DC00-J9 Controller (Independent instructions)#

Basic parameter#

DC00 Controller specifications

Weight

2.5kg

Size

252x173x67mm

Ambient Temperature

and Humidity

-10-45℃、20%-70%RH

Protection Class

IP30

Material

Steel and aluminum alloy shell

Input power supply

DC48V(45-59.2V), DC24V（22-26V）

Communication port

Supply CAN、RS485,LAN、EtherCAT

Communication mode

TCP/IP,Modbus TCP,Modbus RTU

I/O port

8 channel DI,8 channel DO,8 channel configurable IO

Function

extension IO

2 AI/AO channels, 1 external CAN channel,

channel, incremental encoder port, and

1 RC485 1 remote power-on and power-off port

Use requirement#

When using the robot and DC00 control cabinet, the user must follow the recommended electrical parameters to reach or exceed the limit parameters, which may cause damage to the controller hardware.

Power supply requirement#

The DC00 control cabinet needs two sets of external power supplies, DC24V and DC48V, which are isolated from each other and not grounded together.

Voltage range

Minimum

Maximum

DC48V

45V

59.2V

DC24V

22V

26V

DC24V supplies power to the teaching pendant, RC controller, fan, EIO (function extension IO), and the control circuit itself. The GND and PE (shell) of DC24V are short circuited together on the RC control board. After DC48V is controlled to supply power to the robot. After DC48V is converted to 24V IO, it also supplies internal IO power. IO-POWER supplies SIO (safety IO), DIO (digital IO), and CIO (configurable IO) interface power. And, the ground of DC48V and 24VIO is not connected to PE (shell), which is defined as GND3 in this manual. The electrical logic of power management is shown in the following figure: black represents the GND3 of DC48V and 24VIO, and blue represents the GND of DC24V connected to the PE casing.

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Attention: The ground or negative pole of the equipment connected to SIO (safety IO), DIO (digital IO), and CIO (configurable IO) should be isolated from the conductive part of the casing; If connected to the conductive part of the body shell, it cannot be connected to the body’s shell (PE).

The recommended peak power supply with the GCR series robot is as follows:

No

Robot Specification

Control Cabinet

1

GCR3

900W

2

GCR5、GCR7

1800W

3

GCR10、GCR12、GCR16

2100W

4

GCR16-2000、GCR14 GCR20、GCR25、GCR30

3000W

Installation requirements#

You can use the DC00 controller sealing assembly _ Angle iron (recommended number 4) as required. Remove the M3 screws on the controller shell as shown in the figure and install the Angle iron. Then use the M3 screws (provided by the customer) to safety the controller through the reserved holes in the Angle iron to the required length. The reference size of the bottom assembly is shown in Figure 23:

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Figure 23 DC00 controller installation dimensions

The DC00 control cabinet shall be installed in a dry place with good ventilation, and the DC00 control cabinet shall be cooled by natural convection. When the use scenario is to generate a large amount of heat, such as the robot body running fast, heavy load or frequent braking, the DC00 control cabinet needs to be cooled by an external fan. In order to ensure cooling by fans and natural convection, please refer to the following figure for installation, ensure that each DC00 control cabinet spacing of more than 100mm (heat dissipation requirements) reserved between the vertical side spacing of more than 50mm, as shown in Figure 24.

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Figure 24 DC00 control cabinet installation spacing

Switch on and off#

The DC00 control cabinet supports a variety of switching modes, which can be used as follows:

Switch on and off button on control cabinet#

The switch on and off button on the DC00 control cabinet is the micro self-reset button with light (green). When the system switch is ON but the system is not started, press the power button for more than 1 second and release the button. When the button is on, the system starts and works normally. When the system needs to be shut down, use teach pendant port for normal power off and shutdown operations. In case of system problems, you can hold down the button for more than 3 seconds to forcibly power off the system (the main control cabinet data is normally saved).

Switch on and off button on teach pendant#

The switch on and off button on the control cabinet of teach pendant is the micro self-reset button with light (blue). When the system switch is ON but the system is not started, press the power button for more than 1 second and release the button. When the button is on, the system starts and works normally. When the system needs to be shut down, use teach pendant port to perform normal power off and shutdown operations. In case of system problems, long press this button for more than 3 seconds to forcibly power off the system (the main control cabinet data is normally saved).

Remote power on and off buttons#

Using the remote switch, you can turn on or off the system without using the power button on teach pendant panel. Press the power button for more than 1 second and then release the button to power on the system.

The PowerON input is the same as the power-off button. PowerOFF must be used for remote shutdown. During power-off, hold down the power-off button for more than 3 seconds to forcibly power off the system.

For details about cable connection requirements, see 5.12.3 Remote Switch Port.

Emergency stop#

The emergency stop button is connected to the safety I/O port. For details, see 5.9.1 SIO Port Wiring Diagram (b).

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