Maintenance Manual for Collaborative Robot
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  • Maintenance Manual for Collaborative Robot
  • About this manual
    • Copyright
    • Notation rules
    • Safety precautions
  • 1. Safety
    • 1.1 Safety requirements
      • 1.1.1 Applicable standards
      • 1.1.2 Safety performance
    • 1.2 Safety measures
      • 1.2.1 Safety functions
      • 1.2.2 Safety training
      • 1.2.3 Safety labels
      • 1.2.4 Emergency stop
        • 1.2.4.1 Emergency stop switches
        • 1.2.4.2 Connecting to emergency stop devices of external systems
    • 1.3 Risk assement
    • 1.4 Potential risk
    • 1.5 Validity and responsibilities
  • 2. Introduction to the product
    • 2.1 Intended uses of the product
    • 2.2 Product components
    • 2.3 Part names
      • 2.3.1 Manipulator
      • 2.3.2 Controller
      • 2.3.3 Teach pendant
    • 2.4 Nameplate
  • 3. Product installation
    • 3.1 Environment of installation and preparation
      • 3.1.1 Environments of installation and use
      • 3.1.2 Spaces of the robot system
      • 3.1.3 Allowable limit of wrist axis load
      • 3.1.4 Payload
    • 3.2 Product installation
      • 3.2.1 Composition of robot systems
      • 3.2.2 Robot and controller installation
        • 3.2.2.1 Mounting plate installation
      • 3.2.3 Tool connection
      • 3.2.4 Wiring
      • 3.2.5 Power on
    • 3.3 Robot interface
      • 3.3.1 Tool flange connection point
        • 3.3.1.1 T4071017041-001 (TE) pin map
        • 3.3.1.2 T41171130012-001 (TE) pin map
        • 3.3.1.3 Air hose
      • 3.3.2 External device interface
        • 3.3.2.1 Terminal block (TB1): common analog I/O signals
        • 3.3.2.2 Terminal block (TB2): dedicated safety signal input
        • 3.3.2.3 Terminal block (TB3): system signal I/O
        • 3.3.2.4 D-sub 25-pin connector (SDIO): common digital I/O
        • 3.3.2.5 D-sub 9-pin connector (COM1, COM2): serial communication (RS485, 422)
    • 3.4 Stopping distance and time
      • 3.4.1 STOP 0
      • 3.4.2 STOP1
    • 3.5 Safety setting
    • 3.6 Programming and restarting
    • 3.7 Axis limiting devices
    • 3.8 Movement without drive power
    • 3.9 Other safety precautions
  • 4. Maintenance
    • 4.1 Checking of the collaborative robot
      • 4.1.1 Check sheet
      • 4.1.2 Wiring check
      • 4.1.3 Bolt check
    • 4.2 Maintenance of the collaborative robot
      • 4.2.1 Replacement of internal wiring
      • 4.2.2 Replacement of the integrated driving module
        • 4.2.2.1 Replacement timing
        • 4.2.2.2 Weight of the integrated driving module
        • 4.2.2.3 Tools and parts
        • 4.2.2.4 Recommended posture in disassembling the integrated driving module
        • 4.2.2.5 Method for replacing the integrated driving module
      • 4.2.3 Encoder backup battery replacement
      • 4.2.4 Grease replacement
    • 4.3 Controller check and maintenance
      • 4.3.1 Internal structure
      • 4.3.2 Safety control module
        • 4.3.2.1 Connection and display
        • 4.3.2.2 Connection of I/O signals for the robot system (TBSYS1)
        • 4.3.2.3 Safety I/O signal connection (TBSDI, TBSDO)
        • 4.3.2.4 Connection of common digital I/O signals (TBDIO)
        • 4.3.2.5 Connection of common digital I/O signals (TBAIO)
        • 4.3.2.6 Information on major components
      • 4.3.3 Power precharge module (PPM)
        • 4.3.3.1 Connection and display
        • 4.3.3.2 Information on major components
      • 4.3.4 Regenerative discharge module (RDM)
        • 4.3.4.1 Connection and display
        • 4.3.4.2 Information on major components
      • 4.3.5 Microcomputer module
      • 4.3.6 Power supply
      • 4.3.7 Teach pendant
      • 4.3.8 PCI communication card (optional)
        • 4.3.8.1 Connect pin map
  • 5. Moving and storing
    • 5.1 Moving method
      • 5.1.1 Recommended posture
      • 5.1.2 Packaging box
      • 5.1.3 Cautions
    • 5.2 Storing method
    • 5.3 Disposal
  • 6. Appendix
    • 6.1 Block diagrams
      • 6.1.1 YL012 S-axis
      • 6.1.2 YL012 H-axis
      • 6.1.3 YL012 V-axis
      • 6.1.4 YL012 R-axis
      • 6.1.5 YL012 B-axis
      • 6.1.6 YL012 R1-axis
      • 6.1.7 YL012 tool flange
      • 6.1.8 Power connector
    • 6.2 System specifications
      • 6.2.1 Collaborative robot
      • 6.2.2 Controller
      • 6.2.3 Teach pendant
  • Certifications
  • Attachment
    • Rules on Occupational Safety and Health Standards, and Notice for Safety Inspection
  • Quality Assurance
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  1. 4. Maintenance
  2. 4.3 Controller check and maintenance
  3. 4.3.2 Safety control module

4.3.2.3 Safety I/O signal connection (TBSDI, TBSDO)

Previous4.3.2.2 Connection of I/O signals for the robot system (TBSYS1)Next4.3.2.4 Connection of common digital I/O signals (TBDIO)

Last updated 3 years ago

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The safety input signals of the safety control module receive the inputs from the emergency stop switch and the safeguard through Terminal Block, TBSDI.

No

Name

　　　　　　　Usage

1

SIO_POW1

Safety signal input common (Channel 1)

2

SIO_POW1

Safety signal input common (Channel 1)

3

SIO_POW1

Safety signal input common (Channel 1)

4

SIO_POW1

Safety signal input common (Channel 1)

5

SIO_POW2

Safety signal input common (Channel 2)

6

SIO_POW2

Safety signal input common (Channel 2)

7

SIO_POW2

Safety signal input common (Channel 2)

8

SIO_POW2

Safety signal input common (Channel 2)

9

SDIN0

Safety signal input 0 (Channel 1)

10

SDIN1

Safety signal input 1 (Channel 1)

11

SDIN2

Safety signal input 2 (Channel 1)

12

SDIN3

Safety signal input 3 (Channel 1)

13

SDIN4

Safety signal input 4 (Channel 2)

14

SDIN5

Safety signal input 5 (Channel 2)

15

SDIN6

Safety signal input 6 (Channel 2)

16

SDIN7

Safety signal input 7 (Channel 2)

The safety signals of the safety control module receive output to the safety devices necessary for the application through Terminal Block, TBSDO.

No

Name

　　　　　　　Usage

1

SIO_GND1

Safety signal output common (Channel 1)

2

SIO_GND1

Safety signal output common (Channel 1)

3

SIO_GND1

Safety signal output common (Channel 1)

4

SIO_GND1

Safety signal output common (Channel 1)

5

SIO_GND2

Safety signal output common (Channel 2)

6

SIO_GND2

Safety signal output common (Channel 2)

7

SIO_GND2

Safety signal output common (Channel 2)

8

SIO_GND2

Safety signal output common (Channel 2)

9

SDOUT0

Safety signal output 0 (Channel 1)

10

SDOUT1

Safety signal output 1 (Channel 1)

11

SDOUT2

Safety signal output 2 (Channel 1)

12

SDOUT3

Safety signal output 3 (Channel 1)

13

SDOUT4

Safety signal output 4 (Channel 2)

14

SDOUT5

Safety signal output 5 (Channel 2)

15

SDOUT6

Safety signal output 6 (Channel 2)

16

SDOUT7

Safety signal output 7 (Channel 2)

Figure 30 Safety input signal connection (TBSDI)
Figure 31 Safety output signal connection (TBSDO)