Delta SCARA DRS40L Series User manual

Delta SCARA Robot System User Manual
SCARA CE Series
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Delta SCARA Robot System User Manual
SCARA CE Series
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Foreword
Thank you for using this product. This manual provides users with contents that must be followed in
order to safely operate the robot. It contains information related to the Delta SCARA industrial robot
series. Before operating the robot, please read this manual carefully in order to ensure your safety and
proper usage. In addition, please keep it at a safe location to read at any time.
This manual applies to robots DRS40L/50L/60L/70L/60H CE series
This manual applies to the robot controller DCS-1B00-CA.
The robots DRS40L/50L/60L/70L/60H CE series can only work with our company’s controller DCS-
1B00-CA. Please do not modify the robot and controller on your own or use it with other robots and
controllers. Our company will not be held responsible for any injuries or fatalities caused by accidents
that result from doing so.
The following are the robot models and document numbers and versions that this manual applies to.
Published by: Delta Electronics Inc.
Applicable robot system: DRS40L/50L/60L/70L/60H CE series
Document number: DRS-CE-01
Version: V0.0
Contents of this manual include:
Usage safety precautions.
Transportation and installation.
Safety protection.
Robot and controller installation and operations.
Operations and instructions.
Testing and maintenance.
Due to operating environment and operator safety considerations, our company will provide dedicated
training according to the different robot application staff; please contact your local dealer if related
training courses are needed.
This operating manual is suitable as reference for the following users:
System integrator and designer.
Installation or wiring staff.
Testing and tuning staff.
Maintenance or inspection staff.

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Please read this manual carefully before operating in order to ensure proper usage. The following steps
must be followed before you start reading this manual:
Please set the robot in a safe and protected location such as a place with railings and gratings, etc.
and do not operate the robot outside the safety protection, otherwise it may cause injuries to the
operator.
The installation environment must have no steam, corrosive gas or flammable gas as it may cause
accidents such as malfunctions or explosions.
Wiring must be done as it might cause damage to the robot controller
Grounding works must be implemented properly.
Do not dismantle or change the wiring while powered on, otherwise it may result in electrical
shocks.
Please ensure that the emergency stop device can be enabled at any time before powering it on
for operations.
The power of the controller must be turned off before repairs or maintenance.
Do not get close to the operating range of the robot before or after powering on for operations, and
leave a warning at an obvious place to prevent injuries or fatalities to the staff.
If you still have questions concerning the usage, please contact a dealer or our company’s customer
service center.
The copyright © of this manual belongs to Delta Electronics Inc., whole or partial contents of this
manual cannot be copied or duplicated without a written approval from our company and its contents
must not be passed on to a third-party, nor can it be used for any unauthorized use. Any violations will
result in a lawsuit.
No further notifications will be given for any changes in the contents or specifications of this manual.
Please download the latest version from the Delta website.

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SCARA CE Series
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Model name：
Series
Model Name
Controller
TP
DRS40L
DRS40L3SSADF003
DCS-1B00-CA
DTS-2FM
DRS40L3SSADN003
DRS40L3SOADF003
DTS-2FM
DRS40L3SOADN003
DRS50L
DRS50L6SSADF003
DTS-2FM
DRS50L6SSADN003
DRS50L6SOADF003
DTS-2FM
DRS50L6SOADN003
DRS50L6OSADF003
DTS-2FM
DRS50L6OSADN003
DRS60L
DRS60L6SSADF003
DTS-2FM
DRS60L6SSADN003
DRS60L6SOADF003
DTS-2FM
DRS60L6SOADN003
DRS60L6OSADF003
DTS-2FM
DRS60L6OSADN003
DRS60L3SSADF003
DTS-2FM
DRS60L3SSADN003
DRS60L3SOADF003
DTS-2FM
DRS60L3SOADN003
DRS70L
DRS70L6SSADF003
DTS-2FM
DRS70L6SSADF003
DRS70L6SOADF003
DTS-2FM
DRS70L6SOADN003
DRS70L6OSADF003
DTS-2FM
DRS70L6OSADN003
DRS60H
DRS60H6SSADF003
DTS-2FM
DRS60H6SSADN003

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Safety Notice
This manual includes safety precautions on user safety and how to prevent the robot from getting
damaged, warnings and notes are used in this manual to describe how important these safety
precautions are. Warnings are used to describe supplementary explanations, users must read the items
in the warning, danger and stop carefully in order to prevent accidents or causing injuries to the staff.
The installation and transportation of the robot should be executed by qualified personnel and should
comply with the regional / country and local laws and regulation requirements.
The integration of the robot and the robot’s peripherals as well as the construction of the safety
protection device should be executed by the final system integrator in order to ensure the overall safety
of the system.
This robot was designed only as an accessory for specific applications. We strongly suggest that this
robot should not be modified and / or used for any application processes other than what it was
designed for. If you have any application problems, please do not use the robot until you have received
detailed explanations from your dealer.
Definition of operators
The definition of robot operators is as follows.
Operator
Able to perform operations such as powering the controller ON/OFF.
Able to start the robot from the final system integrated operation panel.
Program editor
Performs the operations on the robot.
Uses manual mode to operate the robot or teach points, etc. outside the safety railings.
Repair or inspection personnel
Perform simple operations of the robot.
Uses manual mode to operate the robot outside the safety railings.
Performs operations such as maintenance, repairs, adjustment and replacement, etc. to the
robot and controller.
FIRST RUN,
Product conforms to the Machinery Directive 2006/42/EC, Low Voltage Directive 2014/35/EU, EMC
Directive 2014/30/EU and related standards EN ISO 12100, EN ISO 10218-1, EN ISO 13857, EN ISO
4414, EN ISO 13849-1, EN60204-1, EN 61000-6-2, EN 61000-6- 4, EN 61000-3-2, EN 61000-3-3.
Note: Please read the manual carefully before operating, maintaining or inspecting the robot and
controller, and make sure to follow the safety regulations. Please contact our company for details if you
have any questions.

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Definitions of stop, Danger and Warning
For your safety, please read this manual before using the robot and have a clear understanding of all
contents related to safety and warnings.
Robot operators must receive training, read and understand how to use the safety measures, also to
follow and execute all the rules described in this manual.
Meanings of the symbols “Danger”, “Warning” and “Prohibited”.
Danger
Means that danger is about to happen and may result in fatalities or severe
injuries to the staff, if not prevented.
Warning
Means that there is potential danger and may result in fatalities or severe
injuries to the staff, if not prevented.
Stop
Refers to activities that are absolutely prohibited; failure to comply may result in
damage or malfunctions to the product causing the product to be unusable or it
may result in injuries to the staff.
Noise prevention
There is excessive noise that may affect the hearing when the robot is
operating; operators should wear earmuffs if feeling any discomfort.

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Installation safety
Please read this manual carefully before installing in order to make sure
that the robot and controller are installed at suitable usage locations and
environments, to avoid affecting the mechanisms and usage life of the
electronic components or encountering other safety problems.
This robot DRS40L/50L/60L/70L/60H CE series can only be used with our
company’s controller DCS-1B00-CA. Please do not modify the machine
or wiring by yourself or use with other controllers or robots. Our company
will not be held responsible for any injuries or fatalities caused by accidents
that result from doing so.
Please follow the instructions in this manual properly to transport and
install the robot and controller correctly; otherwise it might result in damage
to the robot or controller.
Related licenses are required to operate stackers or fork lifts etc.
Please wear proper safety work clothes, helmets, gloves and shoes when
installing the robot and controller in order to ensure the safety of personnel.
On automated production lines, the operating range of multiple robots may
overlap; please make sure they do not interfere with one another otherwise
there might be impacts causing damages to the robots.
Do not add additional cables or hoses etc. inside the robot. When installing
the exterior cables of the robot, make sure to assess whether the cables
and mechanisms will interfere with one another during operations.
Only clean dry air (CDA) can be used for the installation of the air source at
the input terminal of the robot air hose; oil or steam must not exist in the air
source otherwise it may cause the mechanisms inside the robot to rust or
get damaged.
The robot itself is applicable for environment IP20 and is able to resist solid
matters with diameters over 12mm and lengths not exceeding 80mm, such
as fingers; it is not protected against any liquid matter.
Please follow the manual to install the safety protection devices such as
railings, gratings, regional laser or pressure pads, etc. in order to prevent
injuries or other dangers caused to the staff arising from impact by the
robot within the operating range of the robot.
Please install the final system integration of the user operating buttons and
warning lights etc. outside the railings in order to ensure usage safety. The
height of the operating interface should be a suitable (0.6m to 1.7m) range
for operators to touch.

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Please do not turn the power on and off frequently as doing so may result
in damage to the controller.
The robot system should be installed under the specified conditions; in the
foreseeable usage period, the robot cannot be tilted or moved with
uncontrolled methods during transportation, assembly, dis-assembly,
suspended or discarded periods.
Please properly ground all robot systems; they should all be grounded
before connecting the power.
The final system integrator should install protection devices in order to
prevent users from getting close to the danger area.
Removing or changing the locations of any safety warning labels is strictly
prohibited as doing so may cause danger to the staff and to cause injuries.
Performing any unsafe actions at the safety warning locations is strictly
prohibited as doing so may cause injuries to the staff.
Personnel must not stand beneath when stackers or fork lifts, etc. are used
to move the robot as doing so may result in injuries or other dangers.
Stacking objects on top of the robot, controller or cables is strictly
prohibited as doing so may cause damage to the robot, controller or
cables.
Changing or modifying the robot and controller is strictly prohibited as
doing so may result in damages to the robot or controller and danger to the
staff. Our company will not be held responsible for any work accidents.
Installing and wiring of the robot by people without related professional
knowledge or licenses is strictly prohibited.

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Usage and operating safety
Please read this manual carefully before usage in order to ensure proper
usage and the safety of the maintenance staff.
Due to operational environment and operator safety considerations, our
company will provide dedicated training for the operators of different robot
applications in order to ensure usage safety. Please contact our company
or your local dealers if training is needed.
Please perform wiring properly according to this manual; wiring must be
performed by personnel with related professional knowledge or licenses.
Please use our company’s handheld teaching pendant (DTS-2FM) and
install it on the controller DCS-1B00-CA to perform manual operations and
edit programs.
Cannot be used on production lines that are flammable, explosive, toxic or
has the risk of being sprayed by liquids.
Please select a suitable model according to the load capability; do not
overuse specifications that exceed the machine model specifications.
The robot is a partially completed machine; the assembly and construction
of the protection and safety circuit should be the responsibility of the final
system integrator.
All children and visitors should keep a safe distance from the processing
area.
Do not wear loose clothes, ties, rings or bracelets and wear protective nets
to protect long hair as these things can easily get caught in the machine by
accident and cause injuries to the staff or cause other dangers during
operation.
Please turn off the power, isolate the power properly and wait for the robot
to stop completely when the robot is no longer used before you leave.
Please confirm that there is no one along the railings before operating the
robot and performing operations.
Do not laugh or talk to other workers while operating the robot; such wrong
behaviors may result in collision of the robot or injuries to other workers.
Please use the two-stage key selection switch to change between T1 and
Auto mode; the keys must be able to be unplugged in both modes .
Please have the senior supervisor keep the T1/Auto mode selection switch
key; do not place it randomly or leave it inserted on the selection switch as
doing so may result in other personnel activating the robot accidentally,
causing injuries to the workers.

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Please do not stand within the moving range of the robot when teaching
the robot manually for the first time in order to prevent danger from
occurring due to your being unfamiliar with the operations.
Please use slow speed operations when operating the robot manually for
the first time, otherwise being unfamiliar with the operations may result in
damage to the robot due to impact or cause injuries to other workers.
Please do not turn the power on and off frequently as doing so may result
in damage to the controller.
Improper operations might damage the robot.
When collisions happen to the robot, please turn off the power of the
robot first and then check the components and cables of the robot to
make sure they were not damaged before turning the power back on to
perform operations again.
Please use a safety lock on the railings switch when entering the railings to
operate the robot in order to prevent the railings from closing suddenly
causing the robot to be activated accidentally.
If the teaching pendant cable on the controller needs to be removed,
please do so when power is completely cut, otherwise the teaching
pendant might get damaged.
The location of the interlock switch between the structure of the safety
protection device and the protection device should comply with EN ISO
14120 and EN ISO 14119 standards, and the safety distance should be
designed according to EN ISO 13857 standards.
Do not randomly make any changes to any components on our company’s
handheld teaching pendant, including the emergency stop and Enable
switch; doing so will lower the safety performance and level, even lose the
safety protection.
Short-circuiting of any safety protection signals on the controller is strictly
prohibited, otherwise our company will not be held responsible for any work
accidents that may occur.
When operating the robot all personnel are prohibited from standing close
or within the robot working range; doing so will cause injuries to the other
workers.
Do not unplug any cables on the controller while the robot is operating;
doing so will cause damage to the controller.
Do not open the protective cover or protection device while the machine
and robot are operating.

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Maintenance safety
Please perform maintenance and inspection work properly according to the
manual in order to prolong the usage life of the robot.
Please add a safety lock on the power switch of the power box when
performing maintenance or repair operations on the robot, and place a “Do
not power on” safety warning at an obvious place.
Make sure foreign objects do not get attached or enter the robot when
performing maintenance or inspection.
Making random oil changes during maintenance may result in damaging
the performance of the robot or to the mechanical components.
Protection devices and repair doors in the danger areas that need to be
opened or removed regularly for the purpose of operations, maintenance,
cleaning and configuration should be interlocking.
Personnel performing maintenance or repairs on the robot or robot system
should receive the necessary process training in order to execute the tasks
required. Also use only genuine materials, or else it might cause grave
danger to the users.
The processing of waste materials should comply with local laws and
regulations, and should be treated carefully.
Random changes to the maintenance schedule of the robot and
maintenance oil are strictly prohibited.
Maintenance and inspection to the controller and robot are prohibited while
power is being supplied or else it may cause electrical shocks or injuries to
the workers.
When a robot component is damaged, replacing with other brand
components is prohibited as doing so many result in damaging the
performance of the robot or the components.
When internal components of the controller are damaged, replacing them
with other brand components is prohibited; doing so may cause accidents
or result in decreasing the safety performance levels.
The power control box must not be opened within 10 minutes of powering
off because the residual voltage in the driver may cause electrical shocks.

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Table of Contents
1. Warning label explanations .....................................................22
1.1 DRS40L/50L/60L/70L/60H CE series sticker label location....................................23
1.2 DCS controller sticker mark location.......................................................................27
1.3 DRS CE series Robot nameplate description.........................................................28
2. Transport and Installation........................................................29
2.1 Transportation.........................................................................................................30
2.2 Installation ..............................................................................................................33
2.2.1 SCARA robot main body installation ....................................................... 35
2.2.2 Controller installation .............................................................................. 37
3. Robot safety protection ...........................................................39
3.1 Robot safety protection...........................................................................................40
3.2 Robot safety protection construction and installation..............................................41
3.2.1 Emergency stop device installation ......................................................... 41
3.2.2 Emergency pull-rope device installation .................................................. 42
3.2.3 Railings installation ................................................................................ 43
3.2.4 Safety gratings installation...................................................................... 44
3.2.5 Safety mat installation ............................................................................ 45
3.2.6 Laser scanner ........................................................................................ 47
4. Specifications and dimensions...............................................48
4.1 DRS40L series Robot Specifications......................................................................49
4.2 DRS50L series Robot Specifications......................................................................50
4.3 DRS60L3 series Robot Specifications....................................................................51
4.4 DRS60L6 series Robot Specifications....................................................................52
4.5 DRS70L series Robot Specifications......................................................................53
4.6 DRS60H series Robot Specifications .....................................................................54
4.7 DCS controller Specifications .................................................................................55
4.8 Dimensions.............................................................................................................56
4.8.1 DRS40L series robot arm dimensions ..................................................... 56
4.8.2 DRS50L series robot arm dimensions ..................................................... 57
4.8.3 DRS60L3 series robot arm dimensions ................................................... 60
4.8.4 DRS60L6 series robot arm dimensions ................................................... 61

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4.8.5 DRS70L series robot arm dimension ....................................................... 62
4.8.6 DRS60H series robot arm dimension ...................................................... 65
4.8.7 DCS controller dimensions ..................................................................... 66
5. Hardware point..........................................................................67
5.1 DRS 3kg series limit hardware point.......................................................................68
5.2 DRS 6kg series limit hardware point.......................................................................69
5.3 DRS60H series limit hardware point.......................................................................71
5.4 DRS40L3 series active hardware point ..................................................................72
5.4 DRS60L3 series active hardware point ..................................................................74
5.5 DRS 50L6/60L6/70L 6 kg series active hardware point ..........................................76
5.6 DRS 60H series active hardware point...................................................................79
5.7 DRS CE series active hardware point ....................................................................81
6. Robotparts descriptions ..........................................................83
6.1 DRS 3kg series robot parts descriptions ................................................................84
6.2 DRS 6kg series robot parts descriptions ................................................................86
6.3 DRS 60H series robot parts descriptions................................................................88
6.4 DRS robot operation directions...............................................................................90
6.5 DRS 3kg series buttons and lamps ........................................................................91
6.6 DRS 3kg series lamp descriptions..........................................................................92
6.7 DRS 6kg series buttons and lamps ........................................................................93
6.8 DRS60H series air hose and signal connector configuration..................................95
6.9 DRS CE series air hose and signal connector configuration ..................................97
6.10 DRS CE series battery location ..........................................................................100
7. Wiring.......................................................................................101
7.1 Controller peripheral interface ..............................................................................102
7.2 Introduction to the controller interface ..................................................................103
7.2.1 Main circuit power connection............................................................... 104
7.2.2 Robot connectors ................................................................................. 107
7.2.3 External encoder connector .................................................................. 108
7.2.4 User.DI/O ............................................................................................. 109
7.2.5 System digital output input connectors...................................................116
7.2.6 Safety connector .................................................................................. 125
7.2.7 Direct current output connector............................................................. 131
7.2.8 Handheld teach pendant connector ...................................................... 132
7.2.9 Serial transmission (RS-232, RS-485) .................................................. 135

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7.2.10 Communication port (ETHERNET)...................................................... 136
7.2.11 Communication port (DMCNET) ......................................................... 137
8. Installation and operation ......................................................140
8.1 Robot and power control box installation..............................................................143
8.1.1 Robot installation.................................................................................. 143
8.1.2 Controller installation ............................................................................ 144
8.2 Safety protection device construction ...................................................................147
8.2.1 Railing construction notes..................................................................... 147
8.2.2 Emergency stop installation notes ........................................................ 149
8.3 Wiring ...................................................................................................................151
8.4 Inspection before power transmission ..................................................................157
8.4.1 Emergency stop signal check ............................................................... 157
8.4.2 Railing safety signal check ................................................................... 159
8.4.3 Robot cable check................................................................................ 161
8.4.4 Controller DI/O signal check ................................................................. 162
8.4.5 Air hose installation check .................................................................... 163
8.4.6 Input power check ................................................................................ 164
8.4.7 Safety protection device check ............................................................. 165
8.5 Initial operation .....................................................................................................166
8.5.1 Initial operation risk notification............................................................. 166
8.5.2 When operating TP for the first time...................................................... 169
8.6 Abnormal condition disposal.................................................................................172
8.7 How to save injured workers.................................................................................173
8.8 How to turn off the power......................................................................................175
9. Maintenance ............................................................................176
9.1 DRS CE series inspection table............................................................................177
9.2 Robot battery maintenance and replacement.......................................................179
10. Bill of materials .....................................................................181
10.1 DCS controller bill of materials ...........................................................................182
11. Simple troubleshooting........................................................185
11.1 Fuse replacement ...............................................................................................186
11.2 Troubleshooting temperature of power control box being too high .....................188
11.3 Abnormality warning list ......................................................................................189
11.4 Abnormality warning cause and disposal method ...............................................192

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List of Figures
Figure1. 1 DRS40/50/60/70L CE series warning sticker locations.................................................23
Figure1. 2 DRS60H CE series warning sticker locations ...............................................................24
Figure1. 3 DRS CE series robot head sticker location...................................................................26
Figure1. 4 DRS CE series robot rear and base details sticker location..........................................26
Figure1. 5 DCS controller warning sticker location ........................................................................27
Figure1. 6 DRS CE series Robot nameplate figure .......................................................................28
Figure2. 1 Transportation device type ...........................................................................................30
Figure2. 2 Fork lift transportation illustration.................................................................................. 30
Figure2. 3 DRS40L/50L/60L/70L series package removal figure...................................................31
Figure2. 4 DRS60H series package removal figure.......................................................................31
Figure2. 5 DRS40L/50L/60L/70L series transportation method ..................................................... 32
Figure2. 6 DRS60H series transportation method.........................................................................32
Figure2. 7 Robot installation screw lock position...........................................................................35
Figure2. 8 DRS60H installation .....................................................................................................35
Figure2. 9 Power control box installation space ............................................................................37
Figure2. 10 Power control box door open space ........................................................................... 38
Figure2. 11 Power control box fixture method ...............................................................................38
Figure3. 1 Emergency stop button ................................................................................................41
Figure3. 2 Emergency stop switch re-set method..........................................................................41
Figure3. 3 Emergency stop safety disconnect symbol................................................................... 41
Figure3. 4 Safety pull-rope switch construction example...............................................................42
Figure3. 5 Correct railings installation height................................................................................. 43
Figure3. 6 DRS40L./50L/60L/70L CE series safety grating installation distance............................44
Figure3. 7 DRS60H6 CE safety grating installation distance......................................................... 44
Figure3. 8 DRS40L/50L series safety mat laying range.................................................................45
Figure3. 9 DRS60L/70L series safety mat laying range.................................................................46
Figure3. 10 DRS60H series safety mat laying range.....................................................................46
Figure3. 11 Laser scanner installation illustration..........................................................................47
Figure4. 1 DRS40L series dimensions figure ................................................................................57
Figure4. 2 DRS50L series dimensions figure ................................................................................58
Figure4. 3 DRS60L3 series dimensions figure ..............................................................................61
Figure4. 4 DRS60L6 series dimensions figure ..............................................................................62
Figure4. 5 DRS70L series dimensions figure ................................................................................64
Figure4. 6 DRS60H series dimensions figure................................................................................65
Figure4. 7 Controller dimensions figure......................................................................................... 66

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Figure5. 1 DRS 3kg series limit hardware point installation illustration .......................................... 68
Figure5. 2 DRS 6kg series first arm limit hardware point installation illustration ............................ 69
Figure5. 3 The installation position of the first arm limit point of DRS 6kg series ...........................69
Figure5. 4 DRS 6 kg series second arm limit hardware point installation illustration......................70
Figure5. 5 DRS60H first arm limit hardware point installation illustration....................................... 71
Figure5. 6 DRS60H6 second arm limit hardware point installation illustration ...............................71
Figure5. 7 DRS40L3 series first arm active point position and the various operation ranges.........72
Figure5. 8 DRS40L3 second arm active point position and working ranges .................................. 73
Figure5. 9 DRS60L3 series first arm active point position and the various operation ranges.........74
Figure5. 10 DRS60L3 second arm active point position and working ranges ................................75
Figure5. 11 The installation position of the first arm limit point of DRS50L6 series ........................76
Figure5. 12 The installation position of the first arm limit point of DRS60L6 series........................77
Figure5. 13 The installation position of the first arm limit point of DRS70L6 series........................78
Figure5. 14 DRS 6kg series installation position of the second arm active point and angle...........78
Figure5. 15 The installation active hardware position of the first arm limit point of DRS60H series 79
Figure5. 16 DRS60H series installation position of the second arm active point and angle...........80
Figure5. 17 DRS 3kg series Z axis active hardware adjustment position ......................................81
Figure5. 18 DRS 6kg series Z axis active hardware adjustment position ......................................81
Figure5. 19 DRS60H series Z axis active hardware adjustment position.......................................82
Figure6. 1 DRS 3kg series appearance figure...............................................................................84
Figure6. 2 Internal components of the DRS 3kg series robot base................................................84
Figure6. 3 Internal components of the DRS 3kg series second arm.............................................. 85
Figure6. 4 DRS 6kg series appearance figure...............................................................................86
Figure6. 5 Internal components of the DRS 6kg series robot base................................................86
Figure6. 6 Internal mechanisms and components of the DRS 6kg series second arm ..................87
Figure6. 7 DRS60H series appearance figure...............................................................................88
Figure6. 8 Internal components of the DRS60H series robot base................................................88
Figure6. 9 Internal mechanisms and components of the DRS60H series second arm ..................89
Figure6. 10 DRS 3kg series break release button position............................................................91
Figure6. 11 DRS 3kg series break release attention ..................................................................... 91
Figure6. 12 DRS 3kg series lamp location ....................................................................................92
Figure6. 13 DRS 6kg series break release button position............................................................93
Figure6. 14 DRS 6kg series break release attention .....................................................................94
Figure6. 15 DRS 6kg series lamp location ....................................................................................94
Figure6. 16 DRS60H series break release attention .....................................................................95
Figure6. 17 DRS60H series break release attention .....................................................................96
Figure6. 18 DRS60H series lamp location ....................................................................................96
Figure6. 19 Installation location of DRS 3kg series air hose connector .........................................97

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Figure6. 20 Installation location of DRS 6kg series air hose connector .........................................97
Figure6. 21 Installation location of DRS60H series air hose connector .........................................98
Figure6. 22 Air hose burst pressure table......................................................................................98
Figure6. 23 Signal connector wiring table .....................................................................................99
Figure6. 24 DRS CE series battery location................................................................................100
Figure6. 25 DRS60H series battery location ............................................................................... 100
Figure7. 1 Power control box interface peripheral combination ...................................................103
Figure7. 2 DCS robot control box connection definitions .............................................................103
Figure7. 3 Power cable penetrating the forced connector ...........................................................104
Figure7. 4 Power breaker location .............................................................................................. 105
Figure7. 5 Primary power breaker protection cover location........................................................ 105
Figure7. 6 Power cable and ground cable installation location ....................................................106
Figure7. 7 Add filter & reactor to the controller power.................................................................. 106
Figure7. 8 Robot connecting seat ...............................................................................................107
Figure7. 9 Robot standard connection cable...............................................................................107
Figure7. 10 External encoder connection seat ............................................................................ 108
Figure7. 11 User output input connector seat.............................................................................. 109
Figure7. 12 NPN wiring for when the input signal DI uses power of the controller itself................110
Figure7. 13 PNP wiring for when the input signal DI uses power of the controller itself ................110
Figure7. 14 Input signal DI connected to upper controller using NPN connection ........................111
Figure7. 15 Input signal DI connected to upper controller using PNP connection.........................111
Figure7. 16 User DO controller voltage output NPN wiring...........................................................112
Figure7. 17 User DO controller voltage output NPN wiring...........................................................112
Figure7. 18 User DO controller voltage mixed output wiring.........................................................112
Figure7. 19 User DO upper controller voltage output NPN wiring.................................................114
Figure7. 20 User DO upper controller voltage output PNP wiring.................................................114
Figure7. 21 User DO upper controller voltage mixed output wiring...............................................114
Figure7. 22 System output input connector seat ..........................................................................116
Figure7. 23 DC Output connector location ...................................................................................117
Figure7. 24 Input signal DI wiring.................................................................................................117
Figure7. 25 System DO controller voltage output NPN wiring ......................................................118
Figure7. 26 System DO controller voltage output PNP wiring.......................................................118
Figure7. 27 System DO controller voltage mixed output wiring ....................................................118
Figure7. 28 System DO upper controller voltage output NPN wiring ............................................119
Figure7. 29 System DO upper controller voltage output PNP wiring.............................................119
Figure7. 30 System DO upper controller voltage mixed output wiring ..........................................119
Figure7. 31 Two-stage key switch figure..................................................................................... 121
Figure7. 32 Mode selection symbol............................................................................................. 121

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Figure7. 33 Mode selection switch installation location ............................................................... 121
Figure7. 34 Reset button installation location.............................................................................. 122
Figure7. 35 Safety connector seat ..............................................................................................125
Figure7. 36 Wiring example of a single emergency stop button .................................................. 126
Figure7. 37 Wrong wiring of a single NC emergency stop........................................................... 127
Figure7. 38 Wrong wiring of a single NC emergency stop with safety signal connected..............127
Figure7. 39 Wiring example of multiple emergency stop buttons................................................. 128
Figure7. 40 Wiring figure of multiple safety protection devices (for fance)................................... 128
Figure7. 41 Safety door switch figure.......................................................................................... 130
Figure7. 42 Electromagnetic safety switch wiring........................................................................ 130
Figure7. 43 DC output connector location ...................................................................................131
Figure7. 44 Communication connector seat................................................................................132
Figure7. 45 TP Enable switch icon .............................................................................................. 132
Figure7. 46 TP Enable switch icon .............................................................................................. 133
Figure7. 47 Correct way to hold the TP....................................................................................... 134
Figure7. 48 TP handheld teach pendant .....................................................................................134
Figure7. 49 TP installation location ............................................................................................. 134
Figure7. 50 RS-232/485 connector location ................................................................................135
Figure7. 51 Communication port ................................................................................................. 136
Figure7. 52 DMCNET communication port.................................................................................. 137
Figure7. 53 DMCNET connection icon ........................................................................................ 137
Figure7. 54 Power control box with external driver system architecture ...................................... 138
Figure7. 55 ASD-DMC-RM32MN ................................................................................................139
Figure7. 56 ASD-DMC-RM32NT .................................................................................................139
Figure8. 1 Robot installation screw lock position.........................................................................143
Figure8. 2 Controller cooling .......................................................................................................144
Figure8. 3 Controller installation cooling distance .......................................................................145
Figure8. 4 Controller installation height ....................................................................................... 145
Figure8. 5 Controller box door open space .................................................................................146
Figure8. 6 Controller installation fixture method .......................................................................... 146
Figure8. 7 Key safety switch ....................................................................................................... 147
Figure8. 8 Safety railing signal installation example ....................................................................148
Figure8. 9 Wiring example of multiple safety railing signals ........................................................148
Figure8. 10 Example of installing multiple emergency stop switches outside the railing..............149
Figure8. 11 Example of installing multiple emergency stop buttons inside the railing ..................150
Figure8. 12 Wiring example of multiple emergency stop buttons................................................. 150
Figure8. 13 User interface installation height ..............................................................................151
Figure8. 14 Robot cable connection figure..................................................................................152

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Figure8. 15 Locking the connector fixture seat............................................................................ 152
Figure8. 16 Air pipe path inside the robot.................................................................................... 153
Figure8. 17 Detailed locations of the robot air pipes....................................................................154
Figure8. 18 Signal path inside the robot......................................................................................155
Figure8. 19 Wiring example connecting the sensor using the robot connector ............................ 156
Figure8. 20 Reset emergency stop signal and measure Pin1 and 2............................................157
Figure8. 21 Reset emergency stop signal and measure Pin3 and 4............................................157
Figure8. 22 Press the emergency stop signal and measure Pin1 and 2 ...................................... 158
Figure8. 23 Press the emergency stop signal and measure Pin3 and 4 ...................................... 158
Figure8. 24 Turn off railing safety signal and measure Pin5 and 6 .............................................. 159
Figure8. 25 Turn off railing safety signal and measure Pin7 and 8 .............................................. 159
Figure8. 26 Turn on railing safety signal and measure Pin5 and 6 ..............................................160
Figure8. 27 Turn on railing safety signal and measure Pin7 and 8 ..............................................160
Figure8. 28 Location of robot cable to check............................................................................... 161
Figure8. 29 Location of robot air hose to check........................................................................... 163
Figure8. 30 Controller power switch primary power check ..........................................................164
Figure8. 31 Controller grounding cable check.............................................................................164
Figure8. 32 Location of robot to be careful not to get pinched..................................................... 166
Figure8. 33 Location to be careful of when the Z-axis slides down.............................................. 167
Figure8. 34 Working area and safe area of the robot inside the railing........................................ 168
Figure8. 35 Teach pendant connection location .......................................................................... 169
Figure8. 36 Location of the emergency stop button on the teach pendant ..................................169
Figure8. 37 Location of the enable switch behind the teach pendant .......................................... 170
Figure8. 38 Servo button position on teach pendant screen........................................................ 170
Figure8. 39 Location of teach pendant physical buttons.............................................................. 171
Figure8. 40 TP short-circuit connector figure............................................................................... 171
Figure8. 41 Press the emergency stop button............................................................................. 173
Figure8. 42 Push robot figure......................................................................................................173
Figure8. 43 Save worker by lifting Z-axis ....................................................................................174
Figure8. 44 Turn off the controller power..................................................................................... 175
Figure8. 45 Place a lock on the power switch .............................................................................175
Figure9. 1 DRS CE series battery location.................................................................................. 180
Figure10. 1 Controller internal parts layout..................................................................................182

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List of Tables
Table1. 1 DRS CE series Warning sticker content descriptions.....................................................24
Table1. 2 Warning sticker content explanation ..............................................................................27
Table1. 3 DRS CE series Robot nameplate description ................................................................28
Table2. 1 Robot installation lock torque table ................................................................................35
Table2. 2 Installation conditions ....................................................................................................36
Table4. 1 DRS40L series robot specification table ........................................................................49
Table4. 2 DRS50L series robot specification table ........................................................................50
Table4. 3 DRS60L3 series robot specification table ......................................................................51
Table4. 4 DRS60L6 series robot specification table ......................................................................52
Table4. 5 DRS70L series robot specification table ........................................................................53
Table4. 6 DRS60H series robot specification table........................................................................ 54
Table4. 7 DCS controller specifications .........................................................................................55
Table5. 1 DRS 3kg series limit hardware point locking torque ....................................................... 68
Table5. 2 DRS 6kg series hardware point locking torque .............................................................. 70
Table5. 3 DRS 6kg series hardware point locking torque .............................................................. 70
Table5. 4 DRS60H series first arm active hardware point locking torque....................................... 71
Table5. 5 DRS40L3 series point screw locking torque...................................................................72
Table5. 6 DRS40L3 series second arm active point locking torque ...............................................73
Table5. 7 DRS60L3 series point screw locking torque...................................................................74
Table5. 8 DRS60L3 series second arm active point locking torque ...............................................75
Table5. 9 DRS50L6 series first arm active hardware point locking torque .....................................76
Table5. 10 DRS60L6 series first arm active hardware point locking torque ...................................77
Table5. 11 DRS70L6 series first arm active hardware point locking torque.................................... 78
Table5. 12 DRS60H series first arm active hardware point locking torque.....................................79
Table5. 13 DRS60H series second arm active point locking torque............................................... 80
Table6. 1 DRS series robot coordinates description ......................................................................90
Table7. 1 Main circuit power specification table...........................................................................104
Table7. 2 Forced connector specification table............................................................................ 104
Table7. 3 External encoder connector pin definition table............................................................108
Table7. 4 User digital output input connector pin definition table ................................................. 109
Table7. 5 System pin definition table ............................................................................................116
Table7. 6 DI4, DI5 mode selection truth table.............................................................................. 120
Table7. 7 Program execution signal truth table............................................................................122
Table7. 8 SYS.DO1 status descriptions.......................................................................................123
Table7. 9 SYS.DO2 status descriptions.......................................................................................123