Robot Implementation Notes¶

Light Curtains¶

• wiring - devices to robot. What pins from the field go to what terminals
  • sender
  • receiver

• confirm cables on hand
• test with robot
• documentation on how to restart after a safety shutdown

I/O Setup¶

Has a dozen input and a dozen outputs independent of the above safety terminals. Terminal blocks should have separators between different functional groups, i.e. ground and other voltages or signals.

Robot has a DSQC 327A Digital I/O Module installed. It provides 16 digital inputs, 16 digital outputs, and 2 analog outputs. Details on pg 65-73 of DeviceNet manual (3HAC020676-001 revB).

Outputs¶

Intent is to wire these to terminal strips in groups.

• some 5VDC
• some 24VDC
• some 120VAC

Diodes - where are they needed to protect for outputs going to relays, motors or other coil based actuators. Diode wired cathode (band) to robot output, anode (triangle) to ground.

Inputs¶

Intent is to wire these to terminal strips in groups.

• some 5VDC
• some 24VDC
• some 120VAC

Pneumatic Plumbing¶

For

• the solenoid valves
• deburring head

runs:

• Air to solenoid valves
• valves to head
• add secondary regulator
• tool changer needs additional line