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Rainbow Robotics RB Series User Manual

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RB SERIES
USER MANUAL
ENGLISH
Ver. V6.3
Update : 2024/10

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Summary of Contents for Rainbow Robotics RB Series

  • Page 1 RB SERIES USER MANUAL ENGLISH Ver. V6.3 Update : 2024/10...
  • Page 2 RAINBOW ROBOTICS RB SERIES _ USER MANUAL © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 3: Table Of Contents

    ........................40 AFETY UNCTIONS 3.1 I ..............................40 NTRODUCTION 3.2 S ..............................42 ATEGORY 3.3 F ............................43 UNCTIONAL AFETY 3.4 S ......................46 AFETY EVICE OUNTING OCATION 3.5 E ..........................48 MERGENCY WITCH © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 4 6.4 MAKE .................................. 85 6.5 PLAY ..................................86 6.6 SETUP ................................. 87 CHAPTER 7. P ....................... 88 ROGRAMMING UIDE 7.1 I ........................... 88 CONS AND CTION CREEN 7.2 C ....................... 101 REATE EACHING NVIRONMENT © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 5 9.15 S ) ........................... 430 ROGRAM ABLE CHAPTER 10. M ......................... 432 AINTENANCE 10.1 C ..........................432 HECK IST AND ERIOD 10.2 R ........................433 OBOT AINTENANCE 10.3 R ....................434 OBOT ONTROL AINTENANCE © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 6 PPENDIX AMEPLATE I. M TCP S ........................483 PPENDIX ODBUS ERVER J. S ..........................493 PPENDIX YSTEM PDATE K. A .................... 497 PPENDIX NDROID ABLET ONFIGURATION L. B ..........................501 PPENDIX RAKE YSTEM © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 7: Preface

    The information provided in this manual is the property of Rainbow Robotics Inc. and may not be reproduced in whole or in part without of Rainbow Robotics Inc.’s consent. The information contained in this manual is subject to change without notice.

  • Page 8: Chapter 1. Introduction

    CHAPTER 1. INTRODUCTION 1.1 RAINBOW ROBOTICS’ COLLABORATIVE ROBOTS The RB product line from Rainbow Robotics is a series of collaborative robots. The RB series is designed to be easily accessible and usable to anyone, such as laymen or enthusiasts. The RB series is specialized to perform regular, continuous, and repetitive tasks in small and dense human environments across various fields without any additional safety devices.

  • Page 9: System Configuration

    The Teaching Pendant/Tablet PC is an ◼ external device on which a user can create programs and operate the system. It is used to setup, program, and teach certain postures to the robot arm. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 10 ※ The NSF model-specific tool applies only to the components of the NSF model. ※ The components listed in this manual may vary based on the robot specifications, and product images are for illustrative purposes only, so they may differ from the actual product. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 11 (7) Tablet, Short USB Cable, Long USB Cable 1 EA Service Items Provided (e.g., USB, Velcro 1 SET each for securing external cables, etc.) ※ The appearance of the control box may change depending on the robot specifications. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 12 The manufacturer will not be responsible for any issues arising from improper cable fixing. ※ The items and components provided for service may change without notice. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 13: Robot Arm

    ⑩, ⑪ Input/output ports for controlling the gripper or tool (Non E, E-Version : ⑩ / U-Version : ⑩,⑪) Cable connection connector between the robot arm ⑫ Robot-Control Box Connector and control box © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 14 RB SERIES _ USER MANUAL Robot Arm Shape and Dimension Information ◼ (Unit : mm) Model RB3-730ES Series 145.3 117.15 110.7 94.6 RB6-920ES Series 165.5 423.3 96.7 151.4 129.2 110.7 RB20-1900ES Series 1900 254.5 187.5 129.2 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 15 110.7 151.4 151.4 110.7 96.7 RB5-850E Series 927.7 165.5 110.7 151.4 151.4 110.7 96.7 RB10-1300E Series 1300 612.7 570.15 117.15 187.5 151.4 117.15 115.3 RB16-900E Series 412.7 370.15 117.15 187.5 151.4 117.15 115.3 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 16 RB SERIES _ USER MANUAL Usage of RB5-850EA#, RB3-1200EA#, RB10-1300EA#, RB16-900EA#, RB6- ◼ 920ESA#, RB20-1900ESA# (Pneumatic/Electric Cable Built-in Models) [ Internal Pneumatic Tube Connection ] [ RB5-850EA1, RB3-1200EA1, RB10-1300EA3, RB16-900EA1, RB6-920ESA1, RB20-1900ESA1 ] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 17 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [ RB5-850EA2, RB3-1200EA2 ] [ RB10-1300EA1, RB16-900EA2, RB20-1900ESA2 ] [ RB10-1300EA2] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 18 ※ The number of pneumatic lines should be adjusted after checking the operating range. WARNING Warning: For pneumatic/electric cable built-in models, passing pneumatic pressure or power beyond the defined specifications may damage the hardware. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 19: Robot Control Box

    Name AC Input Power Connector ① AC Main Power Switch ② ③ AC Fuse Holder ④ Robot Arm Connector (10-pin) E-STOP/JOG Connector ⑤ ⑥ ⑦ Boot-up switch ⑧ I/O port ⑨ USB/LAN connector © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 20 Name ① AC Input power connector ② AC Main power switch AC fuse holder ③ E-STOP/JOG connector ④ ⑤ Robot Arm Connector (10-pin) ⑥ Boot-up switch ⑦ ⑧ USB/LAN connector ⑨ I/O port © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 21 DC Control Box (CB08) ◼ Name DC Main Power Switch (Miniature Circuit Breakers) ① ② DC Power Input ③ Robot Arm Connector (12-pin) ④ E-STOP/JOG connector Boot-up switch ⑤ ⑥ ⑦ USB/LAN connector ⑧ I/O port © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 22: Tablet Pc (Optional)

    ※ If you do not select the tablet PC option, we provide a dedicated application for operating, controlling, and teaching the robot arm. You can download it from our company's website. ※ Tablet setup is required for use with RB products. See the Appendix. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 23: Robot Operating Range

    An RB robot consists of six joints. The axes of rotation and joint limits are illustrated in the following section. Joint Range ± 360 ° ± 360 ° / ± 150 ± 165 ° ° ± 360 ° ± 360 ° ± 360 ° © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 24: Robot Workspace

    A. Singularity point area (a restricted area for movement when using Cartesian coordinates) B. Robot's operable work area © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 25: Robot Arm Maximum Load Capacity

    1.8 ROBOT ARM MAXIMUM LOAD CAPACITY The payload of the robot arm varies depending on the distance between the tool flange and the center of gravity of the payload. The payload capacity by distance is as follows: © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 26 RAINBOW ROBOTICS RB SERIES _ USER MANUAL © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 27: Chapter 2. Safety & Precautions

    Failure to follow the instructions with this symbol may result in an accident, which could result in serious injury to the user. CAUTION Caution: Failure to follow directions marked with this symbol may result in damage to the product or injury to users. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 28: General Safety Warning & Precautions

    Never operate a broken or faulty robot. If a fatal error occurs in the software, immediately hit the emergency switch to stop the robot, and then contact your supplier or Rainbow Robotics. Check that the robot installation angle, tool setting, safety setting, etc. are entered correctly.
  • Page 29 RAINBOW ROBOTICS RB SERIES _ USER MANUAL 10) Never modify the robot without the support of Rainbow Robotics. Rainbow Robotics (hereinafter "the manufacturer") bears no responsibility/liability for any problems caused by user's modification or modification of the product. 11) Both the robot arm and the control box generate heat when used for a long time. Do not touch the robot after long use.
  • Page 30 Do not tear, damage, or remove the cover. Be careful when handling parts or devices with a label attached, as well as surrounding components. To avoid electric shock, do not touch the internal electric parts. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 31: Usage & Functionality

    ◼ Any use in places where the performance of the safety function is insufficient ◼ Any use beyond performance / environmental specifications ◼ ※ Improper use is not limited to the above items. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 32: Potential Safety Issues

    Injury that may occur due to not fully fastening objects ◼ Injury from an object that has detached or dropped from the tool mount ◼ ※ Potential risks that may occur depending on the final system may be different. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 33: Liability Limitations

    Providing technical documents, such as manuals ◼ ※ Not limited to the above items. Complying with the safety instructions in this manual does not imply that you can avoid all risks that may occur. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 34: Shipping & Transportation

    When lifting and moving the robot, hold the lower part of the robot, near the base axis. If this is not followed, critical issues may occur with the robot, and the manufacturer will not be responsible for any resulting damage. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 35 ※ When using lifting equipment to transport the robot, please adhere to the weight and transport standards for the region or country. The manufacturer is not responsible for any damage caused during the transportation of equipment. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 36: Emergency Stop

    The section below describes how the emergency stop button for control box works. Emergency Stop ◼ Users can stop the robot arm immediately by pressing the EMERGENCY STOP button. Re-Activating from Emergency Stop ◼ Turning the EMERGENCY STOP button in clockwise direction. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 37: User Safety

    If excessive force is applied to the joints in the non-powered state, please be aware that the driving part may be overloaded. The manufacturer is not responsible for any damage caused by excessive force. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 38: Safety Controller

    RAINBOW ROBOTICS RB SERIES _ USER MANUAL 2.9 SAFETY CONTROLLER The Safety Control System for the Rainbow Robotics robot models listed below meets ISO 13849- 1 Cat3. PLd standards: RB5-850E Series, RB3-1200E Series, RB10-1300E Series, RB16-900E Series, RB3-730ES Series, RB6- 920ES Series, RB20-1900ES Series ©...

  • Page 39: Risk Assessment

    The manufacturer is not responsible for accidents that occur due to failure to follow international standards, domestic regulations, or failure to review the above risk assessment during installation. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 40: Chapter 3. Safety Functions

    This chapter contains important safety information, which must be read and understood by the integrator of the RB Series collaborative robots before the robot is powered on for the first time. RB Series can protect users and devices by providing various safety functions and safety device interfaces.
  • Page 41 The signal from the device mounted on the Tool Flange is not included in the safety function. Do not connect the safety device to the Tool Flange cable. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 42: Stop Category

    For an emergency stop, activation is required. For a protection stop, at least one must be selected from stop categories 0 and 1. For additional protection stops, stop category 2 can be used. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 43: Functional Safety

    3.3 FUNCTIONAL SAFETY The manufacturer recommends the following conditions are met for the installation location. The safety functions of the collaborative robot RB Series are used to reduce the risk of the robot system determined by risk assessment. The parameters of the safety function are set at the factory, and the system integrator can change some items according to the risk assessment.
  • Page 44 - SLT(Safely-Limited Torque): This function prevents the motor from exceeding the specified torque (or force, when a linear motor is used) limit. - RPL(Robot Position Limit): This function prevents the robot arm’s TCP (tool center point) or body frame exceeding the specified spatial region. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 45 - SSS(Soft Safeguard Stop): This function activates the stop mode when the special I/O ports of the Control Box are activated. Those ports are provided for users to connect their own protective devices. The stop mode is SF.3. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 46: Safety Device Mounting Location

    RB SERIES _ USER MANUAL 3.4 SAFETY DEVICE MOUNTING LOCATION In addition to the basic emergency stop switch, the RB Series can be equipped with additional safety devices required by the system integrator through risk assessment. The safety-dedicated contact terminal consists of 16 ports. This terminal is a redundant dedicated contact input terminal.
  • Page 47 This port is used to connect one or more protective stop devices through risk assessment. Protective stop devices must be used in accordance with 5.3.8.3 of ISO 10218-2. Protective stops that occur through SSS are designated as stop category 2. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 48: Emergency Stop Switch

    RB SERIES _ USER MANUAL 3.5 EMERGENCY STOP SWITCH The collaborative robot RB Series allows the operator to use the emergency stop switch to stop the robot in preparation for an emergency situation. In the event of an emergency, you must press the emergency stop switch button to immediately stop the robot.

  • Page 49: Operation Mode

    RAINBOW ROBOTICS RB SERIES _ USER MANUAL 3.6 OPEATION MODE The operation mode of the collaborative robot RB Series is composed as follows. When entering the automatic mode, you must access it through a password. Initialize Mode [Set-up] Auto Mode...
  • Page 50 In case of manual operation, the safety slide function must be set. At initial shipment, the safety slide function is deactivated. In addition, when using a 3-position enabling device, it must be used in accordance with 5.8.3 of ISO 10218-1. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 51: Operating Environment

    In order to keep the robot in a safe state for a long time, it must be used in the following environment. Maximum allowable operating temperature 50˚C Maximum permissible storage temperature 60˚C Minimum allowable operating temperature 0˚C Minimum allowable storage temperature -5˚C Maximum permissible humidity Lowest permissible humidity © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 52: Maintenance Of Safety Functions

    Power Check if the 24V fuse is inserted normally. 1 Month Check the condition of the connection cable Cable between the safety device and the control 1 Month box. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 53 Safety Function Board Specification ◼ Inside the control box, there is a built-in safety function board to drive the RB Series. The information of the LED indicating the operation status of the board is as follows. Connector information connected to the board is as follows.

  • Page 54: Applied Standards

    Safety of machinery – Electrical equipment of IEC 60204-1:2016 machines – Part 1: General requirements Electromagnetic compatibility (EMC) – Part 6-1: Generic standards – Immunity standard for IEC 61000-6-1: 2016 residential, commercial and light-industrial environments © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 55 Safety of machinery — Safety-related parts of ISO 13849-1: 2015 control systems — Part 1: General principles for design Safety of machinery — Safety-related parts of ISO 13849-2: 2012 control systems — Part 2: Validation © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 56: Chapter 4. Installation

    © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 57: Installation Location

    Constant temperature and humidity ◼ Limited dust inflow ◼ CAUTION Caution: If the system is not installed in a location that matches the recommendations, the performance and lifespan of the robot may be reduced. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 58: Examples Of Installation

    Additionally, it can be installed on walls, ceilings, or at any arbitrary angle. For installations other than flat surfaces, the installation angle must be entered through the system settings. [ Installation on the horizontal surface ] [ Installation on the fixed post ] © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 59: Mounting The Robot

    If the bolts are not fastened properly, or if a bracket etc. is installed incorrectly, the product may become damaged, or the safety of the user may be seriously affected. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 60: Tool Connection

    The connection methods may be different between tools. Please contact the tool ◼ manufacturer for further details. After fixing the tool to the tool flange, connect the necessary cables to the I/O ports on ◼ either the tool I/O or the control box I/O. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 61 Digital Input D Gray (AWG26) Orange (AWG25) RS485+ RS485+ Purple (AWG26) Purple (AWG25) RS485- RS485- Black (AWG26) Pink (AWG25) Common Ground Digital Input E Natural Color Green(AWG26) Common Ground Digital Input F (AWG25) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 62 A: Robot=Male Yellow (PNP) (PNP) Tool Power(+) Power(+) Grey Digital Output 1 Digital Input 5 Pink (PNP) (PNP) Digital Output 0 Digital Input 4 Blue (PNP) (PNP) Ground (-) Ground (-) B: Robot=Female © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 63 Current via VCC Non-E Version Usage Examples The image shown below illustrates how to turn on/off a load with 12V or 24V. The ◼ voltage level can be specified in the Tool Out block. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 64 The tools digital inputs use PNP and pull-down resistors. Therefore, when the input port ◼ is not connected (floating), the corresponding input port is read as low (0). Electrical specifications are as follows Nominal Unit Input Voltage Logic Low-Voltage Logic High-Voltage © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 65 The figure below shows how to connect an analog sensor with differential voltage output ◼ characteristics to the tool flange. Connecting the negative output of the sensor to GND (ground) works the same as the non-differential light sensor. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 66 Input Voltage Logic Low-Voltage Logic High-Voltage To use the tool digital input, the figure below shows how to connect simple buttons. ◼ E Version and U Version do not support tool analog input. ◼ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 67 The cross-sectional view related to the tool flange is illustrated in Appendix C. The tool flange supports RS485 serial communication and supports the following serial ◼ communication standard. Baud-Rate 9600, 19200, 38400, 57600, 115200, 1M Stop Bit Parity None, Even, Odd © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 68: Cable Connection

    Connecting the power cable to robot control box ◼ Connect the power cable to the power terminal as shown in the figure below. Stand Control Box Compact Control Box [ Connecting Part for AC power cable ] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 69 48 VDC CAUTION Caution: Do not unplug the robot cable, power cable, or teaching pendant while the robot is turned on. In the use of AC/DC power, the peripherals should share a common ground. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 70: Robot Control Box I/O Overview

    When tightening the I/O wiring, please turn off the power to the control box in advance. Any damage to the product caused by the user's carelessness (24V power shorts, incorrect wiring, etc.) is not covered by the product's warranty. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 71: Safety Input Configuration

    The safety functionality must be confirmed before installing the robot. The safety functionality should also be checked periodically for abnormalities. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 72 Safety protection stop and automatic restart ◼ An example of a safety protection device would be a door switch that stops the robot when the door is opened. The figure shows how to configure these features: © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 73 3-position activation switch is pressed, the switch is in the inoperative position and the robot arm will not move. Rainbow Robotics does not provide an Enabling Device. An Enabling Device is available as an option if the user needs. To configure the feature, refer to the following configuration: ©...

  • Page 74: General Purpose Digital I/O Configuration

    The figure below shows a way to control electric load by using the digital output. Control of digital input with a button ◼ The figure below shows a simple way of connecting a button to the digital input. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 75 If another other system provides PNP and uses a common ground, the digital I/O can be configured to communicate with the other system. Its connection is shown in the figure below. WARNING Warning: For the details in the technical specification and wire connection, please refer to Appendix D. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 76: General Purpose Analog I/O Configuration

    AIx - AG Voltage mode Output Voltage AOx – AG Resolution AOx – AG Analog output ◼ The analog output can be used to control speed of conveyor. The figure below illustrates a simple demonstration. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 77 Action Icon: Definition lock ( ) or release ( ) state, play ( ) or stop ( ) state, crash ( ) or safe( ) state. Power Consumption: Indicates the total power consumption in watts (W). System Version Information: System version information. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 78: Chapter 5. Get Started

    Once the control box becomes ready for use, the LCD message will change to "default." [ Stand Control Box ] [ Compact Control Box ] [ DC Control Box ] To turn off the power, press the main power switch during few seconds. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 79 RAINBOW ROBOTICS RB SERIES _ USER MANUAL CAUTION Caution: Our control box uses AC 100-240V single phase (50-60Hz), DC 48V. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 80: Tablet Pc On/Off

    Please ensure that the tablet PC is connected to the control box and run the application provided by the manufacturer. Do not perform unnecessary operations on the screen while the system is booting. It may cause problems with the system. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 81: Chapter 6. Software Overview

    RB SERIES _ USER MANUAL CHAPTER 6. SOFTWARE OVERVIEW 6.1 UI STRUCTURE The UI (User Interface) program is divided into three screens as follows. Each section allows the user to enter necessary steps. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 82: Startup Screen Display

    The start screen will occur while the application is loading its processes. Login (Factory-Default login password: 0000) ◼ Check login at startup. Password setting and auto login setting will be done at "Setup > Security". © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 83: Main Screen Display

    Setup: The area where various parameters are configured. ⚫ On the main screen, you can enter stages to create the robot's movements (Make), make it move in real-time (Play), or configure the work environment (Setup) through the three menus. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 84 If you press Screen Lock, the tablet PC's screen will become unresponsive to touch. To unlock it, drag the Slide to unlock arrow on the bottom right to the right, and the screen will unlock. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 85: Make

    ※ In the Make menu (Manual mode), the robot will only operate while the movement-related button is being pressed. If the button is not pressed, the robot will not move. This setting can be adjusted in Setup > Interface. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 86: Play

    (programs). The number of play repetitions can be set in Setup > Interface. The total accumulated time after initial playback is displayed at the bottom left. ※ For more detailed explanations, refer to Chapter 8. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 87: Setup

    I/O function settings, coordinate system settings, and more. ※ For more detailed explanations, refer to Chapter 9. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 88: Chapter 7. Programming Guide

    Various editing tools are located, such as Copy/Paste/Annotations. Various program functions (command/action) are deployed. ⑧ Click the arrow on the right to include more functions. ⑨ Determines Jog Method – either Smooth Mode or Tick Mode. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 89 ※ TCP (Tool Center Point): The point defined for the tool center point within the robot’s base coordinate system. It may also be the origin of the end-effector. [ Basic View Mode ] [ Icon Extended View Mode ] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 90 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [ Program-only Mode ] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 91 This function moves the robot to either the starting position of the program or the zero position of the robot's joints. The movement method can be chosen between Move J and Move L. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 92 You can change the value, ignore it, and skip it, depending on your situation. This function is for controlling external axis in addition to the robot. Up to 6 can be added. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 93 This manual operation feature allows you to pause the program and perform direct teaching during its execution. It is a function to operate the robot joint and the external axis at the same time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 94 (0~10V) provided by Rainbow. This function automatically generates predefined motions. Multiple predefined motions are available, and you can modify the parameters to create the desired motion. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 95 Settings for the arc welder are performed in Setup > Device. This function is for using digital welders. After selecting the brand of digital welder to be used, you can choose the mode and options to easily operate the digital welder. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 96 There are three options: sub-program call, copy command content, and switch program. The sub-program call allows viewing the sub-project without modification. If modification is necessary, the sub-project must be opened separately. The copy command content © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 97 The available weaving patterns are Trapezoidal, SineWave, Triangle, C-Wave, and Circle. This function is used for welding applications. It detects the movement of the base material and reflects the movement and direction to proceed with welding. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 98 If you press the disable button on the annotated command, it is activated. It can mark the highlight (marking) in the desired program line. Therefore, you can underline important program lines. There are two colors, blue and pink. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 99 This function allows the user to select the UI mode. Users can select UI mode according to their level and environment. There are four mode options: Expert Mode, Beginner Mode, Welding Mode (Analog), and Welding Mode (Digital). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 100 Screen Lock function is included in here. (It is located in the bottom right.). ※ A detailed description of each function is described later. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 101: Create Teaching Environment

    PC must be connected before teaching. When this icon is pressed, the following screen is displayed. Press the ‘Connect’ button to link the tablet PC to the robot control box. ‘Connect’ button: Will connects the tablet PC to the robot control box. ⚫ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 102 If the control box is not on, the light beneath ‘Device Off’ will turn red. The figure below shows a display when the tablet PC and control box are being connected. ‘Network Connecting’ lights yellow when the tablet PC is trying to connect to the control box. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 103 During this process, the brakes on each joint will release, producing sequential sounds from the robot arm. Once all systems are powered on and connected, all status indicators will turn blue, as shown on the screen below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 104 Follow the instructions in the popup message to review and adjust the settings and operating conditions as necessary. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 105 The default name of a new project is my_project. Please type a name for the new project and press the ‘Save’ button in the dialog. Note that the new project is not created if the ‘Save’ button is not clicked. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 106 Without a proper value of the load, ‘Direct-Teaching’ may not work properly. In ‘Setup-Interface’, the sensitivity of joint reaction can be adjusted. Please ensure that the robot is not moving before using ‘Direct-Teaching’. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 107 TCP Movement in the Cartesian coordinate Mode 2 system with respect to the tool (local) frame. TCP Movement in the Cartesian coordinate Mode 3 system with respect to the user coordinate frame. Mode 4 Angular joint movement. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 108 Make sure that there are no obstacles or people in the robot’s workspace before the use of jogging. It is highly recommended to use the ‘Safety Slider’ feature in ‘Setup-Interface’. This feature is activated as a factory default. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 109 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [ Jog Mode 1: TCP jog w/ Global coordinate ] [ Jog Mode 2: TCP jog w/ Local coordinate ] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 110 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [ Jog Mode 3: TCP jog w/ User coordinate ] [ Jog Mode 4: Joint jog w/ joint coordinates ] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 111 Simulation mode only requires the provided tablet and the control box. It does not require the robot arm. When using Real Robot mode, please make sure that the nearby environment is clear & safe before operating, as the robot will move. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 112 Move Function ◼ Move sets the robot arm's motion properties. The two primary types of movements are Joint and Linear. These types are further broken down into commands, as shown in the figure above. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 113 Move L method without stopping. A blend distance is assigned to each point, cutting and connecting the previous and next paths with an arc, allowing the TCP to follow a smooth trajectory. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 114 Smooth Mode: Unlike Intended Mode, where the rate of change in X, Y, Z, and orientation remains constant, Smooth Mode has a lower rate of change in orientation as it approaches the start and end points. Additionally, the speed can be configured individually for each intermediate waypoint. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 115 By using general points and corner points, the TCP moves smoothly along a trajectory that precisely passes through each waypoint. Move Pro has three modes, similar to Move PB: Constant, Intended, and Smooth Modes. Difference between Move J and Move L ◼ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 116 Difference between Move L, Move PB, and Move ITPL ◼ Move L moves in a straight, linear path between the start and destination points. The arm will arrive at each sequential arrival Point, stop, and then continue to the next Point. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 117 Certain joints may move faster or be restricted in motion while in the dead zone of the robot. Further information about dead zones can be found in Section 1.7. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 118 When the Move Function is used for the first time in a program, the program tree will be created as shown below. By default, the Move function is set to Move J. Click Move J to change the Move command type. A popup will appear as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 119 ※ Since the Cartesian coordinate system consists of six values (x, y, z, Rx, Ry, Rz), all six values will need to be set as subitems of Move L, Move PB, Move JL, Move ITPL and Move Pro. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 120 Contains the target joint angle values (in degrees) for all six joints ▶ Linear Movement Type(Move L, Move PB (formerly Move LB), Move JL, Move ITPL, Move Pro) Point: Contains the target destination point (in Cartesian coordinates) for the TCP © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 121 - The Joint Move has three setting options. ② - The Linear Move has four setting options. - The default type when creating a Point is ‘Absolute’. ③ Sets the speed and acceleration of arm movements to the location. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 122 The minimum escape time is 0 seconds. ⑧ Saves the changed settings. Closes the Settings window. Will not save user input without ⑨ pressing the Set button (Section 8). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 123 RB SERIES _ USER MANUAL ※ An example using the Get function (Section 4) is shown below. 1. Use the jog / direct teach function to move to the desired posture / position © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 124 RAINBOW ROBOTICS RB SERIES _ USER MANUAL 2. Get current posture / location information by pressing Get button © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 125 An example using the Finish at/Stopping time option (Section 7) is shown below. When not using the Finish at function ◼ (If left blank) End of motion after arrival to original set target point, execute next command © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 126 >Allows the user to set the desired posture/joint Variable angle configuration through the Get function. >The user can also change a joint angle by setting it to a variable or a mathematical operation. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 127 >Allows the user to set the Points for Move L by using fixed, user defined Cartesian coordinate Variable values. >The user can also change the TCP Point by setting it to a variable or a mathematical operation. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 128 0 is entered in all Cartesian coordinate values, TCP moves to the origin of the user coordinate system. >In addition, the user can set a point by using a variable or a mathematical operation. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 129 The figure below shows each different type of Point as it displays in the UI. ▶ Joint Type - Absolute point ① Absolute Option point. ② The robot's posture/angle value is saved through Get button. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 130 RB SERIES _ USER MANUAL ▶ Joint Type - Variable point ① Variable Option point. ② Allows the user to enter the joint angle for the target posture or enter the parameterized information as an equation. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 131 ② Allows the user to enter how much each joint should move relative to the previous joint angle. All angles are in degrees. In addition, it allows the user to enter parameterized information or formulas. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 132 ① Absolute Option point. ② Allows the user to save a posture/position by using the Get/Save button. The reference coordinate system of the Cartesian coordinate system value is the robot base coordinate system. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 133 ② Allows the user to enter the target Cartesian coordinate values. The user can also enter parameterized information as formulas. The reference coordinate system of the set Cartesian coordinate values is the base coordinate system of the robot arm. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 134 ④ Chooses a coordinate system to specify relative movement. The default value is Frame Base, which represents the base coordinate system of the robot arm. The user is also able to choose the user coordinate system or the tool's local coordinate system. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 135 ③ Selection box for the user coordinate system that the user would like to use as a reference. ④ The Get button will load in the robot's current posture/position information based on the selected coordinate system. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 136 Setting function in the Make screen. Up to 3 user coordinate systems can be set and used. The factory default user coordinate system is the same coordinate system as the robot base coordinate system. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 137 Switching to another types (Move Joint types -> Move Linear types / Move Linear ⚫ types -> Move joint types), can be done only when the type (option) of Point function is used as Absolute. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 138 Click the Move function to add a Move command to the program tree. The default command will be Move J. A Point function will also be added to the tree as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 139 In the Point popup window, click the Get button to update the fields with the current robot posture/angles. The posture angle that was moved at the end is taken. Press Set to save this Point. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 140 After saving the point, the UI will look as follows. [Step 6] Repeat steps 1~4 several times to teach the robot the desired motion. Our completed example program will look like the following. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 141 By holding down the Approach button, the robot arm will move to the initial position for the program. Once the robot reaches its starting position, a pop-up message will confirm to the user that the robot has reached its starting position. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 142 [Step 8] After receiving the popup in Step 7, the program is ready to run. Click the play button at the bottom again to run the program. The image below shows the program running. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 143 3) Click the Get button to record the current posture, then click the Set button to save the position. 4) You can also start the program without moving to the Begin position using the disable function in the lower right corner. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 144 When the program is first created, the default starting angles will all be set to zero. The Home Position Disable feature should be used with care as it allows you to start the program in any position. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 145 RAINBOW ROBOTICS RB SERIES _ USER MANUAL Collision detection during operation ◼ The RB Series has two built-in collision detection functions: External Collision Detection (Out-Collision Detection) Internal Collision Detection (Self-Collision Detection) [ External Collision ] [ Internal Collision ] ● External Collision (Out Collision Detection) - Detects unplanned external collisions.
  • Page 146 Resume: Checks the status and continues robot operation. ⚫ Halt: Exits the program. ⚫ Alternatively, tap (hit) on the robot arm twice to continue the operation. This will perform the same function as the Resume button. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 147 The image below shows a situation where the robot is about to leave the user-defined Workspace. Just before leaving the Workspace, the robot will stop, prompting the UI to display a warning in red. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 148 / predicts a collision. The robot will stop, prompting the UI to display a warning in red. If the robot stops during operation in real mode, please move the robot arm to a safe position before continuing work. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 149 2) Axis/Center Circle Type: Mode of drawing an arc/circle with rotation center and rotation axis information Apart from the type of circle drawing, the original operation feature provides four rotation options as follows. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 150 Intended: The TCP rotation set by the user is followed. ◼ Smooth: The turn changes immediately from the start point to the destination point. The ◼ rotation information of the waypoint is ignored. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 151 Circular Motion type selection (3-point setting type) ② Point type (Absolute / Variable / Relative / UserCoord.) ③ Orientation option (Constant / Radial / Intended / Smooth) ④ Via Point information ⑤ Destination Point information © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 152 ① Circular motion selection (axis / center setting type) ② Point type (Absolute / Variable / Relative / UserCoord.) ③ Orientation option (Constant / Radial / Intended / Smooth) ④ Center point information ⑤ Axis information ⑥ Rotation angle information © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 153 Point variable. If you create a PinPoint while teaching a specific posture and give it a PinPoint name, the posture information is converted into a Point variable. The information saved as Point variable can be used in other operation commands/settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 154 PinJoint while teaching a specific posture and give it a PinJoint name, the posture information is converted into a Joint variable. The information saved as Joint variable can be used in other operation commands/settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 155 The diagram below shows the difference between the case of going to the Project Home Posture of the main project and the case of going to the Project Home Posture of the subproject when using the home function within the subprogram. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 156 RAINBOW ROBOTICS RB SERIES _ USER MANUAL © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 157 Ex) waits for specified amount of time (i.e. 3.0 seconds), then executes the next command When using ‘sync speed control bar’ function in Sync, the waiting time is adjusted in inverse proportion to the speed control bar value. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 158 The Time Out function is a function to prevent the condition from continuing to wait until it becomes False in a situation where it cannot be False. Escape the wait after the written time has elapsed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 159 The Time Out function is a function to prevent the condition from continuing to wait until it becomes True in a situation where it cannot be True. Escape the wait after the written time has elapsed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 160 And condition, the system waits only when digital input 0 is in a High state and digital input 1 is in a Low state.) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 161 And condition, the system stops waiting and executes the next command when digital input 0 is in a High state and digital input 1 is in a Low state.) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 162 By clicking the Folder icon, it will be added to the program tree. Commands can then be added, as shown below. To rename the folder, click on the new Folder in the program tree. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 163 Finish at function, it will not affect the functionality of the program, similar to the Text function. It serves as a tool to help manage modules and groupings of functions during teaching. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 164 The Text Function allows users to make notes/comments in the program list tree. The text function is displayed as green text in the program tree and does not affect the functionality of the program. Click the Text icon to add it to the Program Tree. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 165 You can enter the title and content of the alarm message. After setting it up as shown above and running the program, a popup like the one below will appear the moment the alarm command is executed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 166 When the alarm function is used, the main program is temporarily paused, and any threads that are running are also paused at the same time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 167 In the example below, an If condition checks whether a certain condition is true. If the condition is met, the program is set to call the Halt function. If the condition is true, the program will stop at that point, and the following commands will not be executed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 168 RAINBOW ROBOTICS RB SERIES _ USER MANUAL WARNING Warning: When the Halt function is executed, the main program will terminate – this includes any additional Thread functions. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 169 The follow is an example on using Debug. Declare one variable type variable (my_var = 3.14) and one array type variable (my_arr = {100,200,300}) using the Assign function as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 170 RAINBOW ROBOTICS RB SERIES _ USER MANUAL Add a Debug Function below it. Set the variables in the Debug window to observe the two previously declared variables as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 171 Debug command is executed. The pop-up will allow the user to observe the specified variable values. Resume: Continues to the next command. ⚫ Halt: Terminates the program. ⚫ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 172 "Applied Value" field. At this point, if "Skip" is selected, the program continues without entering a value. If "Apply and Continue" is selected, the value entered in the "Applied Value" field is reflected in the variable, and the program proceeds. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 173 For the option "Command Completion Condition," you can choose whether to wait for the command to finish executing before continuing or to proceed without waiting for the motion to complete. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 174 Users can enter the conditional statement they would like to use in the If statement. Else if (+ Add else if) or Else functionality (+ Add else) can be created along with branch of conditional statements. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 175 (+ Add case) button. After clicking the (+ Add case) button, the following window will appear. Enter the conditional argument in the field, then press the Set button to save. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 176 RAINBOW ROBOTICS RB SERIES _ USER MANUAL © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 177 The left side shows the program execution in the Make screen, while the right side shows it in the Play screen. In the Make screen, the program between Begin and End is executed once. In the Play screen, the program between Begin and End is repeated. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 178 Begin and End is repeated, but the commands declared under the Pre-Program section are executed only once. Operations that need to be performed only once, such as variable declarations or communication connections, can be configured using the Pre-Program function. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 179 The commands declared under the Post-Program section are executed sequentially ⚫ after the program ends. The execution of the Post-Program follows the diagram below: ⚫ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 180 Even though the D.Output for port 1 to turn off was not added before the end of the program, port 1 automatically sends a Low signal when the program ends, thanks to the use of D.Output 1=L in the Post-Program section. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 181 Commands related to robot arm movement, such as Move J or Move L, cannot be ⚫ used under the Post-Program section. The Post-Program function only works in the top-level program. If used in a ⚫ subroutine, it will not be executed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 182 The parameters that can be changed via the Set function are as follows: Time ⚫ Collision Threshold ⚫ Payload ⚫ Linear Move Offset ⚫ Inbox ⚫ TCP Position ⚫ Tool Collision Box ⚫ Global Workspace ⚫ Inbox Size ⚫ Collision On/Off ⚫ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 183 Motion Time Constraints ⚫ High Sensitivity Coll.Detect ⚫ Micro offset value ⚫ User Coordinate Shift 6D ⚫ User Coordinate Auto Alignment ⚫ Timer Setting ⚫ No-Arc Move speed ⚫ Manual User Coordinate 6D ⚫ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 184 For example, you can use Set's ‘Collision On / Off’ feature to selectively turn on/off collision detection in the middle of a program flow. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 185 - Set Function: Collision Threshold Temporarily sets the collision detection sensitivity. The lower the value, the more sensitive the robot is to collision. This has the same functionality as the Collision Threshold option within the Setup-Cobot Menu. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 186 Payload option within the Setup Menu. - Set Function: Linear Move Offset Gives a slight offset relative to the base coordinate system. This function allows users to temporarily set an offset of up to 20 mm. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 187 Set function). A total of 2 Inboxes can be set, and based on the above settings, whether or not they are in a specific area can be used through SD_INBOX_TRAP_FLAG_0 or SD_INBOX_TRAP_FLAG_1 in the Shared Data type data, respectively. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 188 - Set Function: Tool Collision Box Temporarily set the size and position of a virtual box surrounding the gripper for self- collision prevention. It has the same functionality as Tool Setting for Collision Check in Setup-Tool. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 189 Workspace Limits menu in Setup-Cobot. - Set Function: Inbox Size Temporarily set the position and size of the Inbox. It has the same functionality as the Inbox settings in Setup-Inbox. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 190 - Set Function: Speed Override Allows the user to temporarily to change the base scaled speed used by the Move and Point functions. Users can either enter a value between 0 and 2.0, or a predefined variable. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 191 Move J operation has the same effect as if a speed of 1.5 times the set speed was set. Set-Speed Override 0.70 was used between Move J and Move L. Therefore, Move L operates with the same effect as if a speed of 0.70 times the set speed is set. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 192 Through the code below, you can see how the speed and acceleration change when Speed Override and Acceleration Override are used. The initial speed and acceleration are set to 45% and 30%, respectively, and change depending on the setting scale. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 193 - Set Function: Fixed Vel/Acc This function is used when you want to use a fixed value, ignoring the set speed / acceleration for each Move point. There are two sub options: Joint Movement and Linear Movement. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 194 In this case, it follows the speed/acceleration value set for each point during operation. Ex) If you need to keep a certain speed and acceleration during operation, you can use this Set function as in the code below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 195 Distance sets how much a helix moves relative to the starting point when implementing a spiral circular motion, and Rate moves by applying a ratio to the radius of the circle or arc. Therefore, 1 is 100% when using Rate. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 196 RAINBOW ROBOTICS RB SERIES _ USER MANUAL Ex 1) Only Circle is used: Create a general circle / arc trajectory. Ex 2) Set-Spiral Mode + Circle: Spiral trajectory © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 197 - Set Function: Speed Bar Control The speed control bar (bottom right) of the UI can be adjusted with the program. You can change the UI speed control bar by using this function in the desired section. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 198 The time to stop the direct teaching is divided into 0.8 seconds and 1.6 seconds, respectively. It has the same meaning as Setup > Cobot "Action after Collision". © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 199 This function is to move the origin of user coordinate system temporarily. can set the user coordinate system number and shift distance you want to shift and choose which coordinate system to shift the shift distance. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 200 Program Stop state. Program Pause State: Program flow is paused after external collision detection. ⚫ Program Stop State: Program flow stops after external collision detection. ⚫ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 201 It can be used for development testing, etc., and by selecting an option, the output can be deactivated/activated according to the program section. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 202 100mm. This function is also a set function, which can be activated/deactivated for each section of the program. If you want to disable it, select None in the coordinate system. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 203 As a sub-function of the Set function, this function can be turned on or off depending on the program section. This function can be used when you want to uniformly rotate the TCP rotation at a time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 204 Because it is a sub- function of Set, the user coordinate system setting returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 205 L type or to both L type and J type. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 206 L series operation, and both the XYZ position value and the rotation value can be entered. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 207 - Set Function: Vibration sensor On/Off This function allows you to temporarily exclude collision detection by vibration during collision detection. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 208 This function allows you to simulate Digital input signal. Create the desired input by setting the state of the port to which you want to input. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 209 This function allows you to pause and restart without using alarms and I/O when a program is running. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 210 High acceleration mode reduces the time the robot's operating speed reaches the desired operating speed through changes in the reduction/acceleration profile. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 211 At this time, it is possible to increase time but not to reduce it. Time must be a value greater than or equal to zero. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 212 In Setup, the sensitivity that made collision detection the most sensitive is also 30% more sensitive than 0%. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 213 User can give a slight offset based on the desired coordinate system. This function enables temporary offset settings of up to 20mm. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 214 The user can temporarily shift the user coordinate. This function allows the user to temporarily change the position, rotation of the user's coordinate. Because it is a sub- function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 215 This function allows the user to change the user coordinate to the last TCP frame. It is also possible to return to the default user coordinate. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 216 Set the move speed of the robot in the no-arc state where welding is not performed. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 217 X and Z values of 400mm in Setup-Coordinate. Because it is a sub-function of Set, it returns to the default value when the program ends. At this point, the manual user coordinate system 6D is set as shown below, and the program is executed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 218 RAINBOW ROBOTICS RB SERIES _ USER MANUAL The change can be confirmed as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 219 - Set Function: External F/T sensor signal This function resets the external F/T sensor signal to 0 (N). Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 220 Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 221 You can use a previously declared point variable or pin point for the point name and a joint variable or pin joint for the joint name. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 222 - Set Function: TCP Linear Speed Limit This function allows you to limit the linear speed of the robot's TCP. Because it is a sub- function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 223 This function is similar to the "Finish At" function but can be used in cases where communication is received from a thread that is not supported by the "Finish At" function to set conditions. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 224 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - Set Function: Vibrating Motion By setting an axis and specifying amplitude and frequency phase, this function makes the robot vibrate in the specified axis direction. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 225 If the robot arm approaches the deadzone, it will move to avoid - Set Function: Axis Aligned Posture Calculation This function aligns the posture in the direction of the specified axis based on the point variable you designate. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 226 This function enables or disables special functions assigned to digital inputs on the control box under the I/O-1 section of the Setup. Because it is a sub-function of Set, it returns to the default value when the program ends. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 227 - Set Function: PFL Mode PFL (Power and Force Limit) Mode uses the robot's motion data and tool information to simulate the collision risk at various positions. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 228 Enabling Gravity Compensation Mode (current control) switches the robot to direct teaching mode. In this mode, the robot generates force in the direction necessary to compensate for gravity according to the amount of force set during direct teaching. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 229 This function automatically calculates and applies an offset to the robot's trajectory based on three user-defined landmarks. For reference points, input the teaching information defined initially during direct teaching. For current landmarks, input the positional information acquired through sensors, such as vision systems. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 230 The ability to change the TCP value during program execution with the TCP value pre- saved in Setup-Tool List. A total of five tools can be set to TCP. It does not change again until the TCP value is replaced or the program is shut down. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 231 A feature that enables direct teaching during program execution. When mode On, the program pauses when the manual direct teaching command is executed and a pop-up window as shown below appears on the screen. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 232 ② If you used the direct teaching feature in ①, turn off the direct contact function and resume the program. ③ Ignore the manual operation and resume the program. ④ Exit the program. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 233 If a script command is entered in the script field below, the specified script will be executed when the robot reaches that position. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 234 After clicking the Repeat button, a popup menu containing the four modes will appear. Once it opens, select and use the desired function. Repeat a specified number of times (Time Condition) Ex) The above example will repeat a subprogram 1 times. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 235 RB SERIES _ USER MANUAL 2) Do While Function Ex) The conditional statement you entered in Condition repeats for a true period of time, but it repeats the first time, even if it is not true. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 236 RAINBOW ROBOTICS RB SERIES _ USER MANUAL 3) Repeat while the specified condition is true (Holding Condition) Ex) If the conditional statement entered in Condition is true, repeat it again and again. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 237 RB SERIES _ USER MANUAL 4) End repeat if the condition is true (Exit Condition) Ex) If the conditional statement you entered in Condition is true, stop repeating and execute the following command. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 238 Jump Here; and the Program Logic Jump to Folder function, which allows you to jump to a folder in the program. It can only be used as a subitem of the Repeat function – it cannot affect any other part of the program. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 239 If condition. If the condition is not met, the loop will continue indefinitely. However, once the condition is met, the loop will exit, and the next command will be executed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 240 However, once the condition is met, the program will skip the instructions below the Program Logic Jump To function and execute the commands after the Program Logic Jump Here function. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 241 However, once the condition is met, the program will skip the instructions below the Program Logic Jump To Folder function and execute the commands inside the folder. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 242 The Thread Function will support only up to 3 different threads. ⚫ Thread functionality works only in the current running program. If a subprogram called ⚫ through a Sub.P function uses a thread, it will not work properly. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 243 The figure below is an example of how the Thread function can be inserted into an actual project. In the example below, two threads are inserted. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 244 When using Pause or Alarm function, both main program and thread are paused. When the main program exits, the thread will also exit – even if the thread has not yet finished executing. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 245 G code file that user saved in File Name. The plane in which the robot moves can then specify the xy, yz, and zx planes of the user-specified coordinate system as the starting planes. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 246 This function is to play the recorded teaching motion. Motion recording is performed in the settings of the Make page. If you select the name and motion speed/property of the recorded motion, the recorded motion is played again. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 247 Arc sensing is divided into unidirectional arc sensing and multidirectional arc sensing. For use with weaving, multidirectional arc sensing should be applied. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 248 In unidirectional arc sensing, you can set the average or target value of the input coming from the analog input over a specific time period. Based on the input values, parameters can be adjusted to determine the direction and degree of correction. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 249 For advanced functions, you can adjust the responsiveness of arc sensing and add intentional offsets by configuring the corresponding settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 250 Spiral(M), Expanding Spiral(P), Shrinking Spiral) At this time, teaching must be performed according to each macro, and once the user sets the parameters to match the desired shape, the desired actions can be automatically generated without needing to teach individual points. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 251 ③ Allows the user to set their desired setting for a port (0~15). The three setting toggles are Bypass, Low and High. Bypass: Maintains the previous output signal state (gray). Low: Sets the output signal to the low (0) level (red). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 252 (to the right). Then, press the Preview button. As shown above, the Current Signal menu will change to match the settings that the user has put in the Target Signal menu. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 253 RAINBOW ROBOTICS RB SERIES _ USER MANUAL © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 254 When the control box is connected to the tablet PC, you can configure the target signal field as shown in the figure below, and by pressing the preview button, the control box will output the digital signal as displayed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 255 2, 5, and 6 will turn HIGH. Conversely, if you choose the "reverse" option, port 0 will be the MSB and port 7 will be the LSB, resulting in ports 1, 2, and 5 turning HIGH. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 256 (toggled signals are displayed in blue). By pressing the Preview button, the digital output signal from the control box will be toggled, as shown in the following figure. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 257 RAINBOW ROBOTICS RB SERIES _ USER MANUAL © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 258 Preview button. The control box will output the digital signal, and you will be able to see that the signal has changed, as shown in the figure below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 259 RAINBOW ROBOTICS RB SERIES _ USER MANUAL © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 260 When the control box is connected to the tablet PC, configure the target signal field as shown in the figure above and press the Preview button. The control box will then output a digital signal. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 261 If Non-Block mode is not used, the unit pulse output process will wait for the full cycle to complete before proceeding to the next command. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 262 This is the PWM (Pulse Width Modulation) output function. By inputting the frequency and duty cycle of the PWM pulse, you can send a PWM signal through the digital output port. PWM Ex 1) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 263 RAINBOW ROBOTICS RB SERIES _ USER MANUAL PWM Ex 2) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 264 : Condition Based out In addition to using the D.Out function, you can create commands to send digital outputs using the script function, as shown below. ※ Script function: manual_digital_out(port number, output level) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 265 If you want to leave a comment about the D.out function you set, you can use the memo function at the top right of the popup window. Before using the digital output, please fully understand the electrical properties of the digital output port provided by the manufacturer. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 266 (0-10V) to set the voltage. ④ This function allows you to preview the settings selected in item 3. ⑤ This configures the An. Output function with the settings selected in item 3. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 267 Preview button. The control box will output the analog signal, as shown below. You can see that the Current Signal field on the left side of the image has changed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 268 Voltage_2. In addition to using the An.Out function, you can also create commands to send analog output using the script function, as shown below. ※ Script function: manual_analog_out(port number, output voltage) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 269 If you want to leave a comment about the A.out function you set, you can use the memo function at the top right of the popup window. Before using the analog output, please fully understand the electrical properties of the analog output port provided by the manufacturer. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 270 Bypass, Low, and High. ③ Allows the user to preview the settings selected within the target signal menu. A further explanation is shown below. ④ Saves the settings specified within target signal menu. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 271 Target Signal menu as shown above. Then press the Preview button to preview the tool flange output signal. The Current Signal menu will change to match the settings that the user has put in the Target Signal menu. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 272 The user can add a comment about the Tool.out function by using the memo function at the top left of the popup window. Before using the tool flange output, please fully understand the electrical properties of the port provided by the manufacturer. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 273 Add the gripper function to the program tree and click the added Gripper as below. ① Select the gripper product. ② Select gripper connection point(Control Box, Tool Flange). ③ Select the function to be used as the gripper. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 274 RAINBOW ROBOTICS RB SERIES _ USER MANUAL WARNING Warning: The product list provided in the gripper function will be updated through user request. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 275 ■ Extension Board (I/O Extend) Function: A feature that controls digital/analog output when purchasing and using an extended I/O module. The method of use is the same as the existing D.output and An.output. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 276 Setup page must precede setting the parameters and connection information for the welder. As illustrated above, this feature allows quick and easy insertion of weld speed/weld current / voltage settings / safety signal processing options into the program to be used for welding. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 277 ■ D.Weld Function: It is a function that can use the digital weld machine. After selecting the weld machine to be used, user can proceed with ‘Weld Start’, ‘Weld Off’, and ‘Weld Setting’. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 278 If you want to use multiple lines of the script function at the same time, you can use the Add button at the bottom of the popup window. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 279 The example below shows a program that creates a loop (Repeat) that runs every 1 second. During each repetition, a variable called counter is incremented by 1 using the Assign function within the script. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 280 The script function is an area where the user can freely write and execute a script. If the users write a script that doesn't match the syntax, the program may malfunction or stop. Be mindful and use the proper syntax when using this feature. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 281 To save the variable, click on the Set button. If multiple declarations are made, the program tree will show how many variables of each type were declared. If a declaration is made, the variable name and initial value will be displayed on the tree as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 282 ④ Button for the Point/Joint type. The six coordinates (Point: x, y, z, Rx, Ry, Rz / Joint : J0, J1, J2, J3, J4, J5) of the current robot configuration are imported as initial values. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 283 Monitoring window, the user can enter the name of the variable to be observed. If the user wants to observe the value of the monitored variable, they can click the Monitor icon on the right side of the screen. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 284 RAINBOW ROBOTICS RB SERIES _ USER MANUAL After that, if the user presses the play (▷) button, they can observe the value of ‘my_count’ increasing every second. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 285 Box. Users can output in ASCII mode, or in HEX mode. The UI Tablet (Teaching pendant) only supports UI485 Tx. The configuration can be previewed through the Preview button on the right side of the popup window. [ ASCII mode ] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 286 Setup-Socket/Serial menu. Alternatively, the user can use the Set-Serial Configuration option at the top of the project. To use serial communication on the box side, plug a commercially available USB-Serial (RS232 / 422/485) device into the USB port. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 287 Function uses the IP settings as defined in the Setup screen. A user that would like to change the IP settings can go to the Setup-Socket/Serial screen. The Socket Function provides six different options as follows. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 288 Read String: Reads a string from the server and puts it into a string type. ⚫ Send String: Send the specified string to the server. ⚫ Clear Buffer: Empty the buffer. ⚫ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 289 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - Socket Function: Close This option closes the selected socket (0~4). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 290 Opens the selected socket (0~4) and connects to the partner server. This option requires the user to set the IP address and port number of the server they would like to connect to. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 291 If you set Continue Read to Enable until successful, you will set a timeout time, which will stop reading after that time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 292 - Socket Function: Read ASCII Array Allows the user to select one predefined array (from the Assign Function) and overwrite the values contained within that array with the values of an array sent by the server. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 293 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - Socket Function: Read String This is the function to put the ASCII string received through Socket communication into the selected string variable. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 294 RB SERIES _ USER MANUAL - Socket Function: Send String Allows the user to send a specific string to the server. Users can enter a string directly in the field or send a predefined string type variable. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 295 Read ASCII Variable When receiving a value from the server, the value must be sent as a numerical value. (i.e. the numerical value hasn’t to be contained within quotation marks) (e.g. 123, 4567) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 296 Read function was successful with a condition like If(SD_SOCK_LAST_READ_0). If no data is received from the server, this variable will have a value of 0. The figure below shows an example of the Socket Function. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 297 Field to select the signal type: Choose one from Read bit (1-bit), Read word (16- bit), Write bit (1-bit), or Write word (16-bit). ④ Field for entering the address value to access on the server ⑤ Field to select the cycle frequency for Read/Write operations (Unit: Hz) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 298 Example 2) The ability to write the value stored in mod_write_bit to the address 200 of the server (IP: 192.168.0.100). Send the value of mod_write_bit to the server at a cycle of 100 Hz. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 299 Modbus Client (Interrupt) ⚫ OMRON PLC (FINS Protocol) ⚫ Siemens PLC (S7 Protocol) ⚫ OnRobot Eye ⚫ Because each external device has different detailed features available, you should refer to the following information. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 300 IP address, and port. User can also decide whether to turn on or ignore alarm pop-up in the event of a connection failure or communication error and set a communication timeout time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 301 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - HMI(MemLink)- Write Single variable The ability to enter values for one address of HMI. Enter a number or variable name for the transfer value. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 302 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - HMI(MemLink)- Read Single variable The ability to read values from one address in HMI. The read values are stored in the variable you specify (Variable). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 303 The ability to enter numbers from the starting address of the HMI to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 304 The ability to read data from the starting address of HMI to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 305 User will enter the socket number, IP address, and port. User can also decide whether to turn on or ignore alarm pop-up in the event of a connection failure or communication error and set a communication timeout time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 306 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - PLC(MC Protocol)- Write Single variable The ability to enter values for one address of PLC. Enter a number or variable name for the transfer value. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 307 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - PLC(MC Protocol)- Read Single variable The ability to read values from one address in PLC. The read values are stored in the variable you specify (Variable). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 308 The ability to enter numbers from the starting address of the PLC to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 309 The ability to read data from the starting address of PLC to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 310 This function plays an mp3 file while the program is running. The Music driver must be installed through the RB Driver, and the mp3 file you want to play must exist in the specified path. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 311 User will enter the socket number, IP address, and port. User can also decide whether to turn on or ignore alarm pop-up in the event of a connection failure or communication error and set a communication timeout time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 312 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - PLC(XGT Protocol)- Write Single variable The ability to enter values for one address of PLC. Enter a number or variable name for the transfer value. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 313 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - PLC(XGT Protocol)- Read Single variable The ability to read values from one address in PLC. The read values are stored in the variable you specify (Variable). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 314 The ability to enter numbers from the starting address of the PLC to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 315 The ability to read data from the starting address of PLC to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 316 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - CSV File-Read String This function reads a string from a CSV file. The CSV file must be saved within the specified path. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 317 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - CSV File-Read Variable This function reads a single number from a CSV file. The CSV file must be saved within the specified path. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 318 A function that connects communications between the Pickit and the RB system. User will enter the socket number, IP address, and port. User can also decide whether to turn on or ignore alarm pop-up in the event of a connection failure or communication error. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 319 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - Pickit -Send Command Set the command to be sent to Pickit and the data according to the command. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 320 IP address, and port. User can also decide whether to turn on or ignore alarm pop-up in the event of a connection failure or communication error and set a communication timeout time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 321 - Modbus Client(Interrupt) -Write Single variable This is a function to input word type data to one address through Modbus communication. At this time, enter the name of a number or variable for the transfer value. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 322 - Modbus Client(Interrupt) -Read Single variable This is a function to read the value of one word type data from the address through Modbus communication. At this time, the read value is saved in the assigned variable. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 323 This is a function to input word data from the start address to the specified number of addresses through Modbus communication. At this time, the previously declared array should be written in ‘Array Name’ and the length should not exceed 20, the maximum length of the array. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 324 This function reads data from the start address to the specified number of addresses through Modbus communication. At this time, the previously declared array should be written in ‘Array Name’ and the length should not exceed 20, the maximum length of the array. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 325 User will enter the socket number, IP address, and port. User can also decide whether to turn on or ignore alarm pop-up in the event of a connection failure or communication error and set a communication timeout time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 326 RB SERIES _ USER MANUAL - OMRON PLC(FINS Protocol) – Write Single variable The ability to enter values for one address of PLC. Enter a number or variable name for the transfer value. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 327 RB SERIES _ USER MANUAL - OMRON PLC(FINS Protocol) – Read Single variable The ability to read values from one address in PLC. The read values are stored in the variable you specify (Variable). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 328 The ability to enter numbers from the starting address of the PLC to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 329 The ability to read data from the starting address of PLC to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 330 User will enter the socket number, IP address, and port. User can also decide whether to turn on or ignore alarm pop-up in the event of a connection failure or communication error and set a communication timeout time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 331 RB SERIES _ USER MANUAL - Siemens PLC(S7 Protocol) – Write Single variable The ability to enter values for one address of PLC. Enter a number or variable name for the transfer value. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 332 RB SERIES _ USER MANUAL - Siemens PLC(S7 Protocol) – Read Single variable The ability to read values from one address in PLC. The read values are stored in the variable you specify (Variable). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 333 The ability to enter numbers from the starting address of the PLC to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 334 The ability to read data from the starting address of PLC to the specified number of addresses. The pre-declared array must be written to Array Name and should not exceed the maximum length of the array, 20 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 335 User will enter the socket number, IP address, and port. User can also decide whether to turn on or ignore alarm pop-up in the event of a connection failure or communication error and set a communication timeout time. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 336 RAINBOW ROBOTICS RB SERIES _ USER MANUAL - OnRobot Eye – Send Command You can send commands to the OnRobot Eye. When you send commands, you can set the timeout by communication timeout. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 337 The OnRobot Eye's task number must be pre-set and is intended to execute the set task. For data obtained through the feature, you can select the properties on the keyboard as Devices and use them in the list. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 338 The "Call by program switching method" allows the sub- program to switch to the sub-program's window at the moment it is called and execute it. For example, you create a file named "sample_prog" as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 339 In Example 1, when sample_prog is "Called as a sub-program", it will be executed, but it will not be editable in the main program. Additionally, if the called sub-program is modified, the execution of the main program will also be affected. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 340 If modifications are required, the project must be opened separately. The Sub.P function can be called up to 10 levels deep. It is not recommended to use recursion with the Sub.P function. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 341 Pattern Action: ⚫ This setting defines the motion relative to the reference point set in the Pattern Anchor. The defined relative behavior is repeated at every pattern point set in the Pattern Property. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 342 Step 1) Set the Pattern Property as shown below. With the above settings, the following repeat points are formed in space. Step 2) Using the Pattern Anchor and the Pattern Action, define the relative movement as below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 343 RB SERIES _ USER MANUAL Step 3) Finally, the relative movement set in Step-2 is reflected in all of the pattern points set in Step-1, completing the action of repeating the same action. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 344 Add the conveyor function to the program tree and click the function to see the options. ① Set the move type and speed of the conveyor. ② Set the direction for the conveyor movement (x, y, z value is based on robot arm base coordinate system). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 345 RAINBOW ROBOTICS RB SERIES _ USER MANUAL An example program tree using the Conveyor Function will look as follows: © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 346 (when setting the force control to the ground). [ Before applying force control ] [ After applying force control ] © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 347 The left side of the figure below is for normal operation only. If this motion is put as a sub-item of weaving, TCP trajectory reflecting the weaving trajectory is drawn (in the example on the right, in the case of triangle wave weaving). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 348 The difference between weaving and weaving 2 is that in the case of weaving, the surface to be welded and the surface to be welded are set as set points, and weaving 2 implements weaving motion based on the frame of the TCP. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 349 Touch sensing is intended to utilize welding applications. Detects the movement of the base material and reflects the direction of movement of the base material and is used for welding. A detailed description of this feature is provided in a separate manual. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 350: Editing The Program

    Step1) Select the command to cut. The selected command will be shown in blue. In the example below, the Move L line is selected. Step2) Press the Cut button. Once Cut is clicked, the line disappears from the program tree. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 351 Move J line is selected. Step2) Press the Copy button. Step3) Click desired location and click the Paste button. In the example, the Move J command is pasted under the Folder. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 352 Step1) Select the command to delete. The selected command will be shown in blue. In this example, the Wait command is selected. Step2) Click the Del button. The command has been removed as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 353 Step1) Select the command to move. The selected command is shown in blue. In this example, Move J at the top is selected. Step2) Click the Down button to move Move J down as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 354 In this example, the Move J command is selected. Step2) Click the Pass icon. The command turns dark as shown below and will not execute. To undo, simply select the command again and press the Pass button again. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 355: Program Management

    To save the current project, click the save icon on the bottom left side of the UI work screen. there is no change from the existing saved contents, it is shown as below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 356 Only recently used files will appear in the list. To open a file, users can click the Load option. Clicking Other Program button will open the File Explorer, which allows the user to look through saved files. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 357 Using this window, users can save their current file with the desired program name. The program name cannot bet set to “default,” as it is already in use by the system. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 358 Monitor: Provides a window that allows the user to monitor both system and user variables in real time. UI Mode: UI mode can be selected according to the user's level and the user's purpose. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 359 Up to 20 frequently used postures can be saved and used on the UI tablet. Press the 'Get current Posture' button to get the current position information and press the Set button to save it. Hold down the 'Move to Saved Posture' button to move to the saved position. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 360 RB SERIES _ USER MANUAL [Utility- Move Joint to Origin] Move each joint to the mechanical origin marked on the robot arm. [Utility- Free-Drive with Constrained Orientation] This mode is only available in Real Robot mode. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 361 RB SERIES _ USER MANUAL [Utility- Input Signal View] Input signal monitoring window for control box and tool flange. [Utility- Output Signal View] Output signal monitoring window for control box and tool flange. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 362 This window allows the user to see the robot arm’s current and temperature. It also shows the user coordinate system settings. [Utility- Snap] Snap mode selection window to be applied when using direct teaching mode. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 363 RB SERIES _ USER MANUAL [Utility- Box Output Test] This window allows you to test the output of the control box. [Utility- Tool Output Test] This window allows you to test the output of the tool flange. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 364 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Utility- I/O Extension Board] I/O expansion module's I/O signal monitoring window. Window for testing the output of the I/O expansion module. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 365 ■ Setting sub functions [Setting- Tool List Select] There is a Tool List Select setup feature that sets up TCP to use in a pre-saved TCP list. A total of four tool lists can be set. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 366 When teaching a robot using a wired/wireless joystick, there is a joystick connection setting function. The joystick has the compatible model listed below and must be initialized. When all settings are complete, click the button on the refresh mark at the top right to connect. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 367 RB SERIES _ USER MANUAL [Setting- User Coordinate] Set the user-defined coordinate system. Press the activation button to display a screen that selects three points. This is the 3-point setup mode (see 7.7 Setup-Coordinate). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 368 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- User Coordinate Center] Keep the XYZ axis and rotation direction of the previously set user coordinate system, and move only the origin. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 369 If you enter four different postures that keep the TCP point you want to set at the same point in a three-dimensional space, it automatically calculates the TCP position value. Take each position as shown, and press 'Get' on the corresponding number. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 370 RB SERIES _ USER MANUAL [Setting- High Precision Auto TCP] It automatically finds the position of the terminal, just like the robot terminal (TCP). However, it has more posture, so it looks for more precise TCP. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 371 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- External F/T] This window allows you to check and calibrate the external F/T sensor (e.g. Robotiq F/T sensor). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 372 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- Auto COG/Mass] This function finds the weight and center of gravity attached to the tool using the internal / external F/T sensor. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 373 RB SERIES _ USER MANUAL [Setting- Motion Recording] It is a function that records the motion through the direct-teaching(gravity compensation) function. The recorded action is available in the program via the Replay function. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 374 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- I/O Logging] This function sets one digital input/output, records the change in the value of that input/output, and shows it graphically. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 375 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- Welder Wire Control] This function can control the welding machine's wire. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 376 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- TCP Orientation Change (Frame)] Sets the rotation direction of the default TCP coordinate system based on the current robot pose to match the selected coordinate system. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 377 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- User Coordinate Auto Alignment] Change the coordinate system setting to the current TCP frame. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 378 This is a process to inform the robot arm of the external axis of rotation and the radius of rotation. This calibration allows the robot to control the synchronization of the external axis. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 379 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- Safety Plane] Set the plane that the robot arm cannot cross for safety. If it crosses the set plane, the robot arm will stop. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 380 [Setting- Safety Joint Range] You can specify the range of angles that operate for each joint in the robot arm. An angle greater than or equal to the specified joint angle value will not operate. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 381 [Setting- Global Pin Point] This is the function to set up global pin points. As shown in the above picture, you can set up global pin points to share the variables in multiple programs. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 382 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- Orientation Aligning] Rotates the axis of the selected TCP of the robot arm to align with the specific axis. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 383 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- Check Lastest System Log] Displays the contents of 10 lines of the latest log file on the system on the UI. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 384 RAINBOW ROBOTICS RB SERIES _ USER MANUAL [Setting- Joint Origin Field Calibration] This function is to calibrate the joint 0 points on the spot. Please contact the manufacturer for more information. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 385 By pressing the recording function on the upper right, the TCP trace of the robot tool is recorded in the 3D viewer in the 3D viewer. (Yellow solid line) The recording time is up to 30 seconds. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 386 RB SERIES _ USER MANUAL ■ 3D View Function It has a three-dimensional viewing angle that is frequently used. It can be used if you want to quickly change the view of the three-dimensional viewer. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 387: Chapter 8. Starting Robot

    In ‘Play’, the program loaded will repeat indefinitely if the ‘number of repeat’ is not ◼ specified. Press ‘Count’ at the top of the screen to set the ‘number of repeat’. The motion speed of the robot can be adjusted while the robot is in operation. ◼ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 388 To move to the ‘Make’ or ‘Setup’ screen, the program running must be terminated. The USB cable between Tablet PC and control box can be unplugged during the robot operation. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 389 The robot’s current status is shown in the ‘Play’ screen during operation. Description ① Program flow tree ② 3D viewer. ③ 3D view angle changer ④ System information, system variable monitor ⑤ Play / Pause / Stop / Velocity slide bar © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 390 RAINBOW ROBOTICS RB SERIES _ USER MANUAL 8.3 TROUBLESHOOTING WHILE OPERATING Various problems can occur while the robot is in operation. Below are some of those problems and ways to troubleshoot. 1. Out Collision © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 391 TOK TOK Recovery method When temporarily paused due to an external collision, lightly tapping the end of the robot arm twice will recover it from the paused state (same effect as pressing the Resume button). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 392 ⚫ situation. Temporarily switch to Real mode to receive actual joint information from the ⚫ robot and recover. Press the teaching button to receive actual joint information from the robot and ⚫ recover. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 393 (220V) of the robot control box. If the USB cable is damaged, it needs to be replaced, and if the connection is not consistent, try a different USB port. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 394 The current exceeds the maximum current CUR Error threshold. The temperature exceeds the maximum Temperature Error temperature threshold. The version of software in the main controller is different from the version in the Mode Error joint controller. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 395: Chapter 9. Environment Setting

    (Free Drive Stop). Pause Deceleration Amount: If a pause is made during program playback, it will stop after a certain period of playback. This time can be set step by step. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 396 Tool Flange Direct Teaching Button: Choose whether to use the ⑤ direct teaching button on the tool flange. Tool Flange Vibration Sensor: Choose to turn the vibration detection on or off. ⑥ Save the Changed Settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 397 Activate with Key’ mode, activation occurs through any digital input. In ‘Auto Activate without Key’ mode, the robot activates as soon as the power to the control box is turned on, without any operation. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 398 (On (Non-Idle)). You can construct logic using various parameters such as input signals, ② system status information, system parameters, and communication data. ③ You can configure the logic of output signals using input signals. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 399 Inversion of Digital Input Signals / Output Signal Inversion: You can ② invert the signals of individual ports. System Elements: You can set the usage of the tool flange and I/O ③ board. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 400 (X, Y, Z) and rotation angles (RX, RY, RZ). Set the range of the tool area based on the TCP coordinate ④ system. The area within this range is treated as a self-collision zone. ⑤ Save the changed settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 401 User: Output only the logs related to the logs specified by the user. Mail: Send the logs to Rainbow Robotics' customer support email account. Wi-Fi must be connected for this action. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 402 Restore control box settings: Restore the previous settings of the control box. Control box time zone: Displays the time zone currently recognized by the control box. ④ System Ver.: Output the current UI version being used by the control box. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 403 Step2. Press the Release button to release the brake and make it free. Step3. Align the groove marked on the axis and press the reset button to initialize the axis. At this point, options 1 and 2 will © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 404 Before using the Emergency Joint Recovery mode, understand the characteristics and operation of this function accurately before using it. When transporting or shipping the robot, it must be placed in the packaging box provided by the manufacturer in the specified orientation. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 405 (refer to Appendix E for more details). Data Port(5001) : This port is used when an external device receives data from the control box (refer to the Data Structure for more details). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 406 RS485 on the tool flange side. ① Control Box: You can configure the communication speed, parity bit, and other settings for the RS485 on the control box side. ④ Save the modified settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 407 L : The function applied to the selected digital input port is activated when the digital input pulse is at the Low State. The functions applied to the 16 digital input ports are ③ displayed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 408 L : The function applied to the selected digital output port is activated when the digital output pulse is at the Low State. The functions applied to the 16 digital output ports are ⑥ displayed. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 409 Enter the desired name. ⑧ Select the input port for which you want to set the name. ⑨ Enter the desired name. Select the output port for which you want to set the ⑩ name. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 410 19. R = Load Default Program 20. F = Turn Off Robot Arm Power 21. R = Touch Sensing 22. F = Touch Sensing 23. H = No Arc 24. H = Program Start Block © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 411 50. H = Speed 75% / L = 0% 51. H = Speed 50% / L = 0% 52. H = Speed 25% / L = 0% 53. H = Speed 10% / L = 0% © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 412 56. L = Block Freedrive Button 57. Duplex for Safety 58. F = Stop Program CAUTION Caution: Before using Digital Input, be sure to fully understand the electrical characteristics of the digital input port provided by the manufacturer. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 413 19. H = Teaching Pendant Connected 20. H = Program Running in MAKE Screen 21. H = Program Running in PLAY Screen 22. H = Conveyor Mode Active 23. H = Control Box Boot Complete © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 414 46. Sync with D.out 4 47. Sync with D.out 5 48. Sync with D.out 6 49. Sync with D.out 7 50. Sync with D.out 8 51. Sync with D.out 9 52. Sync with D.out 10 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 415 65. H = Robot Arm under Activating 66. H = Under Program Loading CAUTION Caution: Before using the digital output, be sure to fully understand the electrical characteristics of the digital output port provided by the manufacturer. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 416 0V to 10V. ② Tool Flange Side Voltage / D.out: You can configure the digital output of the tool flange. Each port can be set to Bypass/0V/12V/24V. ③ Reset All Settings. ④ Save Settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 417 0V to 10V. ⑥ Tool Flange Side Voltage / D.out : You can configure the digital output of the tool flange. Each port can be set to Bypass/0V/12V/24V. ⑦ Reset All Settings. ⑧ Save Settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 418 RAINBOW ROBOTICS RB SERIES _ USER MANUAL Select Digital Output Options Immediately After Control ⑨ Box Boot-up. ⑩ Save Changes. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 419 Set the Center Point and Width for Inbox 0 and Inbox 1. The orientation of the Inbox cannot be set. ② The reference coordinate system for the settings is the manufacturer’s base coordinate system. ③ Save the Modified Settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 420 Define the role of the play button on the dedicated jog/emergency stop ⑧ interface device provided by the manufacturer. ⑨ Set the default settings for operations on the Make screen. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 421 Hand Controller Attachment Status: When the robot arm is activated, you can configure whether to use the hand controller or not. CAUTION Caution: For safety reasons, use the mounted (Connected) state of the hand controller as much as possible. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 422 Enable or disable the Ethernet/IP Adapter function and check its current status. Enable or disable the ProfiNet Device function and check its current status. ⑯ Enable or disable the OPC-UA Server function. ⑰ Set the IP address for configuring the On-Robot Box. ⑱ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 423 Point 3 (P3): This is any point on the XY plane of the user- defined coordinate system. The direction of the Z-axis is determined based on the position of Point 3. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 424 Enables the screen to remain on when using Make and Play modes. (This prevents disconnection when the screen is off, but may drain the battery quickly, so use with caution.) ② Gesture Mode: When enabled, you can navigate the screen using up/down gestures. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 425 Setting can be carried out for the analog welding machine and ⓛ parameters related to the welding output are set as a linear function. ② You can save the changed settings. Set up the equipment connected to the robot. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 426 If you use the digital welder function in the Make window, you ④ will immediately see what you set in the corresponding compartment. ⑤ You can save the changed settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 427 You can map the device in the PLC to the I/O in the control ⑧ box, and it can be used even if the program is not running. ⑨ You can save the changed settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 428 RAINBOW ROBOTICS RB SERIES _ USER MANUAL Proceed with the settings for each parameter on the external ⑩ axis. ⑪ You can save the changed settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 429 This shows the current settings for the TCP. Select the TCP Number You Want to Modify. You can configure ② the name, TCP position, and center of mass, then save the changes. ③ Save the Modified Settings. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 430 In contrast, Setup > Program Table allows you to load different programs for different digital inputs, enabling program execution and other functionalities. You can see the differences between the two functions in the diagram below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 431 RAINBOW ROBOTICS RB SERIES _ USER MANUAL © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 432: Chapter 10. Maintenance

    During maintenance, cut off the power to the system (Control Box and Robot Arm) and perform work. For pneumatic/electric line passing models, remove the connected energy source (pneumatic/electric power) and perform the work. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 433 ① Robot-Control Box Cable: Is it cut or stabbed? ② Screws: Are any loose? ③ Mechanical Parts (Motor, Brake, Reduction Gear): Are any louder than normal? Remove stains, dust, and any other contamination. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 434 Check if there is any dust accumulated inside the robot control box. If dust is present, carefully remove it using a vacuum cleaner or similar tool. Check that all wires are connected properly. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 435: Appendix A. System Specification

    Tool Output Vol. 12V/24V, 2A IP Rate IP66 Temperature / Noise 0 ~ 50 ˚C / <65dB Material Aluminum, Steel. Power cable, Robot Arm-Control Box connection cable: 5m Cable Length Estop/Jog Interface cable: less 3m © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 436 Digital Input 16, Digital Output 16 I/O Ports Analog Input 4, Analog Output 4 Ethernet, TCP/IP, Modbus TCP, Ethernet IP, ProfiNet, Communication Siemens S7, OMRON FINS, Mitsubishi MC, LS XGT Power 48 VDC Material SUS 304 © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 437: Appendix B. Foot Print Schematic

    RAINBOW ROBOTICS RB SERIES _ USER MANUAL APPENDIX B. FOOT PRINT SCHEMATIC RB5-850E / RB3-1200E / RB6-920ES Series ◼ - P.C.D: Pitch Circle Diameter - DP: Depth © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 438 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RB10-1300E / RB16-900E Series ◼ - P.C.D: Pitch Circle Diameter - DP: Depth. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 439 RAINBOW ROBOTICS RB SERIES _ USER MANUAL ◼ RB3-730ES Series - P.C.D: Pitch Circle Diameter - DP: Depth. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 440 RAINBOW ROBOTICS RB SERIES _ USER MANUAL ◼ RB20-1900ES Series - P.C.D: Pitch Circle Diameter - DP: Depth. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 441: Appendix C. Tool Flange Schematic

    RAINBOW ROBOTICS RB SERIES _ USER MANUAL APPENDIX C. TOOL FLANGE SCHEMATIC RB5-850E / RB3-1200E / RB6-920ES Series ◼ - P.C.D: Pitch Circle Diameter - DP: Depth. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 442 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RB10-1300E / RB16-900E Series ◼ - P.C.D: Pitch Circle Diameter - DP: Depth. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 443 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RB3-730ES Series ◼ - P.C.D: Pitch Circle Diameter - DP: Depth. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 444 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RB20-1900ES Series ◼ - P.C.D: Pitch Circle Diameter - DP: Depth. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 445: Appendix D. Control Box Electrical Schematic

    RAINBOW ROBOTICS RB SERIES _ USER MANUAL APPENDIX D. CONTROL BOX ELECTRICAL SCHEMATIC Stand Control Box(CB06) Electrical Schematic ◼ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 446 RAINBOW ROBOTICS RB SERIES _ USER MANUAL Stand-type Control Box(CB06-1) Electrical Schematic ◼ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 447 RAINBOW ROBOTICS RB SERIES _ USER MANUAL Compact Control Box(CB07) Electrical Schematic ◼ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 448 RAINBOW ROBOTICS RB SERIES _ USER MANUAL DC Control Box(CB08) Electrical Schematic ◼ © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 449 There is an internal 24V supply terminal. A malfunction will occur if an external 24V is supplied. 2. How to use digital input elements [DI00 ~ DI15] How to use RB Control Box Digital input device (DI00-DI15). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 450 RB SERIES _ USER MANUAL Voltage / current characteristic curve of digital input signal. 3. Digital input characteristics [DI00 ~ DI15] This specification applies only to digital input 0 to digital input 15. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 451 5. Digital input characteristics [DI16 - DI17] This applies only to digital inputs 16 and 17. 6. Testing environment Digital input device test was conducted using Toggle switch, and the following configuration was tested. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 452 This is a specification that applies to all digital inputs. 8. How to connect 3-Position Enabling Device The initial factory condition is as above, and it is possible to install the operation. Source: https://www.motionsolutions.com © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 453 This applies to Enabling Device in accordance with ISO 10218, IEC 60204-1. 9. How to connect safety equipment Safety device wiring using PNP type sensor and Enabling Device such as light curtain and safety door sensor is same as above. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 454 There is internal GND terminal, and it should be connected to GND of external sensor and equipment to be connected. 2. Digital output device usage [DO00 ~ DO15] How to use RB Control Box Digital Output Device (DO00-DO15). © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 455 Single channel 1A is possible, but the total current of all channels must be less than 2A 4. Test environment Digital output device test was conducted using 24Vdc LED and the following configuration was tested. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 456 Device configuration for Tool Flange Digital input. (1) Non-E Version Robot (2) E Version Robot Exposed connector wiring diagram. The wiring diagram will be divided as shown above according to the robot version. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 457 This is a specification that applies only to Tool Flange Digital input (At this time, only DIA and DIB for Non-E version Robot are applied.) 3. Test environment Digital input device test was conducted using power supply, and the following configuration was tested. Non-E Version E Version © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 458 RB SERIES _ USER MANUAL 4. How to use PNP sensor Ex source: https://blog.naver.com/mjg5080/97380010 PNP sensor can be used in the same way as the above connection. This applies equally to the Control Box Digital input. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 459 Device composition for Tool Flange Digital output [DOA, DOB]. (1) Non-E Version Robot (2) E Version Robot External connector wiring diagram. The wiring diagram will be divided as shown above according to the robot version. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 460 As of July 24, 2019, version of RB5 shipped out is Current Ver 1. 3. Test Environment Digital output device test was conducted using 24V dc LED and the following configuration was tested. (1) Non-E Version (2) E Version © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 461 Most devices (LEDs, solenoid valves, relays) can be used in the test environment No. 3 or with the digital signal application function on commercial grippers. However, they may not work in the environment using the same voltage distribution as Rainbow Robotics’ tool flange digital input devices.
  • Page 462 For the diagram above, if the voltage applied to MCU is EVCC 24Vdc, about 2V is applied to it and is detected as Low. If users MUST operate as above diagram, digital input stage resistance ratio adjustment is necessary. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 463: Appendix E. External Script Control Api

    The cooperative robot RB series can be operated for various environments and purposes. It can be used in conjunction with multiple RB series or other systems. In conjunction with the vision system, movement coordinates can be changed in real time or used as part of a user's existing system.
  • Page 464 However, the above method is not suitable for external control method. The user expects the robot to operate by parsing the command the moment it sends it through external control. It does not send multiple commands and complete those lines of text like example 3. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 465 In 'simulation', when a motion command is issued, only the internal reference is changed, and the command does not move the robot. When the robot is first initialized, the default mode is 'simulation' mode. Example “pgmode real” “pgmode simulation” © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 466 The number of repeatation set by this command is maintained until power off. After rebooting the robot, this value is set by a number in the pendent. Example “task repeat 5” “task repeat -1” © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 467 Descript. This command resumes the operation of the robot that was paused by the "task pause" command or by an alarm or debug command in the work file. Example “task resume_a” © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 468 Additionally, for more diverse script commands, please refer to [Ui_Script]_6.10_ENG. For the data port, sending the command "reqdata" will return information about the current robot status through the data port. Please refer to the [reqdata_Structure]_6.10_ENG manual for more details. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 469: Appendix F. Coordinate System

    TCP offset. Set TCP as the origin and set the robot direction from the origin to the +Y direction and the teach button direction from the origin to the +Z direction. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 470: Appendix G. Stopping Time/Distance

    RB SERIES _ USER MANUAL APPENDIX G. STOPPING TIME/DISTANCE In the RB Series of collaborative robots, the time and distance between the robots stop and the distance are generated by the safety monitoring function. The graph below shows the stop time and stop distance for stop category 1 for Joint 0 (Base axis), Joint 1 (Shoulder axis), and Joint 2 (Elbow axis).
  • Page 471 Stop Distance (mm) Stop Time (sec) 195.68 0.31 Test 1 Test 2 200.94 0.31 Test 3 190.95 Maximum 200.94 0.31 Average 195.86 0.306 Condition Max. Reach / Max. Velocity / Vertical Downward Motion © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 472 Stop Distance (mm) Stop Time (sec) 267.73 0.32 Test 1 Test 2 269.61 0.32 Test 3 252.86 Maximum 269.61 0.32 Average 263.4 0.31 Condition Max. Reach / Max. Velocity / Vertical Downward Motion © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 473 Stop Distance (mm) Stop Time (sec) 270.96 0.32 Test 1 Test 2 266.4 0.32 Test 3 252.93 0.31 Maximum 270.96 0.32 Average 263.43 0.316 Condition Max. Reach / Max. Velocity / Vertical Downward Motion © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 474 Stop Distance (mm) Stop Time (sec) 151.06 0.24 Test 1 Test 2 147.56 0.23 Test 3 156.75 0.28 Maximum 156.75 0.28 Average 151.79 0.25 Condition Max. Reach / Max. Velocity / Vertical Downward Motion © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 475 Stop Distance (mm) Stop Time (sec) Test 1 217.3 0.21 Test 2 211.6 0.21 Test 3 215.6 0.21 Maximum 217.3 0.21 Average 214.83 0.21 Condition Max. Reach / Max. Velocity / Vertical Downward Motion © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 476 Stop Distance (mm) Stop Time (sec) Test 1 205.35 0.24 Test 2 150.78 Test 3 210.02 0.26 Maximum 210.02 0.26 Average 188.72 0.23 Condition Max. Reach / Max. Velocity / Vertical Downward Motion © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 477: Appendix H. Nameplate

    RAINBOW ROBOTICS RB SERIES _ USER MANUAL APPENDIX H. NAMEPLATE The nameplate of the robot is divided into the robot arm and the control box as shown below. [Robot Arm] RB5-850E Series RB3-1200E Series © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 478 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RB10-1300E Series © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 479 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RB16-900E Series RB3-730ES Series RB6-920ES Series © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 480 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RB20-1900ES Series [Control Box] RB5-850E Series, RB3-1200E Series: (CB04) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 481 RB SERIES _ USER MANUAL RB10-1300E Series: (CB05) RB16-900E Series: (CB05) RB5-850E Series, RB3-1200E Series, RB10-1300E Series, RB16-900E Series, RB6-920ES Series: Stand Control Box(CB06) RB20-1900ES Series: Stand Control Box(CB06-1) RB3-730ES Series, RB6-920ES Series: Compact Control Box(CB07) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 482 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RB10-1300E Series: DC Control Box(CB08) © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 483: Appendix I. Modbus Tcp Server

    2. Exception Code The following error message is returned when accessing the wrong address, incorrect range of values, or invalid command sent. Exception Code Exception Name Illegal Function Illegal Data Address Illegal Value © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 484 Box digital output 11 Box digital output 12 Box digital output 13 Box digital output 14 Box digital output 15 Tool digital input 0 Tool digital input 1 Tool digital output 0 Tool digital output 1 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 485 Tool digital input 0~1 (or [TTEE EExx xxxx xxxx] 0~5) Tool digital output 0~1 [TTxx xxxx xxxx xxxx] Tool analog input 0 1mV unit Tool analog input 1 1mV unit Reserved (Tool I/O) Reserved (Tool I/O) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 486 0.02deg unit / Signed Mass m 0.1kg unit / Signed Is System SOS Arm SOS Flag Is Home Is Begin 0 or 1 Control Box Heart Beat (0 0 or 1 (Every 1 second) or 1) © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 487 Rising Edge is command Command: Resume from Rising Edge is command pause Command: Resume from Rising Edge is command collision Command: Load default Rising Edge is command Program Command: Robot Arm Rising Edge is command activation © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 488 Joint angle 0 0.02deg unit / Signed Joint angle 1 0.02deg unit / Signed Joint angle 2 0.02deg unit / Signed Joint angle 3 0.02deg unit / Signed Joint angle 4 0.02deg unit / Signed © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 489 Current Joint 0 Gap(Esti.-Meas.) 10mA unit / Signed Curr+LPF Joint 1 Gap(Esti.-Meas.) 10mA unit / Signed Curr+LPF Joint 2 Gap(Esti.-Meas.) 10mA unit / Signed Curr+LPF Joint 3 Gap(Esti.-Meas.) 10mA unit / Signed Curr+LPF © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 490 TCP position X 0.1mm unit / Signed TCP position Y 0.1mm unit / Signed TCP position Z 0.1mm unit / Signed TCP position RX 0.02deg unit / Signed TCP position RY 0.02deg unit / Signed © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 491 Reserved (Future System) Reserved (Future System) Reserved (Future System) Reserved (Future System) Reserved (Future System) Motion Generator: Parameter 0 Motion Generator: Parameter 1 Motion Generator: Parameter 2 Motion Generator: Parameter 3 Motion Generator: Parameter 4 © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 492 Parameter 5 Motion Generator: Parameter Speed Motion Generator: Parameter Accel. Motion Generator: - Motion Generator: - Motion Generator: - Motion Generator: - Motion Generator: - Motion Generator: Motion Command Motion Generator: Error Report © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 493: Appendix J. System Update

    ※ It is recommended that you back up the acquired files before proceeding to the next step. 3. UI Update Rainbow Robotics' tablet UI program is distributed in the form of APK. This is the same installation file as a regular Android application. Therefore, UI program is updated by moving the installation APK file to the tablet and installing it.
  • Page 494 For safety reasons, it is recommended not to initialize the robot. 5. Go to and activate the system software update Navigate to the system software update path as shown below. UI Home > Setup > System Tab © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 495 RB SERIES _ USER MANUAL In the “Software Update” section on the right, click the Activate checkbox. 6. Progress System Software Update The Update button will appear and click this button to open a popup window. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 496 When you go back to the home screen of the UI, the software version is displayed on the upper left. In this context, "System Version" refers to the software version of the control box, while "UI Version" refers to the software version of the tablet PC. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 497: Appendix K. Android Tablet Configuration

    RAINBOW ROBOTICS RB SERIES _ USER MANUAL APPENDIX K. ANDROID TABLET CONFIGURATION Before using the UI program, the following tablet settings are required. Goto Setting section of the Android. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 498 RAINBOW ROBOTICS RB SERIES _ USER MANUAL 2. Goto “About Tablet” > “Software Information”. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 499 RAINBOW ROBOTICS RB SERIES _ USER MANUAL 3. Multi-click (7 or more times) “Build Number” of tablet information. 4. A menu called "Developer Options" will appear under "About Tablet" as shown below. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 500 RAINBOW ROBOTICS RB SERIES _ USER MANUAL 5. Activate "USB Debugging" in "Developer Options". 6. Run the APK distributed by Rainbow Robotics to install the UI program on your tablet. © RAINBOW ROBOTICS Inc. All rights reserved.

  • Page 501: Appendix L. Brake System

    When the brake ring rotates and pushes through the brake wing, the wing returns to the spring force, and then a bi-directional brake occurs through physical interference, keeping both bi- directional rotations of the driveshaft stationary. © RAINBOW ROBOTICS Inc. All rights reserved.
  • Page 502 RAINBOW ROBOTICS RB SERIES _ USER MANUAL RAINBOW ROBOTICS +82-42-719-8070 TEL. +82-42-719-8071 Headquarters and Factory rainbow@rainbow-robotics.com E-mail 10-19, Expo-ro 339beon-gil, Yuseong-gu, sales@rainbow-robotics.com Sales E-mail Daejeon, Republic of Korea www.rainbow-robotics.com Homepage © RAINBOW ROBOTICS Inc. All rights reserved.

This manual is also suitable for:

Rb3-730es seriesRb6-920es seriesRb20-1900es seriesRb3-1200e seriesRb5-8s0e seriesRb10-1300e series ... Show all