Sony B2521E Bedienungsanleitung

OPERATION MANUALSony Desktop RobotGACAST-AU4/B2521E

S-5Safety InstructionCAST-AU4/B2521EPrecaution on memory cardsBefore inserting or removing a memory card, always turn the power off.The data stored in

S-6CAST-AU4/B2521EOn handling batteriesThe following battery is used in the base machine controller.Lithium battery (primary battery) of type : CR1733

U-1UnpackingCAST-AU4/B2521EUnpackingTransport it to the installation position while taking care not to drop or fall. Pay extraattention not to give a

U-2CAST-AU4/B2521EWhen the machine is unpacked, make sure the following items are in the package.Base machine Power cable Operation box USER I/O conne

1-11. OutlineCAST-AU4/B2521E1. OutlineROBOKIDS is a desktop assembly tool designed to automate cell production systems saving a significantamount of p

1-2CAST-AU4/B2521E1-1 NomenclatureFront View* Debug station • • • OptionEither the “SRX teaching pendant” or the program transfer cable can be directl

1-31. OutlineCAST-AU4/B2521ERear ViewCAST-PRO Teaching Pendant SRX Teaching pendantCAST-P06 (option) SRX-P005/S (option)888POWER switchInternal/extern

1-4CAST-AU4/B2521E1-2 Outline Drawings ROBOKIDSStandard Type (CAST-AU4/B2521E)320(35)(69)250(Stroke)105 40 105(250)203(300)18A248(60)(6)26(40)4φ44-M4

1-51. OutlineCAST-AU4/B2521EHeight Adjustable Type (CAST-AU4/BT2521E)320(35)(69)250(Stroke)105 40 105(250)203(300)18AA(52)210(Stroke)(4.5)2101011090(6

1-6CAST-AU4/B2521E 3-Axes ModelZ-unit 4-Axes ModelZR-unitφ12h7528050 Tool attachment position631629745144.55305745581157626971626810(13)179(202)70

CAST-AU4/B2521EThis Operation Manual is intended as a guide for users of the Sony Desktop Robot ROBOKIDS.Before operating this system, you should firs

1-71. OutlineCAST-AU4/B2521EService Tapped-Hole Position50 5012810505012810(120)6-M31010(250)Side A10206-M3(Side A only)(1.6)

1-8CAST-AU4/B2521E 4-φ22Service Tapped-Hole Position (Tall Model)

1-91. OutlineCAST-AU4/B2521E1-3 Specifications1-3-1 Machine SpecificationsItemX-axisWork envelope Y-axisZ-axisR-axisX-axisMaximum speeds Y-axis(*4)Z-a

1-10CAST-AU4/B2521E1-3-2 Control SpecificationsDrive methodMovement methodControl axis countInterpolation functionCP control speedTeaching methodProgr

2-12. PreparationCAST-AU4/B2521E2. Preparation2-1 Attaching the Units2-1-1 Attaching the Z-unit1. Fix the supplied mounting plate to thework table. (T

2-2CAST-AU4/B2521E4. Attach the removed front cover. (Fourpositions)Tightening torque 8 kgfcm5. Connect the connectors to the Z-/ZR-unit connectors.B

2-32. PreparationCAST-AU4/B2521E7. Fix the cable clamp of the cable to thecable holder.

2-4CAST-AU4/B2521E2-1-2 Attaching the ZR-unit1. Remove the front cover. (The cover towhich Sony logo mark is attached.) (Sixpositions)2. Fix the ZR-

2-52. PreparationCAST-AU4/B2521E4. Connect the connectors to the Z-/ZR-unit connectors.Be sure to fix the connector by tightening thescrews.5. Attach

2-6CAST-AU4/B2521E5. Fix the clamp of the cable on the cableholder.

CAST-AU4/B2521EFirst Time UsersRead this manual form chapter 1 through chapter 4 before starting any operation. The manual describes theprocedures req

2-72. PreparationCAST-AU4/B2521E2-2 Connecting the External SignalThe base machine is equipped with the following connectors for external signal commu

2-8CAST-AU4/B2521EWiring diagram of connector for external switch (SAFETY)Applicable plug Type : DA-15PF-N (pin connector)Applicable shell Type : DA-C

2-92. PreparationCAST-AU4/B2521E2. Connect the external signals to the USERl I/O connector by soldering.Connect the wires to the corresponding pins of

2-10CAST-AU4/B2521E Input Circuit24V0V0V IN24V IN680pF470ΩMaximum 7mASI1 operates whenSW1 is ON.Pin No.13523633745118521953SW1SW30Direction ofcurrent

2-112. PreparationCAST-AU4/B2521E Output Circuit◆Add the diodes as shown when relay coils are connected as the load.◆Be careful that the thermistor o

2-12CAST-AU4/B2521E2-3 Connecting to an Electrical OutletPrepare the power cable for AC 200 V to 240 Vreferring to the following connection diagram.Th

2-132. PreparationCAST-AU4/B2521E2-4 Starting Up the Base MachineMake sure that the main power is turned off.Connect the operation box.2-4-1 Full-open

2-14CAST-AU4/B2521E3. Turn the base machine on.About five seconds later, the white indicator ofSTART button starts flashing in green.4. Press the STAR

3-13. MaintenanceCAST-AU4/B2521E3. Maintenance3-1 Maintaining the MachineClean the surfaces of the machine with a soft dry cloth. If the stain is dif

3-2CAST-AU4/B2521E3. Move the work table and the work unitto the ends by hand, remove the X-axisand Y-axis covers by pulling them, thenremove the fall

CAST-AU4/B2521EManual ConfigurationThis operation manual describes the procedures required to operate the desktop robot ROBOKIDS Varioustypes of appli

3-33. MaintenanceCAST-AU4/B2521E6. Apply grease to the Z unit and the ZRunit as shown in the same manner.7. Attach the covers of the X-axis, Y-axis,Z

3-4CAST-AU4/B2521E3-3 Cleaning and Replacing the Air FilterAir is circulated in the controller of the basemachine to cool the controller. The cooling

3-53. MaintenanceCAST-AU4/B2521E3. Replace the media (filter).4. Reinstall the front cover as before.Replacement mediaSony Order No. ...4-761-60

3-6CAST-AU4/B2521ENOTE3-4 Replacing the Battery1. Turn off the POWER switch and unplugthe AC power cord from the AC outlet.The battery is located in t

4-14. TroubleshootingCAST-AU4/B2521E4. Troubleshooting4-1 Common Items4-1-1 Stepping Out (Note 1)The machine performs open loop servo control using a

4-2CAST-AU4/B2521E(4) Synthesis of movements in the same directionIn some programs, the machine is operated by synthesizing two movements (the FOS and

4-34. TroubleshootingCAST-AU4/B2521E4-1-2 External NoiseExternal electrical noise is a difficult problem because it is invisible. Take the following

4-4CAST-AU4/B2521E4-2 Full-open Programmable SpecificationsConnect the SRX teaching pendant via a debug station and check the error codes and error hi

4-54. TroubleshootingCAST-AU4/B2521E5 Check the error code number E*** on display and find out causes and countermeasures referring to thefollowing ta

4-6CAST-AU4/B2521EError No.E301E302E303E304E314E315E316E317CausesX-axis limit sensor errorY-axis limit sensor errorZ-axis limit sensor errorR-axis lim

CAST-AU4/B2521EContentsSafety Instruction ...

4-74. TroubleshootingCAST-AU4/B2521E4-3 When Memory Card (RK Card) is UsedThe operational flow starting from turning on the main power of the machine

4-8CAST-AU4/B2521ESolutionsStart operation from the very beginningConfirm the sensor cable connectionCorrect the controller data from TP of the SRXSym

4-94. TroubleshootingCAST-AU4/B2521EFault-Finding Chart of 5)Fault-Finding Chart of 6) or 7) or 8)SolutionsTurn on the main power of the machine syste

4-10CAST-AU4/B2521EIf a trouble occurs, check the following items before contacting your Sony dealer or the nearest Sony FA offices.1) Name of dealer

5-15. Repair Parts ListsCAST-AU4/B2521E5. Repair Parts Lists5-1 ROBOKIDS Body5-2 Z-axis UnitDescriptionsTASK boardBASE boardBatteryDC switching power

5-2CAST-AU4/B2521E5-3 Z/R-axis UnitDescriptionsZ-axis motorR-axis motorZ-axis home position sensor harnessR-axis home position sensor harnessSpline ba

6-16. AppendixCAST-AU4/B2521E6. Appendix User Input/Output Specifications of USER I/O ConnectorInputConnector pin No.33743853964074184294310441145124

6-2CAST-AU4/B2521EOutputConnector pin No.205421552256235724582559266027612862296330643165326633673468I/O names in termsof softwareSO1SO2SO3SO4SO5SO6SO

6-36. AppendixCAST-AU4/B2521E Specifications of the Connected I/O (Used only in the semi-programmablespecifications and the full open programmable sp

6-4CAST-AU4/B2521E Connector for Debug StationType : DBLC-J25SAF-10L9 Manufacturer : JAEApplicable plug : DBSP-JB25PF Manufacturer : JAEApplicable sh

S-1Safety InstructionCAST-AU4/B2521ESafety InstructionSony Corporation designs and manufactures all its equipment with strict attention to safety. Ho

6-56. AppendixCAST-AU4/B2521E Connector for Operation BoxType : 17HE-13150-73 Manufacturer : DDKApplicable plug : 17HE-23150-CD8A Manufacturer : DDKA

6-6CAST-AU4/B2521E SAFETY ConnectorType : DA-J15PF1L9 Manufacturer : JAEApplicable plug : DA-15PF-N Manufacturer : JAEApplicable shell : DA-C4-J10 Ma

6-76. AppendixCAST-AU4/B2521E Connector for ZR-axis CableModel : DBLC-J25SAF-10L9 Manufacturer : JAEApplicable plug : DB-25PF-IN Manufacturer : JAEAp

Supply Period of Repair PartsThe functional repair parts (parts needed to maintain product performance) of thismachine will be supplied for up to seve

1st Edition November, 19983rd Edition October, 2001

Printed in Japan © 2001.103-864-811-13Sony Manufacturing Systems Corporation

S-2CAST-AU4/B2521EDefinition of warning symbolsPay particular attention to the following symbols and conventions shown on the machine and on theOperat

S-3Safety InstructionCAST-AU4/B2521ECaution Important Safeguards◆The tool driving mechanism are subject to unexpected movement. Pay attention to saf

S-4CAST-AU4/B2521EPrecautions on UsageOperate on the specified voltageOperate the ROBOKIDS only on AC power voltage as specified on the label of the m