Sony CAST-AU4 User Manual

OPERATION MANUAL
Sony Desktop Robot
GA
CAST-AU4/B2521E

Sony CAST-AU4 Specifications

General

Category	Robotics
Manufacturer	Sony
Model	CAST-AU4
Degrees of Freedom	6
Communication Interface	Ethernet

Summary

About this Operation Manual

How to Use this Operation Manual

First Time Users

Guide for new users on initial operation.

Routine Assembly

Instructions for routine assembly tasks.

Replacing Unit or Memory Card

Procedures for replacing components.

Manual Configuration Overview

Key Sections Overview

Overview of manual's main topics: Safety, Outline, Prep, Maint., Trouble, Parts, Appendix.

Safety Instructions and Precautions

Warning Symbols Definition

Explanation of warning symbols used in the manual and on the machine.

Important Safeguards

Crucial safety measures to prevent accidents and injuries.

Usage and Transportation Precautions

Guidelines for safe operation, usage, and machine transport.

Component Handling Precautions

Handling guidelines for memory cards, teaching pendants, and maintenance.

Battery Handling and Replacement

Procedures and safety for handling and replacing the internal battery.

Product Outline and Specifications

1. Outline

Introduction to ROBOKIDS, its purpose, and basic features.

1-1 Nomenclature

Identification of front view components and LED indicators.

1-1 Nomenclature - Rear View and Peripherals

Identification of rear view components and teaching pendants.

1-2 Outline Drawings

Dimensional drawings for standard and height adjustable types.

1-2 Outline Drawings - Axis Units

Dimensional drawings for Z-unit and ZR-unit.

1-3 Specifications

Detailed machine specifications like envelope, speed, payload.

1-3 Specifications - Control Specs

Detailed control specifications like drive method, power, I/O.

Preparation and Setup

2-1 Attaching the Units

Step-by-step guide to attach the Z-unit.

2-1-2 Attaching the ZR-unit

Step-by-step guide to attach the ZR-unit.

2-2 Connecting External Signals

Instructions for connecting external switches and I/O.

2-3 Connecting to Electrical Outlet

Procedure for connecting the machine to a power outlet.

2-4 Starting Up the Base Machine

Procedures for starting up the machine in different modes.

Maintenance Procedures

3-1 Maintaining the Machine

General cleaning and maintenance procedures.

3-2 Greasing and Fallen Materials Removal

Procedure for greasing guide rails and cleaning.

3-3 Cleaning and Replacing Air Filter

Procedure for cleaning or replacing the air filter.

3-4 Replacing the Battery

Procedure for replacing the internal battery.

Troubleshooting Guide

4-1 Common Item Troubleshooting

General troubleshooting for common issues like stepping out.

4-2 Full-open Specification Troubleshooting

Troubleshooting for full-open mode using error history.

Error Code Troubleshooting

Table of error codes, causes, and solutions.

4-3 RK Card Usage Troubleshooting

Troubleshooting flow for RK card usage.

Fault-Finding Charts

Charts for diagnosing common symptoms and finding solutions.

Repair Parts Lists

5-1 ROBOKIDS Body Parts

List of repair parts for the ROBOKIDS main unit.

5-2 Z-axis Unit Parts

List of repair parts for the Z-axis unit.

5-3 Z/R-axis Unit Parts

List of repair parts for the Z/R-axis units.

Appendix

USER I/O Connector Specifications

Pin assignments for USER I/O connector input and output.

Connector Pinouts

Pin definitions for Debug, Operation Box, RS232C, SAFETY, and ZR-axis connectors.

Supply Period of Repair Parts