FORCE50BLDC Robotic Nozzle manualroboticnozzles.com/.../FORCE50BLDC-Robotic-Nozzle-Manual-2015.pdfGeneric system manual FORCE50 BLDC and the TARGA Robotic ... position LCD screen FORCE

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FORCE 50 BLDC and TARGA Robotic Nozzle PLC page !1

FORCE 50 BLCD with TARGA Robotic Nozzle PLC

Generic system manual

FORCE50 BLDC and the TARGA Robotic Nozzle PLC

Robotic Nozzle Robotic Nozzle PLC

Welcome to the world of Unifire! And congratulations on your purchase of the

world’s most advanced, stainless steel, remote control robotic nozzle system.

This professional equipment should only be used by qualified and trained

professionals who have read and understood this manual. So please read this

manual before installing and operating your new FORCE 50. It will familiarize you

with the dangers associated with operation, as well as provide proper installation

and operation instructions.

NOTE: EVERY SYSTEM HAS CUSTOMER SPECIFIC CONFIGURATION. ALSO READ

THE DOCUMENT PROVIDED WITH YOUR ORDER# DESCRIBING YOUR SYSTEM.

For technical support please contact Unifire AB by e-mail at: [email protected]

Unifire AB’s warranty, and term and condition of sales are available for download at

www.unifire.com!


Welcome to the world of Unifire! And congratulations on your purchase of the

TECHNICAL SPECIFICATIONS FORCE 50 BLDC

The UNIFIRE FORCE50 is a marine specification, stainless steel foam and water monitor. The finish is manually polished stainless steel, providing a long service life of fantastic look with minimum maintenance.

It features M12 multi-connectors on all connection points for simple installation and maintenance.

The optional Canbus Joystick has a one-step record and playback feature, valve control and position indication LED’s.

The UNIFIRE FORCE Monitor (a.k.a. ”Robotic Nozzle”) are the most advanced, highest quality and best performing system available in the market today.

FORCE 50 Specification:

Weight 24 Kg (FORCE50 with INTEG50 nozzle)

Dimensions 65x32x23 cm (approximately)

Pipe dimension 50mm inside Ø

Power 24-30 V DC max 12 A

Range of motion +/-90° vert , 360° rot

Speed (of high speed version) 18°/sec rotation , 12°/ sec vertical Progressive speed control over joystick

Material Body 316L Stainless Steel Gear bronze Nickel plated connectors (option) Gold-plated pins (option)

Max Flow 2200 lit/min at 12 bar Max Reach up to 65 m at 12 bar

Reaction force Up to 1800 N

Mechanical installation Support must withstand 8000 N of force

Connection 2” male BSP or DN 50/65 flange

Pipe dimensions for installation Min 76 mm

Pump requirement for maximum performance 2400 lpm @ 12 bar

Communication Canbus (Unican) 125 or 250 kbps. Interface for Canopen, profibus, modbus, etc. Option digital inputs fpr up/down/left/right/jet spray

Options Network, radio remote, aux control, etc. Trigger operated Joystick, position LCD screen

FORCE 50 BLDC and TARGA Robotic Nozzle PLC page �3

TABLE OF CONTENTS

INSTALLATION FORCE 50 Chassis 9

General Information & Warnings 9

UNPACKING CHECKLIST/Spare parts specification 10

Joystick “PI” 13

Adjusting the flow of INTEG50 14

Flow chart of FORCE50/INTEG50 15

Reach chart of FORCE50/INTEG50 16

Operating the Joystick 17

MAINTENANCE of the FORCE 50 with BLDC motors 19

MAINTENANCE of the INTEG 50 with BLDC motors 20

Canbus JOYSTICK Description & Advanced Setup 21

Joystick Buttons and LED Function Description 21

Setting baud rate, Master-slave mode and Canbus ID 22

Setup mode “A” 23

Setup mode ”B” 24


READ THIS INSTRUCTION MANUAL IN ITS ENTIRETY PRIOR TO INSTALLING, MAINTAINING, OR USING THE UNIFIRE FORCE™ ROBOTIC NOZZLE (AKA ”MONITOR” OR “CANNON”).

Failure by any installer, maintenance personnel or operator to receive proper training, including reading and understanding this manual, prior to its use constitutes misuse of the equipment and could result in serious bodily injury or death and/or damage to the monitor or other property. Only qualified and trained professionals who are familiar with this equipment and general safety procedures may operate the Force monitor.

The purpose of this Manual is to provide all users, installers, and maintenance personnel with the relevant information concerning the design, proper use, installation and maintenance of the equipment and should be read and made available to all such persons. This Manual will help prevent danger and injury to you and others. If you would like further copies of this manual, ask Unifire or download it at www.unifire.com. If you have any questions relating to this equipment and its safe use please contact Unifire prior to use at +46 303 248 400.

DO NOT ATTEMPT TO MODIFY THIS EQUIPMENT IN ANY WAY. Modification of the equipment may result in damage to, or malfunction of, the equipment, which could lead to serious injury of the operator and/or others. Internal inspection, maintenance and repairs should only be performed by, or under the specific, express authority of Unifire AB.

NEVER POINT THE FORCE 50 OR ANY MONITOR DIRECTLY AT HUMANS WHILE WATER IS SPRAYING THROUGH IT, as doing so can result in serious injury or possibly death. The Force 50 is capable of directing flows of up to approximately 2000 liters per minute (540 gallons per minute) at pressures of up to 12 bars (175 psi) and has a maximum throwing range of up to approximately 65 meters (70 yards). Such forces are very dangerous and capable of producing serious injury or death to persons and serious damage to property. They are also capable of throwing objects with extreme force and velocity into other objects or persons. Accordingly, only professional, trained firefighters or other qualified individuals may operate this equipment after being thoroughly familiar with the Manual, and always by exercising extreme caution to avoid hitting people or lose objects with the water (or other fluid) stream.

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BE SURE THAT THE ROBOTIC NOZZLE IS TIGHTLY AND PROPERLY SECURED AT ALL TIMES DURING OPERATION! Serious injury or death can occur if the monitor is not fully and properly secured and supported. Be sure that the mounting pipe for the Force 50 monitor is capable of withstanding a nozzle reaction force of at least eight thousand (8,000) Newtons (800 kgf). The Force 50 monitor should not be used on a portable stand of any kind, as such use can be extremely dangerous and can result in Serious Injury or Death.

THE FORCE 50 IS HEAVY. USE CAUTION AND ASSISTANCE WHEN INSTALLING AND TAKE CARE TO AVOID INJURY TO YOUR BACK. Seek assistance to help support and twist the monitor during installation and take care to avoid injury to your back during handling and installation.

NEVER USE THE ROBOTIC NOZZLE AT PRESSURES HIGHER THAN 12 BARS (175 PSI). The maximum operating pressure for the Force 50 monitor is 12 bars (175 psi). Use of the Force 50 at pressures higher than 12 bars is dangerous and can lead to serious injury or death or may damage the monitor. Moreover, the recommended operating pressure of the Force 50 is between 7 and 8 bars (100 and 115 psi), which also will provide optimal performance.

ONLY MOUNT THE FORCE MONITOR SO THAT ITS BASE IS PERPENDICULAR TO THE GROUND. DO NOT install the monitor at an angle or upside-down without the specific prior written consent of Unifire AB. Doing so may cause damage to the monitor gears and motors, which could lead to malfunction.

FOLLOW ALL MAINTENANCE & INSPECTION PROCEDURES in this manual.

BE SURE TO USE THE PROPER TYPE AND SIZE OF THREADS AT THE ROBOTTIC NOZZLE BASE and also between the monitor and nozzle (if using a nozzle not supplied by Unifire specifically for use with this monitor). Use of the wrong type or size of threads will result in an improper connection which can cause leaking and also may cause the monitor and/or nozzle to dislodge under high pressure, possibly leading to serious injury or death to persons and/or serious damage to property. If you have any doubts as to the exact thread supplied by Unifire, contact Unifire for clarification prior to connecting the monitor and nozzle.

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KEEP A SAFE DISTANCE DURING OPERATION AND MOVEMENT. The Force 50 Monitor has moving parts. Be sure to keep a safe distance from the monitor as it moves and keep hands and fingers away from pinch points to avoid injury.

AVOID RAPID CHARGING. Rapid charging of the monitor is potentially dangerous and can cause serious injury to persons and/or property and may cause damage to the monitor. Charge the monitor slowly to avoid creating a potentially dangerous, high-pressure surge.

USE ONLY UNIFIRE-APPROVED NOZZLES. The FORCE 50 was designed for use with the Unifire INTEG 50 and Unifire Smooth Bore nozzles. Use of any nozzle other than a Unifire nozzle made for the Force 50 without specific, written approval in advance by Unifire AB constitutes misuse of the product and could affect the safety, performance and/or operation of the monitor. Such malfunctions could also result in the nozzle coming loose and being rapidly ejected with high force, which could cause serious injury or even death.

DO NOT OPERATE IN EXPLOSIVE ZONES OR ENVIRONMENTS! The electric motors and other components are potential ignition sources and could spark ignition if used in explosive environments. The Force 50 is not approved for operation in explosive environments and therefore it should never be used in such environments.

DO NOT IMMERSE EQUIPMENT IN WATER. Do not immerse the monitor, its control box (the TARGA PLC) nor the joystick in water and be sure to keep water out of their interiors. Unifire’s monitors, and joystick are designed to withstand moderate exposure to rain and water splashing during normal use of the monitor. Prolonged or extreme exposure to water, including submersion, however, will cause damage and could also cause electrical shock resulting in injury.

The TARGA PLC must be installed protected form water and dust. IP67 rated enclosure is optional.

Do not use the electrical controls during operation of the emergency manual override cranks as doing so could cause injury.

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ONLY USE THE MANUAL OVERRIDE IN CASE OF TRUE EMERGENCY & POWER FAILURE. The manual override controls on the Force 50 are not designed for normal operation and should only be used in the case of extreme emergency and when the remote control feature is not working sufficiently to control the monitor by means of the electronic controls. In case of use in such an emergency, first disconnect the cables from the motor connections. !!

DISCONNECT POWER PRIOR TO INSTALLATION, MAINTENANCE OR REPAIR. Prior to installation, maintenance or repair be sure to disconnect power and disable flow.

ONLY USE SPECIFIED ELECTRICAL SUPPLY, INSTALLED BY A QUALIFIED ELECTRICIAN. The power supply to the TARGA ROBOTIC NOZZLE PLC should be supplied through high-quality cables and fuses with proper power overload protection. Electrical overload can cause damage to the TARGA PLC and other electrical components, leading to failure of the monitor. Be sure that the electrical power supply to the monitor is connected through proper wires and fuses and installed or approved by a qualified electrician.

DO NOT MOUNT ANY DEVICES ON THE ROBOTIC NOZZLE. Mounting peripheral devices on the Robotic nozzle is not recommended and can cause undue wear and tear, possibly leading to damage to the gears welds, etc. Use of peripherals on the robotic nozzle will void warranty claims unless specifically approved in advance and in writing by Unifire AB.

FAILURE TO HEED ANY WARNING IN THIS MANUAL VOIDS WARRANTY CLAIMS & MAY CAUSE SERIOUS INJURY TO PERSONS OR PROPERTY.

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INSTALLATION FORCE 50 Chassis

General Information & WarningsBE SURE TO USE THE PROPER TYPE AND SIZE OF THREADS AT THE MONITOR BASE and also between the monitor and nozzle (if using a nozzle not supplied by Unifire specifically for use with this monitor). Use of the wrong type or size of threads will result in an improper connection which can cause leaking and also may cause the monitor and/or nozzle to dislodge under high pressure, possibly leading to serious injury or death to persons and/or serious damage to property. If you have any doubts as to the exact thread supplied by Unifire, contact Unifire for clarification prior to connecting the monitor and nozzle.

THE FORCE 50 IS HEAVY. EXERCISE CAUTION AND SEEK ASSISTANCE WHEN INSTALLING AND TAKE CARE TO AVOID INJURY TO YOUR BACK. Seek assistance to help support and twist the monitor during installation and take care to avoid injury to your back during handling and installation.

BE SURE THAT THE FORCE 50 IS TIGHTLY AND PROPERLY SECURED AT ALL TIMES DURING OPERATION! Serious injury or death can occur if the monitor is not fully and properly secured and supported. Be sure that the mounting pipe for the Force 50 is capable of withstanding a nozzle reaction force of at least eight thousand (8,000) Newtons (800 kgf). The Force 50 monitor should not be used on a portable stand of any kind, as such use can be extremely dangerous and can result in Serious Injury or Death.

ONLY MOUNT THE FORCE MONITOR SO THAT ITS BASE IS PERPENDICULAR TO THE GROUND. DO NOT install the monitor at an angle or upside-down without the specific prior written consent of Unifire AB. Doing so voids the chassis warranty and may cause damage to the monitor gears and motors, which could lead to malfunction.

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UNPACKING CHECKLIST/!Spare parts specification

ITEM NAME & IMAGE PART # BRIEF DESCRIPTION

FORCE50BLDC Unifire FORCE 50 Robotic Nozzle with BLDC motor.

M12 multi-connectors, or cable-gland connection.

FOR50200 (standard)

OR

WG2A (ATEX)

Complete worm gear assembly with gear wheel, gear screw, bearings, o-ring.

Connected to the pipes by flange assembly.

INTEG50 Nozzle with BLDC motor

INT50124B .

Specify M12 connectors or cable"gland when ordering

FORCE50-PS1 With stream straightener and 2” BSP male thread outlet.

Flange connection wit 10 x (M5x16)

FORCE50-PS1 Flange connection with 10 x (M5x16) at both ends

COMPLETE GEAR ASSEMBLY

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Front pipe section

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Middle pipe section

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BLDC-FUV

BLDC-FUH

BLDC-MAV

BLDC-MAH

BLDC Fulling Vertical

BLDC Fulling Horizontal

BLDC Maxon Vertical

BLDC Maxon Horizontal

Specify M12 or cable-gland when ordering

TARGA_BASE Robotic Nozzle PLC Motherbard.

Slots for 6 x BLDC drivers.

6 analogue and 4 digital inputs

4 analogue and 4 digital outputs

2 x Canbus

USB, I2C, SPI, RS485

optional web-interface (allows control from any web-browser)

BLDC DRIVER CARD TARGA_DRIVE BLDC driver card. up to 100W output (4A/24VDC)

FOR00207 or FOR00209

Joystick PI, progressive joystick control, including LED position indicator lights, record/play, 2 x auxiliary.

Weight: 1 Kg

M12 5-pin connector


Complete BLDC motor with welded cover

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Control circuit board

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JOYSTICK PI

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TARGA1….6 TARGA Robotic PLC with up to 6 x BLDC driver.

Customer specific programming.

See ”Sw”, ”App” and ”Node” of your system when ordering.

Simple one-step programming by USB-stick.

FOR-UCS005 The ANALYZER™ is a service tool to display the actual commands on the Canbus, to see what units are on the Canbus, ID numbers and software versions, and much more. The communication can be logged and saved onto a USB device. This file can be sent to Unifire or other qualified technician to diagnose problems. The ANALYZER can also be used for uploading new software to the MCU’s.

(option)


TARGA PLC

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F3 F4 F5

F1

F2

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UCS ANALYZER

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Joystick “PI”

The following is an overview of the Unifire “PI” Joystick functions. For full operation instructions, see the Operation Instruction section.

For full technical specification and setup of the Joystick see Appendix 2

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1. ON button for Joystick control activation

2. Park button for stowing the monitor after use

3. Valve button to open or close a valve

4. Record button for beginning and stopping a recording of the monitor’s movements

5. Play button

6. Nozzle control dial for changing Integ nozzles from jet to fog and back again

7. Joystick shaft for controlling monitor’s movements up/down and left/right (pressure sensitive, for progressive speed movement)

8. Auxiliary #2 Control Button (custom configuration)

9. Auxiliary #1 Control Button (custom configuration)

10. Vertical Position Indicator LED--indicates monitor’s relative position from full up, to center, to full down

11. Nozzle Position Indicator LED--indicates Integ nozzle’s relative position from full jet, to full fog, and in between

12. Horizontal Position Indicator LED--indicates monitor’s relative position from full left, to center, to full right

13. Port for joystick cable (M12 5-pin)

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Adjusting the flow of INTEG50


NOZZLE FLOW SETTINGS INTEG 50Flow is set and selected by adjusting the position of the baffle of the nozzle.

Factory default is 2,5 turns (black line in charts)

The reference point is when baffle is fully closed (=0 turns)

Turning the flow adjustment will increase or decrease the flow as per the charts provided.

When done, tighten the 24 mm Top nut that holds the baffle. The baffle top nut should be locked with Loctite® 577, or similar.

The Flow must be set to properly match the available water supply and pressure. This is determined by the pump capacity, distance from pump to monitor, dimensions of the pipes, dimensions of the valve and other factors. A foam proportioning unit may cause massive pressure loss, so this must be accounted for.

Insufficient flow or pressure will lead to poor performance of the FORCE 50.

Flow adjustment

Top nut

Baffle

Stream shaper

UNIFIRE FORCE 50 (2013-v.1) page 18

Flow chart of FORCE50/INTEG50


Flow chart with INTEG 50 nozzle


Reach chart of FORCE50/INTEG50


Reach chart with INTEG 50 nozzle


Operating the Joystick CALIBRATION

Operating range setup / Calibration of the TARGA BLDC motor system is done directly on the TARGA setup-panel. Calibration MUST be done prior to operating the Joysticks. Ref to TRAGA PLC section of this manual."

START

To activate the Joystick, press the ON button. When the green ON LED is lit, the Joystick controller is active. (NOTE: the position LED’s always show the monitor’s relative positions, even when the Joystick is off.)

SET PARK

To select a park position, move to the required park position. Put the monitor control in OFF mode. While pressing PARK, also push ON, to activate the Joystick. Now the new park position has been selected.

GO TO PARK

Press and hold the PARK button for 2 seconds to make the monitor return to the pre-defined parking position. Abort park sequence or leave parking position by operating the Joystick, or press “PARK” again. "

RECORD pattern

To record a pattern, press the REC button once. The red LED light will come on, indicating that recording is in progress. Begin recording any pattern you wish repeated and when finished, press the REC button again to end recording. The red LED will turn off. During recording, all monitor movements, including velocity changes, pauses and nozzle control, are recorded.

PLAY - automatic operation

Press the PLAY button to initiate playback of the last recorded sequence."

ABORT automatic operation

Manual operation of the joystick will abort playback. Pushing “PLAY” will also abort playback.

Pushing PLAY again will return to the last recorded pattern. NOTE: the nozzle control will not abort playback."

VALVE CONTROL


If a motorized water valve is connected, pressing the valve button will open or close the valve.

AUX 1 and AUX 2 (generic buttons)

These are generic buttons that can control “other functions”. For example, foam valves or flood lights. In a networked system the AUX1 and AUX2 can be used for controlling and switching between 2 monitors. "

MANUAL OPERATION WITH CRANKS

The monitor can be manually operated with cranks. This may be useful for service and maintenance, if and when the power is cut, or a motor is damaged. The FORCE monitors are not suitable for manual operation and manual cranks are for emergency use only.

If manual operation is necessary first disconnect the cables! !Then the monitor can be manually operated with cranks. Any attempt to manually operate the monitor without removing the connectors will be very difficult - virtually impossible - and also it will lead to damage to the electronics! After manual operation of the monitor, you must recalibrate the monitor before resuming normal operation.


The monitor can be manually operated with cranks. This may

MAINTENANCE of the FORCE 50 with BLDC motors

The FORCE50 with BLDC motors have fully laser-welded motor enclosures. The motor cover can not be opened. If a motor is found to be defect, the complete motor assembly with it’s cover is replaced.

This design minimizes the risk of water penetrating the motor cover. It reduces maintenance requirement. Replacing a damaged motor is therefore also very quick and simple.

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We recommend that the multi connectors be inspected for water and/or signs of corrosion. As a precaution, the connectors should be sprayed with WD40 once per year."

We recommend that the FORCE monitor be externally cleaned from time to time and when dirty. Clean with any cleaning agent and water, as with standard pieces of machinery. Because the FORCE monitor is made of polished (no surface treatment) 316L stainless steel, it can always be machine polished to look fantastic."

The worm gears are filled with grease and hermetically sealed off with nitril X-rings. This means no dirt or water get into the gears. No air circulation will dry out the rubber seals. This is normally a maintenance free unit."

The worm gears must normally never be greased. We recommend not ever greasing the gears unless specifically recommended to do so by Unifire AB on an individual, case-by-case basis. If Unifire recommends greasing, then be sure to follow Unifire’s instructions, including by using the proper type of grease (Mobilith SHC460) and make sure to open the grease evacuation plug. Using the wrong type of grease WILL cause fatal damage to the mechanics or block the movement.

The worm-gears can not be disassembled. In case of damage, the complete unit is replaced.

See Drawing appendix for an exploded-views and parts-list.


MAINTENANCE of the INTEG 50 with BLDC motors

The INTEG 50 Nozzle with BLDC motor, also has a fully laser-welded motor enclosure. The motor cover can not be opened. If a motor is found to be defect, the complete motor assembly with in it’s cover is replaced.

This design minimizes the risk of water penetrating the motor cover. It reduces maintenance requirement. Replacing a damaged motor is very quick and simple.

When nozzle is not in use, the stream shaper should always be parked in a fully retracted ”spray” position. This prevents build-up of residues (salt/dirt) on the stream shaper. It keeps the stream-shaper protected and well lubricated - ready for use. IF the stream-shaper is dirty it must be cleaned with some WD40 and a brush. As a precaution the stream shaper can also be sprayed with WD 40 once every couple of months…

We recommend that the multi connectors be monthly inspected for water and/or signs of corrosion. As a precaution, the connectors should be sprayed with WD40 once per year.

We recommend that the stream-shaper is inspected for salt-buildup and dirt once per month."

We recommend that the stream-shaper get a few drops WD40 every month as a precaution."

The nozzle should not be disassembled by the end-user. If damaged, it must be sent to Unifire for repair. Or be replaced.


Canbus JOYSTICK Description & Advanced Setup!

WARNING!!! This section is for technicians and qualified users. Do not attempt to change the setup of the Joystick unless you are qualified and authorized by Unifire to do so.

WARNING! Wrong settings WILL interrupt communication between the Joystick and the PLC. The system will stop working!!!

The Joystick provides position feedback in 9 steps.

Buttons for REC, PLAY, PARK and VALVE control.

Two undefined generic AUX buttons for controlling “other” functions, such as foam valve, telescopic pipe or swing-our arm, flood light, etc.

In a networked system the AUX1 and AUX2 can be used to choose which monitor is to be controlled.

X,Y axis and the Nozzle spray angle are controlled with the progressive Joystick. The Nozzle control is on the tip of the Joystick shaft.

Joystick Buttons and LED Function Description

ON Activates the Joystick communication for control of PLC and Monitor.

PARK While pressed for 2 seconds it starts the park sequence of the PLC. Led flashes while " Parking and is on when monitor is parked. Release from park by press PARK again or " Simply operate PLC with joystick.

VALVE Toggle function that controls the VALVE output (or relays) of the PLC

REC When pressed the PLC goes into record state and the Red LED indicates this " state. Press again to exit record state and save the pattern.

PLAY Activates the re-play of the pre-recorded pattern. Green LED indicates playback" To exit this state, simply press PLAY again or start controlling the MCU with the " joystick.

AUX 1 Undefined (used in setup mode). Accessible over CAN bus. Both Switch and LED

AUX 2 Undefined (used in setup mode). Accessible over CAN bus. Both Switch and LED


The Joystick provides position feedback in 9 steps.

Buttons for REC, PLAY, PARK and VALVE control.

Two undefined generic AUX buttons for controlling “other” functions, such as foam valve, telescopic pipe or swing-our arm, flood light, etc.

In a networked system the AUX1 and AUX2 can be used to choose which monitor is to be controlled.

X,Y axis and the Nozzle spray angle are controlled with the progressive Joystick. The Nozzle control is on the tip of the Joystick shaft.

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Setting baud rate, Master-slave mode and Canbus ID

For technicians trained and authorized by Unifire only

There are two setup modes on the PI Joystick: Setup A and Setup B

Setup mode ”A” is used to control the following functions: I. Master/slave mode (REC) II. Address (ID) of MCU controlled (if in master mode) or Joystick (if in slave mode) (PLAY) III. Calibration of the absolute nozzle control (AUX 1, AUX 2 and dial on top of joystick handle) IV. Startup behavior of MCU (if in master mode) (PARK) V. Joystick handle vertical direction control - alters up/down (VALVE)

Setup mode ”B” is used to set the baud rate (125kbps or 250kbps). 125kbps is default.

Entering setup modes is done by pressing and holding defined buttons while powering up and/or connecting the Joystick cable.


2” BSP orDN65 Flange

Setup mode “A”

Enter SETUP MODE A While powering up the joystick press “REC” and “PLAY” until the corresponding LED's are ON. (Power up either by connecting a live Joystick cable, or switching on power) This puts the Joystick in setup mode.

Master/slave mode (I, II) The position LED's indicates the mode and address when in setup mode: To switch between master and

slave mode (indicated with full horizontal bar) Press REC to toggle between master and slave mode. To step through the address settings use the PLAY button. When in master mode the LED's L0 to L9 represents the address of the MCU to be controlled (range from h41 to h4A). When in slave mode the LED's L0 to L9 represents the address of the joystick itself (range h51 to h5A)

! Calibration of nozzle control. (III) 1. Move the top (nozzle-control) clockwise to the stop and then press and hold AUX 1 until LED is on. 2. Then move the top counter clockwise to the stop and then press and hold AUX 2 until LED is on.

Startup mode MCU (IV) Alter the start up state of the MCU by using the ”PARK”. When PARK led is ON the MCU starts active (start LED is ON) and is ready to be controlled immediately. When PARK led is off activation of system is done by using the START button.

Joystick vertical control (V) The VALVE button controls the vertical direction and alters the up/down functionality of the joystick. Press VALVE to alter state. When VALVE led is OFF joystick handle away from operator means monitor down and joystick handle towards operator means monitor up. When VALVE led is ON joystick handle away from operator means monitor up and joystick handle towards operator means monitor down.

Exit SETUP MODE A When done with the described operations, simply press ON until all LED's are OFF (ON LED may go on if MCU hRelay is ON). This will save the new settings.

Master mode Horizontal bar all LED'S=ON. For the control of 1 MCU (slave address, one of h41 ! h4A)

L0 MCU address h41 L1 MCU address h42 L2 MCU address h43 L3 MCU address h44 L4 MCU address h45 L5 MCU address h46 L6 MCU address h47 L7 MCU address h48 L8 MCU address h49 L9 MCU address h4A

Slave mode Horizontal bar all LED's=OFF For the setting of Joystick ID (Address, one of h51 ! h5A)

L0 Joystick address h51 L1 Joystick address h52 L2 Joystick address h53 L3 Joystick address h54 L4 Joystick address h55 L5 Joystick address h56 L6 Joystick address h57 L7 Joystick address h58 L8 Joystick address h59 L9 Joystick address h5A


Setup mode “A”

Enter SETUP MODE A While powering up the joystick press “corresponding LED's are ON. (Power up either by connecting a live Joystick cable, or switching on power) This puts the Joystick in setup mode.

Master/slave mode (I, II)The position LED's indicates the mode and address when in setup mode: To switch between master and

slave mode (indicated with full horizontal bar) Press REC to toggle between

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Setup mode ”B”

Enter SETUP MODE B While powering up the joystick press “VALVE” and “PLAY” until the corresponding LED's are ON. This puts the Joystick in setup mode ”B”

125kbps or 250kbps CAN bus Press VALVE to switch between 125kbps and 250kbps (indicated with full horizontal bar). LED’s on indicate 250kbps and LED’s off 125kbps.

Exit SETUP MODE ”B” When done with the described operations, simply press ON until all LED's are OFF (ON LED may go on if MCU hRelay is ON. This will save the new settings.


Setup mode ”B”

Enter SETUP MODE B While powering up the joystick press corresponding LED's are ON. This puts the Joystick in setup mode ”B”

125kbps or 250kbps CAN bus Press VALVE to switch between 125kbps and 250kbps (indicated with full horizontal bar). LED’s on indicate 250kbps and LED’s off 125kbps.

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TARGA Robotic Nozzle PLC setup panel and display

Operating manual

UNIFIRE AB 2014 ! av !1 8 TARGA panel & display manual

TARGA Robotic Nozzle PLC Setup Panel

Table of Content:

PAGE 1 - start page 3 Start/overview 3

Navigation 3

PAGE 2 - MK motor control 4 MK (motor control) 4

Manual control 4

Calibration explained: 5

Calibration AUTO (F4) 5

Calibration MANUAL (F1/F2) 6

Calibration FIXPOINT (F5) 7

PAGE 3 - IOout 8 Digital output status page 8

PAGE 4 - IOin 8 Digital and analog inputs status page 8

PAGE 5 - analogue inputs: 8 Calibration of analog inputs page 8


PAGE 1 - start page

Start/overviewOn the start page there is general information about the system.

From top to bottom and left to right: • On the top there is information about!

the state (alarms etc). To show them in!plain text use the right arrow to the!right of the display

• Sw – firmware version (0057)

• App – automation version (7327)

• Node – config version (7327)

• Ve VDC on electronic feed

• Vp VDC on effect feed

• 1 1 1 - - - show number of BLDC driver cards installed on the TARGA PCB.!(in this case 3 driver cards installed, of maximum 6)

Navigation• Use the arrows to the right of the display

for navigation.

• Up and Down arrows scrolls between the main function pages

• Right arrow is used to move between Sub-pages (if available) or functions/positions on the current main page

"


PAGE 2 - MK motor control

MK (motor control)

Use the up/down arrow to go to the motor page where information on each motor is available. Use the right arrow to switch motor (1 to 6 available)

• MK (in this case 1) indicates subpage/which motor

• MKBLDC indicates motor type (can also be MKDC for std DC motors)

• Pos gives the exact motor position in pulses relative to the 0 position

• Cal off/on indicate if calibration is active or inactive

• I(A) the actual real-time current-read on the motor

• D1D2 show status of the digital inputs available on each driver card

Manual control

With the to arrows below the display it is possible to operate the individual motor chosen (MK 1) or (MK 2), or (MK 3) etc..

Use the right arrow to switch motor (1 to 6 available)

The direction is dependent on settings in the configuration file and differs from system to system. However the right arrow moves towards 0 position and the left towards max position.

"


Use the right arrow to switch motor (1-6 available)

Calibration explained:

Calibration AUTO (F4)Press F4 to initiate calibration.

NOTE: This mode requires that end position bolts are installed. !The F4 calibration starts a movement towards 0-position and will reset position at high current read. !Then it goes to the opposite bolt to read max position. Thus the axis collects it’s operating range ”automatically".

When F4 is presses, the calibration Cal-indication is set to on and the chosen axis starts to move. The real-time current reading is displayed I(A). When the sequence is done Cal is set to off and it is possible to operate the axis.


The TARGA Robotic Nozzle PLC must be calibrated to the FORCE Robotic Nozzle, so that the total operating range of the specific installation in know (can be 0-720°), and the absolute position within in this range is know. On pulse level position accuracy is better than 1/100°.

For example the operating range can be 120°: 40° left and 80° right. Or 360°, +/-180°.

The calibration can be executed in 3 different ways:

AUTO = The system reads all mechanical end-positions by detecting high ! currents

MANUAL = Run the motor to the requested end-position and store each end-position! manually

FIXPOINT = The operating range is pre-set in the config-file. FIXPOINT require that the installer run the robotic nozzle to it’s fixpoint! (reference point), which is stored as the systems ORIGO.

Calibration MANUAL (F1/F2) It is possible to manually set the zero and max position by using the buttons on the left side of the display.

Initiate calibration by pressing the UP-arrow.

!

This will move the axis and set Cal indication to on. Keep UP-arrow pressed until you have reached the position of choice.

Confirm zero end-position with F1.

Use down arrow to move to the desired maximum position.

Confirm with F2 and verify with the control-arrows below the display.

Use the sub page navigator to move to the next axis and repeat calibration until you are done.



Calibration FIXPOINT (F5)

Initiate calibration by pressing the UP-, or DOWN-arrow

This will move the axis and set Cal indication to on. Keep arrow pressed until you have reached the origo-position of choice.

Confirm rotation origo-position with F5.

Switch axis with right arrow

Then repeat with next axis:

Initiate calibration by pressing the UP-, or DOWN-arrow

This will move the axis and set Cal indication to on. Keep arrow pressed until you have reached origo-position of choice.

Confirm vertical zero end-position with F5.

Switch axis with right arrow etc..

Pos = Actual relative position of the axis on actual pulse-level.

First value show actual position.

Second value show max value in the calibrated operating range.

(18 pulses per motor rev, geared down 49:1 in planetary gear, and 64:1 in worm gear… =56448 pulses / 360°)



Actual position Max calibrated value

PAGE 3 - IOout Digital output status pageDisplays the digital outputs status.

By using the right navigation arrow it is possible to switch between the outputs and by using F4 it is possible to manipulate the outputs.

01-04 are PWM outputs and is stepped from 0-255. 05-08 are digital and can be set on or o#. Standard Targalyzer functionality

O1...O4 shows active value of the four PWM outputs (000 to 255).

O5...O9 shows active value of the four digital outputs (0 or 1).

PAGE 4 - IOin Digital and analog inputs status page

D1...D4 shows active value of the four digital inputs (0 or 1).

A1...A6 shows active value of the six analog input

PAGE 5 - analogue inputs: Calibration of analog inputs page A1...A6 shows raw input data (000 to 255)

C1...C6 shows corresponding calibrated value (000 to 255)

Select input with right navigation arrow.

Apply the highest voltage of the required range to the input. (e.g. move a joystick/potentiometer to its highest position) and press F1 to save this value.

Then apply the lowest voltage of the required range to the input and press F2 to save this value.


OUTLINE DIMENSIONS FORCE50 with INTEG50

495580

240

350

230

D ( 1 : 4 )

Tel.: +45 87 40 80 80 www.bj-gear.dkBeskrivelse / Description:

Tegn. nr. / Drawing id.: Rev.:

Side / Page:

/

Format:

Sign.:

Målforhold /Scale:

Materiale / Material:

Vægt / Weight:

Standard:

Ikke tolerancesatte mål iht. DS/ISO 2768-f.Skarpe kanter rejfes.Non-toleranced measures acc. DS/ISO 2768-f.Deburr sharp edges.

Ovenstående gælder kun produktionstegninger.The above stated only applies production drawings.

Dato / Date:

=

=

=

=

=

=

u

v

w

x

y

zU Ra 18L Ra 8

Indstikslibes

U Ra 0.5L Ra 0.3

Ra 1.6

Ra 3.2

Ra 6.3

bj-gear

FORCE 50, Chassis udv. 39:1

BLCD Motor

CE50BLDC

A3

20-08-2014

FJE

10,54 kg

1 3

1:4

Copyright © BJ-Gear A/S. All product rights reserved

B

B

C C

D

E

E

CL

22

4,4

202,4

Bolte, monteresmed loctite 243.

2" RG

92,4

Drænhul

259,4

2,5

352

,5

15

1

10

86

224,4

114,9

30

13

M5 x 12

116

8N

V

70

131,5

48

8639,1

76,4

22

4,4 263

,5

7

139-009

2" RG20

1723

9

R70

35 26

Rotation

Elevation

B-B ( 1 : 2 )

C-C ( 1 : 2 )

E-E ( 1 : 2 )



Side / Page:

/

Format:

Sign.:

Målforhold /Scale:


Vægt / Weight:

Standard:



Dato / Date:

=

=

=

=

=

=

u

v

w

x

y

zU Ra 18L Ra 8

Indstikslibes

U Ra 0.5L Ra 0.3

Ra 1.6

Ra 3.2

Ra 6.3

bj-gear


BLCD Motor

CE50BLDC

A3

20-08-2014

FJE

10,54 kg

2 3

1:4


263,5

102524141522

13

27

5

1

139-009

31 15322021 11

2842916

8

Loctite 243 bruges på alle skruer

Der bruges klar Silikone

47 48

A-A ( 1 : 1 )B-B ( 1 : 1 )

UNIFIRE lev.Motor BLDC, Ø52 + planetgear udv. 49:118

UNIFIRE Lev.Stik - 3 ben BLCD17

UNIFIRE Lev.Stik - 5 ben BLDC16

KI400505Pasfeder "A" kilestål h9 Rustfri 3X3X1515

KI200215DIN 7991-A4 INSEX Skrue UH M4X844

3910102Rør ø76,1x1,6 for motorkarpe13

3910101Endedæksel ø76,1 , motorkarpe12

3904403Motorflange 2x M16x1,511

VarenummerNavnAntalPos.

A A

B

B

Tel.: +45 87 40 80 80 www.bj-gear.comBeskrivelse / Description:


Side / Page:

/

Format:

Sign.:

Målforhold /Scale:


Vægt / Weight:

Standard:



Dato / Date:

=

=

=

=

=

=

u

v

w

x

y

zU Ra 18L Ra 8

Indstikslibes

U Ra 0.5L Ra 0.3

Ra 1.6

Ra 3.2

Ra 6.3

bj-gear

Motorenhed komplet med stik

Planetgear udveksling 49:1

BLCD Motor

BLDC

A3

24-09-2014

FJE

0,89 kg

1 1

1:1


Inden endedæksel laser svejses,skal motor være monteret og ledninger trukket ud i hver sit gevind hul.

150

68BCD

4x M5x0.8

90°

4x

76,1

Ø

Ved montage af planetgear og motor,bruges der Loctite 243 på skruer.

4

Stik med 5 - ledninger,placeres i denne side.

Stik med 3 - ledninger,placeres i denne side.

5. Hele overfladen på motorenhedenpudses af efter svejsning.

R26

1

5

3

2

8

1. Motorflange svejses

2. Motor monteres

3. Ledninger trækkes ud, hvor kabelstik skrues fast, inden svejsning.

4.Endebund svejses fast til sidst.

128

6

7

4 4

Skarpe kanter brydes.



Side / Page:

/

Format:

Sign.:

Målforhold /Scale:


Vægt / Weight:

Standard:



Dato / Date:

=

=

=

=

=

=

u

v

w

x

y

zU Ra 18L Ra 8

Indstikslibes

U Ra 0.5L Ra 0.3

Ra 1.6

Ra 3.2

Ra 6.3

bj-gear


BLCD Motor

CE50BLDC

A3

20-08-2014

FJE

10,54 kg

3 3

1:4


3910103Motorenhed komplet med stik248

3904503Gearflange med 2x ø22247

Skilt135

KI400485Pasfeder 'A' kilestål h9 Rustfri233

KI340020X-Ring Ø66,35x2,62 mm NBR232

KI340010X-Ring Ø63,09x3,53 mm NBR 70431

KI320205O-Ring Ø59,92,0X3,53 mm; NBR-70229

KI320181O-Ring Ø52,0X2,5 mm; NBR-70228

KI310025Olietætningsring Nitril; 102206CC227

KI280008Rundhovede nitte ø2x5 BN690 - DIN 660226

KI270105DIN 472 JS Låsering Indv. Ø32225

KI250392DIN 988 Passkive 22x32x2,0 mm224

KI240030DIN7603A CU-skive Ø8x12x1,0 mm423

KI240010DIN7603A CU-skive Ø5x9x1,0 mm222

KI230071DIN 934-A4 Rustfrimøtrik M8-A4421

KI210633DIN 912-A4 INSEX Skrue CH M8x12420

KI210180DIN 7991-A4 INSEX Skrue UH M5X12819

KI200665DIN 933-A4 Rustfri sætskrue M8X8417

KI200588DIN 933-A4 Rustfri sætskrue M5x122016

KI200442DIN 6912-A4 INSEX Skrue CH M5x103015

KI1020136201ZZ/5K Sporkugleleje, enradet214

KI1020126000ZZ/5K Sporkugleleje, enradet213

KI100105Selvlåsende møtrik GTNO12212

KI100012DIN 5401 Ø6,5 mm, Stålkugle5811

HV74100200R+W Kobling EK/1/5/B/ø8/ø10/XX 210

3919110Svejse rør med sideflange19

3919109Svejse rør med sideflange18

3919107Svejse studs og montageflange17

3906501Dobbelt fri snekke, 39:1 25

3905301Snekkehjul specielt, 39:124

3901401Snekkegearhus, rustfri21


139-009



Side / Page:

/

Format:

Sign.:

Målforhold /Scale:


Vægt / Weight:

Standard:



Dato / Date:

=

=

=

=

=

=

u

v

w

x

y

zU Ra 18L Ra 8

Indstikslibes

U Ra 0.5L Ra 0.3

Ra 1.6

Ra 3.2

Ra 6.3

bj-gear

Tandhjulsgear, Serie 63, 3,17:1

INTEG 50 Nozzle, BLDC Motor

INTEG50BLDC

A3

20-08-2014

FJE

6,04 kg

1 2

1:2


A

A

B

B

239,5

27

9

16

63

R27

110

138-006

96,5

156

,5

For alle skruer, som spændes fast,bruges Loctite 243

A-A ( 1 : 1 )

B-B ( 1 : 1 )



Side / Page:

/

Format:

Sign.:

Målforhold /Scale:


Vægt / Weight:

Standard:



Dato / Date:

=

=

=

=

=

=

u

v

w

x

y

zU Ra 18L Ra 8

Indstikslibes

U Ra 0.5L Ra 0.3

Ra 1.6

Ra 3.2

Ra 6.3

bj-gear

Tandhjulsgear, Serie 63, 3,17:1

INTEG 50 Nozzle, BLDC Motor

INTEG50BLDC

A3

20-08-2014

FJE

6,04 kg

2 2

1:2


Skilt126

KI500017Aerroshell grease 2230 g25

KI400487Pasfeder "A" kilestål h9 Rustfri 3X3X12124

KI350010Kompakt olietætningsring TFMI 15x21,2x3123

KI340035X-Ring Ø101,27x2,62 mm NBR 70122

KI340025X-Ring Ø75,87x2,62 mm NBR121

KI320210O-Ring Ø60,0X2,0 mm; NBR-70120

KI320202O-Ring Ø56,82X2,62 mm; NBR-70219

KI320130O-Ring Ø40,0X2,0 mm: NBR-70118

KI260149ISO 2338-A4 Cylindrisk Stift Ø5x10117

KI210070DIN 916-A4 INSEX stopsk. m/krt M4X5216

KI200431DIN 916-A4 INSEX Stopskr.m/krt M5X8215

KI200011DIN 916-A4 INSEX stopsk. m/krt M5X5614

KI110037Frimet Radialleje; 15/17X9-23x1,0113

KI110036Frimet Radialleje; 8/10X5,5-15x1,0112

FOR50310Diffusor, Unifire lev.111

FOR00960Center nut M12-A4, Unifire lev.110

FOR00950Flow control nut, Unifire lev.19

3825102Lille drivaksel for tandhjul18

3824207Tandhjul, Z=24, M=1,25, B=1317

3823122Låsemøtrik for samling af dyse16

3823116Hærdet løberulle ø5/8, L=515

3823115Svejsning af dyse og vandstyr14

3810103Motorenhed for tandhjulsgear13

3805903Roterende bronze hoved, Z=7612

3801402Tandhjulsgearhus, rustfri11


5

222115 2 1

16 23 13 7

12

8

19 11420

24

9

10

138-00617

Der bruges Loctite 603til limning af stift

Ved afsluttende test skal man sikre, roterende hoved kommer i bund, således at det roterende hoved oggearhus bliver plane i toppen.

183

Planetgear ved INTEG 50 Nozzle,er altid udveksling 84:1

Documents

FORCE50BLDC Robotic Nozzle manualroboticnozzles.com/.../FORCE50BLDC-Robotic-Nozzle-Manual-2015.pdfGeneric system manual FORCE50 BLDC and the TARGA Robotic ... position LCD screen FORCE