Selco RI3000 CANopen Instrucciones De Uso página 32

SYMBOLS
Imminent danger of serious bodily harm and dangerous behaviours that may lead to serious bodily harm.
Important advice to be followed in order to avoid minor injuries or damage to property.
The notes preceded by this symbol are mainly technical and facilitate operations.
INDEX
1 WARNING ................................................................................................................................................... 33
2 SYSTEM PRESENTATION .............................................................................................................................. 33
2.1 CANopen ............................................................................................................................................ 33
CANopen INTERFACE ......................................................................................................................... 33
3 INSTALLATION............................................................................................................................................. 35
3.1 Configuration "Weld@Net" .................................................................................................................. 36
4 Cable Connection ......................................................................................................................................... 36
4.1 RI3000 Power supply (connector CN3) - CABINET ROBOT ................................................................. 36
4.2 RI3000 Power supply (connector CN3) - Genesis PSR .......................................................................... 36
4.3 Auxiliary power supply for digital inputs and outputs (connector CN5/CN7) ........................................ 37
4.4 Communication via CAN BUS (connector CN6) .................................................................................. 37
4.5 Digital inputs ....................................................................................................................................... 38
4.6 Programmable digital inputs DI1 ... DI8 ............................................................................................... 40
4.7 Process digital inputs ............................................................................................................................ 41
4.8 Analog inputs (CAN_BUS) .................................................................................................................... 50
4.9 Digital outputs .................................................................................................................................... 50
4.10 Programmable digital outputs DO1...DO8 ......................................................................................... 51
4.11 Analog outputs (AO1 ... AO9) ............................................................................................................ 51
4.12 (CN2) RS232 communication line ...................................................................................................... 51
5 SUMMARY INFORMATION ......................................................................................................................... 52
5.1 Data from welding machine to robot ................................................................................................... 52
5.2 Data from robot to welding machine ................................................................................................... 54
6 ConneCTORS ............................................................................................................................................... 56
6.1 Connector CN3/J3 (4 -pole) ................................................................................................................ 56
6.2 Connector CN7/J7 (12-pole) ............................................................................................................... 56
6.3 Connector CN6/J6 (14-pole) ............................................................................................................... 56
6.4 Connector CN5/J5 (10-pole) ............................................................................................................... 57
6.5 Connector CN2/J2 (5-pole) ................................................................................................................. 57
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