PreciseFlex_Robot
44
Hardware Reference
System Schematics
System Diagram and Power Supplies
The robot has a 24VDC and 48VDC power supply located in the Z column. For Revisions A and B, the
AC input to these power supplies is fused, with two fuses in a pull-out fuse drawer in the IEC type power
entry module. For Revision C and later, these fuses have been removed. The power supplies have both
over-current and over-voltage protection and are CSA, UL, and CE certified. The robot controller and
electric gripper are powered by the 24VDC supply. The 4 main robot motors are powered by the 48VDC
supply. The 48VDC supply is protected against over voltage bus pump up by an energy dump circuit,
which connects a 25 Watt dump resistor across the 48VDC supply output when the voltage reaches 56
volts, and disconnects the dump resistor when the voltage drops to 52 volts. This protects the power
supply during high speed motor deceleration when the motor generates Back EMF voltage that adds to
the power supply voltage.
DC power is routed from the power supplies to an interconnect board in the base of the Z column (Z Base
Motor Interface Board). From this interconnect board the power is routed in P1 and P2 flat ribbon cables.
The P2 cable contains the 48VDC motor power and is connected to the power amplifier board in the
controller. The P1 cable contains the 24VDC controller power and is routed to a second interconnect
board (the MIDS Power Interface Board), that is mounted on the side wall inside the inner link of the
robot. From this board 24VDC power is connected to the main robot controller.
Four digital input and four digital output signals from the main robot controller are also connected to the
MIDS Power Interface Board through a 10 conductor ribbon cable. One digital input signal, DI3 is routed
down to the base of the robot thru the P1 ribbon cable, where it is connected to the green Phoenix Estop
connector. This provides a digital input for safety interlock purposes. There is a jumper on the MIDS
Power Board which jumps this signal to the P1 cable. This jumper must be installed for this connection to
work. The rest of the digital inputs and outputs are daisy chained to a second connector on the MIDS
board for use if needed. Some of these signals are used when the pneumatic gripper option is installed.
The ESTOP circuit is also connected from the controller to MIDS Power Interface Board and down
through the P1 cable to two ESTOP connectors: the green Phoenix connector (J24) and the 9 pin Dsub
connector (J30). The ESTOP pins on these connectors are wired in series, so that both connectors must
have either a jumper or ESTOP switch installed that completes the ESTOP circuit.
The gripper controller is connected to the main controller through an RS485 cable that is routed through
the elbow, along with the power and encoder cables for the J4 motor. The RS485 cable also supplies
power for the gripper controller.
The motors for the Z column, the Shoulder and the Wrist all plug into an interconnect board which
converts the signals from the motor cables to the flat ribbon cables. The motor for the elbow plugs
directly into the controller amplifier board in the inner link.
The cable from the brake release button under the Shoulder plugs into the amplifier board in the inner
link. This button provides a ground return from the Z column brake to ground bypassing the transistor
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