A - 1

CH DN AN TON (Xin vui lng c hng dn di y trc khi s dng thit b ny.)

Trc khi s dng sn phm, xin vui lng c hng dn ny v hng dn lin quan gii thiu mt

cch cn thn v ch ht mc an ton trong x l sn phm mt cch chnh xc.

Ch dn a ra trong hng dn ny c tp trung ch cho sn phm ny. Tham kho hng dn s

dng cho Q173D(S)CPU/Q172D(S)CPU m t nhng ch dn an ton ca b iu khin chuyn ng.

Trong hng dn ny, cc hng dn an ton c xp hng l "NGUY HIM" v "CNH BO".

Ch ra rng vic x l khng ng c th gy ra iu kin

nguy him, dn n t vong hoc thng tch nghim

trng.

Ch ra rng vic x l khng ng c th gy ra iu kin

nguy him, dn n thng tch trung bnh hoc c nhn

nh hoc thit hi vt cht.

Ph thuc vo tng trng hp, quy trnh a ra di y c trnh by bng CNH BO cng

c th dn ti kt qu nguy him.

Trong bt c trng hp no, l iu quan trng trc tip ti vic s dng.

Xin vui lng lu hng dn ny n c th truy cp khi c yu cu v lun lun chuyn tip ti

ngi s dng cui cng.

A - 2

Hot ng an ton

1. Ngn nga sc in

NGUY HIM

Khng bao gi m hp trc hoc v thit b u cui trong khi ngun in l ON hoc thit b ang chy, v iu ny c th dn n nhng c sc in.

Khng bao gi chy cc thit b pha trc hp hoc v thit b u cui c chuyn i. Cc thit b u cui in p cao v phn mang in s c tip xc v c th dn n nhng c sc in.

Khng bao gi m hp trc hoc v thit b u cui ti cc thi im khc so vi h thng dy in lm vic hoc kim tra nh k ngay c khi ngun in l OFF. Bn trong ca cc m-un v b khuch i servo c thm v c th dn n nhng c sc in.

Hon ton tt ngun in cung cp bn ngoi s dng trong h thng trc khi thc hin cng vic lp rp hoc tho ri m-un, tin hnh cng vic ni dy hoc kim tra. Khng lm vic g dn n c sc in.

Khi thc hin ni dy hoc kim tra, hy tt ngun in v i t nht 10 pht, v sau kim tra in p vi thit b th, etc. Khng lm vic g dn n c sc in.

Hy chc chn ni t cc m-un, b khuch i servo v ng c servo (in tr ni t: 100 hoc t hn). Khng ni t chung vi cc thit b khc.

Dy lm vic v kim tra phi c thc hin bi mt k thut vin cht lng. Ni thit b sau khi lp t cc m-un, b khuch i servo v ng c servo. Khng lm nh vy c

th dn n nhng c sc in hoc h hng.

Khng bao gi hot ng thit b chuyn mch vi hai bn tay t, v iu ny c th dn n nhng c sc in.

Khng lm h hi, p dng cng thng qu mc, t vt nng hoc bnh svwich cc loi cp, v iu ny c th dn n nhng c sc in.

Khng chm vo m-un, b khuch i servo, ni servomotor hoc cc khi thit b u cui, trong khi ngun in l ON, v iu ny c th dn n nhng c sc in.

Khng chm ngun in tch hp, c gn t hoc dy tn hiu ca cc m-un v b khuch i servo , v iu ny c th dn n nhng c sc in.

2. Ngn nga ha hon

CNH BO

Lp t cc m-un, b khuch i servo, ng c servo v tr khng phc hi trn khng chy. Lp t chng trc tip hoc gn v s dn n chy.

Nu mt li xy ra trong m-un hoc khuch i servo, tt ngun in ca khuch i servo. Nu mt dng in ln vn tip tc chy, la c th xy ra.

Khi s dng mt tr khng phc hi, tt ngun in vi mt tn hiu li. Tr khng ti to c th qu nng bt thng do mt li trong tr khng ti to, vv, v c th dn chy.

Lun lun c bin php nhit cho ngn la v cch nhit bn trong ca bng iu khin, ni cc b khuch i servo hoc tr khng phc hi c lp t cho dy dn s dng. Nu khng lm nh vy c th dn n chy.

Khng gy tn hi, nhn mnh qu mc, t vt nng hoc bnh svwich cc loi cp, v nhng th ny c th dn n chy.

A - 3

3. Ngn nga thng tch

CNH BO

Khng s dng mt in p khc vi quy nh trong sch hng dn trn bt k thit b u cui no. Lm nh vy c th dn n ph hy hoc thit hi.

Khng nhm ln cc kt ni thit b u cui, v iu ny c th dn n ph hy hoc h hi. Khng nhm ln cc cc (+ / -), v iu ny c th dn n ph hy hoc h hi. Khng chm vo nhit ta ra chn ca m-un hoc khuch i servo, tr khng phc hi v ng c

servo, etc, trong khi ngun in l ON v trong mt thi gian ngn sau khi in c bt OFF. Trong khong thi gian ny, cc b phn tr nn rt nng v c th dn n chy.

Lun lun tt in OFF trc khi chm vo trc ng c servo hoc my c ghp thnh i, v nhng b phn ny c th dn ti vic b thng tch.

Khng i gn my trong thi gian hot ng th nghim hoc trong cc hot ng nh ging dy. Tip tc lm vy c th dn ti vic b thng tch.

4. Cc ch dn phng nga khc Chp hnh nghim chnh cc bin php phng nga sau y. X l sai lm ca cc n v thit b c

th dn n li, thng tch hoc sc in.

(1) Cu trc h thng

CNH BO

Lun lun lp t mt my ct r r trn cc m-un v b ngun in khuch i servo. Nu lp t ca mt contactor in ngt in trong khi c mt li, vv, c quy nh ti sch hng

dn cho cc b khuch i servo, vv, lun lun lp t cc contactor in t.

Ci t cc mch dng khn cp bn ngoi hot ng c th c dng li ngay lp tc v tt ngun in.

S dng b iu khin chuyn ng, b khuch i servo, ng c servo v tr khng phc hi vi nhng s kt hp chnh xc c lit k trong sch hng dn. kt hp khc c th dn n chy hoc li.

S dng b iu khin chuyn ng, n v c s, v m-un chuyn ng n gin vi nhng s kt hp chnh xc c lit k trong sch hng dn. kt hp khc c th dn n li.

Nu cc tiu chun an ton (v d., Cc quy tc an ton robot, vv,) p dng cho h thng s dng cc m-un, ng c servo, m bo rng cc tiu chun an ton c tha mn.

Xy dng mt mch an ton bn ngoi ca cc m-un hoc b khuch i servo nu cc hot ng bt thng ca m-un hoc b khuch i servo t hot ng trc tip an ton trong h thng.

Trong cc h thng m gim tc ca ng c servo s l mt vn trong qu trnh dng cng bc, dng li khn cp, servo OFF hoc tt ngun cung cp in, s dng phanh ng.

Hy chc chn rng h thng xem xt vic gim tc ngay c khi s dng phanh ng. Trong cc h thng m trc vung gc c th l mt vn trong qu trnh dng cng bc, dng khn

cp, servo OFF hoc tt ngun cung cp in, s dng c hai phanh ng v phanh in t.

A - 4

CNH BO

H thng phanh ng ch c s dng trn cc li gy ra s ngng cng bc, dng khn cp, hoc servo OFF. Nhng h thng phanh khng c s dng cho h thng phanh bnh thng.

H thng phanh (phanh in t) c lp rp vo cc ng c servo l t chc cc ng dng, v khng c s dng cho h thng phanh bnh thng.

H thng phi c mt phn c kh cho php my t n c th dng li ngay c khi cc chuyn i gii hn c gng vt qua tc ln nht.

S dng dy in v dy cp c ng knh dy, kh nng chu nhit v tr khng un tng thch vi h thng.

S dng dy in v dy cp chiu di bn trong ca phm vi m t trong sch hng dn. Cc nh gi c trng v c im k thut ca cc b phn (tr m-un, b khuch i servo v ng

c servo) c s dng trong mt h thng phi ph hp vi cc m-un, b khuch i servo v ng c servo.

Lp t mt v trn trc cc b phn quay ca ng c servo khng chm trong qu trnh hot ng. C th c mt s trng hp c gi bi h thng phanh in t l khng th do cuc sng hoc c

cu c kh (khi vt cu v ng c servo c kt ni vi mt vnh ai thi gian, vv). Lp t mt thit b dng li m bo an ton pha bn cnh my.

(2) Ci t tham s v lp trnh

CNH BO

t cc gi tr tham s cho nhng tng thch vi cc module, b khuch i servo, ng c servo v m hnh tr khng phc hi v ng dng h thng. Cc chc nng bo v c th khng hot ng nu cc thit lp l khng chnh xc.

M hnh tr khng phc hi v tham s cng sut phi c thit lp cc gi tr m ph hp vi cc ch hot ng v b khuch i servo. Cc chc nng bo v c th khng hot ng nu cc thit lp l khng chnh xc.

Thit lp u ra phanh c kh v cc tham s gi tr sn lng phanh ng n gi tr c tng thch vi cc ng dng h thng. Cc chc nng bo v c th khng hot ng nu cc thit lp l khng chnh xc.

Thit lp tham s gi tr u vo, gii hn hnh trnh cho mt gi tr tng thch vi cc ng dng h thng. Cc chc nng bo v c th khng hot ng nu cc thit lp khng chnh xc.

Thit lp cc loi b m ha ng c servo (gia s , loi v tr tuyt i, vv) tham s cho mt gi tr l tng thch vi cc ng dng h thng. Cc chc nng bo v c th khng hot ng nu cc thit lp l khng chnh xc.

Thit lp loi tham s v cng sut ng c servo (c bn, qun tnh thp, khng i, vv.) cho cc gi tr ph hp vi cc ng dng h thng. Cc chc nng bo v khng th thc hin chc nng nu khng c thit lp khng chnh xc.

Thit lp cng sut v cc kiu tham s b khuch i servo tng thch vi ng dng h thng.Cc chc nng bo v khng th thc hin chc nng nu khng c thit lp khng chnh xc.

S dng cc lnh chng trnh cho chng trnh vi cc iu kin quy nh trong hng dn.

A - 5

CNH BO

Thit lp dung lng chc nng chng trnh tun t, cng sut thit b, phm vi hp l, thit lp

phn chia I/O, v tnh cht hp l ca hot ng lin tc trong khi li pht hin gi tr tng thch vi

ng dng h thng. Cc chc nng bo v khng th thc hin ng chc nng nu thit lp

khng chnh xc.

Mt s thit b s dng trong chng trnh c cc ng dng c nh, vief th vic s dng chng

vi iu kin c xc nh c th trong hng dn s dng.

Cc thit b u vo v thanh ghi d liu c giao lin kt s gi cc d liu trc khi

truyn thng c chm dt bi mt li, etc.Nh vy, mt chng trnh kha lin ng nh quy

nh trong sch hng dn phi c s dng.

S dng cc chng trnh kha lin ng quy nh trong sch hng dn chc nng m-un thng

minh cho cc chng trnh tng ng vi cc m-un chc nng thng minh.

(3) Vn ti v lp t

CNH BO

Vn chuyn cc sn phm vi cc phng php ng theo khi lng. S dng cc bu lng treo ng c servo ch cho vic vn chuyn cc ng c servo ny. ng vn

chuyn cc ng c servo vi my mc lp t trn n.

ng xp cc sn phm qua cc gii hn. Khi vn chuyn cc m-un hoc b khuch i servo, khng gi cc dy kt ni hoc dy cp. Khi vn chuyn cc ng c servo, khng gi cp, trc hoc b d. Khi vn chuyn cc m-un hoc b khuch i servo, khng bao gi gi pha trc hp v n c th

ri ra.

Khi vn chuyn, lp t hoc g b cc m-un hoc b khuch i servo, khng gi cc cnh bn. Lp t cc n v theo sch hng dn mt ni m khi lng c th chu ng c. Khng nhn trn hoc t cc vt nng ln sn phm. Lun quan st hng ci t. Hy gii phng mt bng gia cc m-un hoc khuch i servo v giao din trong bng iu khin

bn trong hoc cc m-un v b khuch i servo, m-un hoc b khuch i servo v cc thit b khc.

Khng ci t hoc vn hnh cc m-un, cc b khuch i servo hoc cc ng c servo b h hng hoc thiu cc phn.

ng kha cc cng ly vo / cng ly ra ca b khuch i servo v ng c servo vi qut lm mt. Khng vt dn in nh vt hay ct vn hoc cht d chy nh du nhp cc m-un, b khuch

i servo hoc n