Igus Drylin Delta Manuel utilisateur

Version V1.2-EN, September 2020

igus® , drylin® and robolink® are registered trademarks of igus GmbH.

igus® GmbH

Spicher Str. 1a

51147 Cologne

Germany

Phone Support: +49 (0) 2203-96498-255

[email protected]

www.igus.de, www.igus.eu

Table of Contents

1. Safety Instructions .............................................................................................................................. 5

2. Quick Start Guide ................................................................................................................................ 6

2.1. Set up and Connections.............................................................................................................................6

2.2. Switching on ....................................................................................................................................................6

2.3. Connect and Move the Robot ................................................................................................................ 7

3. Introduction ............................................................................................................................................ 8

3.1. System Overview ..........................................................................................................................................8

3.2. Glossary and Abbreviations....................................................................................................................9

3.3. Specifications ................................................................................................................................................ 11

3.4. Mechanical Dimensions .......................................................................................................................... 12

4. Electrical Connections ...................................................................................................................... 13

4.1. Overview .......................................................................................................................................................... 13

4.2. Pinout: Stepper Module .......................................................................................................................... 14

4.3. Pinout: Support Module .......................................................................................................................... 15

4.4. Pinout: Digital Input/Output Module ............................................................................................... 16

4.5. Connect Sensors and Actors to the DIO Module .......................................................................17

4.6. Option: Control Cabinet .......................................................................................................................... 19

4.7. Option: Embedded Computer ............................................................................................................. 20

4.8. Option: Operating Panel ......................................................................................................................... 23

5. Safety .......................................................................................................................................................24

5.1. Safety-Related Features of the Modular Robot Controller .............................................. 24

5.2. CE Certification .......................................................................................................................................... 24

5.3. Integration of SIL-Rated Safety Components .......................................................................... 24

6. Software Installation .......................................................................................................................26

6.1. Installation of the iRC - igus® Robot Control .............................................................................. 26

6.2. Licensing ......................................................................................................................................................... 28

6.3. Setting up the Ethernet Connection to the Embedded Computer ................................. 28

6.4. Installing the CAN-to-USB Driver ..................................................................................................... 29

7. Moving the Robot with iRC ........................................................................................................... 30

7.1. The iRC Graphical User Interface ..................................................................................................... 30

7.2. Connecting the Robot ............................................................................................................................. 32

7.3. Referencing the Robot ........................................................................................................................... 33

7.4. Moving the Robot with Software Buttons or Gamepad ...................................................... 34

7.5. Starting Robot Programs ...................................................................................................................... 36

7.6. Digital Inputs and Outputs .....................................................................................................................37

7.7. Software Interfaces ..................................................................................................................................37

7.8. Updating the Software ........................................................................................................................... 38

8. Programming the Robot with iRC ............................................................................................. 39

8.1. The Program Editor .................................................................................................................................. 39

8.2. Comments and Information in Programs ..................................................................................... 42

8.3. Variables and Variable Access .......................................................................................................... 44

8.4. Execution Flow ........................................................................................................................................... 48

8.5. Motion .............................................................................................................................................................. 55

8.6. Gripper and Digital IO ............................................................................................................................... 61

8.7. Camera ............................................................................................................................................................ 62

9. Stand-alone Operation with Embedded Computer and the Operating Panel ..... 63

9.1. Reset Errors/Enable Robot ................................................................................................................ 64

9.2. Moving the Robot with the 3-Axis Joystick ................................................................................ 64

9.3. Referencing ................................................................................................................................................... 65

9.4. Starting and Stopping a Program ..................................................................................................... 65

9.5. Manually Setting the Digital Inputs/Outputs ............................................................................ 66

9.6. Display of Status Information ........................................................................................................... 66

9.7. Organize Programs on the Embedded Control ......................................................................... 67

10. Project Configuration...................................................................................................................... 68

10.1. Program ......................................................................................................................................................... 68

10.2. Tool ................................................................................................................................................................... 68

10.3. Inputs / Outputs......................................................................................................................................... 69

10.4. Virtual Box ..................................................................................................................................................... 70

11. Advanced Robot Configuration .................................................................................................. 70

12. Interfaces Configuration ................................................................................................................. 71

12.1. Cameras ............................................................................................................................................................71

12.2. PLC Interface ................................................................................................................................................ 72

12.3. CRI Ethernet Interface ............................................................................................................................. 72

13. Troubleshooting.................................................................................................................................. 73

13.1. Support Contacts .......................................................................................................................................73

13.2. Online Tool - Fault Identification and Recovery ........................................................................73

13.3. Configuration of the Stepper Modules ......................................................................................... 74

13.4. Calibration of the Robot ......................................................................................................................... 75

13.5. Error Codes ................................................................................................................................................... 76

1. Safety Instructions

Operate the Robot safely!

Always ensure personal safety of users and others while operating

a Delta Robot or commissioning a robot cell! In particular, no person

or obstructions may be present in the working area of the Robot.

 In its basic version the Robot Controller package does not contain safety related

functionality. Depending on the application, these may need to be added.

See “CE marking” below and Section 5.

 CE marking: Delta Robot and the Robot Controller are a part of one system, which must be

risk assessed in its entirety and comply with the current safety regulations to ensure

personal safety. Depending on the result of the assessment further safety components

must be integrated. These are usually safety relays and door switches. Responsible is the

commissioning engineer of the system.

 The Robot Controller contains a 24 V power supply unit that itself requires mains voltage

(120 / 240 V), depending on the configuration. Please check the label on the power supply.

Only qualified personnel may connect the power supply to the mains and put it into

operation.

 Work on the robot electronics should only be carried out by qualified personnel. Check

current electrostatic discharge (ESD) guidelines.

 Always disconnect the Robot Controller from the mains (120 / 240 V) when working in the

Control Cabinet or any electronics connected to the Robot Controller.

 Do NOT hot-plug! It may cause permanent damage to the motor modules. Do not install or

remove any modules or plug/unplug connectors (e.g. Operating Panel, Emergency Stop

Button, DIO Modules or external relays, motor connectors) while powered on.

 The Delta Robot must be set up on a sturdy surface and bolted down or otherwise

secured.

 Only use and store the system in a dry and clean environment.

 Only use the system at room temperature (15° to 32°C).

 The ventilation of the system must be able to operate without hindrance, to ensure

sufficient airflow to cool the Stepper Motor Driver Modules. There must be at least 10 cm

of space next to the fan of the Robot Controller. The fan must, ideally, point upwards or to

the side (reduced efficiency). The fan must not point down.

 Backup important data prior to installing the igus® Robot Control software.

2. Quick Start Guide

2.1. Set up and Connections

 Follow Safety Instructions, Section 1.

 Make sure that the on/off switch on the Control Cabinet is set to "off".

 Mount the Robot on a suitable base. Make sure that there is no tension on the cables.

 Feed the Robot cables through the large circular hole in the Control Cabinet and plug them

into the Stepper Modules. Each motor is

connected to its Stepper Module via

4 connectors.

All connectors are labeled and coded to aid

this process (see Section 0):

o Motor cable (labelled

Motor

)

o Encoder cable (2 connectors labelled

ENC-1

and

ENC-2

)

o Reference sensor (labelled

End-Stop

)

 Secure the robot cables against tension, e.g. with a cable tie to one of the holes in the

Control Cabinet. If available, plug in the display cable and secure it via the screw

connection.

 After that the Robot can be connected to the mains.

2.2. Switching on

 Switch on the Robot using the on/off switch on

the Control Cabinet.

 The green light-emitting diodes (LEDs) on the

modules are now on, also most red LEDs and

potentially some of the yellow LEDs.

 Optional: When shipped with an Embedded

Computer, the green LEDs will start flashing

after approx. 20 s. This shows communication,

now the Robot Controller is up and running. If

available, you can now move the Robot using the Operating Panel (optional). Details can

be found in Section 8.

2.3. Connect and Move the Robot

Continue with point 2.3.1 or 2.3.2 depending on whether you have an Embedded Computer or

USB-Can adapter supplied with the robot

2.3.1. Preparation using the Embedded Computer

 Connect your PC to the Robot Controller via an

Ethernet cable. Use the Ethernet port located

directly next to the USB socket on the embedded

computer of the Robot Controller.

 Set the IP address of the PC to:

static and 192.168.3.1

with subnet mask of 255.255.255.0

2.3.2. Preparation using the USB-CAN adapter (

if supplied

)

 Connect the USB-CAN-Adapter to a computer (USB port) and the Robot Controller

(D-Sub-9 port with “CAN” marking. Install the necessary driver from the USB memory

stick, see Section 6.2.

2.3.3. Connect and Move the Robot

 Install the igus® Robot Control (iRC) software on

your PC, see Section 6.1.

 Start the iRC software. On Start-up you can

choose the project suitable for your Robot. Please

refer to the igus product number, the project

names are based on these.

 You can now activate the Robot by pressing:

o “Connect”,

o “Reset” and

o “Enable” in sequence.

 Now the ‘’Status’’ indicator on the left should be

green, status “No Error”.

 You can now move the joints of the robot using the

buttons in the “Jog” tab.

 Referencing is mandatory prior to moving in

cartesian coordinates or executing a program.

For details, please refer to Section 7.

3. Introduction

3.1. System Overview

The robot system consists of four basic components:

1. Delta Robot : the mechanical linear joints, motors and connectors;

2. Robot Controller : Support Module, Steppermotor Driver and DIO Modules;

3. Robot Control Software: control software to execute robot programs;

4. Programming Environment: graphical software to set up robot programs.

There are two basic system configurations available:

Configuration A uses an Embedded Computer with Robot Control Software to run the

Modular Robot Controller. This set up can execute robot programs without an external

Windows PC connected. For programming an external PC can be connected via Ethernet.

Figure 3.1: Delta Robot with Embedded Computer running the Robot Control Software.

In configuration B a Windows PC serves both as programming environment and to command

the Modular Robot Controller via a USB-CAN adapter. This setup is often used in educational

settings.

Figure 3.2: Delta Robot with Robot Control Software and Programming Environment.

3.2. Glossary and Abbreviations

Image

Name

Abbrev.

Description

igus

drylin

Delta Robot

Robot

Mechanical robot

arm including

structure, motors

and cables

Modular Robot

Controller

Robot

Controller

Consists of:

 1 Support

Module

 3 or more

Stepper Modules

 1-3 DIO Modules

Control Cabinet

Steel cabinet

that

the Robot

Controller can be

mounted in.

Includes a 24 V /

10 A power supply.

Embedded

Computer

Optional

Embedded

Computer with

Linux operating

system and the

TinyCtrl Robot

Control Software

Operating

Panel

Optional o

perating

hand-held device

with 3.5’’ capacitive

touchscreen

display and 3-axis

joystick

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