Han's Robot Elfin Series Manual de usuario

Collaborative Robot Elfin Series

Electrical installation

（E03/E05/E10）

Introduction

How to Use This Manual

This manual is intended for operators of Elfin robots, who should have some

electrical and programming knowledge. The manual will provide instructions for Elfin

operators from the following ways:

Safety: The operator should keep all safety instructions in mind.

Mechanical Installation: The operator should follow the instructions

when installing the robot.

Electrical interface: Open ports of Elfin are introduced for the

convenience of secondary development.

Software Control: It can guide the operator to install software and run

the robot.

Security Configuration: It introduces the basic safety settings.

Technical Support

Shenzhen Han's Robot Co., Ltd will provide you with long-term technical services. If

you have any technical problems or other needs during using our robot, you are welcome

to visit our company website: www.hansrobot.com, or directly contact our technical

engineers.

Contact Information

Company Address: 5F, Block B, Han's Innovation Mansions, No. 9018 Beihuan

Boulevard, High-tech Park, Nanshan District, Shenzhen, China

Factory Address: 4F, Building 4, Han's Laser Industrial Park, No.128 Chongqing Road,

Fuyong Town, Baoan District, Shenzhen, China

Mobile: +86 75526983668 Fax: +86 7552698278

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INDEX

CHAPTER 1 ELECTRICAL INTERFACES...................................................................... 1

PRECAUTIONS..................................................................................................................1

1.1 CONNECTING CABLE.................................................................................................2

1.2 EXTERNAL INTERFACE AND CONNECTION INSTRUCTIONS...............................................3

1.3 INTRODUCTION TO CONTROLLER I/O......................................................................... 5

1.4 GENERAL SPECIFICATION FOR ALL DIGITAL I/O............................................................6

SAFETY I/O..............................................................................................................7

DEFAULT SECURITY CONFIGURATION........................................................................... 8

CONNECT THE E-STOP BUTTON................................................................................... 9

EMERGENCY STOP RESET FUNCTION............................................................................ 9

SAFE EMERGENCY STOP WITH OTHER MACHINES.........................................................10

SAFETY PROTECTION STOP....................................................................................... 10

PROTECTIVE STOP WITH RESET.................................................................................. 11

1.5 BUILD A GENERAL DIGITAL I/O.............................................................................. 12

1.6 GENERAL ANALOG I/O..........................................................................................13

USING ANALOG OUTPUT..........................................................................................14

USING ANALOG INPUT.............................................................................................14

REMOTE SWITCH CONTROL....................................................................................... 15

1.7 SAFETY GUARDRAIL...............................................................................................15

1.8 ROBOT TERMINAL IO INTERFACE DESCRIPTION.........................................................16

CHAPTER 2 TEACH PENDANT.................................................................................20

CHAPTER 3 THE PROCESS OF STARTING THE ROBOT.......................................... 21

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Chapter 1 Electrical Interfaces

This chapter describes all the electrical interfaces of the robot arm and the control

box. These interfaces are divided into five categories, each of which has different uses and

attributes:

Controller I/O

Tool I/O

Ethernet

Power connection

Robot connection

“I/O”The term refers to the digital and analog control signals coming in and out of

the interface.

These five types of interfaces are described below, and most types of I/O provide

examples.

Precautions

Please read the Elfin electric control box interface instructions before

installing the electric control box.

The location of electric control box and distribution cable should be

away from the noise source as much as possible. If it is too close to the

noise source, there may be position deviation or misoperation.

Don’t apply excessive force to the connector or overbend the cable.

Otherwise, it may lead to bad contact or broken line.

Please make sure that the equipment is well grounded.

Please use the accessory nylon clip to fix the cable after connecting

the cable.

Don’t disassemble the electric control box, otherwise it may cause

electricity leakage and electric shock.

The electric control box is equipped with fans at both ends. Don’t block

them when installing, and keep it well ventilated.

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1.1 Connecting cable

As shown in the below figure, the line is the power cable of the electric control box.

The cable line is 5m long. The control box must be connected to the power supply. This

process must be completed using the corresponding IEC C13 wire connected to the

standard IEC C14 plug on the bottom of the control box.

Note:

The power supply shall be equipped with at least the following accessories:

Grounding;

Fuse of electric supply;

Residual current circuit breaker;

It is recommended that all the devices in the robot application should have a power

supply switch, so as to lock and hang up a sign during the maintenance.

As shown in the following figure, the line is a cable that connects the robot body and

electric control box, with a length of 5m. It connects the machine hand and the electric

control box. The gray end connects the plug of robot base, and the black end connects the

electric control box’s aviation plug.

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1.2 External Interface and Connection Instructions

Front:

Bottom:：

No.

Name

Carrying handle

Exhaust vent

Air inlet

Cabinet keyhole

Screw

fixed foot rack

fixed plate of teaching pad

No.

Name

Robot connector

Teach pendant connector

Controller power switch

AC power socket

grommet

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The controller connects the teach pendant:

The controller connects the robot:

Fasten the controller：

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1.3 Introduction to Controller I/O

The controller provides a series of external interfaces, for connecting controller I/O

with various devices such as external relays, PLC, sensors and emergency stop device.

The port layout of the controller panel I/O is shown below:

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1.4 General specification for all digital I/O

This section describes the electrical specifications of 24V digital I/O provided by the

controller.

General I/O （Type：PNP）

Safety I/O （Type：PNP）

Configurable I/O （Type：PNP）

The digital I/O power supply is provided internally by the controller, and can be

supplied externally when needed. The current is limited to 2A when using

internal/external power supply. The digital I/O can connect the external power according

to the following diagram. The configurable I/O can be configured into general I/O.

The electrical specifications for internal and external power supply are as follows:

Terminal

Parameter

Minimum

Value

Typical

Value

Maximum

Value

Unit

Internal 24V Power Supply

INT_24 - INT_GND

Voltage

INT_24 - INT_GND

Current

External 24V Power Supply

24D - GND

Voltage

24D - GND

Current

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The digital I/O follows the requirements of IEC61131-2. The electrical specifications

are as follows.

Terminal

parameter

minimum

value

Typical

value

Maximum

value

unit

Digital output

COx / DOx

Current

COx / DOx

Voltage drop

0.5

COx / DOx

Leakage current

0.1

COx / DOx

Function

PNP

Type

COx / DOx

IEC 61131-2

Type

Digital input

SIx /DIx

Voltage

-3

SIx /DIx

OFF area

-3

SIx/ DIx

ON area

SIx/ DIx

Current（11-30V）

SIx/ DIx

Function

PNP

Type

SIx/ DIx

IEC 61131-2

Type

Safety I/O

This section introduces special safety input (red text font), please follow the 24V

digital I/O general specification when using.

The safety inputs include emergency stop and safety protection stop. Emergency stop

input is used only for stopping equipment under emergency. The safety protection stop

input is used for all types of safety protection devices. Their functional differences are

shown in the following table.

Terminal

Emergency Stop

Safety Protection Stop

Robot stops moving

Yes

Run program

Stop

Suspend

Robot power supply

open

Initialization

Manual

Automatic or manual

Frequency of use

Low

Ordinary

Need to be re-initialized

Only release the brake

Shutdown category (IEC 60204)

Performance rate (ISO 13849-1)

PLd

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