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MOTOMAN XRC
Dimension New
27 controlled servo axes Synchronized operation of three robots Synchronized programming of three robots including external axes Multi-tasking Simultaneous operation of six tasks Simple programming and diagnosis due to several software functions
Programming pendant
All programming functions are in one unit with clear and large 12-line screen. Optimal programming time is achieved while all functions are available during programming. The menu text can be switched between several different European languages by a simple key operation. The programming pendant is equipped with a 3-position deadmans handle.
Communication
XRC like the previous control system for MOTOMAN robots, is a technical data solution that is PC-compatible allowing common computer tools to be used for creating, reading and editing jobs in a PC. The flexibility of the control system makes it possible to communicate with other systems such as PLCs, host computers, vision systems etc., through serial links, Ethernet, digital I/Os and fieldbus. The controller memory is also accessible through a PC-card.
Path control
The robots working path is controlled with consistent precision and quality. Even at high speeds the robot will not vary from the programmed path of travel. XRC improves high speed welding, cutting and sealing applications better than ever.
ARM control
Advanced Robot Motion Control improves the quality and productivity by improved servo response of the motion control. Optimised acceleration/deceleration and vibration control ensures the correct path and cycle time. Speed is automatically optimised for circles and corners. Collision between robot, robot tool and other devices is immediately detected to stop the robot and protect it from damage.
Maintenance functions
Remotely monitors maintenance function of robot status through Ethernet network. Production processing and quality control monitoring can be managed from a central control room. Maintains history of when and who changed the robot job instructions.
Programming keys Serial interface RS-232C Numerical and application function keys
Mode selection Teach / Play Emergency stop Servo power ON Alarm signal Remote operation Start playback operation Hold playback operation
Switch menu cursor area Teach lock, for blocking the Playback panel Programming and test-run keys
Large LCD-display with backlighting. High contrast for daylight operation. Cross shape cursor button for instruction basic operations. Operates by icons and pull-down menues make operation as easy as using your personal computer. Lightweight thermoplastic programming pendant reduces fatigue. Key allocation is based on human engineering research. The number of keys are minimised for required functions only.
Application, e.g. Arc welding Spot welding Handling application or General application Variable diagnosis Position variables for robot, station and base axes
Diagnosis of external I/Os Diagnosis of universal I/Os Diagnosis of direct I/Os Setting of I/Os
Tool data User coordinates Robot position coordinates Setting of cubes and software limits Parameter setting System diagnosis functions System diagnosis functions Software version Alarm history System clock Counters
The programming pendant has been awarded for its good design and user friendly layout.
System settings Date/Time Speed settings Setting group combinations Operating/Teaching conditions User ID
Technical specifications
Controller
Configuration Dimensions Weight Cooling system Ambient temperature Relative humidity Power supply Grounding Digital I/O Free-standing, Enclosed type 800(W)x900(H)x650(D) mm Approx. 170 kg Indirect cooling During operation 0 to +45 During transport -10 to +60 Max. 90% (non-condensing) 3 x 400/415/440V AC, 50/60 Hz Less than 100 ohm General signals (standard) 40 inputs and 40 outputs of which 24 inputs and 24 outputs are free 4 direct inputs RS-232C and PC-card Absolute encoder / Serial interface Servopacks for AC servo motor Software servo control 5.000 steps and 3.000 instructions 1.500 ladder steps
Communication Positioning system Drive units Accel / Decel Programming capacity (standard)
Safety features
Personal safety Teach Lock Mode Collision proof frames Machine lock 3-position dead-mans handle Low speed in teaching mode Prohibits operation from operators panel Doughnut-sector frame, cubic frame
Test-run peripherial device without robot motion Self-diagnosis Alarm and error messages displayed together with explanation User Alarm display Possible to display alarm messages for peripheral devices
Operators panel
Buttons provided Mode, Start, Hold, Emergency stop Servo power ON
Programming pendant
Material Dimensions Weight Display Safety feature Interface Reinforced thermoplastic enclosure 200(W)x322(H)x65(D) mm 1.2 kg 5.7 inch, 40 characters x 12 lines 3-position dead-mans handle RS-232C
Programming functions
Coordinate system Robot Motion Control Speed setting Joint, rectangular/cylindrical, tool, user coordinates Joint coordinates, linear/circular, interpolation, tool coordinates Percentage for joint coordinates, 0.1 mm/s units for interpolations, angular velocity for T.C.P. fixed motion Jump, call, timer, robot stop, execution of some instructions during robot motion Adding, deleting, correcting (robot axes and/or external axes) Manually forwards and backwards in the job (even circular) Fine adjustment possible Discrete I/O control, pattern I/O processing Interactive programming Robot language: INFORM II English, Swedish, French, Spanish, Italian, Finnish, German Max. 24 and up to 24 external TCPs Automatically calibrates parameters for end effectors using master jig
Program Control Instructions Modification of teaching point Position control Speed adjustment I/O-function Programming Language Display text Tool Centre Point TCP-calibration
Maintenance functions
Software time usage meters Alarm display I/O-diagnosis Control power-ON time, servo power-ON time, playback time, work time and operation time displayed Alarm messages and previous alarm records Simulated enable/disabled output possible
Options
Digital I/O I/O-boards, total max. 256/256 MIO02: 32 inputs and outputs MIO03: 16 inputs and outputs XO102: 40 inputs and outputs Analogue output 12 channel (MEW/XEW-board) Memory expansion Max 60.000 points for 6 axes (up to...) and 20.000 instructions 3.000 ladder steps External axis Total max. 27 axes IP54, by add on kit Enclosure classification
Controller layout
Basic cabinet
MOTOMAN
XRC
900
800
650 725
Optional cabinets
XRC Controller cabinet is expandable by adding extra modules (XOC-1 and XOC-2). The extra cabinets are required for Twin and Triple robot mounting, external axis servopacks as well as optional functions such as PLCs and safety systems. The optional cabinets are docked with the controller cabinet either on top or by the side providing a tidy cable installation.
1800
MOTOMAN
MOTOMAN
XRC
1450
XRC
1600
Optional units such as servopacks for external axes, optional I/O boards, welding interface boards and fieldbus boards may be mounted on the back plate inside the cabinet.
Indirect cooling by means of a set of fans at the rear makes it possible to place the cabinet in confined places. The indirect cooling also keeps pollution and dust out of the cabinet.
Cables for safety circuits, external axes I/Os and other communication options are easily connected at the bottom of the cabinet. The plugs are well protected behind a removable panel.
Free slot in the CPU rack for optional boards e.g. Sensor or Ethernet board.
PC-card (PCMCIA) interface for high speed backup or robot job transferring. Robot and system software upgrade.
Serial interface through RS-232C connector suitable for PC communication i.g. backup of robot jobs remote control etc.
Cables for robot motors and signal cable are easily connected by plugs at the back of the cabinet to increase flexibility.
Standard field networks are available: Ethernet, Profibus, Interbus-S, DeviceNET, etc. Your manufacturing line can be integrally controlled through your existing network.
Serial interface through RS-232C connector in the programming pendant is suitable for PC communications e.g. back-up of robot jobs.
Software functions
The Advanced Robot Motion function improves quality and productivity for applications where correct path and high speed is needed e.g. Laser cutting, water jet cutting, gluing and sealing application. By integrated Collision Detection function the robot tool, fixtures and jigs as well as the robot arm itself are protected against damages. Moment limits may be individually set. The XRC System gives possibility to control 27 axes from one single CPU, three robots with external axes could be used for synchronuous motion or for individual jobs. Using the Twin-Drive function, two external servomotors may be used for synchronuous drive of a heavy fixture or large track (e.g. welding application). Endless Rotation of robot axis (T-axis) or an external axis. Normally a servo motor is limited to one or two turns in each direction. By this function wrapping/unwrapping processes or painting applications are improved and no time consuming reset of the turning is needed. The XRC system can handle six tasks at the same time Multi-Tasking such as robot jobs, concurrent I/O master job. By means of special commands programming and editing is made easily. Welding Parameters (welding current, wire speed, weaving, etc.) for a special welding power source may be saved in a data file (charcteristics). Start conditions, end conditions are easily added to the robot job by calling ARCON/ARCOF-command, which reduces the programming time. Other parameters for welding may be set, such as: Retry function and Restart function. Of course, it is possible to set individual values for voltage, current wire feed, etc. for a single welding string. Communication interface between XRC system and e.g. a PC may be handled in several ways. A PC-card (PCMCIA) slot is integrated in the CPU-rack. This PC-card can be used as backup of user memory (jobs) and also for upgrading of system software. For advanced communication the RS-232C serial interface or optional Ethernet board is used. This together with our PC software puts the robot into your network. Robot jobs may be down- and uploaded to the system from a central computer. The robot can be remotecontrolled. The Interrupt Job function is used when the robot serves e.g. one or several tooling machines. A signal from the machine makes the robot to interrupt its job for a moment to serve the machine and then returns to maintain its main job, e.g. deburring. The Search function is used when the workpiece may vary in size or position e.g. picked up from a pallet or roughly cut pieces at welding application. The data from the sensor adjusts the robot job. In arc welding applications the COMARC package (including: start point search function, seam tracking and multi layer) increase the productivity by decreasing the demands of the accuracy of the workpiece. It automatically adjusts the robot job due to the actual conditions. Multi layer function reduces the programming time in heavy welding applications. When the robot is used together with a machine tool for placing the workpiece in the chuck, the Servo Float function allows the robot arm to float with torque control making it flexible with external forces.
When using the External Reference Tool Centre Point function, it is possible to designate a point in space as the tool control point. This function may be used when the robot is holding the workpiece and the tool fixed e.g. pedestal spot welding machine or application nozzle for gluing or sealing. PMT function can be used to correct position data easily and accurately when the robot tool inadvertently collides with periferial jigs or walls and becomes deformed. The job position data will be corrected according to the new tool data automatically. The actual position of the robot is memorized by pulse data. These data can be shifted into another coordinate system, Relative Job function. This function is used to perform exactly the same operation but in another location or direction. The Parallel Shift function simplifies programming. One operation is shifted (copied) a specified distance. A counter sets the number of operations. The function is used in e.g. palletising application. Any type of coordinate system can be used. The PAM function is used for manual operation. During playback the programmed position or speed, can be corrected easily. It is not necessary to stop the robot as the correction amount and speed is set from the programming pendant. This function is used when the workpiece is only roughly positioned in the fixture and the operator checks and corrects the position. The TCP (Tool Centre Point) function, adjusts the robot position according to the tool data. This function reduces the programming time e.g. it can be used in a painting application where the first nozzle applies the primer coat and after shifting the TCP, the second nozzle applies the topcoat by running the job again. The Analogue Output Corresponding to Speed uses an optional analogue board to supply a signal to control a glue or paint pump, or similar when the amount of sealant or paint must be accurately controlled. The Conveyor synchronisation function synchronises the robot motion to the speed of the conveyor. By connecting the optional sensor board to an incremental encoder on the conveyor drive motor, the speed is detected and the robot can adjust its speed to suite. This function is used both when picking up as well as placing the workpiece onto the conveyor without stopping it. The Press synchronises the robot motion with the press machine, where an encoder mounted on the press flywheel monitors the position of the press. The robot motion is halted when it may interfere with the press motion and starts again when the press rises and interference is avoided. I/O signals are not needed and cycle time is optimised. For Spot welding applications the Short Pitch function is used to suppress the rapid robot arm movements during the short pitch traverse of the spot welding gun. A number of Optional Boards can be added to the XRC system, such as; -Sensor board, -Ethernet board, -I/O board, -Analogue output board and COMARC board. Complex I/O installations are easily solved by use of the Fieldbus Interface Board which is designed for well known market brands such as; Interbus-S, Device-NET and Profibus etc. Digital I/O optional boards of various types are easily installed to customise your system (16/16, 32/32, 40/40).
KNT ENGINEERING
ROBOTIC SYSTEMS
ROBIA SUOMI
ROBIA
ROBIA
MOTOMAN MOTOMAN
MOTOMAN MOTOMAN MGM SPOL MOTOMAN MOTOMAN MOTOMAN MESSER SAG MOTOMAN RISTRO MOTOMAN MOTOMAN REHM
GEIGER HANDLING
a YASKAWA company
Group Companies: France: MOTOMAN Robotics, Nantes +33-2-40131919, Germany: MOTOMAN Robotec, Allershausen +49-8166-90-0 MOTOMAN Robotec, Frankfurt +49-6173-6077-30, Great Britain: MOTOMAN Robotics, Banbury +44-1295-272755, Italy: MOTOMAN Robotics, Modena +39-059-280496, Netherlands: MOTOMAN Benelux, Breda +31-76-5424278, Portugal: MOTOMAN Robotics, Porto +351-14968160, Slovenia: RISTRO, Ribnica +386-61-861113, Spain: MOTOMAN Robotics, Barcelona +34-93-6303478, Sweden: MOTOMAN Robotics Europe, Torss +46-486-48800 MOTOMAN Mecatron Robotic Systems, Kalmar +46-480-444600 Distributors: Czech Republic: MGM Spol, Tabor +420-361-254571, Denmark: Robia, Vejle +45-79428000, Finland: Robia Suomi, Turku +35822145600, Greece: Kouvalias Industrial Robots, Kallithea +30-1-95892436, Hungary: REHM Hegesztstechnika, Budapest +36-12562012, Israel: KNT Engineering, Kfar Azar +972-39231944, Norway: Robia, Hokksund +47-32252820, South Africa: Robotic Systems, Bertsham +27114943604, Switzerland: Geiger Handling, Schwarzenburg +41-31-7343111 Messer SAG, Dllikon +41-18471717
Reg 7P-03-07-01INT