igus robolink DCi User manual

1. Safety instructions
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2. Introduction
2.1 Robot components

2.2 Specification

3. Dimensions
3.1 Lateral view
Diagram 1: Side view of the DCi robot. The robot axes (motors) are basically counted from the
robot base. So axis 1 is the vertical axis in the robot base. An effector (e.g., gripper) can be
attached to axis 4/5 (4 or 5-axis version).
A 4-axis robot has a mounting plate instead of the last axis.

3.2 Hole pattern flange (axis 5) and bottom
Diagram 2: Top: Hole pattern flange of the axis 5; Bottom: Hole pattern of the robot base.

4. Connections and LEDs
4.1 Connections
Diagram 3: Rear view of the robot base, here in the 5-axis version. In the 4-axis version the
values in parentheses apply to the motor modules.

4.2 Digital Inputs/Outputs

Diagram 4: Additional internal digital I/Os.

The use of the inputs and outputs takes place in CPRog with the number 21 upwards:
I/O Module
Physical input/output
Name in CPRog and in the
robot programme
DIO 1 (standard)
Din21 to Din24 on rear wall
Din25 to Din27 on inner side
DOut21 to DOut24 on rear wall
DOut25 to DOut27 on inner side
Inputs: DIn21 to DIn27
Outputs: DOut21 to DOut27
DIO 2 (optional)
Din31 to Din34 on rear wall
Din35 to Din37 on inner side
DOut31 to DOut34 on rear wall
DOut35 to DOut37 on inner side
Inputs: DIn31 to DIn37
Outputs: DOut31 to DOut37
DIO 3 (optional)
Din41 to Din44 on rear wall
Din45 to Din47 on inner side
DOut41 to DOut44 on rear wall
DOut45 to DOut47 on inner side
Inputs: DIn41 to DIn47
Outputs: DOut41 to DOut47

4.3 LEDs
Diagram 5: Organisation of the robot control and LED signal lights of the individual modules.

5. Commissioning

6. Operation
6.1 Reset errors/Enable robot

6.2 Manual method of the robot

6.3 Referencing the robot

6.4 Starting and stopping a programme
6.5 Set the digital inputs/outputs

6.6 Display of status information

7. Programming
7.1 Establish connection
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