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Samenvatting van Inhoud voor TQ 0300
- Pagina 1 Translation of original operating manual TQ robot control cabinet Project: Control cabinet for robot application Project number: REV.0300 Material number: 317966.0300 Document number: BA_REV.0300 Revision: V 1.0 Follow these instructions for correct and safe operation. Keep for future use.
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Pagina 2: Table 1, Revision
06/2022- Adaptations in the layout, adaptation 07/2022 to changes in documentation standards and DIN EN ISO 7010. V 0.2 Draft 15/07/2022 Adaptations after review TQ-Systems GmbH V 1.0 20/07/2022 Completion after review TQ-Systems GmbH Table 1, Revision TQ-Systems GmbH | TQ-Robotics... -
Pagina 3: Inhoudsopgave
TQ robot control cabinet Contents Contents Contents ............................. 3 Introduction ............................5 Structural elements ..........................6 Symbols specialists ..........................7 Glossary .............................. 8 Type plate ............................9 Safety Instructions .......................... 10 General Information........................... 10 Intended use ............................11 Warranty and liability ......................... - Pagina 4 Fig. 1, Example type plate ..........................9 Fig. 2, Layout TQ robot control cabinet ......................34 Fig. 3, Layout TQ robot control cabinet internal view ..................35 Fig. 4, Connecting protective device I ......................48 Fig. 5, Connecting protective device II ......................49 Fig.
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Pagina 5: Introduction
TQ robot control cabinet Introduction Introduction Manual This operating manual is a safety-relevant component of the deliverables of the control cabinet. The operating manual will be valid for the entire service life of the control cabinet, if technical modifications are not made. -
Pagina 6: Structural Elements
TQ robot control cabinet Introduction Structural elements Structural elements Structural elements The following structural elements are used in the operating manual: Instructions e.g., … The consecutive numbering defines the sequence of the instructions given. Lists • Information References/ ... -
Pagina 7: Symbols Specialists
TQ robot control cabinet Introduction Symbols specialists Symbols specialists Specialist The various types of specialists are identified by these symbols. Symbol Designation Designer Transport and logistics specialist Mechanic Electrician Mechatronics technician Control technician Programmer Administrator Machine/system user Maintenance, service personnel... -
Pagina 8: Glossary
TQ robot control cabinet Introduction Glossary Glossary Terms used Explanation of terms used in this operating manual. Term Explanation Operating company The operator of the control cabinet may be the entrepreneur, employer or the person given the responsibility for machine operation. -
Pagina 9: Type Plate
TQ robot control cabinet Introduction Type plate Type plate Type plate Each control cabinet is marked with a type plate. It contains the following data: Name and address of the manufacturer Name/designation Serial number CE mark Production date... -
Pagina 10: Safety Instructions
TQ robot control cabinet Safety Instructions General Information Safety Instructions General Information NOTE – Handling the control cabinet Prior to handling (e.g., operation, cleaning, maintenance or service) the control cabinet, you must have read and understood the content of this operating manual. -
Pagina 11: Intended Use
Safety Instructions Intended use Intended use Intended use The TQ robot control cabinet is used to control the functions of robotics solutions with the Franka Production 3 (FP3) robot. • Connecting the robot controller via the power plug connector of the control cabinet. - Pagina 12 TQ robot control cabinet Safety Instructions Intended use Foreign Components The components of the control cabinet respectively the control cabinet may only be used for the applications specified in the technical description and only in conjunction with third-party components specified for or approved by the manufacturer.
- Pagina 13 TQ robot control cabinet Safety Instructions Intended use Possible Misuse All applications deviating from the intended use are regarded as improper use. These include, for example: • Do not operate a faulty machine • Climbing on the machine •...
- Pagina 14 TQ robot control cabinet Safety Instructions Intended use Anticipated service life 20 years Environment The area of application control cabinet is indoors in an industrial environment. Ambient temperature Operation -20 °C to +55°C Storage -40 °C to +70°C Humidity 5% to 75% rel.
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Pagina 15: Intended Use
TQ robot control cabinet Safety Instructions Intended use Specialist A person who, based on his or her professional education, know-how and experience, as well as knowledge of pertinent standards, can assess the work assigned to him or her and identify possible hazards. -
Pagina 16: Table 5, Qualification
TQ robot control cabinet Safety Instructions Intended use Qualification level Definition Technician • Is specifically qualified in his/her field due to dedicated training, knowledge Electrician and expertise. • Is able to recognise states and dangers, make autonomous decisions and initiate or execute necessary tasks. - Pagina 17 TQ robot control cabinet Safety Instructions Intended use Life phases Transport Assembly and installation Commissioning (Automatic) mode Maintenance Repair and troubleshooting Cleaning Dismantling Decommissioning Disposal Emergency operation Safety Personnel responsible for the safety of the control cabinet must ensure that •...
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Pagina 18: Table 6, User Groups
TQ robot control cabinet Safety Instructions Intended use User groups User Task Qualification Lifecycle groups phases, subordinate point in this chapter Qualified Trans- Skilled labour in specialist porting, loading transportation company and unloading company Skilled staff Assembly, Skilled labour... -
Pagina 19: Table 7, "Who Does What" Matrix
TQ robot control cabinet Safety Instructions Intended use “Who does what” matrix Assignment matrix for responsibilities Target audience Qualification A – Skilled Z – Certified E – Instructed U – Unskilled Activity Transportation Installation Installation Initial commissioning Commissioning... -
Pagina 20: Warranty And Liability
Warranty is given only to the purchaser of the product. Claims by third parties or successors are excluded from the warranty. TQ-Systems GmbH reserves the right to investigate damage to the TQ robot control cabinet in connection with warranty claims. -
Pagina 21: Definition Of Warnings
TQ robot control cabinet Safety Instructions Definition of Warnings Definition of Warnings Meaning Hazard-related information in this operating manual is indicated according to the severity of the hazard and the probability of its occurrence. Hazard symbols point out residual risks associated with the use of... - Pagina 22 TQ robot control cabinet Safety Instructions Definition of Warnings Prohibition signs Prohibition signs are used to prohibit actions or the use of specific objects. General prohibition sign Warning signs Warning signs are used to warn against potential dangers and, thus, raise the awareness and carefulness of the personnel.
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Pagina 23: Information For The Operator
TQ robot control cabinet Safety Instructions Information for the Operator Information for the Operator Owner/Operator The owner/operator of the control cabinet is responsible for the proper and correct use of the control cabinet. Systems integrator / The systems integrator/operating company integrates the control operating company cabinet into the overall system. - Pagina 24 TQ robot control cabinet Safety Instructions Information for the Operator Instruction The owner/operator is obliged to ensure that newly employed operating and maintenance personnel are fully instructed in the operation and maintenance of the control cabinet, taking this manual into consideration.
- Pagina 25 TQ robot control cabinet Safety Instructions Information for the Operator Spare parts All spare and wear parts must meet the technical requirements specified by TQ-Systems GmbH. • This is ensured when original spare parts are used. CAUTION – Instruction, warning notes...
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Pagina 26: Notes To Operation
TQ robot control cabinet Safety Instructions Notes to operation Notes to operation Responsibilities The owner/operator is obliged to clearly define the responsibilities associated with the various activities involved in the control cabinet operation. • Deployed personnel are obliged to comply with these specifications. - Pagina 27 TQ robot control cabinet Safety Instructions Notes to operation General information The control cabinet has been developed, manufactured, tested and regarding operation documented in compliance with the relevant safety standards. • There are no risks of material damage or physical injury...
- Pagina 28 TQ robot control cabinet Safety Instructions Notes to operation Operational safety Switch off the control cabinet completely in the events that defects put the operational safety at risk. • Never remove safety installations or use prohibited modifications to bypass safety installation.
- Pagina 29 TQ robot control cabinet Safety Instructions Notes to operation Emergency procedures • Emergency-stop push-buttons must be accessible at all times. – In case of an emergency stop, only the signals X3.1A and X3.1B are disconnected. They are connected to the 12-pin connection cable via robot connection X3, and represent an emergency stop"...
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Pagina 30: Notes To Repair, Maintenance And Cleaning
TQ robot control cabinet Safety Instructions Notes to repair, maintenance and cleaning Notes to repair, maintenance and cleaning Qualification Qualified personnel are individuals who due to their training, experience, instruction, and knowledge of applicable standards, provisions, accident prevention regulations and operating conditions,... - Pagina 31 TQ robot control cabinet Safety Instructions Notes to repair, maintenance and cleaning Electrical work Always comply with the fundamental safety regulations (legal provisions) and safety requirements for the work with electric systems, machine and components. • Before commencing cleaning, retrofitting and maintenance work, shut down the control cabinet completely and isolate it from the power supply to avoid electric shock and burns.
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Pagina 32: It Security
TQ robot control cabinet Safety Instructions IT security EMC act In order to ensure compliance with legal requirements for EMC, any connected components and cabling also have to meet these requirements. Hence, shielded bus and LAN cables with shielded plugs must be used and installed according to the state-of-the-art. -
Pagina 33: Technical Description
TQ robot control cabinet Technical description Layout and main components Technical description Description The TQ robot control cabinet is used to control the functions of robotics solutions with the Franka Production 3 (FP3) robot. Layout and main components Main components and Control cabinet: scope of supply •... -
Pagina 34: Fig. 2, Layout Tq Robot Control Cabinet
2x safety switch actuator 2702973 - PSR-CT-C-ACT PhoenixContact • 1x terminating plug 1054366 - SAC-5P-M12MS BK BR 1-2-4 PhoenixContact Fig. 2, Layout TQ robot control cabinet Page 34 of 70 Copyright © TQ-Systems GmbH © V 1.0 | 07/2022 | ENG BA_REV.0300... -
Pagina 35: Fig. 3, Layout Tq Robot Control Cabinet Internal View
TQ robot control cabinet Technical description Layout and main components Fig. 3, Layout TQ robot control cabinet internal view Main switch Emergency stop terminal On/Off switch Emergency stop K6 safety relay Control cabinet door lock Safety switch K7... -
Pagina 36: Table 8, Overview Of Modules
TQ robot control cabinet Technical description Layout and main components Overview of modules Designation Control cabinet address 24 V power unit Bus coupler Digital input/output module Emergency stop safety relay Safety switch safety relay Safety switch safety relay... -
Pagina 37: Technical Data
TQ robot control cabinet Technical description Technical data Technical data Control cabinet Housing Rittal AX compact control cabinet Protection rating IP 54 Material Sheet steel Dimensions (WxHxD) 500 x 500 x 210 mm (without main switch) Weight 23.4 kg... - Pagina 38 The power for controlling the robot is supplied via the control cabinet, and is not disconnected when the emergency stop button is pressed. Therefore, the control cabinet 317966.0300 must only be used for the Franka Production 3 (FP3) robot supplied by Franka Emika GmbH. Other versions, in particular...
- Pagina 39 TQ robot control cabinet Technical description Technical data Noise level The operation of the control cabinet usually does not generate noise levels of more than 70 decibel. E plan chapter 14.1, Electric wiring diagram Emergency-stop There is an EMERGENCY stop button for switching off in case of emergency.
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Pagina 40: Transportation
TQ robot control cabinet Transportation Transportation Qualification This chapter is geared exclusively towards authorised and qualified specialist personnel who can ensure correct transportation. • Comply with operating manual. • Comply with safety instructions chapter 2, Safety Instructions ... - Pagina 41 TQ robot control cabinet Transportation Disposal The packaging can be removed when control cabinet has reached its destination and it can be • disposed of or recycled according to national statutory regulations and company-internal provisions • stored for reuse.
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Pagina 42: Installation
TQ robot control cabinet Installation Installation Qualification This chapter is geared exclusively towards authorised and qualified specialist personnel who are capable of correctly completing all tasks involving installation, assembly and disassembly. • Comply with operating manual. • Comply with safety instructions chapter 2, Safety Instructions ... - Pagina 43 TQ robot control cabinet Installation Installation location The control cabinet must be installed in a roofed, weatherproof, clean and dry environment. • The installation location (wall mounting) must have sufficient lighting and sufficient air circulation. • The installation location and workstation have to meet all legal provisions.
- Pagina 44 TQ robot control cabinet Installation For electrical installation, adhere to all national and regional regulations and the regulations of the respective power supply company. Third-party components For installation/connection of non-manufacturer components, observe the manufacturer’s documentation. chapter 14.2, OEM documentation ...
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Pagina 45: Commissioning
TQ robot control cabinet Commissioning Commissioning Qualification This chapter is geared exclusively towards authorised and qualified specialist personnel who are capable of correctly completing all tasks involving installation, assembly and disassembly. • Comply with operating manual. • Comply with safety instructions chapter 2, Safety Instructions ... -
Pagina 46: Table 10, Digital Outputs
TQ robot control cabinet Commissioning Digital inputs and outputs The cables of the actuators and sensors which have to be connected, have to be installed using the cable glands in the control cabinet and connected to terminal strip X1: Digital outputs (e.g. -
Pagina 47: Table 11, Digital Inputs
TQ robot control cabinet Commissioning Digital inputs (e.g. 24V light barrier, 24V proximity switch) • X1-17 to X1-32 correspond to modbus inputs ID1 to ID16 on the robot • X1-49 to X-64 are supplied with +24V • X1-81 to X1-96 are connected to GND... -
Pagina 48: Fig. 4, Connecting Protective Device I
TQ robot control cabinet Commissioning Connection of safety Description of the general steps for connecting OSSD-compatible equipment, general protective devices to the control cabinet information • for monitoring safety doors • for monitoring light grids The protective devices stop the robot with a category 1 or category 2 stop, depending on the configuration of the Franka Production 3. -
Pagina 49: Fig. 5, Connecting Protective Device Ii
TQ robot control cabinet Commissioning Cable W_K7 Configuration Notes OSSD channel Table 12, Cable W_K7 connection of protective device, safe input 2 of the FP3 Fig. 5, Connecting protective device II Connect the protective device (e.g. safety switch) to the 5-pin cable W_K8 (C). -
Pagina 50: Fig. 6: Example: Connecting Safety Switches
TQ robot control cabinet Commissioning Example: Description of the steps for connecting safety switches to the control Connecting safety cabinet. switches This example shows an extract which is required for wiring the safety switches. The example shows two Phoenix Contact PSR-CT safety switches connected in series for monitoring protective devices. -
Pagina 51: Fig. 7, Franka Emika Emergency Stop
TQ robot control cabinet Commissioning Connecting the robot Description of how to connect the Franka Production 3 (FP3) robot to the control cabinet. Fig. 7, Franka Emika emergency stop Connect the Franka Production 3 (FP3) robot in accordance with the user handbook provided by Franka Emika GmbH, but without "Franka Emika emergency stop". -
Pagina 52: Fig. 11, Connecting The Robot Arm
TQ robot control cabinet Commissioning Fig. 11, Connecting the robot arm Connect the 12-pin cable W_X3 (F) to socket X3 (G) on the Franka Production 3 (FP3) robot arm Fig. 12, Plugging in the power cable Connect the CEE 7/4 power cable (H) to the socket Fig. -
Pagina 53: Fig. 15, Switching On
Press the green "On" button (K) Load the settings Franka Desk Settings Modbus TCP Upload configuration file as .json. The TQ robot control cabinet is supplied with the default IP address 192.168.1.10"master": "tcp://localhost:11511", "interface": "em1", "frequency": 20, "modules"... -
Pagina 54: Fig. 16, Modbus Connection
TQ robot control cabinet Commissioning Fig. 16, Modbus connection Modbus connection: "Connection up: true" (L) ⇒ The robot is connected to the control cabinet Page 54 of 70 Copyright © TQ-Systems GmbH © V 1.0 | 07/2022 | ENG... -
Pagina 55: Maintenance And Repair
TQ robot control cabinet Maintenance and repair Maintenance and repair Qualification This chapter is geared exclusively towards authorised and qualified specialist personnel who are capable of correctly completing all tasks involving maintenance, repair and cleaning. • Comply with operating manual. - Pagina 56 TQ robot control cabinet Maintenance and repair DANGER – Live components Touching live components can cause electric shock and result in burns, severe health damage or even death. • Never work on live parts! De-energise all system components before working on them.
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Pagina 57: Table 14, Materials And Tools
TQ robot control cabinet Maintenance and repair Materials and tools Use only fault-free tools for maintenance and follow the applicable technical rules for their use. Auxiliary resources Tools Cleaning agent Electrically insulated tools Writing material 1 set open-end spanners... -
Pagina 58: Maintenance Intervals
TQ robot control cabinet Maintenance and repair Maintenance intervals Maintenance intervals Routine maintenance The following inspections have to be carried out as part of the routine maintenance tasks: WARNING – Components, damage Whenever damaged components jeopardise operational safety and/or personnel safety, •... -
Pagina 59: Spare Parts
TQ robot control cabinet Maintenance and repair Spare parts Spare parts Stock Keep a stock of necessary spare parts to ensure smooth and trouble- free operation of the control cabinet. NOTE – control cabinet, Spare parts Use only spare parts specified by the manufacturer. -
Pagina 60: Cleaning
TQ robot control cabinet Maintenance and repair Cleaning Cleaning Workstation Keep the workstation clean. NOTE – cleaning agents Comply with the information in the material safety data sheets for the cleaning agents. Cleaning Clean the control cabinet at intervals determined by operational requirements. -
Pagina 61: Decommissioning
TQ robot control cabinet Maintenance and repair Decommissioning Decommissioning Standstill If the control cabinet is to be decommissioned for up to 3 months, proceed as follows: • Switch off the control cabinet at the main switch and pull the power plug. -
Pagina 62: Faults
TQ robot control cabinet Faults Faults Qualification This chapter is geared exclusively towards authorised and qualified specialist personnel who are capable of correctly completing all tasks involving fault rectification. • Comply with operating manual. • Comply with safety instructions chapter 2, Safety Instructions ... -
Pagina 63: Table 17, Faults
TQ robot control cabinet Faults Fault Action Carried out by staff No voltage in the control cabinet • Check the connections • Check the circuit breaker and residual current device • Main switch to "On" The control cabinet cannot be •... -
Pagina 64: Disassembly
Disassemble the control cabinet in compliance with the relevant safety and occupational health and safety regulations. Proceed as follows: • Disconnect the TQ robot control cabinet from the energy supply (pull the power plug) • When removing individual components, consult the operating instructions provided by the manufacturers as necessary chapter 14.2, OEM documentation... -
Pagina 65: Disposal
TQ robot control cabinet Disposal Disposal Disposal Dispose of the disassembled components in accordance with the applicable provisions and, to the extent possible, recycle them. • Do not dispose of the control cabinet as household waste. Electronic components Electronic components and e-scrap are considered hazardous waste. -
Pagina 66: Oem Supplier Documentation
TQ robot control cabinet OEM supplier documentation OEM supplier documentation OEM supplier documentation for TQ robot control cabinet Component Company Type Bus coupler Phoenix Contact Axioline bus coupler AXL F BK ETH Digital input/output Phoenix Contact AXL F DI16/1 DO16/1... -
Pagina 67: Ce Declaration Of Conformity
TQ robot control cabinet CE Declaration of Conformity CE Declaration of Conformity We hereby declare the machine’s CE conformity according to the EC Machinery Directive 2006/42/EC. The mark can be found on the type plate on the control cabinet. -
Pagina 68: Index
TQ robot control cabinet Index Index Emergency procedures 30 Emergency telephones 25 Abuse 14 Emergency-stop 40 Access 13 Environment 15 Accident prevention 25 Ethernet 9 Ambient conditions 45 Example: 51 Ambient temperature 15 Anticipated service life 15 Assembly/installation information... - Pagina 69 TQ robot control cabinet Index Noise level 40 Safety 18 Safety doors 40 Safety equipment 25 Occupational safety and health 25 Scope of supply 34 OEM 67 Service socket 39 Operating company 9, 24 Servicing notes 63 Operating personnel 56...
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Pagina 70: Annexes
TQ robot control cabinet Annexes Annexes 14.1 Electric wiring diagram 14.2 OEM documentation Page 70 of 70 Copyright © TQ-Systems GmbH © V 1.0 | 07/2022 | ENG BA_REV.0300... - Pagina 94 CS5.241-S1 Installation Manual Power Supply 1-Phase, 24V, 5A, 120W CS5.241-S1 Installationsanleitung Stromversorgung 1-Phase, 24V, 5A, 120W Alimentation d'Énergie 1-Phase, 24V, 5A, 120W CS5.241-S1 Manuel d'installation CS5.241-S1 Manual de instalación Fuente De Alimentación 1-Phase, 24V, 5A, 120W CS5.241-S1 Manuale di Installazione Gruppo di alimentazione 1-Phase, 24V, 5A, 120W CS5.241-S1 Manual de instalação Fonte De Alimentação 1-Phase, 24V, 5A, 120W...
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Pagina 95: Product Description
CS5.241-S1 Installation Manual Product Description Technical Data The CS5.241-S1 is a DIN-rail mountable single-phase-input power supply, which provides a floating, stabilized and galvanically separated SELV/PELV output voltage. All values are typical figures specified at 230Vac 50Hz input voltage, 24V 5A output load, 25°C ambient temperature and after a 5 minutes run-in time unless otherwise noted.