PEITIAN ROBOTICS ARC4-50 User manual

ARC4-50 Control Cabinet Manual
Introduction
I
Introduction
About this manual
This manual is for technicians to quickly, correctly and safely install and use the ARC4-50
control cabinet, familiarize themselves with relevant precautions and do regular routine
maintenance of the control cabinet.
Operating prerequisites
Before operating the robot, please read the general safety instructions and safety precautions
of the product carefully. The user must understand the safety knowledge and basic operating
knowledge before operating the robot.
Please refer to:
◼"AIR50-2230A Industrial Robot Manipulator Manual"
◼"AIR-TP Teach Pendant Operation Manual"
◼"ARL Programming Manual"
◼"AIR50-2230A Industrial Robot Quick Operation Manual"
Target groups
◼Operator
◼Product technicians
◼Technical service personnel
◼Teachers
Common logo meaning
The signs and their meanings in the manual are shown in Table 1 below.
Table 1 Identifiers used in this article
Sign
Meaning
If you do not follow the instructions, accidents may
occur, resulting in serious or fatal personal injury
If you do not follow the instructions, accidents may
occur, resulting in moderate injuries or minor injuries, or
only material damage may occur
Prompt you to pay attention to environmental conditions
and important matters, or quick operation methods
危险
Notice
危险
Warning
危险
Danger

Introduction
ARC4-50 Control Cabinet Manual
II
Sign
Meaning
You are prompted to refer to other documents and
instructions for additional information or more detailed
operating instructions
Manual description
The content of this manual will be supplemented and modified. Please pay attention to the
"Download" of our company website regularly to obtain the latest version of the manual in
time.
My company website URL:http://robot.peitian.com/
Revision record
The revision record accumulates the description of each document update. The latest version
of the document contains the updated content of all previous versions of the document.
Table 2 Document revision history
Version
Release time
Modify the description
V1.1.0
2020.12.31
1. Optimize the layout of the manual
2. Add specifications and joint size description
of encoder line and power line
V1.2.0
2021.04.22
Update 6.1 PLC_ MF chapter is illustrated, and
the PIN number of DI and DO connectors is
modified
V1.2.1
2021.08.23
Fix known bugs.
Document number and version
See Table 3 for document number and version information.
Table 3 Document number and version information
Name
"ARC4-50 Control Cabinet Manual"
Document number
UM-P05110000033-001
Document version
V1.2.1
Declaration of applicable safety standards
The requirements that the industrial robot system design meets are shown in Table 4.
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ARC4-50 Control Cabinet Manual
Introduction
III
Table 4 Declaration of applicable safety standards
Standard
Description
Version
2006/42/EC
Machinery directive:
Machinery Directive 2006/42/EC (new edition)
released by the European Parliament and Council
on May 17, 2006, including changes to 95/16/EC
2006
2014/30/EU
EMC directive:
Directive 2014/30/EU released by the European
Parliament and Council on February 26, 2014 to
balance EMC regulations among member states
2014
2014/68/EU
Pressure equipment directive:
Directive 2014/68/EU released by the European
Parliament and Council on May 15, 2014 to
balance the pressure equipment regulations
among member states
(Only applicable for robots with hydro-pneumatic
balance weights.)
2014
ISO 13850
Safety of machinery:
Emergency stop function - Principles for design
2015
ISO 13849-1
Safety of machinery:
Safety-related parts of control systems; Part 1:
General principles for design
2015
ISO 12100
Safety of machinery:
General principles for design - Risk assessment
and risk reduction
2010
ISO 10218-1
Safety requirements for industrial robots:
Part 1: Robots
(tip: The content complies with ANSI/RIAR.15.06-
2012, Part 1)
2011
61000-6-2
Electromagnetic compatibility (EMC):
Part 6-2: Professional basic standards; Immunity
for industrial environments
2005
61000-6-4 + A1
Electromagnetic compatibility (EMC):
Part 6-4: Generic standards; Radiated interference
for industrial environments
2011
60204-1 + A1
Safety of machinery:
Electrical equipment of machines; Part 1: General
requirements
2009
IEC 60529
Degrees of protection provided by enclosures (IP
code):
This standard applies to the classification of
degrees of protection provided by enclosures for
electrical equipment with a rated voltage above
72.5kv.
2001

ARC4-50 Control Cabinet Manual
General safety instructions
I
General safety instructions
Thanks very much for your purchase of the manipulator made by the company. The
information described is necessary for safely using the manipulator. Please read associated
manual carefully before using the manipulator, and properly use it under the premise of
understanding its contents.
Please adequately understand the manipulator specifications through available instructions
for detailed function.
Safety precautions
In general, the manipulator cannot be operated singly, but it is efficient when fitting with end
effector, and constructed with peripheral equipment and system.
In consideration of security, the manipulator cannot put into separate consideration, while it
shall be placed in the system environment.
Please take corresponding measures for safety barriers during the manipulator operation.
Warning, caution and notices
This manual contains various attentions including operating personnel safety and preventing
manipulator damage. The significance of safety is described in form of "Warning" and
"Caution", and other supplementary instructions are stated in form of "Notices".
Please thoroughly read these matters described in "Warning", "Caution" and "Notices".
Faulty operation may lead to death or serious injury of operator or
other operating personnel.
Faulty operation may lead to minor injury of operator or other
operating personnel or equipment damage.
General cautions
◼When connecting or disconnecting related peripheral devices
(such as safety fences, etc.) and various signals of the
manipulator, be sure to confirm that the manipulator is in a
stopped state to avoid incorrect connections.
◼Do not use the manipulator in the following situations.
Otherwise, it will not only cause adverse effects on the
manipulator and peripheral equipment, but also may cause
injury or death to operators:
⚫Use in flammable environment
⚫Use in explosive environment
⚫Use in environments with a lot of radiation
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Warning

General safety instructions
ARC4-50 Control Cabinet Manual
II
⚫Use in water or high humidity environment
⚫Use for the purpose of transporting people or animals.
⚫Use as a tripod (such as climbing on top of the
manipulator, or hanging below)
◼Operators who use the manipulator should wear the following
safety equipment before performing work:
⚫Work clothes suitable for the content of the job
⚫Safety shoes
⚫Safety helmet
Personnel performing programming and maintenance operations
must receive appropriate training through relevant training provided
by the company.
Installation attentions
◼Please follow the methods shown in the manual for proper
operation during carrying and installing the manipulator. Any
operation in wrong methods may lead turnover of the
manipulator and then result in injury and death of operating
personnel.
◼Please operate the manipulator in low speed, and then increase
the speed gradually to ensure whether it is abnormal when the
manipulator is used for the first time upon installation.
Attentions during the operation
◼During the manipulator operation, please ensure there is no one
in the safety barriers for subsequent operation. Accordingly,
check whether there are potential risks; when the potential
risks are verified, operate it after eliminating the risks.
◼During the demonstrator operation, wearing gloves may cause
errors in operation, thus, taking the gloves off is necessary for
subsequent operation.
Program, system variables and other information can be saved in the storage
card and other storage medium. To prevent data loss from unexpected
accidents, the users are recommended to backup data regularly.
Attentions during the programming
◼Operate outside safety barrier as far as possible during the
programming. If it is required to operate in the safety barrier for
unavoidable conditions, following precautions shall be noticed:
⚫Carefully view the conditions in the safety barrier, and
then enter the barrier after ensuring there is no danger;
⚫Make sure the emergency stop button can be pressed at
any time;
⚫Operate the manipulator in low speed;
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Warning
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Warning
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Warning
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ARC4-50 Control Cabinet Manual
General safety instructions
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⚫Operate it after ensuring the whole system state to
prevent the operating personnel from caught in danger
due to the remote-control command or motion for
peripheral equipment.
◼Operators who use the manipulator should wear the following
safety equipment before performing work:
⚫Work clothes suitable for the content of the job
⚫Safety shoes
⚫Safety helmet
◼When programming, it should be carried out outside the safety
fence as much as possible. When it is necessary to carry out
inside the safety fence due to unavoidable circumstances, the
following matters should be paid attention to:
⚫Check the situation inside the safety fence carefully and
confirm that there is no danger before entering the inside
of the fence.
⚫You can press the emergency stop button at any time.
⚫The manipulator should be operated at a low speed.
⚫The operation should be performed after confirming the
status of the entire system to prevent operators from
falling into dangerous situations due to remote control
commands or actions for peripheral equipment.
After programming, be sure to perform the test operation in accordance with
the prescribed steps. At this time, the operator must operate outside the
safety fence.
Those who perform programming and maintenance operations must pass the
relevant training of our company.
Attentions during the maintenance
◼Some maintenances have electric shock hazard when powered
on, thus it shall be carried out under the disconnection of the
manipulator and system power supply. Professional
maintenance personnel shall be designated to take
maintenance as required; other personnel shall be avoided to
switch on power in the maintenance, if it is required, the
personnel shall press the emergency stop button for
subsequent operation.
◼Please consult the company if it is necessary to replace the
parts.
◼If customers replace the parts by themselves, unexpected
accidents may occur, and then it will cause damage and injury
to the manipulator and operating personnel respectively.
◼When entering into the safety barrier, the whole system shall
be checked to ensure there is no danger. If there is dangerous
situation and there is no choice but to enter the barrier, the
system state shall be grasped, and extremely careful.
◼If it is necessary to replace any part, please use the one
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Warning
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Notice

General safety instructions
ARC4-50 Control Cabinet Manual
IV
specified by the company. But beyond this, it may cause
damage to the manipulator.
◼When dismounting motor or brake, it shall be dismantled after
crane lifting and other measures are taken to prevent
manipulator arm, etc. from falling.
◼If the manipulator is moved for unavoidable reasons during the
maintenance, the following matters shall be noticed:
⚫Make sure the escape routes are unobstructed, and
operate it after grasping the whole system operation
conditions to avoid manipulator and peripheral
equipment blocking the route of retreat.
⚫Constantly notice whether there is danger around, and
make preparations for pressing emergency stop button at
any time when needed.
◼When mobile motor, reducer, etc. equipped with parts unit with
a certain weight, crane and other auxiliary equipment shall be
used to prevent overlarge operation burden for operating
personnel. Meanwhile, any mistake shall be avoided; otherwise,
it will cause injury and death of operating personnel.
◼Don't tumble due to the lubricating oil scattered on the floor,
and wipe it off for ruling out the possibility of danger.
◼During the operation, any part of the body cannot be put on the
manipulator, and climb on the top of the manipulator to avoid
unnecessary damage or adverse effects on the manipulator.
◼Note that the following section will become hot. Well prepare
heat-resistant gloves and other protective tools when the
equipment is required to touch under heating circumstance for
unavoidable reasons.
⚫Servo motor;
⚫Reducer;
⚫Components near motor / reducer;
⚫Interior control cabinet.
◼The parts dismantled from components (such as bolts, etc.)
shall be installed in the original position. If the parts are not
sufficient or surplus, ensure it again and install it normally.
◼When maintaining pneumatic system and hydraulic system,
internal pressure shall be released to 0 at first for subsequent
operation.
◼Testing and operation shall be carried out in accordance with
prescribed methods after components replacement. At this
moment, the operating personnel shall operate outside the
safety barrier.
◼After maintenance ends, lubricating oil, debris, water, etc.
scattered on the floor around the manipulator and in the safe
barriers shall be swept thoroughly.
◼Dust and other foreign matters are not allowed in the
manipulator during the process of components replacement.
◼Operating personnel who are in charge of maintenance and
repair shall accept the company's training and pass the
examination.

ARC4-50 Control Cabinet Manual
General safety instructions
V
◼During the maintenance, appropriate luminaire shall be
equipped, but note that this cannot be the sources to cause
new danger.
◼Take periodic maintenance with reference to this instruction; if
not, it will cause the service life of the manipulator and may
result in accidents.

Safety precautions
ARC4-50 Control Cabinet Manual
VI
Safety precautions
Before operating the manipulator, peripheral equipment and its manipulator system,
sufficiently study the safety precaution for operating personnel and system. Figure 1 is a
diagram of the safe work of industrial robots.
Figure 1 Diagram of the safe work of industrial robots
Definition of operating personnel
Operators of the manipulator are mainly divided into three types: operators, teachers, and
maintenance engineers. The conditions that these three types of operators need to meet are
described as follows:
Operator
◼Carry out the operation of manipulator power ON/OFF;
◼Start the manipulator program through the operation panel;
◼No right to work in the safety fence.
Teacher
◼Have the functions of an operator;
◼The operation machine can be taught in the safety fence.
Maintenance engineer
◼Have the function of a demonstrator;

ARC4-50 Control Cabinet Manual
Safety precautions
VII
◼The operation machine can be maintained (repair, adjustment, replacement, etc.)
operations.
Safety of operating personnel
When operating, programming, and maintaining the manipulator, operators, instructors, and
maintenance engineers must pay attention to safety and at least wear the following items for
work:
◼Appropriate working clothes;
◼Safety shoes;
◼Safety helmet.
When applying the automatic system, the safety of operating personnel shall be guaranteed.
Since the motion range is very dangerous, measures for preventing the operating personnel
from entering into the manipulator motion range shall be applied.
General cautions are shown as below. Proper available measures shall be applied to ensure
the safety of operating personnel:
◼Operating personnel who are in charge of operating the manipulator system shall accept
the company's training and pass the examination.
◼During the equipment operation, even the manipulator seems to be shut down, it may be
because the manipulator may be in motion state waiting for start signal. This state shall
be treated as operation state. To ensure the safety of operating personnel, warning
lamps and other equipment display or sound shall be applied to ensure the manipulator
is in the operation state;
◼Safety barriers and safety door around the system shall be set, so as to make operating
personnel cannot enter into the safety barriers if the safety door is not opened. Interlock
switch, safety latch, etc. shall be set on the safety door, so as to stop the manipulator
when operating personnel open the safety door;
◼Electrical grounding shall be applied for peripheral equipment;
◼Peripheral equipment shall be set outside the manipulator motion range as far as
possible;
◼The motion range of the manipulator shall be marked with a line on the ground or in
other ways, the operator knows clearly about the motion range, including mechanical
arm and other tools fitted on the manipulator;
◼The ground shall be set with cushion switch or fitted with photoelectric switch, etc. so
as to sound alarm through buzzer or to glows, etc. when operating personnel enter into
the motion range of the manipulator;
◼One lock shall be set as required; no one can connect the manipulator power except the
operating personnel;

Safety precautions
ARC4-50 Control Cabinet Manual
VIII
◼When taking single commissioning of peripheral equipment, the manipulator power shall
be disconnected.
The safety of operator
Operator is not entitled to operate in the safety barriers:
◼If the manipulator motion is not required, its control cabinet power shall be disconnected
or the emergency stop button shall be pressed;
◼Manipulator system shall be operated outside the safety barrier;
◼To prevent irrelevant personnel from spraying into manipulator motion range or to
prevent operator from entering into hazardous area, protective fence and safety door
shall be set;
◼Emergency stop button shall be set in arm's reach for operator.
Manipulator control device can connect external emergency stop
button. Thus, once the emergency stop button is pressed, the
manipulator will be shut down through this connection.
Safety of teachers
When taking manipulator demonstration operation, if entering into manipulator motion range
is required in some cases, please pay particular attention to safety:
◼Please operate outside the manipulator motion range in case that there is no need to
operate in its range;
◼Please ensure the manipulator or peripheral equipment is in safety state before
demonstration operation;
◼Please confirm location, state, etc. of safety device (such as emergency stop button,
emergency stop the switch of demonstrator, etc.) in advance if the demonstration is
operated in the manipulator range for unavoidable reasons;
◼Programmer shall pay special attention to keep other personnel from entering into
manipulator motion range;
◼Please fully confirm that there is no one in the manipulator range and no abnormal sign
before starting;
◼Please follow the following procedures to carry out testing and operation after
demonstration ends:
Execute for at least one cycle with single cycle at low speed to ensure there is no
abnormal sign;
Continuously operate for at least one cycle at low speed to ensure there is no abnormal
sign;
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ARC4-50 Control Cabinet Manual
Safety precautions
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Continuously operate for at least one cycle at intermediate speed to ensure there is no
abnormal sign;
Continuously operate for at least one cycle at intermediate speed to ensure there is no
abnormal sign;
Execute programming under automatic operation mode;
◼Programmer shall evacuate to the outer place of the safety barrier during automatic
operation of the manipulator.
The safety of maintenance engineer
To ensure the safety of maintenance engineer, the following items shall be fully noticed:
◼During the manipulator operation, don't enter into its motion range;
◼Take maintenance when the power supply of control device is disconnected. Apply lock,
etc. to lock on main circuit breaker to prevent other personnel from connecting the
power;
◼Press control cabinet or demonstrator emergency stop button if entering into the
manipulator motion range is required for unavoidable reasons in an energized state. In
addition, operating personnel shall put up the sign of "under maintenance", and remind
the other personnel of not operating the manipulator arbitrarily;
◼Please ensure the manipulator or peripheral equipment is in safety state before
maintenance;
◼Don't execute automatic operation when there is someone in the manipulator motion
range;
◼Don't block the escape routes of the operating personnel when operating near wall, tool,
etc. or the distance between personnel is close;
◼When the manipulator is equipped with the tool and there are movable appliances such
as band carrier, etc. except manipulator, attentions shall be fully paid for these devices;
◼One person who is familiar with manipulator system and can easily observes dangers
shall be assigned around the manipulator during the operation to ensure that the
emergency button can be pressed at any time;
◼When replacing the parts or reassembling, attentions shall be paid in case of foreign
material adhesion or foreign material invasion;
◼When maintaining internal control device, in case of contacting unit, printed circuit
board, etc., to prevent electric shock, power supply of main circuit breaker of control
device shall be disconnected firstly before the operation;
◼Use parts specified by the company when replacing the parts;
◼Fully ensure that there is no one within operation scope of the manipulator and the
manipulator and peripheral equipment are in good conditions when restarting the
manipulator system after the maintenance.

Safety precautions
ARC4-50 Control Cabinet Manual
X
Safety of peripheral equipment
Attentions on relevant program
◼Checkout equipment such as limit switch, etc. shall be used in order that dangerous
condition is detected, and the manipulator shall be shut down as appropriate according
to the signal of checkout equipment;
◼Applicable measures such as stopping the manipulator, etc. shall be taken against
abnormality in other manipulators or peripheral equipment even if there are no problems
in this manipulator;
◼Mutual interference shall be avoided on system in which the manipulator and peripheral
equipment operate synchronously;
◼In order to control status of all equipment from manipulator, the manipulator and
peripheral equipment can be mutually locked and the operation of manipulator can be
stopped according to the needs.
Attentions on machinery
◼Keep the system of the manipulator clear and use it under environment without
influence from grease, water, dust, etc.;
◼Cutting fluid and cleaning agent are not allowed to use;
◼Control the operation of the manipulator with limit switch and mechanical brake in case
of mutual collision between manipulator and peripheral equipment;
◼Subscriber cable, hose, etc. are not allowed to be put inside the manipulator;
◼Mechanical movement shall be avoided when installing the cable outside the
manipulator;
◼As for the model of exposed cables in the manipulator, operation for exposed cable shall
not be modified;
◼Interference in other parts of the manipulator shall be fully avoided when installing
peripheral equipment on the manipulator;
◼Any frequent outage and shutdown through emergency stop button, etc. on operating
manipulator can lead to manipulator fault.
Machinery safety of the manipulator
Attentions during the operation
Operators shall be on high alert and quickly respond to occurrence of all problems when
operating the manipulator through slow feeding mode under any condition.
Attentions on relevant program
Mutual interference between manipulators shall be fully avoided during operational scope
from multiple manipulators.

ARC4-50 Control Cabinet Manual
Safety precautions
XI
Set a specified work origin for manipulator program and create a program starting from work
origin and ending at this one to see clearly whether operation of the manipulator is finished or
not from the outer edge.
Attentions on mechanism
Keep operating environment of the manipulator clear and use it under environment without
influence from grease, water and dust, etc.
Safety for end effector
Time difference before the command reaches the actual operation shall be fully considered
and exercise the control with some extension and contraction after sending control command
out when controlling all actuators (pneumatic, hydraulic and electric).
Set the detection unit on end effector to monitor status of end effector and control operation
of the manipulator.

ARC4-50 Control Cabinet Manual
Contents
i
Contents
Introduction ...................................................................................................................................................................... I
General safety instructions ............................................................................................................................................... I
Safety precautions .......................................................................................................................................................... VI
Contents ............................................................................................................................................................................i
1Overview of ARC4-50 Control Cabinet......................................................................................................................1
1.1 Overview of industrial robot....................................................................................................................................1
1.2 Basic composition of control cabinet ......................................................................................................................2
1.3 Control cabinet characteristics................................................................................................................................3
1.4 Label and meaning of control cabinet.....................................................................................................................3
1.5 Installation environment of control cabinet ............................................................................................................7
1.6 Working environment of control cabinet ................................................................................................................7
2ARC4-50 control cabinet transportation and handling .............................................................................................9
2Installation and Connection of ARC4-50 Control Cabinet .......................................................................................11
2.1 Check item.............................................................................................................................................................11
2.2 Definition of control cabinet electrical connection ...............................................................................................11
2.3 Connection method of control cabinet and manipulator ......................................................................................18
3Safe use of ARC4-50 control cabinet......................................................................................................................21
3.1 Grounding of control cabinet ................................................................................................................................21
3.2 Robot stop method................................................................................................................................................21
4Description of ARC4-50 Control Cabinet Interface .................................................................................................23
4.1 Description of control cabinet indicator................................................................................................................23
4.2 Functions of switches outside the control cabinet ...............................................................................................23
4.3 Functions of switches inside the control cabinet..................................................................................................24
4.4 External interface of control cabinet.....................................................................................................................25
5ARC4-50 control cabinet hardware module introduction .......................................................................................27
5.1 PLC_MF.................................................................................................................................................................27
5.2 PLC_INT ................................................................................................................................................................29
5.3 Security module ....................................................................................................................................................33
5.4 MCB module..........................................................................................................................................................35
6Maintenance and troubleshooting of ARC4-50 control cabinet..............................................................................37
6.1 Routine maintenance items and cycles.................................................................................................................37
6.2 Possible fault handling steps ................................................................................................................................37
7ARC4-50 control cabinet storage conditions ..........................................................................................................43