Difference between revisions of "Set up, testing of single joints"
From Wiki
| Line 3: | Line 3: | ||
| − | + | ||
== Robot and controller configured by CPR == | == Robot and controller configured by CPR == | ||
| Line 12: | Line 12: | ||
* In some cases screws in the joints 2, 3 or 4 have been removed to decrease packaging size. Re-assemble the robot with these screws. | * In some cases screws in the joints 2, 3 or 4 have been removed to decrease packaging size. Re-assemble the robot with these screws. | ||
| − | + | ||
| + | |||
| + | '''Set up and check the controller:''' | ||
| + | |||
** Connect/check that the emergency stop button is plugged into the E-Stop connector on the Support module | ** Connect/check that the emergency stop button is plugged into the E-Stop connector on the Support module | ||
** Connect/check that the closed loop connector is plugged into the Ext-Relay connector on the Support module | ** Connect/check that the closed loop connector is plugged into the Ext-Relay connector on the Support module | ||
| Line 25: | Line 28: | ||
* Load the correct project using the "Load Project" Button in the menu on the upper-left circle | * Load the correct project using the "Load Project" Button in the menu on the upper-left circle | ||
* Press the "Connect" button. Now the green LEDs on the stepper and DIO modules should blink to show activity on the CAN bus | * Press the "Connect" button. Now the green LEDs on the stepper and DIO modules should blink to show activity on the CAN bus | ||
| + | |||
| + | |||
| + | '''Connect the Joint Cables''' | ||
Switch the robot control off again. | Switch the robot control off again. | ||
| Line 38: | Line 44: | ||
| − | + | ||
== Configure Robot for Controller == | == Configure Robot for Controller == | ||
Revision as of 20:41, 2 July 2017
The set up of the robot controller has to be done after receiving the components.
Robot and controller configured by CPR
When you ordered robot and controller by CPR, then the cables are already equipped with the according plugs and the robot has been configured and tested. The procedure to run the robot is shown below.
Attention: Do not hot-plug! Always switch of the power supply and wait a few seconds before working on the connectors!
- In some cases screws in the joints 2, 3 or 4 have been removed to decrease packaging size. Re-assemble the robot with these screws.
Set up and check the controller:
- Connect/check that the emergency stop button is plugged into the E-Stop connector on the Support module
- Connect/check that the closed loop connector is plugged into the Ext-Relay connector on the Support module
- Connect/check that the PCAN-USB adapter is connected with the according cable to the CAN connector on the Support module
- Provide 24V power supply
- If the controller has been delivered with power supply just connect it to the 110/220V plug
- If you use an existing power supply connect this to the control using the fuse. The supply should provide at least 5A at 24V
Now the green LEDs on the modules should be on.
- Install and start CPRog from the provided CD
- Load the correct project using the "Load Project" Button in the menu on the upper-left circle
- Press the "Connect" button. Now the green LEDs on the stepper and DIO modules should blink to show activity on the CAN bus
Connect the Joint Cables
Switch the robot control off again.
- Connect the joint cables into the stepper modules. The connectors have the joint numbers written on it, and also the function.
- Pay attention to add measures to prevent the connectors being pulled out by stress on the cables
- Switch the power supply on again
- Start CPRog and press "Connect" and "Reset". Now the status on the left changes to "Motors not enabled"
- Release the Emergency Stop and press "Enable". Now the status on the left changes to "No Error"
- Now you can jog the robot arm
- Proceed with referencing the robot (Referencing robolink) and programming the arm
Configure Robot for Controller
If the robot has not been configured by CPR then the following additional steps have to be performed:
- Add the connectors to the cables. This is shown in the user guide.
- Test the single joints:
For questions or comments please get in contact with us: info(at)cpr-robots.com
