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Related Manuals for QKM MS6MT
Summary of Contents for QKM MS6MT
- Page 2 Maintenance Manual MS6MT Robot MS6MT-0900-3546 Document version V1.1.0 Issued on March 07, 2022 QKM Technology (Dongguan) Co., Ltd.
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Page 3: Preface
This manual provides detailed information on the routine maintenance and safety inspection of MS6MT Robot, as well as the maintenance of related parts and components, so that users can better use MS6MT Robot. This manual can serve as a reference for system integrators to design user workstation systems by using our MS6MT Robot, and can also be used to guide system installation, debugging and maintenance. - Page 4 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.
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Page 5: Revision History
Revision history Revision history The version history contains the accumulated 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 Time Change Content The first version of the document was V1.0.0 March 07, 2022 released. -
Page 6: Table Of Contents
Contents Contents Preface..........................I Revision history ........................III Contents ..........................IV List of Figures ........................VI List of tables ........................VIII Chapter 1 Safety Precautions ..................1 1.1 Safety Responsibility Notice ..................1 1.2 Safety Precautions ....................2 1.2.1 Precautions for general safety ................. 2 1.2.2 Precautions before operation ................ -
Page 7: Contents
Contents 3.2.3 Removal and maintenance of module interface cables ......... 18 3.2.4 Removal and maintenance of ground wires ........... 19 3.3 Replacement and maintenance of modules ............20 3.3.1 Replacement of Axis J6 module ..............21 3.3.2 Replacement of Axis J5 module ..............23 3.3.3 Replacement of Axis J4 module .............. -
Page 8: List Of Figures
List of Figures List of Figures Figure 3-1 Use of calibration block ................... 12 Figure 3-2 Obtain the encoder values ................13 Figure 3-3 Enter the configuration folder of the robot ............13 Figure 3-4 Replacement of encoder values..............14 Figure 3-5 Distribution of end pass-through cables ............ - Page 9 List of Figures Figure 3-26 Remove the screws from the Axis J3 shell ........... 30 Figure 3-27 Remove the screws from the Axis J3 module ..........30 Figure 3-28 Axis J3 module installation diagram ............. 31 Figure 3-29 Axis J3 module ..................... 31 Figure 3-30 Remove the screws from the Axes J1~J2 shell ..........
- Page 10 List of Figures List of tables Table 2-1 Handling of common exceptions................ 8 Document Version V1.1.0 (03-07-2022) VIII...
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Page 11: Chapter 1 Safety Precautions
Do not use the robot illegally. QKM will not be liable for any losses due to illegal use by users. -
Page 12: Safety Precautions
Chapter 1 Safety and Precautions 1.2 Safety Precautions 1.2.1 Precautions for general safety The robot may be damaged in the case of incomplete safety functions and protective devices. Do not use the robot when safety functions are disabled or protective devices are removed. -
Page 13: Precautions During Operation
Chapter 1 Safety and Precautions The dangerous area includes any position where the robot body and the robot arms may stay in their motion trajectories, which can be protected by isolated protective devices to avoid personal injury or property damage. When the robot stops running, the robot arms will stop in the dangerous area. -
Page 14: Precautions During Maintenance
Maintenance personnel must wear work clothes, safety helmet, etc. when performing maintenance on the robot. To replace any parts, please contact QKM; avoid damage to the robot or personal injury caused by unexpected situations from operations of users upon subjective judgment. -
Page 15: Precautions For Safe Shutdown
Chapter 1 Safety and Precautions When starting a changed program, test it by reducing the system speed and then gradually increasing the speed. After repairing and maintaining the robot, test the robot to ensure that the robot and its functions are complete. 1.2.6 Precautions for safe shutdown Precautions when the robot stops running: Decrease the speed of the robot before enabling the robot to be off servo. -
Page 16: Chapter 2 Routine Maintenance And Exception Handling
The cycle for routine inspection is based on the normal working conditions. For the normal working environment, please refer to the parameters of operating environment in "MS6MT Robot User Manual". The actual maintenance cycle depends on the operating frequency of the robot. - Page 17 Chapter 2 Routine Maintenance and Exception Handling Check whether the connectors of wires and cables on the interface panel Wires and of the robot √ √ cables body are loose, and whether the wires and cables are twisted or tangled. Check whether √...
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Page 18: Handling Of Common Exceptions
If the above exceptions cannot be resolved by troubleshooting of mechanical failures, please contact QKM. 2.2 Handling of common exceptions Exceptions may occur during the operation of MS6MT Robot. The common exceptions are analyzed and handled as follows: Table 2-1 Handling of common exceptions Common exception... - Page 19 Chapter 2 Routine Maintenance and Exception Handling Check whether the emergency stop switch is damaged. Replace the emergency stop switch. Change the IP of the PC connected to the Failure in PC network robot to be in the same network segment as settings.
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Page 20: Chapter 3 Robot Debugging And Components Maintenance
3.1 Rough calibration The loss of zero of MS6MT Robot is actually the loss of zero of the encoder. If the zero is lost, perform calibration to recover the zero. The zero of the robot can be roughly recovered through rough calibration. - Page 21 Chapter 3 Robot Debugging and Components Maintenance ○ 4 Robot collision. ○ 5 Electromagnetic interference. ○ 6 Problem in Config file configuration. Preparation for operation: Laptop, network cable, calibration block. Software: ARM software The operation steps are as follows: Step 1 Connect the robot to the power supply, then connect the laptop for power-on later.
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Page 22: Figure 3-1 Use Of Calibration Block
Use the calibration block provided in the accessory box for rough calibration. Do not replace it with other tools. Refer to "MS6MT Robot User Manual" for ARM operations. Step 3 Execute the Robot.Encoder instruction in the ARM to obtain the value of the current encoder, as shown in Figure 3-2. -
Page 23: Figure 3-2 Obtain The Encoder Values
Chapter 3 Robot Debugging and Components Maintenance Figure 3-2 Obtain the encoder values Step 4 After the execution is completed, the encoder values of each axis will be displayed in the output window, and each value will be recorded. Step 5 Open <My Computer>, enter FTP://192.168.10.120 in the input box, click <media>... -
Page 24: Figure 3-4 Replacement Of Encoder Values
Axes J1, J2 and J4 are special, and 131072 needs to be added after the encoder values), as shown in Figure 3-4. Figure 3-4 Replacement of encoder values The id values of the six mechanical arm encoders of MS6MT Robot are as follows: id="P-0-0513.0.168"... -
Page 25: Removal And Maintenance Of Cables
3.2 Removal and maintenance of cables 3.2.1 Removal and maintenance of end interface cables Extend the cables from the end pass-through interfaces of MS6MT Robot to Axis J3, and connect to the cables from the base interface panel through the connector. -
Page 26: Figure 3-6 Cable Fixed Sheet Metal
Chapter 3 Robot Debugging and Components Maintenance Cable fixing block Figure 3-6 Cable fixed sheet metal Distribute the signal cable and power cable of the top/end pass-through interface along the inside of the robot body, and pull out the cables. Carefully distribute the cables and pull them out slowly. -
Page 27: Removal And Maintenance Of Base Interface Cables
Chapter 3 Robot Debugging and Components Maintenance 3.2.2 Removal and maintenance of base interface cables Extend the cables from the power and signal interfaces of the MS6MT Robot base to Axis J3, and connect to the end pass-through signal cable and power cable through the connector. -
Page 28: Removal And Maintenance Of Module Interface Cables
Axis J2). 3.2.3 Removal and maintenance of module interface cables The MS6MT Robot module comprises communication interfaces, power supply interfaces, and an encoder battery interface. The distribution of the interfaces on the module is shown in Figure 3-7. -
Page 29: Removal And Maintenance Of Ground Wires
Chapter 3 Robot Debugging and Components Maintenance Step 2 Use scissors to cut off the cable ties at the rear end of the module. Step 3 Disconnect the communication cable and power cable from the interface panel at the rear end of the module. The cabling diagram of the module is shown in Figure 3- Figure 3-8 Module cabling diagram For 48V power input of Axes J1~J3, connect the power cable ... -
Page 30: Replacement And Maintenance Of Modules
Step 1 Use Allen wrench to loosen the ground terminal fastening screws. Step 2 Disconnect the ground terminal from the module. 3.3 Replacement and maintenance of modules The MS6MT Robot body is assembled in a modular manner. If some components of the Document Version V1.1.0 (03-07-2022) -
Page 31: Replacement Of Axis J6 Module
Chapter 3 Robot Debugging and Components Maintenance modules are damaged, the overall modules need to be removed and replaced. Remove and replace the robot modules only after the robot is powered off. At the time of removal and installation, set up a safety fence and ... -
Page 32: Figure 3-12 Remove The Screws From The Axis J6 Module
Chapter 3 Robot Debugging and Components Maintenance Step 4 Use Allen wrench to remove the fastening screws from the flange of the Axis J6 module and remove the Axis J6 flange, as shown in Figure 3-12. Figure 3-12 Remove the screws from the Axis J6 module Step 5 Gently push and remove the old module from the end flange. -
Page 33: Replacement Of Axis J5 Module
Chapter 3 Robot Debugging and Components Maintenance and tighten the screws (apply a layer of thread glue when installing the screws) with a screw torque of 2.4 N·m. Flange inner ring Countersunk head screw Figure 3-14 Axis J6 flange inner ring 3.3.2 Replacement of Axis J5 module If a problem is detected in the Axis J5 module, remove and replace the Axis J5 module following the steps below:... -
Page 34: Figure 3-16 Remove The Axis J5 Flange
Chapter 3 Robot Debugging and Components Maintenance J5 module. When removing the Axis J6, do not pull the cables so hard to avoid damage to the end pass-through cables. Step 5 Use Allen wrench to remove the fastening screws from the Axis J5 flange and remove the flange, as shown in Figure 3-16. -
Page 35: Replacement Of Axis J4 Module
Chapter 3 Robot Debugging and Components Maintenance torque of 2.4 N·m, as shown in Figure 3-18. Cable holder Wear ring Module Figure 3-18 Axis J5 module installation diagram Step 9 Re-thread the signal and power cables at the end pass-through interface to Axis J3 and connect the interface. -
Page 36: Figure 3-20 Remove The Screws From The Axes J4 And J5 Shell
Chapter 3 Robot Debugging and Components Maintenance following the steps below: Tools: Allen wrench (one set), anti-static gloves, special tool for removing pins, scissors, cable ties. Step 1 Remove the end pass-through cables with reference to Section 3.2.1. Step 2 Remove the power and signal cables from the Axis J4 module interface with reference to Section 3.2.3. -
Page 37: Figure 3-21 Remove The Axis J4 Flange
Chapter 3 Robot Debugging and Components Maintenance Figure 3-21 Remove the Axis J4 flange Step 6 Use Allen wrench to remove the fastening screws of the Axis J4 module, as shown in Figure 3-22. Figure 3-22 Remove the screws from the Axis J4 module Step 7 Gently push and remove the old module from the fixed end. -
Page 38: Replacement Of Axis J3 Module
Chapter 3 Robot Debugging and Components Maintenance Cable holder Wear ring Module rubber plug Figure 3-23 Axis J4 module installation diagram Step 9 Re-thread the signal and power cables at the end pass-through interface to Axis J3 and connect the interface. Step 10 Connect the communication and power cables on the Axis J4 module one after another, fix the cables of Axes J3 ~ J4 with cable ties, and then re-install the waterproof cover at the rear end. -
Page 39: Figure 3-25 Unscrew The Waterproof End Cover
Chapter 3 Robot Debugging and Components Maintenance Tools: Allen wrench (one set), anti-static gloves, scissors, cable ties. Step 1 Remove the fastening screws from the waterproof covers at the front and rear ends of Axis J3, as shown in Figure 3-25. Figure 3-25 Unscrew the waterproof end cover Step 2 Disconnect the communication cable, power cable and encoder battery cable from the rear interface panel of the Axis J3 module. -
Page 40: Figure 3-26 Remove The Screws From The Axis J3 Shell
Chapter 3 Robot Debugging and Components Maintenance Figure 3-26 Remove the screws from the Axis J3 shell Step 5 Use Allen wrench to remove the fastening screws from the Axis J3 module, gently push and remove the old module from the fixed end, as shown in Figure 3-27. -
Page 41: Replacement Of Axis J2 Module
Chapter 3 Robot Debugging and Components Maintenance Module outer ring Figure 3-28 Axis J3 module installation diagram Step 7 Apply a layer of Black Power Sealant on the inner ring of the module (the area between screw holes). Fill the four countersunk head screws in the inner ring of the module with Black Power Sealant, then restore the Axis J4/J5/J6 completely, and tighten the screws of the shell with a screw torque of 4.6 N·m. -
Page 42: Figure 3-30 Remove The Screws From The Axes J1~J2 Shell
Chapter 3 Robot Debugging and Components Maintenance J2 clockwise, and disconnect the communication cable, power cable and encoder battery cable from the interface panel of the module. Step 15 Use a small flathead screwdriver or similar tool to gently remove the black flexible flat ring from the junction of Axes J1 and J2 and pull it back from its original position on the joint shell. -
Page 43: Figure 3-31 Remove The Axis J2 Flange
Chapter 3 Robot Debugging and Components Maintenance Figure 3-31 Remove the Axis J2 flange Step 4 As shown in Figure 3-32, connect the black long screws to the four hexagonal isolation columns. After removing the hexagonal isolation columns, use Allen wrench to remove the fastening screws from the Axis J2 module. -
Page 44: Replacement Of Axis J1 Module
Chapter 3 Robot Debugging and Components Maintenance Figure 3-33 Axis J2 module installation diagram Step 7 Re-thread the base end pass-through signal and power cables to Axis J3 and connect the interface. Step 8 Connect the communication and power cables on the Axis J2 module one after another, fix the cables of Axes J2 ~ J3 with cable ties, and then re-install the waterproof cover at the rear end. -
Page 45: Figure 3-35 Remove The Screws From The Base Plate
Chapter 3 Robot Debugging and Components Maintenance Tools: Allen wrench (one set), anti-static gloves, scissors, cable ties. Step 1 Refer to Section 3.2.2 to remove the waterproof end covers from both sides of the Axis J3, and disconnect the base end pass-through signal cable and power cable. -
Page 46: Figure 3-37 Remove The Fastening Screws From The Axis J1 Module
Chapter 3 Robot Debugging and Components Maintenance Step 6 Slowly pull out the cables from the middle of the base bottom axis module. Step 7 As shown in Figure 3-37, connect the black long screws to the four hexagonal isolation columns. After removing the hexagonal isolation columns, use Allen wrench to remove the fastening screws from the Axis J1 module. -
Page 47: Replacement And Maintenance Of Encoder Battery
Chapter 3 Robot Debugging and Components Maintenance Step 12 Fill the four countersunk head screws in the inner ring of the module with Black Power Sealant. Apply a layer of Black Power Sealant on the inner ring of the base flange (the area between the screw holes), and then restore the base, and tighten the screws (apply a layer of thread glue when installing the screws) with a screw torque of 4.6 N·m. -
Page 48: Replacement And Maintenance Of Controller
Chapter 3 Robot Debugging and Components Maintenance Metal plate Figure 3-40 Fixed sheet metal When the encoder battery has a low voltage or fails, replace it in time by following the steps below: Tools: Scissors, anti-static gloves, cable ties, encoder battery Step 1 Remove the waterproof cover from the rear end of Axis J1, and fix the cables and encoder battery on the sheet metal. -
Page 49: Replacement And Maintenance Of 48V Relay Module
Chapter 3 Robot Debugging and Components Maintenance equipment. After replacing the controller, copy the configuration file of the old controller into the new controller to avoid parameter loss. In case of any problems in the controller, replace it in time by following the steps below: Tools: Allen wrench (one set), straight screwdriver (2*75), anti-static gloves Step 1 Disconnect all cables from the interface panel of the controller. - Page 50 Chapter 3 Robot Debugging and Components Maintenance Remove and replace the robot components only after the robot is powered off. The discharge resistor is provided separately, and users can fix it with M4 screws according to the structural characteristics of the equipment.
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Page 51: Chapter 4 Technical Service
Chapter 4 Technical service 4.1 Consulting and services QKM Technology Co., Ltd. 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... - Page 52 Province Tel: +86 0769-27231381 Chapter 4 Technical Services Fax: +86 0769-27231381-8053 Postcode: 523808 E-mail: service@qkmtech.com Website: www.qkmtech.com Scan WeChat QR code to follow QKM Document Version V1.1.0 (03-07-2022) Scan QR Code to follow QKM...