NAU ROBOTICS RC40A User manual

ROBOT CONTROLLER
OPERATING INSTRUCTION V1.0
RC40A
Translated version

Control manual
NAU Robotics Co.,Ltd

RC40 Control manual
Revision history
Revision
Revision date
Revision details
V1.0
2020.06
Translated version
Contact us
NAU Robotics Co.,Ltd
Addr : 246-98, Gojan Dong, Namdong Gu, Incheon, South Korea
Tel : [phone]
Fax : [phone]
Website : http://www.naurobot.com

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Contents
Foreword................................................................................................................................. 4
Warranty ................................................................................................................................. 4
Attentions................................................................................................................................ 5
Contact way............................................................................................................................ 5
1 Safety................................................................................................................................... 6
1.1 About security............................................................................................................ 6
1.2 About symbols in the text........................................................................................... 6
1.3 Safety precautions..................................................................................................... 7
1.4 Safety code.............................................................................................................. 10
2 Introduction of controller..................................................................................................... 12
2.1 Introduction.............................................................................................................. 12
2.2 The name and functions of each part of the controller............................................. 12
2.3 LED indicating lamp................................................................................................. 14
2.4 Security-related functions ........................................................................................ 14
3 Controller specification....................................................................................................... 16
3.1 Controller appearance and size............................................................................... 16
3.2 System composition................................................................................................. 18
3.3 Specification table.................................................................................................... 19
3.4 Support model.......................................................................................................... 20
4 Installation specification..................................................................................................... 20
4.1 Controller accessories ............................................................................................. 20
4.2 Use environment...................................................................................................... 20

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4.3 Put space................................................................................................................. 21
4.4 Power supply ........................................................................................................... 23
5 Electrical configuration....................................................................................................... 23
5.1 Supply power........................................................................................................... 24
5.2 Robot connect controller.......................................................................................... 25
5.3 IO connect ............................................................................................................... 25
5.3.1 Input circuit .................................................................................................... 25
5.3.2 Outgoing circuit.............................................................................................. 28
5.4 EMERGENCY.......................................................................................................... 29
5.4.1Emergency stop switch................................................................................... 30
5.4.2 Emergency stop function confirmation........................................................... 30
5.4.3 Recovery from emergency shutdown ............................................................ 31
5.4.4 Signal configuration....................................................................................... 31
5.4.5 Ciucuit diagram.............................................................................................. 32
5.5 RS232port................................................................................................................ 33
5.6 Internet interface...................................................................................................... 34
5.6.1 IP address...................................................................................................... 34
5.6.2 Controller IP address set ............................................................................... 35
5.6.3 Connect controller.......................................................................................... 36
5.7 TP port..................................................................................................................... 36
5.7.1 Connect demonstrator ................................................................................... 37
5.8 Operation mode....................................................................................................... 38
5.8.1 Operation mode outline ................................................................................. 38

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5.8.2 Mode switch................................................................................................... 39
6 Maintain ............................................................................................................................. 40
6.1 Matters needing attention in maintaining safety....................................................... 40
6.2 Regular checking..................................................................................................... 42
6.3 Control cabinet internal composition diagram.......................................................... 43
6.4 Internal structure of controller .................................................................................. 43
6.5 Maintenance Part Replacement Steps..................................................................... 44
6.5.1 Cautions for Part Maintenance ...................................................................... 44
6.5.2 Parts Maintenance Steps............................................................................... 45
6.5.3 The robot is electrified for confirmation.......................................................... 52
6.6 Error code table ....................................................................................................... 53
6.7 Maintain part table ................................................................................................. 106

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Foreword
Thank you very much for purchasing our robot system.
This manual describes the requirements for proper use of the robot
controller.
Please read this manual and related manuals and use the system correctly.
After reading, please keep it safe for easy access
Warranty
The machine has been tested and inspected by our company and its
performance has been confirmed to meet our standards.
1. Warranty period
2.The content of the warranty
1) the products under warranty are the delivered products.
2) during the warranty period of product delivery, the company only repairs the
faults occurred during normal processing and use free of charge.After the
expiration of the warranty, the fault repair is all for charging repair, please
3) understand.the warranty is limited to China.
3. Exception from liability
Even within the above warranty period, if the following matters are met, are
regarded as charged repair, please understand.
For warranty term and information, please contact the dealer
where you purchased

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1) Fault and damage caused by the wrong use and improper use in disregard of
the instruction
2) modification or disassembly;
3) faults and damages caused by adjustment and repair errors
4) faults and damages caused by natural disasters, fires and other external
factors.
4. Attentions
1) if the operating conditions and specifications specified in this manual are
exceeded during the use of robots and related machines, the company will not
guarantee the basic capability of robots, please understand.
2) in the event of any personal accident (with death or serious injury),
damage accident or accident caused by non-compliance with the "warnings"
and "precautions" listed in this manual, the company shall not be liable.
3) it is impossible for the company to foresee all situations of danger and failure.
Such predictability is limited.Therefore, the "warning", "attention" and other
recorded matters in this manual are only within the scope of our company,
please understand.
Attentions
It is prohibited to copy or reproduce part or all of the contents of this
manual without permission.
The contents of this book are subject to change without prior notice.
If you find any mistakes or improvements in this book, please do not
hesitate to correct them.
Contact way

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For robot repair/inspection/adjustment, please contact our after-sales
department.
If no after-sale department is recorded, please contact the local seller.
To save your time, please prepare the following items before contacting:
- controller name/serial number
- robot name/serial number
- software name/version
- problems with the system
1 Safety
1.1 About security
Please be carried out and set up the manipulator and related machines by the qualified
personnel.In addition, please be sure to comply with the relevant laws and regulations of each
country.
Please read this manual and related instructions carefully before use, and use this machine
correctly.After reading, please keep it safe for easy access
1.2 About symbols in the text

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1.3 Safety precautions
Please design and set up the robot system by trained personnel.The trained personnel
mentioned here refers to the personnel who have received the training of the company or have
the same professional knowledge and skills as the personnel who have read this manual and
been trained.
For design and setup personnel, please follow the following safety precautions.
Operational considerations
1) Operators shall wear work clothes, helmets, safety shoes, etc.
2) When the machine is put into power supply, please confirm that there is no operator within
the action range of the robot.
3)The power must be cut off before entering the action range of the robot for operation.
4) Sometimes, repair, maintenance and other operations must be carried out in the state of
power.At this point, 2 people and 1 group should be carried out Homework.One person should
be in a position where the emergency stop button can be pressed immediately. The other
person should be within the range of the robot's movement, keeping alert and working
quickly.In addition, the withdrawal path should be confirmed before the operation.
5)The load on the wrist and the mechanical arm must be controlled within the allowable
carrying weight.If permission is not complied with the provision of handling weight can lead to
abnormal action or premature damage to mechanical components.
6) Please read the "safety precautions" section of the operation and maintenance manual of
the robot carefully Instructions.
7) Disassembly and operation of parts not covered by the maintenance manual are
Represents a situation where improper handling can result in death
or serious injury to the user, and the risk is very high
Represents a situation where handling errors can result in death or
serious injury to the user
Represents a situation in which handling errors can lead to minor
injuries or property damage to the user

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prohibited.
The robot is equipped with a variety of self-diagnosis functions and abnormal detection
functions, even if abnormal can be safely stopped.Even so, accidents caused by robots still
happen.
Robot accidents in the following cases.
1. Automatic operation was performed without confirming whether
there was any human in the motion range of the robot.
2. Enter into the action range of the robot under the state of automatic
operation, and suddenly start the robot during the operation.
3. Only pay attention to the robot in front of you, not to other robots.
The accidents were all caused by the same "negligence of safety procedures" and "failure to
anticipate sudden robot movements".In other words, accidents are caused by "momentary
negligence", "failure to follow prescribed procedures" and other human unsafe behavior.
"Emergency" makes it too late for operators to implement "emergency stop", "escape" and
other behaviors to avoid accidents, which may lead to major accidents."Emergency" generally
has the following kinds.
1) Low speed action suddenly becomes high speed action.
2) Other operators performed the operation.
3) Different programs were started due to exceptions and program errors on peripheral devices.
4) Abnormal actions caused by noise, faults, defects, etc.
5) Misoperation.
6) Intended to perform the action at a low speed, but performed the high speed action.
7) The workpiece carried by the robot falls down and spreads out.
8) The workpiece suddenly loses control under the stop state ofclamping and interlock waiting.
9) The robot next to or behind performed the action.
These are just a few examples; there are many forms of "contingencies."In most cases, it is
impossible for a robot to "stop" or "escape" from a sudden movement, so the following best
practices should be implemented to avoid such accidents Was born.
Be careful not to go near the robot.
When the robot is not in use, measures such as "pressing the emergency
stop button" and "cutting off the power supply" should be taken to make
the robot unable to move.

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During robot action, please configure a monitor (a third party) who can
immediately press the emergency stop button to monitor the security
situation.
During robot action, the operation shall be carried out in a state where the
emergency stop button can be pressed immediately.
Be sure to connect the AC power cable to the power plug, not directly to
factory power, etc.Make sure the power is locked by unplugging it.If
directly connected to the factory power supply, etc., the operation may
cause electric shock or failure.
The serial number of the corresponding manipulator is recorded
in the controller.Do not mistake the connection.If the wrong
connection is made, not only will the robot system not be able
to operate normally, but security issues may also arise.
Please note the following when using I/O after remote
setting.Failure to meet the relevant conditions may cause
system failures or safety issues.
- Do not mistake the function allocation and wiring
relationship when setting.
- Be sure to confirm the corresponding relationship between
function and wiring before power on.
- When performing action confirmation, please assume that
there are setting or wiring errors.Manipulator due to setting
or wiring errors and abnormal action, please immediately press
the emergency stop switch, etc., to stop the action of the
manipulator.
Please connect the cables firmly.Also, do not place heavy
objects on the cable, overbend, pull or clamp the

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cable.Otherwise, cables may be damaged, broken or in bad
contact, resulting in abnormal system action or electric
shock.
Do not open the lid of the control cabinet except during
maintenance.There is a high voltage charging position inside
the controller, which is at risk of electric shock even when
the power is turned off.
Be sure to connect or remove the cable with the controller
power off.There is a danger of electric shock or possible
failure if the operation is carried out with the power on.
In order to comply with these principles, it is necessary to fully understand and observe the
following considerations.
1.4 Safety code
LH control system design meets the following requirements
Standard
Description
2006/42/EC
Machinery directive
2014/35/EU
Low Voltage Directive
2014/30/EU
Electromagnetic Compatibility Directive
EN ISO10218-1
Robots and robotic devices - safety requirements for industrial
robots -Part 1: robots
EN ISO 12100-1
Safety of machinery - basic concepts, design principles - Part 1:
basic terminology and methodology
EN ISO 12100-2
Safety of machinery - basic concepts, design principles - Part 2:
technical principles

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EN ISO 13849-1
Safety of components of control systems - Part 1: general design
principles
EN61000-6-2
Electromagnetic compatibility (EMC) -- Part 6-2: general standards-
immunity tests in industrial environments
EN61000-6-4-
2007+A1：2011
Electromagnetic compatibility universal standard industrial
environmental emission standard

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2 Introduction of controller
2.1 Introduction
NAU-rc4 controller is an independently developed SCARA robot controller. The software
adopts advanced real-time system and bus control. The whole control system has high real-
time performance.Robot programming language is made through a lot of application
experience, making the application more simple.
2.2 The name and functions of each part of the controller
(1) POWER indicator
The power indicator lights up green when the system is on
(2) READY indicator
When the system starts successfully, the ready indicator lights up in yellow
(3) ERROR indicator
When an error occurs in the system, the error indicator will be bright red
(4) External encoder interface:
Reserve external encoder interface
(5) COM3 Driver Debugging Port:

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For setting drive parameters
(6) TP connector:
The port used to connect the instruction box or the TP adapter
(7) EMERGENCY connector
Connectors for connecting safety signals such as emergency stop, safety gate, etc
(8) IO connector
Connector for external input-output devices, currently standard with 16 points of input and 16
points of output, can be added according to user requirements
(9) GND terminal:
For Robot Control Cabinet Grounding
(10) Body connector
Combined connector for motor power line and encoder line
Please connect to the cable that comes with the manipulator
(11) Power interface
For input 220V power supply
(12) POWER switch:
Switch for controller power supply
Please connect to the power cord that comes with the controller
(13) LAN communication interface
LAN interfaces are divided into Camera and Ethernet
Ethernet: the interface through which the controller communicates with the upper computer
Please note that the TP interface must be connected to either
the instructor or the TP adapter，Inside the TP interface are 14
and 15 short, 13 and 20 short

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Camera: Camera interface
(14) USB Port:
For system updates
(15) RS232 connector
Used for RS232 data communication with the outside world
(16) EtherCAT interface:
Used to extend EtherCAT slave station
2.3 LED indicating lamp
There are three LED lights on the controller
Controller status LED display
2.4 Security-related functions
There are the following security features in the robot system.Among these functions,
emergency stop and safety gate functions are very important in terms of safety. Therefore,
before using the robot system, please make sure that its functions are normal.
1. Emergency stop
Emergency stop is the highest priority function in the robot system.Pressing the emergency
stop button will trigger the emergency stop, at which time all other robot control functions will
stop, the robot will stop moving and the power of each joint motor will be cut off. The control
system will switch to the emergency stop state, which will be maintained until it is manually
reset.
The emergency stop state means that all power to the robot body will be cut off, except for the
manual brake release circuit.Manual reset operation must be performed to restore the system
Controller Status
LED show
Controller energized state
POWER Indicator light on
System initialization was successful
READY Indicator light on
error condition
ERROR means the light is on，READY means off

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to the normal state, that is, first release the emergency stop button, and then the software
clearly alarm.
2. Overload detection
Detect load exceeding motor specification capacity
3. Position deviation over-limit detection
Detect the abnormal difference between the action instruction issued by the controller and the
current feedback position
4. Speed deviation over-limit detection
Detect the abnormal difference between the speed command issued by the controller and the
actual speed
5.AC low voltage detection
Detect abnormal low power supply voltage
6. Overheating detection
Detect abnormal temperature of controller drive module
7. Dynamic braking
When the above abnormal state happens to the robot, the robot will stop the dynamic braking
immediately
8. Emergency stop at the security gate
After opening the security door, the robot will stop moving immediately

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3 Controller specification
3.1 Controller appearance and size
3.1-1 Controller appearance
3.1-2 Controller vertical mounting dimensions

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Unit :mm
3.1-3 Horizontal mounting dimensions of controller