Hanwha HCR-12 User Manual
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Hanwha HCR-12 User Manual

Collaborative robot
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HCR-12
Collaborative Robot
User Manual
Nov 2018

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Summary of Contents for Hanwha HCR-12

  • Page 1 HCR-12 Collaborative Robot User Manual Nov 2018...

  • 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

    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. Users are responsible for any damages caused by their misuse or modification of the patent rights for the equipment.

  • Page 5: Table Of Contents

    Table of Contents PREFACE ..................................I COPYRIGHTS ................................II CHAPTER 1 PRODUCT OVERVIEW ........................1 ......................1 OLLABORATIVE OBOT YSTEM ........................3 YSTEM OMPONENTS ......................4 ASIC YSTEM ONFIGURATION .......................5 VERVIEW OF OBOT ....................7 VERVIEW OF OBOT ONTROLLER Front ...............................7 Bottom ............................8 ....................9 VERVIEW OF EACHING ENDANT...
  • Page 6 ....................... 23 NSTALLATION OCATIONS ........................24 NSTALLATION YPES ..........................26 IXING OBOTS ..................... 27 ONNECTING OOLS TO OBOTS ........................28 ONNECTING ABLES Connecting the teaching pendant to the robot controller ............. 28 Connecting the robot arm to the robot controller ................ 28 Connecting the power supply to the robot controller ..............
  • Page 7 SW Configuration ......................... 44 Message ............................45 Manual Move ..........................45 3D P ........................46 REVIEW CREEN Screen display setting button ......................46 Robot task control button ......................47 ........................48 ANUAL CREEN ..........................50 IRTUAL EYPAD Text keypad ..........................50 Number keypad ..........................
  • Page 8 ........................ 71 ETTING NPUTS UTPUTS Types of digital I/O ........................71 Editing the digital inputs/outputs settings ..................72 Types of analog I/O ........................73 Editing the analog I/O setting ...................... 73 ..........................74 OORDINATES Registering points ......................... 74 Registering line coordinates ......................75 Registering plane coordinates .......................
  • Page 9 ....................97 XCEEDING AFETY IMIT OF OINTS CHAPTER 9 PROGRAMMING ..........................98 ........................ 98 OW TO OMMANDS Selecting a flowchart........................98 Type of commands ........................99 Additional Commands ........................ 100 Entering commands ........................101 Changing command names ......................101 Deleting commands ........................101 Searching Commands .........................
  • Page 10 IF C ..........................119 OMMAND LOOP C ......................... 120 OMMAND 9.10 SWITCH C ........................121 OMMAND 9.11 WAIT C .......................... 122 OMMAND 9.12 SET C ..........................123 OMMAND 9.13 ............................124 ESSAGE Output format ..........................124 Message operation ........................124 Message format ..........................
  • Page 11 Monitoring the robot positions ....................142 Checking the robot status ......................143 11.2 ..................... 143 ONITORING NPUTS UTPUTS Monitoring controller inputs/outputs ..................144 Monitoring tool inputs/outputs ....................145 CHAPTER 12 REPORT ............................146 CHAPTER 13 LINKING WITH EXTERNAL EQUIPMENT ..................147 13.1 .........................
  • Page 12 Packaging posture ........................165 Factory reset ..........................165 16.6 ......................... 165 OFTWARE PDATE Cautions during update ......................166 Updating the operation software ....................166 Updating the controller software ....................167 APPENDIX A WARRANTY ..........................169 Warranty ............................ 169 Warranty period ......................... 169 Limitation of Liability .........................

  • Page 13: Chapter 1 Product Overview

    Produ c t O v erv iew Chapter 1 Product Overview Collaborative Robot System Hanwha Precision Machinery's collaborative robot, HCR-12 is a user-friendly robot that provides an automation environment where it can safely collaborate next to humans in various fields.
  • Page 14 Chapter 1 Produ c t O v erv iew 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 Produ c t O v erv iew 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 Produ c t O v erv iew The following list indicates the quantity of each component. Robot arm 1 EA Robot Robot controller 1 EA Teaching pendant 1 EA Controller and teaching pendant Teaching pendant fixing bracket 1 EA Power cable 1 EA 8 pin tool cable...

  • Page 17: Overview Of Robot Arms

    Chapter 1 Produ c t O v erv iew Overview of Robot Arms Parts and joints ➊  ➎ Tool Flange Upper Arm ➋ ➏ J5_J6 ➌ ➐ Lower Arm ➍ J3_J4...
  • Page 18 Chapter 1 Produ c t O v erv iew Functions Description Name It is the area in the robot where a tool is mounted.  Tool flange For more details, refer to 3.4 Connecting Tools to Robots. It is the I/O port used to control a tool. ...

  • Page 19: Overview Of Robot Controller

    Chapter 1 Produ c t O v erv iew 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 ...

  • Page 20: Bottom

    Chapter 1 Produ c t O v erv iew Bottom Name  Robot connector  Teaching pendant connector  Power button  AC power socket...

  • Page 21: Overview Of Teaching Pendant

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

  • Page 22: Rear

    Chapter 1 Produ c t O v erv iew 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 Produ c t O v erv iew 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 Produ c t O v erv iew The J3 axis has a limited operational range due to its unique structure. Note When the J3 axis is at +160° When the J3 axis is at -160°...

  • Page 25: Robot's Working Range

    Chapter 1 Produ c t O v erv iew 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 Produ c t O v erv iew 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: Distance between Tool flange and Center gravity of payload[mm]...

  • Page 27: Chapter 2 Safety

    Chapter 2 S af ety 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.

  • 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 S af ety 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 S af ety  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 S af ety 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

    The manufacturer is not responsible for the failure caused by excessive force. 2.11 Safety Controller The safety controller for HCR-12 complies with the ISO13849 Cat3. PLd class. 2.12 Risk Assessment The risk assessment is one of the important factors when configuring a robot...
  • Page 34 Chapter 2 S af ety on the way of integrating it into the entire system, so it is not possible to perform the risk assessment with the robot alone. The person who configures the robot included system to perform the risk assessment of the robot should install and operate it according to instructions of ISO 12100 and ISO10218-2 standards.

  • Page 35: Chapter 3 Installation

    Chapter 3 I ns tal l ation 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 36: Installation Types

    Chapter 3 I ns tal l ation Installation Types You can install the robot arm on ceiling, wall or floor as follows. Example of installation on floor You can also install it on a moving dolly. Example of installation on a moving dolly 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 37 Chapter 3 I ns tal l ation After installing the robot, you must configure the robot installation information depending on each type of installation. For more details, refer to 7.1 Setting the Robot Installation Angles.

  • Page 38: Fixing Robots

    Chapter 3 I ns tal l ation Fixing Robots You can install the robot arm on the ceiling, wall or floor by using 4 pieces of M12 bolts not shorter than 25mm and it is recommended to fasten those bolts with 140 Nm torque.

  • Page 39: Connecting Tools To Robots

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

  • Page 40: Connecting Cables

    Chapter 3 I ns tal l ation 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. Be careful of pin being bended while connecting.

  • Page 41: Connecting The Power Supply To The Robot Controller

    Chapter 3 I ns tal l ation 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 42: Fixing The Controller Box

    Chapter 3 I ns tal l ation Fixing the Controller Box The controller box can be fixed to the ground by using the fixing bracket at the bottom. Fix it with M14 bolts not shorter than 45 mm in combination with flat washers. Bolts or screws fixing the controller box are not included in the product Note package.

  • Page 43: Common Spec For Digital I/O

    Chapter 3 I ns tal l ation Common Spec for Digital I/O The section defines the electrical specifications of the following 24V digital I/O for the controller box.  Safety Input: 4 EA  Flexible I/O: Input 8 EA, Output 8 EA ...
  • Page 44 Chapter 3 I ns tal l ation Internal 24 V I/O power supply Current limit: 2 A Internal 24 V I/O GND Typ. DC 24 V Min. DC 23 V External 24 V I/O power supply Max. DC 26 V External 24 V I/O GND If the digital I/O power supply provided from the inside of the controller is not sufficient, then you can connect an additional power supply externally.
  • Page 45 Chapter 3 I ns tal l ation 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_24V – INT_GND Current INT_24V –...

  • Page 46: Configuring The Safety Input

    Chapter 3 I ns tal l ation 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. Safety Input should always comply with the common specs of the digital I/O. When you install the safety device or equipment, you should comply with the instructions from Chapter 2 Safety and Chapter 3 Installation.

  • Page 47: Initial Safety Configuration

    Chapter 3 I ns tal l ation  All the safety class I/O's are duplexed. By separating the channels, you should make sure the safety function is not initiated by a signal failure.  Before installing the robot, you must check the safety functions. In addition, the function should be checked for defects periodically.

  • Page 48: Connecting The Emergency Stop Button

    Chapter 3 I ns tal l ation 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. Sharing emergency stop circuits with other equipment When you use the robot with other equipment, it is recommended that you share the same emergency stop circuits.

  • Page 49: Configuring The General Digital I/O

    Chapter 3 I ns tal l ation 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 50: Communicating With Other Equipment Or Plc

    Chapter 3 I ns tal l ation 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. You can configure it as follows.

  • Page 51: Analog Output

    Chapter 3 I ns tal l ation The input mode can be set in the GUI. The following electrical specifications apply to the I/O. Terminal Parameter Minimum Format Maximum Unit Current mode input AIx - AG Current AIx - AG Resistance AIx - AG Resolution...

  • Page 52: Analog Input

    Chapter 3 I ns tal l ation Analog input You can use analog sensor outputs as analog inputs. You can configure it as follows.

  • Page 53: Chapter 4 Getting Started

    Chapter 4 G etting S tarted 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 54: Turning On The Teaching Pendant

    Chapter 4 G etting S tarted 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.

  • Page 55: Chapter 5 Software Overview

    Chapter 5 S of tw are O v erv iew 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 56: Monitoring

    Chapter 5 S of tw are O v erv iew Monitoring You can check the real time condition of the robot arm. For more details, refer to Chapter 11 Monitoring. Report You can check the running time of the robot arm. For more details, refer to Chapter 12 Report.

  • Page 57: Message

    Chapter 5 S of tw are O v erv iew Message You can select whether or not to display the message window that shows messages that have been set while the robot program is running. Manual Move You can control the robot manually. For more details, refer to 5.3 Manual Move Scree.

  • Page 58: Preview Screen

    Chapter 5 S of tw are O v erv iew 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.

  • Page 59: Robot Task Control Button

    Chapter 5 S of tw are O v erv iew 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.

  • Page 60: Manual Move Screen

    Chapter 5 S of tw are O v erv iew 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.
  • Page 61 Chapter 5 S of tw are O v erv iew - Rotating Range : 0.01~ 10degree Depending on the purpose of the menu that uses the manual robot control Note 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 S of tw are O v erv iew Caution  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 S of tw are O v erv iew 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 S of tw are O v erv iew  Basically, an expression is composed of three input items. − Green input field: You can enter fixed variables and numbers. − Orange input field: You can enter an arithmetic operator. Add an expression: Select a green input field and press the Add button.

  • Page 65: Chapter 6 Registering Robots And Users

    Chapter 6 R egis tering R ob ots and U s ers 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.

  • Page 66: Registering Robots

    Chapter 6 R egis tering R ob ots and U s ers 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. ...

  • Page 67: Modifying The Robot Name

    Chapter 6 R egis tering R ob ots and U s ers 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. Managing Users You can make sure only specific users can use the software by registering them.

  • Page 68: Adding Users And Setting Authorities

     If you are an operation user who lost the password, ask the admin user. Note The admin user can modify the password for an operation user.  If the admin user's password is lost, then contact Hanwha Precision Machinery Co.

  • Page 69: Menu Available To Each Authority

    Chapter 6 R egis tering R ob ots and U s ers Menu available to each authority Depending on the authority set in User Management, the following menus become available. Even if you are not logged in, you can still use some menus. Main menu Sub menu Admin...

  • Page 70: Login/Logout

    Chapter 6 R egis tering R ob ots and U s ers Login/Logout Logging in While logged off, the icon is displayed at the right top of the screen. After finishing registering a user, while logged off, press the icon and enter your ID/password and press the Login button.

  • Page 71: Selecting Robots And Checking Status

    Chapter 6 R egis tering R ob ots and U s ers Selecting Robots and Checking Status Selecting robots If two robots are registered, then you can select a robot to set or control. Press the robot name appearing at the left top of the screen, the list of registered robots will appear. Select a robot from there.

  • Page 72: Checking The Software Version

    Chapter 6 R egis tering R ob ots and U s ers 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. ...

  • Page 73: Chapter 7 Setting Robots

    Chapter 7 S etting R ob ots 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 Chapter 7 S etting R ob ots 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 ...

  • Page 75: Setting Tcp

    Chapter 7 S etting R ob ots Setting TCP When you mount a tool in the robot arm for the first time, you must also set the TCP (Tool Center Point). By setting the tip location/direction and the weight of the mounted tool, you can calculate the robot's motion.
  • Page 76 Chapter 7 S etting R ob ots Position: Enter the coordinate values (X, Y, Z) with respect to the center of  the cross section of the location where a tool is mounted. The unit is in mm. Orientation: Set the tool direction (Rx, Ry, Rz). ...

  • Page 77: Calculating The Tcp Position

    Chapter 7 S etting R ob ots 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 S etting R ob ots 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 S etting R ob ots 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.

  • Page 80: Setting The Tcp Orientation

    Chapter 7 S etting R ob ots 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 S etting R ob ots 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 S etting R ob ots 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: Setting Inputs/Outputs

    Chapter 7 S etting R ob ots Select the TCP profile to modify. Press the Delete button.  You cannot delete the TCP profile currently being used by another robot.  You cannot delete an empty profile. Press the OK button. 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...

  • Page 84: Editing The Digital Inputs/Outputs Settings

    Chapter 7 S etting R ob ots Editing the digital inputs/outputs 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 85: Types Of Analog I/O

    Chapter 7 S etting R ob ots Types of analog I/O There are three types of analog I/O as follows. General I/O: Input and output for general purposes.  Tool I/O: Input and output related to tools.  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:...

  • Page 86: Coordinates

    Chapter 7 S etting R ob ots 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 87: Registering Line Coordinates

    Chapter 7 S etting R ob ots  The position where the point coordinates are set becomes the reference position, and the coordinate system is set to the same coordinate system in which TCP was set. Registering line coordinates You can add and set line coordinates. ...

  • Page 88: Registering Devices

    Chapter 7 S etting R ob ots From the main menu, select Robot Setting > MODBUS TCP. 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 89: Editing/Copying The Device Settings

    Chapter 7 S etting R ob ots Slave ID: Enter the slave ID of the device. Its input range is 0 to 255 in the  3-digit integer form. Description: You may enter the description for the device. You can enter up ...
  • Page 90 Chapter 7 S etting R ob ots 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.

  • Page 91: Registering I/O

    Chapter 7 S etting R ob ots Registering I/O After you registered a device, you must set an I/O or I/Os for it. The I/O(s) added is(are) used to read a certain value from the device or to send HCR status values to it. The type of I/Os for the MODBUS are as follows: Digital Input: Reads digital values (High/Low) from a device.

  • Page 92: Viewing The Communication Status

    Chapter 7 S etting R ob ots You can use I/Os when you make a program. Especially, you can use Note register-type I/Os as variables in a program. Viewing the communication status After an I/O is registered, you can view its communication status. Normal Unable to connect Input value error...

  • Page 93: Editing I/O Settings

    Chapter 7 S etting R ob ots  Digital Input: Indicates an icon for the digital value (High/Low) currently being input. − : High : Low −  Digital Output: Indicates an icon for the digital value (High/Low) currently being output. Press the value to change it.

  • Page 94: Setting Global Variables

    Chapter 7 S etting R ob ots 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. Variable value: Specifies a variable value.

  • Page 95: I/O Bit Operation

    Chapter 7 S etting R ob ots 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 96 Chapter 7 S etting R ob ots...

  • Page 97: Chapter 8 Safety Settings

    Chapter 8 S af ety S ettings 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 98: Default Settings

    Chapter 8 S af ety S ettings 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.

  • Page 99: Setting Safety Boundaries

    Chapter 8 S af ety S ettings Force: You can limit the max force that the robot(TCP) is exerting to the outside.  Speed: You can limit the max speed for the TCP's linear movement.  Collision mitigation: This can be set to mitigate the impact of a target object in the ...

  • Page 100: Adding Safety Boundary Planes

    Chapter 8 S af ety S ettings Adding safety boundary planes After adding multiple safety boundary planes, if necessary, you can select one of them and use it. To add a boundary plane, press the Add button. button, the Manual Move screen will appear. ...

  • Page 101: Viewing Safety Boundary Planes

    Chapter 8 S af ety S ettings 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 102: Applying Safety Boundaries

    Chapter 8 S af ety S ettings 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.  Direction: Indicates the direction(vector) for the border plane that can indicate a ...

  • Page 103: Changing The Name Of Safety Boundaries

    Chapter 8 S af ety S ettings Changing the name of safety boundaries If you add a safety boundary, it will save as "Boundary" and a number by default. Press the name of boundary to modify. Enter the desired name and press the OK button. Deleting safety boundary settings Select the safety boundary to delete.
  • Page 104 Chapter 8 S af ety S ettings Press the OK button.

  • Page 105: Setting Tool Boundaries

    Chapter 8 S af ety S ettings 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 106: Setting Tool Safety Boundary Surfaces

    Chapter 8 S af ety S ettings  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 107: Setting Redundant I/O

    Chapter 8 S af ety S ettings 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 108 Chapter 8 S af ety S ettings  You can assign the following functions to digital inputs. − 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;...

  • Page 109: Exceeding Safety Limit Of Joints

    Chapter 8 S af ety S ettings 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 110: 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 111: Type Of Commands

    Chapter 9 Programming  Using a Program. Thread Program: This is a program creation screen that is executed in parallel with  the main program. 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.

  • Page 112: 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, Halt, Vision, Pattern, Script, and Path. Groups the created program command icons and bundles the Folder programs into a sub-folder.

  • Page 113: 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 114: Searching Commands

    Chapter 9 Programming 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. If there is a searched command, the number of searched commands is displayed, and you can easily find the command by using the left/right navigation button.

  • Page 115: 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 116: 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 117: 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. You can also press the command in the timeline for more than three Note seconds to open the Edit menu.

  • Page 118: 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 119: 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. . Up to 50 steps are saved. Note .

  • Page 120: Managing A Program

    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 121: Making A New Program

    Chapter 9 Programming Making a new program If you want to make a new program, then select File > New at the bottom of the screen. Enter the program name when you apply or save a program. Note Loading a program To load the saved program, select File >...

  • Page 122: 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 123: 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.

  • Page 124: 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 125 Chapter 9 Programming Reference coordinate system: Select the reference coordinate system on − which the robot moves when executing the move command. Speed: 0.1 mm/s ~ 1000 mm/s − accel. (Acceleration): 1 mm/s − ~ 2500 mm/s Radius: If you enter the radius value, you need to set up the Middle point and the −...
  • Page 126 Chapter 9 Programming The TCP coordinates of the last position held by the robot are the Note coordinates of the starting point. Circle: The tool moves along the circle formed by the start point (S) and the two  waypoints (P Speed: 0.1 mm/s ~ 1000 mm/s −...

  • Page 127: Radius Of Linear

    Chapter 9 Programming The starting point is the TCP coordinates of the robot’s last posture. Note Radius of Linear When the robot starts at point S and moves to P before it arrives at point P , the linear motion is interrupted because the robot stops momentarily at point P .

  • Page 128: Don't Stop At This Point

    Chapter 9 Programming  The radius value has max two decimal places.  The minimum radius is zero. If you set the radius to zero, then its path is not a curve.  The maximum radius is the minimum of the distance, SP and the distance, P Don’t stop at this point This is a setting that allows the robot to move at a given speed without stopping...

  • Page 129: Setting The Coordinates For Movement

    Chapter 9 Programming 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. Fixed Point: The 3D coordinate is received from the robot's coordinate system and used ...
  • Page 130 Chapter 9 Programming In the flow chart, press the group button, then they will be grouped as one. The number of commands in a group will be indicated by a number at the right top of the group icon.

  • Page 131: 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 keypad, refer to 5.4 Virtual Keypad.

  • Page 132: 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 133: Switch Command

    Chapter 9 Programming 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 134: 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 135: Set Command

    Chapter 9 Programming 9.12 SET Command 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 136: Message

    Chapter 9 Programming 9.13 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 137: Pattern Command

    Chapter 9 Programming 9.14 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 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. Select the coordinates to set by starting with number 1.  Select the number for the sample image or press the list of the pattern location coordinates.

  • Page 139: Advanced Commands For Patterns

    Chapter 9 Programming Advanced commands for patterns Sets the display of the currently executing index of the pattern, the moving index using the variable, and the starting position.  Setting the start position: If 'Start at the Next Position' is checked, the start position is set at the initial position of the pattern.
  • Page 140 Chapter 9 Programming Press the pattern point icon to launch the following setting screen. The options for the pattern point settings are the same as the linear movement options in the move command section, and additionally you can insert move commands before and after the pattern point to adjust the tool path.

  • Page 141: Using A Sub Program

    Chapter 9 Programming 9.15 Using a Sub Program 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 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: Vision Command

    Chapter 9 Programming In the main program, you can modify the content of sub program but you Note 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. 9.16 VISION Command You can communicate with a vision equipment by using the vision data configured in...

  • Page 145: Setting The Movement Location

    Chapter 9 Programming You can set the movement speed/acceleration for a vision camera attached in the robot to move to the recording location.  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.

  • Page 146: Thread

    Chapter 9 Programming  The same input range of speed/acceleration is used as in linear movement.  The X, Y coordinates and the RX, RY, RZ coordinates used are received from a vision equipment and only the Z coordinate can be set to user's preference. If you want to use a tool such as a griper, you will need to input the set Note command additionally.

  • Page 147: Thread Creation

    Chapter 9 Programming Repeat: Selects whether to repeat the program.  Thread Creation Multiple threads can be created. Like a sub-program, each Thread is clicked on as an icon and added to the timeline in the lower layer. Commands to control the motion of the robot cannot be used. Note 9.18 Script...
  • Page 148 Chapter 9 Programming EDIT: You can edit the edit window by opening it.  − Click the Validation Check button to check the integrity of the created script. For script commands, refer to the separate manual. Note...

  • Page 149: Path Command

    Chapter 9 Programming 9.19 Path Command 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 150 Chapter 9 Programming  Import: Imports an already recorded motion.  Export: Saves the recorded motion separately.  Deletion of the same postures at both ends: If there are the same postures at the start and end points in the motion recording process, they are deleted. To execute the recorded motion, the Move coordinates immediately before Note the Path command and the start coordinates of the Path must match.

  • Page 151: Chapter 10 Starting The Robot

    Chapter 1 0 S tarting the R ob ot 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 If your robot is already registered, then it will appear in the initial screen Note after booting up the system.

  • Page 152: Turning On/Off The Robot

    Chapter 1 0 S tarting the R ob ot 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 153: Operating The Robot

    Chapter 1 0 S tarting the R ob ot Payload: Indicates the effective weight applied to the currently selected robot.  Select Robot Configuration: A user can load a robot configuration file exported to  a local storage. For more details about how to export robot settings, refer to 16.5 Managing the Robot System Configuration.

  • Page 154: Chapter 11 Monitoring

    Chapter 1 1 Monitoring Chapter 11 Monitoring You can check the selected robot's position/status and I/O status in real time. 11.1 Monitoring the Robot 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 155: Checking The Robot Status

    Chapter 1 1 Monitoring Checking the robot status In the robot status tab, you can check the selected robot's power consumption, voltage or current. The monitoring values are displayed when the robot is running normally. Note 11.2 Monitoring Inputs/Outputs You can check and set the real time I/O status of robot. Monitoring >...

  • Page 156: Monitoring Controller Inputs/Outputs

    Chapter 1 1 Monitoring 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 157: Monitoring Tool Inputs/Outputs

    Chapter 1 1 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 158: Chapter 12 Report

    Chapter 1 2 R eport Chapter 12 Report 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 The basic unit for collecting the operation time is every hour; as such, there Note may be error of up to one hour.

  • Page 159: Chapter 13 Linking With External Equipment

    Chapter 1 3 L ink ing w ith E x ternal E q u ipment Chapter 13 Linking with External Equipment You can link your robot to an external equipment such as a vision equipment (object detection camera), and conveyor system. Different external equipment is supported depending on the software Note version.
  • Page 160 Chapter 1 3 L ink ing w ith E x ternal E q u ipment If multiple robots are operating simultaneously, then you do not need to Note configure one by one since the equipment setting is commonly applied to them all.

  • Page 161: Adding And Setting Vision Equipment

    Chapter 1 3 L ink ing w ith E x ternal E q u ipment TJG: Result value from object recognition in the vision. 1(Success) or 0(Fail) X: X coordinate value of object recognized by the vision Y: Y coordinate value of object recognized by the vision TH: Rotation theta value of object recognized by the vision CR, LF: Separator for the end of data Comma(,): Separator for each item...
  • Page 162 Chapter 1 3 L ink ing w ith E x ternal E q u ipment Different vision equipment is supported depending on the software Note version. Connection info: Enter the TCP/IP address and the port number necessary for  communication between a vision equipment and the robot. Range of port number: 0 ~ 65535 −...

  • Page 163: Setting Vision Workspace

    Chapter 1 3 L ink ing w ith E x ternal E q u ipment 13.3 Setting Vision Workspace 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 164: Understanding Rotation Offsets

    Chapter 1 3 L ink ing w ith E x ternal E q u ipment upper right / lower right directions shown on the setup screen so that they match the directions shown in the vision software. Understanding rotation offsets When a vision equipment scans an object, the angle of shifted position for an object is used the reference for a vision equipment.
  • Page 165 Chapter 1 3 L ink ing w ith E x ternal E q u ipment B. When the scanning location and the robot's location are shifted by X°...

  • Page 166: Chapter 14 Environment Setting

    Chapter 1 4 E nv ironment S etting Chapter 14 Environment Setting 14.1 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 167: Network Setting

    Chapter 1 4 E nv ironment S etting The language and unit settings are immediately applied to the system Note without restarting it, but the time/date are applied to the system after restarting it. 14.2 Network setting You can configure the network settings for Ethernet communication of your operation software.

  • Page 168: Chapter 15 Turning Off The System

    If the software has a problem after abnormal system termination due to the reason that the system is forcefully turned off by the power switch or the Power button of TP, or the power is out, contact Hanwha Precision Machinery.

  • Page 169: Turning Off Controllers

    Chapter 1 5 T u rning O f f the S y s tem 15.2 Turning Off Controllers After shutting down the operation software, press the power switch to turn off the controller.

  • Page 170: Chapter 16 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 171: Checking The Robot Arm

    Chapter 1 6 Maintenanc e 16.2 Checking the Robot Arm Inspection period Inspect at least once every year. 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.

  • Page 172: Cleaning And Replacing The Filter

    Chapter 1 6 Maintenanc e 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 173: Viewing And Managing Logs

    Chapter 1 6 Maintenanc e 16.4 Viewing and Managing Logs 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 174: Managing The Robot System Configuration

    Chapter 1 6 Maintenanc e 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. 16.5 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 175 Chapter 1 6 Maintenanc e Digital I/O I/O Setup Analog I/O Select a robot to export the settings for. 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. ...

  • Page 176: Importing The Configurations

    Chapter 1 6 Maintenanc e Importing the configurations Select the file path for importing.  Press the refresh button to update the storage list and the file list. Press the Import button. Select the configuration items to import and press the OK button. ...

  • Page 177: Packaging Posture

    Chapter 1 6 Maintenanc e Packaging posture  Arrange the posture of the robot in a position that allows it to be placed in the delivery box.  The robot only operates while the button is pressed.  The posture depends on the model of the target robot. [ J1:0, J2:-90, J3:-150, J4:60, J5:180, J6:180 ] Factory reset ...

  • Page 178: Cautions During 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 the operation software...

  • Page 179: Updating The Controller Software

    Chapter 1 6 Maintenanc e  The extension of the update file is "tgos", and the update file name contains its version. The file selection window displays applicable files only. From the software update window, press the Update button. When the operation software is updated, a window appears to ask whether to update the controller software additionally.
  • Page 180 Chapter 1 6 Maintenanc e From the software update window, press the Update button. When the controller software is updated, a window appears to ask whether to update the operation software additionally. If no additional update is available, the system restarts.

  • Page 181: 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 182: Appendix Bcertification

    Appendix B Certification Safety...

  • Page 183: Appendix Cdimensions For Installation

    Appendix C Dimensions for Installation...

  • Page 184: Appendix Dtool Flange Cross Section

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

  • Page 185: 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 Output Ch 0 Green Digital Output Ch 1 Yellow...

  • Page 186: Appendix Fsystem Specifications

    Appendix F System Specifications Degree of freedom Base weight 3 kg Working radius 1300 mm Joint rage J1 : -180°≤ rz1 ≤ +180°, J2 : -165°≤ rz2 ≤ +135° J3 : -85° ≤ rz3 ≤ +245°, J4 : -190°≤ rz4 ≤ +190° J5 : -170°≤...

  • Page 187: 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 188 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 189: Appendix Herror Codes

    Appendix H Error Codes Code Cause Actions The operation software has a server 10001 Restart the system or ask the administrator. connection error. An error occurs while the operation 10002 Restart the system or ask the administrator. software communicates with the server. 10005 A DB connection error.
  • Page 190 Code Cause Actions If the file is retrieved from an external storage 30008 An error occurs while retrieving the file. device, then check the connection to it. If the file is retrieved from an external storage 30010 An error occurs while exporting the file. device, then check the connection to it.
  • Page 191 Code Cause Actions You cannot execute the current jog Check that the robot operation is fully stopped 100047 command because the robot is still and retry it. operating. Disable the safety setting in the operation menu and use manual control to move the robot into the working range that complies with the safety At present, the robot is violating the 100048...
  • Page 192 Code Cause Actions 100080 The joint speed limit is set to zero. Reset the joint speed limit input. An error occurs while calculating the For circular motion setting, check the 100100 inputted motion (circular). start/mid/end location inputs. An error occurs in the radius value while For circular motion setting, check the radius 100101 calculating the inputted motion...
  • Page 193 Code Cause Actions If the servo is off due to an error, then turn on the servo in the operation menu and adjust each motion's acceleration in the program to meet the The joint's safety acceleration exceeds the safety setting. (The problem may occur while 203102 limit.
  • Page 194 Code Cause Actions Press the reset button in the operation menu and press the start button after several seconds to turn on the servo motor. If the problem persists, then press and release the emergency stop A communication error between the button for the TP, press the reset button and 280001 controller board and the robot...
  • Page 195 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 http://www.hanwharobotics.com...

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