Industrial Robot Controller MOTOMAN XRC

1 MOTOMAN XRCI ndustrial Robot Controller1133662727 NewA New DimensionNewControllerRobotsTasksAxesDim ension27 controlled servo axesSynchronized operation of threerobotsSynchronized programming of threerobots including external axesMulti-tasking Simultaneous operationof six tasksSimple programming and diagnosis dueto several software functionsMulti functional User friendly Compactdesign Expandable modular cabinetOutlines of the XRCB uilt-in transformerSimple installation and setup by for Robot in UP-series and SK-X, SP-Xand programming languageExpandable slots for optional boards -Sensor function by XSL-board -Welding interface MEW and XEW-board -I/O-interface MIO-board -Ethernet and Fieldbus boardXRC cabinets may be put on top of eachother or docked side by sideFulfils the EC-directive incl.

2 EMC and LVDMade in SwedenAdvanced control systemPowerful 32-bit micro processor for rapiddata for different applications, forexample: arc welding and PLC-unit in the control systemwith expanded program capacity and newlogical functions for controlling pneumaticfunctions in tasking makes it possible to run severaljobs servopacks with software controlledspeed and position pendantAll programming functions are in one unitwith clear and large 12-line screen. Optimalprogramming time is achieved while allfunctions are available during menu text can be switched betweenseveral different European languages by asimple key operation. The programmingpendant is equipped with a 3-position dead-man s handle .CommunicationXRC like the previous control system forMOTOMAN robots, is a technical datasolution that is PC-compatible allowingcommon computer tools to be used forcreating, reading and editing jobs in a flexibility of the control system makes itpossible to communicate with other systemssuch as PLC s, host computers, visionsystems etc.

3 , through serial links, Ethernet,digital I/O s and Controller memory is also accessiblethrough a controlThe robots working path is controlled withconsistent precision and quality. Even at highspeeds the Robot will not vary from theprogrammed path of improves high speed welding, cuttingand sealing applications better than detection functionThis function stops the Robot when it comesinto contact with an object. Robot orperipherical devices can be protected in caseof accidental functionsRemotely monitors maintenance function ofrobot status through Ethernet processing and quality controlmonitoring can be managed from a centralcontrol room. Maintains history of when andwho changed the Robot job controlAdvanced Robot Motion Control improvesthe quality and productivity by improvedservo response of the motion acceleration/deceleration andvibration control ensures the correct pathand cycle time.

4 Speed is automaticallyoptimised for circles and corners. Collisionbetween Robot , Robot tool and other devicesis immediately detected to stop the robotand protect it from damage. The new programming pendantStatus menuDead-man s handle(at the back)Teach lock, forblocking the Play-back panelGo to top menuSwitch menucursor areaGo to sub-menuEnter selectionSwitching ofcoordinatesystem typeCursor, navigationkeyEmergency stopSerial interfaceRS-232 CGo topredefined menuCommand menuBacklighted LCDscreenProgramming andtest-run keysAxis keys, for robotand external axisProgramming keysGo to next menuNumerical andapplication functionkeysStart playbackoperationHold playbackoperationEmergency stopRemote operationServo power ONMode selectionTeach / PlayAlarm signal Large LCD-display with back-lighting.

5 High contrast for day-light shape cursor button forinstruction basic by icons and pull-downmenues make operation as easyas using your personal thermoplasticprogramming pendant allocation is based onhuman engineering number of keys areminimised for requiredfunctions menu iconsOpen new jobs Call up jobs Copy job Rename jobs Deletejobs Modify jobs Set Master jobApplication, welding Spot welding Handling application or GeneralapplicationVariable diagnosis Positionvariables for Robot , station andbase axesDiagnosis of external I/Os Dia-gnosis of universal I/Os Diagno-sis of direct I/Os Setting of I/OsTool data User coordinates Robot position coordinates Setting of cubes and softwarelimits Parameter setting Systemdiagnosis functionsSystem diagnosis functions Software version Alarm history System clock CountersThe programming pendant hasbeen awarded for its good designand user friendly of International Trade andIndustry, JapanBack-up functions Load Save Verify DeleteSystem settings Date/Time Speed settings Setting groupcombinations Operating/Teachingconditions User ID ControllerConfigurationDimensionsWeightC ooling systemAmbienttemperatureRelative humidityPower supplyGroundingDigital I/OCommunicationPositioning systemDrive unitsAccel / DecelProgrammingcapacity(standard)Free-s tanding, Enclosed type800(W)x900(H)

6 X650(D) mmApprox. 170 kgIndirect coolingDuring operation 0 to +45 During transport -10 to +60 Max. 90% (non-condensing)3 x 400/415/440V AC, 50/60 HzLess than 100 ohmGeneral signals (standard)40 inputs and 40 outputs of which24 inputs and 24 outputs are free4 direct inputsRS-232C and PC-cardAbsolute encoder / Serial interfaceServopacks for AC servo motorSoftware servo steps ladder stepsProgramming functionsCoordinatesystemRobot MotionControlSpeed settingProgram ControlInstructionsModification ofteaching pointPosition controlSpeed adjustmentI/O-functionProgrammingLanguag eDisplay textTool Centre PointTCP-calibrationJoint, rectangular/cylindrical, tool,user coordinatesJoint coordinates, linear/circular,interpolation, tool coordinatesPercentage for joint coordinates, mm/s units for interpolations,angular velocity for fixedmotionJump, call, timer, Robot stop,execution of some instructionsduring Robot motionAdding, deleting, correcting (robotaxes and/or external axes)

7 Manually forwards and backwards inthe job (even circular)Fine adjustment possibleDiscrete I/O control, patternI/O processingInteractive programmingRobot language: INFORM IIEnglish, Swedish, French, Spanish,Italian, Finnish, GermanMax. 24 and up to 24 externalTCP sAutomatically calibrates parametersfor end effectors using master jigPersonal safetyTeach Lock ModeCollision proofframesMachine lockSelf-diagnosisUser Alarm display3-position dead-man s handle Low speed in teaching modeProhibits operation from operator spanelDoughnut-sector frame, cubic frameTest-run peripherial device withoutrobot motionAlarm and error messages displayedtogether with explanationPossible to display alarm messagesfor peripheral devicesSafety featuresMaintenance functionsSoftware timeusage metersAlarm displayI/O-diagnosisControl power-ON time, servopower-ON time, playback time, worktime and operation time displayedAlarm messages and previous alarmrecordsSimulated enable/disabled outputpossibleDigital I/OAnalogue outputMemory expansion(up )External axisEnclosureclassificationI/O-boards, total max.

8 256/256 MIO02: 32 inputs and outputsMIO03: 16 inputs and outputsXO102: 40 inputs and outputs12 channel (MEW/XEW-board)Max points for 6 axesand ladder stepsTotal max. 27 axesIP54, by add on kitOptionsProgramming pendantMaterialDimensionsWeightDisplaySa fety featureInterfaceReinforced thermoplasticenclosure200(W)x322(H)x65(D ) inch, 40 characters x 12 lines3-position dead-man s handle RS-232 COperator s panelButtons providedMode, Start, Hold, Emergency stopServo power ONTechnical specifications MOTOMANXRC800650725900 MOTOMANXRCMOTOMANXRC160014501800 Controller layoutBasic cabinetOptional cabinetsXRC Controller cabinet is expandable byadding extra modules (XOC-1 and XOC-2).The extra cabinets are required for Twin andTriple Robot mounting, external axisservopacks as well as optional functionssuch as PLC s and safety optional cabinets are docked with thecontroller cabinet either on top or by theside providing a tidy cable installation.

9 Indirect cooling by means of a set of fans atthe rear makes it possible to place thecabinet in confined places. The indirectcooling also keeps pollution and dust out ofthe units such asservopacks for external axes,optional I/O boards, weldinginterface boards and fieldbusboards may be mounted on theback plate inside the for safety circuits, external axesI/O s and other communication optionsare easily connected at the bottom ofthe cabinet. The plugs are well protectedbehind a removable XRC will be theIt is physically reduced to minimise space but is optimised premier Robot controllerfor functions, simple operations and expandabilityFree slot in the CPU rack for optionalboards Sensor or Ethernet (PCMCIA)interface for highspeed backup orrobot and systemsoftware interface through RS-232 Cconnector suitable for PC backup of Robot jobs remote interface through RS-232C connectorin the programming pendant is suitable forPC communications back-up of for Robot motors and signal cableare easily connected by plugs at the back ofthe cabinet to increase field networks are available:Ethernet, Profibus, Interbus-S, Device-NET, etc.

10 Your manufacturing line can beintegrally controlled through yourexisting power supply line isconnected by CEE functionsThe Advanced Robot Motion functionimproves quality and productivity forapplications where correct path and highspeed is needed Laser cutting, water jetcutting, gluing and sealing integrated Collision Detection functionthe Robot tool, fixtures and jigs as well as therobot arm itself are protected against limits may be individually XRC System gives possibility to control27 axes from one single CPU, three robotswith external axes could be used forsynchronuous motion or for individual the Twin-Drive function, two externalservomotors may be used for synchronuousdrive of a heavy fixture or large track ( application).Endless Rotation of Robot axis (T-axis) or anexternal axis. Normally a servo motor islimited to one or two turns in each this function wrapping/unwrapping proces-ses or painting applications are improved andno time consuming reset of the turning XRC system can handle six tasks at thesame time Multi-Tasking such as robotjobs, concurrent I/O master job.