma.
•
The maximum current draw for any group of 16 DO points is 2.0 amps.
•
Each group of 16 DO points is protected with a 2.0 amp replaceable fuse.
SC3000 Series Installation and Specifications Manual
128 Point I/O - Wiring DI/DO points
Every DI/DO point on each adapter board is associated with its unique address as
shown in the following CN1 through CN4 connector charts. Record this “Card n Addr”
as this is the address you will use when referencing the DI/DO point in your program.
Pin 20 is DI point 298, on the CN2 connector for adapter board #2. Pin 9 is the
common that services this DI point. The DI points may be wired in either manner as
shown below.
Pin 17 is DO point 375, on the CN2 connector for adapter board # 2. Pin 37 is the
common to use for this DO point. DO points can only be wired in this manner. See the
drawing below
CAUTION: The 128 point AD1309 feature for DO point wiring does not work the same as the
standard DO. The +24VDC must not be wired to the common as allowed for the
standard DO. Use the example above for wiring your DO points.
For DI points only, when wiring a CN connector common pin to the external Power
Supply Plus side or ground side, all 8 points serviced by that common must be
wired in the exact same manner.
NOTE:
The SC3000 Controller requires a 2.6mm threaded screw to fasten any user D-shell
connector to its mating board connector.
DO points should have an arc suppression diode installed across the DO load device,
as shown in the example above.
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-31
SC3000 Robot Systems
Connector Charts
128 Point I/O - CN1 Connector
P in N o.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
NOTE:
T ype
Input
Input
Input
Input
Input
Input
Input
Input
Input C om m on
O utput
O utput
O utput
O utput
O utput
O utput
O utput
O utput
O utput C om m on
N ot connected
Input
Input
Input
Input
Input
Input
Input
Input
Input C om m on
O utput
O utput
O utput
O utput
O utput
O utput
O utput
O utput
O utput C om m on
C ard 1 A ddr C ard 2 A ddr C ard 3 A ddr
153
281
409
155
283
411
157
285
413
159
287
415
161
289
417
163
291
419
165
293
421
167
295
423
S ee N ote
217
345
473
219
347
475
221
349
477
223
351
479
225
353
481
227
355
483
229
357
485
231
359
487
S ee N ote
154
156
158
160
162
164
166
168
218
220
222
224
226
228
230
232
282
284
286
288
290
292
294
296
S ee N ote
346
348
350
352
354
356
358
360
S ee N ote
410
412
414
416
418
420
422
424
474
476
478
480
482
484
486
488
The CN1 Input or Output Common services 8 DI or DO points as follows:
Pin #
Pin 9
Pin 18
Pin 28
Pin 37
Card 1
DI points 153 – 160
DO points 217- 224
DI points 161 - 168
DO points 225 - 232
Card 2
DI points 281 – 288
DO points 345 - 352
DI points 289 - 296
DO points 353 - 360
Card 3
DI points 409 – 416
DO points 473 - 480
DI points 417 - 424
DO points 481 - 488
Appendix C contains blank DI/DO charts for recording the points used in your application.
Each group of 16 DO points is fused. To Replace, refer to Chapter 2.2 of the SR8437
and SR8438 Series Hardware Manual, or the CCR-M Series Hardware Manual.
4-32
SC3000 Series Installation and Specifications Manual
128 Point I/O - CN2 Connector
P in N o .
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
NOTE:
T yp e
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t C o m m o n
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t C o m m o n
N o t C o n n e c te d
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t C o m m o n
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t C o m m o n
C a rd 1 A d d r
169
171
173
175
177
179
181
183
233
235
237
239
241
243
245
247
170
172
174
176
178
180
182
184
234
236
238
240
242
244
246
248
C a rd 2 A d d r C a rd 3 A d d r
297
425
299
427
301
429
303
431
305
433
307
435
309
437
311
439
S e e N o te
361
489
363
491
365
493
367
495
369
497
371
499
373
501
375
503
S e e N o te
298
300
302
304
306
308
310
312
S e e N o te
362
364
366
368
370
372
374
376
S e e N o te
426
428
430
432
434
436
438
440
490
492
494
496
498
500
502
504
The CN2 Input or Output Common services 8 DI or DO points as follows:
Pin #
Pin 9
Pin 18
Pin 28
Pin 37
Card 1
DI points 169 - 176
DO points 233 - 240
DI points 177 - 184
DO points 241 - 248
Card 2
DI points 297 - 304
DO points 361 - 368
DI points 305 - 312
DO points 369 - 376
Card 3
DI points 425 - 432
DO points 489 - 496
DI points 433 - 440
DO points 497 - 504
Appendix C contains blank DI/DO charts for recording the points used in your application.
Each group of 16 DO points is fused. To replace, refer to Chapter 2.2 of the SR8437 and
SR8438 Series Hardware Manual, or the CCR-M Series Hardware Manual.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-33
SC3000 Robot Systems
128 Point I/O - CN3 Connector
P in N o .
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
NOTE:
T yp e
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t C o m m o n
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t C o m m o n
N o t c o n n e c te d
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t C o m m o n
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t C o m m o n
C a rd 1 A d d r
185
187
189
191
193
195
197
199
249
251
253
255
257
259
261
263
186
188
190
192
194
196
198
200
250
252
254
256
258
260
262
264
C a rd 2 A d d r
313
315
317
319
321
323
325
327
S e e N o te
377
379
381
383
385
387
389
391
S e e N o te
C a rd 3 A d d r
441
443
445
447
449
451
453
455
314
316
318
320
322
324
326
328
S e e N o te
378
380
382
384
386
388
390
392
S e e N o te
442
444
446
448
450
452
454
456
505
507
509
511
513
515
517
519
506
508
510
512
514
516
518
520
The CN3 Input or Output Common services 8 DI or DO points as follows:
Pin #
Pin 9
Pin 18
Pin 28
Pin 37
Card 1
DI points 185 - 192
DO points 249- 256
DI points 193 - 200
DO points 257 - 264
Card 2
DI points 313 - 320
DO points 377 - 384
DI points 321 - 328
DO points 385 - 392
Card 3
DI points 441 - 448
DO points 505 - 512
DI points 449 - 456
DO points 513 - 520
Appendix C contains blank DI/DO charts for recording the points used in your application.
Each group of 16 DO points is fused. To replace, refer to Chapter 2.2 of the SR8437 and
SR8438 Series Hardware Manual, or the CCR-M Series Hardware Manual.
4-34
SC3000 Series Installation and Specifications Manual
128 Point I/O - CN4 Connector
P in N o .
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
NOTE:
T yp e
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t C o m m o n
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t C o m m o n
N o t c o n n e c te d
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t
In p u t C o m m o n
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t
O u tp u t C o m m o n
C a rd 1 A d d r
201
203
205
207
209
211
213
215
265
267
269
271
273
275
277
279
202
204
206
208
210
212
214
216
266
268
270
272
274
276
278
280
C a rd 2 A d d r
329
331
333
335
337
339
341
343
S e e N o te
393
395
397
399
401
403
405
407
S e e N o te
C a rd 3 A d d r
457
459
461
463
465
467
469
471
330
332
334
336
338
340
342
344
S e e N o te
394
396
398
400
402
404
406
408
S e e N o te
458
460
462
464
466
468
470
472
521
523
525
527
529
531
533
535
522
524
526
528
530
532
534
536
The CN4 Input or Output Common services 8 DI or DO points as follows:
Pin #
Pin 9
Pin 18
Pin 28
Pin 37
Card 1
DI points 201 - 208
DO points 265- 272
DI points 209 - 216
DO points 273 - 280
Card 2
DI points 329 - 336
DO points 393 - 400
DI points 337 - 344
DO points 401 - 408
Card 3
DI points 457 - 464
DO points 521 - 528
DI points 465 - 472
DO points 529 - 536
Appendix C contains blank DI/DO charts for recording the points used in your application.
Each group of 16 DO points is fused. To replace, refer to Chapter 2.2 of the SR8437 and
SR8438 Series Hardware Manual, or the CCR-M Series Hardware Manual.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-35
SC3000 Robot Systems
128 Point - DATA Communications
High speed data communications may be accomplished between two SC3000
Controllers by wiring the 128 DI/DO option cards back-to-back. An 8-bit wiring example
for CN1 is shown below, and the remainder of CN1, as well as the CN2 - CN4
connectors may be wired accordingly:
4-36
SC3000 Series Installation and Specifications Manual
64 Point DI/DO Option (P/N SCF323)
The 64 POINT DI/DO option board contains 32 points of DI and 32 points of DO, and
one RS-232C communications port:
•
All addresses on the adapter board(s) are fixed and unique for all DI/DO points.
•
Up to two 64 Point DI/DO adapter boards may be installed in any one SC3000
Series Controller. Refer to the Card Jumper topic below for jumpering instructions.
•
An external +24V DC power supply is required to power the DI/DO points and their
devices.
•
Each DO Point is fused (0.5 amps) on the board, and a secondary DO point fuse
may be soldered into the circuit if the primary fuse becomes defective.
•
The communications port number address is 2 or 3, depending on the board number
being used. Option SCF324, “Expansion RS-232C Panel, SC3000”, is
recommended for use with the RS-232C communications port.
DO Point Fuses
Each DO point is fused (0.5 amps). The replacement fuse is already on the board and
must be soldered into the circuit. Before soldering, ensure the cause of the problem
has been isolated and repaired. Refer to Chapter 2.2, of the SCARA Series Hardware
Manual, or the CCR-M Series Hardware Manual, as necessary, for soldering
instructions.
Card Jumper
When more than one 64 Point I/O board is installed, jumper the boards as follows:
I/O Board
First board
Second board
Jumper
JP1 is OFF, RS-232C port ID is 2
JP1 is ON, RS-232C port ID is 3
Modifying the HWDEF.CFG file
The 64 point I/O board requires a modification to the HWDEF.CFG file. Obtain the
HWDEF.CFG file for your SC3000 Controller and forward this file via email to
[email protected] for modification:
1. Sankyo technical support will modify and send the HWDEF file back to you.
2. Download this file to your Controller.
3. Power off your Controller, then power on, and your 64 point I/O board is configured.
or:
Call Sankyo Technical Support at 561-998-9775, (North America and Puerto Rico,
only). For all other countries, refer to the Preface chapter of any Sankyo manual, and
call the nearest Sankyo office for assistance.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-37
SC3000 Robot Systems
64 Point I/O - DI Circuit Diagram
DI Point Specifications
•
DI points are powered by an external +24V DC power supply (± 10 %).
•
The minimum current draw for each DI point is 10 ma.
64 Point I/O - DO Circuit Diagram
DO Point Specifications
4-38
•
DO points are powered by an external +24V DC power supply (± 10 %).
•
The maximum current draw for any one DO point is 500 ma.
•
Each DO point is protected with a 0.5 amp replaceable (by soldering) fuse.
SC3000 Series Installation and Specifications Manual
64 Point I/O - Wiring DI/DO points
Every DI/DO point on each adapter board is associated with its unique address as
shown in the following CN1 through CN4 connector charts. Record this “Card n Addr”
as this is the address you will use when referencing the DI/DO point in your program.
Pin 1 is DI point 25, on the CN1 connector for I/O board # 1. Pin 20 is the common that
services this DI point. This DI point may also be wired with the DI load in series with
the P/S common side. See the DI wiring examples below.
Pin 1 is DO point 41, on the CN2 connector for I/O board # 1. Pin 20 is the common
that services this DO point. This DO point may also be wired with the DO load in series
with the P/S common side. See the DO wiring examples below.
DO points should have an arc suppression diode installed across the DO load device,
as shown in the examples above.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-39
SC3000 Robot Systems
Connector Charts
64 Point I/O - CN1 Connector (DI Only)
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
4-40
Type
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Reserved
Reserved
Reserved
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Reserved
Reserved
Common pin Card 1 Addr Card 2 Addr
20
25
89
21
26
90
22
27
91
23
28
92
24
29
93
25
30
94
26
31
95
27
32
96
28
33
97
29
34
98
30
35
99
31
36
100
32
37
101
33
38
102
34
39
103
35
40
104
SC3000 Series Installation and Specifications Manual
64 Point I/O - CN2 Connector (DO Only)
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
Type
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Reserved
Reserved
Reserved
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Reserved
Reserved
Common pin Card 1 Addr Card 2 Addr
20
41
105
21
42
106
22
43
107
23
44
108
24
45
109
25
46
110
26
47
111
27
48
112
28
49
113
29
50
114
30
51
115
31
52
116
32
53
117
33
54
118
34
55
119
35
56
120
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-41
SC3000 Robot Systems
64 Point I/O - CN3 Connector (DI Only)
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
4-42
Type
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Input +
Reserved
Reserved
Reserved
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Common, Input
Reserved
Reserved
Common pin Card 1 Addr Card 2 Addr
20
57
121
21
58
122
22
59
123
23
60
124
24
61
125
25
62
126
26
63
127
27
64
128
28
65
129
29
66
130
30
67
131
31
68
132
32
69
133
33
70
134
34
71
135
35
72
136
SC3000 Series Installation and Specifications Manual
64 Point I/O - CN4 Connector (DO Only)
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
Type
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Output +
Reserved
Reserved
Reserved
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Common, Output
Reserved
Reserved
Common pin Card 1 Addr Card 2 Addr
20
73
137
21
74
138
22
75
139
23
76
140
24
77
141
25
78
142
26
79
143
27
80
144
28
81
145
29
82
146
30
83
147
31
84
148
32
85
149
33
86
150
34
87
151
35
88
152
Chapter
apter 4 Digital Input/Digital Output (DI/DO)
4-43
SC3000 Robot Systems
External DI/DO Cable Routing
Interference between DI/DO cables and typical sources of electrical noise will more
likely occur with long, parallel runs. A good rule to follow is to keep all DI/DO cables at
least 0.3 m (1 ft.) away from any power line or other AC source.
In addition to the electrical noise sources listed under "Electrical Noise" in Chapter 2,
the following sources should be avoided when cabling DI/DO.
•
Fluorescent and neon lighting fixtures.
•
Power distribution systems, including wiring, transformers, generators, and
alternators.
•
Signal generators, intercommunications systems, and security signal systems.
•
Ultrasonic cleaning equipment.
•
Electromagnetic equipment, such as degaussers, magnetic chucks, etc.
•
Control equipment (relays, contactors, etc.) for machinery and other switching
devices that carry or switch relatively large amounts of currents.
Some Good Rules To Follow
NOTE:
4-44
•
Comply with all local, state, and national safety and electrical codes.
•
Enclose overhead cables in a grounded trough.
•
Keep cable lengths as short as possible.
•
When several cables are coming from the same signal source, lay them along the
same route.
•
Store excess cable in an "S" shape, not coiled up.
All unused wires in multi-conductor cables must be grounded at the optical isolation
board end only, when such boards are used.
SC3000 Series Installation and Specifications Manual
Signal Cable Selection
Three general categories of wiring and cabling are suggested for designing cabling to
the system Dl/DO points. The following three categories are listed in order of
preference:
•
Shielded twisted-pair. This is an individually-shielded wire-pair instrumentation
cable. It is available with either a braided shield or conductive foil-wrapped shield
and drain wire. Twin axial cable may be used to get controlled high-frequency
characteristics. The shielded twisted-pair types of cable substantially reduce crosstalk.
•
Unshielded twisted-pair. This is a general purpose cabling of stranded wire. It is
available with or without a protective jacket. Cross-talk is the most serious
application problem encountered with this type of cable. If this type of cable is used
to carry unbalanced signals, the signals must be of similar amplitude and speed.
•
Coaxial cable. This is a single-conductor cable with a braided and insulated shield.
This has high-frequency controlled losses and a constant characteristic impedance.
It may also be used as low-frequency shielded cable in a noisy environment.
The following general information should be considered when selecting cables:
•
Shielded twisted-pair is generally considered the best type of cable.
•
Shielded cable is preferred for high-speed digital signal applications and for use in
industrial or noisy environments. The shield should be grounded according to the
specific recommendations for the attaching device.
•
Stranded conductor cable is easier to install and is less susceptible to conductor
breakage than single strand conductor.
•
The external protective jacket of the cable must withstand the environment in which
it is installed. Temperature range, humidity range, and the possibility of chemical
contamination must all be considered.
Chapter 4 Digital Input/Digital Output (DI/DO)
4-45
SC3000 Robot Systems
This page left blank intentionally
4-46
SC3000 Series Installation and Specifications Manual
Chapter 5 Specifications
CONTENTS
Introduction ............................................................................................................................ 5-3
Sankyo SC3000 Series Robot Controller ............................................................................. 5-4
SC3000 Series Controller - Dimensions and Operating Specifications ................................................ 5-5
Environment.................................................................................................................................... 5-5
Motion Control Specifications................................................................................................................ 5-6
Optional Feature Boards ....................................................................................................... 5-7
128 Point DI/DO Option (P/N SCF302) .......................................................................................... 5-7
High Speed (HS) Processor Option (P/N SCF310)........................................................................ 5-7
Over Drive Processor (ODP) Option (P/N SCF317)....................................................................... 5-7
64 Point DI/DO Option (P/N SCF323) ............................................................................................ 5-8
Expansion RS-232C Panel (P/N SCF324) ..................................................................................... 5-8
DeviceNet Option (P/N SCF336).................................................................................................... 5-8
Sankyo SR8437/SR8447 Series Robot ................................................................................. 5-9
SR8437/SR8447 Dimensions and Operating Specifications .............................................................. 5-10
SR8437/SR8447 Robot Arm Dimensions..................................................................................... 5-11
SR8437/SR8447 Robot Arm Clearance Dimensions ................................................................... 5-12
SR8437/SR8447 Robot Workspace ............................................................................................. 5-13
SR8437/SR8447 Robot Workspace Dimensions ......................................................................... 5-14
SR8437/SR8447 Robot Performance Specifications ................................................................... 5-15
SR8437/SR8447 Robot Positioning Specifications ......................................................................5-15
Sankyo SR8438/SR8448 Series Robot ............................................................................... 5-16
SR8438/SR8448 Dimensions and Operating Specifications .............................................................. 5-17
SR8438/SR8448 Robot Arm Dimensions..................................................................................... 5-18
SR8438/SR8448 Robot Arm Clearance Dimensions ................................................................... 5-19
SR8438/SR8448 Robot Workspace ............................................................................................. 5-20
SR8438/SR8448 Robot Workspace Dimensions ......................................................................... 5-21
SR8438/SR8448 Robot Performance Specifications ................................................................... 5-22
SR8438 Positioning Specifications............................................................................................... 5-22
SR8437/SR8447 and SR8438/SR8448 Robot Tool Tip ..................................................................... 5-23
SR8437/SR8447 Series Robot Tool Tip Dimensions................................................................... 5-23
SR8438/SR8448 Series Robot Tool Tip Dimensions................................................................... 5-23
SR8437/SR8447 Series Robot Tool Tip Flange...........................................................................5-24
SR8438/SR8448 Series Robot Tool Tip Flange...........................................................................5-25
Sankyo CCR Model 1X Series Robot.................................................................................. 5-26
CCR-M1X Dimensions and Operating Specifications......................................................................... 5-27
CCR-M1X Series - X Axis Base mounting plates......................................................................... 5-28
CCR-M1X Series – X to Y Axis mounting bracket........................................................................ 5-29
CCR-M10 Lite Dimensions ........................................................................................................... 5-30
CCR-M10 Dimensions / Standard X Axis ..................................................................................... 5-31
CCR-M10 Dimensions / Long X Axis............................................................................................ 5-32
CCR-M12 Dimensions / Standard X Axis ..................................................................................... 5-33
CCR-M12 Dimensions / Long X Axis............................................................................................ 5-34
CCR-M14 Dimensions / Standard X Axis ..................................................................................... 5-35
Copyright © Sankyo Robotics, 1994-2001
Chapter 5 Specifications
5-1
SC3000 Robot Systems
CCR-M14 Dimensions / Long X Motor ......................................................................................... 5-36
CCR-M14 Series Robot Tool Tip Dimensions (Servo Z).............................................................. 5-37
CCR-M1X Robot Workspace........................................................................................................5-38
CCR-M1X Robot Performance Specifications..............................................................................5-39
CCR-M10 Lite Robot Performance Specifications ....................................................................... 5-40
CCR-M1X Positioning Specifications ........................................................................................... 5-40
Sankyo CCR Model 3X Series Robot.................................................................................. 5-41
CCR-M3X Dimensions and Operating Specifications......................................................................... 5-42
CCR-M3X Dimensions / Standard X Axis..................................................................................... 5-43
CCR-M3X Workspace .................................................................................................................. 5-44
CCR-M3X Performance Specifications ........................................................................................ 5-45
CCR-M3X Positioning Specifications ........................................................................................... 5-45
5-2
SC3000 Series Installation and Specifications Manual
Introduction
This chapter provides the specifications of the major components of the Sankyo Robot
Systems, specifically the Sankyo SC3000 Series Robot Controller, the Sankyo SCARA
Series Robots, and the CCR-M Series Robots.
The information contained in this chapter includes:
NOTE:
•
Component descriptions.
•
Component dimensions.
•
Component operating specifications.
•
Robot workspace dimensions.
•
Robot performance specifications.
•
Robot tool tip and tool tip flange dimensions.
All descriptions, specifications and dimensions subject to modification without notice.
Chapter 5 Specifications
5-3
SC3000 Robot Systems
Sankyo SC3000 Series Robot Controller
The SC3000 Series Robot Controller is used as the processor module for the Sankyo
SCARA Series, and the CCR Model 10 and 30 Series Robot Systems. The Controller
is based on the high performance Motorola 68EC020 microprocessor and operates at
24MHz.
Three basic Models of the SC3000 Robot Controller are available:
•
SC3000-001
•
SC3000-010 / 100
•
SC3000-030 / 300
All Controller models function in a similar manner and are of the same physical size.
Minor differences exist between the Controller models. For information on these
differences, refer to Chapter 1 of the “SC3000 Robot System User’s Guide”.
The SC3000 Series Robot Controller is configured with the following:
•
1024K Main memory
•
512K/1024K Flash memory
•
Application Development System (ADS) communications port (9600 baud)
•
16 DI points
•
8 DO points
•
“Error on” DO point
•
Safety circuit extension for I/O 1 and I/O 2 Connectors
•
RS232 Asynchronous Communications port (up to 19200 baud*)
•
Auxiliary port for Arcnet and Stepper motor features
•
Pendant port (2.5 megabits per second) Arcnet Sankyo field bus
*The SC3000-030 Controller supports 19200 baud, all other models support 9600.
The Controller is optionally designed for installation inside a standard 19-inch rack. It
requires a minimum of 4 U of rack height (U = 1.75 inches, the basic unit of rack
measure). The standard 19-inch rack must comply with Electronic Industries
Association (EIA) RS-310B (ANSI C83.9-1972) dimensional specifications and use the
universal mounting rail hole pattern. For ease of servicing, optional rack mounting
slides are also available.
5-4
SC3000 Series Installation and Specifications Manual
SC3000 Series Controller - Dimensions and Operating Specifications
SC3000 Series Controller / Four Axis Model
Height
Width
Depth
Weight
Electrical consumption
Temperature/humidity
Heat output
125 mm (5.0 in.) + 15 mm (0.6 in.) for foot pads
430 mm (17.0 in.)
475 mm (18.75 in.) + 205 mm (8.0 in.) for cable relief
12.0 kg (26.4 lb.)
200 - 230V AC nominal, single phase
50 - 60 Hz ±3 Hz
6.0 Amperes maximum at 220 VAC
1.20 KVA maximum
0 ∼ 40°C/30 ∼ 90 % (non-condensing)
600 Watts (2065 BTU/hr.)
SC3000 Series Controller / Six Axis Model
Height
Width
Depth
Weight
Electrical consumption
Temperature/humidity
Heat output
125 mm (5.0 in.) + 15 mm (0.6 in.) for foot pads
430 mm (17.0 in.)
475 mm (18.75 in.) + 205 mm (8.0 in.) for cable relief
12.0 kg (26.4 lb.)
200 - 230V AC nominal, single phase
50 - 60 Hz ±3 Hz
7.5 Amperes maximum at 220 VAC
1.50 KVA maximum
0 ∼ 40°C/30 ∼ 90 % (non-condensing)
720 Watts (2065 BTU/hr.)
Pendant
Height
Width
Depth
Weight
Electrical consumption
Touch key force
Operating
temperature/humidity
Heat output
166 mm (6.54 in.)
245 mm (9.65 in.)
55 mm (2.17 in.)
1.0 kg (2.2 lb.) without E-Stop cable
3.5 ∼ 5.25 V DC (Controller supplied)
300 grams
0 ∼ 40°C/30 ∼ 90 % (non-condensing)
Low - not specified
Environment
Environmental specifications are presented in Chapter 2, “Site Installation
Requirements", topic "Environment", of this manual.
Chapter 5 Specifications
5-5
SC3000 Robot Systems
Motion Control Specifications
The following specifications reflect the Motion Control System software relative to the
Sankyo SC3000 series Robot Controller hardware:
Timing Specifications
Real-time I/O
Base Real-time period
Real-time tasks (I/O TASKS)
Servo Controls:
Inverse Kinematics transform period
Fine Interpolation period
Analog servo command period
SC3000-010
SC3000-030
12.8 ms
13 ms
10 ms
13 ms
12.8 ms
3.8 ms
1.5 ms
10 ms
0.625 ms
0.625 ms
Kinematics Specifications
Point to Point
Three dimensional straight lines
Three dimensional arcs and circles
Appending of multiple moves (up to eight maximum)
Asynchronous or synchronous joint accelerations
Programmable speed control
Programmable acceleration control
Rate of acceleration change control
Motion stop on I/O change of state
Guarded workspace areas
1-6 axes of motion (axes 5 and 6 option, 2nd robot)
4 axes SCARA
4 axes CCR
expandable to 5th and 6th axis (options)
Move Types
Move Planning Controls
Kinematics Types
Supported
Acceleration Specifications
Robot /payload
Axis
Axis
Axis
Axis
Theta 1 rad/sec²
Theta 2 rad/sec²
Z mm/sec²
Roll rad/sec²
8437/8447 - 1kg
13
21
6500
95
8438/8448 - 1kg
33
X mm/sec²
40
Y mm/sec²
7500
Z mm/sec²
120
Roll rad/sec²
2500
40
CCR-M10 500X400/0kg
CCR-M14 500X400/0kg
8000
5600
8000
5600
NOTES: All rotational axes are specified as rad/sec² (radians per second ²)
All linear axes are specified as mm/sec² (millimeters per second ²)
5-6
SC3000 Series Installation and Specifications Manual
Option Boards
The following list of Sankyo board options are supported when installed or attached to
the appropriate Sankyo SC3000 Series Robot Controller.
Feature P/N
Description
P/N SCF302
P/N SCF310
P/N SCF317
P/N SCF323
P/N SCF324
P/N SCF336
128 point I/O option, 3 options maximum
HS (High Speed) option SC3000-010 only
Over Drive Processor (ODP) option
64 point I/O option, 2 options maximum
Expansion RS-232C Panel, SC3000
DeviceNet option, 3 options maximum
128 Point DI/DO Option (P/N SCF302)
The 128 Point DI/DO Adapter provides the user I/O interface that can be controlled and
sensed from the user application code. Refer to Chapter 4 for the technical
specifications of interfacing to the 128 Point DI/DO circuits.
•
Board type
Sankyo AD1309
•
Total I/O points
128, optically isolated
•
DI
64 points
•
DO
64 points
•
I/O addresses
Fixed, not selectable
•
I/O accessible
D-shell, 37 pin X 4
•
Additional RS-232C Comm port
Communication port address = 4, 5 or 6
High Speed (HS) Processor Option (P/N SCF310)
High Speed Processor option, for the SC3000-010 / 100 models only.
•
Board Type
Sankyo AD1313
•
Processor type
RISC - Hitachi SH7032
•
Additional RS-232C Comm port
Communication port address = 7
Over Drive Processor (ODP) Option (P/N SCF317)
High Speed OverDrive Processor option, for the SC3000-030 / 300models only.
•
Board Type
Sankyo AD1322
•
Processor type
Motorola MC68040RC33 / 32.5MHz
Chapter 5 Specifications
5-7
SC3000 Robot Systems
64 Point DI/DO Option (P/N SCF323)
The 64 Point DI/DO Adapter provides the user I/O interface that can be controlled and
sensed from the user application code. Refer to Chapter 4 for the technical
specifications of interfacing to the 64 Point DI/DO circuits.
•
Board type
Sankyo AD1319
•
Total I/O points
64, optically isolated
•
DI
32 points
•
DO
32 points
•
I/O addresses
Fixed, not selectable
•
I/O accessible
D-shell 37 pin X 4
•
Additional RS-232C Comm port
Communication port address = 2 or 3
Expansion RS-232C Panel (P/N SCF324)
The Expansion RS-232C panel allows the Communications port for any DI/DO option to
be used with a 9-Pin D-shell, Null modem cable.
•
Comm port accessible
D-shell 9 pin X 1
DeviceNet Option (P/N SCF336)
The Sankyo DeviceNet option complies and is listed with the Open DEVICENET
Vendor Association (ODVA) standards. A Communications port for any DI/DO option
to be used with a 9-Pin D-shell, Null modem cable.
5-8
•
Board type
Sankyo AD1325
•
Total I/O points
64, optically isolated
•
DI
32 points
•
DO
32 points
•
I/O addresses
Fixed, not selectable
•
I/O accessible
Phoenix connector, 5 pin X 1 (Via PLC)
•
Additional RS-232C Comm port
Communication port address = 8, 9 or 10
SC3000 Series Installation and Specifications Manual
Sankyo SR8437/SR8447 Series Robot
The Sankyo SR8437/SR8447 Series Robot is an updated and improved version of the
previous Sankyo SCARA Robot models. The enhancements are:
•
Enhanced Z-shaft
•
Incorporated end-of-arm (EOA) interface
•
”Brush-less” servo motors
•
Absolute encoders (Robot need not be homed after power on)
•
An SR8437C/SR8447C, a Class 10 Clean room model
•
An SR8437C-550Z, a Class 10 Clean room model with a 550mm Z axis
•
An SR8437DP, a Dust Proof model
•
An SR8437WP, A Water Proof model
The key features are:
•
4 servo axes: Theta 1, Theta 2, Z and Roll
•
Coordinated natural arc, linear, and circular motions, with 3D support
•
Power-on teaching via the hand-held Pendant (in TEACH mode)
•
Manual power-off teaching (in TEACH mode)
•
Z axis brake with manual release
•
Removable tool tip flange for mounting end-of-arm tooling
•
15-wire Z Axis cable, for End-Of-Arm attachments (factory wired)
The Robot interfaces directly to the SC3000 Series Robot Controller through a standard
cable set. Cable options are 3 meter, 5-meter or 10-meter cable set.
The standard Robot cables are:
•
Motor cable
•
Encoder cable
Chapter 5 Specifications
5-9
SC3000 Robot Systems
SR8437/SR8447 Dimensions and Operating Specifications
SR8437 / SR8447 Series Robot
Height
925 mm (36.45 in.)
Width
230 mm (9.1 in.)
Depth
870 mm (34.26 in.)
Weight
90 kg (198 lb.)
Compressed air for gripper
Not to exceed 6 kgf /cm²
One fitting with 6 mm (OD) tubing
Two fittings with 4 mm OD tubing
(Six 4mm fittings for the SR8437C model only)
See NOTE
Electrical specifications
Motors:
Theta 1
Theta 2
Z
Roll
Harmonic Drives:
Theta 1
Theta 2
Roll
NOTE:
5-10
All power originates from the SC3000 Series Controller
SR8447
366 Watt
267 Watt
200 Watt
100 Watt
SR8437
366 Watt
267 Watt.
118 Watt
70 Watt
Reduction Ratios
120 : 1
51 : 1
50 : 1
Encoders
5.0 VDC, class 2
Photo sensors
24.0 VDC, class 2
Z axis brake
24.0 VDC
Operating
temperature/humidity
5° C - 40° C (40° F - 104° F)
30% - 90% non condensing
The air lines are factory installed in the Robot arm, routed from the base of the Robot
through to the Z Axis.
SC3000 Series Installation and Specifications Manual
SR8437/SR8447 Robot Arm Dimensions
136°
110
180
136°
117°
70
400
400
550
25
925
850
I.D. 18
250
O.D. 25
375
4-M16
50
30
180
55
30 hole
NOTES: The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
All straight line dimensions are in mm.
The base mounting bolts, M-16 (Qty 4), are shipped for mounting the base of the Robot
to a table or stand.
The SR8437C/SR8447C model has a Z axis length of 240 mm.
The end-of-arm camera mounting surface is 40mm from the center of the Z axis.
Chapter 5 Specifications
5-11
SC3000 Robot Systems
SR8437/SR8447 Robot Arm Clearance Dimensions
5-12
SC3000 Series Installation and Specifications Manual
SR8437/SR8447 Robot Workspace
The workspace of the SR8437/SR8447 Series Robot is the three dimensional area
through which the robot's tool tip can travel.
Positions within an robot's workspace are located in an X-Y-Z coordinate system. The
origin of the horizontal plane (X = 0 and Y = 0) is defined as the axis of rotation of the
Theta 1 joint. Z positions are located relative to the upper-most position of the robot
tool tip (Z = 0). Thus, all Z positions within the workspace are positive. Roll motion is
the rotational motion of the robot's tool tip about its own axis, with positive motion being
clockwise, and negative motion being counter-clockwise.
The X and Y motion is specified in millimeters or degrees, the Z axis motion is given in
millimeters, and the Roll axis motion is given in degrees.
The home position is a special reference point. It is the location at which the Robot
initializes its servo motors for proper orientation, one time only. This is due to the fact
that all robot encoders are battery-backed and the “homing” requirement is no longer
necessary, each time the Robot is powered off, then on. Thus, home is the fixed
reference point for program-controlled movements. A readjustment of the home
position is only required after certain types of maintenance.
The workspace of the Robot is pictured on the next page, with the key dimensions
outlined below: (Right Home is the default)
Reference
Dimension *
a
b
c
d
e
f
300
500
800
400
400
250 (240 for SR8437C)
HOME **
Right = 236.155, 184.505, 0, 0
Left = -236.155, -184.505, 0 0
•
*All dimensions are ±1.0 mm (0.04 in.).
•
*Home position includes X, Y, Z, and Roll. The home position given above does not
take each Robot's unique offset into consideration. True home position could vary
by up to 5 mm.
Chapter 5 Specifications
5-13
SC3000 Robot Systems
SR8437/SR8447 Robot Workspace Dimensions
b
5-14
SC3000 Series Installation and Specifications Manual
SR8437/SR8447 Robot Performance Specifications
SR8437/SR8447 Series Robot Performance Specifications
Maximum payload
10 kg (22 lb.) with reduced acceleration
1 kg (2.2 lb.) with full acceleration
Theta 1 axis:
range
speed
of rotation ±117 °
5200 mm/sec
range
speed
of rotation ±136 °
5200 mm/sec
range
speed
rotating torque
inertial load
of rotation ±360 °
510 °/second
6 Nm
0.03 kg-m² maximum
Theta 2 axis:
Roll axis:
NOTE: Off-center loads may cause unexpected
Roll-axis rotation during acceleration or
deceleration movements in the X-Y plane.
Z axis:
range
0 to 250 mm / SR8437/SR8447
(0 to 240 mm / SR8437C/SR8447C)
(0 to 550 mm / SR8437C-550Z)
SR8437 Series speed
SR8447 Series speed
force
610 mm / sec
1140 mm / sec
16 kgf (35.2 lb.) maximum
Axis resolution
Motor torque
Theta 1
Theta 2
Z
Roll
0.00146 ° / pulse
0.00246 ° / pulse
0.00421 mm / pulse
0.00352 ° / pulse
Theta 1 366 watt - 0.870 Nm / 7.70 in lb
Theta 2 267 watt - 0.640 Nm / 5.66 in lb
8447 Z 200 watt - 0.640 Nm / 5.66 in lb
8437 Z 118 watt - 0.280 Nm / 2.48 in lb
8447 R 100 watt – 0.320 Nm / 2.83 in lb
8437 R
70 watt - 0.170 Nm / 1.51 in lb
SR8437/SR8447 Robot Positioning Specifications
The following positioning specifications assume a constant payload and an environment
of 23.9 ± 2.8 °C (75 ± 2.8 °F).
Repeatability
XY plane
Z
Roll rotation
±0.03 mm (±0.0015 in.)
±0.02 mm (±0.001 in.)
±0.02 °
Chapter 5 Specifications
5-15
SC3000 Robot Systems
Sankyo SR8438/SR8448 Series Robot
The Sankyo SR8438/SR8448 Series Robot is an updated and improved version of the
previous Sankyo SCARA Robot models. The enhancements are:
•
Absolute encoders (Robot need not be homed after power on)
•
”Brush-less” servo motors
•
Enhanced Z-shaft
•
Incorporated end-of-arm (EOA) interface
•
An SR8438C/SR8448C, a Class 10 Clean room model
•
An SR8438DP, a Dust Proof model
The key features are:
•
4 servo axes: Theta 1, Theta 2, Z, and Roll
•
Coordinated natural arc, linear, and circular motions
•
Power-on teaching via the hand-held Pendant (in TEACH mode)
•
Manual power-off teaching (in TEACH mode)
•
Z axis brake and manual release
•
Removable tool tip flange for mounting end-of-arm devices
•
15-wire Z Axis cable, for End-Of-Arm attachments (factory wired)
The Robot interfaces directly to the SC3000 Series Robot Controller through a standard
cable set. Cable options are 3 meter, 5-meter or 10-meter cable set.
The standard Robot cables are:
5-16
•
Motor cable
•
Encoder cable
SC3000 Series Installation and Specifications Manual
SR8438/SR8448 Dimensions and Operating Specifications
SR8438/SR8448 Series Robot
Height
705 mm (27.76 in.)
Width
230 mm (9.1 in.)
Depth
710 mm (29.30 in.)
Weight
70 kg (154 lb.)
Compressed air for gripper
See NOTE
Not to exceed 6 kgf /cm²
One fitting for 6 mm (OD) tubing
Two fittings for 4 mm OD tubing
Electrical specifications
All power originates from the SC3000 Series Controller
Motors:
Theta 1
Theta 2
Z
Roll
Harmonic Drives:
Theta 1
Theta 2
Roll
NOTE:
SR8448
366 Watt
267 Watt
200 Watt
100 Watt
SR8438
366 Watt
267 Watt.
118 Watt
70 Watt
Reduction Ratios
60 : 1
51 : 1
50 : 1
Encoders
5.0 VDC, class 2
Photo sensors
24.0 VDC, class 2
Z axis brake
24.0 VDC
Operating
temperature/humidity
5° C - 40° C (40° F - 104° F)
30% - 90% non condensing
The air lines are factory installed in the Robot arm, routed from the base of the Robot
through to the Z Axis.
Chapter 5 Specifications
5-17
SC3000 Robot Systems
SR8438/SR8448 Robot Arm Dimensions
NOTES: The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
All straight-line dimensions are in mm.
The base mounting bolts, M-16 (Qty 4), are shipped for mounting the base of the Robot
to a table or stand.
The end-of-arm camera mounting surface is 30mm from the center of the Z axis.
The SR8438 Dust Proof Robot model has a reduced Theta 1 workspace of +60
degrees and – 90 degrees.
5-18
SC3000 Series Installation and Specifications Manual
SR8438/SR8448 Robot Arm Clearance Dimensions
The SR8438 Dust Proof Robot model has a reduced Theta 1 workspace of +60
degrees and – 90 degrees.
Chapter 5 Specifications
5-19
SC3000 Robot Systems
SR8438/SR8448 Robot Workspace
The workspace of the SR8438/SR8448 Series Robot is the three dimensional area
through which the robot's tool tip can travel.
Positions within a robot's workspace are located in an X-Y-Z coordinate system. The
origin of the horizontal plane (X = 0 and Y = 0) is defined as the axis of rotation of the
Theta 1 joint. Z positions are located relative to the upper-most position of the Robot
tool tip (Z = 0). Thus, all Z positions within the workspace are positive. Roll motion is
the rotational motion of the robot's tool tip about its own axis, with positive motion being
clockwise, and negative motion being counter-clockwise.
The X and Y motion is specified in millimeters or degrees, the Z axis motion is given in
millimeters, and the Roll axis motion is given in degrees.
The home position is a special reference point. It is the location at which the Robot
initializes its servo motors for proper orientation one time only. This is due to the fact
that all robot encoders are battery-backed and the “homing” requirement found on
other Robot models is no longer necessary, each time the Robot is powered off, then
on. Thus, home is still the fixed reference point for program-controlled movements.
A readjustment of the home position is only required after certain types of maintenance.
The workspace of the Robot is pictured on the next page, with the key dimensions
outlined below: (Right Home is the default)
Reference
Dimension *
a
b
c
d
e
f
216
334
550
300
250
150
HOME **
Right = 123.223, 176.777, 0, 0
Left = -123.223, -176.777, 0,
0
5-20
•
All dimensions are ±1.0 mm (0.04 in.).
•
Home position includes X, Y, Z, and Roll. The home position given above does not
take each Robot's unique offset into consideration. True home position could vary
by up to 5 mm.
SC3000 Series Installation and Specifications Manual
SR8438/SR8448 Robot Workspace Dimensions
NOTE: The SR8438 Dust Proof Robot model has a reduced Theta 1 workspace of +60
degrees and – 90 degrees.
Chapter 5 Specifications
5-21
SC3000 Robot Systems
SR8438/SR8448 Robot Performance Specifications
SR8438/SR8448 Series Robot Performance Specifications
Maximum payload
5 kg (11 lb.) with reduced acceleration
1 kg (2.2 lb.) with full acceleration
Theta 1 axis:
range
speed
of rotation ± 90 °
5100 mm / second
range
speed
of rotation ± 135 °
5100 mm / second
range
speed
rotating torque
inertial load
of rotation ± 220 °
770 degrees / second
4 Nm
0.03 kg-m² maximum
Theta 2 axis:
Roll axis:
NOTE: Off-center loads may cause unexpected
Roll-axis rotation during acceleration or
deceleration movements in the X-Y plane.
Z axis:
range
SR8438 Series speed
SR8448 Series speed
force
Axis resolution
Motor torque
0 to 150 mm (0 to 5.90 in.)
830 mm/second
1060 mm/second
10 kgf (22.0 lb.) maximum
Theta 1
Theta 2
Z
Roll
0.00244° / pulse
0.00294° / pulse
0.00547 mm / pulse
0.00509° / pulse
Theta 1 366 watt - 0.870 Nm / 7.70 in lb
Theta 2 267 watt - 0.640 Nm / 5.66 in lb
8447 Z 200 watt - 0.640 Nm / 5.66 in lb
8437 Z 118 watt - 0.280 Nm / 2.48 in lb
8447 R 100 watt – 0.320 Nm / 2.83 in lb
8437 R
70 watt - 0.170 Nm / 1.51 in lb
SR8438 Positioning Specifications
The following positioning specifications assume a constant payload and an environment
of 23.9 ± 2.8 °C (75 ± 2.8 °F).
Repeatability
5-22
XY plane
Z
Roll rotation
±0.03 mm (±0.0015 in.)
±0.02 mm (±0.001 in.)
±0.02 °
SC3000 Series Installation and Specifications Manual
SR8437/SR8447 and SR8438/SR8448 Robot Tool Tip
The Robot Tool Tip, at the end of the Z axis, is used for attaching a hand like device.
The sizes for the SR8437/SR8447 and SR8438/SR8448 Series Robots are different.
The dimensions are highlighted below.
SR8437/SR8447 Series Robot Tool Tip Dimensions
SR8438/SR8448 Series Robot Tool Tip Dimensions
Chapter 5 Specifications
5-23
SC3000 Robot Systems
SR8437/SR8447 Series Robot Tool Tip Flange
The Robot Tool Tip Flange, provided with the SR8437/SR8447 Series Robot as an
option, mounts to the Robot Tool Tip interface and provides a more functional mounting
surface for end-of-arm devices. The dimensions are highlighted below.
NOTE: The weight of the tool tip flange, Sankyo part number M03D09A, is 0.50 Kg (1.10 lbs).
Consider this factor when computing your payload needs.
5-24
SC3000 Series Installation and Specifications Manual
SR8438/SR8448 Series Robot Tool Tip Flange
The Robot Tool Tip Flange, provided with the SR8438/SR8448 Series Robot as an
option, mounts to the Robot Tool Tip interface and provides a more functional mounting
surface for end-of-arm devices. The dimensions are highlighted below:
NOTE: The weight of the tool tip flange, Sankyo part number M05D21A, is 0.40 Kg (0.88 lbs).
Consider this factor when computing your payload needs.
Chapter 5 Specifications
5-25
SC3000 Robot Systems
Sankyo CCR Model 1X Series Robot
The Sankyo CCR Model 10 is a cartesian Robot addition to the Sankyo Robot family.
The features are:
•
Linear X and Y axes
•
Y axis features a horizontal “slider”, that travels the length of the Y axis
•
Payload can attach to the Y axis “slider“ (payload depends on Y axis length)
•
”Brush-less” servo motors
•
Absolute encoders (Robot need not be homed after power on)
•
Coordinated linear and circular motions
•
Power-on teaching via the hand-held Pendant (in TEACH mode)
•
Manual power-off teaching (in TEACH mode)
The Robot interfaces directly to the SC3000 Series Robot Controller through a standard
cable set. Cable options are 3 meter, 5-meter or 10-meter cable set.
The standard Robot cables are:
5-26
•
Motor cable
•
Encoder cable
SC3000 Series Installation and Specifications Manual
CCR-M1X Dimensions and Operating Specifications
CCR-M1X Series Robot
Height
226 mm (8.9 in.) without flexible cable harness
685.8 mm (27.0 in.) with flexible cable harness
Width
559 mm (22.0 in.) + X axis length
Depth
440 mm (17.33 in.) + Y axis length
Weight
41.5 kg (91.3 lb.) with 200 mm X and 200 mm Y axis
Add 1.5 kg (3.3 lb.) for each 100 mm addition to any axis
Compressed air for gripper
Not to exceed 6 kgf /cm²
Electrical specifications
Motors:
All power originates from the SC3000 Series Controller
X (200-800mm)
X (1000-2000mm)
Y (200-800mm)
267 Watt Motor
366 Watt Motor
267 Watt Motor
Y (Lite)
Z (M12)
118 Watt Motor
118 Watt Motor
Z (M14)
R (M14)
50 Watt Motor
50 Watt Motor
Encoders
Operating
temperature/humidity
5.0 VDC, class 2
5° C - 40° C (40° F - 104° F)
30% - 90% non condensing
Chapter 5 Specifications
5-27
SC3000 Robot Systems
CCR-M1X Series - X Axis Base mounting plates
5-28
SC3000 Series Installation and Specifications Manual
CCR-M1X Series – X to Y Axis mounting bracket
NOTE:
One mounting bracket required for mounting the Y axis to the X axis.
Chapter 5 Specifications
5-29
SC3000 Robot Systems
CCR-M10 Lite Dimensions
The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
5-30
SC3000 Series Installation and Specifications Manual
CCR-M10 Dimensions / Standard X Axis
NOTE:
The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
Chapter 5 Specifications
5-31
SC3000 Robot Systems
CCR-M10 Dimensions / Long X Axis
NOTE:
5-32
The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
SC3000 Series Installation and Specifications Manual
CCR-M12 Dimensions / Standard X Axis
NOTE:
The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
Chapter 5 Specifications
5-33
SC3000 Robot Systems
CCR-M12 Dimensions / Long X Axis
NOTE:
5-34
The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
SC3000 Series Installation and Specifications Manual
CCR-M14 Dimensions / Standard X Axis
NOTE:
The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
Chapter 5 Specifications
5-35
SC3000 Robot Systems
CCR-M14 Dimensions / Long X Motor
NOTE:
5-36
The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
SC3000 Series Installation and Specifications Manual
CCR-M14 Series Robot Tool Tip Dimensions (Servo Z)
The Robot Tool Tip, at the end of the Z axis, is used for installing a hand like device.
The dimensions are highlighted below.
Chapter 5 Specifications
5-37
SC3000 Robot Systems
CCR-M1X Robot Workspace
The workspace of the CCR-M 1x Series Robot is a two or three dimensional area
through which the robot's tool tip can travel. Some CCR-M1x Series Robots have a Z
axis, defined as the vertical plane, which makes an X, Y and Z workspace.
Positions within a robot's workspace are located in an X-Y coordinate system. The
origin of the horizontal plane (X = 0 and Y = 0) is defined as the linear reach of the X
axis and Y positions are located at a right angle to the X axis.
For programming purposes, all X, Y and Z coordinate locations are (+) values only, and
must be given in millimeters. Any optional Roll axis (rotation about the Z axis),
coordinates are specified in degrees.
The home position is a special reference point. It is the location at which the Robot
initializes its servo motors for proper orientation one time only. This is due to the fact
that all robot encoders are battery-backed and the “homing” requirement found on
other Robot models is no longer necessary, each time the Robot is powered off and on.
Thus, home is the fixed reference point for program-controlled movements.
(A readjustment of the home position is only required after certain types of
maintenance.)
The two dimensional workspace of the CCR-M1x Series Robot is pictured below:
Default Home Position for X and Y, (0, 0), is shown in the drawing below:
NOTE:
5-38
If a Z axis (vertical plane), is attached to the CCR-M1x Series Robot, the workspace
becomes a three dimensional rectangle, according to the axis lengths of the X, Y and Z
axes. An optional Roll axis provides rotation around the Z axis.
SC3000 Series Installation and Specifications Manual
CCR-M1X Robot Performance Specifications
CCR-M1X Series Robot
M10 - X axis:
length 200 - 500 mm
length = 600 mm
length = 700 mm
length = 800 mm
length = 1000 mm
length = 1250 mm
length = 1500 mm
length = 2000 mm
M10 - Y axis:
length = 200 mm
length = 300 mm
length = 400 mm
length = 500 mm
length = 600 mm
length = 700 mm
length = 800 mm
speed
1400 mm/sec
1400 mm/sec
1400 mm/sec
1400 mm/sec
1100 mm/sec
900 mm/sec
700 mm/sec
M12 - Y axis:
length = 200 mm
length = 300 mm
length = 400 mm
length = 500 mm
speed
1400 mm/sec
1400 mm/sec
1400 mm/sec
1400 mm/sec
speed
1400 mm/sec
1100 mm/sec
900 mm/sec
700 mm/sec
1000 mm/sec
1000 mm/sec
400 mm/sec
200 mm/sec
payload
payload
X = 200-800mm
X = 1000-2000mm
25 Kg
30 Kg
18 Kg
25 Kg
14 Kg
21 Kg
10 Kg
17 Kg
6 Kg
14 Kg
2 Kg
12 Kg
-10 Kg
payload
payload
payload
Z = 100mm Z = 200mm Z =300mm
10.0 Kg
10.0 Kg
10.0 Kg
10.0 Kg
10.0 Kg
9.0 Kg
6.5 Kg
6.0 Kg
5.0 Kg
2.5 Kg
2.0 Kg
1.5 Kg
M12 - Z axis:
speed
range
M14 - Y axis:
length = 200 mm
length = 300 mm
length = 400 mm
length = 500 mm
speed
610 mm/sec
610 mm/sec
610 mm/sec
610 mm/sec
450 mm / second
100/200/300 mm (0 to 11.81 in.)
payload
payload
Z = 150mm
Z = 250mm
17 Kg
16 Kg
10 Kg
9 Kg
5 Kg
4 Kg
2 Kg
1 Kg
M14 - Roll axis:
speed
510 degrees/sec
range
±360 degrees
rotating torque 4Nm
Axis resolution
Motor torque :
0.1 mm/pulse
All Long X 366 watt – 0.870 Nm / 7.70 in lb
Standard - X and Y 267 watt - 0.640 Nm / 5.66 in lb
M12 - Z 118 watt - 0.280 Nm / 2.48 in lb
M14 - Z 50 watt - 0.159 Nm / 1.51 in lb
M14 – R 50 watt - 0.159 Nm / 1.41 in lb
Chapter 5 Specifications
5-39
SC3000 Robot Systems
CCR-M10 Lite Robot Performance Specifications
CCR-M10 Lite Series Robot
M10 Lite - X axis:
length = 300 mm
length = 500 mm
speed
1400 mm/sec
1400 mm/sec
M10 Lite - Y axis:
length = 300 mm
length = 500 mm
speed
450 mm/sec
450 mm/sec
payload
3 Kg
3 Kg
Axis resolution
0.1 mm/pulse
Motor torque :
All - X 267 watt - 0.640 Nm / 5.66 in lb
All - Y 118 watt - 0.280 Nm / 2.48 in lb
CCR-M1X Positioning Specifications
The following positioning specifications assume a constant payload and an environment
of 23.9 ± 2.8 °C (75 ± 2.8 °F).
Repeatability
5-40
XY plane
Z
Roll rotation
±0.03 mm (±0.0015 in.)
±0.02 mm (±0.001 in.)
±0.02 °
SC3000 Series Installation and Specifications Manual
Sankyo CCR Model 3X Series Robot
The Sankyo CCR Model 30 is a new cartesian Robot addition to the Sankyo Robot
family. The features are:
•
Linear X and Y axes
•
Y axis features a horizontal "slider”
•
Z axis standard
•
Payload depends on Y axis length
•
”Brush-less” servo motors
•
Absolute encoders (Robot need not be homed after power on)
•
Coordinated linear and circular motions
•
Power-on teaching via the hand-held Pendant (in TEACH mode)
•
Manual power-off teaching (in TEACH mode)
•
Optional Roll axis
The Robot interfaces directly to the SC3000 Series Robot Controller through a standard
cable set. Cable options are 3 meter, 5-meter or 10-meter cable set.
The standard Robot cables are:
•
Motor cable
•
Encoder cable
Chapter 5 Specifications
5-41
SC3000 Robot Systems
CCR-M3X Dimensions and Operating Specifications
CCR-M3X Series Robot
Height
457.2 mm (18.0 in.) add Z axis height
Width
559 mm (22.0 in.) + X axis length
Depth
440.0m (17.33 in.) + Y axis length over 200mm
Weight
53.0 kg (116.6 lb.) with 300mm X, 300mm Z, and 300mm Y axis
Add 1.5 kg (3.3 lb.) for each 100 mm addition to any axis
Compressed air for gripper
Not to exceed 6 kgf /cm²
Electrical specifications
All power originates from the SC3000 Series Controller
Motors:
5-42
X
Z
Y
267 Watt Motor
267 Watt Motor
118 Watt Motor
Encoders
5.0 VDC, class 2
Operating
temperature/humidity
5° C - 40° C (40° F - 104° F)
30% - 90% non condensing
SC3000 Series Installation and Specifications Manual
CCR-M3X Dimensions / Standard X Axis
NOTE:
The Sankyo SC3000 ship CD contains CAD drawings for all Robot models.
Chapter 5 Specifications
5-43
SC3000 Robot Systems
CCR-M3X Workspace
The workspace of the CCR Model 3x Series Robot is the three dimensional area
through which the robot's tool tip can travel.
Positions within a robot's workspace are located in an X-Z coordinate system. The
origin of the horizontal plane (X = 0) and the vertical plane (Z = 0) is defined as the
linear reach of the X joint. Y positions are located at a right angle to the X joint. Z
positions are located relative to the upper-most position of the robot tool tip (Z = 0).
Therefore, all Z positions within the workspace are positive.
For programming purposes, all X, Z, and Y coordinate locations are (+) values only, and
must be given in millimeters.
The home position is a special reference point. It is the location at which the Robot
initializes its servo motors for proper orientation one time only. This is due to the fact
that all robot encoders are battery-backed and the “homing” requirement found on
other Robot models is no longer necessary, each time the Robot is powered off and on.
Therefore, home is the fixed reference point for program-controlled movements.
A readjustment of the home position is only required after certain types of maintenance.
Default Home Position (0, 0):
NOTE:
Home positions include X and Z. The Y axis is optional.
As the Z axis is attached to the X axis of the CCR-M30 Series Robot as the second axis,
the workspace becomes a three dimensional rectangle (cube), according to the axis
lengths of the X, Z and optional Y axes.
5-44
SC3000 Series Installation and Specifications Manual
CCR-M3X Performance Specifications
CCR-M3X Series Robot
M3x - X axis:
length 200 - 500 mm
length = 600 mm
length = 700 mm
length = 800 mm
speed
1400 mm/sec
1100 mm/sec
900 mm/sec
700 mm/sec
M3x - Z axis:
length = 300 mm
length = 400 mm
length = 500 mm
speed
1100 mm/sec
1100 mm/sec
1100 mm/sec
payload
18 Kg
14 Kg
10 Kg
M3x - Y axis:
length = 300 mm
length = 500 mm
speed
450 mm/sec
450 mm/sec
payload
5 Kg
4 Kg
Axis resolution
0.1 mm/pulse
Motor torque :
All - X 267 watt - 0.640 Nm / 5.66 in lb
All - Z 267 watt - 0.640 Nm / 5.66 in lb
All - Y 118 watt - 0.280 Nm / 2.48 in lb
CCR-M3X Positioning Specifications
The following positioning specifications assume a constant payload and an environment
of 23.9 ± 2.8 °C (75 ± 2.8 °F).
Repeatability
XZ plane
Y
±0.03 mm (±0.0015 in.)
±0.02 mm (±0.001 in.)
Chapter 5 Specifications
5-45
SC3000 Robot Systems
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5-46
SC3000 Series Installation and Specifications Manual
Glossary
ADS is the abbreviation for Application Development System, a software package to
assist in developing robot applications for the SC3000 family of robot systems. It also
contains built in maintenance functions.
Accuracy is a measure of a Robot's ability to move to a commanded position that has
been theoretically computed. Accuracy is the difference between the commanded
position and the actual achieved position. Errors from commanded positions that were
obtained by teaching points is measured by the term "Repeatability".
Actuator is a motor or transducer which converts electrical, hydraulic or pneumatic
energy to effect motion of the Robot.
Analog is an expression of a value that changes continuously, such as analog voltage.
Anthropomorphic Robot is a Robot that has all the rotary joints and motions that
imitate movements similar to a human arm.
Axis (Linear type) is a reference to a linear direction of movement for an Axis.
Typically, Linear Robots have a rectangular work envelope.
Axis (SCARA type) is a reference to an Axis for a Selective Compliance Assembly
Robot Arm , or simply, SCARA Robot. Typically, SCARA Robots are mounted to a
pedestal base, and have a circular (arc) type of work envelope.
Byte is a reference to a single character in a computer.
Cartesian is a reference to a rectangular workspace, or profile. Also, Robots with two
or more linear axes mounted perpendicular to each other are referred to as Cartesian
Coordinate Robots.
Compensation refers to an operation used to counteract (compensate) for dynamic
lags in any Robot Axis movement. This allows for prompt, stable responses.
Compliance is the quality or state of bending as it relates to mechanical stress.
Sometimes referred to as mechanical compliance.
Coordinated Axis Control refers to a multiple Axis movement, which appears to end
simultaneously. Sometimes referred to as a coordinated move
CMOS is the abbreviation for Complementary Metallic Oxide Semiconductor, a type of
electronic circuit chip used in computers.
CP is a reference to Continuous Path, which is a type of Robot arm movement. This
move is in the shape of an arc, circle, or rectangular and the like.
Damping is the absorbing of mechanical energy from any Axis. Its purpose is to
control mechanical vibration.
DI/DO is the abbreviation for Digital Input/Digital Output.
DRAM is the abbreviation for Dynamic Random Access Memory, a type of PC chip
memory. Different from SRAM, DRAM must be refreshed several times each second.
Drift is the gradual movement of any Axis away from its commanded position.
Copyright © Sankyo Robotics, 1994-2001
Glossary
1
SC3000 Robot Systems
Droop is the mechanical compliance of a Robot arm, as measured at the end of the
arm with respect to the base. This is the loss of its ability to maintain a parallel
respective position (to the earth), between the base and the end of the arm, and is an
important consideration with high payloads.
Elbow is also known as the Theta 2 joint. It connects Theta 1 and Theta 2 Axes on a
SCARA Robot.
Electrical-Optical Isolator is a device which couples input to output using a light
source and a detector in the same package. It provides electrical isolation between
input circuitry and output circuitry.
Emergency Stop Switch is a push-button switch that controls power to the Robot, and
as its name implies, when activated, will remove power immediately to the Robot.
Encoder is a device which transmits pulses that relate to Axis position. Each pulse
equates to a precise length of movement, and is the basis for determining the position
and repeatability of any Axis.
End-Effector or, End of Arm Effector, is any device attached to the Robot end of arm,
typically the Z-axis, which acts as a hand or gripper, that can grasp or act upon parts
and tools in the work envelope. This is also known as end of arm tooling.
Envelope or, Work Envelope. See Work Envelope.
EOA is the abbreviation for End-Of-Arm.
EPROM is the abbreviation for Electrically Programmable Read Only Memory. This is a
non volatile semiconductor memory chip, which can be removed, erased, and reprogrammed. It is typically where a software program is permanently stored, and
cannot be changed by an end user.
ESD is the abbreviation for Electrostatic Discharge.
EPO is the abbreviation for Emergency Power-Off.
Feeder is a device that provides parts or tools to complete a Robot application.
Fixture is any device, other than a feeder, that is required to complete a Robot
application. For example, a fixture will house a tool required to complete a Robot
application.
Flash Memory is a non destructive memory in a computer. This means that when
power is turned off or removed from the computer, any programs or data residing in
flash memory will not be lost.
FRU is the abbreviation for Field Replaceable Unit, a mechanical or electronic
component which is a replaceable part.
Gantry is a Robot suspended from a bridge-like frame. Sometimes called a box-frame
Robot. Typically, the work envelope is rectangular.
Gripper See End Effector.
Hand See End Effector.
2
SC3000 Series Installation and Specifications Manual
Host Computer is a computer that can control, monitor, or upload and download files
to, a Robot System. They are also called Roll-up computers.
Industrial Robot is a multi-functional, multiple axis robot that is re-programmable, and
capable of assembly and disassembly for a variety of tasks.
Also known as an Intelligent Robot.
Inertial Load is the first mass moment of inertia of an object. In this context it refers to
the moment of inertia the payload reflects on a specific Axis, such as the Z, or vertical,
Axis.
Joint is another name for Axis. Sometimes meant only to refer to a rotational Axis.
Manip or Manipulator is another name for Robot, or Robot arm.
Matrix is a type of feeder or fixture where items are organized on a rectangular grid,
and any item can be referenced by their position on the grid.
Maximum Speed is the speed maintained by an Axis after acceleration and prior to
deceleration at the end of the move. Speed at the end of the arm may be greater than
the specified maximum speed when multiple joints are used on a single move.
MB is the abbreviation for megabyte, related to memory or storage in a computer. A
megabyte is equal to one million characters.
MCS is the abbreviation for Motion Control System.
Memory is another term for storage, and refers to the area where computer programs
and data are temporarily stored. Unless otherwise stated, this type of memory is lost
when power is turned off, or removed from the computer. See Flash Memory.
Noise is extraneous signals or disturbances which can interfere with desired signals.
Overload defines exceeding the maximum payload that the Robot is designed to carry.
Overshoot is the undesirable movement of an Axis past its commanded position.
Pause/Interrupt is the stopping of all movement of a Robot, without removing Robot
power.
Payload is the maximum weight the Robot is designed to carry. (Ability to firmly grip
such a payload is affected by choice of grippers or end-of-arm effectors).
Pendant is the Robot System device which allows for the monitoring and teaching of
points for a Robot application. It can also be used to verify machine operation, such as
starting and stopping of diagnostic or exerciser programs, or to individually move any
Axis. It is also known as a Teach Pendant.
PLC is the abbreviation for Programmable Logic Controller.
Position is the location of the Robot in the work envelope.
POST is the abbreviation for Power-On Self-Test.
Glossary
3
SC3000 Robot Systems
PTP is a reference to Point-To-Point, which is a type of Robot arm movement. This
move is a straight line, or, with SCARA Robots it may be a natural arc motion.
RAM is the abbreviation for Random Access Memory, a type of electronic memory
circuit chip used in computers.
Repeatability is the variation in returning to a given point and is expressed as a
distance from the mean within which at least 99.5% of all measurements fall. This is
based on fixed temperature, speed, payload, and direction within the operating range.
Robot is a mechanical device that can be programmed to automatically perform a
variety of tasks. It may contain two or more axes.
Robot System, or, Robotic System, is comprised of the Robot, any computer or
controller containing the necessary software, any end effector, feeders, fixtures, and
tools that are required to complete the Robot task.
ROM is the abbreviation for Read Only Memory, a type of electronic circuit chip used in
computers.
SSL/E is the abbreviation for Sankyo Structured Language/Enhanced software
language. This language supports the SC3000 family of Sankyo robot systems.
Settling time is the time required to settle any axis to its final destination within the
repeatability range.
Shoulder is another name for the Theta 1 Axis. It is the Axis directly mounted to the
pedestal on SCARA Robots.
SPM is the abbreviation for Servo Power Module, a power unit required for driving the
axes on certain types of Robots.
SRAM is the abbreviation for Static Random Access Memory, a type of electronic
memory circuit chip used in computers. Typically battery backed.
Strain gages are analog voltage force sensors that are typically installed on endeffectors (hand). They are also known as Tactile sensors.
Teach Pendant See Pendant.
Undershoot is the undesirable movement of an Axis where a commanded position was
not reached.
Velocity is the measure of speed or rate of motion.
Vision System allows for the interfacing of a high resolution camera to determine the
actual commanded position that a Robot must attain. This permits flexibility in the
Robot application.
Work Envelope is a reference to the maximum area of extent which any Axis or axes,
can access. This is also known as the Workspace.
Work space is the same as work envelope.
4
SC3000 Series Installation and Specifications Manual
Appendix A ADS Communications Port Cable Wiring
ADS Port
The following figure describes the connections for the cable that allows the attachment
of a PC to the SC3000 Robot Controller ADS Communications Port. This cable is
provided with the Robot System, Sankyo P/N SCF309.
9 pin to 9 pin Cable – Buzz version
NOTES: Connect shield ground to connector housing.
ADS for DOS is configured for COM1 or COM2 on an IBM compatible PC.
ADS for Windows (Buzz), is configured for COM1 to COM9 on an IBM compatible PC.
ADS port default specifications chart:
Specification
Configuration
Data Bits
Stop Bits
Parity
Speed
8
2
Even
9600baud
Copyright © Sankyo Robotics, 1994-2001
ADS Communications Port Cable Wiring
A-1
SC3000 Robot Systems
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A-2
SC3000 Series Installation and Specifications Manual
Appendix B RS-232C Communications Port Cable Wiring
RS-232C Port
The following figures describes the connections for the cable that attaches from the
Host computer to any SC3000 Controller RS-232C Communications Port. This cable is
not provided with the Robot System.
9 Pin to 9 Pin RS-232C Cable
Notes:
Connect shield ground to pin 1 at the host computer (PC) side.
Refer to the following page for the RS-232C Port default configuration.
Refer to the following page for the RS-232C Port Address chart.
Copyright © Sankyo Robotics, 1994-2001
RS-232C Communications Port Cable Wiring
B-1
SC3000 Robot Systems
9 Pin to 25 Pin RS-232C Cable
This cable is not provided with the Robot System.
Note:
Connect shield ground to pin 1 at the host computer (PC) side.
RS-232C Port default configuration chart:
Specification
Data Bits
Stop Bits
Parity
Speed
Value
8
2
Even
9600baud - SC3000-010 / 19200baud - SC3000-030
RS-232C Port address chart:
RS-232C Port #
1
2
3
4
5
6
7
8
9
10
B-2
Physical Port
CPU Board
64 I/O Board Option/Expansion Panel # 1
64 I/O Board Option/Expansion Panel # 2
128 I/O Board Option/Expansion Panel # 1
128 I/O Board Option/Expansion Panel # 2
128 I/O Board Option/Expansion Panel # 3
SC3000-010 HS Board option
DeviceNet board # 1
DeviceNet board # 2
DeviceNet board # 3
SC3000 Series Installation and Specifications Manual
Appendix C Physical (User) DI/DO Charts
Standard DI/DO
Point #
Purpose
Point #
DI1
DO17
DI2
DO18
DI3
DO19
DI4
DO20
DI5
DO21
DI6
DO22
DI7
DO23
DI8
DO24
Purpose
DI9
DI10
DI11
DI12
DI13
DI14
DI15
DI16
Copyright © Sankyo Robotics, 1994-2001
Physical (User) DI/DO Charts
C-1
SC3000 Robot Systems
Expanded DI/DO - First Option-64 I/O Board
First 32 Points of 64 I/O Board:
Point #
C-2
Purpose
Point #
DI25
DO41
DI26
DO42
DI27
DO43
DI28
DO44
DI29
DO45
DI30
DO46
DI31
DO47
DI32
DO48
DI33
DO49
DI34
DO50
DI35
DO51
DI36
DO52
DI37
DO53
DI38
DO54
DI39
DO55
DI40
DO56
Purpose
SC3000 Series Installation and Specifications Manual
Second 32 Points of 64 I/O Board:
Point #
Purpose
Point #
DI57
DO73
DI58
DO74
DI59
DO75
DI60
DO76
DI61
DO77
DI62
DO78
DI63
DO79
DI64
DO80
DI65
DO81
DI66
DO82
DI67
DO83
DI68
DO84
DI69
DO85
DI70
DO86
DI71
DO87
DI72
DO88
Purpose
Physical (User) DI/DO Charts
C-3
SC3000 Robot Systems
Expanded DI/DO - First Option-128 I/O Board
First 32 Points of 128 I/O Board:
Point #
C-4
Purpose
Point #
DI153
DO217
DI154
DO218
DI155
DO219
DI156
DO220
DI157
DO221
DI158
DO222
DI159
DO223
DI160
DO224
DI161
DO225
DI162
DO226
DI163
DO227
DI164
DO228
DI165
DO229
DI166
DO230
DI167
DO231
DI168
DO232
Purpose
SC3000 Series Installation and Specifications Manual
Expanded DI/DO
Second 32 Points of 128 I/O Board:
Point #
Purpose
Point #
DI169
DO233
DI170
DO234
DI171
DO235
DI172
DO236
DI173
DO237
DI174
DO238
DI175
DO239
DI176
DO240
DI177
DO241
DI178
DO242
DI179
DO243
DI180
DO244
DI181
DO245
DI182
DO246
DI183
DO247
DI184
DO248
Purpose
Physical (User) DI/DO Charts
C-5
SC3000 Robot Systems
Expanded DI/DO
Third 32 Points of 128 I/O Board:
Point #
C-6
Purpose
Point #
DI185
DO249
DI186
DO250
DI187
DO251
DI188
DO252
DI189
DO253
DI190
DO254
DI191
DO255
DI192
DO256
DI193
DO257
DI194
DO258
DI195
DO259
DI196
DO260
DI197
DO261
DI198
DO262
DI199
DO263
DI200
DO264
Purpose
SC3000 Series Installation and Specifications Manual
Expanded DI/DO
Last 32 Points of 128 I/O Board:
Point #
Purpose
Point #
DI201
DO265
DI202
DO266
DI203
DO267
DI204
DO268
DI205
DO269
DI206
DO270
DI207
DO271
DI208
DO272
DI209
DO273
DI210
DO274
DI211
DO275
DI212
DO276
DI213
DO277
DI214
DO278
DI215
DO279
DI216
DO280
Purpose
Physical (User) DI/DO Charts
C-7
SC3000 Robot Systems
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C-8
SC3000 Series Installation and Specifications Manual
Appendix D Warranty
LIMITED PRODUCT WARRANTY (United States and Puerto Rico)
Sankyo Robot Systems
Each Sankyo robot system, and any associated Sankyo feature or accessory ordered
with the robot system, excluding Cognex Vision, is covered by a 12-month warranty
against manufacturing defects in materials or workmanship. This warranty only
provides for a replacement robot system part, feature or accessory, and does not
include installation or warranty service. This warranty commences on the date of
delivery, provided however, that the Sankyo robot system, and any Sankyo feature or
accessory, is: (a) installed as specified by Sankyo Robotics; (b) maintained by qualified
service personnel; and, (c) operated in a normal manner consistent with Sankyo
Robotics’ operating instructions. Service parts and replacement products will be
furnished on an exchange basis and will be either reconditioned or new. All replaced
parts and products become the property of Sankyo. This limited warranty excludes
damage to the product resulting from accident, disaster, misuse, abuse or non-Sankyo
modification of the Product.
The Sankyo Robot Systems warranty expressed above defines new robot systems
only, and does not cover the sale of any used Sankyo robot system from any source,
regardless of the date of manufacture
Sankyo Maintenance Parts
Each Sankyo spare part, and any Sankyo feature or accessory ordered without a robot
system, is covered by a 90-day warranty, against manufacturing defects in materials or
workmanship. This warranty only provides for a replacement Sankyo spare part,
feature or accessory, and does not include installation or warranty service. This
warranty commences on the date of delivery, provided however, that the Sankyo spare
part, feature or accessory is: (a) installed as specified by Sankyo Robotics; (b)
maintained by qualified service personnel; and, (c) operated in a normal manner
consistent with Sankyo Robotics’ operating instructions.
The warranties set forth above do not apply to lubricants, filters and other supplies used
in connection with any Sankyo robot system or system component.
THE WARRANTIES SET FORTH HEREIN ARE IN LIEU OF ALL OTHER
WARRANTIES, EXPRESSED, IMPLIED OR STATUATORY; INCLUDING, BUT NOT
LIMITED TO, ANY IMPLIED WARRANTY OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR USE. THE CUSTOMER’S SOLE REMEDY FOR BREACH OF
THESE WARRANTIES SHALL BE TO REQUIRE SANKYO ROBOTICS TO REPLACE
THE DEFECTIVE ROBOT SYSTEM COMPONENT OR PRODUCT.
Sankyo Seiki, (America), Inc., is not responsible for providing any warranty for products
located outside the United States and Puerto Rico, unless otherwise agreed to in
writing.
Copyright © Sankyo Robotics, 1994-2001
Warranty
D-1
SC3000 Robot Systems
IN NO EVENT WILL SANKYO BE LIABLE TO YOU FOR ANY DAMAGES,
INCLUDING ANY LOST PROFITS, LOST SAVINGS, OR OTHER INCIDENTAL OR
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OF OR INABILITY TO
USE SUCH PRODUCT, EVEN IF SANKYO OR AN AUTHORIZED SANKYO ROBOT
SYSTEMS INTEGRATOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
DAMAGES, OR FOR ANY CLAIM BY ANY OTHER PARTY.
THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS, AND YOU MAY ALSO
HAVE OTHER RIGHTS WHICH CAN VARY FROM STATE TO STATE.
FOR WARRANTY SERVICE OR ASSISTANCE ON THIS PRODUCT, IT IS
RECOMMENDED THAT YOU CONTACT SANKYO AT THE LOCATIONS FOUND IN
THE PREFACE CHAPTER AT THE BEGINNING OF THIS MANUAL, OR THE
AUTHORIZED SANKYO ROBOT SYSTEMS INTEGRATOR FROM WHOM THE
PRODUCT WAS PURCHASED.
D-2
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