Page 2 User Manual AH20-0850-0204-2000 AH20-0850-0204-4000 AH20-1050-0204-2000 AH20-1050-0204-4000 QKM Technology (Dongguan) Co., Ltd. V1.0.1 Document version Issued on November 14, 2022...
Page 4: Preface
This manual provides detailed information on product features, main components, installation guide, system debugging and technical specifications of AH20 Robot so that users can fully understand and properly use the robot. Target readers This manual is for the reference of:...
Page 5 AH20 Series Robot User Manual Figures Description It indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury. It indicates that a potentially dangerous situation would occur and cause personal injuries or equipment damage if it is not avoided.
Page 6 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 7 AH20 Series 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 Tel.: +86 0769-27231381 Fax: +86 0769-27231381-8053 Post code: 523808 Email: service@qkmtech.com Website: www.qkmtech.com...
Page 8: Version History
Version History Version History The version history records the description of each document version update. The most recent version of the document contains the updated contents of all previous document versions. Document version Issued on Revised content V1.0.0 June 7, 2022 The first version Modified the front pinout picture of the 9-pin header of...
Page 9: Table Of Contents
AH20 Robot User Manual Table of Contents Preface ..........................I Version History ........................V Table of Contents ......................VI List of Figures ........................X List of Tables ........................XII Chapter 1 Safety Precautions ................... 1 General safety ....................1 Precautions for safe operation ..............3 Safety signs .....................
Page 10: Table Of Contents
Table of Contents Robot coordinate system................15 Specification and dimension ..............15 3.5.1 Overall dimension ................15 3.5.2 Base dimensions ................20 3.5.3 Terminal flange dimensions ............20 Technical parameters .................. 21 Environmental parameters ................. 22 Electrical parameters ................... 23 Chapter 4 Introduction to Electrical Connectors ..........
Page 11 AH20 Robot User Manual 4.3.9 Customer signal connector of the mechanical arm 2 (CS) ... 41 Chapter 5 Product Installation ................43 Installation requirements ................43 Product confirmation .................. 45 Installation site and environment ............... 45 Installation of external parts ............... 46 5.4.1...
Page 12 Table of Contents 6.4.2 Menu bar ..................64 6.4.3 Introduction to user defined instruction editing area ....66 6.4.4 Establish IP communication ............68 6.4.5 Query on description of macro language instructions ....72 6.4.6 Input instructions ................73 6.4.7 Run instructions ................
Page 13: List Of Figures
Figure 2-1 AH20 Robot (AH20-0850-0204-2000) appearance ........6 Figure 2-2 Model implication ..................7 Figure 3-1 Composition of AH20 Robot (AH20-0850-0204-2000) ......9 Figure 3-2 Main view of AH20 Robot ............... 11 Figure 3-3 Trajectories of each axis ................. 12 Figure 3-4 AH20-0850-0204-2000 / AH20-0850-0204-4000 ........
Page 14 List of Figures Figure 4-5 Auxiliary encoder ..................30 Figure 4-6 Wiring diagram of E-stop device ............33 Figure 4-7 Diagram of input circuit (left) and output circuit (right) ..... 39 Figure 4-8 Wiring diagram of CS connector of F19W-core robot general cable ... 42 Figure 5-1 Reserved space at the back of the base ..........
Page 15: List Of Tables
Table 1-1 Warning signs ..................... 4 Table 2-1 Model preview .................... 7 Table 3-1 Components of AH20 Robot ..............11 Table 3-8 Technical parameters of AH20 Robot ............. 21 Table 3-9 Environmental parameters ..............22 Table 3-10 Robot electrical parameters ..............23 Table 4-1 Introduction of connector panel ............
Page 16: Chapter 1 Safety Precautions
QKM or relevant institutions or shall have the same professional skills. Personnel shall read this manual carefully before conducting operation, maintenance, teaching, programming and system development of AH20 Robot and use it in strict accordance with the safety precautions in this manual. 1.1 General safety The safety precautions in this manual only serve as a supplement to safety specifications.
Page 17 QKM Customer Service.  Personnel responsible for installation, operation and maintenance of QKM robot must receive rigorous training to understand all safety precautions and proper methods of operation and maintenance before operating and maintaining the robot.
Page 18: Precautions For Safe Operation
 If users request for transport, please adopt the standard packaging required by QKM. 1.2 Precautions for safe operation  Shut off the power when installing and maintaining the robot to prevent accidents.
Page 19: Safety Signs
AH20 Robot User Manual  The robot must be well grounded by connecting to the main ground wire of the factory to prevent static damage; maintenance tools must adopt special insulation tools.  Confirm that the entire robot system is in a safe environment before performing daily inspection and regular maintenance of the robot.
Page 20 Chapter 1 Safety Precautions A triangle sign for warning of high voltage Grounding sign Do not disassemble the robot to prevent failures. A sign for protection from residual voltage Document Version V1.0.1 (11-14-2022)
Page 21: Chapter 2 Product Overview
Chapter 2 Product Overview 2.1 Introduction AH20 Robot is a SCARA robot (adopting a new generation of distributed controller) independently developed by QKM Technology (Dongguan) Co., Ltd. (hereinafter referred to as QKM). It is characterized by AIO design, no separate...
Page 22: Model Implication
Table 2-1 Model preview Horizontal Vertical Rated Max. Work Work Model Protection Operating load Load Installation Space Space Name Grade Environment (kg) (kg) (mm) (mm) AH20-0850- 0204-2000 AH20-0850- 0204-4000 Tabletop IP 65 Standards mounting AH20-1050- 0204-2000 1050 AH20-1050- 0204-4000 Document Version V1.0.1 (11-14-2022)
Page 23: Product Features
AH20 Robot User Manual 2.3 Product features  Available in 850 mm and 1,050 mm arm lengths for flexible use by customers.  AIO design without separate control cabinet for less space and easy installation. By adopting a new generation of distributed architecture control system, it is more stable, smoother and easier to use.
Page 24: Chapter 3 Components And Functional Description
Chapter 3 Components and Functional Description 3.1 Introduction to main body AH20 Robot is mainly composed of a base, a mechanical arm 1, a mechanical arm 2, a spline shaft, a terminal flange and a corrugated pipe (including cables). Its appearance and structure are shown in Figure 3-1.
Page 25: Mechanical Arm 1
AH20 Robot User Manual 3.1.2 Mechanical arm 1 Casting design with light weight is used for improving the performance of the robot. 3.1.3 Mechanical arm 2 Three groups of motors are built in, with high-precision lifting and rotating shaft. Axis J3 and Axis J4 are driven by synchronous belt with high stability and reliability.
Page 26: Table 3-1 Components Of Ah20 Robot
Chapter 3 Components and Functional Description Figure 3-2 Main view of AH20 Robot Table 3-1 Components of AH20 Robot Name Description Fast air pipe Air1(Ф4 mm); Air2, Air3(Ф6 mm) connector Electrical connector For connecting power supply, Ethernet panel cables, etc.
Page 27: Trajectory
AH20 Robot User Manual each other. Pressing any button will work on the J3 and J4 axes at the same time. The brake buttons can be pressed only when the robot is in servo-off state. For details on the electrical connector panel, please refer to Section 4.1 Introduction of connector panel.
Page 28: Horizontal Work Space
Chapter 3 Components and Functional Description 3.3 Horizontal work space  AH20-0850-0204-2000/ AH20-0850-0204-4000 Figure 3-4 AH20-0850-0204-2000 / AH20-0850-0204-4000  AH20-1050-0204-2000/ AH20-1050-0204-4000 Document Version V1.0.1 (11-14-2022)
Page 29 AH20 Robot User Manual Figure 3-5 AH20-1050-0204-2000 / AH20-1050-0204-4000 Document Version V1.0.1 (11-14-2022)
Page 30: Robot Coordinate System
3.4 Robot coordinate system The "+" and "-" indicating directions of the axes are applicable to the cartesian coordinate system. Rotation Z Figure 3-6 World coordinate system 3.5 Specification and dimension 3.5.1 Overall dimension  AH20-0850-0204-2000 Document Version V1.0.1 (11-14-2022)
Page 31 The maximum stroke of the is reserved for screw can reach 200 mm cables * Position where the screw reaches the hard limit Figure 3-7 AH20-0850-0204-2000 dimensions (unit: mm) Through hole Through hole Through hole Figure 3-8 AH20-0850-0204-2000 dimensions (unit: mm)  AH20-0850-0204-4000...
Page 32 400 mm for cables * Position where the screw reaches the hard limit Figure 3-9 AH20-0850-0204-4000 dimensions (unit: mm) Through hole Through hole Through hole Figure 3-10 AH20-0850-0204-4000 dimensions (unit: mm) Document Version V1.0.1 (11-14-2022)
Page 33 150 mm space is the screw can reach 200 reserved for cables * Position where the screw Figure 3-11 AH20-1050-0204-2000 dimensions (unit: mm) reaches the hard limit Through hole Through hole Through hole Figure 3-12 AH20-1050-0204-2000 dimensions (unit: mm)  AH20-1050-0204-4000...
Page 34 400 mm 150 mm space is reserved for cables * Position where the screw reaches the hard limit Figure 3-13 AH20-1050-0204-4000 dimensions (unit: mm) Through hole Through hole Through hole Figure 3-14 AH20-1050-0204-4000 dimensions (unit: mm) Document Version V1.0.1 (11-14-2022)
Page 35: Base Dimensions
AH20 Robot User Manual 3.5.2 Base dimensions Through hole Figure 3-15 Product dimensions (Unit: mm) 3.5.3 Terminal flange dimensions Through (inner diameter of screw) hole Through hole Figure 3-16 End flange installation dimensions (unit: mm) Document Version V1.0.1 (11-14-2022)
Page 36: Technical Parameters
Chapter 3 Components and Functional Description 3.6 Technical parameters Table 3-8 Technical parameters of AH20 Robot AH20-0850 AH20-1050 AH20-0850- AH20-0850- AH20-1050- AH20-1050- Model Number 0204-2000 0204-4000 0204-2000 0204-4000 Full arm 1050 length Arm length (mm) Axis A Axis B Axis A + Axis...
Page 37: Environmental Parameters
AH20 Robot User Manual J4 maximum moment of 0.45 inertia (kg·m Total weight (kg) 3.7 Environmental parameters 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.
Page 38: Electrical Parameters
Chapter 3 Components and Functional Description  Do not use it in corrosive environments such as acids or alkalis, otherwise the normal use of the robot would be affected. 3.8 Electrical parameters Table 3-10 Robot electrical parameters Item Parameter Rated voltage 230 V a.c.
Page 39: Chapter 4 Introduction To Electrical Connectors
Chapter 4 Introduction to Electrical Connectors 4.1 External electrical connector The electrical connectors of AH20 Robot mainly include air pipe connector, power connector, communication connector and user connector, etc., which are distributed on the base and mechanical arm 2, as shown in the figure.
Page 40: Table 4-1 Introduction Of Connector Panel
Chapter 4 Introduction to Electrical Connectors Figure 4-2 Air hole Figure 4-3 CS connector Table 4-1 Introduction of connector panel Name Description Air pipe connector Connected to Φ4 air pipe Air pipe connector Connected to Φ6 air pipe Air pipe connector Connected to Φ6 air pipe CS connector Customer signal connector...
Page 41: Base Connector Panel
AH20 Robot User Manual 4.1.2 Base connector panel Figure 4-4 Schematic diagram of connector panel Document Version V1.0.1 (11-14-2022)
Page 42: Table 4-2 Introduction Of Connector Panel
Chapter 4 Introduction to Electrical Connectors Table 4-2 Introduction of connector panel Name Description Air1 Air pipe connector (white, Φ6) RS-485 Communication connector Ethernet connector (Ethernet communication) Real-time Ethernet connector 1 (extended RTN1 function reserved connector) Digital input/output connector Customer signal connector (customer signal) Grounding screw Common ground terminal for connecting...
Page 43: Indicator Description
AH20 Robot User Manual 4.2 Indicator description AH20 Robot comprises AC LED on the base connector panel and system indicator on the mechanical arm 2. The status of the indicators is described below. 4.2.1 Main power indicator Table 4-3 Description of power indicator status...
Page 44: Definition Of Connector Pins
Chapter 4 Introduction to Electrical Connectors 4.3 Definition of connector pins This section provides detailed functions and descriptions of pins on the power connector, each connector of the upper control cabinet and the CS connector on the mechanical arm 2. The operations must be performed in accordance with the descriptions of the pins.
Page 45 AH20 Robot User Manual Common ground 3-axis A + 3-axis B+ 3-axis Z+ Shielded wire Output +5 V 5 V d.c. output d.c. power Common ground Axis 4 A + Axis 4 12-pin female front pinout Axis 4 B +...
Page 46: Mcp Connector (Mcp/E-Stop)
Chapter 4 Introduction to Electrical Connectors  The 5 V pin in the auxiliary encoder connector indicates a DC output power supply.  Do not connect external power supply to the 5 V auxiliary encoder pin, otherwise the internal circuit of the robot will be burnt.
Page 47 AH20 Robot User Manual 19-pin female connector Function 1 Function 1 (MCP) Function 2 (E-stop) description Auto/manual mode Auto/Manual 2 24 V d.c. output Output 24 V d.c. power Auto/manual mode Auto/Manual 1 24 V d.c. output Output 24 V d.c.
Page 48: Communication Connector (Rs-232)
Chapter 4 Introduction to Electrical Connectors RX_D2+ Receive data + RX_D2- Receive data - Figure 4-6 Wiring diagram of E-stop device 4.3.4 Communication connector (RS-232) Table 4-8 Definition of RS-232 pins Definition of RS-232 pins Function Description Unused Receive data Transmit data Unused Ground terminal...
Page 49: Communication Connector (Rs-485)
AH20 Robot User Manual Unused Unused Unused 4.3.5 Communication connector (RS-485) Table 4-9 Definition of RS-485 pins Definition of RS-485 pins Function Description Unused Unused Unused Unused Unused Unused 9-pin female front pinout Ground terminal RS485+ RS485+ RS485- RS485- 4.3.6 Ethernet connector (LAN/RTN1/RTN2)
Page 50 Chapter 4 Introduction to Electrical Connectors TX_D1+ Transmit data + TX_D1- Transmit data - RX_D2+ Receive data + BI_D3+ Two-way data + BI_D3- Two-way data - RX_D2- Receive data - BI_D4+ Two-way data + 8-core positive pinout BI_D4- Two-way data - Document Version V1.0.1 (11-14-2022)
Page 51: Digital Input/Output Connector (I/O)
AH20 Robot User Manual 4.3.7 Digital input/output connector (I/O) For easy programming, each pin of the IO connector is defined with a corresponding number. The following provides the definition, function, corresponding signal code and description of each pin on the connector, as shown in Table 4-11.
Page 52 Chapter 4 Introduction to Electrical Connectors E-DO_10 20110 General output 10 Output 24 V d.c 24 V d.c. output power ① Common ground E-DO_11 20111 General output 11 E-DO_12 20112 General output 12 E-DO_13 20113 General output 13 E-DO_14 20114 General output 14 Output 24 V d.c 24 V d.c.
Page 53 AH20 Robot User Manual Common ground E-DI_9 10109 General input 9 E-DI_10 10110 General input 10 E-DI_11 10111 General input 11 E-DI_12 10112 General input 12 E-DI_13 10113 General input 13 E-DI_14 10114 General input 14 E-DI_15 10115 General input 15...
Page 54: Base Customer Signal Connector (Cs)
Chapter 4 Introduction to Electrical Connectors Note ① : The rated current of one-way 24V DC output power supply is 1A; The 24V DC output power supply cannot be connect to external devices, but can only be used for I/O output. Load circuit Internal Internal circuit...
Page 55 AH20 Robot User Manual 25-pin female front pinout Description Use DB62 male Use DB25 male (accessory) as (accessory) as adapter adapter Connection of external I/O conncector on CS connector on base signal lines base panel connector panel ① Internal circuit...
Page 56: Customer Signal Connector Of The Mechanical Arm 2 (Cs)
Chapter 4 Introduction to Electrical Connectors 4.3.9 Customer signal connector of the mechanical arm 2 (CS) Table 4-13 Definition of the mechanical arm 2 CS connector pins Definition of the mechanical arm 2 I/O connector pins Pins Description Use DB25 male Use DB62 male (accessory) as adapter...
Page 57 AH20 Robot User Manual Figure 4-8 Wiring diagram of CS connector of F19W-core robot general cable 1. Take the DB62 and DB25 male pins and plug housings out of the accessory box, solder and fabricate the I/O and CS cables as required according to the definition table of I/O connector pins;...
Page 58: Chapter 5 Product Installation
Chapter 5 Product Installation Chapter 5 Product Installation The installation of the robot is critical to its function. Special attention should be paid to the fixing of the base and the foundation needs to be able to withstand the impact load generated from the acceleration of the robot. Install this robot according to the following requirements.
Page 59 AH20 Robot User Manual less and a flatness of less than 0.5 mm.  The poor accuracy of the installation surface would degrade the positioning accuracy of the robot.  If the stiffness or stability of the rack is insufficient, or sheet metal is mounted on the rack, the robot would vibrate (resonate) during operation, which may adversely affect the operation.
Page 60: Product Confirmation
In case of any damage or component incompletion after unpacking, please contact QKM or local office. 5.3 Installation site and environment The installation of AH20 Robot shall meet the following conditions.  The ambient temperature during transportation maintains at 0 ~ 40℃.
Page 61: Installation Of External Parts
5.4 Installation of external parts External equipment, such as vision camera, solenoid valve, etc. can be installed through the holes at the front end of the mechanical arm 2 of AH20 Robot. The installation dimensions for the fixing position are shown in Figure 5-3.
Page 62: Installation Of Camera (Optional)
Chapter 5 Product Installation 5.4.1 Installation of camera (optional) Install the camera as shown in the figure. The figure only shows one installation method. You can install the camera as required. If you use the installation method as shown in the figure, M5 screw holes are available here, and you should prepare the screws by yourself.
Page 63 AH20 Robot User Manual  When lifting the robot, hold it by hand to ensure balance. If the lifting is unstable, serious injury or major damage may be caused due to the falling of the robot.  The packing box of the robot should be placed vertically upwards.
Page 64: Base Installation
Chapter 5 Product Installation The carton should be folded and stored for repeated use. 5.6 Base installation Table 5-1 Tightening torque Fixing bolt Tightening torque M12*40 100 N·m Use bolts, elastic washers and flat washers to install the base. The dimensions and installation of the bolts and washers are shown in Figure 5-5.
Page 65: Removal Of Fastener
AH20 Robot User Manual Bolt M12*40 (4 pcs) Spring washer Flat washer Robot base Bottom plate Robot base Floors Bottom plate anchor bolt (more than M12) Floors Figure 5-6 Install bolts on the base  The base of the robot must be installed by at least two professionals.
Page 66: Ground Protection
Figure 5-7 Diagram of removing the fixed plate 5.8 Ground protection Each AH20 Robot is labeled with a "Ground Protection" sign and equipped with a ground terminal. Connect the ground terminal of the robot base to the external protective conductor.
Page 67: Installation Of Robot Cable
AH20 Robot User Manual Grounding terminal Figure 5-8 Grounding diagram 5.9 Installation of robot cable  Connect the robot to other equipment when the robot is powered off.  The bending or breaking of cable connector pins and cable damage may cause anomalies when connecting to the robot.
Page 68: Communication Connection
Do not plug or unplug the cable connector when the robot is powered on, or the internal circuit may be burnt out. 5.9.1 Communication connection AH20 Robot communicates via Ethernet. Cable to be used: CAT5E network cable Step 1 Install one end of the network cable to the "Ethernet"...
Page 69: Connection Of E-Stop Device
AH20 Robot User Manual 5.9.2 Connection of E-stop device AH20 Robot is provided with an E-stop device with cable. Cable to be used: cable for E-stop device If an MCP is purchased, you need to prepare the teach pendant, and then install and use the cables according to the MCP user manual.
Page 70: Power Connection
Chapter 5 Product Installation 5.9.3 Power connection AH20 Robot has achieved integrated design without power supply box for power connection, which is convenient for use. Cable to be used: Power cable The wiring steps are shown below: Step 1 Take the power cable out of the accessory box. Install the aviation plug end of the power cable at the "POWER"...
Page 71: Check After Installation
AH20 Robot User Manual equipment that provides power supply and mark with warning signs, e.g "Do not turn on the power supply".  Avoid poor contact and ensure that the screw cap of the power connector is rotated to the end without loosening.
Page 72 Chapter 5 Product Installation 4) the power plug of the equipment is not shorted when checked with a multimeter before power-on; 5) all cable heads are correctly connected to buses and they are securely installed. Check safety functions to ensure that: 1) the equipment is in a well-insulated environment;...
Page 73: Chapter 6 Robot Operation
AH10 Series Robot needs to be used in the ARM (Automation Resource Manager) programming environment. ARM is the software programming environment suitable for robots produced by QKM. Users can write programs based on the software and send instructions to control the robot. This chapter...
Page 74: Programming Environment Installation
QKM robots or equipment system are required. QKMLink provides the interface for such interactions. 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 75 AH20 Robot User Manual Figure 6-1 Installation package Step 2 Double-click the left button to install the software. Figure 6-2 Start installation Step 3 Click on "Next", as shown in Figure 2-3. Document Version V1.0.1 (11-14-2022)
Page 76: Open Macro Language Development Interface
Chapter 6 Robot Operation Figure 6-3 Choose installation path Step 4 Choose the installation path and click on "Next". Figure 6-4 Successful installation Step 5 Click on "Install" to complete the installation. 6.3 Open macro language development interface 步骤1 Double-click the installed ARM to open the ARM interface, and then Document Version V1.0.1 (11-14-2022)
Page 77 AH20 Robot User Manual click <Mode> on the menu bar to switch to <Pallas> mode, as shown in Figure 6 5. Figure 6-5 ARM interface 步骤2 On the interface of ARM in Pallas mode, click <Tools> on the menu bar and select <Macro language development interface>, as shown in Figure 6 6.
Page 78: Functions Of Macro Language Development Interface
Chapter 6 Robot Operation 步骤3 The macro language development interface is shown in Figure 6 7. Figure 6-7 Macro language development interface 6.4 Functions of macro language development interface The macro language development interface is used in the installed ARM programming environment. 6.4.1 Interface Document Version V1.0.1 (11-14-2022)
Page 79: Menu Bar
AH20 Robot User Manual Figure 6-8 Macro language development interface 6.4.2 Menu bar Figure 6-9 Menu bar of macro language development interface (ARM) Table 6-1 Functions of tools on the macro language development interface Introduction to menu bar on the macro language development interface (ARM)
Page 80 Chapter 6 Robot Operation 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. A = Send A instructions for each batch; B = When the remaining B instructions in the previous Send multiple: batch are to be sent, the A...
Page 81: Introduction To User Defined Instruction Editing Area
AH20 Robot User Manual Enter the IP of the robot and establish communication with the robot. 6.4.3 Introduction to user defined instruction editing area Users can add common instructions to the < macro language development interface > interface through the user-defined instruction editing function according to their needs.
Page 82 Chapter 6 Robot Operation Figure 6-10 User defined 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 language development interface. To call the command of "servo power on"...
Page 83: Establish Ip Communication
AH20 Robot User Manual Figure 6-11 Interface after quick instruction call (ARM) 6.4.4 Establish IP communication Step 1 Click the ARM debugging environment, then click <Tools> → <Macro language development interface> to enter the debugging interface. Step 2 Click the IP address input field in the upper right corner, enter the default IP address (192.168.10.120) of the robot, and then click the...
Page 84 Chapter 6 Robot Operation Figure 6-12 IP connection 1.1.1.1. 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 "Successful connection: 192.168.10.120"...
Page 85 AH20 Robot User Manual Figure 6-13 Successful connection 1.1.1.2. IP connection failure The interface of IP connection failure is shown in Figure 6-14. Figure 6-14 Connection failure Document Version V1.0.1 (11-14-2022)
Page 86 Chapter 6 Robot Operation Solution to connection failure: Step 1 Check whether the IP addresses of the host computer and the robot are on the same network segment; Step 2 Execute system search and run cmd as shown in the figure: Step 3 Directly input "ping"...
Page 87: Query On Description Of Macro Language Instructions
The macro language development interface includes a macro language 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". When you click a corresponding macro language instruction, the list automatically pops up a description of this instruction set, as shown in Figure 6-15.
Page 88: Input Instructions
Chapter 6 Robot Operation Figure 6-15 Macro language manual 6.4.6 Input instructions The "instruction editing area" is the area where instructions are input and edited as shown in Figure 6-16. Figure 6-16 Input instructions When inputting a single instruction, you can enter the first letter of the instruction.
Page 89: Run Instructions
AH20 Robot User Manual Figure 6-17 Input instructions All instructions contained under the instruction set can be prompted automatically when you enter ".", as shown in Figure 6-18. Figure 6-18 Input instructions 6.4.7 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"...
Page 90: Breakpoint Debugging
Chapter 6 Robot Operation Figure 6-19 Run instructions 6.4.8 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 6-20.
Page 91: Clear Output
AH20 Robot User Manual The output after running is displayed as shown in Figure 6-21. The output interface contains the information of feedback from each instruction. If the instruction is successfully executed, the feedback result is displayed in black. If the instruction fails, the feedback result is displayed in red.
Page 92: Manual Jog Teach
Chapter 6 Robot Operation 6-23. Figure 6-23 Save 6.5 Manual jog teach On the ARM interface, click to pop up the jog teach interface as shown in Figure 6-24. Figure 6-24 Jog teach Document Version V1.0.1 (11-14-2022)
Page 93 AH20 Robot User Manual Figure 6-25 Teach interface Document Version V1.0.1 (11-14-2022)
Page 94 Chapter 6 Robot Operation Table 6-2 Introduction to tools on the jog teach interface Function Diagram Description Click the drop-down menu after <Robot> and select the robot with corresponding Select number, such as Robot Robot 1. For example, Select You can select Mode [Manual] or [Auto].
Page 95: Servo Power-On
AH20 Robot User Manual If you need to control the motion of the robot separately, you can coordinate click <X +>, <X->, etc. values to control the Parameter values for coordinates of the robot when the [Joint] coordinate system is...
Page 96 Chapter 6 Robot Operation Method 1 (jog teach): Click the <Home> button on the jog teach interface to enable the robot to return to zero. 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.
Page 97: Speed Adjustment
AH20 Robot User Manual Figure 6-26 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 98: Adjustment Of System Speed
Chapter 6 Robot Operation 6.7.1 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). The system operates at a certain speed which is called system speed.
Page 99: Adjustment Of Robot Speed
AH20 Robot User Manual For example, System.Speed 50 // The speed of all robots in the node is set to 50. 6.7.2 Adjustment of robot speed The speed of a single robot with regard to a complete motion trajectory can...
Page 100: Speed Adjustment During Motion
InRange / Type 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 // Create an object named prof2 and assign a value to the parameter.
Page 101: Emergency Stop And Recovery
AH20 Robot User Manual Profile prof3 = 80,80,80,0.1,0.1 // Create an object named prof3 and assign a value to the parameter. Prerequisite: The control authority is 0/1 (set authority with System.LogIn). Step 2 Enter Profile.Set [robotIndex], [ProfileName] and send an instruction to the robot.
Page 102: Robot Power-Off
Chapter 6 Robot Operation on it after the emergency stop Table 6-3 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 blocked between Directly move away the obstacles around it, obstacles but the and then manually operate the robot to move...
Page 103 AH20 Robot User Manual Figure 6-29 Interface of teaching in powered-on state Step 2 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 104: Chapter 7 Technical Service
Chapter 7 Technical Service Chapter 7 Technical Service QKM is committed to providing you with technical information on machine motion and operation to help you remove faults and reply to your inquiry in detail. If your robot or equipment fails during use, you can contact our service department and provide information below as much as possible: ...
Page 105 AH20 Robot User Manual Document Version V1.0.1 (11-14-2022)

QKM AH20 User Manual

Table of Contents

List of Tables

Chapter 1 Safety Precautions

Chapter 2 Product Overview

Chapter 3 Components and Functional Description

Chapter 4 Introduction to Electrical Connectors

Chapter 5 Product Installation

Chapter 6 Robot Operation

Chapter 7 Technical Service

Quick Links

Chapters

Related Manuals for QKM AH20

Summary of Contents for QKM AH20

Table of Contents