iCIM FC Robot RV2AJ Assembly Vision A008

iCIM Manual Robot assembly vision station
Order-NR.: Type: Designation Printed: Autor: Graphics: Layout: Manual iCIM iCIM_FC_Robot_RV2AJ_Assembly_Vision_A008.doc November 08 Schober Schober Schober
Festo Didactic GmbH & Co.KG., D-73770 Denkendorf, 2008 Internet: www.festo.com/didactic e-mail: did@festo.com This manual, all text and illustrations included, is protected by copyright. Any utilization outside the limits of the copyright law and other than training purposes are not permissible without our definite approval. This applies in particular to reproductions, operations, translations, micro filming and the storing and processing into electronic systems. Parts of this manual may be copied by the authorized user, exclusively for teaching purposes. Distribution of this documentation, as well as reproduction, use and spread of its contents is prohibited, insofar not permitted explicitly. Offences are liable to compensation. All rights reserved, especially the right to execute registrations concerning patents, designs for use and patterns.
Festo Didactic GmbH & Co.KG. iCIM
Intended use
The User Manual must be to hand at all times. Keep it close to the machine.
This installation was developed and manufactured only for use in basic and further training in the fields of automation and communications. The training company and/or the training staff must ensure that the trainees observe the safety precautions described in the accompanying manuals. Furthermore this manual describes setup and possible uses of the singular stations. It contains all information and data required for commissioning, maintenance and operation. Festo Didactic accepts no liability for injury or harm to trainees, the training company and/or any third parties occurring when the installation is used for any purpose apart from training, except Festo Didactic has caused such injury or harm intentionally or by grossly negligence.
The manual is divided into four parts: Part A In addition to technical data, Part A contains an overview of the possible uses of the stations. Part B Part B contains some exercises and the solutions for this exercise (Not available for each station). Part C Part C contains the pneumatic and electrical diagrams for the station and the listing of the control programs (Not available for each station). Part D Part D contains data sheets and technical information about the electrical and electronic modules used.
List of applicable standards and regulations
The list below provides an overview of the most important standards and regulations relating to mechanical, electrical and safety-engineering design and production.
DIN EN 292 -Machine safety DIN EN 60204 - Electrical equipment of industrial machines DIN VDE 0113 - See DIN EN 60204 DIN 40719 - Circuit documentation VDI 2853 - Technical safety requirements concerning the building, equipping and operation of industrial robots VDI 2853 - Technical safety requirements concerning automated production systems VDI 2411 - Terms and explanations in conveying and handling VDI 2860 - Assembly and robotics - terms VDI 2861 - Assembly and robotics - characteristic quantities DIN 19245 - PROFIBUS Part 1-3
As far as possible, the System is maintenance-free. All bearings are lubricated for life. The installation was designed in such a way as to keep the number of wearing parts to a minimum. This does not include machines that are part of optional expansions (such as industrial robots).
At this point we would like to point out that this manual and the concept of the operating instructions for a Flexible Training System of this type are regularly updated. To ensure that the instructions are ever more user-friendly, you would help us a great deal by passing on your suggestions for improvement. Please let us know of your suggestions, corrections or ideas, either in writing or via telephone: +49(711-3467-0)
Contents
1 2 Intended use _____________________________________________________ 3 Introduction ______________________________________________________ 9 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 3 General______________________________________________________ 9 Robot assembly station _______________________________________ 10 Didactic structure ____________________________________________ 12 Duty of the operating authority _________________________________ 13 Duty of trainees ______________________________________________ 13 Warranty and liability _________________________________________ 14 Intended use ________________________________________________ 14 Important notes ______________________________________________ 15
General safety instructions _________________________________________ 17 3.1 Handling the system __________________________________________ 17 Dangers in handling the machine ____________________________ 17 Faults impairing safety must be rectified immediately!___________ 17 Safety precautions in standard operation _____________________ 18 Dangers due to electric current _____________________________ 18 Dangers due to pneumatic energy ___________________________ 19 Maintenance Servicing Malfunction removal ________________ 19 Organizational measures __________________________________ 19
3.1.1 3.1.2 3.1.3 3.1.4 3.1.5 3.1.6 3.1.7 3.2
Personnel ___________________________________________________ 20 Notes on personnel _______________________________________ 20
3.2.1
Contents
3.2.2 3.2.3 3.3
Training operations _______________________________________ 20 Outside training operations ________________________________ 20
Emergency stop system _______________________________________ 20 Safety symbols __________________________________________ 21
3.3.1 4
Commissioning __________________________________________________ 23 4.1 Transport ___________________________________________________ 23 Unpacking ______________________________________________ 23 Scope of delivery _________________________________________ 23
4.1.1 4.1.2 4.2
Set up ______________________________________________________ 24 General information ______________________________________ 24
4.2.1 4.3
Commissioning ______________________________________________ 28 Pneumatic commissioning _________________________________ 28 Electric commissioning ____________________________________ 28 Connecting communication cables ___________________________ 29 Establishing communication connections _____________________ 30
4.3.1 4.3.2 4.3.3 4.3.4 5
Operation _______________________________________________________ 31 5.1 General operation notes _______________________________________ 31 Behavior rules ___________________________________________ 31 Operation rules __________________________________________ 31
5.1.1 5.1.2 5.2
Process description ___________________________________________ 32 Robot assembly station ___________________________________ 32
5.2.1 5.3
Tasks ______________________________________________________ 33
Contents
5.4 5.5
Operation panel ______________________________________________ 37 Start up system ______________________________________________ 38 Start up conditions _______________________________________ 38 general information _______________________________________ 38
5.5.1 5.5.2 5.6 5.7
Reset mode _________________________________________________ 38 Automatic __________________________________________________ 39 Start automatic __________________________________________ 39 Automatic mode _________________________________________ 39 Stop automatic __________________________________________ 39
5.7.1 5.7.2 5.7.3 5.8 5.9
Shut down the station _________________________________________ 39 Mitsubishi robot RV-2AJ _______________________________________ 40
5.10 Drive Unit RV-2AJ _____________________________________________ 41 5.10.1 5.10.2 5.10.3 5.10.4 5.10.5 5.10.6 5.10.7 5.10.8 5.10.9 5.10.10 Functions _______________________________________________ 41 Teach pendant RV-2AJ _____________________________________ 43 Set up RV-2AJ ____________________________________________ 44 To operate the robot ______________________________________ 45 Choose program _________________________________________ 48 Change program _________________________________________ 48 Teach position example ___________________________________ 49 Interface Drive unit Inputs _________________________________ 50 Interface Drive unit Outputs ________________________________ 51 Program documentation for CR1 and CR2 with ETHERNET ______ 52
Contents
5.10.11 6
Robot programs ________________________________________ 56
Technology _____________________________________________________ 59 6.1 6.2 6.3 drawings ___________________________________________________ 59 Technical datas ______________________________________________ 60 Modules in use ______________________________________________ 61 Pallet reception __________________________________________ 61 Pen/instrument magazine _________________________________ 62
6.3.1 6.3.2 6.4 6.5 7
Assembly module ____________________________________________ 63 Workpiece direction __________________________________________ 64
Pneumatic ______________________________________________________ 65 7.1 7.2 The valve terminal ____________________________________________ 65 Pneumatic supply ____________________________________________ 66
Electrical system _________________________________________________ 67 8.1 8.2 8.3 Power supply ________________________________________________ 67 Controller ___________________________________________________ 67 Wiring ______________________________________________________ 68 I/O-Components _________________________________________ 68
8.3.1
Introduction
2.1
General
This user-defined installation contains parts of the iCIM system, mixed together with other components. The installation, thus created, is explained in the following operational manual and the respective station manuals. In the development of the system, various production technologies have been combined into one installation. The aim of the installation is the increase of competence, from a simple setting of examples up to a complete production process, including all features. Additionally, to technical and social competence, the comprehension of the process and the interaction of the respective components appear in clear presentation. This manual describes working with the iCIM system. Everything is explained and described for the operation of necessary events. With the help of graphics or pictures a simple communication should be obtain. Complete operating instructions which explain the processes of the system are available for working with the system. Station manuals are also available for the individual stations. Festo Didactic succeeded in using the most updated industrial hard- and software for this model production.
Introduction
2.2
Robot assembly station
The robot assembly stationis responsible for the assembly of an desk set in different variants. Once a desk set is to be assembled, the required palettes, containing the necessary components, are requested for placement onto the palette receptions. At first, a base plate is placed into the assembly position, then the first instrument is assembled. After assembling the first instrument, the second instrument is assembled in the same way. The instruments are coming from the magazines. 1 pen holder, aluminum or brass, depending on the order, is assembled into the base plate. The pen holder is coming from a palette. At least a pen is inserted in the pen holder, the pen is coming from the magazine. The assembled desk set is returned to its retrieval position and stored in the AS/RS station for further use. The station possesses its own control, which is fitted into the basic frame of the station. The drive unit of the robot supplies the control. Communication from drive unit to COSIMIR FACTORY PC ensues by means of Ethernet
If the station is operated without the iCIM System, in stand alone mode, it is possible to make training on the robot.
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Introduction
Overview AS/RS station
Position 1 2 3 4 5 6
Description Robot RV-2AJ Controller CR1 RIA-Box Operation panel Magazine 1 Magazine 2
Position 7 8 9 10 11
Description Camera Pen-magazine Assembly module Workpiece holder for vision Palette reception
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Introduction
2.3
Didactic structure
The installation is structured, to enable methodical learning, i.e. from single use of modules to the complex and complete installation. Perhaps even in combination with further systems. For example, it is possible to pick out a single module to start with the first steps, e.g. the robot. First the mechanical assembly is considered. The robots radius of action requires integration into the location of the robot. The following step could be the connection of all cables required for operation and the set-up of the robot. Moving the robot and teaching the required positions are the first real operations with the robot, which introduces the user how to deal with the teach-box. The robots programming can be started, as soon as the robot can be moved by the teach-box. Small programs, which can be created by using the Cosimir/Cosirob software, are expandable for the complex programs. Orders to further stations and from other controls can be installed in the programs.
Once the learning process of this module has been concluded, these learning steps can be transferred to the next module. As soon as all of the modules have been processed individually, the modules can be interconnected and the programs can be adapted. A complete production process can be simulated. This is an ideal training area for the professional practice of mechatronis, as well as all of the technical ranges (mechanical, electrical and pneumatic processes) are represented in a simple and clearly way, concerning each one of the modules and the complete system.
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Introduction
Training contents covering the following subjects can be taught: Mechanics Mechanical construction of a station Pneumatics Piping connections of pneumatic components Vacuum technology Pneumatic linear and rotary drives Electrical Correct wiring of electrical components Sensors Correct use of limit switches Robot training Programming and use of a Robot Structure of a robot program Moving and teaching a robot Commissioning Commissioning of a production system Fault finding Systematic fault finding on a production system
2.4
Duty of the operating The operating authority undertakes to ensure that the ICIM is used only by persons who: authority are familiar with the basic regulations regarding operational safety and accident prevention and who have received instructions in the handling of the ICIM, have read and understood the chapter on safety and the cautionary notes in this manual. Safety-conscious working of the persons should be regularly vetted.
2.5
Duty of trainees
Prior to commencing work, all persons assigned to working on the ICIM have a duty to: read the chapter on safety and the cautionary notes in this manual and, observe the basic regulations regarding operational safety and the prevention of accidents.
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Introduction
2.6
Warranty and liability
In principle all our Terms and Conditions of Sale apply. These are available to the operating authority upon conclusion of the contract at the latest. Warranty and liability claims for persons or material damage are excluded if these can be traced back to one or several of the following causes: Use of the ICIM not in accordance with its intended purpose Incorrect assembly, commissioning, operation and maintenance of the ICIM Operation of the ICIM using faulty safety equipment or incorrectly fitted or non operational safety or protective devices Non observance of notes in the manual regarding transport, storage, assembly, commissioning, operation, maintenance and setting up of the ICIM Unlawful constructional modifications on the ICIM Inadequate monitoring of components subject to wear Incorrectly carried out repairs Catastrophes as a result of foreign bodies and vis major.
Festo Didactic herewith rules out any liability for damage or injury to trainees, the training company and/or other third parties which may occur during the use/operation of the system other than purely in a training situation, unless such damage has been caused intentionally or due to gross negligence by Festo Didactic.
2.7
Intended use
This installation was developed and manufactured only for use in basic and further training in the fields of automation and communications. The training company and/or the training staff must ensure that the trainees observe the safety precautions described in the accompanying manuals. Furthermore this manual describes setup and possible uses of the singular stations. It contains all information and data required for commissioning, maintenance and operation. Festo Didactic accepts no liability for injury or harm to trainees, the training company and/or any third parties occurring when the installation is used for any purpose apart from training, except Festo Didactic has caused such injury or harm intentionally or by grossly negligence. The use of the system for its intended purpose also includes: Following all advice in the manual and Carrying out inspection and maintenance work.
14
Introduction
2.8
Important notes
The basic requirement for safe use and trouble-free operation of the ICIM is to observe the fundamental safety recommendations and regulations. This manual contains important notes concerning the safe operation of the ICIM. The safety recommendations in particular must be observed by anyone working on the ICIM. Furthermore, the rules and regulations for the prevention of accidents applicable to the place of use must be observed.
15
Introduction
16
General safety instructions
3.1
Handling the system
3.1.1
Dangers in handling the machine
The installation has been constructed technologically up to date and in conformance with the recognized rules of safety engineering. Nevertheless, during operation it is possible that harm might be caused to the user or third parties or that the installation or other property might get damaged. Therefore, the installation has to be handled according to specified operational use in perfect technical condition only. Safety endangering malfunctions cannot be tolerated during training and have to be removed immediately. The iCIM system is to be used only: for its intended purpose and in an absolutely safe conditions.
3.1.2
Faults impairing safety must be rectified immediately!
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3.1.3
Safety precautions in standard operation
Put the installation into operation only, once all of the protection settings are completely functional. At least, before starting operation, check the installation for externally visible damages and for the reliability of the safety devices. Do not grip into the installation while in operation. Before circuit construction, circuit disassembly and circuit modification: switch off air pressure and power supply. General safety regulations are to be observed: DIN 58126 and VDE 0100.
3.1.4
Dangers due to electric current
As soon as maintenance is completed, check the function reliability of the safety devices. Only trained experts in electric or electronic engineering are permitted to carry out work on the electric supply system. The terminal boxes are to be kept closed at all times. Access must be permitted only under supervision of a member of the training staff. Do not activate electric limit switches manually during fault search. Tools are to be used. Only low voltage 24VDC is to be used.
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3.1.5
Dangers due to pneumatic energy
Accidents might occur due to bouncing off tubes, caused by air pressure. Interrupt air pressure supply immediately. Caution! When the air pressure supply is activated, cylinders may move in or out. Do not uncouple any tubes under air pressure supply. Exception: Fault finding. In this case, keep on holding the end of the tube. Do not exceed the permitted operating pressure. See data sheets. 3.1.6 Maintenance Servicing Malfunction removal
Carry out adjustments and inspections as instructed, in accordance with the specified intervals. Secure the compressed air and electricity supplies to prevent unintentional start-up. During inspections, maintenance and repair work, the machine must be deenergized, de-pressurized and secured against unexpected restart. All screw connections released during maintenance, inspection or repair work must be checked to ensure correct re-tightening. 3.1.7 Organizational measures
All existing safety devices must be checked at regular intervals.
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3.2
Personnel
3.2.1
Notes on personnel
Basically two situations have to be considered, concerning matters on personnel. Activities during training operations Activities outside training operations
3.2.2
Training operations
Trainees are permitted to work with the machine only under strict supervision of an experienced person or an instructor. Activities of trouble-shooting and fault correction are to be checked by the instructor. Special care should be taken regarding safety aspects. 3.2.3 Outside training operations
Activities in the areas of maintenance, service and repair are to be carried out by only persons with appropriate technical qualifications.
3.3
Emergency stop system
The emergency stop system is controlled by a higher safety control unit. The description is noted in the manual of the transport system.
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3.3.1
Safety symbols
In this manual the following danger designations and signs are being used:
This symbol indicates an immediate threat to a persons health or life. DANGER ! Failure to pay attention to this symbol may result in serious health damage, which may even lead to life-threatening injuries.
This symbol emphasizes important information for correct machine handling. IMPORTANT Failure to pay attention to this symbol may result in damages to the machine or to its surroundings.
This symbol indicates operational tips and especially useful directions.
INFORMATION This symbol assists you to make optimal use of all of your machines functions.
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22
Commissioning
4.1
Transport
Care is to be taken that the transport of the stations is to be executed only by a suitable transport vehicle. The weight amounts up to 500 kg, depending on the station. The route of transport is to be cleared in advance, to be accessible to the transport vehicle. Installation of warning signs or barriers may be required. The transport boxes are to be opened with care, as additional components, such as computers may be contained in the delivery, which are to be protected from falling out.
Once the transport box has been opened and the possibly contained additional components removed, the station can be taken out to be transported to its destination by means of two fork-lifts or one fork-lift truck. Please check the stability of all of the profile connectors by means of an Allen key size 6. The connectors may have come loose during transport, due to inevitable vibration. Pay special attention to all overhanging components. Sensors and similar small parts are very easily damaged in case of improper transport. The stations are not to be picked up by or even under the mounted feet increased risk of becoming trapped or contused. Check the station for any possible damaged once unpacked. The carrier and Festo Didactic are to be notified immediately of any damage. 4.1.1 Unpacking
Carefully remove the padding material in the container box when unpacking the station. When unpacking the station, make sure that none of the station assemblies have been damaged. Check the station for any possible damaged once unpacked. The carrier and Festo Didactic are to be notified immediately of any damage. 4.1.2 Scope of delivery
Check the scope of delivery against the delivery note and the order. Festo Didactic must be notified immediately of any discrepancies.
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Commissioning
4.2
Set up
4.2.1
General information
The installation is to be set up in a frost-free room with maximum relative air humidity of 70%. In countries with an atmospheric humidity over 70% and temperatures above 25 degrees Celsius are the premises to provide an air-conditioning system for constant surroundings conditions. To comply with the regulatory guidelines, sources of electrical interference such as welding plants, large motors and contactors are to be checked for electromagnetic compatibility in advance and screened where necessary. To ensure fault-free operation a load-bearing floor is required to avoid settling. Allow sufficient distance between the installation and the wall of the room. Any dust originating from construction work has to be kept off the installation (by covering). First, the room has to be measured, if not done so previously. The measures of all stations have to be marked roughly onto the floor space (i.e. with adhesive tape) to avoid shifting at a later stage. If the build up position is fixed, the station has to be mounted at the respective operating position of the transport system, utilizing the included profiles. At this point, screw and lean the profiles lightly onto the basic frame of the transport system station. Align the station by means of a spirit-level and tighten the connector profiles afterwards. The robot transfer position to the transport system and the positions for the workpiece transfer may require to be retaught.
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Commissioning
For a more simple room planning the complete installation design is shown in the following. The robot assembly station is to line up that a fault-free workpiece handing over can take place. For a more simple room planning the complete installation design is shown in the following.
Installation design iCIM system
25
Commissioning
Dimension drawing iCIM system
26
Commissioning
Position robot assembly vision station
27
Commissioning
4.3
Commissioning
Commissioning of the system can ensue only, once all of the stations are connected to their definite position. 4.3.1 Pneumatic commissioning
The mechanical construction must be finished. At the beginning the stations have to be attached to the pneumatic system of the room. In most cases the maintenance unit is on the profile plate of the station. The coupling has a 5 mm nominal diameter. If the available system is equipped with 7.9 mm nominal diameter, it is possible to change the coupling of the maintenance unit with a greater one. (reducer 1/8 on 1/4 necessary). If this has been carried out, the stations can be provided with 600 kPA/6 bar and the pneumatic commissioning is realized. 4.3.2 Electric commissioning
The station must be provided with electrical voltage now. The station is provided with a power supply unit witch is provided with a voltage of 110/230 V. The delivered cables have a completely protected norm plug, this must be plugged into an electrical socket protected sufficiently. Distribution strips are, enclosed to this also for the connection of other stations. If an extension for the cable is necessary for the distribution strip, this can to be executed only by a trained expert. The electrical socket must be protected, corresponding to the customer. The power supply (24 VDC) of the sensoric and the actuators of the station is provided in each case by means of a 2-pin cable. The voltage supply is a 24 V power supply unit, contained in the control cabinet or somewhere in the station. To avoid problems during the operational process, individual protection (16A) of the installation is recommended.
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Commissioning
4.3.3
Connecting communication cables
Communication cables example
If the robot assembly stationis to be connected to another installation, for example as described in complete process, communication takes place via Ethernet. The Ethernet cable from the Drive unit is fixed and not pluggable. The following addresses have been allotted. Drive Unit IP#192.168.10.11 at Port 9002 Camera robot assembly station Ethernet address # IP192.168.10.110 Vision Control Port 3246 Vision Data Port 3247
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Commissioning
4.3.4
Establishing communication connections
The communication lines inside the components are hardly wired and it is not necessary to attach them. The pluggable connections are shown as graphics in the following.
Connections
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Operation
This chapter describes the necessary control units for starting and stopping the system, as well as operating with the system. 5.1 General operation notes The stations require some rules of operation witch should be observed. If they are not complied, faults in the processes are possible. Dangers for the physical health also cannot be excluded. It is recommended to observe the following rules strictly. 5.1.1 Behavior rules
During the operation of the stations it is forbidden to grip in by hand. With larger audience a mechanical protection of the stations is necessary. Removing any cable under tension is forbidden. Water has to be kept away from the plant. Operation rules
5.1.2
The stations only may be used by introduced persons. The operation has to be carried out according to the operating instructions. A pushing the different switches/push buttons of all control units unchecked has to be stopped. No workpiece carriers may be taken by the system.
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Operation
5.2
Process description
5.2.1
Robot assembly station
Process description inside robot assembly station. The robot assembly station is responsible for the assembly of an desk set in different variants. In Cosimir control it is possible to choose the respective workpiece. Type 1 => base plate with two instruments and pen holder made from brass Type 2 => base plate with two instruments and pen holder made from aluminum
Once a desk set is to be assembled a palette with a base plate is requested for placement onto the palette receptions on the station. A second palette with a pen holder, brass or aluminum - depending on the chosen order, is also requested and placed on the station. At first, the base plate is placed into the assembly position. Then the first instrument is assembled in the base plate, if this option is chosen. After assembling the first instrument, the second instrument is assembled and in the same way, if this option is chosen. The instruments are coming from the magazines. The pen holder, coming from the palette, is assembled into the base plate. At least a pen is inserted in the pen holder, the pen is coming from the magazine, if this option is chosen. The assembled desk set is returned to its retrieval position and stored in the AS/RS station for further use.
The process for the different pen holders is the same, chose the pen holder in aluminum or brass is done in cosimir control.
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Operation
5.3
Tasks
For a better understanding, the following graphic should show the discharge of a task, started in COSIMIR FACTORY.
Task example
COSIMIR FACTORY is starting the robot program MP.mb4. The following parameters are written to the program: Parameter 1: get a pallet from source position 15 (Transport delivery position) Parameter 2: move it to target position 1 ( Pallet place 1) Parameter 3 is 0 and is not considered.
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Operation
Order execprog
Type / Parameter Name of robot program Parameter 1 Source position
Nr. MP 1 2 3 4 15
Description Move pallet Pallet place 1 Pallet place 2 Pallet place 3 Pallet place 4 Transport system delivery position Pallet place 1 Pallet place 2 Pallet place 3 Pallet place 4 Transport system delivery position N announce error number / see table error codes
Parameter 2 Target position
1 2 3 4 15
Parameter 3 Return-Code xxxxxx:n
Order execprog
Nr. MBP 1 2 3 4 5
Description Move base plate Pallet place 1 Pallet place 2 Pallet place 3 Pallet place 4 Assembly position Pallet place 1 Pallet place 2 Pallet place 3 Pallet place 4 Assembly position N announce error number / see table error codes
1 2 3 4 5
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Operation
Order execprog
Nr. MPH 1 2 3 4 5
Description Move penholder Pallet place 1 Pallet place 2 Pallet place 3 Pallet place 4 Assembly position at base plate Pallet place 1 Pallet place 2 Pallet place 3 Pallet place 4 Assembly position at base plate N announce error number / see table error codes
1 2 3 4 5
Order execprog
Nr. MINST 1 2 3 4
Description Move instrument Magazine 1 Magazine 2 Assembly position 1 Assembly position 2 Assembly position 1 Assembly position 2 Turning angle N announce error number / see table error codes
Parameter 2 Target position Parameter 3 Return-Code
3 4 -180/180 xxxxxx:n
Order execprog
Type / Parameter Name of robot program Parameter 1 Parameter 2 Parameter 3 Return-Code
Nr. ASMP
Description Assemble pen
xxxxxx:n
N announce error number / see table error codes
35
Operation
Error codes Error codes are valid for all order codes (Return code)
Error Code 1 2 3 4 6 7 8 9 10 11 15 30 40 50 999 Describtion "No pallet at source position." "Target position occupied." "No pallet at target position." "Assembly position occupied." "No part in magazine available." "No part in feeder available." "No base plate clamped." "No orientation found." "Run-time-error CNC machine." "Robot not ready for execution" "Runtime error." "Invalid input parameter 1" "Invalid input parameter 2" "Invalid input parameter 3" "Invalid input parameter"
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Operation
5.4
Operation panel
The operation panel has the following functions START button start automatic mode STOP button stop automatic mode to cycle end RESET button start reset mode AUT/MAN switch not used Q1 Lamp not used Q2 Lamp Station not ready S5 Illuminated pushbutton quit emergency stop S6 Emergency stop
The I/O interfaces and the plug- sockets are not used.
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Operation
5.5
Start up system
5.5.1
Start up conditions
For the iCIM system a first commissioning at Festo was already executed. The following explanation is for the commissioning at customers side. It is required, that all of the stations are set up, aligned and adjusted, before starting the system. All of the transfer and assembly positions have to be adjusted or taught. The first start-up and teaching of each station is explained in detail in the stations manual and has to be executed before. 5.5.2 general information
Switch on distribution strips Activate air supply for all stations min. 4 bar max. 6 bar Switch on the PC - COSIMIR FACTORY Switch on all stations like described in the stations manual, reset the station and start automatic mode Switch on main switch of robot assembly station Do not switch on Drive Unit of robot Unlock and confirm all emergency switches of the station The switch of the robots teach box has to be stand at disable Key switch of the drive unit has to be at AUTO/EXT. Switch on drive unit of the station
5.6
Reset mode
The first start-up of the station is to be completed before the station can be adjusted. Retrieve partly processed work-pieces, if required. Clear palette places for the transport system. CAUTION: DANGER OF COLLISION DANGER OF INJURY. The robots arm has to moved out of the danger area. The reset mode is started at the operation panel. 1. If available remove all pallets and workpieces from the working positions and the machines. 2. Fill up all magazines 3. 'RESET'- lamp is flashing request reset 4. Press 'RESET'- button for approx. 2 sec. 5. The robot makes his reference move, take care of all danger areas! 6. The 'RESET' lamp lights up if all of the initial positions are reached 7. Switch the 'AUTO/MAN'- key switch to 'AUTO'(permanent cycle). 'MAN'- position without function.
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Operation
5.7
Automatic
5.7.1
Start automatic
1. The station is ready with the reset mode. 2. 'RESET'- lamp lights up and the 'START'- lamp is flashing request to start the station. 3. Press 'START'- button automatic mode is active 4. Operating state is announced by lightening 'START' and 'RESET'- Lamp.
5.7.2
Automatic mode
Now the station is ready to get orders from COSIMIR FACTORY and to execute the orders. 5.7.3 1. 2. 3. 4. 5. Stop automatic
'START' and 'RESET' lamps are lightening and auto mode is active. Press the 'STOP'- button Operating state is announced with a flashing 'START'- lamp. Active cycle is done complete. If the cycle is ready the automatic mode is stopped. Press the 'START' button and the automatic mode is starting again.
5.8
Shut down the station
To shut down the station it is necessary that the production in COSIMIR FACTORY is already ended. Then the drive unit and afterwards the main switch can be switched off.
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Operation
5.9
Mitsubishi robot RV-2AJ
The robot is responsible for the workpiece handling.
RV-2AJ
Performance Inputs Outputs Max. reservation 48 Inputs for communication 48 Outputs for communication 1 workpiece/pallet
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Operation
5.10
Drive Unit RV-2AJ
The Drive Unit is the controller for the robot. It is possible to extract the drive unit with an I/O module for further functions. 5.10.1 Functions 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. Plug for teach pendant RS 232C Interface for programming Key switch for teach or auto modes Display Main switch Emergency stop Remove teach box button Servo off button Servo on button Stop button Start button END button RESET button Down button Up button CHNG button
41
Operation
On the backside of the drive unit, there are some more plugs and interfaces. 17. 18. 19. 20. 21. I/O- interface Emergency-plug/power supply 24V CN1 for robot communication CN2 for robot communication Power supply 230V
42
Operation
5.10.2 Teach pendant RV-2AJ To operate the robot in stand alone mode, the teach pendant is necessary. The buttons have different functions, depending on the different modes. With the key switch at the Drive unit, it is possible to choose the following three modes. Position Auto (OP) for stand alone mode. Position Auto (EXT) for communication with other controller. Position Teach for teach mode.
Teach pendant
43
Operation
5.10.3 Set up RV-2AJ
Drive-Unit
CN1
CN2
Ria-Box
I/O-cable 50 pin
Teach box
Drive-Unit
Programming PC
Robot RV-2AJ set up example for stand alone mode
44
Operation
5.10.4 To operate the robot To move the robot, the following points have to be done. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. Connect power supply Drive unit / 230 V Connect robot cables CN1 and CN2 from Drive unit to robot. Plug teach pendant to Drive unit. Emergency strap at back side of the Drive unit or emergency circuit to ria box. Unlock Emergency stop at Drive unit and teach pendant. Key switch ENABLE/DISABLE at teach pendant to enable. Key switch Drive unit to teach (see example) Switch on Drive unit / takes some time Wait till display at teach pendant is ready Press INP/EXE button Menu teach pendant available Choose TEACH mode Press the black switch on the back side of the teach pendant, simultaneous press the STEP/MOVE button. Now the drives are released*. (Click-sound)
* You have to execute this point the hole time to move the robot. Now it is possible to move the robot. The following three modes are available for to move the robot. Joint mode every axis separate. XYZ mode Coordination point in the robots body. Tool mode Coordination point in the robots gripper. Here it is possible to make a tool length correction.
The modes are indicated in the teach pendants display. Choose one, the allocation off the buttons is shown in the following drawings. To change the speed of the robot press +/FORWARD to get faster -/BACKWRD to get slower
The speed is allocated in the teach pendant display in the right top corner. Speed between 3%-100% is available.
45
Operation
Functions of teach pendant in Joint mode
XYZ-Mode
B+ Z+ A+ XY+ BA-
YZFunctions of teach pendant in XYZ-Mode
X+
46
Operation
B+ Tool-Mode XZB-
X+ A+ Z+ A-
Without tool length correction With tool length correction
Functions of teach pendant in Tool-Mode
47
Operation
5.10.5 Choose program Processing cycle should not be active, otherwise stop cycle at operation panel. Choose program at Drive unit 1. Press CHANG DSP button till P.*** announce in display 2. Press RESET button 3. Chose program with UP and DOWN buttons Program number is announced in display of the drive unit 4. Press SVO ON button drives are released 5. For program start press START button 5.10.6 Change program Change program at Drive unit 1. 2. 3. 4. Press CHANG DSP button till P.*** announce in display Press STOP button to stop active program Press RESET button Choose program with UP and DOWN buttons Program number is announced in display of the drive unit 5. Press SVO ON button drives are released 6. For program start press START button
48
Operation
5.10.7 Teach position example To re-teach a position, the following points have to be done. Connect power supply Drive unit / 230 V Connect robot cables CN1 and CN2 from Drive unit to robot. Connect PC with cosimir industrial / educational with Drive unit. Plug teach pendant to Drive unit. Emergency strap at back side of the Drive unit or emergency circuit to ria box. Unlock Emergency stop at Drive unit and teach pendant. Switch key ENABLE/DISABLE at teach pendant to enable. Key switch Drive unit to teach Switch on Drive unit / takes some time Wait till display at teach pendant is ready Press MENU button Menu at teach pendant available Positions have to be available in Drive unit. Choose teach mode Delete existing program name with POS and DELETE button Press INP/EXE to list the different programs. With ADD and RPL choose program. Task2 for program 2 a.s.o Press INP/EXE to choose program Press INP/EXE to activate program Display looks as follows PR:Task2ST:1 LN:10 20. To change a position, press POS. 21. Display looks like following MS.POS(Px ) 22. Choose position with +/FORWRD and -/BACKWRD buttons 23. Select speed, press STEP/MOVE and +/FORWARD to get faster -/BACKWRD to get slower 24. Press the black switch on the back side of the teach pendant, simultaneous press the STEP/MOVE button. Now the drives are released*. (Click-sound) 25. Press INP/EXE, robot moves to the chosen position 26. Now move the robot to the new position. Movement description see chapter (to operate the robot) Example with XYZ mode. 27. Press STEP/MOVE and ADD simultaneously 28. Release ADD if you are sure that you want to overwrite the position. 29. Press ADD again, and the new position is saved. 30. Dont forget to load the position list into the PC. * You have to execute this point the whole time to move the robot. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19.
49
Operation
5.10.8 Interface Drive unit Inputs

Name Output/ Input Input Ria box RIA 1 X1:13 RIA 1 X1:14 RIA 1 X1:15 RIA 1 X1:16 RIA 1 X2:13 RIA 1 X2:14 RIA 1 X2:15 RIA 1 X2:16 RIA 1 X3:13 RIA 1 X3:14 RIA 1 X3:15 RIA 1 X3:16 RIA 1 X3:17 RIA 1 X3:18 RIA 1 X3:19 Output Ria box RIA 1 X0:16 RIA 1 X0:17 RIA 1 X0:18 RIA 1 X0:19 RIA 1 X0:20 RIA 1 X0:21 RIA 1 X0:22 RIA 1 X0:40 RIA 1 X0:41 RIA 1 X0:42 RIA 1 X0:43 RIA 1 X0:44 RIA 1 X0:45 RIA 1 X0:46 RIA 1 X0:47 INPUT 1 CN100:16 INPUT 2 CN100:17 INPUT 3 CN100:18 INPUT 4 CN100:19 INPUT 5 CN100:20 INPUT 6 CN100:21 INPUT 7 CN100:22 INPUT 8 CN100:40 INPUT 9 CN100:41 INPUT 10 CN100:42 INPUT 11 CN100:43 INPUT 12 CN100:44 INPUT 13 CN100:45 INPUT 14 CN100:46 INPUT 15 CN100:47 16 Input Robot PIN Robot Name
Operation panel
START button
S1 XMG1:13 S2 XMG1:14 S3 XMG1:15 S4 XMG1:16 20B1/I0 XMB2:13 20B2/I1 XMB2:14 20B3/I2 XMB2:15 20B4/I3 XMB2:16 10B1/I0 XMA2:13 10B2/I1 XMA2:14 10B3/I2 XMA2:15 10B4/I3 XMA2:16 10B5/I4 XMA2:17 10B6/I5 XMA2:18 10B7/I6 XMA2:19
IN 1
STOP button AUTO/MAN switch RESET-button Robot Station Pallet 1 available Pallet 2 available Pallet 3 available Pallet 4 available Fixing cylinder 1 is fixed Fixing cylinder 1 is fixed Pallet available Magazine 1 part available Magazine 2 part available Pen available Pusher ballpen Back position
17
IN 2
18
IN 3
19
IN 4
20
IN 5
21
IN 6
22
IN 7
40
IN 8
41
IN 9
42
IN 10
43
IN 11
44
IN 12
45
IN 13
46
IN 14
47
IN 15
50
Operation
5.10.9 Interface Drive unit Outputs

Name Output/ Input Input Ria box RIA 1 X1:1 RIA 1 X1:2 RIA 1 X1:3 RIA 1 X1:4 RIA 1 X3:1 RIA 1 X3:2 RIA 1 X3:3 RIA 1 X3:4 RIA 1 X3:5 RIA 1 X3:6 RIA 1 X3:7 RIA 1 X3:8 Output Ria box RIA 1 X0:4 RIA 1 X0:5 RIA 1 X0:6 RIA 1 X0:7 RIA 1 X0:29 RIA 1 X0:30 RIA 1 X0:31 RIA 1 X0:32 OUTPUT 0 CN100:4 OUTPUT 1 CN100:5 OUTPUT 2 CN100:6 OUTPUT 3 CN100:7 OUTPUT 4 CN100:29 OUTPUT 5 CN100:30 OUTPUT 6 CN100:31 OUTPUT 7 CN100:32 4 Input Robot PIN Robot Name
Operation panel
Display START Display Initial position Special function1 lamp Special function2 lamp
H1 XMG1:1 H2 XMG1:2 H3 XMG1:3 H4 XMG1:4 10M1/O0 XMA2:1 10M2/O1 XMA2:2 21M1/O2 XMA2:3 21M2/O3 XMA2:4 O4 XMA2:5 O5 XMA2:6 O6 XMA2:7 O7 XMA2:8
OUT 0
OUT 1
OUT 2
OUT 3
Robot Station
Unclamp fixing cylinder 1+2 Clamp fixing cylinder 1+2 Pusher ballpen forward Pusher ballpen backward Not used
29
OUT 4
30
OUT 5
31
OUT 6
32
OUT 7
Not used
Not used
Not used
51
Operation
5.10.10 Program documentation for CR1 and CR2 with ETHERNET The basic structure consists of a main program Main.MB4 which is immediately started in the Slot 2 after switching the robot on. This is caused by the entry ALWAYS s in the Slot parameter SLT2. (see also: Parameter) After resetting and starting the automatic mode of the station, it is possible to start tasks on Slot 1 via Ethernet. These tasks can consist over respectively 3 parameters, for submit and return. These submit/return parameters are the global variables M_00-M_02. Before start the task over Ethernet, the values are written in this variables and at the end of the task, this values are read again. The tasks must have a certain structure so that Cosimir Control is been able to call them via Ethernet (s.a. task structure). Handling 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. Switch on power supply Reset emergency stop board (if available) Turn Key switch of Teach Panel to Disable Turn key switch at Drive unit to Auto/Ext Switch on Drive unit Station is ready it the reset lamp is flashing Press reset pushbutton Station is ready with reset mode if the start lamp is flashing Press Start pushbutton to bring the Station in automatic mode Now it is possible to start tasks via Ethernet
Global Variables
M_00 : Submit/Return Parameter 1 M_01 : Submit/Return Parameter 2 M_02 : Submit/Return Parameter 3 M_10: Automatic active M_11: Station ready with reset M_12: Emergency stop active M_19: Handshake variable
52
Operation
Parameter
The following parameters must set to configure a new Drive unit. After this the Drive unit must be switched of an on again.
Ethernet parameter: NETIP: 192.168.10.10 NETPORT: 9000,9001,9002,9003,..
I/O- parameter: START: -1,-1 ERRRESET: -1,-1 SRVOFF: -1,-1 SRVON: -1,-1 IOENA: -1,-1
Slot parameter: SLT 1: ,CYC,START,1 SLT 2: MAIN.MB4,CYC,ALWAYS,1 SLT 3: ,CYC,START,1 SLT 4: ERR.MB4,CYC,ERROR,1 SLT 5: ,CYC,START, ALWENA: 7
Attention
To be able to load the program Main.MB4 into the controller newly the Always in the Slot parameter SLT 2 must be changed into a start. After this switch of the drive unit and switch it on again. The program Main.Mb4 can be loaded quite normally again now. After this reverse the changes in the Slot parameter SLT 2, switch out and on the drive unit again.
53
Operation
Main tasks
These programs must be loaded into the drive Unit. The program Main.Mb4 and ERR.MB4 can be loaded without changes. Init.Mb4 is a task adapted on the application. In the task TOUT.MB4 the period of time (DLY ) must be adapted to the application.
MAIN.MB4 INIT.MB4 ERR.MB4 TOUT.MB4
Task structure
To call up the different application-specific tasks from Cosimir Control the tasks must have a specific structure. The following hand shake HShake1 must be integrated in the header of the program. The real hand shake takes place about the global variable M_19. Cosimir Control waits for hexadecimal value 55 and then the value 00 is written in M_19. The rest of the source code call the task TOUT (Timeout) in the Slot 5 and then the global variable M_10 checks if the station is in automatic mode. 490 500 510 520 530 540 550 560 570 580 590 600 610 620 630 *HShake1 M_19=&H55 wait M_19=&H00 IF M_PSA(5) = 0 THEN XSTP 5 WAIT M_WAI(5) = 1 XRST 5 ENDIF WAIT M_PSA(5) = 1 XLOAD 5,"TOUT" XRUN 5,"TOUT",1 IF M_10 = 0 THEN M_00 = 10 GOTO *HShake2 ENDIF
54
Operation
The following hand shake must be available for Hshake2 at the end of the task. Here the TOUT task is ended and the hand shake procedure carried out via the global variable M_19. 1360 *HShake2 1370 XSTP 5 1380 M_19=&HAA 1390 Wait M_19=&H00 1400 END
55
Operation
5.10.11 Robot programs MAIN.MB4 Main program, starts automatically if the controller is switched on INIT.MB4 Reset program ERR.MB4 Program for error diagnostic TOUT.MB4 Program for timeout diagnostic UBP.MB4 global variables definition COMM Communication program for COSIMIR FACTORY
Program tasks/positions
MP Move palette for example move palette from conveyor system onto palette holder 1 on station
56
Operation
MBP Move base plate for example load a base plate into assembly position
MPH Move pen holder for example insert pen holder into base plate, pen holder from magazine
57
Operation
MINST Move instrument for example insert pen holder into base plate, pen holder from feeder
ASMP Assemble pen for example insert pen into pen holder
58
Technology
This chapter refers to the technology of the robot assembly vision station. For better construction understanding of the station, the technical drawings should be a very helpful data. The rooms must be checked for their technical datas before built up the station/system. The size of the door openings and the entrance must be big enough for the measurements of the system. Even the load-capacity of the floor must be high enough for the system. 6.1 drawings
Technical drawing robot assembly station
59
Technology
6.2
Technical datas
Pos. 1 2 3 4 5 6 7
Name Width Length Hight Plate height Min. plate height Max. plate height Weight
Dimensions 700 mm 1 110 mm 1 530 mm 780 mm 770 mm 790 mm approx. 300 kg
60
Technology
6.3
Modules in use
The station is made up of a number of different function modules. Palette reception Pen/instrument magazine Assembly module
6.3.1
Pallet reception
With this module its possible to pick up 4 pallets
Pallet reception
Performance Inputs Outputs Max. reservation 4 / 4 pallets
61
Technology
6.3.2
Pen/instrument magazine
The pen and the instrument are made available here. The magazine is also called feeder!
Pen/Instrument magazine
Performance Inputs Outputs Max. reservation 15 pens / 10 instruments each
62
Technology
6.4
Assembly module
In this module the desk set is assembled.
Workpiece assembly module
Performance Inputs Outputs Max. reservation 2 2 1
63
Technology
6.5
Workpiece direction
Transport direction work piece carrier
64
Pneumatic
With the help of pneumatic cylinders, axes and grabs, the workpieces and the workpiece carriers get clamped, distributed or just moved. The valve terminal necessary for the control, consist from different, the use purpose, individual valves. The cylinders and the valves are described in the following. 7.1 The valve terminal
Example Valve terminal
Pos. 1 2
Name Odernumber Ordername 18 200 10P-10-6B-IC-N-V-10M+HZ
65
Pneumatic
7.2
Pneumatic supply
The pressure in the supply line must not exceed 10 bar. A fine filter has to be installed, to prevent contamination by rust or similar. A stop cock is required for the supply of the installation. The pressure regulators should be set in between 5 and 6 bar. The filter and water separators require maintenance according to the instructions of the documentation of these components. The exact allocation of the valve terminal can be found in the pneumatic plan.
Service unit
66
Electrical system
To operate the system it is required to connect all of the supply cables and communication lines included. The cables used to program the system are explained additionally. To give you a better survey of the being lines used in the plant, these are explained in the following. 8.1 Power supply The devices are delivered together with the respective power supply plugs, protectively contact covered, in case they require power supply. The supply is 230 V. The customer must ensure that the power supply is earthed correctly and is equipped with a fault current monitor. If it is required for several devices to be in operation at the same time, it is possible to connect these to a switchboard containing distribution board, provided that the permissible maximum rating is not exceeded. Each station contains its own individual EMERGENCY STOP switch, which at first reacts to its respective station only. It has to be clarified in advance, if a central ROOM EMERGENCY STOP switch is required.
8.2
Controller
The control of the station is done by the drive unit of the robot. See respective chapter.
67
Electrical system
8.3
Wiring
The wiring within the station and the wiring to the other stations are explained in the following. 8.3.1 I/O-Components
The operating strip, the moduls from the profil plate and the z-axis are pluggable connected via I/O-terminals to the SM323 I/O-cards from the control. So that a perfect communication can be ensured, the I/O interface is standardized. The I/O terminal is at all work positions at the disposal.
I/O-Terminal
Technical data Plug type Inputs Outputs Current consumption Power supply IEEE 488 24 pins 8 8 Max. 1A/PIN 24 VDC
68
Electrical system
OUT BIT 0 OUT BIT 1 OUT BIT 2 OUT BIT 3 OUT BIT 4 OUT BIT 5 OUT BIT 6 OUT BIT 7 POWER 24 VDC POWER 24 VDC POWER 0 VDC POWER 0 VDC
1 2 3 4 5 6 7 8 9 10 11 12
13 14 15 16 17 18 19 20 21 22 23 24
IN BIT 0 IN BIT 1 IN BIT 2 IN BIT 3 IN BIT 4 IN BIT 5 IN BIT 6 IN BIT 7 POWER 24 VDC POWER 24 VDC POWER 0 VDC POWER 0 VDC
syslink pin assignment

01 02 03 04 05 06 07 08 09 10 11 12 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 24 V Output word Output word Output word Output word Output word Output word Output word Output word Power supply white brown green yellow grey pink blue red black 13 14 15 16 17 18 19 20 21 22 23 24 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 24 V Input word Input word Input word Input word Input word Input word Input word Input word Power supply grey-pink red-blue white-green brown-green white-yellow yellow-brown white-grey grey-brown white-pink white-blue
0 V Power supply pink-brown 0 V Power supply purple
0 V Power supply
Allocation I/O- Terminal
Clamp 01 02 03 04 05 06 07 08 09
Bit 0 1 2 3 4 5 6 7 24V
Function Output Output Output Output Output Output Output Output Power supply
Colour White Brown Green Yellow Grey Pink Blue Red Black
Clamp 13 14 15 16 17 18 19 20 21 22
Bit 0 1 2 3 4 5 6 7 24V
Function Input Input Input Input Input Input Input Input Power supply
Colour Grey-pink Red-blue White-green Brown-green White-yellow Yellow-brown White-grey Grey-brown White-pink
10 11 0V 0V Power supply Power supply Pink-brown purple
23 24
0V
Power supply
White-blue
12
69

iCIM FC Robot RV2AJ Assembly Vision A008

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iCIM FC Robot RV2AJ Assembly Vision A008

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iCIM Manual Robot assembly vision station

Festo Didactic GmbH & Co.KG. iCIM

Festo Didactic GmbH & Co.KG. iCIM

List of applicable standards and regulations

Festo Didactic GmbH & Co.KG. iCIM

3.1.1 3.1.2 3.1.3 3.1.4 3.1.5 3.1.6 3.1.7 3.2

Personnel ___________________________________________________ 20 Notes on personnel _______________________________________ 20

Festo Didactic GmbH & Co.KG. iCIM

3.2.2 3.2.3 3.3

Training operations _______________________________________ 20 Outside training operations ________________________________ 20

Emergency stop system _______________________________________ 20 Safety symbols __________________________________________ 21

4.1.1 4.1.2 4.2

Set up ______________________________________________________ 24 General information ______________________________________ 24

4.3.1 4.3.2 4.3.3 4.3.4 5

5.1.1 5.1.2 5.2

Process description ___________________________________________ 32 Robot assembly station ___________________________________ 32

Festo Didactic GmbH & Co.KG. iCIM

5.5.1 5.5.2 5.6 5.7

5.7.1 5.7.2 5.7.3 5.8 5.9

Shut down the station _________________________________________ 39 Mitsubishi robot RV-2AJ _______________________________________ 40

Festo Didactic GmbH & Co.KG. iCIM

Robot programs ________________________________________ 56

6.3.1 6.3.2 6.4 6.5 7

Assembly module ____________________________________________ 63 Workpiece direction __________________________________________ 64

Festo Didactic GmbH & Co.KG. iCIM

Festo Didactic GmbH & Co.KG. iCIM

Robot assembly station

Festo Didactic GmbH & Co.KG. iCIM

Overview AS/RS station

Festo Didactic GmbH & Co.KG. iCIM

Festo Didactic GmbH & Co.KG. iCIM

Festo Didactic GmbH & Co.KG. iCIM

Warranty and liability

Festo Didactic GmbH & Co.KG. iCIM

Festo Didactic GmbH & Co.KG. iCIM

Festo Didactic GmbH & Co.KG. iCIM

General safety instructions

Handling the system

Dangers in handling the machine

Faults impairing safety must be rectified immediately!

Festo Didactic GmbH & Co.KG. iCIM

General safety instructions

Safety precautions in standard operation

Dangers due to electric current

Festo Didactic GmbH & Co.KG. iCIM

General safety instructions

Dangers due to pneumatic energy

All existing safety devices must be checked at regular intervals.

Festo Didactic GmbH & Co.KG. iCIM

General safety instructions

Emergency stop system

Festo Didactic GmbH & Co.KG. iCIM

General safety instructions

This symbol indicates operational tips and especially useful directions.

Festo Didactic GmbH & Co.KG. iCIM

General safety instructions

Festo Didactic GmbH & Co.KG. iCIM

Festo Didactic GmbH & Co.KG. iCIM

Festo Didactic GmbH & Co.KG. iCIM

Installation design iCIM system

Festo Didactic GmbH & Co.KG. iCIM

Dimension drawing iCIM system

Festo Didactic GmbH & Co.KG. iCIM

Personnel _____________ 20 Notes on personnel _ 20

Training operations _______ 20 Outside training operations 20

Emergency stop system _ 20 Safety symbols ____ 21

Set up ________________ 24 General information 24

Process description _________ 32 Robot assembly station _ 32

Shut down the station ___ 39 Mitsubishi robot RV-2AJ _ 40

Assembly module __ 63 Workpiece direction 64