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ID : 3324

HSR and HSA1 Combination

This page describes the system configuration and the details in the following sections.

System Configuration Layout

The following figure illustrates the overall system configuration.

(The following example shows the system that controls an HSR and an HSR1.)

RC8 Series-Supported Robot-Related Components

Components
/(Part No.)		 Description

(1) License for Dual arm control

For details, refer to "License".

(2) RC8A robot controller

A controller to control two robots (an HSR and an HSA1).

It has three earthing terminals for robot. Connect as follows.

For details about external view and specification, refer to "RC8 SERIES ROBOT CONTROLLER MANUAL".

(3) Encoder Hub

(4) Encoder root cable

Encoder hub and encoder root cable are sold as a set.

There are two types of sets; old model and new model.

Part number of old model
410010-7100
Part number of new model
410010-869*

For both types, the length of the encoder root cable is approximately 0.4 m.

Encoder Hub

Collects the encoder signal of each robot and sends them to the RC8A series robot controller.

Only the new model is available in the above system.

For details about the external diagram and the precaution on installation, refer to "Encoder HUB".

Encoder root cable

A cable to connect an encoder hub and an RC8A robot controller.

Note that the encoder hub of new model does not accept the encoder root cable of old model. For the encoder root cable of new model, use the encoder hub of new model.

(5) Motor & Encoder Cable

An encoder line connects to an RC8A robot controller through an encoder hub.

(6) HSR

A robot that runs as a "ROBOT 0".

For details about external view and specification, refer to "HSR SERIES USER'S MANUAL".

You can use an HSA1 as ROBOT0.

Viewing from the RC8A robot controller side, a robot connected to the motor connector on the left end is Robot0. The next robot is Robot1.

(7) HSA1

A robot that runs as a "ROBOT1".

For details about external view and specification, refer to "HSA1 SERIES USER'S MANUAL".

You can use an HSR as ROBOT1.

Selective Joint-Related Components

When you use an selective extended joint, refer to the followings.

Components Description

(8) EtherCAT Master Board

Enables the EtherCAT communication with selective joints.

To use this board, you need to prepare a software license.

There are four types of software license-board combinations as follows.

Product Part No.
EtherCAT master board (board is installed in a controller before shipment)
A software license for the selective joint is included.
 410010-848*
EtherCAT master board (board only)
A software license for the selective joint is included.
 410010-849*
Software license for the selective joint (license only)
 410002-863*
EtherCAT master board (board only)
Software licenses are not included.
 410010-845*

(9) EtherCAT Slave Supported Amplifiers

Available amplifier are predetermined. In the "SELECTIVE EXTENDED JOINT (ETHERCAT) MANUAL", in the "Hardware Connection Structure", refer to "EtherCAT Slave Supported Amplifier".

(10) Motor

 A motor for a selective joint. Select a motor that can run with the EtherCAT Slave-supported amplifier to use.

(11) LAN Cable

EtherCAT communication cable.

Use a twisted pair LAN cable of category 5 or higher.

Either a straight- or a cross-LAN cable can be used.

(12) Selective extended joint (for Robot0)

To use an extended joint, connect the extended joint as the figure above.

The number of axes available for one robot is from 0 to 4.

Whether the target extended joint belongs to Robot0 or Robot1 is determined by the order of connection of EtherCAT Slave-supported amplifier.

An EtherCAT Slave-supported amplifier which connects to the EtherCAT master board first will be assigned to the 5th-axis of Robot0. The next amplifier will be assigned to the 6th-axis of Robot0.

For further information, refer to "Selective Joint Assignment to Each Robot".

(13) Selective extended joint (for Robot1)

Attention

ID : 3324

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