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Manual
Operation of Ketop C100 Teach Pendant
E56090006
G059GB03
As of: 03/2004
Released on: 03/31/2004
Contents
1 General
2 Ketop C100 Teach Pendant
3 Programming
4 Menus provided
5 Database
1 General
Contents
1.1
Introduction 2
1.2 Definitions of Terms and Term Clarification 3
1.2.1 Robot 3
1.2.2 Kinematics Types 4
1.2.2.1 Typical Standard Kinematics (Linear Arm Robot) 4
1.2.2.2 SCARA 5
1.2.2.3 Bent Arm Kinematics 5
1.2.3 Working Space 6
1.2.4 Locking Space 6
1.2.4.1 Manual Ride (= incremental tracking of the axes) 6
1.2.4.2 Program Ride 7
1.3 Movement Control 7
1.4 Structure of Movement Control 8
1.5 Movement Instructions 8
1.5.1 Movement Types 9
1.5.1.1 PTP Movement (Point to Point) 9
1.5.1.2 Cartesian Movement, "Path Driving" 10
1.5.2 Interpolation of the Axis Angle 10
1.5.3 Path Driving 10
1.5.4 Override 12
1.5.4.1 Speed-Dependent Override 13
1.5.4.2 Position-Dependent Override 13
1.5.5 Speed Override 13
1.5.6 Manual Operation 14
1.6 Degrees of Freedom 15
1.7 Brush 16
1.8 Singularity 18
1.9 Coordinates and Axes 19
1.9.1 Coordinate Axes and Orientation Axes 19
1.9.1.1 Linear Axes 19
1.9.1.2 Orientation Axes 20
1.9.2 Coordinate Systems 20
1.9.2.1 Transformation Types 22
1.9.2.2 Cartesian Coordinate Systems 23
1.9.2.3 World Coordinate System 23
1.9.2.4 Robot Base Coordinate System 24
1.9.2.5 Car Body Coordinate System (Object Coordinate System) 25
1.9.2.6 Flange Coordinate System 26
1.9.2.7 Tool Coordinate System (TCP) 27
1.9.2.8 Axes Mode 28
1.10 Control Configurations 29
1.10.1 Field Bus Design 30
1.10.1.1 Example of the Axis Connections via SERCOS 30
1.10.2 Encoder System 32
© Dürr 2004 • G059_03GB01 1 General • Page 1 of 32
1.1 Introduction
The EcoRC2 is an efficient control system for Dürr Ecopaint Robot and
Dürr Ecopaint painting machines.
The hardware and software components of the control can be expanded in a
modular way.
The following kinematics/machines are operated by the EcoRC2:
Ecopaint Robot
EcoHandle Door
EcoHandle Hood
Ecopaint ESTA/AIR side machine
Ecopaint ESTA/AIR roof machine
Ecopaint Clean
The Ketop C100 Dürr teach pendant forms the man-machine interface and is
a firm component of the Ecopaint Robot robot system.
Features of the EcoRC2 and its advantages are:
Field bus design
- Shorten commissioning times.
- Avoid cable break.
- Reduce and standardize control cabinet.
- Reduce electric faults.
- Mechanics and control cabinet easier to separate.
- Transferred diagnostic information.
- Carry out parameterization by means of field bus.
- Use decentralized intelligence.
PTP and path driving
- Move faster
- Cover new fields of application.
Integrated fast PLC
- Control peripheral equipment of the robot.
- Synchronize movements and PLC processes easier and faster.
Multitasking
- Separate tasks better, process tasks simultaneously, synchronize
tasks and react faster.
Standard language programming
- Read programs better.
- Solve complex tasks.
- Reduce labour cost.
© Dürr 2004 • G059_03GB01 1 General • Page 2 of 32
Component modular design (object-oriented programming)
- Shorten software development times.
- Reuse parts of the program several times.
- Simplify programs.
Online language changeover
- Show texts in several languages.
Programmable menu prompting
- Define display texts and formats of variables.
Several coordinate systems
- For easier specification of movement targets.
Modular extendability (hardware, software)
- Supplementary reserve capacity
File system
- File data and programs.
Teleservicing
- Reduce service assignments.
- React faster.
- Demonstrate operation of the system.
1.2 Definitions of Terms and Term Clarification
1.2.1 Robot
A robot is an independent, freely programmable, electromechanical device
which is mainly used in the industry to carry out a specific task or a limited
number of tasks.
Freely programmable means that the change in the position of one or
several robot arms (robot axes) occurs without mechanical intervention.
Today, industrial robots are all computer-controlled tools, equipped with a
number of movement possibilities which are equipped with grippers, tools,
atomizers or other manufacturing equipment.
Complicated industrial robots equipped with sensors are used for tool
handling, particularly for welding, deburring, painting and for the assembly of
serial production parts.
For this, the robots need supplementary equipment such as for example
processing tools or measuring transducer systems for film thickness, surface
accuracy and paint process etc. as realized with the Ecopaint Quality system.
© Dürr 2004 • G059_03GB01 1 General • Page 3 of 32
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