Eshed Robotec Controller-PC Manuel utilisateur

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Catalog # 100117 Rev.B

(September 1997) December 1999 Reprinted/PDF version

Every effort has been made to make this book as complete and accurate as possible.

However, no warranty of suitability, purpose, or fitness is made or implied. Eshed

Robotec is not liable or responsible to any person or entity for loss or damage in

connection with or stemming from the use of the software, hardware and/or the

information contained in this publication.

Eshed Robotec bears no responsibility for errors which may appear in this publication

and retains the right to make changes to the software, hardware and manual without prior

notice.

Table of Contents

CHAPTER 1 General Information 1

About Controller-PC . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

SCORPOWER Control Box . . . . . . . . . . . . . . . . . . . . . . . 1

PC Servo Control Card . . . . . . . . . . . . . . . . . . . . . . . 1

Acceptance Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Repacking Controller-PC . . . . . . . . . . . . . . . . . . . . . . . . . 2

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

CHAPTER 2 Safety 5

Handling Controller-PC . . . . . . . . . . . . . . . . . . . . . . . . . 5

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

CHAPTER 3 Hardware Installation 7

Getting to Know Controller-PC . . . . . . . . . . . . . . . . . . . . . . 7

PC Servo Card Installation . . . . . . . . . . . . . . . . . . . . . . . . 8

PC Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 8

PC Servo Control Card . . . . . . . . . . . . . . . . . . . . . . . . . 9

SCORPOWER Box Installation . . . . . . . . . . . . . . . . . . . . . 9

Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . 9

Teach Pendant Installation (Optional) . . . . . . . . . . . . . . . . . 10

Teach Pendant Not Connected . . . . . . . . . . . . . . . . . . 10

Remote Emergency Switch . . . . . . . . . . . . . . . . . . . . . . 11

Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . 11

CHAPTER 4 SCORPOWER Box Functions 13

POWER Switch and LED . . . . . . . . . . . . . . . . . . . . . . . 13

MOTORS LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Peripheral Axes: AXIS 7 and AXIS 8 . . . . . . . . . . . . . . . . . 13

EMERGENCY Button and LED . . . . . . . . . . . . . . . . . . . . 14

Remote Emergency Switch . . . . . . . . . . . . . . . . . . . . 14

Output Terminals and LEDs . . . . . . . . . . . . . . . . . . . . . . 15

Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Relay Outputs . . . . . . . . . . . . . . . . . . . . . . . . . 15

Open Collector Outputs . . . . . . . . . . . . . . . . . . . . 16

Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Input Terminals and LEDs . . . . . . . . . . . . . . . . . . . . . . . 17

Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

CHAPTER 5 Controller-PC Circuitry 19

PC Servo Control Card . . . . . . . . . . . . . . . . . . . . . . . . 19

SCORPOWER Power Card . . . . . . . . . . . . . . . . . . . . . . 21

SCORPOWER I/O Card . . . . . . . . . . . . . . . . . . . . . . . . 23

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CHAPTER 6 Maintenance 25

Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Changing the Voltage Setting . . . . . . . . . . . . . . . . . . . . . 28

Resolving Address Conflicts . . . . . . . . . . . . . . . . . . . . . . 28

Windows 95 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Windows 3.11 . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

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CHAPTER 1

General Information

About Controller-PC

Controller-PC is an integral part of the SCORBOT-ER 4pc robotic system. It can also be

used to control many of the peripheral devices offered by Eshed Robotec.

Controller-PC has two main components:

•SCORPOWER external power/control box.

•Servo control PC expansion card.

In addition, a teach pendant is available for this system.

SCORPOWER Control Box

The SCORPOWER control box provides the 24V power supply to six robot motors and

two optional accessory motors and relays the encoder signals to the PC servo control card.

In addition, this unit provides the bi-directional signals which enable both digital and

analog I/O interfacing with the host PC.

PC Servo Control Card

The PC servo control card plugs into an 8-bit AT ISA slot of a PC 386 or higher.

This card contains the circuits which operate the robot’s motors (by means of PWM

signals), read the encoder and microswitch signals, and communicate with a teach

pendant and I/O signals.

Acceptance Inspection

After removing the Controller-PC from the shipping carton, examine all components for

signs of shipping damage. If any damage is evident, do not install or operate the

Controller-PC. Notify your freight carrier and begin appropriate claims procedures.

The following items are standard components in the Controller-PC package.

Make sure you have received all the items listed on the shipment’s packing list.

If anything is missing, contact your supplier.

User’s Manual 1 Controller-PC

9709

Controller-PC Package

SCORPOWER Control Box 110/220VAC

PC Servo Control Card

Teach Pendant (Optional):

Teach Pendant

Mounting fixture;

Teach Pendant for Controller-PC User’s Manual

Emergency By-Pass Plug (required when TP not connected)

Cables:

Power Cord 110/220 VAC

SCORPOWER Box Cable-Computer connector cable (D-62-pin, high density)

SCORBASE for Windows software diskettes.

Documentation:

Controller-PC User’s Manual

SCORBASE for Windows Reference Guide

Repacking Controller-PC

Save the packing materials and shipping carton. You may need them later for shipment

or for storage of the Controller-PC.

The servo control card and the power box should be repacked in their original packaging

for transport.

If the power box’s original carton is not available, wrap the power box in plastic or heavy

paper. Put the wrapped power box in a strong cardboard carton at least 15cm (about

6 inches) longer in all three dimensions than the power box. Fill the carton equally

around the unit with resilient packing material (shredded paper, bubble pack, expanded

foam chunks).

Seal the carton securely with strapping or packing tape. Do not use cellophane or

masking tape.

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Specifications

The following table gives the specifications of the Controller-PC.

Controller-PC Specifications

Item Specification

Type of Control

Real-time;

Multi-tasking;

PID (proportional, integral, differential);

PWM (pulse width modulation).

Number of Servo Axes Maximum: 8

Groups of Control 8 axes can be divided into 2 control groups: robot axes

and peripheral axes. Axis interpolation in robot and

peripherals groups.

Axis Drivers PWM H-bridge drivers

15 KHz, 3A standard; 7A peak

24V (depending on input voltage and load)

Path / Trajectory Control CP: Joint; Linear; Circular.

1.5 ms control cycle parameter. Software controlled

acceleration/deceleration. PID parameters.

Speed Control Speed and Travel time definitions.

Speed programmed as a percentage of range.

Control Parameters

Servo control

Speed, velocity profile, smoothing

Axis position error

Gripper operation

Thermic, impact, limit protection

Homing

Encoder interface

Cartesian calculations

Power Requirements 110/220V AC (+15%, -10%), 50/60Hz, 180W max.

Internal Power Supplies Servo: 24V (depending on input voltage and load)

Digital: 5V, +15V, -12V

Power Box Weight 7 kg

Power Box Dimensions L=315mm; W=223.5mm; H=117

Ambient Operating Temperature 2°–40°C (36°–104°F)

Microcontrollers Servo Control Card: PIC 17C42 per axis

Power Box: PIC 17C42 on I/O card

Communication 2 integrated RS232 channels: one for teach pendant;

one for power box I/O card.

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Controller-PC Specifications

Item Specification

Inputs/Outputs

8 digital inputs: Source; 24V maximum.

4 analog inputs: 8-bit resolution; input voltage 0-10V

8 digital outputs, 24V max:

4 relays, changeover contacts

4 open collectors, sink

2 analog outputs: 8-bit resolution; output voltage 0-10V

Programming Language SCORBASE for Windows Software

Position Teaching SCORBASE for Windows; Teach Pendant.

Absolute; Relative; Cartesian; Joint

Positioning System Incremental optical encoders.

Coordinate System XYZ coordinates; Joint coordinates

LED Indicators

Main power

Digital Inputs / Digital Outputs

Servo Power (Motors)

Emergency

Safety Features

Emergency switches: on power box; on teach pendant;

optional connection of remote switches.

Short-circuit protection;

On overheating, driver power shut-down;

On PC failure, motor power shut-down;

On communication failure, motor power shut-down.

Thermal, impact and limit software protection

Hardware “watchdog” for each axis protects against

software faults.

Teach Pendant (optional)

25 multi-function keys

4 line LCD display; 20 characters per line

Emergency Stop push button

Deadman switch

Auto/Teach selector switch

Full control features

Mounted (full features)

Hand-held (no program execution).

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