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