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General| Brand | Shibaura |
|---|---|
| Model | ROIbot BA-II Series |
| Category | Controller |
| Language | English |
Key safety information and warnings to read carefully before use.
Measures to satisfy to ensure safe operation of the ROIbot series.
Safety precautions to prevent people from entering the ROIbot operation area.
Guidelines for installing the ROIbot, including clearance and cable management.
Safety regulations for personnel working inside the actuator operating area.
Details on warranty period, terms, liability exemptions, and notes.
Overview of the new concept arm robot controller and its features.
Description of the system components, including master and slave units.
Detailed specifications for the ROIbot series BA II controller.
Explains the external dimensions and layout of each part of the controller.
Details the function of each connector and component on the controller.
Explains the expansion input/output unit's external dimensions and parts.
Explains the functions and layout of the Teach Pendant (TPH-4C).
Step-by-step guide for installing and operating the ROIbot.
Instructions for installing the controller, focusing on ventilation requirements.
Details on power supply voltage selection and grounding procedures.
Measures to improve the noise resistance of the controller.
Illustrates the connection of the axis and Teach Pendant to the controller.
Instructions for connecting the emergency stop circuit.
Explanation of leakage current effects and measures to prevent needless functioning.
Guide to setting the Robot Type for automatic parameter configuration.
How to define software limits and set the Return to Origin function.
Explanation of position and speed gain adjustment for servo mechanism tuning.
Details on installing the lithium battery for absolute encoder backup.
Flowchart and steps for moving the ROIbot with a simple program.
Overview of the different operation modes available for the ROIbot.
Details on operating the robot in AUTO and STEP modes within RUN mode.
Explanation of PRGM mode for programming operations and setting point tables.
Explains Return to Origin functionality for absolute and incremental encoders.
Key operation system diagrams for the Teach Pendant in various modes.
Explains basic ROIbot programming using Teach Pendant displays.
Describes three methods for inputting position data: remote teaching, direct teaching, MDI.
Explains how to enter and leave PRGM mode for sequential programming.
Details on inserting or deleting individual steps or blocks in sequential programs.
Describes how to copy steps from one program to another.
Instructions for clearing all sequential programs or the current task's program.
Explains how to use the HELP function to find command input numbers.
How to restart a program from the stopped step after power interruption.
Using MVM commands for complex palletizing operations.
How to operate the ROIbot in AUTO and STEP modes within sequential mode.
Executing sequential programs one step at a time for verification.
Adjusting program execution speed using the override function.
Introduction to multitasking and its advantages in system integration.
Explains the benefits of multitasking for system simplification and cost reduction.
Details on multitasking specifications and functions like task display and axis combination.
Details on multitasking specifications and functions like task display and axis combination.
Procedures for starting, stopping, restarting, and ending tasks in multitasking.
Creating and running a multitasking program with multiple tasks and axes.
Using counters to synchronize and apply timing between multiple tasks.
Information important for efficiently using the multitask function.
Explanation of the four task states: Stopped, Execution, Ready, and Wait.
Details on how tasks transition between states: Starting, Ending, Restarting.
Methods for data transfer between tasks using counters, timers, and commands.
Setting task priority to determine execution order when multiple tasks are ready.
Introduction to Easy Mode for simple pick & place operations without programming.
Steps to validate and access the Easy Mode setting in PARA mode.
Details on inputting point coordinates, speed, subroutines, and branch conditions.
Copying programs between different Easy Mode programs.
Instructions for clearing all easy mode programs or coordinate tables.
Operating the ROIbot in AUTO mode within Easy Mode.
Operating the ROIbot in AUTO mode within Easy Mode.
Executing Easy Mode programs step-by-step.
Adjusting program execution speed using the override function.
Configuring start/end subroutines and repetition counts for Easy Mode programs.
Setting unconditional, input, counter, and timer branching conditions.
Setting the end step for easy mode operations.
Using reservation tag numbers for fixed subroutine programs.
Explains the basic flowchart for palletizing operations.
Details the screens for programming in palletizing mode.
Steps to enter and exit PRGM mode within the palletizing mode.
Explains programming screens for M to M mode in palletizing.
Copying programs between palletizing programs.
Procedures for clearing palletizing programs individually or in batch.
Conditions and procedures for restarting palletizing operations after power interruption.
Operating the ROIbot in AUTO mode within the palletizing mode.
Operating the ROIbot in AUTO mode within the palletizing mode.
Executing palletizing programs step-by-step.
Adjusting program execution speed using the override function.
Explains the mode where positioning is controlled by external signals via I/O.
Example procedures for settings and operations using external I/O.
Example procedures for settings and operations using external I/O for point designation.
How to operate using the Teach Pendant in this mode.
Adjusting program execution speed using the override function.
Overview of the pulse train input mode and its system configuration.
Overview of the pulse train input mode and its system configuration.
Detailed specifications for the pulse train input mode.
Lists signal names and pin numbers for the input/output connectors.
Lists signal names and pin numbers for the input/output connectors.
Explains the functions of various input/output signals used in the pulse train mode.
Provides examples of input/output signal connections.
How to designate the pulse train input mode and set parameters.
How to designate the pulse train input mode.
Parameters that can be set for pulse train input mode operation.
Safety precautions for operating in pulse train input mode.
Step-by-step operation procedures for pulse train input mode.
Details on input/output signals for master unit.
Details on input/output signals and connector pin assignments for the master unit.
Pin numbers and signal names for the slave unit input/output connectors.
Pin numbers and signal names for the expansion input/output units.
Shows general-purpose I/O port names and their representation on the Teach Pendant.
Illustrates example connections for master, slave, and expansion units.
Explains system input functions like Return to Origin and their behavior.
Explains the Return to Origin input function and its behavior.
Details the Start input function for restarting operations.
Explains the Stop input function for stopping the axis.
Details the Reset input function for resetting error states.
Explains the Robot single operation input function.
Explains the Continuous start input function and its behavior.
Explains the Escape input function for decelerating and stopping the robot.
Explains the Pause input function for temporary stop.
How to select programs using input signals for various modes.
Details the Palletizing input function for mode changeover.
Explains the Running output signal indicating controller operation status.
Explains the Error output signal indicating controller errors.
Details the Positioning complete output signal.
Explains the Return to origin complete output signal.
Explains the Input wait output signal.
Explains the Pausing output signal.
Explains the READY output signal indicating controller readiness.
Designating individual task positioning complete output.
Designating individual task return to origin complete output.
Designating battery alarm output when voltage drops.
Introduction to CC-Link function and its overview.
Overview of CC-Link serving as a remote device station.
CC-Link specifications and related parameters.
Instructions for attaching the CC-Link module.
Details CC-Link components, status LEDs, and connection terminal blocks.
Cable connection order and terminator requirements for CC-Link.
Settings for CA20-M10-CC and CC-Link master station.
Lists I/O signals for the master unit connected via CC-Link.
Lists all I/O signals for the master unit and their corresponding CC-Link device numbers.
Details system input and output signals for CC-Link communication.
Shows general-purpose I/O port names and Teach Pendant displays.
Lists jog input/output signals for CC-Link.
Overview of Command and Monitor modes for data communication.
Overview of Command and Monitor modes for data communication via CC-Link.
Explains Command mode data flow, timing, and signal transmissions.
Explains data flow and timing for Command mode communication.
A table detailing various commands, their modes, and registers.
Explains specific commands like 'Request Status' and provides status descriptions.
Details data flow and timing for Monitor mode in CC-Link.
Details data flow and timing for Monitor mode in CC-Link.
Lists available monitor types and explains their status descriptions.
Explains monitors, including status and current position.
Overview, specifications, and prohibited operations for CC-Link speed control mode.
Overview of the speed control mode via CC-Link.
Specifications for the speed control mode.
Lists operations and settings prohibited when speed control mode is active.
How to set up CC-Link and motor rotation.
Lists I/O signals that change when speed control mode is set.
Details I/O signals related to rotation command, running output, and target speed.
Explanation of selecting speed and acceleration/deceleration tables via CC-Link.
Overview of selection table extension function.
Procedures for setting selection table extension.
How to assign input signals and tables for selection table extension.
Overview, specifications, and setting procedures for maximum torque limit function.
Overview of the maximum torque limit function.
Specifications for the maximum torque limit function.
Procedures for enabling the maximum torque limit function.
How to set the maximum torque limit value using acceleration/deceleration tables.
I/O signals assigned when the maximum torque limit function is set.
Procedures for checking CC-Link status, including connection and error info.
Introduction to DeviceNet function and its overview.
Overview of DeviceNet as a network interface for I/O data communication.
DeviceNet specifications including communication protocol and speed.
Instructions for attaching the DeviceNet module.
Details DeviceNet components, status LEDs, and connectors.
Cable connection order and terminator requirements for DeviceNet.
Settings for CA20-M10-DN, including station number and baud rate.
Lists I/O signals for the master unit connected via DeviceNet.
Lists all I/O signals for the master unit and their DeviceNet mapping.
Details system input and output signals for DeviceNet communication.
Shows general-purpose I/O port names and Teach Pendant displays for DeviceNet.
Lists jog input/output signals for DeviceNet.
Steps to enter and exit the PARA mode for parameter settings.
Details the various mode settings available, including DeviceNet and CC-Link.
Designating the input bit for single operation mode.
Designating the input bit for continuous start.
Designating the input bit for escape function.
Designating the input bit for pause function.
Designating the input bit for program selection.
Designating the input bit for return to origin.
Designating the output bit for pausing.
Designating the output bit for input wait.
Setting the Teach Pendant display language to Japanese or English.
Setting the operation mode to OFF, Easy, Point, Pulse 1, or Pulse 2.
Setting general-purpose output clear mode during emergency stop or reset.
Configuring states for continuous start input when valid (ON).
Configuring states for continuous start input when valid (OFF).
Designating the output bit for direct output using function keys.
Designating the output bit for READY status.
Designating the input bit for palletizing mode selection.
Validating expansion input/output for external point designation mode.
Designating the output bit for task positioning completion.
Designating the output bit for task return to origin completion.
Configuring CC-Link station number and baud rate.
Setting DeviceNet station number, baud rate, and option flags.
Designating the output bit for battery alarm.
This parameter is not available.
Setting frequently changed parameters like software limits and servo gain.
Steps for setting the software limit upper value.
Steps for setting the software limit lower value.
Explanation of position and speed gain adjustment.
Setting the pass area parameter (Note: disabled).
Setting origin offset values for coordinate system adjustment.
Defining the order in which axes return to origin.
Adjusting JOG speed parameters.
Adjusting JOG inching movement parameters.
Setting parameters that change less frequently, including axis display.
Setting axis display names (X, Y, Z, R, ?) on the Teach Pendant.
Setting the tolerance for judging positioning completion.
Setting the threshold for overflow error detection.
Setting the feed forward control constant.
Setting the motor revolution direction (forward or reverse).
Setting the movement speed limit value.
Configuring speeds for different stages of the return to origin process.
Selecting different methods for returning axes to origin.
Selecting whether the origin sensor output is ON or OFF when detected.
Setting the target position for high-speed return to origin.
Setting the advance direction per motor revolution.
Configuring the encoder No. of divisions.
Configuring the encoder pulse multiplier.
Setting the type of encoder installed on the motor.
Setting up task-axis combinations.
Setting task priority to determine execution order.
Setting task point tables for each task.
Setting the maximum number of steps for each task.
Setting BA I/O compatibility mode.
Introduction to setting various data tables like coordinate, speed, and acceleration.
Procedures for setting coordinate (point) tables.
Procedures for setting speed tables.
Setting acceleration/deceleration tables for controlling motion profiles.
Setting parameters for the MVM (Matrix Movement) table.
Monitoring the currently executed program step number.
Monitoring the status of system and general-purpose input/output ports.
Monitoring the current values of counters and timers.
Monitoring current position and offset coordinates.
Monitoring the status of origin sensors and encoder Z-phase pulses.
Functions for searching sequential step numbers.
Functions for searching tag numbers.
Searching for specific steps within Easy Mode.
Searching for specific programs within Easy Mode.
Searching for palletizing programs.
Searching for specific screens within palletizing programs.
Manually controlling general-purpose outputs using Teach Pendant function keys.
Manually outputting random bits via PRGM mode.
Procedures for turning the Teach Pendant ON and OFF.
Performing a reset operation via the Teach Pendant.
Directly setting counter values using the Teach Pendant.
Displaying the ROM version of the controller and Teach Pendant.
Performing manual axis movement using JOG operation.
Clearing all coordinate tables in the controller memory.
Setting BA I/O compatibility mode to match BA series specifications.
Selecting BA I/O compatibility mode.
Operation specs for return to origin and positioning outputs based on encoder type.
Moving the axis to positions defined in the coordinate table.
Explains how errors are displayed and ways to clear them.
A table listing error names, meanings, causes, remedies, and states.
Explains the different patterns of status display LEDs indicating controller status.
Technical specifications for the BA-C series controller.
Identifies and explains the functions of each part of the BA-C series controller.
Illustrates the connection diagram for the CA01-S05 slave unit.
Guidance on selecting appropriate power supplies for the controller.
Instructions on installing the controller, focusing on ventilation.
Procedures for connecting the power supply cable and grounding the controller.
Methods to improve the noise resistance of the controller.
How to connect multiple CA01-S05 slave units or CA20-S10/S40 controllers.
Details on the resolver ABS backup system using a lithium battery.
Explains regenerative resistors and their technical specifications.
Technical specifications for regenerative resistors.
External dimensions of CAR-0500 and CAR-UN50 regenerative resistors.
Installation instructions for regenerative resistors, focusing on ventilation.
Shows an example connection between the controller and regenerative resistors.
Guidelines for personnel safety and procedures before and after maintenance.
Checks to perform before operation, including braking and interlock devices.
Guidelines for conducting periodic inspections of the ROIbot.
Procedures for inspecting and replacing the timing belt.
Details on parts to lubricate, lubricant type, interval, and quantity.
Procedures for cleaning the robot body.
Information on controller spare parts like fuses.
Information on controller spare parts like fuses.
Reference to Axis Instruction Manual for axis spare parts.
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