Mirka AIROS 130S Bedienungsanleitung

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Connecting

the robot

cable

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Mirka ABB Kit content

Mirka finishing tool for robots

Mirka motor drive cabinet EtherNet/IP: MIA6514312

Adapter flange with mounting screws: MIA6560111

Mains cable CE 230V IEC C13, CEROS, 2 m: MIN6516011

10 meter robot cable: MIA6512311

Mounting screws and a power cable

1.2. Enable state cable

For the sander to be able to operate, terminal block 4

must be connected to a 24V output from the robot,

while terminal block 6 should be connected to 0V

on the robot. For enhanced safety, the enable state

output could be set to low if the robot encounters

an issue that causes it to stop. This will automati-

cally halt the sanding/polishing head.

The 3 meter, 2-core cable provided with the cabinet

should be used for connecting the enable state as

per the instructions. The add-in is preconfigured

to stop the tool when robot motors goes to off.

1.1. Installing cables

Unpack the motor drive cabinet from its transport

packaging. Open the cabinet with the supplied key

and remove the packaging material inside.

Locate connector J3 (robot cable). Pull the robot

cable through the middle pass-through fitting and

clamp the cable shield to X2.

Insert a flat screwdriver in the rectangular hole

and push down to open up the connector ports.

PSU

PCB

J3

PCB

X2

X1

Connect the cables in the following way:

Robot I/O board X1:2 Mirka cabinet X1:4

Robot 0V X19:8

Mirka cabinet X1:6

1. Tool installation

1. Mount adapter ange on the robot using 4 x DIN

7991 M6 x 10 bolts and a 4 mm hex key (8 Nm).

NOTE: The rotation of the adapter flange and the

flange of the robot should be aligned so that the

dowel pin holes match.

2. Mount the nishing tool on the adapter ange using

6 x DIN 912 M8 x 16 bolts and a 6 mm hex key (18 Nm).

Rotation of

the adapter

ange

NOTE:The dowel pin makes sure the tools are

mounted in the correct alignment.

3. Arrange the robot cable and eventual vacuum hose

alongside the robot and make sure the cable and hose

does not hinder the movement of the arm, E.g./I.e.

by using clamps or by suspending the cables in air.

4. Connect robot cable to the finishing tool.

Insert robot cable wires in the following order:

NTC-

GND

Phase C

Phase B

Phase A

NTC+

P-

C-

C+

P+

(Yellow)

Pre-connected

(Black)

(Blue)

(Brown, 1 mm



)

(Brown, 0,25 mm

2

)

(Green)

(Grey)

(Pink)

(White)

PE

PE

X1

1 2 3 4 5 6 7

F1

TB 4 to 24V robot output and TB 6 to robot 0V:

QUICK START GUIDE

Mirka ABB Kit

Easy Teach Device is not included in the Mirka Kit

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