Industrial Robot Controller

MOTOMAN XRC

New A New Dimension ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ Dimension New ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 Controller Robots 3 Tasks 6 27 Axes 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 Multi functional • User friendly • Compact .

INFORM programming language Expandable slots for optional boards -Sensor function by XSL-board -Welding interface MEW and XEW-board -I/O-interface MIO-board -Ethernet and Fieldbus board XRC cabinets may be put on top of each other or docked side by side Fulfils the EC-directive incl. vision systems etc. Speed is automatically optimised for circles and corners. Collision between robot.g. Robot or peripherical devices can be protected in case of accidental collision. XRC improves high speed welding. ARM control Advanced Robot Motion Control improves the quality and productivity by improved servo response of the motion control. through serial links. The flexibility of the control system makes it possible to communicate with other systems such as PLC’s. SP-X and SV-X-series. for controlling pneumatic functions in fixtures. Ethernet. Even at high speeds the robot will not vary from the programmed path of travel. host computers. digital I/O’s and fieldbus.. Multi tasking makes it possible to run several jobs simultaneously. The menu text can be switched between several different European languages by a simple key operation. Advanced PLC-unit in the control system with expanded program capacity and new logical functions e. design • Expandable modular cabinet . Communication XRC like the previous control system for MOTOMAN robots. Used for robot in UP-series and SK-X. EMC and LVD Made in Sweden Programming pendant All programming functions are in one unit with clear and large 12-line screen. The controller memory is also accessible through a PC-card. for example: arc welding and handling.Outlines of the XRC Built-in transformer Simple installation and setup by plugconnections. Maintains history of when and who changed the robot job instructions. The programming pendant is equipped with a 3-position ”deadman´s handle”. cutting and sealing applications better than ever. Digital servopacks with software controlled speed and position feedback. Shock detection function This function stops the robot when it comes into contact with an object. Optimised acceleration/deceleration and vibration control ensures the correct path and cycle time. robot tool and other devices is immediately detected to stop the robot and protect it from damage. reading and editing jobs in a PC. is a technical data solution that is PC-compatible allowing common computer tools to be used for creating. Maintenance functions Remotely monitors maintenance function of robot status through Ethernet network. PLC-programs for different applications. Optimal programming time is achieved while all functions are available during programming. Path control The robots working path is controlled with consistent precision and quality. Production processing and quality control monitoring can be managed from a central control room. Advanced control system Powerful 32-bit micro processor for rapid data processing.

navigation key Switching of coordinate system type Go to next menu Emergency stop Status menu Dead-man’s handle (at the back) Enter selection Axis keys. for blocking the Playback panel Programming and test-run keys .The new programming pendant Command menu Backlighted LCD screen Go to sub-menu Go to predefined menu Go to top menu Cursor. for robot and external axis 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.

Japan . 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 Back-up functions • Load • Save • Verify • Delete The programming pendant has been awarded for its good design and user friendly layout.g. Cross shape cursor button for instruction basic operations. Top menu icons Open new jobs • Call up jobs • Copy job • Rename jobs • Delete jobs • Modify jobs • Set Master job Application. Arc welding • Spot welding • Handling application or General application Variable diagnosis • Position variables for robot. System settings • Date/Time • Speed settings • Setting group combinations • Operating/Teaching conditions • User ID Ministry of International Trade and Industry. The number of keys are minimised for required functions only. Operates by icons and pull-down menues make operation as easy as using your personal computer. High contrast for daylight operation. Key allocation is based on human engineering research. Lightweight thermoplastic programming pendant reduces fatigue.○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ Large LCD-display with backlighting. e.

by add on kit Enclosure classification .C. Hold. Swedish. fixed motion Jump.) and 20. Finnish. rectangular/cylindrical. Start. timer. German Max.P. deleting. 0.000 points for 6 axes (up to.. French.7 inch. playback time. 170 kg Indirect cooling During operation 0° to +45° During transport -10° to +60° Max. total max.000 instructions 1.000 steps and 3. 90% (non-condensing) 3 x 400/415/440V AC. Italian. 27 axes IP54. interpolation.. work time and operation time displayed Alarm messages and previous alarm records Simulated enable/disabled output possible Options Digital I/O I/O-boards. servo power-ON time. tool. Spanish. 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. pattern I/O processing Interactive programming Robot language: INFORM II English.2 kg 5.Technical specifications Controller Configuration Dimensions Weight Cooling system Ambient temperature Relative humidity Power supply Grounding Digital I/O Free-standing. 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. user coordinates Joint coordinates. correcting (robot axes and/or external axes) Manually forwards and backwards in the job (even circular) Fine adjustment possible Discrete I/O control. linear/circular. 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 Operator´s panel Buttons provided Mode. execution of some instructions during robot motion Adding. robot stop.000 instructions 3. tool coordinates Percentage for joint coordinates. 24 and up to 24 external TCP´s 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. 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 ladder steps External axis Total max. call.1 mm/s units for interpolations. Enclosed type 800(W)x900(H)x650(D) mm Approx.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-man´s handle” Low speed in teaching mode Prohibits operation from operator´s panel Doughnut-sector frame. angular velocity for T. 40 characters x 12 lines 3-position ”dead-man´s handle” RS-232C ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ Programming functions Coordinate system Robot Motion Control Speed setting Joint.

external axis servopacks as well as optional functions such as PLC’s and safety systems. 1800 MOTOMAN MOTOMAN XRC 1450 XRC 1600 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ .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 optional cabinets are docked with the controller cabinet either on top or by the side providing a tidy cable installation. The extra cabinets are required for Twin and Triple robot mounting.

MOTOMAN XRC will be the It is physically reduced to minimise space but is optimised ○○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ Optional units such as servopacks for external axes. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ . The plugs are well protected behind a removable panel. The indirect cooling also keeps pollution and dust out of the cabinet. Indirect cooling by means of a set of fans at the rear makes it possible to place the cabinet in confined places. external axes I/O’s and other communication options are easily connected at the bottom of the cabinet. Cables for safety circuits. welding interface boards and fieldbus boards may be mounted on the back plate inside the cabinet. optional I/O boards.

simple operations and expandability Free slot in the CPU rack for optional boards e. Main power supply line is connected by CEE plug. Your manufacturing line can be integrally controlled through your existing network. Profibus. DeviceNET. back-up of robot jobs.premier robot controller for functions. etc. Cables for robot motors and signal cable are easily connected by plugs at the back of the cabinet to increase flexibility. Interbus-S. Standard field networks are available: Ethernet. Sensor or Ethernet board. Serial interface through RS-232C connector in the programming pendant is suitable for PC communications e. backup of robot jobs remote control etc. PC-card (PCMCIA) interface for high speed backup or robot job transferring.g.g. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ . Robot and system software upgrade.g. Serial interface through RS-232C connector suitable for PC communication i.

one or several tooling machines. Start conditions. The XRC System gives possibility to control 27 axes from one single CPU. By this function wrapping/unwrapping processes or painting applications are improved and no time consuming reset of the turning is needed. two external servomotors may be used for synchronuous drive of a heavy fixture or large track (e. Communication interface between XRC system and e. end conditions are easily added to the robot job by calling ARCON/ARCOF-command. water jet cutting. The robot can be remotecontrolled. Of course. Robot jobs may be down. By means of special commands programming and editing is made easily. Laser cutting. concurrent I/O master job.and uploaded to the system from a central computer. e. This PC-card can be used as backup of user memory (jobs) and also for upgrading of system software. A PC-card (PCMCIA) slot is integrated in the CPU-rack. a PC may be handled in several ways.g. etc. It automatically adjusts the robot job due to the actual conditions.g. This together with our PC software puts the robot into your network. Moment limits may be individually set.) for a special welding power source may be saved in a data file (charcteristics). Normally a servo motor is limited to one or two turns in each direction. When the robot is used together with a machine tool for placing the workpiece in the chuck. fixtures and jigs as well as the robot arm itself are protected against damages. Using the Twin-Drive function. 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. weaving. it is possible to set individual values for voltage. .g. The data from the sensor adjusts the robot job. The XRC system can handle six tasks at the same time ”Multi-Tasking” such as robot jobs. Multi layer function reduces the programming time in heavy welding applications.g. for a single welding string. Welding Parameters (welding current. current wire feed. such as: Retry function and Restart function. In arc welding applications the COMARC package (including: start point search function. the Servo Float function allows the robot arm to float with torque control making it flexible with external forces. picked up from a pallet or roughly cut pieces at welding application. which reduces the programming time. wire speed. three robots with external axes could be used for synchronuous motion or for individual jobs.g. Other parameters for welding may be set. gluing and sealing application. welding application). The Interrupt Job function is used when the robot serves e. seam tracking and multi layer) increase the productivity by decreasing the demands of the accuracy of the workpiece. Endless Rotation of robot axis (T-axis) or an external axis. By integrated Collision Detection function the robot tool. deburring.Software functions The Advanced Robot Motion function improves quality and productivity for applications where correct path and high speed is needed e.g. The Search function is used when the workpiece may vary in size or position e. etc. For advanced communication the RS-232C serial interface or optional Ethernet board is used.

The function is used in e. The robot motion is halted when it may interfere with the press motion and starts again when the press rises and interference is avoided. This function is used when the workpiece is only roughly positioned in the fixture and the operator checks and corrects the position. By connecting the optional sensor board to an incremental encoder on the conveyor drive motor. The Press synchronises the robot motion with the press machine. Interbus-S.g. 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. adjusts the robot position according to the tool data. This function reduces the programming time e. 32/32. A counter sets the number of operations. Device-NET and Profibus etc. This function is used to perform exactly the same operation but in another location or direction. This function may be used when the robot is holding the workpiece and the tool fixed e.g. Digital I/O optional boards of various types are easily installed to customise your system (16/16. -Analogue output board and COMARC board. it can be used in a painting application where the first nozzle applies the primer coat and after shifting the TCP. -Ethernet board. or similar when the amount of sealant or paint must be accurately controlled. the speed is detected and the robot can adjust its speed to suite. The job position data will be corrected according to the ”new tool” data automatically. where an encoder mounted on the press flywheel monitors the position of the press. It is not necessary to stop the robot as the correction amount and speed is set from the programming pendant. can be corrected easily. -I/O board. The PAM function is used for manual operation. The Analogue Output Corresponding to Speed uses an optional analogue board to supply a signal to control a glue or paint pump. A number of Optional Boards can be added to the XRC system. pedestal spot welding machine or application nozzle for gluing or sealing. One operation is shifted (copied) a specified distance. During playback the programmed position or speed. it is possible to designate a point in space as the tool control point. palletising application. Any type of coordinate system can be used.g. -Sensor board. The Conveyor synchronisation function synchronises the robot motion to the speed of the conveyor. the second nozzle applies the topcoat by running the job again. This function is used both when picking up as well as placing the workpiece onto the conveyor without stopping it. 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. such as. The TCP (Tool Centre Point) function. These data can be shifted into another coordinate system. The actual position of the robot is memorized by pulse data.When using the External Reference Tool Centre Point function. Complex I/O installations are easily solved by use of the Fieldbus Interface Board which is designed for well known market brands such as. The Parallel Shift function simplifies programming. Relative Job function. 40/40). . I/O signals are not needed and cycle time is optimised.

South Africa: Robotic Systems. Denmark: Robia. Bertsham +27114943604. Slovenia: RISTRO. Porto +351-14968160. Germany: MOTOMAN Robotec. Sweden: MOTOMAN Robotics Europe. Spain: MOTOMAN Robotics. Budapest +36-12562012. Italy: MOTOMAN Robotics. Barcelona +34-93-6303478. Kallithea +30-1-95892436. Portugal: MOTOMAN Robotics.se a YASKAWA company Group Companies: France: MOTOMAN Robotics. Great Britain: MOTOMAN Robotics. Turku +35822145600.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 KOUVALIAS INDUSTRIAL ROBOTS MOTOMAN ROBOTICS EUROPE AB Box 504 • SE-385 25 Torsås • Sweden Tel: +46-486-48800 • Fax: +46-486-41410 www. Banbury +44-1295-272755. Finland: Robia Suomi. Kfar Azar +972-39231944. Ribnica +386-61-861113. Modena +39-059-280496.motoman. Tabor +420-361-254571. Hungary: REHM Hegesztéstechnika. Norway: Robia. Vejle +45-79428000. Nantes +33-2-40131919. Kalmar +46-480-444600 Distributors: Czech Republic: MGM Spol. Breda +31-76-5424278. Hokksund +47-32252820. Torsås +46-486-48800 • MOTOMAN Mecatron Robotic Systems. Switzerland: Geiger Handling. Dällikon +41-18471717 Reg 7P-03-07-01INT . Schwarzenburg +41-31-7343111 • Messer SAG. Israel: KNT Engineering. Netherlands: MOTOMAN Benelux. Greece: Kouvalias Industrial Robots. Frankfurt +49-6173-6077-30. Allershausen +49-8166-90-0 • MOTOMAN Robotec.

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