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Hanwha HCR-14 User Manual

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HCR-14
Collaborative Robot
User Manual
Jan 2024
User Manual Ver. 1.0

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  • Page 1 HCR-14 Collaborative Robot User Manual Jan 2024 User Manual Ver. 1.0...

  • Page 3: Preface

    The product information is subject to change without prior notice to users. If you are uncertain about any requirements, recommendations or safety procedures described in the manual, please, consult with Hanwha Robotics. Users are responsible for any damage caused by their misuse neglecting these instructions below.

  • Page 5: Copyrights

    Hanwha Robotics. Thus, illegal use, duplication, distribution, or dissemination of the manual without prior written approval by Hanwha Robotics. is strictly prohibited and such an activity is an infringement of the intellectual property rights of Hanwha Robotics.

  • Page 7: Table Of Contents

    Table of Contents PREFACE ............................3 COPYRIGHTS ............................. 5 CHAPTER 1. PRODUCT OVERVIEW ....................11 ....................11 OLLABORATIVE OBOT YSTEM ......................12 YSTEM OMPONENTS ....................12 ASIC YSTEM ONFIGURATION ...................... 13 VERVIEW OF OBOT ................... 15 VERVIEW OF OBOT ONTROLLER ...................
  • Page 8 ....................34 ONNECTING OOLS TO OBOTS ....................... 35 ONNECTING ABLES ....................38 IXING THE ONTROLLER I/O ....................39 VERVIEW OF ONTROLLER I/O ....................40 OMMON PEC FOR IGITAL ..................... 43 ONFIGURING THE AFETY NPUT 3.10 C I/O .................. 46 ONFIGURING THE ENERAL IGITAL 3.11 C...
  • Page 9 I/O .......................105 ETTING AFEGUARD ..................106 XCEEDING AFETY IMIT OF OINTS CHAPTER 9. PROGRAMMING ....................... 107 ......................107 OW TO OMMANDS ......................113 ETTING ARIABLES ........................115 DITING PROGRAMS ......................118 ANAGING A ROGRAM .........................121 SING EMPLATES ......................124 PPLYING PROGRAMS ........................125 OVE COMMAND IF C .........................131 OMMAND LOOP C...
  • Page 10 CHAPTER 13. ENVIRONMENT SETTING ................187 13.1 G .........................187 ENERAL ETTING 13.2 N ........................188 ETWORK SETTING CHAPTER 14. TURNING OFF THE SYSTEM ................189 14.1 S .................189 HUTTING OWN THE PERATION OFTWARE 14.2 T ....................189 URNING ONTROLLERS CHAPTER 15. MAINTENANCE ....................191 15.1 I .....................191 NSPECTION...

  • Page 11: Chapter 1. Product Overview

    Chapter 1 Product Overview Chapter 1. Product Overview Collaborative Robot System Hanwha Robotics collaborative robot, HCR-14 is user-friendly robot that provides an automation environment where it can safely collaborate next to humans in various fields. Easy setting By using the direct teaching feature and the intuitive S/W GUI, users can easily configure and control the robot.

  • Page 12: System Components

    Chapter 1 Product Overview System Components The following is a list of system components. Components Quantity Robot arm 1 EA Robot controller 1 EA Teaching pendant 1 EA Teaching pendant fixing bracket 1 EA Power cable 1 EA 8pin tool cable 1 EA Robot communication and power cable 1 EA...

  • Page 13: Overview Of Robot Arms

    Chapter 1 Product Overview Overview of Robot Arms ❶ ❻ ❷ ❼ Tool Flange ❸ Lower Arm ❹ ❽ ❺ ❾ ❿ Upper Arm Base...
  • Page 14 Chapter 1 Product Overview Name Description ❶ It is the area on the robot where a tool is mounted. Tool flange For more details, refer to 3.4 Connecting Tools to ❷ Robots. ❸ GPIO #1 It is the I/O port used to control a tool. For more details about specifications, refer to Appendix GPIO #2...

  • Page 15: Overview Of Robot Controller

    Chapter 1 Product Overview Overview of Robot Controller Front ❶ Name ❷ Handle ❸ Air exhaust hole (exhaust hole filter) ❹ Air intake hole (intake hole filter) ❺ Controller cover locking screw ❻ Teaching pendant fixing hook ❼ Controller fixing bracket Teaching pendant fixing bracket...
  • Page 16 Chapter 1 Product Overview Bottom ❶ Name ❷ Robot connector ❸ Teaching pendant connector ❹ Power button AC power socket...

  • Page 17: Overview Of Teaching Pendant

    Chapter 1 Product Overview Overview of Teaching Pendant Front Name Description ❶ Turn on/off the power of the teaching pendant. Power button For more details, refer to 4.2 Turning on the Teaching ❷ Pendant. Press it to stop the robot. Emergency ❸...
  • Page 18 Chapter 1 Product Overview Rear Name Description ❶ Users can insert their hands and lift the teaching pendant Handle for use. Users can turn the handle and insert their hand in the desired direction.

  • Page 19: Axial Coordinates And Operational Range

    Chapter 1 Product Overview Axial Coordinates and Operational Range It consists of a total of six axes and an axis of each joint has the following coordinates and operational ranges. The direction of arrow indicates the (+) rotational angle and the opposite direction of arrow indicates the (-) rotational angle.

  • Page 20: Robot's Working Range

    Chapter 1 Product Overview Robot's Working Range There is a radius (B) in which the robot arm can rotate at max extension, and an area (A) around the center axis that the robot arm is not able to reach due to the structure.

  • Page 21: Maximum Load Capacity For The Tool

    Chapter 1 Product Overview Maximum load capacity for the tool The load capacity of the robot arm may vary depending on the distance between the tool flange and the payload's center of gravity. The load capacity per distance is as follows:...

  • Page 23: Chapter 2. Safety

    Chapter 2 Safety Chapter 2. Safety Safety Marks in the User Manual The user manual contains the following safety marks. Danger If a user does not obey the safety mark, then it can cause a severe accident including death or serious injury of a user. Warning If a user does not obey the safety mark, then it can cause an accident including serious injury of a user.

  • Page 24: General Safety Cautions

     Do not modify the robot on your own. If a user causes a problem by modifying or remodeling the product on their own, then Hanwha Robotics will not be responsible for it in any sort of way. ...

  • Page 25: Intended Use

    It is recommended that you test all the functions separately before using the machine or other robot that can damage the robot. If another machine or robot is damaged by programming errors or robot failures, Hanwha Robotics will not be responsible for it.

  • Page 26: Potential Dangers

    Chapter 2 Safety Potential Dangers If the risk assessment, conducted by the final system manufacturer who applied the robot, concludes that it is not possible to fully reduce the risk only with the built-in safety function, additional protective measures should be established. Consider potential dangers as follows: ...

  • Page 27: Transportation

    Chapter 2 Safety Transportation The weight of the robot arm and the robot controller of the HCR-14 is as follows. Weight(Robot arm) Weight(Robot controller) 43 kg 25.2 kg Carry the controller box by holding the handle at the top. Warning During transportation, avoid damage caused by falling accidents.

  • Page 28: Emergency Stop

    Chapter 2 Safety Emergency Stop You can press the emergency stop button to immediately stop the robot in case of emergency. The emergency stop button is located in the teaching pendant and you can stop the robot by connecting another emergency stop button to the robot controller.

  • Page 29: Safety Fence

    If you use excessive force to move the axis when the robot is not being driven by power, it can overload the driving unit. The manufacturer is not responsible for the failure caused by excessive force. 2.11 Safety Controller The safety controller of HCR-14 complies with the ISO13849 Cat3. PLd class.

  • Page 30: Risk Assessment

    Chapter 2 Safety 2.12 Risk Assessment The risk assessment is one of the important factors when configuring a robot configured system. The degree of safety regarding robot installation varies depending on the way of integrating it into the entire system, so it is not possible to perform the risk assessment with the robot alone.

  • Page 31: Chapter 3. Installation

    Chapter 3 Installation Chapter 3. Installation The installer should install and operate the robot according to instructions of ISO 12100 and ISO10218-2 standards and comply with relevant requirements of international standards such as ISO/TS 15066 and local laws and regulations. The manufacturer is not responsible for accidents caused by noncompliance with relevant requirements of international standards and local laws and regulations or due to not performing review on the risk assessment as mentioned in Section...

  • Page 32: Installation Types

    Chapter 3 Installation Installation Types The robot arm can be installed on the floor, walls or on the ceiling as shown below. Example of installation on Example of installation Example of installation floor on wall on ceiling You can also install it on a moving dolly or fixed post. Example of installation on a moving Example of installation on a fixed dolly...

  • Page 33: Fixing Robots

    Chapter 3 Installation Fixing Robots The robot arm can be installed on the floor, walls or on the ceiling using four (4) bolts. It is recommended that the bolts be fastened with appropriate torque. If the installation surface does not have sufficient flatness and hardness to support the robot arm, a fixation base may be used to install the arm.

  • Page 34: Connecting Tools To Robots

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

  • Page 35: Connecting Cables

    Chapter 3 Installation Connecting Cables Connecting the teaching pendant to the robot controller Connect the teaching pendant cable to the robot controller. Next, fasten the fixing clasp to prevent the cable from disconnecting.
  • Page 36 Chapter 3 Installation Connecting the robot arm to the robot controller After connecting the robot arm cable to the robot controller, hook a fixing latch, so that the cable does not slip out.  Robot controller...
  • Page 37 Chapter 3 Installation Connecting the power supply to the robot controller Connect the power cable approved in your country to the power terminal. Robot controller's power terminal accepts standard IEC plugs. The minimum requirements for power supply are ground, main fuses and circuit breakers, and they should be prepared by the person who prepares for installation.

  • Page 38: Fixing The Controller Box

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

  • Page 39: Overview Of Controller I/O

    Chapter 3 Installation Overview of Controller I/O If you want to connect other external equipment to your controller, then you must first connect it to the I/O inside the controller box. The controller I/O is very flexible, so it can be connected to various equipment such as relays, PLC, and emergency stop buttons.

  • Page 40: Common Spec For Digital I/O

    Chapter 3 Installation Common Spec for Digital I/O The section defines the electrical specifications of the following 24V digital I/O for the controller box.  Safety Input: 4 EA  Flexible I/O: Input 8 EA, Output 8 EA  General I/O (Digital I/O): Input 8 EA, Output 8 EA By implementing the terminal block called IO Power (J8), you can supply power to the digital I/O from an internal 24V power supply or external power supply.
  • Page 41 Chapter 3 Installation The following electrical specifications apply to the internal or external power supply. Terminal Parameter Minimum Format Maximum Unit Internal 24V power supply Voltage INT – ING Current External 24V requirements EXV – EXG Voltage Current You can configure the terminal block called as EXT-PWR to use it as an external power On/OFF switch.
  • Page 42 Chapter 3 Installation The digital I/O is manufactured by complying with the IEC 61131-2 standard. The following electrical specifications apply. Terminal Parameter Minimum Format Maximum Unit Digital output FOx / DOx Current FOx / DOx Voltage drop FOx / DOx Leakage current FOx / DOx Functions...

  • Page 43: Configuring The Safety Input

    Chapter 3 Installation Configuring the Safety Input Since a single signal loss should not lead to a loss of the safety function, all the I/O points related to the safety function should be duplexed. Safety Input should always comply with the common specs of the digital I/O. When you install the safety device or equipment, you should comply with the instructions from Chapter 2 Safety and Chapter 3 Installation.
  • Page 44 Chapter 3 Installation Initial safety configuration The safety settings of the robot at the factory are as follows.  Operation software: Unassigned  Robot controller(Emergency connector): As shown below Connecting the emergency stop button It is recommended that you connect one or more emergency stop button. The emergency stop button is composed as follows.
  • Page 45 Chapter 3 Installation Safety protection stop and restart As an example of basic safety protection device, when the door opens, you can press the door switch to stop the robot. You can configure the function as follows. If you cannot close the door after a worker passes through it, then you can use the following features.

  • Page 46: Configuring The General Digital I/O

    Chapter 3 Installation 3.10 Configuring the General Digital I/O If not used as a safety function, then you can use the Flexible I/O as a general purpose digital I/O. The general digital I/O should comply with the common specifications of digital I/O.
  • Page 47 Chapter 3 Installation Communicating with other equipment or PLC The digital I/O can be configured to communicate with other equipment if a common GND is established and if the equipment uses PNP technology. You can configure it as follows.

  • Page 48: Configuring The General Analog I/O

    Chapter 3 Installation 3.11 Configuring the General Analog I/O It can be used to set or measure voltage (0-10V) or current (4-20mA) between two pieces of equipment. For high reliability, it is recommended that you use the following method.  Use the analog ground closes to the I/O.

  • Page 49: Analog Output

    Chapter 3 Installation Analog output You can use analog outputs as speed control inputs to the conveyor belt. You can configure it as follows. Analog input You can use analog sensor outputs as analog inputs. You can configure it as follows.

  • Page 51: Chapter 4. Getting Started

    Chapter 4 Getting Started Chapter 4. Getting Started Turning on the Robot Controller Turn on the power switch at the bottom of the controller. If you turn on the power switch for the controller, power will be supplied to the controller.

  • Page 52: Turning On The Teaching Pendant

    Chapter 4 Getting Started Turning on the Teaching Pendant Turn on the power button at the left top of the teaching pendant. Caution  Do not turn on the teaching pendant with USB devices connected. It may cause problems with starting the system. Connect it after the system is booted completely.

  • Page 53: Chapter 5. Software Overview

    Chapter 5 Software Overview Chapter 5. Software Overview Menu Overview Expanding menu Press the expanding menu button at the left top of the screen to expand the menu. You can check the name of each menu and if a sub menu exists, then you can select it as well.
  • Page 54 Chapter 5 Software Overview Safety Setting You can configure the safety items before operating the robot safely. For more details, refer to Chapter 8 Safety Settings. Device Setting You can configure external equipment that will be linked to the robot. For more details, refer to Chapter 12 Device Settings.

  • Page 55: Preview Screen

    Chapter 5 Software Overview 3D Preview Screen The system provides a screen where you can preview the robot's movement or coordinates in 3D. You can drag on the screen in the desired direction to change the screen perspectives. Screen display setting button You can configure the information displayed on the preview screen and the screen layout.
  • Page 56 Chapter 5 Software Overview Additional setting button Hide or unhide the point of the movement path for the tool currently programmed. Hide or unhide the location/direction of the TCP currently set for the robot. Hide or unhide the movement path currently programmed. Hide or unhide the safety borders currently set for the robot.

  • Page 57: Manual Move Screen

    Chapter 5 Software Overview Manual Move Screen On this screen, you can control the robot's positions. By using jog control or direct teaching, you can control the robot's position. Press the Manual Move button in the main menu.  Reference Frame: Selects Coordinate System for manual move. (Base, View, TCP) ...
  • Page 58 Chapter 5 Software Overview Note Depending on the purpose of the menu that uses the manual robot control function, the screen layout may differ accordingly. If you press the coordinate value on the screen, the screen will be changed as follows, and then you can enter the coordinates and the joint angles on your own.

  • Page 59: Virtual Keypad

    Chapter 5 Software Overview Virtual Keypad The operation software accepts touch-based inputs, so you can use a virtual keypad on the screen. Depending on the input types, there are three types of virtual keypads as follows. Text keypad You can enter or edit simple English texts or special characters. You can use the Shift key to toggle between uppercase/lowercase.
  • Page 60 Chapter 5 Software Overview Expression keypad You can enter or edit simple expression.  Basically, an expression is composed of three input items. Green input field: You can enter fixed variables and numbers. Orange input field: You can enter an arithmetic operator. ...
  • Page 61 Chapter 5 Software Overview  If you want to close the keypad, then press the button at the right top.  Clicking the script mode button allows you to enter a free-form equation, such as a script. If this mode is selected, a list of functions available in the script is displayed.

  • Page 63: Chapter 6. Registering Robots And Users

    Chapter 6 Registering Robots and Users Chapter 6. Registering Robots and Users After installing the robot, turn on the system for the first time. Only the Management menu will be seen. If there is no robot registered, other menus will not be seen.
  • Page 64 Chapter 6 Registering Robots and Users Registering robots Press the <Robot Add> button. Add a robot and press the <OK> button. Enter the robot name and press the <Apply> button. When the restart confirmation window appears, press the <YES> button. ...
  • Page 65 Chapter 6 Registering Robots and Users Registering Force Torque Sensor Click the Add button on the registered Robot screen. Select the Sensor. It only supports ATI Axia80 at the moment. Press the <OK> button.

  • Page 66: Managing Users

    Chapter 6 Registering Robots and Users Managing Users You can make sure only specific users can use the software by registering them. Also, you can grant an individual right to each user to limit their access to the menus. In the main menu, select Management >...
  • Page 67 Chapter 6 Registering Robots and Users Adding users and setting authorities Press the <Add> button. Set the user information and their authorities and press the <OK> button.  The length of text that can be inputted is limited as follows. - Name: 25 letters - ID/Password: 20 letters ...
  • Page 68 Chapter 6 Registering Robots and Users Menu available to each authority Depending on the authority set in User Management, the following menus become available. Even if you are not logged in, you can still use some menus. Main menu Sub menu Admin Operator Log Off...

  • Page 69: Login/Logout

    Chapter 6 Registering Robots and Users Login/Logout Logging in While logged off, the icon is displayed at the right top of the screen. After finishing registering a user, while logged off, press the icon and enter your ID/password and press the <Log-in> button. Logging out While logged in, the icon is displayed at the right top of the screen.

  • Page 70: Checking Status

    Chapter 6 Registering Robots and Users Checking Status Checking Robot Status You can check the status of the robot through the robot icon next to the robot name and the status icon in the upper right of the screen.  Green: Servo On ...

  • Page 71: Checking The Software Version

    Chapter 6 Registering Robots and Users Checking the software version You can check the current version of the operating software and control software by clicking the information display icon at the top of the screen.  Rodi S/W: Displays the operating software version. ...

  • Page 73: Chapter 7. Setting Robots

    Chapter 7 Setting Robots Chapter 7. Setting Robots Setting the Robot Installation Angles After installing a robot, you must set the robot installation angle. The purpose of this process is to make sure that actual operation of the robot arm looks same as what we saw in the preview screen and let the controller know the direction of gravity.
  • Page 74 Chapter 7 Setting Robots Depending on the tilt of the ground where the robot arm's base is installed, set the angle accordingly.  If installed on the ground, then press 0°, if installed on the wall, press 90°, or if installed on the ceiling, press 180° to set the tilt value more quickly. ...

  • Page 75: Setting Tcp

    Chapter 7 Setting Robots Setting TCP When you mount a tool in the robot arm for the first time, you must also set the TCP (Tool Center Point). By setting the tip location/direction and the weight of the mounted tool, you can calculate the robot's motion. You can set a different TCP for each of multiple robots linked, and if you want to use multiple tools for a single robot, then you can save different settings and retrieve and apply them to a newly replaced tool.
  • Page 76 Chapter 7 Setting Robots  Position: Enter the coordinate values (X, Y, Z) with respect to the center of the cross section of the location where a tool is mounted. The unit is in  Orientation: Set the tool direction (Rx, Ry, Rz). ...
  • Page 77 Chapter 7 Setting Robots Calculating the TCP position By using the direct teaching function, you can calculate the position of TCP. To calculate the position of TCP accurately, receive the position data from various angles with respect to one point and analyze them. After moving a tool to face a certain point at P1, enter the position data.
  • Page 78 Chapter 7 Setting Robots To calculate the position of TCP, proceed as follows. After pressing the <Edit> button, press the <Position Calculation> button. Press the <Start Calculation> button.
  • Page 79 Chapter 7 Setting Robots Press the P1 button when it is activated.  If you press the P1 button, the Manual Move screen will appear. While pressing down the Direct Teaching button in the Manual Move screen, move the robot arm to place the tip of the tool right at the reference point. ...
  • Page 80 Chapter 7 Setting Robots Press the <Position Calculation> button.  The Calculate button will be activated only if the minimum three points are set properly. Check the calculated position result and press the <Apply> button.  Press the Cancel button to cancel the task.
  • Page 81 Chapter 7 Setting Robots Setting the TCP orientation You can calculate the orientation of the tool in the tool coordinate system automatically. Press the <Edit> button and press the <Orientation Calculation> button. Press the <Set Orientation> button.  If you press the Set Orientation button, the Manual Move screen will appear.
  • Page 82 Chapter 7 Setting Robots In the Manual Move screen, use jog control and Direct Teaching button to adjust the tool orientation as follows.  For more details on the Manual Move screen, refer to 5.3 Manual Move Screen.  As shown in the figure below, let the Z, -X, and Y axes for the tool face the same direction as the X, Z, and Y axes for the robot base respectively.
  • Page 83 Chapter 7 Setting Robots Changing the TCP profile name Select the TCP setting profile to modify. Press the <Edit> button. Press the <Rename> button. Enter the desired name and press the <OK> button.  You can enter the max 25 letters but cannot use special characters. Press the <Save>...

  • Page 84: Setting Inputs/Outputs

    Chapter 7 Setting Robots Setting Inputs/Outputs By changing the name of I/O used by the controller, you can make sure they are easily detected and also assign a function to be executed depending on the input/output signals. In the main menu, select Robot Setting >...
  • Page 85 Chapter 7 Setting Robots Editing the digital inputs settings Press the Edit icon for the digital I/O item to modify. The following edit window will appear.  Name: Use a name easy for a user to identify or the existing name. - You cannot use the same name already in use by another I/O.
  • Page 86 Chapter 7 Setting Robots Editing the digital outputs settings Press the Edit icon for the digital I/O item to modify. The following edit window will appear.  Name: Use a name easy for a user to identify or the existing name. - You cannot use the same name already in use by another I/O.
  • Page 87 Chapter 7 Setting Robots Types of analog I/O There are three types of analog I/O as follows.  General I/O: Input and output for general purposes.  Tool I/O: Input and output related to tools. Editing the analog I/O setting Press the Edit icon of the analog input or output item to modify and the editing window will appear as follows:...

  • Page 88: Coordinates

    Chapter 7 Setting Robots Coordinates You can set the location information that is available in the program and other setup menus. From the main menu, select Robot Settings > coordinate.  Point: Add a point.  Line: Add a line consisting of two points. ...
  • Page 89 Chapter 7 Setting Robots Registering line coordinates You can add and set line coordinates.  Click point 1 and point 2 to set two points to define a line.  Coordinate system information. - Reference point: The first point becomes the reference point. - Y axis: The direction of the first point to the second point is the Y axis.

  • Page 90: Setting Global Variables

    Chapter 7 Setting Robots Setting Global Variables You can set the global variables that are available and shared by many programs by restarting the system. Adding global variables When you press the <Add> button, a screen for variable selection window is displayed at the top, as shown below.
  • Page 91 Chapter 7 Setting Robots Modifying global variables Press the field if you need to change the variable name or value. Change it to the desired name or value and press the <OK> button.  The max length of variable is limited to 30 letters. ...

  • Page 92: I/O Bit Operation

    Chapter 7 Setting Robots I/O Bit Operation You can combine the values of multiple digital I/O inputs, and assign them to variables or assign them to actions. Add/Delete Add or delete bit operation settings.  Clicking the Add button adds one setting, and the initial value of each IO is displayed as Low.

  • Page 93: Chapter 8. Safety Settings

    Chapter 8 Safety Settings Chapter 8. Safety Settings After configuring the installation settings, you must configure the safety settings to protect users against the dangerous situation that can arise during robot operation. Warning Make sure to check safety settings immediately after the robot is installed. In addition, all of the functions for safety settings must be regularly checked.

  • Page 94: Default Settings

    Chapter 8 Safety Settings Default settings Depending on the limitation on each item, four sets of default settings are provided. If you want to use the default setting, check Preset and select one out of the four choices. Manual setting method If you want to set each item on your own, you can use the adjustment bar to change the value while Preset is not checked.
  • Page 95 Chapter 8 Safety Settings When the settings are complete, press the Apply button to apply it to the robot. Caution  The joint speed cannot be limited with the Speed option. You can limit the joint speed only with the options in the Joint Speed tab. ...

  • Page 96: Setting Redundant I/O

    Chapter 8 Safety Settings Setting Redundant I/O To guarantee the safety of the I/O terminal or input/output the important data, you can opt for using a redundant I/O, not a single I/O. If you set the redundant I/O, you are no longer checking a single I/O value. Instead, the two designated inputs or outputs check the High or Low signals to determine validity of values.
  • Page 97 Chapter 8 Safety Settings Set the function to be assigned.  You can assign the following functions to digital inputs. - Unassigned: The function is not assigned. - Safetyguard Stop Reset: - Reduced Speed: Reduce Robot Speed.  You can assign the following functions to digital outputs. - Unassigned: The function is not assigned.

  • Page 98: Setting Safety Boundaries

    Chapter 8 Safety Settings Setting Safety Boundaries To improve user safety, you can build virtual fences around the robot to prevent the TCP from moving beyond the boundary of these virtual fences. Press Safety Setting > Safety Boundary in the main menu. Adding safety boundary planes After adding multiple safety boundary planes, if necessary, you can select one of them and use it.
  • Page 99 Chapter 8 Safety Settings In the Manual Move screen, use jog control and Direct Teaching button to set the boundary position.  For more details on the Manual Move screen, refer to 5.3 Manual Move Screen.  Your safety boundary will be created in a location that is separated from the center axis of the flange as much as the TCP length set in the TCP.
  • Page 100 Chapter 8 Safety Settings Press the Info icon to check the coordinates for the safety boundary.  Point: Indicates the center of the 3-D where the center of the safety boundary is located.  Direction: Indicates the direction(vector) for the border plane that can indicate a collision with the safety border in the controller.
  • Page 101 Chapter 8 Safety Settings Changing the name of safety boundaries If you add a safety boundary, it will save as "Boundary" and a number by default. Press the name of boundary to modify. Enter the desired name and press the <OK> button.
  • Page 102 Chapter 8 Safety Settings Deleting safety boundary settings Select the safety boundary to delete. Press the Delete button. Press the <OK> button. Note If the robot arm moves outside the safety boundary plane during operation or the robot arm is located outside the safety boundary plane due to the safety boundary plane settings, disable Safety Setting, use the manual control mode to move the robot arm to within the safety boundary plane, and then operate the program.

  • Page 103: Setting Tool Boundaries

    Chapter 8 Safety Settings Setting Tool Boundaries The user sets the safety boundary of the set tool, so that the tool does not go beyond the safety boundary of the set working area. Adding Tool Safety Boundary Surfaces The safety boundary of the tool can be set only for TCP settings that have already been set.
  • Page 104 Chapter 8 Safety Settings The tool boundary surfaces can be set in the following 4 types:  Box: Box-shaped boundary surface with TCP as the center having the Z axis of the TCP as the height and the X axis as the width ...

  • Page 105: Setting Safeguard I/O

    Chapter 8 Safety Settings Setting Safeguard I/O The user sets the safeguard stop. In the main menu, press Safety Setting > Safe Guard.  Allocate functions according to the set input signal.  Click <Apply> button to apply to the system.

  • Page 106: Exceeding Safety Limit Of Joints

    Chapter 8 Safety Settings Exceeding Safety Limit of Joints If the safety limit of any joint is exceeded, information on the joint exceeding the safety limit is displayed at the top of the screen, as shown in the figure below. If the safety limit of a joint is exceeded, the system will not operate normally.

  • Page 107: Chapter 9. Programming

    Chapter 9 Programming Chapter 9. Programming You need to program the movement ahead of time if you want your robot to perform a certain task. To program your robot, select Programming in the main menu. How to Use Commands Selecting a flowchart There are 3types of flow charts - Main, Sub, Thread.

  • Page 108: Type Of Commands

    Chapter 9 Programming Type of commands You can use the following commands in your programming - Move, If, Loop, Switch, Wait, Set, Sub Program. Set the point that the TCP will move to. Move For more details, refer to 9.7 Move command.

  • Page 109: Additional Commands

    Chapter 9 Programming Additional Commands In addition to the basic commands, the additional commands that appear when the View Command button is clicked are Folder, Message, Halt, Pattern, Script, Path and Conveyor. Groups the created program command icons and Folder bundles the programs into a sub-folder.

  • Page 110: Entering Commands

    Chapter 9 Programming Entering commands Each time you press a command, it is inputted in the timeline one by one.  After programming is complete, select the icon to repeat the entire program continuously.  If it overflows to the next screen due to too many commands in the flow line, you can press the up/down or left/right buttons to scroll.

  • Page 111: Deleting Commands

    Chapter 9 Programming Changing command names Each command offers an option necessary for execution. The same command yields a different result depending on the option setting, so you can designate a different name for each command. After entering a command in the timeline, press the command name to modify the name.
  • Page 112 Chapter 9 Programming Skipping Commands For each command created in the program, you can skip without executing a specific command during program execution. Check the Skip setting. Commands that have been set to Skip are grayed out and will not be executed during program execution.

  • Page 113: Setting Variables

    Chapter 9 Programming Setting Variables You can manage variables such as adding/deleting/modifying variables to be used in the program. Press the variable management menu button at the end of the command list. When you press the variable management button, a screen for variable management and monitoring is displayed at the top, as shown below.
  • Page 114 Chapter 9 Programming Modifying variables Press the field if you need to change the variable name or value. Change it to the desired name or value and press the <OK> button.  The max length of variable is limited to 10 letters. ...

  • Page 115: Editing Programs

    Chapter 9 Programming Editing programs If you want to change the order or structure of commands entered in the timeline, then press the Edit menu button at the end of the command list. Note You can also press the command in the timeline for more than three seconds to open the Edit menu.
  • Page 116 Chapter 9 Programming Example of program editing In this example, you can cut a command entered in the timeline and paste it onto another location. Select a program command to be pasted onto another location.  The red number marked when a command is selected indicates the order of pasting.

  • Page 117: Undo Function

    Chapter 9 Programming Press the <Paste> button. Note Commands added using the Copy/Paste buttons are created with the same name. To differentiate between coordinates, change the names of the commands. Undo Function You can use the edit function to undo edits Undo made to items.

  • Page 118: Managing A Program

    Chapter 9 Programming Managing a Program At the bottom of the programming window, press the File button to save, load or delete the program. Saving a program To save the completed program, select File > Save at the bottom of the screen.

  • Page 119: Loading A Program

    Chapter 9 Programming Loading a program To load the saved program, select File > Load at the bottom of the screen. Select a program to load and press the <OK> button. Deleting a program To delete the saved program, select File > Load at the bottom of the screen. Select a program to delete and press the <Delete>...
  • Page 120 Chapter 9 Programming Export Program File You can save the program and the configuration file of current system. To save the program, select File > Export Program File at the bottom of the screen. Enter the file name and press the <OK> button.

  • Page 121: Using Templates

    Chapter 9 Programming Using Templates You can save the prepared program structure as a template. Only the entire program structure is saved but the option for each command is not saved. Saving as a template To save the completed program as a template, select Template > Save at the bottom of the screen.

  • Page 122: Loading A Template

    Chapter 9 Programming Loading a template To load the saved template, select Template > Load at the bottom of the screen. Select a template to load and press the <OK> button. Deleting a template To delete the saved template, select Template > Load at the bottom of the screen.
  • Page 123 Chapter 9 Programming...

  • Page 124: Applying Programs

    Chapter 9 Programming Applying programs Before applying the program results to the robot or actually using it, it is necessary to do a simulation. If you want to link the program to an actual robot or check it in previews, press the <Apply>...

  • Page 125: Move Command

    Chapter 9 Programming Move command The command is used to move the robot arm by designating the destination and the movement method. Selecting a movement method There are three ways to move as follows and you can set the tool speed and acceleration for each method.
  • Page 126 Chapter 9 Programming  Arc: A tool moves along the circumscribed circle whose center is the circumcenter of a triangle formed by the starting point(S) and the two points (W1, W2). - Speed: 0.1 mm/s ~ 1500 mm/s - Accel. (Acceleration): 0.1 mm/s ~ 3500 mm/s Note The TCP coordinates of the last position held by the robot are the...
  • Page 127 Chapter 9 Programming Radius of Linear If you use the radius in linear movement and the next command is linear movement, it moves the curve without stopping when moving between commands.  The minimum radius is zero. If you set the radius to zero, then its path is not a curve.
  • Page 128 Chapter 9 Programming Blending Combines with all Move commands to move in series without interruption. (It doesn’t support Move C)  Select Blending (You can’t use it at the same time with Don’t stop at this point function)  Enter the radius. The maximum radius is calculated based on the coordinates of the next move command as below.
  • Page 129 Chapter 9 Programming Advanced The command is used to control digital output while moving.  Select Advanced  Click Edit to set and apply digital output values. For more information, refer to 9.12 SET Command. Setting the coordinates for movement To set the movement coordinates, you can either use an absolute value that is fixed in the space or a relative value that is relative to the previous location.
  • Page 130 Chapter 9 Programming - Press the Set button to launch the Manual Move screen. For more details about the Manual Move screen, refer to 5.3 Manual Move Screen.  Relative: You can set the movement coordinate with respect to the previous location.

  • Page 131: If Command

    Chapter 9 Programming IF Command Use the command to initiate different commands depending on the condition. Enter the condition in an IF statement.  Press the text box to launch the formula keypad. For more details about the formula keypad, refer to 5.4 Virtual Keypad.
  • Page 132 Chapter 9 Programming  If you select the icon on the right side of the conditional statement as shown below, you can program to check the conditions of the conditional statement in real time. - Even if the IF condition is judged to be true, the condition is checked in real time while executing the program.

  • Page 133: Loop Command

    Chapter 9 Programming LOOP Command Use the command to repeatedly execute a series of commands.  Disabled: Do not use a LOOP command.  Always: Repeat execution.  Loop input times: Repeat as many times as the entered number. - By default, it is set to one. - Max: 1,000,000 ...

  • Page 134: Switch Command

    Chapter 9 Programming 9.10 SWITCH Command Use the command to execute a different command depending on each specific case. An IF command is executed after assessing all the conditions branching to Else IF, but a SWITCH command is executed immediately by finding the corresponding case, thus it is much faster than execution of an IF command.

  • Page 135: Wait Command

    Chapter 9 Programming 9.11 WAIT Command Instruct the robot to wait for a certain period.  Disabled: Do not use a Wait command.  Waiting time: Enter the duration of waiting time.  Digital: Wait until a digital signal is input to a specific digital input terminal.

  • Page 136: Set Command

    Chapter 9 Programming 9.12 SET Command You can set the digital and analog output values, assign a specific value to the variable, and change the TCP profile in use.  Disabled: SET command will not be used.  SET I/O: Set the output level and the power supply of the tool. ...
  • Page 137 Chapter 9 Programming SET I/O If you clicking Edit, an I / O window will pop up where multiple Set commands can be set.  Redundant I/O: Set the digital output value of the redundant I/O.  Digital I/O: Set the digital output value of the digital I/O. ...

  • Page 138: Set Variable

    Chapter 9 Programming SET Variable  Variables: Assign a specific value to the variable added in the global and local variable lists, as well as the register item set in the MODBUS TCP menu. Expression and Assignment can be selected. - Expression: Assign an expression to the variable.

  • Page 139: Folder

    Chapter 9 Programming 9.13 Folder Program command icons can be grouped into folders. Change Programed Icons into Folder Click the Edit icon. Select icons that you want to group into folder. Click the Combine Folder icon.  When converting a folder, the folder is created at the last location of the program.

  • Page 140: Message

    Chapter 9 Programming 9.14 Message Displays a user-defined statement or variable in a pop-up or console window. The command can be added from the Command Extension tab. Output format  Pop-up: Displays a pop-up window with messages.  List: Displays messages in the lower left console window. Message operation If you set the message format as pop-up, you can specify the operation accordingly.

  • Page 141: Message Format

    Chapter 9 Programming Message format  User message: Outputs the message the user has entered.  Variable output: Selects the variable to which to output the value. Select message  Write a message in advance and save the text file to the USB in UTF-8 format.

  • Page 142: Pattern Command

    Chapter 9 Programming 9.15 PATTERN Command If the robot repeatedly executes the same task along the same path, you can define it as a pattern by using this command. Pattern types There exist the following five types of patterns.  Stack pattern: In this pattern, the robot stacks objects while vertically moving at certain intervals.
  • Page 143 Chapter 9 Programming Setting the pattern coordinates After selecting a pattern to use, set the coordinates that determine the type of pattern. The following image illustrates a box pattern. Select the coordinates to set by starting with number 1.  Select the number for the sample image or press the list of the pattern location coordinates.
  • Page 144 Chapter 9 Programming Advanced commands for patterns Sets the display of the currently executing index of the pattern, the moving index using the variable, and the starting position.  Start at this position: If 'Start at this position' is checked, the start position is set at the initial position of the pattern.
  • Page 145 Chapter 9 Programming Press the pattern point icon to launch the following setting screen. The options for the pattern point settings are the same as the linear movement options in the move command section, and additionally you can insert move commands before and after the pattern point to adjust the tool path.

  • Page 146: Using A Sub Program

    Chapter 9 Programming 9.16 Using a Sub Program In the main program, you can call multiple sub programs for use. Making a sub program In the flow chart, press the Sub tab. Press the subprogram button in the command menu of the Sub tab. ...
  • Page 147 Chapter 9 Programming Saving and loading a sub program After creating a sub program in the Sub tab, you can save it as a file or load the sub program or template.  Keep Sub Program: Even if the original subprogram is changed, the contents of the program at the time of loading can be preserved, and even if modified by another program that shares the subprogram, the operation at the time of loading the subprogram can be preserved without being...
  • Page 148 Chapter 9 Programming Select a sub program for use and press the <Select> button. Once a sub program is selected, the subprogram command will be added to the timeline as shown below, and a sub program line will be added at the bottom to indicate the content of the sub program.

  • Page 149: Conveyor Command

    Chapter 9 Programming 9.17 Conveyor Command Executes operations linked with conveyor movement. Conveyor Setting  Conveyor Settings: Click on the drop-down menu and apply settings for the conveyor set under the Equipment Settings Conveyor System.  Do not use equipment setting: This provides a settings screen where the user can directly input the settings without using the conveyor set under the Equipment Settings Conveyor System.
  • Page 150 Chapter 9 Programming Conveyor Start Options If the I/O set in the trigger satisfies the condition, it starts tracking the conveyor.  Trigger: Set the I/O and condition that triggers the start of conveyor tracking. Only Digital Input is available. Setting Conveyor Command Set the actions to be executed during conveyor tracking.

  • Page 151: Thread

    Chapter 9 Programming 9.18 Thread When a robot program is executed, it is possible to execute parallel programs that require IO and other controls in parallel with the Main program. However, Move- related commands cannot be used. Thread Tab Select the Thread tab to create a thread. Click the drop-down menu to select the vision device you want to use and set the wait time and data reception options.
  • Page 152 Chapter 9 Programming Event Tab Create Thread which has condition. Select the Event tab to create an Event. It’s the same with Thread except using condition.

  • Page 153: Script

    Chapter 9 Programming 9.19 Script Provides the function to edit the robot script and set it as a robot command. Script Viewer Displays a created script. While the program is running, a line currently proceeding in real time is displayed on the screen. ...

  • Page 154: Path Command

    Chapter 9 Programming 9.20 Path Command You can create a motion by holding the robot arm directly. Recording Paths Starting to record  Click the button and move the robot arm along the path you want to record.  During recording, the recording status is displayed in a pop-up window, and can be canceled or stopped.
  • Page 155 Chapter 9 Programming Apply  Once you have confirmed the motion, click the Apply button to save it as a file. - Speed: Sets the execution speed of the recorded motion. - Import: Imports an already recorded motion. - Export: Saves the recorded motion separately. - Delete duplicate paths at Start/End positions: If the same posture exists at the Start and End positions during the motion recording process, delete duplicate paths.

  • Page 157: Chapter 10. Starting The Robot

    Chapter 10 Starting the Robot Chapter 10. Starting the Robot Starting the robot means that you are powering up the servo motor and getting ready for its operation. Caution Before authorizing the power of the robot, the user must perform a sufficient risk evaluation and apply all safety functions applicable to the robot.
  • Page 158 Chapter 10 Starting the Robot Turning ON/OFF the robot You can check the start/end status of your robot at present and turn on or off the robot.  ON: Power up the motor for the robot joints and get ready for robot operation.
  • Page 159 Chapter 10 Starting the Robot  Variable Monitoring: Displays the name and current value of the variable being used. Note You can set the turn ON/OFF for the Program Auto-start during logout status.
  • Page 160 Chapter 10 Starting the Robot Checking and setting the robot operation data You can check the effective weight applied to the currently selected robot and quickly retrieve the saved robot settings and program and apply them to the system.  Reset: If the robot is malfunctioning or uncontrollable temporarily then initialize the controller.

  • Page 161: Operating The Robot

    Chapter 10 Starting the Robot Operating the robot If you want to operate your robot according to the program selected in the operation setting, then press the button in the preview window. For more details about the preview screen, refer to 5.2 3D Preview Screen.

  • Page 162: Locking Screen

    Chapter 10 Starting the Robot Locking Screen Restricts the operation of the screen during program execution. All operations except screen lock button are restricted.

  • Page 163: Chapter 11. Monitoring

    Chapter 11 Monitoring Chapter 11. Monitoring You can check the selected robot's position/status and I/O status in real time. 11.1 Monitoring the Robot You can check the robot's position and status in real time. Select Monitoring > Robot Status in the main menu. Monitoring the robot positions In the robot position tab, you can check the position of the selected robot (joint angle and speed) and see how it is moving in real time in 3D preview.
  • Page 164 Chapter 11 Monitoring Checking the robot status In the robot status tab, you can check the selected robot's power consumption, voltage or current. Note The monitoring values are displayed when the robot is running normally.

  • Page 165: Monitoring Inputs/Outputs

    Chapter 11 Monitoring 11.2 Monitoring Inputs/Outputs You can check and set the real time I/O status of robot. In the main menu, select Monitoring > I/O Status. Note The monitoring period is 10 Hz.  You can check the status of digital I/O by examining the following icons. Digital signal high Digital signal low No signal...
  • Page 166 Chapter 11 Monitoring Monitoring controller inputs/outputs In the I/O Status tab, the status of signals transmitted to and received from the I/O terminal of the controller are displayed in real time.  You can press the I/O status icons to switch digital outputs to high and low.
  • Page 167 Chapter 11 Monitoring Monitoring tool inputs/outputs In the Tool I/O Status tab, the status of signals transmitted to and received from the I/O terminal of the tool flange are displayed in real time.  A tool's digital inputs/outputs and analog inputs are set and displayed in the same way those of the controller are set and displayed.

  • Page 168: Utilization

    Chapter 11 Monitoring 11.3 Utilization You can check the robot's system operation time, servo start, and the program operation time information. Select Monitoring > Utilization in the main menu.  Cumulative system operation time: Total cumulative system operation time from production time to present. Note The basic unit for collecting the operation time is every hour;...

  • Page 169: Chapter 12. Device Settings

    Chapter 12 Device Settings Chapter 12. Device Settings You can link your robot to an external equipment such as a PLC, a vision equipment (object detection camera), and conveyor system. Note Different external equipment is supported depending on the SW version.

  • Page 170: Registering Devices

    Chapter 12 Device Settings Registering Devices To use MODBUS I/O, register a device to share I/O information with. Press the Add button. Enter the following information in the Add Device screen and press the Add button.  Device Name: Enter the device name to be displayed on the screen. ...
  • Page 171 Chapter 12 Device Settings Editing/copying the device settings You can modify settings for a device previously registered or copy the device settings to use as settings for a new device. When copying, I/O information of the device is also copied. Press the Edit button from the list of registered devices.
  • Page 172 Chapter 12 Device Settings Press the Delete button, and then press the OK button.  When you delete a device, I/O points for the device will be deleted as well. Registering I/O After you register a device, you must set one or more I/O points for it. The I/O(s) added is(are) used to read a certain value from the device or to send HCR-A Series status values to it.
  • Page 173 Chapter 12 Device Settings Note You can use I/O points when you make a program. Especially, you can use register-type I/O as variables in a program. Viewing the communication status After an I/O point is registered, you can view its communication status. Normal Unable to connect Input value error...
  • Page 174 Chapter 12 Device Settings Viewing and setting the I/O values After an I/O point is registered, you can view or set its value.  Digital Input: Indicates an icon for the digital value (High/Low) currently being input. : High : Low ...
  • Page 175 Chapter 12 Device Settings Deleting I/O Select an I/O to delete from the I/O list. Press the Delete icon.

  • Page 176: Setting The Conveyor

    Chapter 12 Device Settings 12.2 Setting the conveyor Register and set the conveyor that is synchronized with the robot. Under the main menu, select Equipment Settings > Conveyor System. Adding conveyors To add conveyors, click on the Add button from the list. Conveyor Settings If the IO set as the trigger without using the encoder satisfies the conditions, set the tracking conveyor.

  • Page 177: Encoder Settings

    Chapter 12 Device Settings Encoder settings Set the encoders so that they are used.  Encoder types: Select the encoder type. Selectable encoder types are Quadrature and Count.  Encoder resolution: Input the encoder resolution values as numerical values.  Channel: Select the channel through which the encoder will be connected.
  • Page 178 Chapter 12 Device Settings  Count  Count(Differential)

  • Page 179: Rdm Setting

    Chapter 12 Device Settings 12.3 RDM Setting RDM (Realtime Data Monitoring) is a function for monitoring robot data in real time from external equipment using a UDP protocol. From the main menu, select Device Setting > RDM Setting. Entering Network Information In order to use RDM, you must input the network information of the external equipment which will receive data.
  • Page 180 Chapter 12 Device Settings Termination In order to terminate data transfer to external equipment, click the <Disable> button.

  • Page 181: Ethernet/Ip

    Chapter 12 Device Settings 12.4 EtherNET/IP You can use EtherNET/IP to connect the robot to external equipment such as a PLC. From the main menu, select Device Setting >Ethernet/IP. Connecting to External Equipment To use EtherNET/IP, connect EPC Port2 to the external equipment. The network of Port2 is named "network2"...
  • Page 182 Chapter 12 Device Settings Entering EtherNET/IP Network Settings In order to connect to external equipment, you must enter the network information. Click the <EtherNET/IP Settings> tab. On the settings screen, change the network settings according to the working environment. The default setting of "network2" is "Static IP." - DHCP: Allocates an automatic IP - Static IP: Allocates a static IP - Do not use: Deactivates the network (network2)
  • Page 183 Chapter 12 Device Settings Executing an EtherNET/IP Link After setting up the network, link with external equipment. Click the <Enable> button. The EIP status turns yellow, which indicates that it is waiting for a connection (standby).
  • Page 184 Chapter 12 Device Settings Once the connection is successful, the EIP status turns green. A. Run mode: The program cannot be modified when a connected device (e.g., a PLC) is running. B. Program mode: The program can be modified or applied when a connected device (e.g., a PLC) is running.
  • Page 185 Chapter 12 Device Settings Disconnecting EtherNET/IP Disconnect from the connected device. Click the <Disable> button to disconnect. The EIP status turns gray when disconnected successfully.

  • Page 187: Chapter 13. Environment Setting

    Chapter 13 Environment Setting Chapter 13. Environment Setting 13.1 General Setting You can select the desired UI language and unit also set the time/date. In the main menu, press SW Configuration > General.  Language Selection: You can select a language for the UI. (Supported languages: Korean, Chinese, English, Turkish, German, Spanish, French, Hungarian, Italian, Dutch, Polish, český...

  • Page 188: Network Setting

    Chapter 13 Environment Setting 13.2 Network setting You can configure the network settings for Ethernet communication of your operation software. In the main menu, press SW Configuration > Network.  DHCP: IP address is automatically assigned.  Static IP: Fixed IP address is used. ...

  • Page 189: Chapter 14. Turning Off The System

    Chapter 14 Turning Off the System Chapter 14. Turning Off the System 14.1 Shutting Down the Operation Software To shut down the operation software, proceed as follows. Select SW Configuration > Shutdown in the main menu. Press the <OK> button. Note ...

  • Page 191: Chapter 15. Maintenance

    An inspector should prepare and execute an inspection plan. The following items require periodic inspections. If you found problems during inspections, and you cannot resolve them on your own, contact Hanwha Robotics. Inspection item What to inspect...

  • Page 192: Checking The Robot Arm

    Chapter 15 Maintenance 15.2 Checking the Robot Arm Inspection period Inspect at least once every 6 months. The inspection period may vary depending on the inspection area. Checking and cleaning the robot arm Move the robot arm to home. Turn on the controller. Check the following.

  • Page 193: Cleaning And Replacing The Filter

    Chapter 15 Maintenance Cleaning and replacing the filter The controller has an air suction hole and an air discharge hole, which each have a dust filter mounted in them. Separate the filter from the controller and use a vacuum cleaner or air compressor to remove dust.

  • Page 194: Viewing And Managing Logs

    Chapter 15 Maintenance 15.4 Viewing and Managing Logs You can view and manage the logs for the operating system. In the main menu, select Management > Log. Deleting Logs Press the Delete button and the log data found will be deleted. Exporting Logs Press the <Export>...
  • Page 195 Chapter 15 Maintenance Select the location to export the logs into and press the <OK> button.  When export is finished, a folder in the form of 'date-time' is created at the selected location, and the log data are saved in the folder along with the robot configuration and program files.

  • Page 196: Managing The Robot System Configuration

     The robot only operates while the button is pressed.  The posture depends on the model of the target robot. - HCR-14: [J1:0, J2:-90, J3:-160, J4:-90, J5:180, J6:0] Factory reset Initializes the system to its factory settings.  A warning message is displayed twice before the reset is performed.
  • Page 197 Chapter 15 Maintenance Use Default Program Set the program and configuration file to load automatically when the robot is booted. It provides Servo On and program start function automatically after booting.  Check Use Default Program to activate it.  Select the program to be loaded among the stored programs.
  • Page 198 Chapter 15 Maintenance Importing the configurations Select the file path for importing.  Press the refresh button to update the storage list and the file list. Press the <Import> button. Select the configuration items to import and press the <OK> button. ...

  • Page 199: Software Update

     The update function is not available for general users but for the user with a certain authority. If you need an update, contact Hanwha Robotics or a local service center.

  • Page 200: Updating Software

    Chapter 15 Maintenance Updating software Check the version of the software and proceed as follows: Connect the external storage device (such as the USB memory) where the update files are stored to the USB port of the teaching pendant or the controller.

  • Page 201: Appendix A Warranty

    Appendix A Warranty Refer to the contract between the sales team and you. Warranty Our company guarantees specifications, quality, and reliability that our customer demands during the warranty period. Warranty period One year since the date of equipment purchase (varies depending on the contract between our company and you.) Limitation of Liability ...

  • Page 202: Appendix B Certification

    Appendix B Certification Safety...
  • Page 203 MD (Machinery Directive)
  • Page 204 EMC (Electro Magnetic Compatibility)

  • Page 205: Appendix C Tool Flange Cross Section

    Appendix C Tool Flange Cross Section...

  • Page 206: Appendix D 툴 플랜지 단면도

    Appendix D 툴 플랜지 단면도 The tool flange is designed suitable for ISO9409-1-50-4-M6.

  • Page 207: Appendix E Port Pin Map

    Appendix E Port Pin Map Ports in the tool flange have the following specifications.  Tool I/O: SACC-DSI-M8MS-8CON-M8/0,5 - 1424230  EtherCAT: SACC-DSI-M8FS-6CON-M10/0,5 - 1456103 Port Layout Signal Color number Analog In ch. 1 White Analog In ch. 0 Brown GPIO #1 Digital In ch.

  • Page 208: Appendix F System Specifications

    Appendix F System Specifications Note It is recommended to warm up the robot when the temperature of the driving environment is 10 ° or less. At low temperatures, Grease can cause the robot to stop or degrade performance. Degree of freedom Base weight 14 kg Working radius...

  • Page 209: Appendix G Stopping Time And Distance

    Appendix G Stopping Time and Distance Stopping time and distance for stop category 1 The robot configuration to measure the stopping time and the stopping distance for the stop category 1 is as follows:  Position: Maximum load position (the position of the robot arm fully stretched horizontally to make the maximum load) ...
  • Page 210 Stopping Distance (deg.) Stopping Time (sec.) Joint J1 16.953° 0.270 Joint J2 16.910° 0.270 Joint J3 25.622° 0.270 Joint J4 26.086° 0.270 Joint J5 26.081° 0.270 Joint J6 26.084° 0.270...

  • Page 211: Appendix H Error Codes

    Appendix H Error Codes Cause Actions The current version of the Please check the documentation 100001 software does not support the or consult with customer service. function. Please confirm the other process 100002 It failed to get the control. has released the control. Please call 100003 You don't have the control.
  • Page 212 Cause Actions There is no matching information Please check the redundant io 101008 about redundant io. state. Please check the robot id 102000 The robot id is incorrect. parameter for the function call. Please check the robot 102001 Robot creation failure. parameter for the function call.
  • Page 213 Cause Actions Check your recording file or 102020 Invalid recording information. buffer. 102021 Recording buffer is empty. Check your recording buffer. 102022 It is already being recorded. Function calls are unnecessary. 102023 It's not recorded. Function calls are unnecessary. Check your speed factor 102024 Speed factor is out of range.
  • Page 214 Cause Actions There is no connection between 104001 Define robot ID in motion. motion and robot. Cannot find any motion Check the motion command ID or 104002 information. Make New motion. 104003 Unable to define profiler type. Check the profiler type. Out of range parameters have Check the input parameter in 104004...
  • Page 215 Cause Actions CTRLINK_INTERNAL_ERROR occurs. After a function call, No response Retry after system reset, Report 190003 was received for processing to CS team on repeat. functions in 1 second. Retry using sample config file, 190004 Configuration file loading failure. Report to CS team on repeat with config file.
  • Page 216 Hanwha Robotics Address 323,Pangyo-ro, Bundang-gu, Hanwha Seongnam-si, Gyeonggi-do, Republic of Korea Email robot_inquiry@hanwha.com Robotics Homepage https://www.hanwharobotics.com...

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