igus ReBeL - Moving the Robot with iRC

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5 QUICK START GUIDE

Cartesian movements and programs

For the use of Cartesian commands and the playing of robot programs a refer-

encing of the robot is mandatory.

Main Page

Table of Contents3
Introduction6
Contact6
Intended Use7
Target Group and Qualification7
Symbols Used7
Product Safety7
Regulations7
System Overview8
Specifications8
Mechanical Dimensions9
Safety Instructions10
Requirements11
Environmental Conditions11
Software Requirements11
Quick Start Guide12
Set up and Connect12
Switch on13
Connecting and Moving the Robot13
Preparation with the Integrated Computer13
Moving the Robot for the First Time13
Moving the Robot with Irc16
The Graphical User Interface16
Selecting the Type of Robot17
Navigation and Movement of the Robot in the 3D View18
Connecting the Robot18
Hardware Connection18
Move the Robot19
Referencing the Robot19
Step by Step Guide of Referencing19
Moving the Robot20
Starting Robot Programs21
Digital Inputs and Outputs23
Software Interfaces23
Updating the Software23
Programming a Robot with Irc24
Program Editor24
Changing the Command Sequence24
Touching up Positions25
Set Start Command25
Comments and Information Within the Program26
Information about the Program26
Descriptions26
Comments26
Motion26
Abort Conditions26
Acceleration and Smoothing26
Joint Motion27
Linear Motion28
Relative Motion29
Circular Motion29
Set Velocity30
Gripper and Digital In-/Outputs30
Digital Inputs30
Digital Outputs30
Opening/Closing the Gripper30
Program Flow31
Conditions31
Stop31
Pause31
Wait32
If-Then-Else32
Loops32
Matrices / Palettizing32
Subprograms34
Variables and Variable Access34
User-Defined Variables34
System Variables35
Accessing Elements35
Calculating with Variables36
Observing Variables36
Camera36
Hardware Configuration38
In-/Outputs38
Electrical Integration38
Software-Configuration39
Connecting Sensors and Buttons at the Base40
Connecting Sensors and Buttons at the Robot Arm40
Connect Actuator at the Arm40
Motor Brake41
Motor Control Configuration41
Software Configuration42
Project Configuration43
Program43
Tool43
Inputs/Outputs43
Virtual Box43
Interfaces44
PLC Interface44
Program Selection Via Digital Inputs45
Modbus45
CRI Interface45
Camera Interface46
Network48
Cloud48
Secure Shell Access49
SFTP Access50
Uninterruptible Power Supply (UPS)51
Advanced Configuration52
Modbus53
Licensing53
Configuration of the Modbus Server53
TIA-Portal Library53
Creating the Robot Data Block53
Inserting the Robot Communication FB54
Data Access54
Address Mapping55
Coils and Discrete Inputs - 1 Bit, Read Only56
Input Registers - 16 Bit, Read Only58
Holding Registers - 16 Bit, Read and Write59
Number and Position Variables60
Meaning of Enumeration Values61
Maintenance64
Cleaning64
Troubleshooting65
Frequently Asked Questions65
Error Codes and Solutions65
Test Software Module Control65
Support Contact66

igus ReBeL - Moving the Robot with iRC

Table of Contents

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