Delta Electronics DRV70/90L7 User manual

Delta Electronics
Articulated Robot Controller
User Manual
www.deltaww.com

2
Foreword
Thank you for using this product; this manual provides contents that shall be followed for users to
operate the robot safely and information related to the Delta articulated robot series. To ensure
your safety, please read this manual thoroughly before operating the robot in order to operate the
robot correctly. In addition, please keep it at a safe place to read it any time.
This manual is applicable to the DRV70/90L7, DRVA1/A4L7 and DRVA1/A4LC series robots.
This manual is applicable to the DCV series robot controllers.
The DRV70/90L7, DRVA1/A4L7 and DRVA1/A4LC series robots can only be used with the DCV series
controllers from our company. Do not modify the robots and controllers by yourself or use them
with other robots and controllers; our company is not responsible for any personal injuries or deaths
from work safety accidents that resulted from doing so.
The following are the robot models and document numbers that this controller manual applies to
Version release: Delta Electronics Inc.
Applicable robots: DRV70/90L7, DRVA1/A4L7 and DRVA1/A4LC series.
Version: V2.1
Contents of this articulated robot controller manual include:
◼Safety precautions for using the controller.
◼Transportation and installation.
◼Installation and inspection of the controller.
◼Safety protection.
◼Wiring.
◼Maintenance.
◼Troubleshooting.
In consideration of the safety of the operating environment and operator, our company will provide
specialized trainings for different robot application personnel; this instruction manual can be used
as reference for the following users:
◼System integration designers.
◼Installation or wiring personnel.
◼Maintenance or inspection personnel.

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Precaution
Please read this manual thoroughly before use to ensure proper usage. In addition, please keep it at
a safe place to read it any time.
Make sure to follow the items below before you have finished reading this manual:
◼Please set up the robot within safety protections such as fences and gratings and operate the
robot outside the safety protection mechanisms; otherwise, personal injuries may occur.
◼The installation environment must contain no corrosive and flammable gases; otherwise,
damage or dangers, such as explosions, may easily occur.
◼If the robot needs to be installed in locations with more moisture, vapor or dust, please choose
the DRV70/90L7B and DRVA1/A4L7B series (IP65) robots or the DRVA1/A4LC series (IP54)
robot.
◼Please read this manual thoroughly before performing wiring; otherwise the robot controller
may be damaged.
◼Grounding must be implemented properly.
◼Do not dismantle or change the wiring while power is connected; otherwise it may result in
electric shocks.
◼Confirm whether or not the emergency stop device can be pressed at any time before
connecting the power and operating.
◼Make sure to switch off the power of the controller before repairs or maintenance.
◼Do not get close within the working range of the robot before or after connecting the power
and operating and post warnings where they can be easily noticed to prevent personal injuries
or death.
If you have any other questions concerning the usage, please contact your dealer or the customer
service center of our company.
The copyrights of this user manual belongs to Delta Electronics Inc; this manual and any part of its
contents may not be copied or reproduced without written permission of our company and its
contents may not be passed on to third parties or used for any unauthorized purposes. Violations will
be prosecuted.
No further notice will be given should there be any changes in the contents or specifications of this
manual; please download the latest version from the Delta website.

4
Safety Instructions
Contents of this manual include safety precautions for personnel safety and preventing robot
damages; warnings and cautions are used to describe them in this article based on their safety
importance. Users must read the items described in these warnings, dangers and prohibitions before
use to prevent dangers or personal injuries.
The installation and transportation of the robots shall be carried out by qualified personnel only and
shall comply with the local regulations of the region and country. The integration of the robot with its
peripheral devices and the installation of the safety protection devices shall be carried out by the final
system integrator to ensure the safety of the entire system.
Robots are accessories designed only for specific applications; we strongly suggest that robots not be
modified and/or used for any applications other than what they were designed for. If you have any
questions concerning its applications, please do not use the robot until you get detailed instructions
from your dealer.
Definitions of personnel are as follows.
Operator:
Able to perform operations such as powering on/off the controller.
Able to activate the robot from the final system integrated operation panel.
Program editor:
Operates and runs the robot.
Operates the robot or teaches the points manually outside the safety fence.
Maintenance or inspection personnel:
Performs simple operations of the robot.
Operates the robot manually outside the safety fence.
Performs operations such as maintenance, repairs adjustments and replacements to the robot and
controller.
Note: please read the manual thoroughly before operating, maintaining or inspecting the robot and
controller and follow the related safety regulations properly. Please contact our company if you have
any questions.

5
Definitions of Prohibited, Danger and Warning signs
For your safety, please read this manual before using the robot and clearly understand all contents
regarding safety and warnings.
Robot operators must receive training, read and understand how to use the safety measures, follow
and implement all rules described in this manual.
Meanings of the signs “Danger,” “Warning” and “Prohibited”
“Danger”
This indicates an imminent hazardous situation that may result in death or serious
personal injury if not avoided.
“Warning”
This indicates a potential hazardous situation that may result in death or serious personal
injury if not avoided.
“Prohibited”
This indicates actions that are absolutely prohibited and may cause product damage,
failures, inoperability or even personal injuries if not followed.
Noise prevention
When there is excessive noise from robot operations that affects hearing, please have
users wear earmuffs if they feel unwell.

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Transportation Safety
➢Please follow the instructions in this manual properly to transport and install the
robot correctly; failure to do so may cause damage to the robot.
➢When moving the robot with stackers and forklifts, workers must have related
licenses in order to operate them.
➢There are electronic components and precision components inside the robot, so
please be careful not to exert strong impact on the robot body while transporting.
➢Personnel must not be under the object being transported when operating forklifts;
in addition to the operator of the forklift, there must also be personnel directing
traffic nearby to avoid danger.
➢When moving the controller by hand, please wear safety shoes and safety gloves to
avoid getting crushed.
➢When there is poor lighting in the transportation environment, please prepare
lighting devices to make the transportation process safer.
Transportation Prohibitions
➢Please be careful not to let the robot or controller tilt over when using the forklift;
otherwise the robot or controller may be damaged.
➢Personnel who do not have stacker-related licenses are prohibited from moving the
robot with stackers.
Installation Safety
➢Please read this manual thoroughly before use to ensure that the robot is used in
appropriate locations and environments and to avoid impacting the life of the
mechanisms and electronic components or get involved with other safety issues.
➢Since robots are semi-finished products, our company is not responsible for any
problems that may occur if the robots were used beyond their specifications or
modified without authorization.
➢Please wear the correct safety suits, safety helmets, safety gloves and safety shoes
to protect the safety of personnel when installing the robot.
➢Please confirm the working area of the robot before performing installation and
plan the composition of the surrounding systems appropriately.
➢The DRV70/90L7 series can only be used with the DCV-2J00-AA controller from our
company, the DRVA1/A4L7 series can only be used with the DCV-2J01-AA controller
from our company and the DRVA1/A4LC series can only be used with the DCV-1K02-
AA controller from our company.
➢Do not modify the robot or the wiring by yourself or use it with other controllers;
our company is not responsible for any personal injuries or deaths caused by work
safety accidents that resulted from doing so.
➢Please install the robot under the conditions in the specifications table and do not
tilt the robot over or move it with uncontrollable methods while it is being
transported, installed, removed, suspended and discarded within its foreseeable
life.

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➢The DRV70/90L7A series robot itself is suitable for IP40 environments; it can resist
solid objects over 1mm in diameter, but has no protection against liquid substances.
➢The DRV70/90L7B and DRVA1/A4L7B series robots are suitable for IP65
environments.
➢The DRVA1/A4LCC series robot is suitable for IP54 environments.
➢When the motion range of multiple robots overlap on automated production lines,
please beware whether or not the robots will interfere with one another; otherwise,
there may be impact that can cause damage to the robots.
➢Do not add additional cables or components such as windpipes inside the robot and
controller. When installing cables or windpipes outside the robot, beware whether
or not the cables will be pulled when the robot operates; make appropriate
adjustments if the cables are pulled.
➢When adjusting the devices around the robot, make sure to disconnect the power
of the controller before making adjustments.
➢Please use clean compressed dry air (CDA) source at the input terminal of the
windpipe of the robot, otherwise the moisture in the air source will damage the
mechanical components and electronic components inside the robot.
➢The working range of the robot should be kept clean and tidy and have no
workpieces or fixtures that may be hit by the robot while moving.
➢Robots are partially completed machines; final system integrators shall set up safety
protection devices such as fences, gratings, zone laser or pressure pads according to
the instructions in the manual to prevent personnel from entering the working
range of the robot and getting hit by the robot, resulting in injuries and other
dangers.
➢Do not perform any operations to the robot before the safety protection devices are
set up.
➢Please install the user operating buttons and warning lights, etc., outside of the
fence to ensure usage safety. The height of the operating interface should be
suitable (0.6m-1.7m) and within easy reach of the operator.
Installation Prohibitions
➢It is prohibited to remove or change any safety warning labels or their locations;
otherwise personnel may get injured.
➢It is prohibited to conduct any unsafe actions at locations with safety warnings;
otherwise personnel may get injured.
➢It is prohibited to place any heavy objects on the cables that connect the controller
and the robot; otherwise the cables may get damaged, causing danger.
➢It is prohibited to change or modify the robot and controller arbitrarily; this may cause
damage to the robot or controller and may cause personal injuries. Our company is
not responsible for any work safety accidents that resulted from doing so.
➢Personnel without related expertise or licenses are not allowed to perform
installation or wiring of the robot.
➢Robots are not explosion-proof structures; it is prohibited to install and use this
product in locations with corrosive gases, flammable gases and explosive locations,
otherwise electric shock or a fire may occur.
➢It is prohibited to stack objects on the robot arbitrarily and do not hit the robot.
➢It is prohibited to use the robot in environments that do not meet the requirements,
otherwise the robot may be damaged or the usage life of the robot may be
shortened.

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➢It is prohibited to expose and use this product in locations with substances such as
corrosive gases and flammable gases, otherwise electric shock or a fire may occur.
➢The robot cables are not flexible cables; it is prohibited to install the robot cables in
moving situations such as drag chains. Please contact our company if you need
flexible cables.
Operating Safety
➢Please install and use the robot by following the instructions, otherwise a fire or
equipment failure may occur or even personal injuries or death.
➢Do not modify the robot or the wiring by yourself or use it with other controllers;
our company is not responsible for any personal injuries or deaths caused by work
safety accidents that resulted from doing so.
➢Based on the safety considerations of the operating environment and operators, our
company will provide specialized training according to the different robot
application personnel to ensure usage safety. Please contact our company or local
dealers, if needed.
➢Please install the handheld teach pendant (DTV-2FM or DTV-2GM) from our company
on the DCV controller to perform manual operations and edit programs.
➢Please select a suitable robot carefully according to the load capacity; do not use
the robot beyond the specifications of the robot.
➢All children and visitors should keep a safe distance from the working area of the
robot and the safety protection devices.
➢Do not wear loose clothes, ties, rings or bracelets, or wear hair caps as these can be
caught in the machines easily when operating and causing personal injuries.
➢Please learn the locations of the various safety warning labels and know the
meanings of each safety warning sign before use.
➢Please be careful when operating at locations with safety warning labels, otherwise
personal injuries may occur.
➢Please read this manual thoroughly before operating and use the robot correctly;
prevent the robot from being hit and ensure the safety of the operator.
➢You may not be familiar with the whole operations when operating the robot for
the first time; please stay outside the safety protection device areas and do not
stand and operate the robot within the moving area of the robot to ensure the
safety of personnel.
➢Confirm that there is no one inside the fences before operating the robot and do
not fool around or chat when operating the robots; such wrong behaviors may
result in danger such as robot collision or personal injury.
➢Please use the two-stage key selector switch for the T1 and auto modes; the key
must be removable from any direction.
➢Please have the senior supervisor keep the mode selector switch key; do not leave it
around arbitrarily or keep it plugged in the selector switch, otherwise the robot may
be activated by accident and cause personal injuries.
➢When there is robot collision, please switch off the power of the robot first and
make sure that the various components and cables are not damaged before turning
on the power and operating the robot again.
➢Please hang the safety lock on the fence switch when entering the fence to operate
the robot to prevent the fence from suddenly closing and causing the robot to start
by accident.

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➢Disconnect the power completely if there is the need to remove the teach pendant
cable on the controller, otherwise the teach pendant may get damaged.
➢The structure of the safety protection devices and the position of the interlocking
switches associated with the protection devices should comply with EN ISO 14120
and EN ISO 14119 and the safety distance should be designed in accordance with EN
ISO 13857.
➢Do not toggle the power of the controller frequently as doing so may damage the
controller. If there is the need to switch the power on and off continuously, please
control it within once per minute.
➢Switch off the power properly when the robot is not in use and leave only after the
robot has completely stopped.
Operating Prohibitions
➢It is prohibited for anyone to get close to or stand within the working range of the
robot when operating the robot, otherwise personnel may get hit by the robot
when it is operating and cause personal injuries.
➢Do not unplug any cables on the controller while the robot is operating, otherwise
the controller may get damaged.
➢Do not open the protective covers or protection devices on the robot or controller
while the robot is operating.
➢It is prohibited to add any new blocking points on the robot as doing so will damage
the rigidity of the mechanism. Our company will not be responsible for any losses
caused by doing so.
➢It is prohibited to change the designs of the robot’s extreme blocking points,
including the sizes, materials and screws. Our company will not be responsible for
any losses caused by doing so.
➢It is prohibited to remove or change the locations of any of the safety warning labels
on the robot or controller; otherwise personnel may get injured from being
confused.
➢It is prohibited to conduct any unsafe actions at locations with safety warnings;
otherwise personnel may get injured.
➢It is prohibited to change the specifications of any internal and external screws and
components.
Wiring Safety
➢Please perform the wiring of the robot and controller properly according to the
instructions in the manual; wiring must be performed by personnel with related
expertise or licenses.
➢Please switch off the power first before performing wiring; otherwise there is the
danger of electric shocks.
➢Do not perform any wiring tasks within 10 minutes after switching off the power
because residual voltage in the driver has not yet been completely discharged.
➢Wiring should be performed by personnel with related permits; personnel without
related permits may not perform wiring operations.

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➢Power can only be connected and the robot can only be operated after the
installation and wiring of the safety protection devices have been completed.
➢Please perform the installation and wiring of the safety protection devices according
to the contents of this manual, otherwise our company will not be responsible for
any personal injuries.
➢Please ground all robot systems properly; make sure that grounding is connected
before connecting the power.
Wiring Prohibitions
➢Do not change any components on the handheld teach pendant from our company,
including the emergency stop and enabling switch; doing so will reduce the safety
performance and lower the safety level or even lose the safety protection.
➢Do not bypass the signals of the safety protection systems in any way, including the
signals of any devices that protect the safety of personnel; this includes the
emergency stop, fence, pressure pad, grating and laser scanner, etc.
➢It is prohibited to short-circuit the safety protection signal on the controller by any
means, otherwise our company will not be responsible for any work safety incident
that occurs.
➢It is prohibited to change or modify the internal components and wiring of the robot
and controller arbitrarily; our company is not responsible for any safety issues that
occur from doing so. Please contact our company if you need other specifications.
➢Personnel without related licenses may not perform wiring operations.
➢Do not connect any AC or DC power to the emergency stop signal and fence signal
of the controller, otherwise the controller will get damaged.
Maintenance and Maintenance Safety
➢Please perform maintenance and inspection in accordance with the manual
properly to prolong the usage life of the robot.
➢Personnel who performs maintenance and repairs for the robot or robot system
should have received the required process training for implementing the required
task. In addition, use genuine components, otherwise it may cause great danger to
users.
➢Please implement troubleshooting correctly according to the descriptions in the
manual.
➢When performing maintenance or inspection, be careful not to let foreign objects
be attached or get inside the robot or controller.
➢When performing maintenance and repairs to the robot, please install a safety lock
on the power switch of the controller, and attach a safety warning that says “Do not
connect the power.”
➢Protection devices and maintenance doors that need to be opened or removed
regularly in hazardous areas due to the purpose of operation, maintenance,
cleaning and setting should be interlocked.
➢If the oil is changed arbitrarily during maintenance, the performance of the robot or
the mechanical components may get damaged.
➢Disposal of waste materials should comply with local regulations.

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Repair and Maintenance Prohibitions
➢It is prohibited to change the maintenance schedule, maintenance oils and
components arbitrarily.
➢Personnel who did not receive related training may not implement troubleshooting
tasks
➢It is prohibited to maintain and inspect the robot and controller while power is
connected, otherwise it may cause electric shock or personal injuries.
➢It is prohibited to replace any components inside the controller or robot arbitrarily
because components that do not meet the specifications may damage the
controller or the robot. Our company will not be responsible if any such situations
occur.
➢It is prohibited to modify any wiring inside the controller or robot because doing so
may damage the controller or robot or cause dangers. Our company will not be
responsible if any such situations occur.
➢The controller must not be turned on within 10 minutes of switching off the power
because the residual voltage in the driver may cause electric shocks.

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Table of Content
1. Descriptions of Warning Labels............................................................................................................ 23
1.1 Controller Label Locations.................................................................................................................. 23
1.2 Descriptions of the Controller Product Labels.................................................................................... 25
1.3 Locations of the Robot Sticker Labels................................................................................................. 28
1.4 Robot Dimensions............................................................................................................................... 31
1.5 Robot Moving Range .......................................................................................................................... 37
2. Controller Specifications....................................................................................................................... 40
2.1 Controller Specifications..................................................................................................................... 40
3. Transportation and Installation............................................................................................................ 43
3.1 Transportation.................................................................................................................................... 43
3.1.1 Transport the Robot and Controller Together ................................................................................43
3.1.2 Transporting the Controller Only ....................................................................................................44
3.1.3 Transporting the Robot Arm Only ...................................................................................................44
3.2 Installation.......................................................................................................................................... 45
3.2.1 Controller Installation......................................................................................................................45
3.2.2 J6 Flange Installation and Usage Methods......................................................................................46
4. Robot Safety Protection ....................................................................................................................... 47
4.1 Robot Safety Protection Devices........................................................................................................ 47
4.2 Setting Up and Installing Robot Safety Protections............................................................................ 48
4.2.1 Installation of the Emergency Stop Device......................................................................................48
4.2.2 Installation of the Emergency Pull-rope Switch Device...................................................................49
4.2.3 Installation of Safety Fences............................................................................................................50
4.2.4 Installation of Safety Mat ................................................................................................................52
4.2.5 Installation of the Laser Scanner .....................................................................................................52
4.2.6 Installation of Safety Gratings .........................................................................................................52
4.3 Robot Blocking Points........................................................................................................................ 52
4.3.1 Adjusting the Active Blocking Points of DRVA1/A4L7 .....................................................................53
4.3.2 Adjusting the Active Blocking Points of DRVA1/A4LC .....................................................................56

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5. Wiring ................................................................................................................................................... 59
5.1 Composition of the Systems Around the Controller ........................................................................ 59
5.2 Descriptions of the Controller Interfaces ........................................................................................... 60
5.2.1 Power Input .....................................................................................................................................62
5.2.2 Robot Connection............................................................................................................................64
5.2.3 External Encoder..............................................................................................................................66
5.2.4 User Output Input Connector..........................................................................................................67
5.2.5 System Digital Output Input Connector ..........................................................................................70
5.2.6 Safety Connector .............................................................................................................................75
5.2.7 DC Output Connector ......................................................................................................................80
5.2.8 Teach Pendant.................................................................................................................................81
5.2.9 Serial Transmission (RS-232, RS-485) ..............................................................................................84
5.2.10 Communication Port (Ethernet)....................................................................................................85
5.2.11 Communication Port (DMCnet).....................................................................................................85
5.2.12 How to Turn Off the Power ...........................................................................................................88
5.2.13 Precautions for Installing the Robot Cable Inside the Drag Chain ................................................89
6. Descriptions of the Robot Components ............................................................................................... 93
6.1 Descriptions of the Robot Components ............................................................................................. 93
6.2 Robot Operating Direction ................................................................................................................. 94
6.3 DRV70/90L7 and DRVA1/A4L7 Air Hoses and Signal Connectors ...................................................... 94
6.4 DRVA1/A4LC Air Hose, Signal and Force Release Brake Connectors ............................................... 100
6.5 Robot Heavy Duty Connector........................................................................................................... 103
6.6 Robot Battery Location..................................................................................................................... 105
7. Quick Wiring ....................................................................................................................................... 107
7.1 Quick Wiring Sequence..................................................................................................................... 107
7.2 System DI/O Wiring Example............................................................................................................ 111
7.3 User DI/O Wiring Example................................................................................................................ 114
8. Accessories ......................................................................................................................................... 115
8.1 Accessory Package............................................................................................................................ 115
8.2 Controller Optional Peripherals........................................................................................................ 117
8.2.1 Filter...............................................................................................................................................117

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8.2.2 Handheld Teach Pendant ..............................................................................................................118
8.2.3 Robot Cable ...................................................................................................................................118
8.2.4 Signal Cable....................................................................................................................................119
8.2.5 Wiring Saving Module ...................................................................................................................124
8.2.6 DMCnet DI/O Module....................................................................................................................127
9. Maintenance....................................................................................................................................... 128
9.1 Robot Checklist................................................................................................................................. 128
9.2 Maintenance and Replacement of the Robot Battery ..................................................................... 129
9.3 Fan Replacement.............................................................................................................................. 130

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List of Figures
Figure 1. 1 Locations of the labels in front of the DCV-2J00 and DCV-2J01 controller .......................23
Figure 1. 2 Locations of the labels behind the DCV-2J00 and DCV-2J01 controller............................23
Figure 1. 3 Location of the label in front of the DCV-1K02 controller.................................................24
Figure 1. 4 Location of the high voltage warning label on the upper cover
of the DCV-1K02 controller..........................................................................................................24
Figure 1. 5 Location of the high voltage electric shock and high temperature scalding
warning symbol on the back of the DCV-1K02 controller ...........................................................24
Figure 1. 6 Locations of product labels................................................................................................25
Figure 1. 7 Product label styles............................................................................................................26
Figure 1. 8 DRV70/90L7 sticker locations............................................................................................28
Figure 1. 9 DRVA1/A4L7 sticker locations ...........................................................................................28
Figure 1. 10 DRVA1/A4LC sticker locations .........................................................................................29
Figure 1. 11 Dimensions of the DRV70L7 series robot........................................................................31
Figure 1. 12 Dimensions of the DRV90L7 series robot ........................................................................32
Figure 1. 13 Dimensions of the DRVA1L7 series robot........................................................................33
Figure 1. 14 Dimensions of the DRVA4L7 series robot........................................................................34
Figure 1. 15 Dimensions of the DRVA1LC series robot........................................................................35
Figure 1. 16 Dimensions of the DRVA4LC series robot........................................................................36
Figure 1. 17 Moving range of the DRV70L7 series robot.....................................................................37
Figure 1. 18 Moving range of the DRV90L7 series robot.....................................................................37
Figure 1. 19 Moving range of the DRVA1L7 series robot ....................................................................38
Figure 1. 20 Moving range of the DRVA4L7 series robot ....................................................................38
Figure 1. 21 Moving range of the DRVA1LC series robot ....................................................................39
Figure 1. 22 Moving range of the DRVA4LC series robot ....................................................................39
Figure 2. 1 Appearances and dimensions of the DCV-2J00-AA and DCV-2J01-AA controllers............41
Figure 2. 2 Appearance and dimensions of the DCV-1K02-AA controller...........................................41
Figure 3. 1 Images of fork type pallet truck and forklift......................................................................43
Figure 3. 2 Image of transporting with a forklift .................................................................................43
Figure 3. 3 Hoisting transportation method........................................................................................44
Figure 3. 4 Robot moving posture.......................................................................................................45
Figure 3. 5 Installation distance of the DRV series controller .............................................................45

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Figure 3. 6 Cooling direction of the DCV-1K02-AA controller’s regenerative resistor ........................46
Figure 3. 7 Locations of the J6 flange blind holes of the DRV70/90L and DRVA1/A4L7 series ...........46
Figure 4. 1 Emergency stop button .....................................................................................................48
Figure 4. 2 Resetting methods of the emergency stop switch ............................................................48
Figure 4. 3 Emergency stop safe disconnection symbol......................................................................48
Figure 4. 4 Example for setting up the safety pull-rope switch...........................................................49
Figure 4. 5 Incorrect installation height of the fence..........................................................................50
Figure 4. 6 Example on the installation of safety fence signals...........................................................50
Figure 4. 7 Example of installing multiple emergency stop devices outside the fence.......................51
Figure 4. 8 Example of installing multiple emergency stop buttons inside the fence ........................51
Figure 4. 9 Active blocking point position and working angle of DRVA1/A4L7- J1 axis ......................53
Figure 4.10 DRVA1/A4L7-J2 axis active blocking point position and working angle...........................54
Figure 4.11 DRVA1/A4L7-J3 axis active blocking point position and working angle...........................55
Figure 4. 12 Active blocking point position and working angle of DRVA1/A4LC- J1 axis ....................56
Figure 4.13 DRVA1/A4LC-J2 axis active blocking point position and working angle...........................57
Figure 4.14 DRVA1/A4LC-J3 axis active blocking point position and working angle...........................58
Figure 5.1 Composition of the peripheral systems
of the DCV-2J00-AA and DCV-2J01-AA controllers......................................................................59
Figure 5.2 Composition of the peripheral systems of the DCV-1K02-AA controller ...........................60
Figure 5.3 DCV-2J00-AA and DCV-2J01-AA controller interface..........................................................60
Figure 5. 4 Controller interface of DCV-1K02-AA ................................................................................61
Figure 5.5 DCV-2J00-AA and DCV-2J01-AA power input terminal block location...............................62
Figure 5.6 DCV-1K02-AA power input terminal block location ...........................................................62
Figure 5.7 Power terminal block wiring...............................................................................................63
Figure 5.8 Adding filter and reactor to the controller configuration ..................................................63
Figure 5.9 Robot cable connection......................................................................................................64
Figure 5.10 Robot connector location.................................................................................................64
Figure 5.11 Robot cables .....................................................................................................................64
Figure 5.12 External encoder connection location..............................................................................66
Figure 5.13 User. DI/O connector location..........................................................................................67
Figure 5.14 NPN wiring for User. DI using the power of the controller itself .....................................68

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Figure 5.15 PNP wiring for User. DI using the power of the controller itself......................................68
Figure 5.16 User. DI uses the power of the upper level controller with NPN connection..................68
Figure 5.17 User. DI uses the power of the upper level controller with PNP connection...................69
Figure 5.18 User. DO uses controller voltage output with NPN wiring...............................................69
Figure 5.19 System output input connector location..........................................................................70
Figure 5.20 System. DI uses the power of the controller itself with NPN wiring................................70
Figure 5.21 System. DO uses the power of the controller itself with NPN wiring ..............................71
Figure 5.22 Safety connector location.................................................................................................75
Figure 5.23 Robot emergency stop operationssequence diagram .....................................................77
Figure 5.24 Correct wiring example of a single emergency stop button ............................................77
Figure 5.25 Incorrect wiring method with a single NC emergency stop signal...................................77
Figure 5.26 Wiring example for multiple emergency stop buttons ....................................................78
Figure 5.27 Wiring diagram of multiple safety protection device signals...........................................78
Figure 5.28 Safety door lock switch.....................................................................................................79
Figure 5.29 Wiring for electromagnetic safety switch ........................................................................79
Figure 5.30 Schematic diagram for the wiring of pressure pad, grating or laser scanner ..................80
Figure 5.31 DCV-1K02-AA Safety reset wiring diagram.......................................................................80
Figure 5.32 DC output connector location ..........................................................................................81
Figure 5.33 Teach pendant connection location.................................................................................81
Figure 5.34 Correct holding method of the teach pendant ................................................................82
Figure 5.35 DTV series teach pendant interface structure..................................................................83
Figure 5.36 Teach pendant installation location.................................................................................83
Figure 5.37 RS-232/485 connector location........................................................................................84
Figure 5.38 Ethernet communication port location............................................................................85
Figure 5.39 DMCnet communication port...........................................................................................85
Figure 5.40 DMCnet connection icon..................................................................................................86
Figure 5.41 ASD-DMC-RM32MN..........................................................................................................87
Figure 5.42 ASD-DMC-RM32NT...........................................................................................................87
Figure 5.43 ASD-DMC-RM32PT............................................................................................................88
Figure 5.44 Turn off the controller power...........................................................................................88

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Figure 5.45 Locking method of the fuse-less switch power................................................................89
Figure 5.46 Schematic diagram of the drag chain bending radius......................................................89
Figure 5.47 Installation and placement of drag chains with multiple cables inside ...........................90
Figure 5.48 Installation placement distance of drag chains with multiple cables inside....................90
Figure 5.49 Installation and placement of drag chains with multiple cables inside ...........................90
Figure 5.50 Installation and placement of partition boards
in drag chains with multiple cables inside...................................................................................91
Figure 5.51 The bending of cables with different lengths inside the drag chain ................................91
Figure 5.52 Cable statuses inside the drag chain ................................................................................91
Figure 5.53 Fixing method of the cables inside the drag chain...........................................................92
Figure 5.54 Incorrect tying of multiple cables.....................................................................................92
Figure 5.55 Use partition boards to separate the installation
of the cables and hoses inside the drag chain.............................................................................92
Figure 6.1 Locations of the various axes of DRV70/90L7 ....................................................................93
Figure 6.2 Locations of the various axes of DRVA1/A4LC....................................................................93
Figure 6.3 Movement direction of the various axes of the DRV series robot .....................................94
Figure 6.4 DRV70/90 and A1/A4L7 series robots signal connector locations.....................................95
Figure 6.5 Air hose bursting pressure table.........................................................................................95
Figure 6.6 Solenoid valve functions - 5/3-way locked in neutral position ..........................................96
Figure 6.7 Wiring location of the solenoid valve connector
built in the DRV70/90L7 series robot ..........................................................................................96
Figure 6.8 Wiring location of the solenoid valve connector
built in the DRVA1/A4L7 series robot..........................................................................................97
Figure 6.9 Robot solenoid air hose input location...............................................................................97
Figure 6.10 Wiring example for the air hose and sensor ....................................................................98
Figure 6.11 Locations of the base signal and solenoid valve gas source
of the DRV70/90L7 series robot ..................................................................................................99
Figure 6.12 Locations of the DRVA1/A4L7 series robot base signal and solenoid valve.....................99
Figure 6.13 Wiring example of controller providing the 24Vdc to drive the solenoid valve ............100
Figure 6.14 Location of the DRVA1/A4LC base robot end signal connector.....................................100
Figure 6.15 Location of the 12Pos signal built in DRVA1/A4LC.........................................................101
Figure 6.16 DRVA1/A4LC client end 12Pos signal connector pin definitions....................................101

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Figure 6.17 Location of the DRVA1/A4LC air hose ............................................................................102
Figure 6.18 DRVA1/A4LC force release brake connector robot end location...................................102
Figure 6.19 DRVA1/A4LC force release brake connector robot end pin definition ..........................102
Figure 6.20 DRVA1/A4LC force release brake connector client end pin definition ..........................103
Figure 6.21 DRVA1/A4LC force release brake wiring diagram ..........................................................103
Figure 6.22 Location of the robot’s heavy duty connector ...............................................................104
Figure 6.23 Robot heavy duty connector cable.................................................................................104
Figure 6.24 Reserve space behind the base of the robot..................................................................104
Figure 6.25 DRV70/90L7 battery location .........................................................................................105
Figure 6.26 DRVA1/A4L7 battery location.........................................................................................105
Figure 6.27 DRVA1/A4LC battery location.........................................................................................106
Figure 7.1 Wiring for the emergency stop button and safety signal
for DCV-2J00-AA and DCV-2J01-AA ...........................................................................................107
Figure 7.2 Wiring for the emergency stop button and safety signal for DCV-1K02-AA ....................108
Figure 7.3 Handheld teach pendant connection method .................................................................108
Figure 7.4 Example of manual operating quick wiring......................................................................109
Figure 7.5 Power input wiring quick wiring example ........................................................................110
Figure 7.6 Power on...........................................................................................................................110
Figure 7.7 Quick wiring example for DCV-2J00-AA and DCV-2J01-AA ..............................................111
Figure 7.8 DCV-1K02-AA quick wiring example.................................................................................112
Figure 7.9 Quick wiring example for the System DO using power NPN of the controller.................113
Figure 7.10 User DI/DO quick wiring example using NPN method ...................................................114
Figure 8.1 Delta filter EMF023A21A dimensions...............................................................................117
Figure 8.2 Handheld teach pendant..................................................................................................118
Figure 8.3 DRV70/90L7 and DRVA1/A4LC robot cable icon ..............................................................118
Figure 8.4 DRVA1/A4LC robot cable icon ..........................................................................................119
Figure 8.5 DRV70/90L7 and DRVA1/A4L7 robot signal extension cord ............................................119
Figure 8.6 DMCnet cable ...................................................................................................................120
Figure 8.7 System. DI/O extension cord (3081425800).....................................................................120
Figure 8.8 User. DI/O extension cord (3081425700).........................................................................121
Figure 8.9 DRV70/90L7 and DRVA1/A4L7 Safety extension cord (3081735000)..............................122

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Figure 8.10 Ext. Encoder extension cord (3081427000)....................................................................122
Figure 8.11 RS-232/485 extension cord (3081427100).....................................................................123
Figure 8.12 System. DI/O conversion module...................................................................................124
Figure 8.13 System. DI/O conversion cable.......................................................................................124
Figure 8.14 User. DI/O conversion module .......................................................................................125
Figure 8.15 User. DI/O conversion cable...........................................................................................125
Figure 8.16 Ext. Encoder conversion module....................................................................................126
Figure 8.17 Ext. Encoder conversion cable........................................................................................126