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

inCube20 Control Cabinet Manual
Overview of inCube20 Control Cabinet
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1
2 3
Fig. 2-4 Schematic diagram of internal components of drive box
2.3 Basic specifications of control cabinet
The basic specifications of inCube20 control cabinet are shown in Table 2-1:
Table 2-1 Basic specifications of inCube20 control cabinet
Name
Characteristic
Cabinet body type
19”cabinet
Color
Black
Weight
20kg
Protection class
IP20 (optional IP54 shield)
Number of axes
6-axis, 2 axes can be expanded
Noise
50dB(A)
Rated supply voltage
AC220V±10%
Power frequency
49~61Hz
Full load power
2.2KVA
Fusing current
16A
Vibration condition
Operation
Transportation
Vibration acceleration
0.5g
6g
Vibration frequency
4~120Hz
5~500Hz
Impact acceleration
Instantaneous
2.5g
300g
Impact waveform/period
Half sine/11ms
Sawtooth wave/9ms
Operating temperature
0~45 ℃
Temperature change rate
<1.1K/min
DPBS
Interface
filter
DCBS

inCube20 Control Cabinet Manual
Overview of inCube20 Control Cabinet
7
Name
Characteristic
Storage temperature
-25~60℃
Operating humidity
80% RH
Storage humidity
90%RH
Altitude
Normal operation at the altitude of below 1000m
Derated by 5%/1000m at the altitude of
1000-4000m
Normal operation at the atmospheric pressure of
below 86~106kPa
2.4 Control cabinet label and meaning
The inCube20 control cabinet contains 5 types of labels. The specific positions
of the labels are shown in Fig. 2-5.
1
2
3
(a)
4
(b)

inCube20 Control Cabinet Manual
Overview of inCube20 Control Cabinet
8
5
(c)
Fig. 2-5 Schematic diagram of positions of labels contained in the control cabinet
The meanings of labels are as follows:
①Pairing information signboard
The pairing information signboard is shown in Fig. 2-6.
Fig. 2-6 Pairing information signboard
②Door-opening power-off & maintenance signboard
The door-opening power-off & maintenance signboard is shown in Fig. 2-7.
Fig. 2-7 Door-opening power-off & maintenance signboard
③High temperature sign
There may be heat in places where high temperature signs are provided
(see Fig. 2-8). When you see the sign, you should be careful not to be
burned. If you have to touch the equipment under heat, be sure to wear
protective equipment such as heat-resistant gloves before touching it.

inCube20 Control Cabinet Manual
Overview of inCube20 Control Cabinet
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Fig. 2-8 High temperature sign on control cabinet
④Control cabinet nameplate
The control cabinet nameplate is shown in Fig. 2-9. The nameplate
indicates the model, serial number, weight, manufacture date and other
related information of the control cabinet.
Fig. 2-9 Control cabinet nameplate
⑤Overload protection label
The overload protection label on the control cabinet is shown in Fig. 2-10.
The protection label reminds you to remove the protective film before using
the overload.
Fig. 2-10 Overload protection label
2.5 Installation environment of control cabinet
The ambient temperature should be 0-45°C.
The relative humidity should be 20-80% RH.
The dust, oil mist and water vapor in the installation environment must be
minimized.
The environment must be free of flammable and corrosive liquids or
gases.
Please remove
the protective
film before use

inCube20 Control Cabinet Manual
Overview of inCube20 Control Cabinet
10
The equipment should be installed away from the impact and vibration
sources.
The control cabinet should have a heat dissipation distance of at least
20cm from the surrounding installation environment.

inCube20 Control Cabinet Manual
Transportation of inCube20 Control Cabinet
11
3Transportation of inCube20 Control Cabinet
Transportation posture
Make sure that all connectors on the control panel are unplugged.
Make sure that the control cabinet is transported in a horizontal posture.
Transportation by forklift
A transportation tray should be provided under the control cabinet during
transportation, as shown in Fig. 3-1.
Fig. 3-1 Schematic diagram of control cabinet transportation by forklift

inCube20 Control Cabinet Manual
Unpacking of inCube20 Control Cabinet
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4Unpacking of inCube20 Control Cabinet
4.1 Unpacking method and sequence
The schematic diagram of unpacking box of unCube20 control cabinet and
ARCSP-AIR_TP teach pendent is shown in Fig. 4-1. The names of parts are
shown in Table 4-1.
Fig. 4-1 Schematic diagram of unpacking box of control cabinet and teach pendent
The unpacking method of inCube20 control cabinet and ARCSP-AIR_TP teach
pendent is as follows:
1. Remove the hexagon socket head cap screws M10×55 (8) from the
wooden box cover (8) with a 16MM Allen wrench, and open the wooden
box cover (6).
2. Remove ARCSP-AIR_TP teach pendant-package (10) and cable (11) and
put them aside for installation.
3. Remove the EPE-cabinet-cover (7).
4. Remove inCube20 control cabinet (9) and set it aside for installation.
5. After removing inCube20 control cabinet and ARCSP-AIR_TP teach
pendant, it is necessary to properly store each part of the packing box for
subsequent packaging during transportation.
Table 4-1 Names of parts of packing box of control cabinet and teach pendant
No.
Name
1
Box
2
EPE-Cabinet-1

inCube20 Control Cabinet Manual
Unpacking of inCube20 Control Cabinet
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3
EPE-Cabinet-2
4
EPE-cabinet-bottom
5
EPE-Cabinet-3
6
Wooden box cover
7
EPE-cabinet-cover
8
Hexagon socket head cap screw M10 ×55
9
inCube20 control cabinet
10
ARCSP-AIR_TP teach pendant-packaging
11
Cable
4.2 Repacking to prevent damage due to transportation
The schematic diagram of repacking box of inCube20 control cabinet and
ARCSP-AIR_TP teach pendant is shown in Fig. 4-2. The names of parts are
shown in Table 4-1.
Fig. 4-2 Schematic diagram of repacking box of control box and teach pendant
In order to prevent damage due to transportation, the original packing box
should be used for repacking. The repacking process is as follows:
1. Place the EPE-cabinet-bottom (4) on the bottom of the box (1).
2. Place the EPE-cabinet-1 (2) and the two EPE-cabinet-2 (3) according to
the positions on the EPE-cabinet-bottom (4) next to the side wall of the
box, as shown in the exploded view.
3. Place the inCube20 control cabinet (9) between the EPE-Cabinet-1 (2)
and the two EPE-Cabinet-2 (3).
4. Place the EPE-Cabinet-3 (5) in the gap on the side of the handle of the
inCube20 control cabinet (9).

inCube20 Control Cabinet Manual
Unpacking of inCube20 Control Cabinet
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5. Place the EPE-cabinet-cover (7) above the inCube20 control cabinet (9).
6. Place the ARCSP-AIR_TP teach pendant-package (10) and cable (11) in
the position shown in the exploded view of the EPE-cabinet-cover (7).
7. Use a 16MM Allen wrench to tighten the wooden box cover (6) onto the
box (1) with the hexagon socket head cap screws M10×55 (8) to
complete the repacking work.
4.3 Safe disposal of packaging materials
After unpacking, all parts of the packing box should be properly stored, during
which attention should be paid to the followings:
The storage area should be dry and clean.
The temperature in the storage area should be stable.
The storage area must be selected to ensure that the materials of
component of the packing box will not be damaged.
The packing box should be stored indoors.

inCube20 Control Cabinet Manual
Installation and Connection of inCube20 Control Cabinet
15
5Installation and Connection of inCube20 Control Cabinet
5.1 Check items
Before installing the control cabinet, the following items must be strictly
observed:
Make sure that the installation personnel must pass the relevant training
of the company and perform the installation work in compliance with
international and local laws and regulations.
Make sure that the control cabinet is free from bump or damage after
unpacking.
Make sure that the control cabinet installation environment meets the
requirements in Section 2.5 of this manual.
5.2 Installation dimensions
The inCube20 control cabinet is a control cabinet of 3U height that supports
installation in a 19”cabinet. The specific dimensions are shown in Fig. 5-1.
Fig. 5-1 Outline dimensions of cabinet