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¶

Controller cabinet has a variety of inputs and outputs independent of the above safety terminals.

Robot Controller has a collection of inputs and outputs

• DSQC 1030 Digital I/O Module installed. It provides 16 digital inputs, 16 digital outputs. Details on pg 51.2 manual (3HAC024480-011 rev16)
• DSQC 1031 Digital I/O Module installed. It provides 16 digital inputs, 16 digital outputs. Details on pg 51.4 manual (3HAC024480-011 rev16)
• DSQC 1032 Analog I/O Module installed. It provides 4 analog inputs, 4 analog outputs. Details on pg 51.6 manual (3HAC024480-011 rev16)

Outputs¶

Intent is to wire these to terminal strips in groups.

• some 5VDC max ?? A
• some 24VDC max ?? A
• some 120VAC max ?? A

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 max ?? A
• some 24VDC max ?? A
• some 120VAC max ?? A

Pneumatic Plumbing¶

A bank of solenoid valves is used to provide/control 80psi shop air.

• 4 single acting solenoid valves
  • Nitra AVS-5312-24D
• 4 double acting solenoid valves
  • Nitra AVS-5322-24D