ID : 3107

Cable Connection Using an Internal Wiring

If your robot is VS-series having a communication interface flange-A, you can use the internal wiring as a wiring between a robot controller and a force sensor.

System Configuration

The figure above shows a VS-050 robot set having a rear connector panel.
The position of connectors in a connector panel differs depending on the robot model. Please refer to "Connectors" of VS SERIES USER'S MANUAL.

Components

Description

(1) Force sensor

WACOH-TECH Inc.

Refer to "Overview of Force Sensor" of Preparation of Hardware.

This is a capacitive force sensor, Dyn-Pick.

Select a force sensor according to your application.

(2) Force sensor mounting stay

(made by customer)

A stay for fixing a force sensor to the end of the robot arm.
For details, refer to "How to Install a Force Sensor".

(3) Tool

(selected by customer)

Select a tool according to your application.

(4) Tool mounting stay

(made by customer)

A stay for fixing a tool to the force sensor.
When you create a stay, please refer to the Installation Diagram on "Overview of Force Sensor" of Preparation of Hardware.

The following two devices are available for the Force sensor and robot controller connection.

(5-1) RS-422A communication board

CONTEC CO., LTD.

1ch type: COM-1PD(LPCI)H
2ch type: COM-2PD(PCI)H
4ch type: COM-4PD(PCI)H

Insert this board into the expansion slot of the robot controller for use.
There are two board types: 1ch type and 2ch type. For normal application, select 1ch type. If an RS-422A communication is used for other application than the Force sensor, select 2ch type or 4ch type.
RS-422A communication board needs arrangement before use. Please refer to "RS-422A Communication Board Setting".

This board cannot be used together with any other PCI board. (Example: Electric gripper control board, paralell I/O board, EtherCAT master board)
A PCI Express board can be used together. (Example: CC-Link remote device board, EtherNet/IP adapter board, PROFIBUS slave board)

(5-2) RS-422A Micro converter

CONTEC CO., LTD.

Model: COM-1PD(USB)H

(This device requires robot controller software version 2.5.* or higher.)

Connect this converter to a USB connector of robot controller.

You need to perform necessary settings on this RS-422A micro converter before use. Refer to How to Use RS-422A Micro Converter for details.

If this product is subjected to strong noise, Force sensor communication-related errors may occur.
In this case, take any measures for noise reduction with reference to Noise Reduction When Using RS-422A Micro Converter.

(6) Power supply (24V DC)

(selected by customer)

A power supply to supply electricity to the force sensor. Connect two lines (red and black lines) of a force sensor and RS-422A communication board cable.
The following shows power supply specification for all force sensors.

Maximum power consumption: 80 mA
Startup waiting time: Within one second.

Be careful not to connect a red line (+24 V) and a black line (0 V) incorrectly as this may result in damage to the force sensor.

(7) Software license for the force sensor–based force control function

DENSO WAVE Inc.

Force Sensor Compliance Control
Force Sensor Robust Compliance Control

These are DENSO products.

These licenses are required to use the force sensor–based force control function.
The force sensor–based force control function is classified into two types: “Force Sensor Compliance Control” and “Force Sensor Robust Compliance Control”.
Select a license for the type of function that you intend to use.

"Compliance function-activated" targets a newly purchased robot set. Ordering this option with a robot set will activate the function before shipment. Please order this option with a robot set.
"License only" targets a robot set that has been shipped without "Compliance function-activated" option. To use this function with such robot set, please order "License only". If you order "License only", you need to activate the function on your robot controller.

For how to activate the function, refer to “Activating the Function”.

(8) Force sensor and robot cable

WACOH-TECH Inc.

CWE-6AE230-SA
(Cable length: 230 mm) (*1)

A cable to connect a force sensor and a robot.

(9) Robot and RS-422A communication board cable

WACOH-TECH Inc.

3 m: CWE-6AR3-B
8 m: CWE-6AR8-B
15 m: CWE-6AR15-B

A cable to connect an RS-422A communication device (RS422-A communication board or RS-422A micro converter) and 24VDC regulated power supply to a robot.
Select any cable length according to your application.

*1 : Until around July 2018, CWE-6AE180-SA (cable length 180mm) was sold.

ID : 3107

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