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Turin TKB80306 Technical Manual

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Shanghai Turing Intelligent
Manufacturing Robot Co. LTD

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  • Page 1 Shanghai Turing Intelligent Manufacturing Robot Co. LTD...
  • Page 2 The statement This manual gives a comprehensive description of the composition and operation of Turing industrial robots. Please be sure to read and fully understand the basis of the operation of the robot. The illustration in the maintenance manual removes the cover or safety cover for drawing for details.

  • Page 3: Table Of Contents

    Directory Chapter 1 System security....................1 1.1 Brief introduction of safety precautions..............1 1.2 General safety precautions..................1 1.2.1 Safety precautions for the robot system............1 1.2.2 Security Risk....................1 1.2.3 Safety behavior....................3 1.2.4 Emergency stop....................4 1.3 Safety precautions for robot operation..............5 1.3.1 Introduce safety signs..................5 1.3.2 Potentially fatal....................
  • Page 4 3.2.4 Manual speed selection................. 26 3.2.5 Manually operated robot................26 3.3 Programming......................26 3.3.1 Add an instruction..................26 3.3.2 Deletion of instructions.................28 3.3.3 Command editing..................29 3.3.4 Write a program.................... 29 3.4 Program instructions....................30 3.4.1 Motion instruction..................30 3.4.2 Coordinate system and coordinate point instructions........35 3.4.3 Input/output signal processing instructions...........37 3.4.4 Process instruction..................
  • Page 5 Chapter 5 Process technology..................60 5.1 Welding process...................... 60 5.1.1 Welding process description................60 5.1.2 Welding parameter setting................60 5.1.3 Welding process instruction................63 5.2 Palletizing process....................63 5.2.1 Typical palletizing applications..............63 5.2.2 Set palletizing parameters................64 5.2.3 Write a palletizing program................64 5.3 Vision and tracking process..................65 5.3.1 Network connection configuration..............65 5.3.2 Trigger method....................
  • Page 6 8.2 Common faults and treatment................. 82 IV IV...

  • Page 7: Chapter 1 System Security

    Chapter 1 System security 1.1 Brief introduction of safety precautions The safety precautions in this chapter are divided into two parts: The first part is general safety precautions, which are generally applicable to all types of robots. See 1.2 for details The second part is safety precautions for robots, mainly introducing safety precautions for robot operation and usage.
  • Page 8 10. It is strictly prohibited to rely on the electric control cabinet or touch the button at will to prevent the robot from acting as expected and causing personal injury or equipment damage. 3) Safety considerations for integrators 1. The integration supplier must confirm that all safety circuits are interlocked with externally applied safety circuits;...

  • Page 9: Safety Behavior

    Residual energy: After the gas source or hydraulic pump is turned off, there are residual gases/liquids in the pneumatic/hydraulic system. These gases/liquids have a certain amount of energy. Certain measures must be taken to prevent the residual energy from harming the human body and equipment. Before servicing pneumatic and hydraulic components, the energy remaining in the system needs to be released.

  • Page 10: Emergency Stop

    3. Mark each joint 4. After a period of time to see whether the robot's joints move. 4）Use the teaching box safely Enable is a MOT button on the teaching box. When pressed, the servo motor is enabled; when it is disconnected, the servo motor is disconnected and enabled.

  • Page 11: Safety Precautions For Robot Operation

    servo motors. 2. A controllable emergency stop, which stops the robot by giving a command to the servo motor, so that the robot can complete the path, and when the path is completed, the servo motor stops supplying power. Note: Emergency stop can only be used when it is really needed, it is indeed an emergency.

  • Page 12: Potentially Fatal

    Forbid Absolutely prohibited matters. 1.3.2 Potentially fatal Overview: Any working robot is a potentially fatal machine. When running, the robot may have unpredictable movements. All movements have strong forces that may cause serious injury to people in the early working range or equipment Cause damage. Avoidance: Before preparing the robot to work, test the reliability of each safety measure (brake).

  • Page 13: Gearbox Danger

    4. When installing a tool to the robot, be sure to turn OFF the power supply on the control cabinet and the installed tool and lock the power switch, and hang a warning sign. If the power is turned on during installation, it may cause electric shock or abnormal movement of the robot, which may cause injury.

  • Page 14: Operation Notes

    The amount of refueling So drain the oil completely depends on how much oil or check the oil indicator is contained in the oil port after filling the oil chamber. More Refueling volume depends needed and more oil needs on the actual situation to be discharged, and less oil needs less oil.

  • Page 15: Chapter 2 Robot Roundup

    Chapter 2 Robot Roundup 2.1 Robot axis 2.1.1 Definition of robot axis The robot axis can be a rotary axis or a translation axis, and the operation mode of the axis is determined by the mechanical structure. The robot axis is divided into the motion axis of the robot body and the external axis. The external shaft is divided into sliding table and positioner.

  • Page 16: Robot Coordinate System

    Fig. 2-2 SCARA (STH030-500) movement diagram of each axis Figure 2-3 Schematic diagram of the movement of each axis of the palletizing robot (TKB4600) Note: The definition of the movement direction of each joint follows the right-hand rule. That is: the right hand is holding the joint rotation axis, and the thumb is in the positive direction of the world coordinates (see 2.2.1).

  • Page 17: Joint Coordinate System

    Cartesian coordinate system ◆ The center of the end flange of the robot runs in the set X, Y, and Z directions. Tool coordinate system ◆ The tool coordinate system is located at the center of the tool and is defined by the user.

  • Page 18: Tool Coordinate System

    corresponding ones of J1-J6 are X/Y/Z/RX/RY/RZ. Note: When the fifth joint is in the zero position, the robot is at a singular point. In this case, rectangular coordinates cannot be used for teaching. You should first switch to the【joint】 coordinate system and move the five axes out of the zero position. 2.2.3 Tool coordinate system 1) Definition of tool coordinate system Figure 2-5 Tool coordinate system diagram...
  • Page 19 Step 4: Click Calculate, and then click Save. Figure 2-6 Tool coordinate calibration Note: Before calibrating the tool coordinates, the robot should first return to the zero position. The zero position is very important for the accuracy of the tool coordinates.

  • Page 20: User Coordinate System

    【rectangular】coordinate system to obtain point P6, namely The X direction of the tool coordinate is the same as the X direction of the rectangular coordinate). 3) SCARA tool coordinate calibration Step 1: make two tip calibration rods (the sharper the better), one is installed at the center of the tool to be calibrated (you can use the tip of the tool itself), and the other is placed horizontally on the workbench (you can use it in the second step Placed).

  • Page 21: Robot Zero Point And Calibration

    Step 1: Determine the working space to be calibrated. Step 2: Move the robot with the operating tool to the origin of the coordinate system, and record this point as point 1. Step 3: Move the robot with the operating tool to any point on the X axis of the coordinate system, and record the point as point 2.
  • Page 22 Figure 2-10 Robot zero calibration When the robot is in the zero position, its posture is as shown below. Figure 2-11 Zero position robot When the robot zero position is lost, it is necessary to make a preliminary judgment to determine the zero position, and then use the software to correct the deviation (see 2.3.3).

  • Page 23: Battery Replacement

    Figure 2-12 Keyway and scale zero mark 2.3.2 Battery replacement When the encoder battery low voltage alarm occurs, the battery needs to be replaced. During annual maintenance, the battery voltage needs to be checked. The specific operation is as follows: open the small cover plate of the encoder battery on the back of the robot base, and measure the battery voltage with a multimeter.

  • Page 24: Twenty-Point Correction Method

    Figure 2-14 Four-axis robot encoder battery Note: When replacing the battery, the robot needs to return to zero position, and use the motor brake to lock the robot joint. After the replacement is completed, the zero point needs to be re-calibrated. If you accidentally lose the zero position, you need to recalibrate. 2.3.3 Twenty-point correction method Before calibration, it is necessary to ensure that the robot's link parameters, reduction ratio, and coupling ratio are accurate, and the zero position needs to be within the...
  • Page 25 Figure 2-15 Twenty-point calibration Description: ◆When making 20 points of a six-axis robot, make the tip calibration rod on the robot form a certain angle with the tip calibration rod on the worktable, and align them. Twenty points are scattered around (see Figure 2-16), and the greater the difference in the posture of the robot, the better.
  • Page 26 Figure 2-17 Four-axis robot 20-point calibration Step 4: Switch to【Parameter Setting】-【Basic Setting】->【20 Point Calibration】 on the teach pendant, select the script file created in the second step, and click【Calculate】. During the calculation, a window will pop up to show the progress. After the calculation is completed, click 【...
  • Page 27 Figure 2-18 Twenty-point calibration The following explains the 20-point calculation results: Fig. 2-19 Calculation result of 20-point calibration 【NormErr】: Tool coordinate error 【DeltaDH】: Calculated connecting rod parameter error 【DeltaZero】: Calculated zero error Note: Generally speaking, the value of calibration will not exceed 5mm. If it exceeds 5mm, it may be the problem of joint parameter setting.

  • Page 28: Chapter 3 Basic Programming

    Chapter 3 Basic programming 3.1 Introduction to Teach Pendant Before learning to operate a Turing robot, first know the Turing Teach Pendant. For safety reasons, safety precautions and operating specifications are also mentioned. ● The key switch selects local ● Confirm whether the emergency stop button can work normally ●...

  • Page 29: User Interface

    motor is powered on. Screen area: The screen is an 8-inch resistive screen, pressure sensitive. Button panel: commonly used function buttons, the specific functions are shown in the table below. Table 3-1 Teach pendant key function comparison table Button Features F1~F4 Custom function One axis (external axis one axis) forward...

  • Page 30: Teach Pendant Operation Specification

    3.1.3 Teach pendant operation specification For safety reasons, perform the following operations before teaching. The key switch selects manual mode to prevent misoperation. Confirm whether the emergency stop button can work normally, when the enable switch is pressed, the servo motor is under strong power. The correct operation of the Teach Pendant should be: hold the Teach Pendant at the bottom with your left hand, pass the fastening belt on the back of your hand, and press the enable switch with four fingers, as shown in the figure.

  • Page 31: Coordinate System Selection

    Figure 3-4 System login 3.2.2 Coordinate system selection The default motion coordinates of the robot are joint coordinates. Figure 3-5 Coordinate system selection Select the coordinate system selection in the toolbar on the upper right corner of the touch screen, there are "joint", "right angle", "tool", "user" and "positioner" (external axis) coordinate system can be selected, you can switch the robot coordinate system To the corresponding coordinate system.

  • Page 32: Manual Speed Selection

    Figure 3-6 Selection of tool coordinates and user coordinates 3.2.4 Manual speed selection The maximum speed of the robot under manual operation is 25% of the rated speed. Figure 3-7 Manual speed selection Click "Speed" in the upper right corner of the touch screen to set the robot movement speed for manual teaching.
  • Page 33 Figure 3-8 Add instruction Enter the value in the pop-up window and click [【New】. Figure 3-9 New command After completion, see the figure below.

  • Page 34: Deletion Of Instructions

    Figure 3-10 New command Note: When adding an instruction, a new instruction is added after the instruction selected by the cursor by default. When the cursor selects the first line to add an instruction, a dialog window will pop up. Please select the first line or the second line. Figure 3-11 Position of the first command line 3.3.2 Deletion of instructions Select the command to be deleted, click 【Delete Command】...

  • Page 35: Command Editing

    Figure 3-12 Delete command 3.3.3 Command editing Select the command that needs to be edited and click 【 Edit Command】 , a menu of edit commands will pop up, and edit the command as required. Figure 3-13 Edit command 3.3.4 Write a program A program has no specific format and framework.

  • Page 36: Program Instructions

    refer to the "Debugging Manual". A simple program example is listed below. Figure 3-14 Program case 3.4 Program instructions As shown in the figure, this is a collection of program instructions on the current teach pendant. In the following chapters, instructions will be divided into five categories and introduced separately.
  • Page 37 The position data records the current position information of the robot, and records the position information while recording the motion instruction. The motion type specifies the trajectory between the teaching points during execution. Robots generally support three types of motion: joint motion (MOVJ), linear motion (MOVL), and circular motion (MOVC).
  • Page 38 Figure 3-17 Position information of joint motion command 2) Linear motion type When the robot needs to move to the current teaching point through a linear path, the linear motion type is used. The motion command corresponding to the linear motion type is 【...
  • Page 39 Figure 3-19 Position information of linear motion command 3) Circular motion type When the robot needs to move to the current teaching point through the circular path, the circular motion type is adopted. The motion command corresponding to the circular motion type is【Circular motion] 】(English command is MOVC).
  • Page 40 Continue to move the machine to the end of the arc, click 【 Add Command 】 -> 【Motion Command】 ->【Circle Motion] 】 to set the parameters and create a new one, as shown in the figure below after success. Such a complete circular arc trajectory composed of two【circular arc motion】instructions is established.

  • Page 41: Coordinate System And Coordinate Point Instructions

    Figure 3-24 Editing motion instructions 3.4.2 Coordinate system and coordinate point instructions 1) Coordinate system instruction Coordinate system instructions can automatically modify coordinate system information in the program. The overall offset coordinate system can offset all motion commands based on this coordinate system in the program.
  • Page 42 Figure 3-26 Tool coordinate system offset Add offset to user coordinate system: Figure 3-27 User coordinate system offset 2) Coordinate point instruction The coordinate point instruction is for the coordinate point variable, and the coordinate point register is read and modified. It is often used when guiding robots with machine vision.

  • Page 43: Input/Output Signal Processing Instructions

    Figure 3-28 Coordinate point command 3.4.3 Input/output signal processing instructions 1) Control IO output Control the target IO output port status. If the negation function is set, it can be negated automatically after a certain time delay. Figure 3-29 Control IO output 2) Wait for IO input The program is blocked here.
  • Page 44 Figure 3-30 Waiting for IO input 3) IO input jump When the target input port meets the set conditions, the program automatically jumps to the corresponding mark. Figure 3-31 IO input jump 4) Trigger actions during exercise The instruction is added before the motion instruction. Corresponding actions can be executed during the movement of the motion instruction, for example: IO output, variable change, etc.

  • Page 45: Process Instruction

    Figure 3-33 Trigger stop during movement 3.4.4 Process instruction The technology instruction is an instruction to call the function of the technology package of the controller program. For details, please refer to Chapter 5 and "Debugging Manual". 3.4.5 General instructions and logic instructions 1.
  • Page 46 Figure 3-35 Variable operation 【Delay】: After the delay instruction is executed for a set time, continue to execute the next instruction. Figure 3-36 New Delay 【Notes】: Add comments to the program to increase the readability of the program. Figure 3-37 New Note 2.
  • Page 47 Figure 3-38 Logic instructions Conditional statement: If one of the conditional statements corresponds to the end of a condition, it is used to judge multiple states. Otherwise, if not, otherwise the compilation cannot pass. When judging again under a condition, you need to add a conditional statement again using a nested structure.
  • Page 48 Figure 3-40 Loop statement Wait statement: make the program continue to execute after it meets the set state. Figure 3-41 Waiting statement Jump statement: Unconditional jump. Once the program executes the "jump to" instruction, the next step is to find the corresponding mark and continue running. Figure 3-42 Jump statement Program-related operations: instructions related to program control.

  • Page 49: Program File Management

    3.5 Program file management The result of teaching exists in the form of a program. The program is composed of instructions. The instructions include not only motion instructions, but also control instructions, IO instructions, etc. A program formed by different instructions can perform a variety of functions including robot motion.

  • Page 50: Rename Program

    Figure 3-45 New File 3.5.3 Rename program Select the file and click【Rename】. After modifying the name, click【Rename】. As shown below: Figure 3-46 Rename file 3.5.4 Remove program Select the program to be deleted and click【Delete] 】->【OK】. As shown below:...

  • Page 51: Finder And File Sorting

    Figure 3-47 Delete program 3.5.5 Finder and file sorting 1) Finder In a more complicated program, if you want to quickly move the cursor to the place that needs to be modified, you can use the search function. In the teaching mode, click the 【Search】...
  • Page 52 Figure 3-49 Sorting files...

  • Page 53: Chapter 4 Advanced Robot Debugging

    Chapter 4 Advanced robot debugging 4.1 Input/ Output 4.1.1 I/O control During the use of the robot, it communicates with peripheral equipment through IO signals. After hard wiring, the user needs to check the current IO status. You can use 【Monitor/Control】>【Input/Output] 】->【I/O Control】to view the current IO status.

  • Page 54: Encoder

    Figure 4-2 DA control 4.1.3 Encoder Use the tracking process to coordinate with the conveyor belt. After establishing communication with the encoder, check the current position and running status of the encoder through【Monitor/Control】->【Encode】. Figure 4-3 Econder 4.2 Variable 4.2.1 Variable usage instructions 1) Variable type There are three types of variables that can be used in the control system, which are numeric variables (floating point numbers), character variables (1024 bytes), and...

  • Page 55: Variable Use

    coordinate point variables (save space and joints respectively, that is, there can be no kinematic relationship between the two). 2) Variable scope To be precise, there are three scope variables in the system, namely system variables, global variables and file variables. System variables: The system variable life cycle is created and destroyed as the system starts/stops.
  • Page 56 Figure 4-4 System V variables Figure 4-5 System S variables...
  • Page 57 Figure 4-6 System P variables The above three interfaces are digital variable operation interface, character variable operation interface and coordinate point variable operation interface. System variables and file variables operate in the same way. Among them file variables. The file variables of the file currently being opened are displayed.

  • Page 58: Variable Automatic Storage

    4.2.3 Variable automatic storage Figure 4-7 Automatically storing variables When the corresponding variable is automatically stored as on, the system always monitors the variable that has been used in the script, and when its value changes, it will be immediately stored in the file. In order to use the changed value the next time the script is started.

  • Page 59: Interference Area Setting

    1. Base condition number: 1~10 2. Reference condition switch: on/off. 3. Note: make a note for the current reference point. 4. Output IO at the reference point: When the robot position reaches the position of the reference point, IO outputs a high level, otherwise enters a low level. 5.

  • Page 60: Ethernet Communication

    4. Detection method: the reference method for detecting whether the robot is at the reference point. There is a command position or current position. 5. Output IO when entering the area: enter the area to output low level, otherwise output high level. 6.
  • Page 61 Select【Parameter Setting】 ->【System Maintenance】 ->【Exit System】 ->【Exit Controller System】, the interface is as follows: Figure 4-12 Exit the control system Exit the TURIN controller system, enter the Ubuntu desktop, the network icon in the upper right corner of the stand-alone interface, the interface is as follows:...
  • Page 62 Figure 4-15 Restart the system First enable the network, and choose to edit the connection: Figure 4-14 Enabling the network and connecting to the network Edit IP: Figure 4-15 Edit IP Select manual IP, configure the IP as shown below, save it, and then restart the system.

  • Page 63: View Ethernet Status

    Figure 4-16 Restart the system 4.4.2 View Ethernet status Set the IP address, if there is an external device connected, you can check the Ethernet status, as shown below: Figure 4-17 View Ethernet status The parameters related to the Ethernet address are consistent with the set values, that is, the settings are correct.

  • Page 64: Remote Browsing And Remote Commands

    Figure 4-18 Communication test The IP address is set as the destination IP address. Click Start, and the interface shown below is displayed, indicating that the two parties have successfully connected. Figure 4-19 Successful connection interface 4.5 Remote browsing and remote commands 4.5.1 Remote interface operation If the user needs not to use the teaching pendant, the robot interface can be accessed through the host computer browser.
  • Page 65 the same network segment as the robot, set the connection port number to the port number configured by the robot (default 8527), note that the port cannot be set to 502 (this port setting is set to modbus by default tcp communication port). Then the standard XML format function will be used to open the interface as shown below.

  • Page 66: Chapter 5 Process Technology

    Chapter 5 Process technology Turing industrial robots provide special process software packages for several different applications, including: welding, palletizing, spraying, and visual tracking. Turing will provide as many process software packages as possible according to the needs of the actual application. 5.1 Welding process 5.1.1 Welding process description At present, the welding process software package provided by Turing is mainly aimed...
  • Page 67 Figure 5-1 Welding settings The next two figures are the matching table of the welding machine voltage and current, that is, the two analog voltages (0-10v) output by the controller are matched with the voltage and current displayed on the welding machine, so that they can operate according to the welding machine during welding The voltage and current are reversely calculated to calculate the voltage value that the controller needs to output.
  • Page 68 Figure 5-3 Welding current matching Swing arc setting: During the welding process, the robot can swing the welding gun, which can achieve special welding process requirements and optimize the welding seam formation. The following figure: Figure 5-4 Swing arc setting In the "Swing arc setting"...

  • Page 69: Welding Process Instruction

    5.1.3 Welding process instruction ●Arc starting: Welding arc starting can choose a variety of arc starting methods, as shown in the following figure set to "arc starting method 1". Arc starting command, by setting welding arc starting parameters, for welding arc starting, through the program setting interface to "Welding process"...

  • Page 70: Set Palletizing Parameters

    5.2.2 Set palletizing parameters Set the palletizing parameters in【Process】->【Palletizing Process】->【Palletizing Settings】. a. First set the correct number of rows, columns and layers. b. Set the coordinates of the origin of the placement, teach it to the point a in the figure above, and then click "Copy from current position"...

  • Page 71: Vision And Tracking Process

    Figure 5-8 Example of palletizing program 5.3 Vision and tracking process 5.3.1 Network connection configuration Figure 5-9 Network connection 5.3.2 Trigger method This interface sets the mode that triggers the start of tracking. For example, receiving external IO signals to start tracking, receiving network commands to start tracking, etc.

  • Page 72: Track

    Figure 5-10 Trigger mode 5.3.3 Track The tracking setting interface requires the user to measure the resolution and set the tracking direction and tracking interval. Figure 5-11 Tracking settings 5.3.4 Disk tracking calibration When the tracking track is an arc track, the user needs to calibrate the arc track. The simple translation tracking method does not need to set the disk tracking calibration.
  • Page 73 coordinates to perform actions. Just install the calibration board at the end of the robot and run the calibration script automatically. Eliminate the need for manual calibration. Figure 5-13 Calibration...

  • Page 74: Chapter 6 System Parameters

    Chapter 6 System parameters 6.1 Basic Settings All the parameter settings in this section change the basic parameters of the robot, which will affect the use of the robot. Before setting the parameters, you must confirm the correctness of the steps and parameters before saving. The basic setting interface of the teach pendant is shown below.

  • Page 75: Joint Parameters

    Figure 6-2 Connecting rod parameters 6.1.3 Joint parameters We can set the joint parameters of each axis, joint parameter index 1-9, the displayed parameters of each axis, maximum speed, maximum acceleration, maximum stop speed, joint angle limit and so on. This parameter affects the running speed of the robot, and the customer cannot modify it by himself.

  • Page 76: Spatial Parameters

    6.1.4 Spatial parameters The space parameter sets the linear running speed of the robot. When running along the Cartesian coordinate system, it involves attitude changes and requires multi-axis coordination. Therefore, the customer cannot modify it by himself, otherwise an overspeed alarm will occur, and the robot will be damaged in severe cases, or the trajectory will change and hit the surrounding equipment.

  • Page 77: Robot Model

    Figure 6-5 Twenty-point calibration 6.1.6 Robot model This function is only used for the factory test of the robot. The customer is not allowed to modify it at any time, nor does it require modification. This function will modify all the factory parameter settings of the robot, the joint parameters of each axis, the space parameters, the zero link and the tool.

  • Page 78: Log Print Settings

    button input source selects a non-subsystem, it is set to the traditional mode. Non-jog cannot be used in subprograms, and it cannot be stepped back to the main program after use. New method: When the button input source is set to a subsystem, a new method (jog mode) must be set, which is faster.
  • Page 79 Figure 6-8 Log print settings...

  • Page 80: Chapter 7 System Maintenance

    2. Copy the controller software system package (such as turin-package-V1.6.1-2017-1024-123306.tar.gz) to the home directory (other directory pages are available, this document is recommended to be placed in the home directory), and unpack compression. The decompression method is to right-click the file and select Extract here.
  • Page 81 5. Execute the installation command: the new version only needs to execute one command to complete the installation. sudo ./turin tools install (by the way, uninstall is executed in any directory, sudo turin-toolsuninstall, note: the "./" character is missing, and...

  • Page 82: Upgrade From Version 1.6 And Above

    Figure 7-7 Installation process Under normal circumstances, the installation process did not show "error" or "error", which means that the installation was successful.Restart the operating system at this time. 6. Serial number and license: Figure 7-8 Update product license After the system starts, if the system alarms and prompts that the license expires. At this time, the system serial number needs to be sent to the after-sales service department.

  • Page 83: System Backup

    the new system. The system upgrade is now complete. Figure 7-9 New system upgrade 7.2 System backup If the software system needs to be backed up, or when there are operational problems that need to be resolved by the manufacturer, the customer is generally required to provide some operational-related parameters.

  • Page 84: System Recovery

    Figure 7-10 System backup 7.3 system recovery When using the system recovery function, you must make sure that the data on the machine can be overwritten, otherwise the data on the machine cannot be retrieved after the system is restored. Since the program of one system may need to be placed on another robot, the function of system recovery is needed.

  • Page 85: Exit System

    Figure 7-11 System Recovery 7.4 Exit system The operating software of the TURIN controller is developed based on the ubuntu system. The user can exit or restart the robot's controller software. In addition, you can also shut down and restart the operating system (ubuntu). When copying and pasting files, it is recommended to restart the operating system, otherwise the files will only be written to the cache.

  • Page 86: How To Copy Files From And Robot To U Disk

    7.5.1 How to copy files from and robot to U disk First insert the U disk into the USB socket of the robot industrial control board, and then select 【Parameter Settings】 -> 【System Maintenance】 -> 【File Copy】 . As shown below: Figure 7-13 File directory On the left is the folder of the robot, each folder corresponds to a different file.

  • Page 87: How To Copy The U Disk File To The Robot System

    Figure 7-14 File copy 7.5.2 How to copy the U disk file to the robot system Select the target directory to be copied to on the left, select the file to be copied on the right, and click to copy the U disk file to the robot control system, as shown in Figure 7-14.

  • Page 88: Chapter 8 Troubleshooting

    Chapter 8 Troubleshooting 8.1 Run log The operation log will show the status of the robot during its operation. The displayed content is related to the log print settings above. The upper row of the interface is to display the filtering of the content of the log script. The checked option means that the log information of the level in the log script is displayed, and it is only used for filtering.
  • Page 89 Table 8-1 Common robot troubleshooting Content Troubleshooting Problem analysis Solution Emergency stop Press the pressure Abnormal 1. Change or enable switch and communication upgrade the system turn the 1. The software version teach/replay switch version is abnormal 2. Replace the key.
  • Page 90 slave status error 0x00010014 Accessory error (status code)*/ 0x00010015 Station address is missing (or slave station is missing)-FPRD to AL_STATUS failed*/ 0x00010017 SoE mbox send: work counter error*/ 0x00010018 SoE mbox write response error*/ 0x00010019 CoE mbox SDO abort*/ 0x0001001a The client registration is deleted, and ecatConfigureMaster of other threads (RAS) */may be called 0x0001001b...

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