Hanwha HCR-3 User Manual
  1. Manuals
  2. Brands
  3. Hanwha Manuals
  4. Robotics
  5. HCR-3
  6. User manual

Hanwha HCR-3 User Manual

Collaborative robot
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
HCR-3
Collaborative Robot
User Manual
Aug 2019
V 2.001

Advertisement

Table of Contents
loading

Related Manuals for Hanwha HCR-3

Summary of Contents for Hanwha HCR-3

  • Page 1 HCR-3 Collaborative Robot User Manual Aug 2019 V 2.001...

  • Page 3: Preface

    If you are uncertain about any requirements, recommendations or safety procedures described in the manual, please, consult with Hanwha Precision Machinery Co. Users are responsible for any damages caused by their misuse neglecting these instructions below.

  • Page 4: Copyrights

    Hanwha Precision Machinery Co. Thus, illegal use, duplication, distribution or dissemination of the manual without prior written approval by Hanwha Precision Machinery Co. is strictly prohibited and such an activity is an infringement of the intellectual property rights of Hanwha Precision Machinery Co.

  • Page 5: Table Of Contents

    Table of Contents Table of Contents PREFACE ..............................3 COPYRIGHTS ..............................4 CHAPTER 1 PRODUCT OVERVIEW ........................ 13 ...................... 13 OLLABORATIVE OBOT YSTEM ........................15 YSTEM OMPONENTS ....................... 16 ASIC YSTEM ONFIGURATION ......................17 VERVIEW OF OBOT ....................19 VERVIEW OF OBOT ONTROLLER Front .............................
  • Page 6 Table of Contents ..........................39 IXING OBOTS ..................... 40 ONNECTING OOLS TO OBOTS ........................41 ONNECTING ABLES Connecting the teaching pendant to the robot controller ............. 41 Connecting the robot arm to the robot controller ................ 41 Connecting the power supply to the robot controller ..............42 ......................
  • Page 7 Table of Contents Screen display setting button ......................58 Robot task control button ......................59 ........................60 ANUAL CREEN ..........................62 IRTUAL EYPAD Text keypad ..........................62 Number keypad ..........................63 Expression keypad ........................63 CHAPTER 6 REGISTERING ROBOTS AND USERS .................... 65 .........................
  • Page 8 Table of Contents ..........................88 OORDINATES Registering points ......................... 88 Registering line coordinates ......................89 Registering plane coordinates ....................... 89 ......................90 ETTING LOBAL ARIABLES I/O B ......................... 91 PERATION Add/Delete ........................... 91 I/O bit operation settings ......................91 CHAPTER 8 SAFETY SETTINGS ........................
  • Page 9 Table of Contents Adding variables ......................... 112 Modifying variables ........................113 Deleting variables ........................113 Variable Monitoring ........................113 ........................114 DITING PROGRAMS Overview of edit menu ....................... 114 Example of program editing ....................... 115 Undo Function ..........................116 ........................ 117 ANAGING A ROGRAM Saving a program ........................
  • Page 10 Table of Contents Message operation ........................135 Message format .......................... 136 Select message ..........................136 9.15 PATTERN C ........................137 OMMAND Pattern types ..........................137 Setting the pattern coordinates ....................138 Setting repeat counts ........................138 Advanced commands for patterns ....................139 Setting pattern points ........................
  • Page 11 Table of Contents Monitoring the robot positions ....................158 Checking the robot status ......................159 11.2 ..................... 159 ONITORING NPUTS UTPUTS Monitoring controller inputs/outputs ..................160 Monitoring tool inputs/outputs ....................161 11.3 ..........................162 TILIZATION CHAPTER 12 DEVICE SETTING ........................163 12.1 MODBUS TCP .......................
  • Page 12 Table of Contents Cleaning and replacing the filter ....................181 15.4 ....................182 IEWING AND ANAGING Deleting Logs ..........................182 Exporting Logs ........................... 182 15.5 ................. 183 ANAGING THE OBOT YSTEM ONFIGURATION Packaging posture ........................183 Factory reset ..........................184 Use Default Program ........................

  • Page 13: Chapter 1 Product Overview

    Product Overview Chapter 1 Product Overview Collaborative Robot System Hanwha Precision Machinery's collaborative robot, HCR-3 is a user-friendly robot that provides an automation environment where it can safely collaborate next to humans in various fields. Easy setting By using the direct teaching feature and the intuitive S/W GUI, users can easily configure and control the robot.
  • Page 14 Chapter 1 Product Overview Safe collaboration Using the various safety features, users can safely work next to the robot without using additional safety tools or devices.  The robot is automatically stopped when it detects an impact, so as long as the working range of the robot and the user are guaranteed, it can be installed anywhere for safe use.

  • Page 15: System Components

    Chapter 1 Product Overview System Components The following is a list of system components. Robot arm Teaching pendant Robot controller Teaching pendant fixing bracket 8 pin tool cable User manual...

  • Page 16: Basic System Configuration

    Chapter 1 Product Overview The following list indicates the quantity of each component. Robot arm 1 EA Robot Robot controller 1 EA Controller and teaching Teaching pendant 1 EA pendant Teaching pendant fixing bracket 1 EA 8 pin tool cable 1 EA Others User manual...

  • Page 17: Overview Of Robot Arms

    Chapter 1 Product Overview Overview of Robot Arms Parts and joints ➊ ➎ ➒ Tool Flange Lower Arm ➋ ➏ ➓ J6 Wrist3 Elbow Base ➌ ➐ J5 Wrist2 ➍ ➑ J4 Wrist1 J2 Shoulder...
  • Page 18 Chapter 1 Product Overview Functions Description Name It is the area in the robot where a tool is mounted.  Tool flange 3.4 Connecting Tools to For more details, refer to Robots. It is the I/O port used to control a tool. ...

  • Page 19: Overview Of Robot Controller

    Chapter 1 Product Overview Overview of Robot Controller Front Name  Handle  Air exhaust hole (exhaust hole filter)  Air intake hole (intake hole filter)  Controller cover locking screw  Teaching pendant fixing hook  Controller fixing bracket ...

  • Page 20: Bottom

    Chapter 1 Product Overview Bottom Name  Robot connector  Teaching pendant connector  Power button  AC power socket...

  • Page 21: Overview Of Teaching Pendant

    Chapter 1 Product Overview Overview of Teaching Pendant Front Description Name Turn on/off the power of the teaching pendant.  Power button 4.2 Turning on the Teaching For more details, refer to Pendant. Press it to stop the robot. Emergency stop ...

  • Page 22: Rear

    Chapter 1 Product Overview Rear Name Description Users can insert their hands and lift the teaching  Handle pendant for use. Users can turn the handle and insert their hand in the desired direction.

  • Page 23: Axial Coordinates And Operational Range

    Chapter 1 Product Overview Axial Coordinates and Operational Range It consists of a total of six axes and an axis of each joint has the following coordinates and operational ranges. The direction of arrow indicates the (+) rotational angle and the opposite direction of arrow indicates the (-) rotational angle.
  • Page 24 Chapter 1 Product Overview Note The J3 axis has a limited operational range due to its unique structure. When the J3 axis is at +160° When the J3 axis is at -160°...

  • Page 25: Robot's Working Range

    Chapter 1 Product Overview Robot's Working Range The radius of rotation for the robot when its arm is fully stretched is 630 mm. The radius of 74.3 mm from the center axis of the base is the area where the robot arm cannot reach due to its structure.

  • Page 26: Maximum Load Capacity For The Tool

    Chapter 1 Product Overview Maximum load capacity for the tool The load capacity of the robot arm may vary depending on the distance between the tool flange and the payload's center of gravity. The load capacity per distance is as follows:...

  • Page 27: Chapter 2 Safety

    Chapter 2 Safety Chapter 2 Safety Safety Marks in the User Manual The user manual contains the following safety marks. Danger If a user does not obey the safety mark, then it can cause a severe accident including death or serious injury of a user. Warning If a user does not obey the safety mark, then it can cause an accident including serious injury of a user.

  • Page 28: General Safety Cautions

     Do not modify the robot on your own. If a user causes a problem by modifying or remodeling the product on their own, then Hanwha Precision Machinery will not be responsible for it in any sort of way. ...

  • Page 29: Intended Use

    It is recommended that you test all the functions separately before using the machine or other robot that can damage the robot. If other machine or robot is damaged by programming errors or robot failures, Hanwha Precision Machinery will not be responsible for it.

  • Page 30: Potential Dangers

    Chapter 2 Safety Potential Dangers If the risk assessment, conducted by the final system manufacturer who applied the robot, concludes that it is not possible to fully reduce the risk only with the built-in safety function, additional protective measures should be established. Consider potential dangers as follows: ...

  • Page 31: Transportation

    Chapter 2 Safety  Addition of safety devices according to the risk assessment results  To check whether the system is correctly designed, set up and installed  Definition on how to use the system  Providing information on operation and safety as well as contact information ...

  • Page 32: Emergency Stop

    Chapter 2 Safety Emergency Stop You can press the emergency stop button to immediately stop the robot in case of emergency. The emergency stop button is basically located in the teaching pendant and you can stop the robot by connecting another emergency stop button to the robot controller.

  • Page 33: Safety Fence

    Chapter 2 Safety Safety Fence Unlike other kinds of industrial robots that adopt physical fences, virtual fences are implemented to make sure that the TCP does not reach out of certain limits. For more details, refer to...

  • Page 34: Limits Of Speed And Rotational Angles

    The manufacturer is not responsible for the failure caused by excessive force. 2.11 Safety Controller The safety controller for HCR-3 complies with the ISO13849 Cat3. PLd class. 2.12 Risk Assessment The risk assessment is one of the important factors when configuring a robot configured system.
  • Page 35 Chapter 2 Safety ISO10218-2 standards. For further information, refer to the Technical Specification ISO/TS15066. You must perform the risk assessment right after the robot is installed. The main objectives of the risk assessment are to set up safety configuration suitable for the surrounding environment and robot settings and to find out the need for additional emergency stop buttons and protective measures.

  • Page 36: Chapter 3 Installation

    Chapter 3 Installation Chapter 3 Installation The installer should install and operate the robot according to instructions of ISO 12100 and ISO10218-2 standards and comply with relevant requirements of international standards such as ISO/TS 15066 and local laws and regulations. The manufacturer is not responsible for accidents caused by noncompliance with relevant requirements of international standards and local laws and regulations or due to not performing review on the risk assessment as mentioned in Section 2.12.

  • Page 37: Installation Types

    Chapter 3 Installation Installation Types You can install the robot arm on ceiling, wall or floor as follows. Example of installation on floor Example of installation on wall Example of installation on ceiling...
  • Page 38 Chapter 3 Installation You can also install it on a moving dolly or fixed post. Example of installation on a moving dolly Example of installation on a fixed post Warning If you install the robot on a moving dolly, you must make sure the moving dolly is fixed to the ground when operating the robot.

  • Page 39: Fixing Robots

    Chapter 3 Installation Fixing Robots You can install the robot arm on the ceiling, wall or floor by using 4 pieces of M6 bolts not shorter than 15mm and it is recommended to fasten those bolts with 30 Nm torque. If the strength or levelness of the installation ground is not sufficient for supporting the robot arm, then you can use a fixing base for installation.

  • Page 40: Connecting Tools To Robots

    Chapter 3 Installation Connecting Tools to Robots Using four sets of M6 bolts, fix a tool to the tool flange. Note  Tools and fixing M6 bolts are not included in the product package.  The tool combination method varies from tool to tool. For more detailed methods, refer to the user manual provided by the tool maker.

  • Page 41: Connecting Cables

    Chapter 3 Installation Note  For more details about specifications of the pin maps for the tool I/O, refer to Appendix E Port Pin Map. Connecting Cables Connecting the teaching pendant to the robot controller After connecting the teaching pendant cable, by using fixing bolts for the connector, securely fasten it, so that the cable does not slip out.

  • Page 42: Connecting The Power Supply To The Robot Controller

    Chapter 3 Installation Connecting the power supply to the robot controller Connect the power cable approved in your country to the power terminal. Robot controller's power terminal accepts standard IEC plugs. The minimum requirements for power supply are ground, main fuses and circuit breakers, and they should be prepared by the person who prepares for installation.

  • Page 43: Fixing The Controller Box

    Chapter 3 Installation Caution While the robot is on, do not remove the robot connector, the power connector or the teaching pendant connector. When connecting teaching pendant to controller, pay attention to the pin of the connector. Fixing the Controller Box The controller box can be fixed to the ground by using the fixing bracket at the bottom.

  • Page 44: Overview Of Controller I/O

    Chapter 3 Installation Overview of Controller I/O If you want to connect other external equipment to your controller, then you must first connect it to the I/O inside the controller box. The controller I/O is very flexible, so it can be connected to various equipment such as relays, PLC, and emergency stop buttons.
  • Page 45 Chapter 3 Installation By implementing the terminal block called IO Power (J8), you can supply power to the digital I/O from an internal 24V power supply or external power supply. The left two blocks are composed of internal 24V(INT_24V), GND and the right two blocks are composed of external 24V(EXT_24V), GND.
  • Page 46 Chapter 3 Installation Push Button Input Push Button Input The following electrical specifications apply to the internal or external power supply. Terminal Parameter Minimum Format Maximum Unit Internal 24V power supply Voltage INT – ING Current External 24V requirements Voltage EXV –...

  • Page 47: Configuring The Safety Input

    Chapter 3 Installation Terminal Parameter Minimum Format Maximum Unit Digital input EIx/SIx/FIx/DIx Voltage EIx/SIx/FIx/DIx OFF area EIx/SIx/FIx/DIx ON area EIx/SIx/FIx/DIx Current (11-30V) EIx/SIx/FIx/DIx Functions Format EIx/SIx/FIx/DIx IEC 61131-2 Format Configuring the Safety Input Since a single signal loss should not lead to a loss of the safety function, all the I/O's related to the safety should be duplexed.

  • Page 48: Initial Safety Configuration

    Chapter 3 Installation Using the Flexible I/O, you can set the Safety I/O additionally. For example, you can use the emergency stop output. In addition, you can configure the Flexible I/O for the safety function in the GUI. Danger Do not connect safety signals to normal PLCs. Only safety PLCs must be connected to safety signals.

  • Page 49: Connecting The Emergency Stop Button

    Chapter 3 Installation Connecting the emergency stop button It is recommended that you connect one or more emergency stop button. The emergency stop button is composed as follows. Safety protection stop and restart As an example of basic safety protection device, basically, when the door opens, you can press the door switch to stop the robot.

  • Page 50: Configuring The General Digital I/O

    Chapter 3 Installation 3.10 Configuring the General Digital I/O If not used as a safety function, then you can use the Flexible I/O as a general purpose digital I/O. The general digital I/O should comply with the common specifications of digital I/O. The general digital I/O can be used to configure relays or PLC systems.

  • Page 51: Digital Input Control Using Buttons

    Chapter 3 Installation Digital input control using buttons You can connect a simple button to a digital input. You can configure it as follows. Communicating with other equipment or PLC The digital I/O can be configured to communicate with other equipment if a common GND is established and if the equipment uses PNP technology.

  • Page 52: Configuring The General Analog I/O

    Chapter 3 Installation Configuring the General Analog I/O 3.11 It can be used to set or measure voltage (0-10V) or current (4-20mA) between two equipment. For high reliability, it is recommended that you use the following method.  Use the analog ground closes to the I/O. ...

  • Page 53: Analog Output

    Chapter 3 Installation Analog output You can use analog outputs as speed control inputs to the conveyor belt. You can configure it as follows. Analog input You can use analog sensor outputs as analog inputs. You can configure it as follows.

  • Page 54: Chapter 4 Getting Started

    Chapter 4 Getting Started Chapter 4 Getting Started Turning on the Robot Controller Turn on the power switch at the bottom of the controller. If you turn on the power switch for the controller, power will be supplied to the controller.

  • Page 55: Turning On The Teaching Pendant

    Chapter 4 Getting Started Turning on the Teaching Pendant Turn on the power button at the left top of the teaching pendant. Caution  Do not turn on the teaching pendant with USB devices connected. It may cause problems with starting the system. Connect it after the system is booted completely.

  • Page 56: Chapter 5 Software Overview

    Chapter 5 Software Overview Chapter 5 Software Overview Menu Overview Expanding menu Press the expanding menu button at the left top of the screen to expand the menu. You can check the name of each menu and if a sub menu exists, then you can select it as well.

  • Page 57: Monitoring

    Chapter 5 Software Overview Monitoring You can check the real time condition of the robot arm. Chapter 11 M onitoring For more details, refer to Robot Setting You can configure the installation information before operating the robot. For more details, refer to Chapter 7 Setting Robots.

  • Page 58: 3D Preview Screen

    Chapter 5 Software Overview 3D Preview Screen The system provides a screen where you can preview the robot's movement or coordinates in 3D. You can drag on the screen in the desired direction to change the screen perspectives. Screen display setting button You can configure the information displayed on the preview screen and the screen layout.

  • Page 59: Robot Task Control Button

    Chapter 5 Software Overview Additional setting button Hide or unhide the point of the movement path for the tool currently programmed. Hide or unhide the location/direction of the TCP currently set for the robot. Hide or unhide the movement path currently programmed. Hide or unhide the safety borders currently set for the robot.

  • Page 60: Manual Move Screen

    Chapter 5 Software Overview Manual Move Screen On this screen, you can control the robot's positions. By using jog control or direct teaching, you can control the robot's position. Manual Move button in the main menu. Press the Coordinate System : Selects Coordinate System for manual move. (View, Base, TCP) ...
  • Page 61 Chapter 5 Software Overview - Rotating Range : 0.01~ 10degree Note Depending on the purpose of the menu that uses the manual robot control function, the screen layout may differ accordingly. If you press the coordinate value on the screen, the screen will be changed as follows, and then you can enter the coordinates and the joint angles on your own.

  • Page 62: Virtual Keypad

    Chapter 5 Software Overview  When using the direct teaching function, check that the center of gravity of the TCP payload is correctly entered. Entering an incorrect value may cause malfunction.  If you drive a joint beyond a certain speed while using the direct teaching function, it may make a noise and make an emergency stop for the safety of operators.

  • Page 63: Number Keypad

    Chapter 5 Software Overview Number keypad You can enter or edit simple numbers. If you want to display your inputted numbers, press the Enter key.   If you want to delete the entire inputted text string, press the button. ...
  • Page 64 Chapter 5 Software Overview Delete an expression: After selecting any item in the parenthesis, press the Delete button.  The basic input item added into the parenthesis will be deleted. If you want to delete the selected input item, then press the Clear key. ...

  • Page 65: Chapter 6 Registering Robots And Users

    Chapter 6 Registering Robots and Users Chapter 6 Registering Robots and Users After installing the robot, turn on the system for the first time. Only the Management menu will be seen. If there is no robot registered, other menus will not be seen. Managing Robots You can register a new robot to be linked to the controller or change the robot name.

  • Page 66: Registering Robots

    Chapter 6 Registering Robots and Users Registering robots Press the Add button. Add a robot and press the OK button. Enter the robot name and press the Apply button. When the restart confirmation window appears, press the OK button.  You must restart the system for normal operation.

  • Page 67: Modifying The Robot Name

    Chapter 6 Registering Robots and Users Modifying the robot name In the list of registered robots, select a robot. After pressing the text box having the robot name, modify it as you want. Press the Apply button.

  • Page 68: Managing Users

    Chapter 6 Registering Robots and Users Managing Users You can make sure only specific users can use the software by registering them. Also, you can grant an individual right to each user to limit their access to the menus. Management > User. In the main menu, select Adding users and setting authorities Press the Add button.

  • Page 69: Menu Available To Each Authority

    Chapter 6 Registering Robots and Users  You can choose one of the following two authorities. − Admin: Can use all the functions of the software. − Operation: Cannot use the safety and the critical setting functions. Settings can be all inquired about. Note ...

  • Page 70: Login/Logout

    Chapter 6 Registering Robots and Users Main menu Sub menu Admin Operator Log Off User Robot Management Setting Management General Network Configuration SW update Shutdown Zeroing Robot Note The Zeroing Robot menu is only accessible by the Super Admin  user.

  • Page 71: Logging Out

    Chapter 6 Registering Robots and Users Logging out While logged in, the icon is displayed at the right top of the screen. While logged in, icon and press the Logout button. press the Checking Status Checking robot status You can check the status of the robot through the robot icon next to the robot name and the status icon in the upper right of the screen.

  • Page 72: Checking The Software Version

    Chapter 6 Registering Robots and Users Checking the software version You can check the current version of the operating software and control software by clicking the information display icon at the top of the screen.  Operating software: Displays the operating software version. ...

  • Page 73: Chapter 7 Setting Robots

    Chapter 7 Setting Robots Chapter 7 Setting Robots Setting the Robot Installation Angles After installing a robot, you must set the robot installation angle. The purpose of this process is to make sure that actual operation of the robot arm looks same as what we saw in the preview screen and let the controller know the direction of gravity.

  • Page 74: Setting Tcp

    Chapter 7 Setting Robots Depending on the tilt of the ground where the robot arm's base is installed, set the angle accordingly. If installed on the ground, then press 0°, if installed on the wall, press 90°, or if  installed on the ceiling, press 180°...

  • Page 75: Creating A New Tcp Profile

    Chapter 7 Setting Robots Warning If the TCP profile is incorrectly entered, accidents such as collision and jamming may occur while operating the robot and the robot may operate incorrectly while using the direct teaching function. In addition, as the singularity of the robot arm may vary depending on the TCP, the program previously prepared may not work or the robot arm may not operate as expected.
  • Page 76 Chapter 7 Setting Robots Tool Length: Indicates the tool length.  − The tool length is automatically calculated but users cannot enter it on their own. Payload: Set the tool weight.  If not specified, it will not be saved and an error message will appear. Press the Save button.

  • Page 77: Calculating The Tcp Position

    Chapter 7 Setting Robots Calculating the TCP position By using the direct teaching function, you can calculate the position of TCP. To calculate the position of TCP accurately, receive the position data from various angles with respect to one point and analyze them. After moving a tool to face a certain point at P1, enter the position data.
  • Page 78 Chapter 7 Setting Robots To calculate the position of TCP, proceed as follows. After pressing the Edit button, press the Position button. Press the Teaching button.
  • Page 79 Chapter 7 Setting Robots Press the P1 button when it is activated. If you press the P1 button, the Manual Move screen will appear.  While pressing down the Direct Teaching button in the Manual Move screen, move the robot arm to place the tip of the tool right at the reference point. For more descriptions on the Manual Move screen, refer to 5.3 Manual Move ...

  • Page 80: Setting The Tcp Orientation

    Chapter 7 Setting Robots Press the Calculate button. The Calculate button will be activated only if the minimum three points are set  properly. Check the calculated position result and press the Apply button. Press the Cancel button to cancel the task. ...
  • Page 81 Chapter 7 Setting Robots Press the Set Orientation button. If you press the Set Orientation button, the Manual Move screen will  appear. In the Manual Move screen, use jog control and Direct Teaching button to adjust the tool orientation as follows. For more details on the Manual Move screen, refer to 5.3 Manual Move ...

  • Page 82: Changing The Tcp Profile Name

    Chapter 7 Setting Robots Press the Apply button to apply the settings to the system. Press the Cancel button to cancel the task.  Changing the TCP profile name Select the TCP setting profile to modify. Press the Edit button. Press the Rename button.

  • Page 83: Deleting The Tcp Profile

    Chapter 7 Setting Robots Deleting the TCP profile After checking the name of TCP profile currently used by the selected robot, and proceed as follows. Select the TCP profile to modify. Press the Delete button.  You cannot delete the TCP profile currently being used by another robot. ...

  • Page 84: Setting Inputs/Outputs

    Chapter 7 Setting Robots Setting Inputs/Outputs By changing the name of I/O used by the controller, you can make sure they are easily detected and also assign a function to be executed depending on the input/output signals. Robot Setting > I/O Setup. In the main menu, select Types of digital I/O There are three types of digital I/O as follows.

  • Page 85: Editing The Digital Inputs Settings

    Chapter 7 Setting Robots Editing the digital inputs settings Press the Edit icon for the digital I/O item to modify. The following edit window will appear. Name: Use a name easy for a user to identify or the existing name. ...

  • Page 86: Types Of Analog I/O

    Chapter 7 Setting Robots Name: Use a name easy for a user to identify or the existing name.  You cannot use the same name already in use by another I/O. Max 15 letters (30 bytes) are allowed. Special characters cannot be used. Command: When the robot is in the state of the set command, the value set(Low/High) ...

  • Page 87: Editing The Analog I/O Setting

    Chapter 7 Setting Robots Editing the analog I/O setting Press the Edit icon of the analog input or output item to modify and the editing window will appear as follows: Name: Use a name easy for a user to identify or change the existing name. ...

  • Page 88: Coordinates

    Chapter 7 Setting Robots Coordinates You can set the location information that is available in the program and other setup menus. From the main menu, select Robot Settings > coordinates.  Point: Add a point.  Line: Add a line consisting of two points. ...

  • Page 89: Registering Line Coordinates

    Chapter 7 Setting Robots Registering line coordinates You can add and set line coordinates.  Click point 1 and point 2 to set two points to define a line.  Coordinate system information - Reference point: The first point becomes the reference point. - Y axis: The direction of the first point to the second point is the Y axis.

  • Page 90: Setting Global Variables

    Chapter 7 Setting Robots Setting Global Variables You can set the global variables that are available and shared by many programs by restarting the system.  Variable name: Specifies a variable name. − Up to 10 characters (20 bytes) can be entered. ...

  • Page 91: I/O Bit Operation

    Chapter 7 Setting Robots I/O Bit Operation You can combine the values of multiple digital I/O inputs, and assign them to variables or assign them to actions. Add/Delete Add or delete bit operation settings.  Clicking the Add button adds one setting, and the initial value of each IO is displayed as Low.

  • Page 92: Chapter 8 Safety Settings

    Chapter 8 Safety Settings Chapter 8 Safety Settings After configuring the installation settings, you must configure the safety settings to protect users against the dangerous situation that can arise during robot operation. Warning Make sure to check safety settings immediately after the robot is installed. In addition, all of the functions for safety settings must be regularly checked.

  • Page 93: Default Settings

    Chapter 8 Safety Settings Default settings Depending on the limitation on each item, four sets of default settings are provided. If you want to use the default setting, check Preset and select one out of the four choices. Manual setting method If you want to set each item on your own, you can use the adjustment bar to change the value while Preset is not checked.
  • Page 94 Chapter 8 Safety Settings There are four different ways to limit the robot's movement. Torque: You can limit the max force that the robot(TCP) is exerting to the outside.  Force: TBD  Speed: You can limit the max speed for the TCP's linear movement. ...

  • Page 95: Setting Safety Boundaries

    Chapter 8 Safety Settings Setting Safety Boundaries To improve user safety, you can build virtual fences around the robot to prevent the TCP from moving beyond the boundary of these virtual fences. Safety Setting > Safety Boundary in the main menu. Press Adding safety boundary planes After adding multiple safety boundary planes, if necessary, you can select one of them...

  • Page 96: Viewing Safety Boundary Planes

    Chapter 8 Safety Settings In the Manual Move screen, use jog control and Direct Teaching button to set the boundary position. For more details on the Manual Move screen, refer to 5.3 Manual Move  Screen.  Your safety boundary will be created in a location that is separated from the center axis of the flange as much as the TCP length set in the TCP.

  • Page 97: Applying Safety Boundaries

    Chapter 8 Safety Settings  : To display in the preview screen.  : Not to display in the preview screen. Press the Info icon to check the coordinates for the safety boundary. Point: Indicates the center of the 3-D where the center of the safety boundary is located. ...

  • Page 98: Changing The Name Of Safety Boundaries

    Chapter 8 Safety Settings Press the Apply button. Press the Cancel button to cancel the modifications and revert to the previous  settings. Note If there are eight or more safety boundary planes in the list, press the up/ down button to scroll.
  • Page 99 Chapter 8 Safety Settings Press the OK button.

  • Page 100: Setting Tool Boundaries

    Chapter 8 Safety Settings Setting Tool Boundaries The user sets the safety boundary of the set tool, so that the tool does not go beyond the safety boundary of the set working area. Adding Tool Safety Boundary Surfaces The safety boundary of the tool can be set only for TCP settings that have already been set.

  • Page 101: Setting Tool Safety Boundary Surfaces

    Chapter 8 Safety Settings  Box: Box-shaped boundary surface with TCP as the center having the Z axis of the TCP as the height and the X axis as the width  Sphere: Spherical boundary surface with constant radius and with TCP as the center ...

  • Page 102: Setting Redundant I/O

    Chapter 8 Safety Settings Pressing the Apply/Cancel buttons simultaneously applies the safety reference boundary of the working area to the safety boundary of the tool. Setting Redundant I/O To guarantee the safety of the I/O terminal or input/output the important data, you can opt for using a redundant I/O, not a single I/O.
  • Page 103 Chapter 8 Safety Settings − Unassigned: The function is not assigned. − Emergency Stop: If the two designated inputs are all Low (0) and the actual emergency stop button is released, it operates as if the emergency stop button is released; and if any of the inputs is High (1), it operates as if the emergency button is pressed.

  • Page 104: Setting Safeguard I/O

    Chapter 8 Safety Settings Setting Safeguard I/O The user sets the safeguard stop. Safety Setting > Safe Guard. In the main menu, press Assign a Safeguard Stop function with the IO.  Click Apply button to apply to the system. ...

  • Page 105: Exceeding Safety Limit Of Joints

    Chapter 8 Safety Settings Exceeding Safety Limit of Joints If the safety limit of any joint is exceeded, information on the joint exceeding the safety limit is displayed at the top of the screen, as shown in the figure below. If the safety limit of a joint is exceeded, the system will not operate normally.

  • Page 106: Chapter 9 Programming

    Chapter 9 Programming Chapter 9 Programming You need to program the movement ahead of time if you want your robot to perform a certain task. Programming in the main menu. To program your robot, select How to Use Commands Selecting a flowchart There are two types of flow charts - main and sub.

  • Page 107: Type Of Commands

    Chapter 9 Programming Type of commands You can use the following commands in your programming - Move, If, Loop, Switch, Halt, Wait, Set, Loop, Pattern, Sub Program, and Vision. Set the point that the TCP will move to. Move 9.7 Move command For more details, refer to Branch the commands based on the conditions.

  • Page 108: Additional Commands

    Chapter 9 Programming Additional Commands In addition to the basic commands, the additional commands that appear when the View Command button is clicked are Folder, Message, Halt, Conveyor, Vision, Pattern, Script, and Path. Groups the created program command icons and bundles the Folder programs into a sub-folder.

  • Page 109: Entering Commands

    Chapter 9 Programming Entering commands Each time you press a command, it is inputted in the timeline one by one.  After programming is complete, select the icon to repeat the entire program continuously.  If it overflows to the next screen due to too many commands in the flow line, you can press the up/down or left/right buttons to scroll.

  • Page 110: Deleting Commands

    Chapter 9 Programming After entering a command in the timeline, press the command name to modify the name. Deleting commands Select a command to delete in the timeline. Press the Delete button. Searching Commands Click the Search button to display the search function on the screen. Enter the name of a command to be searched, and perform a search.

  • Page 111: Tree

    Chapter 9 Programming Check the Skip setting. Commands that have been set to Skip are grayed out, and will not be executed during program execution. Tree If you click the , all the commands programed are displayed in Tree structure. The commands in the Tree and the command icons in the flowchart are displayed in synchronization with selection or program progress.

  • Page 112: Setting Variables

    Chapter 9 Programming Setting Variables You can manage variables such as adding/deleting/modifying variables to be used in the program. Press the variable management menu button at the end of the command list. When you press the variable management button, a screen for variable management and monitoring is displayed at the top, as shown below.

  • Page 113: Modifying Variables

    Chapter 9 Programming Modifying variables Press the field if you need to change the variable name or value. Change it to the desired name or value and press the OK button.  The max length of variable is limited to 10 letters. ...

  • Page 114: Editing Programs

    Chapter 9 Programming Editing programs If you want to change the order or structure of commands entered in the timeline, then press the Edit menu button at the end of the command list. Note You can also press the command in the timeline for more than three seconds to open the Edit menu.

  • Page 115: Example Of Program Editing

    Chapter 9 Programming Example of program editing In this example, you can cut a command entered in the timeline and paste it onto another location. Select a program command to be pasted onto another location.  The red number marked when a command is selected indicates the order of pasting.

  • Page 116: Undo Function

    Chapter 9 Programming Press the Paste button. Undo Function You can use the edit function to undo edits made Undo to items. Redo You can redo an edit that has been undone. Note . Up to 50 steps are saved. .

  • Page 117: Anaging Arogram

    Chapter 9 Programming Managing a Program At the bottom of the programming window, press the File button to save, load or delete the program. Saving a program To save the completed program, select File > Save at the bottom of the screen. Enter the program name and press the OK button.

  • Page 118: Loading A Program

    Chapter 9 Programming Loading a program To load the saved program, select File > Load at the bottom of the screen. Select a program to load and press the OK button. Deleting a program To delete the saved program, select File > Load at the bottom of the screen. Select a program to delete and press the Delete button.

  • Page 119: Export As Script

    Chapter 9 Programming Export as script To save the program as a script, select File > Export as script at the bottom of the screen. Enter the file name and press the OK button. Export Program File You can save the program and the configuration file of current system To save the program, select File >...

  • Page 120: Using Templates

    Chapter 9 Programming Using Templates You can save the prepared program structure as a template. Only the entire program structure is saved but the option for each command is not saved. Saving as a template To save the completed program as a template, select Template > Save at the bottom of the screen.

  • Page 121: Loading A Template

    Chapter 9 Programming Loading a template To load the saved template, select Template > Load at the bottom of the screen. Select a template to load and press the OK button. Deleting a template To delete the saved template, select Template > Load at the bottom of the screen. Select a template to delete and press the Delete button.

  • Page 122: Applying Programs

    Chapter 9 Programming Applying programs Before applying the program results to the robot or actually using it, it is necessary to do a simulation. If you want to link the program to an actual robot or check it in previews, press the Apply button.

  • Page 123: Move Command

    Chapter 9 Programming Move command The command is used to move the robot arm by designating the destination and the movement method. Selecting a movement method There are three ways to move as follows and you can set the tool speed and acceleration for each method.
  • Page 124 Chapter 9 Programming Arc: A tool moves along the circumscribed circle whose center is the circumcenter of a  triangle formed by the starting point(S) and the two points (W Speed: 0.1 mm/s ~ 1000 mm/s Accel. (Acceleration): 0.1 mm/s ~ 2500 mm/s Note The TCP coordinates of the last position held by the robot are the...

  • Page 125: Radius Of Linear

    Chapter 9 Programming Radius of Linear If you use the radius in Linear movement and the next command is Linear movement, it moves the curve without stopping when moving between commands. The minimum radius is zero. If you set the radius to zero, then its path is not a curve. ...
  • Page 126 Chapter 9 Programming Select Blending (You can’t use it at the same time with Don’t stop at this point function)  Enter the radius. The maximum radius is calculated based on the coordinates of the next  move command as below. Moving path when radius within driving range : Start point of blending : Waypoint of blending and...

  • Page 127: Advanced

    Chapter 9 Programming Advanced The command is used to control digital output while moving. Select Advanced   Add the digital outputs to control and set the values of them.  Setting the coordinates for movement To set the movement coordinates, you can either use an absolute value that is fixed in the space or a relative value that is relative to the previous location.

  • Page 128: Displaying As Groups

    Chapter 9 Programming Fixed Point: The 3D coordinate is received from the robot's coordinate system and used  as the movement coordinate. Press the Set button to launch the Manual Move screen. For more details about the Manual Move screen, refer to 5.3 Manual Move Screen.

  • Page 129: If Command

    Chapter 9 Programming IF Command Use the command to initiate different commands depending on the condition. Enter the condition in an IF statement.  Press the text box to launch the formula keypad. For more details about the formula 5.4 Virtu al Keypad.

  • Page 130: Loop Command

    Chapter 9 Programming − When ElseIf is executed : If ElseIf is present in the child, execute the ElseIf program command that meets the current condition. If Else is present in the child, execute the Else program command. LOOP Command Use the command to repeatedly execute a series of commands.

  • Page 131: Switch Command

    Chapter 9 Programming command is stopped, the Loop command is stopped, and the next program command is executed. 9.10 SWITCH Command Use the command to execute a different command depending on each specific case. An IF command is executed after assessing all the conditions branching to Else IF, but a SWITCH command is executed immediately by finding the corresponding case, thus it is much faster than execution of an IF command.

  • Page 132: Wait Command

    Chapter 9 Programming 9.11 WAIT Command Instruct the robot to wait for a certain period. Disabled: Do not use a Wait command.  Waiting time: Enter the duration of waiting time.  Digital: Wait until a digital signal is inputted to a specific digital input terminal. ...

  • Page 133: Set Command

    Chapter 9 Programming SET Command 9.12 You can set a digital or analog output value or assign a specific value to a variable or even change the TCP profile currently in use. Disabled: Do not use a SET command.  Digital: Set a specific digital output value.

  • Page 134: Folder

    Chapter 9 Programming Folder 9.13 Program command icons can be grouped into folders. Change Programed Icons into Folder Click the Edit icon. Select icons that you want to group into folder. Click the Combine Folder icon.  When converting a folder, the folder is created at the last location of the program. Create New Folder In the Commands view, click the Folder icon to create a folder.

  • Page 135: Message

    Chapter 9 Programming 9.14 Message Displays a user-defined statement or variable in a pop-up or console window. The command can be added from the Command Extension tab. Output format  Pop-up: Displays a pop-up window with messages.  List: Displays messages in the lower left console window. Message operation If you set the message format as pop-up, you can specify the operation accordingly.

  • Page 136: Message Format

    Chapter 9 Programming Message format  User message: Outputs the message the user has entered.  Variable output: Selects the variable to which to output the value. Select message Write a message in advance and save the text file to the USB in UTF-8 format. ...

  • Page 137: Pattern Command

    Chapter 9 Programming 9.15 PATTERN Command If the robot repeatedly executes the same task along the same path, you can define it as a pattern by using this command. Pattern types There exist the following five types of patterns.  Stack pattern: In this pattern, the robot stacks objects while vertically moving with certain intervals.

  • Page 138: Setting The Pattern Coordinates

    Chapter 9 Programming  Box pattern: In this pattern, the robot also repeats the same task vertically which it performs in a square pattern. Setting the pattern coordinates After selecting a pattern to use, set the coordinates that determine the type of pattern. The following image illustrates a box pattern.

  • Page 139: Advanced Commands For Patterns

    Chapter 9 Programming Count (n): the number of repeated movements on a side  Interval (d): the distance that the robot moved each time  Note  If you do not enter the coordinates, the repeat count or the interval will not be displayed.

  • Page 140: Setting Pattern Points

    Chapter 9 Programming Setting pattern points If you enter a pattern command in the timeline, then the line to set the pattern point and icon will be added. When each pattern repeats, if you immediately move to the next destination, then you can get interfered by an obstacle. So, by using the pattern point setting, you can avoid collisions with them and smoothly continue with the next pattern task by selecting a desirable tool path.

  • Page 141: Using A Sub Program

    Chapter 9 Programming Using a Sub Program 9.16 In the main program, you can call multiple sub programs for use. Making a sub program In the flow chart, press the Sub tab. Press the subprogram button in the command menu of the Sub tab. Once the subprogram button is pressed, a new sub program will be created.

  • Page 142: Saving And Loading A Sub Program

    Chapter 9 Programming After pressing the sub program, create a program that will be used as a sub program.  Once the sub program is pressed, available commands will appear in the command menu and a time line will be created, so that you can prepare a program.
  • Page 143 Chapter 9 Programming Press the Sub-program button.  After selecting a sub program, the sub program name will be displayed on the button. Select a sub program for use and press the Select button. Once a sub program is selected, the subprogram command will be added to the timeline as shown below, and a sub program line will be added at the bottom to indicate the content of the sub program.

  • Page 144: Conveyor

    Chapter 9 Programming Note In the main program, you can modify the content of sub program but you cannot save it. If you want to save modifications made for the sub program in the main program, you must save it in the Sub tab. 9.17 Conveyor Executes operations linked with conveyor movement.

  • Page 145: Conveyor Start Options

    Chapter 9 Programming Conveyor Start Options If the I/O set in the trigger satisfies the condition, it starts tracking the conveyor.  Trigger : Set the I/O and condition that trigger the start of conveyor tracking. Only Digital Input is available. Setting Conveyor Command Set the actions to be executed during conveyor tracking.

  • Page 146: Vision Command

    Chapter 9 Programming VISION Command 9.18 You can communicate with a vision equipment by using the vision data configured in the Device Setting menu. Setting basic options Press the drop-down menu to select a desired vision equipment and set the waiting time and the data receiving option.

  • Page 147: Setting The Movement Location

    Chapter 9 Programming  The same input range of speed/acceleration is used as in linear movement.  Variable setting: If there is a variable registered by the user, it can be used to store whether to recognize the vision. If you select a variable, it stores the success or failure during program execution, and you can program it using the corresponding variable in the next program.

  • Page 148: Thread

    Chapter 9 Programming Thread 9.19 When a robot program is executed, it is possible to execute parallel programs that require IO and other controls in parallel with the Main program. However, Move-related commands cannot be used. Thread Tab Select the Thread tab to create a thread. Click the drop-down menu to select the vision device you want to use, and set the wait time and data reception options.

  • Page 149: Event Tab

    Chapter 9 Programming Note Commands to control the motion of the robot cannot be used. Event Tab Create Thread which has condition. Select the Event tab to create a Event. It’s same with Thread except using condition.

  • Page 150: Script

    Chapter 9 Programming Script 9.20 Provides the function to edit the robot script and set it as a robot command. Script Viewer Displays a created script. While the program is running, a line currently proceeding in real time is displayed on the screen. EDIT: You can edit the edit window by opening it.

  • Page 151: Path Command

    Chapter 9 Programming Path Command 9.21 You can create a motion by holding the robot arm directly. Recording Paths Starting to record Click the button and move the robot arm along the path you want to record. During recording, the recording status is displayed in a pop-up window, and can be canceled or stopped.
  • Page 152 Chapter 9 Programming  Import: Imports an already recorded motion.  Export: Saves the recorded motion separately.  Deduplicate path at the ends: If there are the same postures at the start and end points in the motion recording process, they are deleted. Note To execute the recorded motion, the Move coordinates immediately before the Path command and the start coordinates of the Path must match.

  • Page 153: Chapter 10 Starting The Robot

    Chapter 10 Starting the Robot Chapter 10 Starting the Robot Starting the robot means that you are powering up the servo motor and get ready for its operation. Robot Operation in the main menu. Select Note If your robot is already registered, then it will appear in the initial screen after booting up the system.

  • Page 154: Turning On/Off The Robot

    Chapter 10 Starting the Robot Turning ON/OFF the robot You can check the start/end status of your robot at present, and turn on or off the robot. ON: Power up the motor for the robot joints and get ready for robot operation. If the ...

  • Page 155: Checking And Setting The Robot Operation Data

    Chapter 10 Starting the Robot Checking and setting the robot operation data You can check the effective weight applied to the currently selected robot and quickly retrieve the saved robot settings and program and apply them to the system. Reset: If the robot is malfunctioning or uncontrollable temporarily then initialize the ...
  • Page 156 Chapter 10 Starting the Robot If the current coordinates of the robot are different with the start coordinates of the program, a pop-up window will be displayed for confirmation. If there is an obstacle at the start of the current coordinate and there is a possibility of a cllision, you can check it and move the robot to the safety position and start.

  • Page 157: Locking Screen

    Chapter 10 Starting the Robot Locking Screen Restricts the operation of the screen during program execution. All operations except screen lock button are restricted.

  • Page 158: Chapter 11 Monitoring

    Chapter 11 Monitoring Chapter 11 Monitoring You can check the selected robot's position/status and I/O status in real time. Monitoring the Robot 11.1 You can check the robot's position and status in real time. Monitoring > Robot Status in the main menu. Select Monitoring the robot positions In the robot position tab, you can check the position of the selected robot (joint angle...

  • Page 159: Checking The Robot Status

    Chapter 11 Monitoring Checking the robot status In the robot status tab, you can check the selected robot's power consumption, voltage or current. Note The monitoring values are displayed when the robot is running normally. 11.2 Monitoring Inputs/Outputs You can check and set the real time I/O status of robot. Monitoring >...

  • Page 160: Monitoring Controller Inputs/Outputs

    Chapter 11 Monitoring Input Output terminal terminal Monitoring controller inputs/outputs In the I/O Status tab, the status of signals transmitted to and received from the I/O terminal of the controller are displayed in real time.  You can press the I/O status icons to switch digital outputs to high and low. For example, if you press (High) then it switches to (Low).

  • Page 161: Monitoring Tool Inputs/Outputs

    Chapter 11 Monitoring Monitoring tool inputs/outputs In the Tool I/O Status tab, the status of signals transmitted to and received from the I/O terminal of the tool flange are displayed in real time.  A tool's digital inputs/outputs and analog inputs are set and displayed in the same way those of the controller are set and displayed.

  • Page 162: Utilization

    Chapter 11 Monitoring Utilization 11.3 You can check the robot's system operation time, servo start, and the program operation time information. Cumulative system operation time: Total cumulative system operation time from  production time to present Note The basic unit for collecting the operation time is every hour; as such, there may be error of up to one hour.

  • Page 163: Chapter 12 Device Setting

    Chapter 12 Device Setting Chapter 12 Device Setting You can link your robot to an external equipment such as a PLC, a vision equipment (object detection camera), and conveyor system. Note Different external equipment is supported depending on the software version.

  • Page 164: Registering Devices

    Chapter 12 Device Setting Registering Devices To use MODBUS I/O, register a device to share I/O information with. Press the Add button. Enter following information in the Add Device screen and press the Add button. Device Name: Enter the device name to be displayed on the screen. ...

  • Page 165: Editing/Copying The Device Settings

    Chapter 12 Device Setting Description: You may enter the description for the device. You can enter up  to 25 characters. Editing/copying the device settings You can modify settings for a device previously registered or copy the device settings to use as settings for a new device.

  • Page 166: Registering I/O

    Chapter 12 Device Setting Deleting a device in the list Select a device to delete from the list.  Check the check box for the device. button, and then press the OK button. Press the Delete  When you delete a device, I/Os for the device will be deleted as well. Registering I/O After you registered a device, you must set an I/O or I/Os for it.
  • Page 167 Chapter 12 Device Setting Digital Input: Reads digital values (High/Low) from a device.  Digital Output: Sends digital values (High/Low) to a device.  Register Input: Reads 2-byte values (0-65535) from a device.  Register Output: Sends 2-byte values (0-65535) to a device. ...

  • Page 168: Viewing The Communication Status

    Chapter 12 Device Setting Viewing the communication status After an I/O is registered, you can view its communication status. Normal Unable to connect Input value error Device response delay Address error Viewing and setting the I/O values After an I/O is registered, you can view or set its value. ...

  • Page 169: Editing I/O Settings

    Chapter 12 Device Setting − : High − : Low  Register Input: Indicates the value currently read from the device.  Register Output: Indicates the value being currently sent to the device. Press the value to change it. Editing I/O settings Press the Edit button of an I/O to be modified from the I/O list.

  • Page 170: Using A Vision System

    Chapter 12 Device Setting Using a Vision System 12.2 You can register the vision to be linked to the robot and configure necessary settings. Device Setting > Vision System. In the main menu, press To interwork with the vision, the following two steps are required. Vision System Setting ...

  • Page 171: Adding And Setting Vision Equipment

    Chapter 12 Device Setting Robot System Setting  Interworking vision setting: Sets the model and communication connection information of the vision to be interworked. Vision workspace setting: One vision camera can have a number of vision work areas, and by using the information set by the 'Vision workspace setting,' the vision coordinates recognized by the vision are converted into the robot coordinates to move the robot.
  • Page 172 Chapter 12 Device Setting Note To perform the connection test correctly, the vision system and our system must be connected to a single network before the test. Vision Type: Select a type of vision installation.  Embedded: Attached to the robot arm. −...

  • Page 173: Setting Vision Workspace

    Chapter 12 Device Setting Setting Vision Workspace 12.4 Vision workspace setting sets information to change the vision coordinate recognized by the vision to the robot coordinates. Up to 5 workspaces can be set for one vision. Adding Vision Workspace To add a vision workspace, select the vision already added from ...

  • Page 174: Understanding Rotation Offsets

    Chapter 12 Device Setting  Vision Test: Test vision with the set values.  Set Points: It matches the number of guide image and is activated by clicking the number. The initial value is ‘0’. At each number, enter the robot coordinate values and the coordinates of the vision system at that point.
  • Page 175 Chapter 12 Device Setting A. When the scanning location and the robot's location are on the same line B. When the scanning location and the robot's location are shifted by X°...

  • Page 176: Chapter 13 Environment Setting

    Chapter 13 Environment Setting Chapter 13 Environment Setting 13.1 General Setting You can select the desired UI language and unit also set the time/date. SW Configuration > General. In the main menu, press Language Selection: You can select a language for the UI. ...

  • Page 177: Network Setting

    Chapter 13 Environment Setting Note The language and unit settings are immediately applied to the system without restarting it, but the time/date are applied to the system after restarting it. Network setting 13.2 You can configure the network settings for Ethernet communication of your operation software.

  • Page 178: Chapter 14 Turning Off The System

    Chapter 14 Turning Off the System Chapter 14 Turning Off the System 14.1 Shutting Down the Operation Software To shut down the operation software, proceed as follows. SW Configuration > Shutdown in the main menu. Select Press the OK button. Note ...

  • Page 179: Chapter 15 Maintenance

    An inspector should prepare and execute an inspection plan. The following items require periodic inspections. If you found some problems during inspections, and you can resolve them on your own, contact Hanwha Precision Machinery Co. Inspection item...

  • Page 180: Checking The Robot Arm

    Chapter 15 Maintenance Checking the Robot Arm 15.2 Inspection period Inspect at least once every 6 months. The inspection period may vary depending on the inspection area. Checking and cleaning the robot arm Move the robot arm to home. Turn on the controller. Check the followings.

  • Page 181: Cleaning And Replacing The Filter

    Chapter 15 Maintenance If there are dusts, then use a vacuum cleaner to carefully remove dusts. Check if the connector cables are connected properly. Cleaning and replacing the filter The controller has an air suction hole and an air discharge hole, which have dust filter mounted in them.

  • Page 182: Viewing And Managing Logs

    Chapter 15 Maintenance Viewing and Managing Logs 15.4 You can view and manage the logs for the operation system. Select Management > Log in the main menu. Deleting Logs Press the Delete button and the log data found will be deleted. Exporting Logs Press the Export button.

  • Page 183: Managing The Robot System Configuration

    Chapter 15 Maintenance When export is finished, a folder in the form of 'date-time' is created at the selected location, and the log data are saved in the folder along with the robot configuration and program files. 15.5 Managing the Robot System Configuration You can save the robot configuration in a local or external storage device or retrieve the saved robot configuration from them.

  • Page 184: Factory Reset

    Chapter 15 Maintenance Factory reset Initializes the system to its factory settings.  A warning message is displayed twice before the reset is performed.  When the factory reset is complete, the system restarts. Note If you perform a factory reset, all information including the robot information will be deleted.

  • Page 185: Importing The Configurations

    Chapter 15 Maintenance Select the file path to export. Press the refresh button to update the storage list and the file list.  Press the filename input field and enter the filename. Filename is limited to 25 letters, and empty character is not allowed. ...
  • Page 186 Chapter 15 Maintenance When the confirmation window appears, press YES.

  • Page 187: Software Update

     The update function is not available for general users but for the user with a certain authority. If you need an update, contact Hanwha Precision Machinery or a local service center. Updating software...
  • Page 188 Chapter 15 Maintenance In the software update screen, press the Import button. Select an update file in the correct location and press the OK button.  The extension of the update file is "tgos", and the update file name contains its version.

  • Page 189: Appendix Awarranty

    Appendix A Warranty Refer to the contract between the sales team and you. Warranty Our company guarantees specifications, quality and reliability that our customer demands during the warranty period. Warranty period One year since the date of equipment purchase (varies depending on the contract between our company and you.) Limitation of Liability ...

  • Page 190: Appendix Bcertification

    Appendix B Certification Safety...

  • Page 191: Md(Machinery Directive)

    MD(Machinery Directive)

  • Page 192: Lvd(Low Voltage Directive)

    LVD(Low Voltage Directive)

  • Page 193: Emc

    EMC (Electro Magnetic Compatibility...

  • Page 194: Appendix Cdimensions For Installation

    Appendix C Dimensions for Installation...

  • Page 195: Appendix Dtool Flange Cross Section

    Appendix D Tool Flange Cross Section The tool flange is designed suitable for ISO9409-1-50-4-M6.

  • Page 196: Appendix Eport Pin Map

    Appendix E Port Pin Map Ports in the tool flange have the following specifications.  Tool I/O: SACC-DSI-M8FS-8CON-M8/0,5 – 1458790 Port Layout Pin number Signal Color Analog Input Ch 1 White Analog Input Ch 0 Brown Digital Input Ch 0 Green Digital Input Ch 1 Yellow...

  • Page 197: Appendix Fsystem Specifications

    Appendix F System Specifications Degree of freedom Base weight 3 kg Working radius 630 mm Joint rage ±360°(J3: ±160°, J6: ±Infinited) Repeatability ±0.1 mm Weight 13 kg Bottom area size Ø128 mm Temperature 0 – 50° IP class IP64 (Robot Arm) / IP20 (Robot Controller) Power supply 100 –...

  • Page 198: Appendix Gstopping Time And Distance

    Appendix G Stopping Time and Distance Stopping time and distance for stop category 1 The robot configuration to measure the stopping time and the stopping distance for the stop category 1 is as follows:  Position: Maximum load position (the position of the robot arm fully stretched horizontally to make the maximum load) ...
  • Page 199 Stopping time for stop category 1 The robot configuration to measure the stopping time for the stop category 1 is as follows:  Position: Maximum load position (the position of the robot arm fully stretched horizontally to make the maximum load) ...
  • Page 202 Hanwha Address Hanwha Precision Machinery R&D Center, 6, Pangyo-ro 319 Precision beon-gil, Bundang-gu, Seongnam-si, Gyeonggi-do (13488), Republic Machinery of Korea Co., Ltd. Email robot_inquiry@hanwha.com Homepage https://www.hanwharobotics.com...

Table of Contents