Vacuum Robot Manual
4000-0315 Rev 1
14
at each end, or connected to the chassis of the host and controller by
pigtail leads. The controller also provides eight optically isolated inputs
and outputs as well as Motor Off, Stop, and Reset inputs through a DB37
female connector.
The default baud rate (bits per second) is 9600.
The signal cable connecting the robot and the controller is isolated from
the power cable. A three-prong, 100/120/220/240 V
AC
, 50/60 Hz cable is
provided. The current draw is 5 amps at 100 or 120 V
AC
, and 2.5 amps at
220 or 240 V
AC
.
The following are general instructions for connecting the robot to the
controller and the controller to a power supply.
1. Connect the 50-pin and 8-pin cables between the robot and controller.
2. Confirm the AC power setting on the voltage selector setting. Unless
otherwise requested, the controller voltage is set to 120 VAC when
shipped.
CAUTION: Setting voltage incorrectly can damage the robotic system.
3. Ensure that the power source is properly grounded. Adherence to
National Electrical Code is required.
4. With host system power OFF, connect the Equipe controller AC power
cable to an AC outlet connected to the host system.
5. Access a user interface, following instructions in the next section to
connect the RS-232 cable between the host computer and controller or
connect the Teach Pendant to the controller.
6. Verify that all cables are plugged into the appropriate connectors with
the correct orientation and that they are all securely fastened.
7. Optionally, connect Interlock or I/O cables to the DB37 connector.
Ensure that the signals are in normal operating states. For more
information on I/O, refer to the Equipe Software and Controller
Manual.
8. Without pushing on the outer arm link, manually move the robot arm
to the center overlapping position. In this position, the R-axis arm
links are centered over each other.
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