SIASUN SCR5 User Manual

Collaborative robot

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Collaborative Robot User Manual

SIASUN Collaborative

Robot User Manual

（Software）

Robot: SCR5

（Software V2.3.x）

SIASUN Co., Ltd

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Page 1 Collaborative Robot User Manual SIASUN Collaborative Robot User Manual （Software） Robot: SCR5 （Software V2.3.x） SIASUN Co., Ltd...
Page 2 Your purchase of products, services or features, etc., shall be subject to the commercial contract and terms and conditions of SIASUN Co., Ltd. All or part of the products, services or features described in this manual may not be within the scope of your purchase or use. Unless otherwise agreed in the contract, SIASUN Co., Ltd.
Page 3: Table Of Contents
ROBOT EXTERNAL COMMUNICATION PROTOCOL SCRIPT LANGUAGE GUIDE ..................... 64 NTRODUCTION ..................64 ATA TYPE AND VARIABLE 7.2.1 Built-in data type 7.2.2 Const 7.2.3 Variable and definition 3/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 4 Conditional control statement ............... 71 YSTEM FUNCTION INTRODUCTION 7.5.1 Move control 7.5.2 TCP/IP socket client 7.5.3 System functions and peripherals 7.5.4 Debug 7.5.5 Modbus 4/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 5: Introduction
SIASUN Collaborative Robot SCR5 so that users can learn more about robot basic information and use the robot more safely and conveniently. Be sure to operate this robot on the basis of careful reading and full understanding of this document.
Page 6: Special Statement
1.4Version introduction This manual is for the SCR5 collaborative robot V2.0/3.0.and software UI V2.3.x, Robot V1.3.x. 6/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright ©...
Page 7: Safety
Specifically including but not limited to the following: Ensure that the robot system meets all basic requirements;  7/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 8: Risk Assessment
 robotic system. SIASUN Co., Ltd. is committed to providing reliable safety information, but does not assume responsibility. It is important to understand that even if all operations are carried out in a safe manner, there is no guarantee that the robot system will not cause personal and property damage to the user.
Page 9: Safe Operation
Emergency stop must not be used for normal  program stop as this may result in additional unnecessary wear on the robot. 9/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 10: Movement Without Electric Drive
If the brake is manually released, gravity may cause  the robot joints to fall. Always hold the robot, tools, and work pieces when releasing the brakes. 10/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 11: Power On & Power Off
System 220VAC power Power on switch supply button Click the “Start” button on the screen to start. 11/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 13 → press the power button to power off → control system is powered off → 220VAC input is disconnected. 13/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 14: Robot Control User Interface
There are 7 sub-pages on the robot control user interface: Jog (manually move), Program, Run Program, Status, Setting, About, Disconnect. There are 7 related buttons at the top to help you navigate throw these sub-pages. 14/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 15: Jog Page
The tool coordinate system indicates that the end point of the end tool is used as the coordinate base point, and the user coordinate system is freely set by the user. 15/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 16 3D robot is related to the real robot.This page also show home position lamp. Blue lamp represents robot in home position, otherwise, red lamp not in position. 16/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 17 Release the arrow button will stop current move. The buttons 1-7 on the demonstrator is correspond to the joints 1-7 here. 5. Move robot End 17/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 18 When the joint moves beyond the limit position, the robot will report an error and stop. 18/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 20 Clicking “Start calculate bais from current point” will set the current point to the original point for TCP bias calculation. 20/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 21: Program Page
After that, the program just imported will be added to the list 21/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 22 After entering the program name, an “Edit Page” will appear. User can add movement nodes or script languages to the program in this page. 22/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 23 Collaborative Robot User Manual Robot Control User Interface The new created program will be named as: program_name.spf. Click the “Finish Editing” button to exit the “Program” page. Right of the button(siasun.spf) is the name of the current program. Only characters,numbers and underline are ...
Page 24: Run Program Page
A “Press to Move” button will appear to let the user move the robot to the first point. 24/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 25 Blue dot means working and red dot means not working. The collision detect function is actived by default. It can be turn off by administrator in setting. 25/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 26: Status Page
2 output I/Os on the robot end. Click the dot in the “Output” to switch between high and low states. In log label, user can check the log information of the robot. 26/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 29: Setting Page
As a tool coordinate system is set, the corresponding tool coordinate system will be displayed in the simulation model: 29/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 30 5,6,7 joints will move relatively.The user must assess the safety of the motion path. Click “TCP Calibration” to enter the end tool position calibration interface: 30/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 31 “Next” button in the lower left corner to continue to calibrate the next point. 31/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 32 Collaborative Robot User Manual Robot Control User Interface Before tcp calibration, Tcp offset should be setted  to 0. User coordinate system settings: 32/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 33 As a user coordinate system is set, the corresponding user coordinate system will be displayed in the simulation model. 33/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 34  run automatically, the robot will run to home position firstly. The user must make sure the safety of the robot’s motion path. 34/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 35 Safety settings: Enter password to turn on. You can set whether to enable the collision detection function, adjust sensitivity, and set the virtual boundary. 35/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 36 If there is a false alarm of collision detection  during movement of the robot, stop the robot first and reduce collision detection sensitivity until the false alarm is eliminated. 36/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 37 Also created a vertical wall with 300mm distance to the Z axis, rotate 45 degree. The wall in 3D view is like the capture below: 37/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 38 When using tool coordinate, the coordinate will be displayed in the 3D view. If the coordinate collided the virtual wall, the robot will also stop. 38/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 39 Robot velocity reduced to safety Manual/Auto velocity limits Advanced settings: Enter password to turn on advanced settings. Installation settings allow users to set the robot installation direction. 39/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 40 The initial password is 111. “Software Update” allows you to update software of the robot. Language selection： User can change language between English and Chinese. 40/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 41: About Page
Robot Control User Interface 4.6About Page Click “About” on the top navigation bar will open the about page. This page displays software version and company information. 41/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 42: Disconnect
When disconnect button is clicked, the joints  brakes will stuck. Depending on the mechanical design, robot arm may fall down a little distance. 42/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 43: Robot Program
Collaborative Robot User Manual Robot Program 5 Robot Program 5.1Create program Click “Create Program” and enter a program name. 43/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 44 Click enter to ensure the entered program name. “Edit page” will appear. Here we name the new program: “siasun”. Only characters,numbers and underline are  permitted in program name. 44/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 45 1-1000mm/s. Double click the move node or click “Set Node Position” button, current page will jump to “Jog Page”. 45/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 46 Click “Add Nodes” button will display the add node window. For move nodes and some function nodes, system has some buttons here to help user quickly enter them. 46/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 47: Move Tab
 point (photographing point), P2 point (grabbing point), fill in offset (calculated by camera). To achieve the camera positioning and grabbing for photographing. 47/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 48 Script Language: User can enter the entire script function and create a  node based on that function. The full script language guide is in chapter Script Language Guide. 48/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 49: Functions Tab
Collaborative Robot User Manual Robot Program 5.3Functions Tab： IO function: 49/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 50 Collaborative Robot User Manual Robot Program Control statement: Coordinate system/tool 50/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 51 Collaborative Robot User Manual Robot Program Print function: Function for getting data: 51/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 52: Socket Tab: A Collection Of Network Communication Instructions
The above functions are quick input. For detailed explanation of all  function contents and related functions, please refer to the network communication section in the Script Language Guide. 52/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 53: Variable Tab
User could create pose variable and joint list variable, and could set these variables with teaching. 5.6Program Example Add a MoveJ and a MoveL node. 53/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 54 Use the coordinate_clear function to clear all set tool coordinate systems and user coordinate systems. All coordinate systems are also cleared when the script function finishes running. Key function 54/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 55 Click “Add Joint blend radius”,can create a blend radius between two movements. Radius unit is mm. Click “Save” to save the program. 55/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 56: Robot External Communication Protocol
<system error> requires. If collision has been detected, the robot will pause and return <collision detect>. Client sends <resume> to continue program. 56/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 57 <poweroff success > and shut down the power; whereas robot has been powered off already, it will send <must disconnect first > to the client. 57/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 58 The interface 2001will transmit the current status information of the robot to the outside at a frequency of 10 Hz. Port 2001 transmission frequency is adjustable.  Please contact the technician for configuration. 58/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 59 Tool digital input(1-2 Tool Tool IO input bool 816 - 823 input,3-8 reserved) Tool IO output bool 824 - 831 Tool digital output(1-2 Tool Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information 59/ 89 Copyright © SIASUN Co., Ltd. 2019...
Page 60 Stopping = 7, Estop = 8, Error = 9, Pause = 10 Virtual IO bool 847 – 946 Virtual IO Reserved bool 947-951 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information 60/ 89 Copyright © SIASUN Co., Ltd. 2019...
Page 61 Control box IO input,IO_in[6] Control box IO input,IO_in[7] Control box IO input,IO_in[8] 65-72 Reserved Flange IO input, tool_in[1] Flange IO input, tool_in[2] 75-80 Reserved Standstill Status 61/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 62 (base),high 16 bits y position (base),low 16 bits y position (base),high 16 bits z position (base),low 16 bits z position (base),high 16 bits 62/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 63 // merge two parts into float My32Int (Short2 << 16) | Short1; float MyFloat; memcpy(&MyFloat, &My32Int, 32); MyFloat is the target 32 bits float value. 63/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 64: Script Language Guide
Collaborative Robot User Manual Script Language Guide 7 Script Language Guide 7.1Introduction This robot script language guide is apply to SIASUN SCR series collaboration robot. Underline and punctuation marks are not  permitted in script language name as a start character.
Page 65: Const
Const string is a combination of characters, end with character ‘\0’. The realsize of a string is the number of characters plus 1. Ex: the size of string “siasun” is actually 13. Const string is used to: 1. Define a Char array. 2. Pass into function as a constant parameter.
Page 66: Variable And Definition
= Array(4, FLO, [1,2,3]); # float type array, size 4, init to [1.0,2.0,3.0, 0.0] a6 = Array(a1); # copy a1 and paste to a1 66/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 67 Left value of assignment expression is an identifier of the variable. If the variable is declared before, then the expression is a assignment expression. If not, the expression is a variable definition expression. 67/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 69 It’s used to return the function’sresult. If there is no return statement inside the function, then the function don’t have anyreturn value. 69/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 70 … When the judgment condition expression inside if / elif is greater than 0, system will execute the contents of the statement block. 70/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 71 : pose type variable, or a float type array whose length is 6 ,target pose state v : Robot end velocity, unit（mm/s） 71/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 72 Rad : blend radius (unit: mm), default value is 0, indicating no blending. When the value is bigger than 0, it indicates that it blends with the next movement. 72/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 73 After running the speedj function, the robot will continue to move and ignore subsequent motion commands until it receives the speed_stop(); function. Parameters: 73/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 74 Position compensation for return of camera ,pose type or a float type array whose length is 6 v : Velocity, unit（mm/s） a : Robot end acceleration, unit（mm/s2） Return value: 74/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 75 _send : An float type array to be sent. Each data in the array is 32 bits. Return value: True / False Example: a = Array(2,FLO); a[0]=3.1416; a[1]=2.71828; socket_send_float ( a ); socket_send_int ( Array : array_send); Function introductions: 75/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 76 Timeout: Timeout period, Unit: ms The default is 3000ms when not filled. Return value: True / False Example: a = Array(2,FLO); socket_read_str_float ( a ); 76/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 77 Receive an int type array from the connected server. Parameters: Receive : Receive an array . The received integers will exist in this array 77/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 78 ); Function introductions: Disconnect the Ethernet communication with the server Parameters: Return value: Return Ture when close successfully,otherwise return False. 78/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 79 Read system IO input, return 1 for high level, 0 for low level Parameters: portnum : port number of control box IO output, range:1-6. 1:Robot locked 2:Run program 3:Purse program 4:Stop program 5:Reserved 6:Reserved 79/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 80 : Serial number of the IO input port on the flange. Range:1-2. Return value： (Int) 1 is high level, 0 is low level. -1 means parameters invalid. 80/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 81 This function allows you to read the value of the internal byte register Parameters: num: Number of the internal byte register, range:1-32. Return value: Example: 81/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 82 Set the displacement of tool end relative to the flange surface coordinate. After setting, the tool coordinate system will be used for the position in the following motion function. 82/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 83 : Position of the end that requires calculation of inverse solution, unit:mm,deg. res : The acquired 1-7 joint angles will be recorded in this Array variable. Return value: N/A 83/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 84 : program_name ); Function introductions: This function can call spf file in a program Parameters: Program_name : sub program name, contained in “” lable. 84/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 85 Note: There is 1s delay when the function runs. It is recommended to be used only during debugging. Parameters： f : float type variable Return value： None Example： f = 6.32; print_f(f); 85/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 86 Modbus node name digital_value: Value to write in, 0 or 1. Return value： None Example： modbus_write_d(“mbus1”, 1); modbus_write_r(string : signal_name, int : register_value); 86/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 87 3: Read Write Holding Register (4x) signal_name: modbus node name, represented by a string Return value： None Example： modbus_add_signal (“127.0.0.1”, 1, 3, 0, “mbus1”); modbus_delete_signal(string : signal_name); 87/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 88 Delete a Modbus client node, user can also delete node in system setting. Parameters： signal_name: Modbus node name Return value： None Example： modbus_delete_signal (“mbus1”); 88/ 89 Document Version 3.0 (2019.01) SIASUN Proprietary and Confidential Information Copyright © SIASUN Co., Ltd. 2019...
Page 89 中科新松有限公司 SIASUN Co., Ltd 地址：上海市浦东金桥出口加工区金藏路 257 号电话：+086-021-50870608 传真：+086-021-63631363 邮编：201206 http://www.siasun-in.com Add: NO.257 Jinzang Rd. Pudong New District, Shanghai, China Tel: +086-021-50870608 Fax: +086-021-63631363 Zip Code: 201206 http://www.siasun-in.com...

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