PEITIAN ROBOTICS inCube20 User manual

Peitian Robot
inCube20 | Control Cabinet Manual
A solution provider for intelligent
equipment manufacturing industry

I
inCube20 Control Cabinet Manual
Ver. V1.4.1

inCube20 Control Cabinet Manual
Contents
i
Contents
Contents----------------------------------------------------------------------------------------------------------------------- i
1Document Description of inCube20 ------------------------------------------------------------------------------- 1
1.1 Purpose and content of the document --------------------------------------------------------------------------- 1
1.2 Document number and version ------------------------------------------------------------------------------------ 1
1.3 Document applicable objects--------------------------------------------------------------------------------------- 1
1.4 Related document information------------------------------------------------------------------------------------- 1
1.5 Declaration of applicable safety standards---------------------------------------------------------------------- 2
2Overview of inCube20 Control Cabinet --------------------------------------------------------------------------- 3
2.1 Overview of industrial robot ---------------------------------------------------------------------------------------- 3
2.2 Basic composition of control cabinet ----------------------------------------------------------------------------- 4
2.3 Basic specifications of control cabinet --------------------------------------------------------------------------- 6
2.4 Control cabinet label and meaning-------------------------------------------------------------------------------- 7
2.5 Installation environment of control cabinet --------------------------------------------------------------------- 9
3Transportation of inCube20 Control Cabinet ------------------------------------------------------------------- 11
4Unpacking of inCube20 Control Cabinet ------------------------------------------------------------------------ 12
4.1 Unpacking method and sequence--------------------------------------------------------------------------------12
4.2 Repacking to prevent damage due to transportation---------------------------------------------------------13
4.3 Safe disposal of packaging materials----------------------------------------------------------------------------14
5Installation and Connection of inCube20 Control Cabinet --------------------------------------------------- 15
5.1 Check items -----------------------------------------------------------------------------------------------------------15
5.2 Installation dimensions---------------------------------------------------------------------------------------------15
5.3 Installationmethod---------------------------------------------------------------------------------------------------16
5.4 Control cabinet interface-------------------------------------------------------------------------------------------17
5.5 Connection of control cabinet-------------------------------------------------------------------------------------19
5.6 Definition of control cabinet electrical connection -----------------------------------------------------------21
6Safe Use of inCube20 Control Cabinet -------------------------------------------------------------------------- 23
6.1 Grounding of control cabinet--------------------------------------------------------------------------------------23
6.2 Safety of robot system----------------------------------------------------------------------------------------------24
6.3 Robot stop method --------------------------------------------------------------------------------------------------26
7Description of inCube20 Control Cabinet Interface------------------------------------------------------------ 27
7.1 Description of control cabinet indicator-------------------------------------------------------------------------27
7.2 Description of control cabinet operation button---------------------------------------------------------------27
7.3 Description of control cabinet external interface--------------------------------------------------------------28
8Start of inCube20 Control Cabinet ------------------------------------------------------------------------------- 35

inCube20 Control Cabinet Manual
Contents
ii
9Routine Maintenance Items and Cycles-------------------------------------------------------------------------36
10 Common Faults and Troubleshooting----------------------------------------------------------------------------39
11 Storage Conditions--------------------------------------------------------------------------------------------------40
Appendix A List of inCube20 Accessories------------------------------------------------------------------------------41
Appendix B Description of inCube20 Accessories--------------------------------------------------------------------42

inCube20 Control Cabinet Manual
Document Description of inCube20
1
1Document Description of inCube20
1.1 Purpose and content of the document
This document is written to help technicians install and use the inCube20
control cabinet quickly, correctly and safely, get familiar with the relevant
precautions, and perform regular maintenance.
1.2 Document number and version
The document-related information is shown in Table 1-1.
Table 1-1 Document-related Information
Document name
"inCube20 Control Cabinet Manual"
Document number
UM-P05110000030-001
Document version
V1.4.1
1.3 Document applicable objects
Operators
Teachers
Maintenance engineers
1.4 Related document information
The contents in this document may be pertinent to the following documents.
Please refer to them when necessary:
“ARL Programming Manual”
"Manipulator Manual of AIR3-A Industrial Robot"
"Manipulator Manual of AIR6-A Industrial Robot"
"Operation Manual of AIR-TP Teach pendant"
"Failure and Troubleshooting Manual of AIR Series Industrial Robot
System"

inCube20 Control Cabinet Manual
Document Description of inCube20
2
1.5 Declaration of applicable safety standards
The requirements for system design of industrial robot are shown in Table 1-2.
Table 1-2 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

inCube20 Control Cabinet Manual
Overview of inCube20 Control Cabinet
3
2Overview of inCube20 Control Cabinet
2.1 Overview of industrial robot
The industrial robot is composed of the following components:
Manipulator
Control cabinet
Teach Pendant
Connection (power supply) cables, etc.
Fig. 2-1 Composition of robot system
Fig. 2-1shows an example for industrial robot system, where:
1. Manipulator 2. Control cabinet
3. Teach pendant 4. Connection (power supply) cable
1. AIR series
robot
2. inCube20
3. Teach
pendant
4. Cable

inCube20 Control Cabinet Manual
Overview of inCube20 Control Cabinet
4
Robot body
The robot body refers to the mechanism that is used to grab or move an object
(tool or workpiece) in the robot system, and also is known as the manipulator.
Control cabinet
The control cabinet is equipped with the electrical equipment that is required
to control the robot, including the motor drive, safety module, power module,
movement control module and other components, and provides the connection
interfaces with the robot body and other external equipment.
Teach Pendant
The teach pendant is connected to the master control system of the robot’s
control cabinet. It is used to remotely control the robot to run manually and
automatically, record the running trajectory, display playback or record teach
points and program according to the teach points.
2.2 Basic composition of control cabinet
The control cabinet is equipped with the electrical equipment that is required
to control the robot, including the motor drive, safety module, movement
control module and other components, and provides the connection interfaces
with the robot body and other external equipment. The appearance of the
control cabinet and the names of its various parts are shown in Fig. 2-2~Fig.
2-4.
2
1
(a)
Control cabinet
cover
Axial fan
Dust
screen
Overload

inCube20 Control Cabinet Manual
Overview of inCube20 Control Cabinet
5
34
5
防尘网 调试
接口
重载
接口
6
扣板配件
(b)
Fig. 2-2 Appearance of control cabinet
12
Fig. 2-3 Schematic diagram of internal components of upper cavity of control box
MCBS
Power module
Dust screen
Buckle
accessories
Debug
interface
Overload
interface