LaserRobot Controller s User Manual Hotline: +86 400-670-1510 Email: sales@empower.cn Add: 1500xinfei Road No.72, Shanghai, China
Version: V1.0 Date: 2017/12/22 Historical Version: Historical Version Date of Relase V1.0 2017/12/22 Brief description of alteration Establish LaserRobot Controller s User Manual Editor Date of Edit Reviewer Date of Review Luyuan 2017/12/13 Alex LI 2017/12/22 V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 1 19
Index Explanation of schematic diagram of various parts...3 Explanation of operating handle...4 Explanation of connector of controller...5 Bright dipping sequential control...7 Setting of frequency and duty ratio...8 Explanation of signal lamp of controller...9 HMI Direction for use... 10 7.1 Introduction... 10 7.2 Main interface... 10 7.3 Control interface... 11 7.4 Parameter setting interface... 12 7.5 Digital signal monitoring interface... 14 7.6 Analog signal monitoring interface... 16 7.7 Historical alarm interface... 17 Troubleshooting of Laser... 18 V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 2 19
Explanation of schematic diagram of various parts Emergency stop Main switch Touch screen Fig 1.1 - Schematic diagram of panel of Laser controller Emergency-stop signal: When pressing the button of the panel of the controller emergency stop, the Laser and water-cooled machine are power off. When loosing the emergency stop button, if the buttons of the Laser and water-cooled machine are not turned off, then the Laser and water-cooled machine will be powered on once again. Rotary switch of the main switch: open/close the power source of controller. HMI interface: operation interface of Laser-Robot system. V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 3 19
Explanation of operating handle The operating handle is composed of 3 signals: emergency-stop signal, starting signal (green), suspension signal (red). Emergency-stop signal: consistent with the role of emergency-stop signal of the panel. Starting signal: After pressing the starting button, the system will output the starting signal. The time of duration is 2 seconds and then it is turned off. Suspension signal: After pressing the suspension button, the system will output the suspension signal. The time of duration is 2 seconds and then it is turned off. Note: The starting button and the suspension button are both triggered type. V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 4 19
Explanation of connector of controller V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 5 19
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Bright dipping sequential control When FREQUENCY_OUT and DUTY_OUT are output at the same time, the Laser will emit light at this time. The sequence figure is shown in Figure 4.1. Fig 4.1 - Bright dipping sequence of the Laser V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 7 19
Setting of frequency and duty ratio The setting of frequency and duty ratio of the Laser is controlled by the robot's analog output voltage. The voltage range of the robot s output analog is 0 ~ 10V. According to the calculation formula of analog quantity of board card, get the corresponding frequency and duty ratio of input analog voltage. The specific algorithm is as follows: Frequency: =20000* (Set frequency analog quantity of robot/2200); Duty ratio: =(Set frequency analog quantity of robot//2200)*100 Note: the setting number of analog quantity of Fanuc robot is 2200, the voltage of the corresponding analog quantity is 10V. V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 8 19
Explanation of signal lamp of controller The controller is equipped with three color lamps: yellow, green, red. Yellow lamp: When the rotary switch of the main switch is set to ON, the lamp will be on when the system is powered on normally. Red lamp: When the Laser emits light, the red light will be on. Rd lamp: when the Laser reports an error, the lamp will be flash, and the time interval is 1 second. If it does not report an error, the lamp will be off. V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 9 19
HMI Direction for use 7.1 Introduction HMI consists of 6 basic interfaces: main interface, control interface, parameter interface, digital quantity monitoring interface, analog quantity monitoring interface, historical alarm interface. Note: there are 6 buttons at the bottom of each interface. The functions of the keys are to switch the interfaces. For example, when the "Parameter" button is pressed, it goes into the parameter setting interface at this time. 7.2 Main interface Main interface is the default interface for the system to boot up, as shown in Figure 7.2.1: Fig 7.2.1 - Main interface V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 10 19
7.3 Control interface Control interface is composed of 4 parts, respectively: System Status Monitor Status Power Supply and Control Panel, as shown in Figure 7.3.1: The Laser-Robot system has three states: system readiness, system operation, and system error. When the Laser-Robot system does not report any errors, the Ready indicator light will be lit up, indicating that the system is in a ready state. On the contrary, if the system has any alarm, the Ready indicator light will go out. When the Laser-Robot system is in the state of light extraction cutting, the Run indicator light will be lit up; conversely, it goes out. Note: When the Laser-Robot system has an abnormal alarm, the Error indicator is lit up. When the system alarm disappears, the Error indicator goes out. Monitor Status mainly monitors the water flow of the water-cooling machine and the light-out power, frequency and duty ratio of the Laser. Note: when the Laser-Robot system starts the function of water flow monitoring, it is able to monitor the water flow of the water-cooling machine in the Control interface. When the monitoring function of water flow is not started, the feedback value is 0V. The power supply of water-cooling machine, Laser and red light power supply all have Laser- Robot system control, respectively corresponding to the Chiller, Laser, and GuideLight buttons in the PowerSupply options. That is: Chiller: power-on switch of water-cooling machine; Laser: power-on switch of Laser; GuideLight: power-on switch of red light power supply. Laser-Robot system can conduct internal control and external I/O signal control. It is the internal control key in Control Panel of Control interface. Laser Enable: control the Enable of the Laser ON/OFF Laser On: control the light-out of the Laser ON/OFF Gas On: control the magnetic valve in the controller ON/OFF Reset: clear the system alarm. V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 11 19
Note: 1. if the system is in the external I/O signal control state, then it is invalid to press "Laser Enable" and other keys; 2. except that the "Reset" button is triggered type, all the other buttons are maintained type. Fig 7.3.1 - Control interface 7.4 Parameter setting interface The parameter interface is composed of the laser parameter and system parameter, as shown in Figure 7.4.1 as below: V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 12 19
Fig7.4.1 - Parameter setting interface Laser Prameters includes the frequency of the laser, the Duty ratio and the setting of the lightout time, and the specific setting range is as follows: Laser Frequency: the range is between 0~20000, unit: Hz Laser Duty: the range is between 0~100,unit: % Laser Time: the range is between 0~60000, unit: ms Note: The laser parameters set are invalid under the external I/O signal control mode and are effective only under internal control. System Prameters include system control mode, traffic monitoring function, buzzer function and anti-collision function setting. External Control: external I/O signal control. Water Flow Control: flow monitoring function of water-cooling machine, when this function is enabled, the Laser-Robot system will monitor the water flow in the water-cooling machine. V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 13 19
Buzzer Control: Alarm buzzing function. When the function is enabled, the buzzer is sounded when the Laser-Robot system is in an abnormal alarm state. Collision Control: Cutting head anti-collision function. When the function is enabled, the cutting head is disconnected after the transverse collision, the alarm signal is output to the robot to stop the robot. Note: After setting the parameters well, you must click the "Save" button. Otherwise, the data will not be sent to the system. 7.5 Digital signal monitoring interface Fig 7.5.1 - Digital quantity monitoring interface Digital quantity monitoring interface can monitor all the input and output statuses of digital quantity in the current system, as shown in Figure 7.5.1. The detailed introduction of signal is seen in the following table. V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 14 19
Signal Name Handle Emergency Handle Start Handle Stop Laser Enable Laser On Gas On Reset Collision Digital Input Instruction Emergency-stop signal input of operating handle Starting signal input of operating handle Suspension signal input of operating handle Enable signal input of external laser External light-opening signal input External gas-opening signal input External reset signal input Input of the laser head collides the signal. When the signal is high level, it suggests the collision of the laser head; when the signal is low level, it suggests the collision of the laser head. If the anti-collision function is not enabled, the signal is low level. Digital Monitor Signal Name Red Light Green Light Laser Inter Lock Solenoid Valve Open Chiller Power Laser Power System Alarm Emergency Stop V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 15 19 Digital Output Instruction When the Laser-Robot system gives an alarm, output the high level signal every 1S When the Laser-Robot system is in the state of light-out, output the high level signal When inputting the laser enable signal under the control of external I/O signal or pressing the laser enable button under internal control, output the high level signal. When inputting the gas-opening signal under the control of external I/O signal or pressing the gas-opening button under internal control, output the high level signal. After the water-cooling machine is powered on, output the high level signal After the laser is powered on, output the high level signal When the Laser-Robot system is in the state of abnormal alarm, output the high level signal When pressing the emergencystop signal externally, output the high level signal Laser Signal input of too high Start When the operating handling
TempOver temperature of the laser presses the starting button, output the high level signal, lasting 2 seconds Laser Fault Safety Door Signal input of errorreporting signal of the laser Signal input of switches of controller Stop Buzzer Reserved Not used yet Reserved Not used yet Reserved Not used yet Reserved Not used yet Reserved Not used yet Reserved Not used yet Reserved Not used yet Reserved Not used yet Reserved Not used yet Reserved Not used yet When the operating handling presses the stop button, output the high level signal, lasting 2 seconds When starting the buzzing function and the Laser-Robot system is in the state of abnormal alarm, output the high level signal 7.6 Analog signal monitoring interface Analog signal monitoring interface can monitor the input and output voltage values of all analog quantity in the current system, as shown in 7.6.1. Fig7.6.1 - Analog quantity monitoring interface V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 16 19
Laser Frequency: refers to the output voltage set by the robot. Laser Duty: refers to the output Duty ratio voltage set by the robot. Water Flow: refers to the analog voltage value reflected by the water-cooling machine. Guide Light Power: When the red light power is turned on in the Control interface, the 5V voltage is output at this time, and vice versa is 0V. FolwMeter Power: When the flow feedback function is started, the 10V power is output at this time, and vice versa is 0V. 7.7 Historical alarm interface The alarm interface is mainly to display the historical alarm. When the Laser-Robot system gives an alarm, the alarm number, alarm time, alarm information, current alarm value as well as other information will be displayed. The "Up" and "Down" in the interface are to review the historical alarms before and after the time; Refresh is to refresh the historical alarm, as shown in Figure 7.7.1: Fig7.7.1 - Alarm interface V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 17 19
Troubleshooting of Laser Alarm 1: Laser non-enable alarm Reasons: 1. system input of laser non-enable under the external control mode; 2. not press the laser enable button Processing method: 1. it is OK by externally inputting enable signal. 2. it is OK by pressing the "Laser Enable" button in the control interface. Alarm 2: emergency stop alarm Reasons: pressed the emergency stop button of the panel of the controller of the emergency stop button of operating handle. Processing method: Loosen the emergency stop buttons of control penal and operating handle. Alarm 3: Setting errors of laser parameters Reasons: Emit laser light when the light-out time under the internal control is set to be 0. Processing method: Reset the laser light-out time, and it is OK when the time is more than 0. Alarm 4: flow alarm of water-cooling machine. Reasons: 1. the flow of water-cooling machine is insufficient or exceeds the maximum value of the laser flow; 2. not connect the flow meter cable of the water-cooling machine and the flow feedback function is enabled. Processing method: 1. Manually adjust the outlet valve and adjust the flow of water to the specified range of the laser. When the flow is in the specified range, the alarm indicator is extinguished at this time. (red light is extinguished); 2. close the function of flow monitoring. Note: The range of water flow between 7.5-11.5L/min is reasonable. Alarm 5: the temperature of the laser is too high. Reasons: when the air pressure of the internal pressurized gas of the laser is insufficient, the V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 18 19
laser will give an alarm. Processing method: check whether the internal pressurized protective gas is connected and whether the air pressure meets the requirements of the laser. The normal range is between : 0.1bar- 0.3bar. Alarm 6: the laser reports an error Reasons: when the flow of the water-cooling machine is insufficient or too large Solution: Manually adjust the outlet valve and adjust the flow of water to the specified range of the laser. Alarm 7: The security door is not closed Reasons: the controller is in an open state. Solution: it is OK by closing the board in front of the controller. Note: 1. In case any kind of alarm occurs, the red light of the controller will flicker and be lit up; 2. For security consideration, when any kind of alarm occurs, the laser will not give out light. V1.0 Shanghai Empower Technologies Co., Ltd. Copy Right 19 19