1. Manuals
  2. Brands
  3. QKM Manuals
  4. Robotics
  5. AP3X
  6. User manual

QKM AP3X User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
is the trademark of QKM Technology (Dongguan) Co., Ltd. QKM has been granted ownership of this trademark.

Advertisement

Table of Contents
loading

Related Manuals for QKM AP3X

Summary of Contents for QKM AP3X

  • Page 1 QKM Technology (Dongguan) Co., Ltd. QKM has been granted ownership of this trademark.
  • Page 2 User Manual AP3X Robot AP3X-1130-1653 AP3X-1130-1654 AP3X-1600-1653 AP3X-1600-1654 QKM Technology (Dongguan) Co., Ltd. Document Version: V1.1.0 Issue Date: 01/11/2023...

  • Page 3: Preface

    Keep this manual properly for future reference. Overview This manual provides detailed information on product features, main components, installation guide, system debugging and technical specifications of AP3X Robot so that users can fully understand and properly use the robot. Readers...
  • Page 4 AP3X Robot User Manual Pay attention to the following signs when they appear in the document. The signs in this manual are described in the table below: Sign Description It indicates that a dangerous situation would occur and cause deaths or serious injuries if it is not avoided.
  • Page 5 QKM Technology (Dongguan) Co., Ltd. (hereinafter referred to as QKM) owns the patents, copyrights and other intellectual property rights of this product and its software. Without the written authorization of QKM, any unit or individual shall not extract or copy the contents of this document; and shall not directly or indirectly reproduce, manufacture, process and use this product and related parts.
  • Page 6 AP3X Robot User Manual QKM Technology (Dongguan) Co., Ltd. (Headquarters) Tower A, Building 17, Headquarters 1, No. 4 Xinzhu Road, Songshan Lake High-tech Industrial Development Zone, Dongguan City, Guangdong Province Tel: +86 0769-27231381 Fax: +86 0769-27231381-8053 Postcode: 523808 Email: service@qkmtech.com Website: www.qkmtech.com...

  • Page 7: Version History

    Version History Version History The version history contains the information on each update of the document, and the latest version of the document includes the updates in all previous versions of the document. Version Issue Date Revision Content The first version of the document was V1.0.0 12/23/2021 released.
  • Page 8 AP3X Robot User Manual 3. Modify the interface picture and operation steps of the new version of ARM in Section 7.3. 4. Modify Section 7.4 Macro Command Debugger Function Introduction and Operation Procedures. 5. Added Section Mode Description and Operation Content.

  • Page 9: Table Of Contents

    Contents Contents Preface ........................I Version History ....................... V Contents ....................... VII List of Figures ...................... XIII List of Tables ....................... XIX Chapter 1 Safety Precautions ................1 1.1 P ..............1 RECAUTIONS FOR GENERAL SAFETY 1.2 P ................3 RECAUTIONS FOR SAFE USE 1.3 M ...................
  • Page 10 AP3X Robot User Manual 3.2 M ....................15 ASTER ARM 3.3 S ...................... 16 LAVE ARM 3.4 M ................... 16 OVING PLATFORM 3.5 R ....................18 OTATING SHAFT 3.6 D ..................... 19 EFLECTOR 3.7 T ....................20 OP COVER FAN Chapter 4 Electrical Functions ................

  • Page 11: Contents

    Contents 5.1 U ..................37 NPACKING INSPECTION 5.1.1 Handling ....................37 5.1.2 Unpacking inspection ................38 5.2 R ..................42 ACK INSTALLATION 5.2.1 Rack introduction ................. 42 5.2.2 Installation instructions ............... 44 5.2.3 Rack installation ................... 45 5.3 B ..................46 ASE INSTALLATION 5.3.1 Installation surface ................
  • Page 12 AP3X Robot User Manual 6.4 R .................. 64 OBOT BODY GROUNDING 6.5 P ..................65 OWER CONNECTION 6.6 E ..................66 THERNET CONNECTION 6.7 L ................68 AYOUT OF PNEUMATIC PIPE Chapter 7 Robot Operation ................70 7.1 P ....................71 REREQUISITES 7.2 P...
  • Page 13 Contents 7.4.10 Clear output ..................95 7.4.11 Save output ..................96 7.5 QRL ..................... 97 MODE 7.5.1 Switch to QRL mode ................97 7.5.2 Creating QRL project files ..............97 7.5.3 Introduction to "main.ql" ..............99 7.5.4 Introduction to "data.qlv" ..............101 7.5.5 Saving and downloading program locally .........
  • Page 14 AP3X Robot User Manual 8.1 R ..................125 OBOT PARAMETERS 8.2 E ..............128 NVIRONMENTAL PARAMETERSDS Appendix A Dimensions of moving platform installation surface ..... 131 Appendix B Robot base size ................132 Document Version V1.1.0 (01/11/2023)

  • Page 15: List Of Figures

    Figure 2-5 World coordinate system ..............12 Figure 2-6 Output axis 1 and its mark number ............ 13 Figure 3-1 Schematic diagram of AP3X Robot base ..........15 Figure 3-2 Schematic diagram of master arm ............. 16 Figure 3-3 Schematic diagram of slave arm ............16 Figure 3-4 Schematic diagram of moving platform ..........
  • Page 16 Figure 5-5 Schematic diagram of fixing robot body in the case ......41 Figure 5-6 Schematic diagram of taking out the base ......... 41 Figure 5-7 Schematic diagram of AP3X Robot rack 1 for reference ..... 43 Figure 5-8 Schematic diagram of AP3X Robot rack 2 for reference ..... 44 Figure 5-9 Schematic diagram of fixation to foundation with expansion bolts ..
  • Page 17 List of Figures Figure 5-16 Schematic diagram of upward installation ........52 Figure 5-17 Winding of lifting belts during upward installation ......53 Figure 5-18 Power connection ................54 Figure 5-19 Adjustment of master arm position ..........54 Figure 5-20 Installation of slave arm ..............55 Figure 5-21 Rotating shaft ..................
  • Page 18 AP3X Robot User Manual Figure 6-8 Layout of air pipes and installation surface of pneumatic components ........................69 Figure 7-1 Installation package ................73 Figure 7-2 Start installation .................. 74 Figure 7-3 Choose installation path ..............74 Figure 7-4 Successful installation ................ 75 Figure 7-5 ARM interface ..................
  • Page 19 List of Figures Figure 7-18 Input instructions ................90 Figure 7-19 Input instructions ................91 Figure 7-20 Input instructions ................92 Figure 7-21 Run instructions ................93 Figure 7-22 Add a breakpoint ................94 Figure 7-23 Output ....................95 Figure 7-24 Clear output ..................96 Figure 7-25 Save output ..................
  • Page 20 AP3X Robot User Manual Figure 7-37 "Location Array" information interface .......... 105 Figure 7-38 New LocationJ Array ............... 105 Figure 7-39 "LocationJ Array" information interface ......... 106 Figure 7-40 New Profile Array ................106 Figure 7-41 "Profile Array" information interface ..........107 Figure 7-42 "data.qlv"...
  • Page 21 Table 1-1 Parameters of AP3X Robot ..............5 Table 2-1 Robot overall dimension parameters ............ 9 Table 2-2 Parameters of AP3X Robot work space ..........11 Table 4-1 Indicator functions ................24 Table 4-2 Assignment of pins on the body socket ..........25 Table 4-3 Definition of I/O interface pins .............
  • Page 22 AP3X Robot User Manual Table 8-1 Specification parameters of AP3X Robot ........... 125 Document Version V1.1.0 (01/11/2023)

  • Page 23: Chapter 1 Safety Precautions

    Personnel who use this product for system design and manufacturing must be trained by QKM or relevant institutions or have the same professional skills. Before robot installation, operation, teaching, programming and system development, relevant personnel must read this manual carefully and use the robot in strict accordance with the operation instructions.
  • Page 24 AP3X Robot User Manual Personnel responsible for installation, operation and maintenance of QKM  robots must receive rigorous training to understand all safety precautions and proper methods of operation and maintenance before operating and maintaining the robot. Users should ensure that the robot is operated under safety conditions.

  • Page 25: Precautions For Safe Use

    To avoid personal injury and property damage caused by the falling of the end of the robot in case of sudden power failure when it is in servo-on state, AP3X Robot is designed with a new function of power-off delay...
  • Page 26 AP3X Robot User Manual and programming of the robot: Care must be taken during handling and installation. Gently put down the  robot according to the instructions on the packing box and properly place it following the direction of the arrow. Otherwise, the robot would be damaged.

  • Page 27: Model Implication

    Chapter 2 Product Overview 1.3 Model implication AP3X Robot is available in two specifications. Robots of each specification have 3-axis and 4-axis models, i.e. AP3X-1130-1653、AP3X-1130-1654、AP3X-1600-1653 and AP3X-1600-1654. The model implication is shown in Figure 1-1 and the overall difference between the models is shown in Table 1-1.
  • Page 28 AP3X Robot User Manual Degree of Rotating Model Work space Moving platform freedom shaft installable Rotating shaft is AP3X-1130-1654 1130 mm 4-axis installable Rotating shaft is not AP3X-1600-1653 1600 mm 3-axis installable Rotating shaft is AP3X-1600-1654 1600 mm 4-axis installable...

  • Page 29: Chapter 2 Product Overview

    AP3X Robot is an integrated Delta parallel robot independently developed by QKM Technology (Dongguan) Co., Ltd. (hereinafter referred to as QKM Technology or QKM), which is a high-speed parallel robot with a heavy weight mainly used in food packaging, 3C consumer electronics packaging, pharmaceutical packaging and university research laboratories and can perform fast picking, high-speed sorting, fetching and releasing via dynamic conveyor tracking instead of manual work.

  • Page 30: Dimension Parameters

    AP3X Robot User Manual Figure 2-1 Overall structure of AP3X Robot 2.2 Dimension parameters The overall dimensions of AP3X Robot are shown in Figure 2-2. The dimension parameters are described in Table 2-1. Document Version V1.1.0 (01/11/2023)

  • Page 31: Figure 2-2 Robot Overall Dimensions

    Chapter 2 Product Overview Figure 2-2 Robot overall dimensions Table 2-1 Robot overall dimension parameters Dimension AP3X-1130- AP3X-1130- parameter AP3X-1600-1653 AP3X-1600-1654 1653 1654 (mm) -578 -578 -831 -831 Document Version V1.1.0(01/11/2023)

  • Page 32: Work Space

    AP3X Robot User Manual 2.3 Work space The motion space of AP3X Robot is shown in Figure 2-3 and Figure 2-4. The dimension parameters of the robot are described in Table 2-2. Figure 2-3 Front view of robot work space...

  • Page 33: Figure 2-4 Top View Of Robot Work Space

    Chapter 2 Product Overview Figure 2-4 Top view of robot work space Table 2-2 Parameters of AP3X Robot work space Work space AP3X-1130- AP3X-1130- AP3X-1600-1653 AP3X-1600-1654 （mm） 1653 1654 ∅1130 ∅1130 ∅1600 ∅1600 ∅967 ∅967 ∅1440 ∅1440 Document Version V1.1.0(01/11/2023)

  • Page 34: Robot Coordinate System

    2.4 Robot coordinate system Figure 2-5 shows the world coordinate system of AP3X Robot, in which the X axis of the robot is parallel to the output axis 1. The output axis 1 and its mark number are shown in Figure 2-6.

  • Page 35: Product Features

    Chapter 2 Product Overview Figure 2-6 Output axis 1 and its mark number 2.5 Product features: AP3X Robot is superior with great advantages in fast grasping and sorting. This product has the features as follows:  Fast and flexibly used for precision assembly, sorting and packaging in a standard cycle of 0.28 s.

  • Page 36: Chapter 3 Main Components

    Chapter 3 Main components 3.1 Base The base of AP3X Robot is produced with high-strength aluminum alloy through overall casting, as shown in Figure 3-1. The electrical system is installed in the base and the servo motor is installed on the base; an interface panel is installed at the side of the base indicating the status, power and communication connection.

  • Page 37: Master Arm

    Chapter 3 Main Components (a) Schematic diagram of base (b) Upward view of base Figure 3-1 Schematic diagram of AP3X Robot base 3.2 Master arm The master arm is connected to the motor with a high-accuracy reducer. The carbon fiber tube and machined parts on the master arm are assembled with special technology.

  • Page 38: Slave Arm

    The schematic diagram of the slave arm is shown in Figure 3-3. Figure 3-3 Schematic diagram of slave arm 3.4 Moving platform A spiale is installed in the middle of the moving platform of AP3X Robot. The Document Version V1.1.0 (01/11/2023)
  • Page 39 Chapter 3 Main Components spiale is sealed and can be directly cleaned with water. The connecting flange of the fixture is installed at the lower end of the spiale. The upper end of the spiale is connected to the rotating shaft. The schematic diagrams of the moving platforms are shown in Figure 3-4.

  • Page 40: Rotating Shaft

    (a) 4-axis moving platform (b) 3-axis moving platform Figure 3-4 Schematic diagram of moving platform Figure 3-4 AP3X 3-axis Robot (AP3X-1130-1653 and AP3X-1600-1653) is not equipped with a spiale on the moving platform. 3.5 Rotating shaft The rotating shaft is composed of a ball spline and a carbon fiber tube with a...

  • Page 41: Deflector

    The schematic diagram of the rotating shaft is shown in Figure 3-5. Figure 3-5 Structure diagram of rotating shaft AP3X 3-axis Robot (AP3X-1130-1653 and AP3X-1600-1653) is not equipped with a rotating shaft. 3.6 Deflector The deflector leads the air from the fan to the external surface of the base.

  • Page 42: Top Cover Fan

    AP3X Robot User Manual Figure 3-6 Schematic diagram of deflector 3.7 Top cover fan The top cover fan acts as a heat sink and can remove the heat from the equipment during operation to ensure normal operation of the robot. The top cover fan must be properly installed.

  • Page 43: Chapter 4 Electrical Functions

    Chapter 4 Electrical Functions 4.1 Panel description The electrical components of AP3X Robot are integrated in the base and connected to the peripheral equipment via the interface panel. Three interface panels are evenly configured at the side of the base and their number corresponds to their axis number on the base.

  • Page 44: Figure 4-2 Interface Panel 2

    AP3X Robot User Manual RTN 2 RS-485  Interface panel 2 The interface panel 1 consists of MCP interface,I/O interface and FAN interface as shown in Figure 4-2. The system battery is installed behind the panel to save the system data. The interface panel 2 needs to be removed when the system battery is replaced.

  • Page 45: Indicator Description

    3 220 V a.c 6 Auxiliary Encoder B 4.2 Indicator description The indicators on the panel 1 of AP3X Robot are shown in Figure 4-4. The functions of the indicators are described in Table 4-1. Figure 4-4 Indicators and button on the panel...

  • Page 46: Table 4-1 Indicator Functions

    AP3X Robot User Manual Table 4-1 Indicator functions Screen printing on Function Description the panel "NO" indicates that the robot is normally Robot power AC LED powered on. indicator "NC" indicates that the robot is powered off. "Flash" indicates that the robot servo is being powered on.

  • Page 47: Definition Of Pins

    Chapter 4 Eletrical Functions 4.3 Definition of pins Do not plug or unplug the cables on the interface panel of the robot when it is powered on, otherwise it will cause system failure. Do not connect external power supply to the input/output interface, RS-485 interface and MCP interface of the robot, otherwise the internal circuit of the robot will be damaged.

  • Page 48: Digital Input / Output Interface(I/O)

    AP3X Robot User Manual interfaces are defined below. 4.3.3 Digital Input / Output interface(I/O) Table 4-3 Definition of I/O interface pins Definition of I/O interface pins 62-core female front pinout Function Description E-DO_1 General purpose output 1 E-DO_2 General purpose output 2 Output 24 V d.c...
  • Page 49 Chapter 4 Eletrical Functions E-DO_7 General purpose output 7 E-DO_8 General purpose output 8 E-DO_9 General purpose output 9 E-DO_10 General purpose output 10 Output 24 V d.c 24 V d.c. output power ① Common ground E-DO_11 General purpose output 11 E-DO_12 General purpose output 12 E-DO_13...
  • Page 50 AP3X Robot User Manual E-HDI_2 High speed input 2 E-HDI_3 High speed input 3 E-HDI_4 High speed input 4 Common ground E-DI_1 General purpose input 1 E-DI_2 General purpose input 2 E-DI_3 General purpose input 3 E-DI_4 General purpose input 4...
  • Page 51 AGND2 Note ①: The rated current of one-way 24 V output power supply is 1 A. The internal circuits of AP3X Robot are shown in Figure 4-5, indicating the general-purpose input and output are both in NPN mode. Document Version V1.1.0(01/11/2023)

  • Page 52: Auxiliary Encoder Communication Interface

    AP3X Robot User Manual Figure 4-5 Definition of I/O interface pins 4.3.4 Auxiliary encoder communication interface Table 4-4 Definition of pins on auxiliary encoder communication interface Auxiliary encoder Auxiliary Encoder A Auxiliary Encoder B Communication interface Axis Axis Function Description...
  • Page 53 Chapter 4 Eletrical Functions Shielded Shielded cable cable Output 5 V 5 V d.c. Output 5 V 5 V d.c. d.c. output power d.c. output power Common Common ground ground Axis Axis Axis 2 A+ Axis 4 A+ Axis 2 B+ Axis 4 B+ Axis 2 Z+ Axis 4 Z+...

  • Page 54: Communication Interface

    AP3X Robot User Manual 4.3.5 RS-232 communication interface Table 4-5 Definition of pins on RS-232 communication interface RS-232 communication Function Description interface Unused Receive data Transmit data Unused Common ground Unused Request to send Clear to send Unused 4.3.6 RS-485 communication interface...
  • Page 55 Chapter 4 Eletrical Functions Description RS-485 communication Function interface Unused Unused Unused Common ground RS485+ Communication interface RS485+ Communication interface For more information on RS-485 parameter settings, please contact QKM for technical support. Document Version V1.1.0(01/11/2023)

  • Page 56: Mcp Communication Interface

    AP3X Robot User Manual 4.3.7 MCP communication interface Table 4-7 Assignment of pins on MCP communication interface Function 1 (MCP) Auto/Manual 2 Output 24 V d.c. Auto/Manual 1 Output 24 V d.c. BI_D4+ BI_D4- E-STOP_0 E-STOP_2 BI_D3+ BI_D3- TX_D1+ Document Version V1.1.0 (01/11/2023)

  • Page 57: Ethernet Interface (Ethernet)

    Chapter 4 Eletrical Functions TX_D1- RX_D2+ RX_D2- TLB.AF.319.CLAD65 Orange Yellow Green Brown white Brown Black Grey White Light green Light blue Pink Blue white Blue Green white Green Orange white Orange Figure 4-6 MCP wiring 4.3.8 Ethernet interface (Ethernet) Table 4-8 Definition of RS-232 pins Ethernet interface Signal name Description...
  • Page 58 AP3X Robot User Manual TX_D1- Tranceivie data - RX_D2+ Receive data + BI_D3+ Bi-directional data + BI_D3- Bi-directional data - RX_D2- Receive data - 8-pin front i BI_D4+ Bi-directional data + BI_D4- Bi-directional data - nterface Document Version V1.1.0 (01/11/2023)

  • Page 59: Chapter 5 Robot Installation

    Chapter 5 Robot Installation Chapter 5 Robot Installation 5.1 Unpacking inspection 5.1.1 Handling The robot is packed in a wooden case. The bottom plate and upper cover of the wooden case are fixed with fixing bolts. The dimensions of the wooden case are shown in Figure 5-1 (unit: mm, the actual size shall prevail in kind).

  • Page 60: Unpacking Inspection

    AP3X Robot User Manual When the robot is not used for a long time, it should be disassembled and fixed in the packing case in factory mode. 5.1.2 Unpacking inspection When the robot is transported to the user site, check: ...

  • Page 61: Figure 5-2 Components In The Case

    Chapter 5 Robot Installation Figure 5-2 Components in the case Step 3 Take out the rotating shafts, slave arms and moving platform components (packaged together) with the beam. Remove the packing buckles and straps to separate the components from the beam. Step 4 Remove the straps from the deflector assembly.

  • Page 62: Figure 5-3 Fan Installation Location

    AP3X Robot User Manual Figure 5-3 Fan installation location Figure 5-4 Schematic diagram of fan installation  Users need to install the fan properly. Otherwise, an alarm would be given.  The fan connector has been installed at delivery. It should be inserted based on fool-proof principle when reinstalling and may not be forcibly assembled.

  • Page 63: Figure 5-5 Schematic Diagram Of Fixing Robot Body In The Case

    Chapter 5 Robot Installation Otherwise, the internal circuit of the robot may be burnt. Step 8 Remove the M8 outer hexagonal screws (as shown in Figure 5-5) connecting the robot body to the rack in the case. Figure 5-5 Schematic diagram of fixing robot body in the case Step 9 Hook the installed eye screws to take out the robot as shown in Figure 5-6.

  • Page 64: Rack Installation

    AP3X Robot User Manual 5.2 Rack installation Users should design and manufacture racks according to actual needs. Section 5.2 only provides relevant rack parameters for reference by users. The three planes where the robot is mounted on the rack need to meet certain flatness. The rack in this example does not necessarily meet user requirements.

  • Page 65: Figure 5-7 Schematic Diagram Of Ap3X Robot Rack 1 For Reference

    80 × 80 mm, 30 mm steel plate and 4 mm steel plate through welding. The structure is shown in Figure 5-7 and Figure 5-8. Figure 5-7 Schematic diagram of AP3X Robot rack 1 for reference Document Version V1.1.0(01/11/2023)

  • Page 66: Installation Instructions

    AP3X Robot User Manual Figure 5-8 Schematic diagram of AP3X Robot rack 2 for reference 5.2.2 Installation instructions When the robot works, some reaction force would be transferred to the mounting rack of the robot due to its own components, load inertia and acceleration and deceleration during its motion resulting in rack vibration within a certain frequency range.

  • Page 67: Rack Installation

    The maximum horizontal space where AP3X Robot works is equivalent to a circle of 1130 mm or 1600 mm. A small rack would affect part of the working space. If the rack size is limited, or users need to operate the robot with a high frequency in small space, a smaller rack can be used;...

  • Page 68: Base Installation

    AP3X Robot User Manual Figure 5-9 Schematic diagram of fixation to foundation with expansion bolts 5.3 Base installation Fix the base onto the rack according to the installation space as follows: (1) Downward installation: The base bosses should be above the support installation plate;...

  • Page 69: Downward Installation (Preferred)

    Chapter 5 Robot Installation bolt specification is M16 × 65. The connecting holes are shown in Table 5-2. Table 5-2 Installation surface Type Diagram Rack Screw Through Throug installation hole -hole h-hole surface Robot base Through Screw Screw boss -hole hole hole To prevent the bolts from loosening after use for a long time, each bolt should be...

  • Page 70: Figure 5-11 Base Installation 1

    The main body of AP3X Robot weighs about 138 kg equipped with eye screws and can be hoisted by lifting equipment.

  • Page 71: Figure 5-12 Base Hoisting Diagram 1

    Chapter 5 Robot Installation Horizontally move the base right above the rack. Step 2 Slowly lower it and align the robot base boss to the installation surface Step 3 on the rack as shown in Figure 5-12. Vertically lift Slowly lower Figure 5-12 Base hoisting diagram 1 With this lifting method, the minimum lift height of the hook of the lifting equipment should be greater than 2400 mm.

  • Page 72: Figure 5-13 Schematic Diagram Of Downward Installation

    AP3X Robot User Manual Figure 5-13 Schematic diagram of downward installation If the lifting height is limited, transport the base into the rack with a forklift and then hoist it as shown in Figure 5-14. When approaching the installation plate of the...

  • Page 73: Upward Installation

    Chapter 5 Robot Installation manufactured by users themselves should not be less than the circumscribed circle diameter of the base 750 mm, i.e. ΦD > 750 mm as shown in Figure 5-15. Figure 5-15 Schematic diagram of inscribed circle diameter of installation plate Do not hit the fan when hoisting it.

  • Page 74: Figure 5-16 Schematic Diagram Of Upward Installation

    AP3X Robot User Manual eye screws must be removed when this installation method is adopted. If lifting belts are used for hoisting, the winding of the lifting belts is shown in Figure 5-17. The hoisting is similar to that during downward installation. Refer to the steps of downward installation.

  • Page 75: Installation Of Slave Arm

    Chapter 5 Robot Installation Figure 5-17 Winding of lifting belts during upward installation Do not exert any external force on the master arm during hoisting to prevent damage to the master arm and surface paint of the robot. 5.4 Installation of slave arm Connect the 230 V a.c.

  • Page 76: Figure 5-18 Power Connection

    AP3X Robot User Manual Remove the slave arms from the packing foam support. Step 3 Buckle the ball heads of the master arm into the two ball sockets linked Step 4 with a single spring and then sag the slave arm naturally. Install the other two slave arms in this way as shown in Figure 5-20.

  • Page 77: Installation Of Rotating Shaft (For 4-Axis Robot)

    Chapter 5 Robot Installation Figure 5-20 Installation of slave arm 5.5 Installation of rotating shaft (for 4-axis robot) Auxiliary tool: a 2.5 mm Allen wrench. Remove the packing foam from the rotating shaft and hold the carbon Step 1 fiber tube in the middle of the rotating shaft to naturally sag the moving platform as shown in Figure 5-21.

  • Page 78: Figure 5-22 Removal Of Protection Cover

    AP3X Robot User Manual  As the moving platform has been connected to the rotating shaft before packaging, do not hold it upside down. Otherwise, the spline shaft would slide out and be damaged.  The rotating shaft can not support the moving platform.

  • Page 79: Figure 5-23 Installation Of Rotating Shaft

    Chapter 5 Robot Installation inserting into the universal joint. Figure 5-23 Installation of rotating shaft Ensure that the groove at the shaft side faces the threaded hole as Step 5 shown in Figure 5-24. Install the set screw and then the screw at the flat key.

  • Page 80: Installation Of Moving Platform

    AP3X Robot User Manual  As the universal joint adopts the tight fit design, it may not be installed smoothly. Users can gently tap it to the top.  The tightening torque of the set screws at the shaft side and universal joint keyway should be 2 Nm.

  • Page 81: Figure 5-25 Installation Of 3-Axis Robots Moving Platform

    Chapter 5 Robot Installation  Prevent the moving platform from damage caused by accidental drop when installing the moving platform of the 4-axis robot.  The two springs should be properly clasped and installed in the groove at both sides in the same direction.

  • Page 82: Deflector Installation

    AP3X Robot User Manual Figure 5-26 Installation of 4-axis robots moving platform Step 3 Complete the fitting of the other two slave arms and moving platforms following Step 2. Step 4 Confirm that the calibrated position of the moving platform and the Axis are in the same direction and all springs are clasped in the specified grooves as required.

  • Page 83: Figure 5-27 Deflector Installation

    Chapter 5 Robot Installation Figure 5-27. Step 2 Loosen the socket head cap screws at the edge of the base. Step 3 Apply the deflector onto the screw at the hole 2. Step 4 Slightly adjust the deflector to lower it so that the screw is clasped at the hole 1 of the deflector.

  • Page 84: Chapter 6 System Installation

    AP3X Robot User Manual Chapter 6 System Installation 6.1 System cabling diagram Figure 6-1 System cabling diagram 6.2 Connection to emergency stop device Step 1 Take out the provided emergency stop device and open the protection cover outside the MCP interface as shown in Figure 6-2.

  • Page 85: Installation Of Top Fan Cable

    6.3 Installation of top fan cable To prevent damage to the connector, the top fan cable of AP3X Robot has not been installed before delivery. Users need to install it on their own. If the top fan is not connected to the robot, an abnormal alarm would be given when the robot is used.

  • Page 86: Robot Body Grounding

    AP3X Robot User Manual Step 1 After the robot is installed, find the top fan cable. Step 2 Connect the top fan cable to the fan interface on the robot body, as shown in Figure 6-3. Figure 6-3 Installation of top fan cable 6.4 Robot body grounding...

  • Page 87: Power Connection

    Chapter 6 System Installation should be designed on the robot body. The grounding sign is at the side of the panel 3 as shown in Figure 6-4. Users can connect the robot body to the ground via the GND port. Figure 6-4 Grounding sign 6.5 Power connection When a GB plug is connected to the power to supply power...

  • Page 88: Ethernet Connection

    Do not touch the robot until the main power of the robot is turned off for at least 5 minutes. 6.6 Ethernet connection The premise of connecting AP3X Robot to Ethernet is as follows:  The robot has been installed firmly and the rack is fixed.

  • Page 89: Figure 6-6 Schematic Diagram Of Connection To Pc

    Chapter 6 System Installation Figure 6-6 Schematic diagram of connection to PC Document Version V1.1.0(01/11/2023)

  • Page 90: Layout Of Pneumatic Pipe

    AP3X Robot User Manual 6.7 Layout of pneumatic pipe Pneumatic pipes are not necessary accessories for AP3X Robot. Users can install them according to actual needs. To facilitate the connection of I/O signals to the solenoid valve power supply, the pneumatic electromagnetic devices can be installed on the installation surface beside the interface panel 1, as shown in Figure 6-7 (unit: mm).

  • Page 91: Figure 6-8 Layout Of Air Pipes And Installation Surface Of Pneumatic Components

    Chapter 6 System Installation pipes of AP3X-1600-1654 are installed as shown in Figure 6-8. Figure 6-8 Layout of air pipes and installation surface of pneumatic components A certain length of the air pipes should be reserved at the corner of each joint. Otherwise, the air pipes would be pulled due to robot motion resulting in blocking in the air pipes.

  • Page 92: Chapter 7 Robot Operation

    AP3X Robot User Manual Chapter 7 Robot Operation AP3X series robots need to be used in the ARM (Automation Rescource Manager) software programming environment. ARM software is suitable for the robot software programming environment produced by QKM. Users can write programs based on the software to send instructions to control the robot.

  • Page 93: Prerequisites

    1) Familiar with macro instructions. QKM macro instructions indicate the robot secondary development language independently developed and defined by QKM based on the QKM motion control system, which is called Macro instruction set. Macro instructions can be used to automatically execute defined commands and perform functions such as complex operations, string processing, interactions between users and projects, etc.

  • Page 94: Programming Environment Installation

    QKMLink, so QKMLink will be installed automatically when ARM is installed. QKMLink is designed according to the QKM Protocol. The format of data from the interactions conforms to the protocol. Currently, QKMLink supports TCP communication and can be installed on Windows of different devices. Its interface supports C#, VB, C++ call and development.

  • Page 95: Installation Steps

    2) Memory: 2G or more. 7.2.1 Installation steps Step 1 Download an ARM installation package at the official website of QKM,as shown in Figure 7-1. Figure 7-1 Installation package Step 2 Double-click the left button to install the software, as shown in Figure 7-2.

  • Page 96: Figure 7-2 Start Installation

    AP3X Robot User Manual Figure 7-2 Start installation Step 3 Click on "Next", as shown in Figure 7-3. Figure 7-3 Choose installation path Step 4 Choose the installation path and click on "Next", as shown in Figure 7-4. Document Version V1.1.0 (01/11/2023)

  • Page 97: Open Macro Command Debugger

    Chapter 6 Robot Operation Figure 7-4 Successful installation Step 5 Click on "Install" to complete the installation. 7.3 Open Macro Command Debugger Step 1 Double-click the installed ARM to open the ARM interface, and then click < window > on the menu bar to switch to <Pallas> Document Version V1.1.0(01/11/2023)

  • Page 98: Figure 7-5 Arm Interface

    AP3X Robot User Manual mode, as shown in Figure 7-5. Figure 7-5 ARM interface Step 2 On the interface of ARM in Pallas mode, click <Tools> on the menu bar and select <Macro Command Debugger >in< Debugging and Analyzing Tools >, as shown in Figure 7-6.

  • Page 99: Figure 7-6 Arm Interface

    Chapter 6 Robot Operation Figure 7-6 ARM interface Step 3 The macro command debugger is shown in Figure 7-7. Figure 7-7 Macro Command Debugger Document Version V1.1.0(01/11/2023)

  • Page 100: Functions Of Macro Command Debugger

    AP3X Robot User Manual 7.4 Functions of macro command debugger The macro command debugger is used in the installed ARM programming environment. 7.4.1 Macro Command Debugger interface Figure 7-8 Macro Command Debugger 7.4.2 Menu bar Figure 7-9 Menu bar of macro command debugger (ARM)
  • Page 101 Chapter 6 Robot Operation Open Save Undo Resume Comment out the selected Uncomment out the lines selected lines Start Continue (Note: Run all instructions in order.) Pause Stop Single step Previous Jump Clear There are two options, i.e. "Single" and "Cycle". Click Hide and show on the inverted triangle to select.

  • Page 102: Introduction To User Defined Instruction Editing Area

    AP3X Robot User Manual needs to be set by the user, and can be set to other numbers. 7.4.3 Introduction to user defined instruction editing area Users can add common instructions to the < macro command debugger> interface through the user-defined instruction editing function according to their needs.

  • Page 103: Figure 7-10 Customize The Editing Interface(Arm)

    Chapter 6 Robot Operation Figure 7-10 Customize the editing interface(ARM) Step 3 Click < OK >, and the command shortcut key < servo power on >, just added, will appear on the right side of the macro command debugge. To call the command of "servo power on" again, the user can directly click the shortcut key of <...

  • Page 104: Establish Ip Communication

    AP3X Robot User Manual Figure 7-11 call the command shortcut interface(ARM) 7.4.4 Establish IP communication Step 1 Open the ARM debugging environment, then click the button in the menu bar < Connect or disconnect quickly >to enter the connection interface.

  • Page 105: Figure 7-12 Connection Interface

    Chapter 6 Robot Operation Figure 7-12 connection interface Step 2 Click the lower left corner to enter the scanning interface, the <Scan>interface will automatically scan the IP address of the robot, click the IP address and click the lower right corner<Select>. Document Version V1.1.0(01/11/2023)

  • Page 106: Figure 7-13 Scanning Interface

    AP3X Robot User Manual Figure 7-13 scanning interface Step 3 The IP address of the robot: 192.168.10.120, then click <Connect>the button below,as shown in Figure 7-14.  The IP addresses of the robot and the host computer must remain on the same network segment.

  • Page 107: Figure 7-14 Ip Connection

    Chapter 6 Robot Operation from 1 to 256. Figure 7-14 IP connection 7.4.4.1 Successful IP connection The premise of successful IP connection is that the IP addresses of the robot and the host computer are on the same network segment. Upon successful connection, there is a prompt of "...

  • Page 108: Figure 7-15 Successful Connection

    AP3X Robot User Manual Figure 7-15 Successful connection 7.4.4.2 IP connection failure When the connection fails, the "Error" prompt dialog box will pop up, as shown in Figure 7-16. Figure 7-16 Connection failure Document Version V1.1.0 (01/11/2023)
  • Page 109 Chapter 6 Robot Operation Solution to connection failure: Step 1 Rescan the robot's IP address; If the IP address of the robot can be scanned, try to reconnect to the robot; If the IP address of the robot cannot be scanned, check whether the network cable between the host computer and the robot is connected normally, or whether the network port connected to the robot is...
  • Page 110 AP3X Robot User Manual Step 4 Directly input "ping + Robot IP" after >. If the specific values of the parameters of byte, time and TIL are returned, it indicates that the network is connected as shown in the figure.

  • Page 111: Query On Description Of Macro Language Instructions

    The macro command debugger includes a macro manual, which lists the macro language instructions that need to be used during robot debugging. For details, please refer to the "QKM Robot Instruction Manual".Double-click the button in the interface to open the "QKM Robot Command Manual".

  • Page 112: Figure 7-18 Input Instructions

    AP3X Robot User Manual and edited as shown in Figure 7-18. Figure 7-18 Input instructions The system distinguishes between case and instruction, and the default first letter of instruction is uppercase. When inputting a single instruction, you can enter the first letter of the instruction.

  • Page 113: Figure 7-19 Input Instructions

    Chapter 6 Robot Operation Figure 7-19 Input instructions All instructions contained under the instruction set can be prompted automatically when you enter ".", as shown in Figure 7-20. Document Version V1.1.0(01/11/2023)

  • Page 114: Run Instructions

    AP3X Robot User Manual Figure 7-20 Input instructions 7.4.7 Run instructions After editing the instructions, click on the <Run> button in the menu bar to run all the instructions in the "instruction editing area" one by one in sequence. The results are displayed in the "instruction output area", as shown in Figure 7-21.

  • Page 115: Breakpoint Debugging

    Chapter 6 Robot Operation Figure 7-21 Run instructions 7.4.8 Breakpoint debugging If you need to debug or run an instruction separately, you can locate it by adding a breakpoint before the instruction. Method of adding a breakpoint: Click the left mouse button at the position of instruction number before the instruction to add a breakpoint identifier, as shown in Figure 7-22.

  • Page 116: Output

    AP3X Robot User Manual Figure 7-22 Add a breakpoint 7.4.9 Output The output after running is displayed as shown in Figure 7-23. The output interface contains the feedback information of each command. If the command is successfully executed, the feedback result will be displayed in black font. If the command fails to be executed, the system will pop up the "Execution Failure"...

  • Page 117: Clear Output

    Chapter 6 Robot Operation Figure 7-23 Output 7.4.10 Clear output Click the <Clear> button in the upper right corner of the output area to complete the clear,as shown in Figure 7-24. Document Version V1.1.0(01/11/2023)

  • Page 118: Save Output

    AP3X Robot User Manual Figure 7-24 Clear output 7.4.11 Save output If you need to save the output, you can click the <Save> button in the upper right corner of the output box to save it in the *.log format,as shown in Figure 7-25.

  • Page 119: Qrl Mode

    Chapter 6 Robot Operation 7.5 QRL mode QRL programs are used in ARM-installed programming environment. 7.5.1 Switch to QRL mode In the ARM debugging interface, click the upper middle button , and then click the lit button on the left to switch to the QRL mode .

  • Page 120: Figure 7-27 New Solution

    AP3X Robot User Manual Step 1 Right-click in the space below "Remote Location" and click "New Solution", as shown in Figure 7-27. Figure 7-27 New Solution Step 2 After the New Solution interface pops up, enter a program name, such as "test", and click "Create".

  • Page 121: Introduction To "Main.ql

    Chapter 6 Robot Operation Figure 7-28 Enter a solution name Step 3 After the creation is completed, the corresponding solution file will appear below "Remote Location". Expand the "test" file, and then the "project" file, which contains the "main.ql" and "data.qlv" program files, as shown in Figure 7-29.

  • Page 122: Figure 7-30 "Main.ql " Interface

    AP3X Robot User Manual Figure 7-30 "main.ql " interface Run the "test" solution; Select "test" in at the top of the ARM debugging interface and click the button to run it. At this point, the program will output "Hello world!" below in a circular way, as shown in Figure 7-31.

  • Page 123: Introduction To "Data.qlv

    Chapter 6 Robot Operation For details of QRL program content, please refer to the "QKM Robot (QRL Language) Programming Manual". 7.5.4 Introduction to "data.qlv" "data.qlv" is the robot motion point and motion parameter setting file. Double-click to open the "data.qlv" file, and the "data.qlv" interface will pop up, as shown in Figure 7-32.
  • Page 124 AP3X Robot User Manual Move Line Switch to the pattern to control the linear movement of the robot to the selected point position New Location Add the point of the robot's current position in the current interface New Profile Use in the Motion Parameters interface to add motion...

  • Page 125: Figure 7-33 New Location

    Chapter 6 Robot Operation the interface. The point name is the default name, and you can click Rename to modify it, as shown in Figure 7-33. Figure 7-33 New Location Step 2 New LocationJ; Click "New Location" in "LocationJ", and the point information of the current robot’s axis coordinate position will appear in the interface.

  • Page 126: Figure 7-35 New Profile

    AP3X Robot User Manual parameter name is the default name, and you can click Rename to modify it, as shown in Figure 7-35. Figure 7-35 New Profile Step 4 New Location Array; Click "New Array" in "Location Array", and the "New Array"...

  • Page 127: Figure 7-37 "Location Array" Information Interface

    Chapter 6 Robot Operation Figure 7-37 "Location Array" information interface Step 5 New LocationJ Array; Click "New Array" in "LocationJ Array", and the "New Array" interface will pop up. Enter the array name and array length, and click "OK", as shown in Figure 7-38. Figure 7-38 New LocationJ Array After completion, the "LocationJ Array"...

  • Page 128: Figure 7-39 "Locationj Array" Information Interface

    AP3X Robot User Manual Figure 7-39 "LocationJ Array" information interface Step 6 New Profile Array; Click "New Array" in "Profile Array", and the "New Array" interface will pop up. Enter the array name and array length, and click "OK", as shown in Figure 7-40.

  • Page 129: Saving And Downloading Program Locally

    Chapter 6 Robot Operation Figure 7-41 "Profile Array" information interface Step 7 Click "IDE Edit", and the program contents of "data.qlv" will appear in the ARM debugging interface, showing the point and motion parameter information added in the above steps, as shown in Figure 7-42.

  • Page 130: Figure 7-43 Save To "Pc Location

    AP3X Robot User Manual drag it to "PC Location", the download history path will pop up, as shown in Figure 7-43. Figure 7-43 Save to "PC Location" Step 2 Click the button in the download history path, select the path where the file needs to be saved, and click "OK".

  • Page 131: Manual Jog Teaching

    Chapter 6 Robot Operation Figure 7-44 "Download History Paths" interface Step 4 After completion, the file will appear in "PC Location", and the program file will also appear in the corresponding save path, as shown in Figure 7-45. Figure 7-45 "PC Location" file interface 7.6 Manual jog teaching On the ARM interface, click <...

  • Page 132: Figure 7-46 Jog Teach

    AP3X Robot User Manual Figure 7-46 Jog teach Figure 7-47 Teach interface Document Version V1.1.0 (01/11/2023)

  • Page 133: Table 7-2 Introduction To Tools On The Jog Teach Interface

    Chapter 6 Robot Operation Table 7-2 Introduction to tools on the jog teach interface Function Diagram Description select Frame Type [Joint],[World],[Tool]or [UseFrame]. Jog Mode select [Jog],[Step]or[Disable] in this mode. Inching Manually enter distance value for each distance inching. Robot The coordinate values of ends of the current coordinate robot...

  • Page 134: Servo Power-On

    AP3X Robot User Manual jogged. Coordinates in [World/Tool/UseFrame] mode If you need to control coordinate the motion of the robot values separately, click <X +>,<X->,etc. to control the motion of robot direction of X,etc. 7.7 Servo power-on When controlling the motion of the robot through the ARM programming environment, you must first power on the robot via servo.
  • Page 135 Chapter 6 Robot Operation power on Click < Home > to Home control the robot to return Home The user adjusts the System running speed of the Speed whole system by percentage. The user adjusts the Robot running speed of the Speed robot by percentage.
  • Page 136 AP3X Robot User Manual Method 2 (send macro instruction): Enter Robot.Home [robotIndex] in the instruction editing area on the macro language development interface to send a power-on instruction to the robot. (Where robotIndex is the index number of the online robot.)

  • Page 137: Speed Adjustment

    Chapter 6 Robot Operation Figure 7-48 Power-on button interface Method 2 (send macro instruction): Prerequisites: ① Manual or auto mode; ② The control authority is 0/1 (set authority with System.LogIn). Enter Robot. PowerEnable [robotIndex],1 in the instruction editing area on the macro language development interface to send a power-on instruction to the robot.

  • Page 138: Adjustment Of System Speed

    AP3X Robot User Manual  Speed in robot motion parameters. 7.8.1 Adjustment of system speed Under the control of the same controller, one or more robots cooperate with each other to complete one or more actions, forming a complete robot operating system including all devices participating in the motion (s).

  • Page 139: Adjustment Of Robot Speed

    Chapter 6 Robot Operation Method 2 (send macro instruction): Enter System. Speed [value] in the instruction editing area on the macro language interface to send instructions to the robot. (Where value indicates the value of system speed of the robot and its type is double) For example, System.Speed 50 // The speed of all robots in the node is set to 50.

  • Page 140: Figure 7-50 Speed Adjustment

    AP3X Robot User Manual Figure 7-50 Speed adjustment Method 2 (send macro instruction): Prerequisites: (1) The robot is stopped; (2) The control authority is 0/1 (set authority with System.LogIn) Enter Robot.Speed [robotIndex], [value] or Robot.Speed [robotIndex] in the instruction editing area on the macro language interface. (Where robotIndex is the index number of the robot and its type is Integer;...

  • Page 141: Speed Adjustment During Motion

    Chapter 6 Robot Operation 1. The life of each part of the robot can only be guaranteed if the robot's running speed does not exceed the rated speed and rated load. Using the robot under the condition of exceeding the rated load or rated speed for a long time will cause the speed reducer and other parts to accelerate.
  • Page 142 Speed/Speed2/Accel/Decel/AccelRamp /DecelRamp/InRange/Type/Time/BlendType/BlendValue respectively represents the information on speed. For details about parameters, please refer to the "QKM Robot Instruction Manual". (If one of the parameters is not assigned a value, it is represented by "0" or a space.) For example, Profile prof2 = 80,0,80,80,0.1,0.1...

  • Page 143: Emergency Stop And Recovery

    Chapter 6 Robot Operation Step 2 Enter Profile.Set [robotIndex], [ProfileName] and send an instruction to the robot. (Where robotIndex is the index of the robot and its type is Integer; ProfileName is the name of the speed (variable) and its type is Profile) For example, Profile.Set 1, prof2 // The instruction for assigning value to prof2 has been executed before, then set the Profile...

  • Page 144: Robot Power-Off

    AP3X Robot User Manual the recovery on it after the emergency stop. Table 7-4 Handling methods Robot position Handling Manually operate the robot and move it to a In an open area safe position. In the case where it is...

  • Page 145: Figure 7-51 Interface Of Teaching In Powered-On State

    Chapter 6 Robot Operation Method 1 (Jog the ARM interface): Step 1 Stop the program that the robot is running. Step 2 Click the <Power Off>at the bottom right of the ARM debugging interface, as shown in Figure 7-51. Figure 7-51 Interface of teaching in powered-on state Step 3 Unplug the power cable from the robot (turn off the power switch before unplugging the power cable if there is a power switch on the robot).
  • Page 146 AP3X Robot User Manual Step 2 Enter Robot.PowerEnable [robotIndex], 0 in the instruction editing area on the macro language development interface. (Where robotIndex is the index number of the online robot.) For example, Robot.PowerEnable 1,0 // the robot at the first node...

  • Page 147: Chapter 8 Specifications

    Chapter 7 Robot Operation Chapter 8 Specifications 8.1 Robot parameters The main specification parameters of AP3X Robot are shown in Table 8-1. Table 8-1 Specification parameters of AP3X Robot Item Parameter AP3X-1130- AP3X-1130- AP3X-1600- AP3X-1600- Model 1653 1654 1653 1654...
  • Page 148 AP3X Robot User Manual Item Parameter Weight (including 190 kg 195 kg 191 kg 196 kg packaging) Rated moment 0.01 kg·m² 0.01 kg·m² of inertia Rotating shaft ±360° ±360° rotation range Angle of stop -43.3° ~ +104.27° -44.44° ~ +103.13°...
  • Page 149 Chapter 8 Specifications Item Parameter Mode1： 20 universal digital inputs,6 high-speed digital inputs,2 analog inputs,18 universal digital outputs. I/O interface Mode2: 12 universal digital inputs, 6 high-speed digital inputs, 2 analog inputs, 10 universal digital outputs,8 system digital inputs Work Working temperature: 0 ℃~45 ℃;...

  • Page 150: Environmental Parametersds

    AP3X Robot User Manual Figure 8-1 Measurement trajectories of standard cycle 8.2 Environmental parametersds Install the robot system in an environment that meets the following conditions to exert/maintain the performance of the robot and to ensure safe use. Document Version V1.1.0 (01/11/2023)
  • Page 151 Vibration vibration The robot is not suitable for work in harsh environmental conditions. If used in a place that does not meet the above conditions, please contact QKM for query.  If used in an environment where temperature and humidity change greatly, fogging may be caused inside the mechanical arm.
  • Page 152 AP3X Robot User Manual  Do not use it in corrosive environments such as acids or alkalis. Document Version V1.1.0 (01/11/2023)

  • Page 153: Appendix A Dimensions Of Moving Platform Installation Surface

    Appendix A Dimensions of moving platform installation surface Appendix A Dimensions of moving platform installation surface (a) Dimensions of end flange of 3-axis moving platform output axis (b) Dimensions of end flange of 4-axis moving platform output axis Document Version V1.1.0(01/11/2023)

  • Page 154: Appendix B Robot Base Size

    Appendix B Robot base size Appendix B Robot base size (c) Top and partial view of base and its dimensions Document Version V1.1.0 (01/11/2023)
  • Page 155 Appendix A Dimensions of moving platform installation surface Document Version V1.1.0(01/11/2023)

Table of Contents