Hanwha HCR-12 Collaborative Robot Manuals

Manuals and User Guides for Hanwha HCR-12 Collaborative Robot. We have 2 Hanwha HCR-12 Collaborative Robot manuals available for free PDF download: User Manual

Hanwha HCR-12 User Manual (206 pages)

Collaborative Robot

Brand: Hanwha | Category: Robotics | Size: 4.94 MB

Preface

3
Copyrights

4
- Table of Contents
  5
Chapter 1 Product Overview

13
- Collaborative Robot System
  13
- System Components
  15
- Basic System Configuration
  16
- Overview of Robot Arms
  17
- Overview of Robot Controller
  19
  - Front
    19
  - Bottom
    20
- Overview of Teaching Pendant
  21
  - Front
    21
  - Rear
    22
- Axial Coordinates and Operational Range
  23
- Robot's Working Range
  25
- Maximum Load Capacity for the Tool
  26
Chapter 2 Safety

27
- Safety Marks in the User Manual
  27
- General Safety Cautions
  28
- Intended Use
  29
- Potential Dangers
  30
- Limitation of Liability
  30
- Transportation
  31
- Emergency Stop
  32
  - Using Emergency Stop
    32
  - Canceling Emergency Stop
    32
- Safety Fence
  33
- Limits of Speed and Rotational Angles
  33
- Operating Robots Without Driving Power
  33
- Safety Controller
  33
- Risk Assessment
  33
Chapter 3 Installation

35
Chapter 4 Getting Started

53
- Turning on the Robot Controller
  53
- Turning on the Teaching Pendant
  54
Chapter 5 Software Overview

55
- Menu Overview
  55
  - Expanding Menu
    55
  - Robot Operation
    55
  - Programming
    55
  - Monitoring
    56
  - Robot Setting
    56
  - Safety Setting
    56
  - Device Setting
    56
  - Management
    56
  - SW Configuration
    56
  - Message
    56
  - Manual Move
    56
- 3D Preview Screen
  57
  - Screen Display Setting Button
    57
  - Robot Task Control Button
    58
- Manual Move Screen
  59
- Virtual Keypad
  61
  - Text Keypad
    61
  - Number Keypad
    62
  - Expression Keypad
    62
Chapter 6 Registering Robots and Users

64
- Managing Robots
  64
  - Registering Robots
    65
  - Deleting Robots
    65
  - Modifying the Robot Name
    66
- Managing Users
  67
  - Adding Users and Setting Authorities
    67
  - Menu Available to each Authority
    68
- Login/Logout
  69
  - Logging in
    69
  - Logging out
    70
- Checking Status
  70
  - Checking the Robot Status
    70
  - Checking Errors
    70
  - Checking the Software Version
    71
Chapter 7 Setting Robots

72
- Setting the Robot Installation Angles
  72
- Setting Tcp
  73
  - Creating a New TCP Profile
    74
  - Calculating the TCP Position
    76
  - Setting the TCP Orientation
    79
  - Changing the TCP Profile Name
    81
  - Editing the TCP Profile
    81
  - Deleting the TCP Profile
    82
- Setting Inputs/Outputs
  83
- Coordinates
  87
- Setting Global Variables
  89
- I/O Bit Operation
  90
  - Add/Delete
    90
  - I/O Bit Operation Settings
    90
Chapter 8 Safety Settings

91
- Limiting Robot Movement
  91
  - Default Settings
    92
  - Manual Setting Method
    92
- Setting Safety Boundaries
  94
- Setting Tool Boundaries
  99
- Setting Redundant I/O
  101
- Setting Safeguard I/O
  103
- Exceeding Safety Limit of Joints
  104
Chapter 9 Programming

105
- How to Use Commands
  105
  - Selecting a Flowchart
    105
  - Type of Commands
    106
  - Additional Commands
    107
  - Entering Commands
    108
  - Check Icon Status
    108
  - Changing Command Names
    108
  - Deleting Commands
    109
  - Searching Commands
    109
  - Skipping Commands
    109
  - Tree
    110
- Setting Variables
  111
  - Adding Variables
    111
  - Modifying Variables
    112
  - Deleting Variables
    112
  - Variable Monitoring
    112
- Editing Programs
  113
  - Overview of Edit Menu
    113
  - Example of Program Editing
    114
  - Undo Function
    115
- Anaging Arogram
  116
  - Saving a Program
    116
  - Making a New Program
    116
  - Loading a Program
    117
  - Deleting a Program
    117
  - Export as Script
    118
  - Export Program File
    118
- Using Templates
  119
  - Saving as a Template
    119
  - Loading a Template
    120
  - Deleting a Template
    120
- Applying Programs
  121
- Move Command
  122
  - Selecting a Movement Method
    122
  - Radius of Linear
    124
  - Don't Stop at this Point
    124
  - Blending
    124
  - Advanced
    126
  - Setting the Coordinates for Movement
    126
  - Displaying as Groups
    127
- If Command
  128
- Loop Command
  129
- Switch Command
  130
- Wait Command
  131
- Set Command
  132
- Folder
  133
  - Change Programed Icons into Folder
    133
  - Create New Folder
    133
- Message
  134
  - Output Format
    134
  - Message Operation
    134
  - Message Format
    135
  - Select Message
    135
- Pattern Command
  136
  - Pattern Types
    136
  - Setting the Pattern Coordinates
    137
  - Setting Repeat Counts
    138
  - Advanced Commands for Patterns
    138
  - Setting Pattern Points
    139
- Using a Sub Program
  140
  - Making a Sub Program
    140
  - Saving and Loading a Sub Program
    141
  - Entering a Sub Program
    141
- Conveyor
  143
  - Conveyor Setting
    143
  - Conveyor Start Options
    144
  - Setting Conveyor Command
    144
- Vision Command
  145
  - Setting Basic Options
    145
  - Setting the Movement Speed
    145
  - Setting the Movement Location
    146
- Thread
  147
  - Thread Tab
    147
  - Thread Creation
    148
  - Event Tab
    148
- Script
  149
  - Script Viewer
    149
- Path Command
  150
  - Recording Paths
    150
Chapter 10 Starting the Robot

152
- Turning ON/OFF the Robot
  153
- Monitoring
  153
- Checking and Setting the Robot Operation Data
  154
- Operating the Robot
  155
- Locking Screen
  156
Chapter 11 Monitoring

157
- Monitoring the Robot
  157
  - Monitoring the Robot Positions
    157
  - Checking the Robot Status
    158
- Monitoring Inputs/Outputs
  158
  - Monitoring Controller Inputs/Outputs
    159
  - Monitoring Tool Inputs/Outputs
    160
- Unilization
  161
Chapter 12 Device Setting

162
- Configuring Modbus Tcp
  162
  - Registering Devices
    163
  - Editing/Copying the Device Settings
    164
  - Registering I/O
    165
  - Viewing the Communication Status
    166
  - Viewing and Setting the I/O Values
    167
  - Editing I/O Settings
    168
  - Deleting I/O
    168
- Using a Vision System
  169
- Adding and Setting Vision Equipment
  170
  - Adding a Vision Equipment
    170
  - Setting a Vision Equipment
    170
- Setting Vision Workspace
  172
  - Adding Vision Workspace
    172
  - Understanding Rotation Offsets
    173
Chapter 13 Environment Setting

175
- General Setting
  175
- Network Setting
  176
Chapter 14 Turning off the System

177
- Shutting down the Operation Software
  177
- Turning off Controllers
  177
Chapter 15 Maintenance

178
- Inspection Items and Periods
  178
- Checking the Robot Arm
  179
  - Inspection Period
    179
  - Checking and Cleaning the Robot Arm
    179
- Checking the Controller
  179
  - Checking and Cleaning the Controller
    179
  - Cleaning and Replacing the Filter
    180
- Viewing and Managing Logs
  181
  - Deleting Logs
    181
  - Exporting Logs
    181
- Managing the Robot System Configuration
  182
  - Packaging Posture
    182
  - Factory Reset
    183
  - Use Default Program
    183
  - Exporting the Configurations
    183
  - Importing the Configurations
    184
- Software Update
  186
  - Cautions During Update
    186
  - Updating the Operation Software
    186
Appendix Awarranty

188
- Warranty
  188
- Warranty Period
  188
- Limitation of Liability
  188
Appendix Bcertification

189
- Safety
  189
- MD(Machinery Directive)
  190
- EMC (Electro Magnetic Compatibility)
  191
Appendix Cdimensions for Installation

192
Appendix Dtool Flange Cross Section

193
Appendix Eport Pin Map

194
Appendix Fsystem Specifications

195
Appendix Gstopping Time and Distance

197
Appendix Herror Codes

199

Hanwha HCR-12 User Manual (195 pages)

Collaborative Robot

Brand: Hanwha | Category: Robotics | Size: 7.9 MB

Preface
3
Copyrights
4
Table of Contents
5
Chapter 1 Product Overview

13
- Collaborative Robot System
  13
- System Components
  15
- Basic System Configuration
  16
- Overview of Robot Arms
  17
- Overview of Robot Controller
  19
- Front
  19
- Bottom
  20
- Overview of Teaching pendant
  21
- Front
  21
- Rear
  22
- Axial Coordinates and Operational Range
  23
- Robot's Working Range
  25
- Maximum Load Capacity for the Tool
  26
Chapter 2 Safety

27
- Safety Marks in the User Manual
  27
- General Safety Cautions
  28
- Intended Use
  29
- Potential Dangers
  30
- Limitation of Liability
  30
- Transportation
  31
- Emergency Stop
  32
- Using Emergency Stop
  32
- Canceling Emergency Stop
  32
- Safety Fence
  33
- Limits of Speed and Rotational Angles
  33
- Operating Robots Without Driving Power
  33
- Safety Controller
  33
- Risk Assessment
  33
Chapter 3 Installation

35
Chapter 4 Getting Started

53
- Turning on the Robot Controller
  53
- Turning on the Teaching pendant
  54
Chapter 5 Software Overview

55
- Menu Overview
  55
- Expanding Menu
  55
- Robot Operation
  55
- Programming
  55
- Monitoring
  56
- Report
  56
- Robot Setting
  56
- Safety Setting
  56
- Device Setting
  56
- Management
  56
- SW Configuration
  56
- Message
  57
- Manual Move
  57
- Preview Screen
  58
- Screen Display Setting Button
  58
- Robot Task Control Button
  59
- Manual Move Screen
  60
- Virtual Keypad
  62
- Text Keypad
  62
- Number Keypad
  63
- Expression Keypad
  63
Chapter 6 Registering Robots and Users

65
- Managing Robots
  65
- Registering Robots
  66
- Deleting Robots
  66
- Modifying the Robot Name
  67
- Managing Users
  67
- Adding Users and Setting Authorities
  68
- Menu Available to each Authority
  69
- Login/Logout
  70
- Logging in
  70
- Logging out
  70
- Selecting Robots and Checking Status
  71
- Selecting Robots
  71
- Checking the Robot Status
  71
- Checking Errors
  71
- Checking the Software Version
  72
Chapter 7 Setting Robots

73
- Setting the Robot Installation Angles
  73
- Setting Tcp
  75
- Creating a New TCP Profile
  75
- Calculating the TCP Position
  77
- Setting the TCP Orientation
  80
- Changing the TCP Profile Name
  82
- Editing the TCP Profile
  82
- Deleting the TCP Profile
  82
- Setting Inputs/Outputs
  83
- Types of Digital I/O
  83
- Editing the Digital Inputs/Outputs Settings
  84
- Types of Analog I/O
  85
- Editing the Analog I/O Setting
  85
- Coordinates
  86
- Registering Points
  86
- Registering Line Coordinates
  87
- Registering Plane Coordinates
  87
- Configuring Modbus Tcp
  87
- Registering Devices
  88
- Editing/Copying the Device Settings
  89
- Registering I/O
  91
- Viewing the Communication Status
  92
- Viewing and Setting the I/O Values
  92
- Editing I/O Settings
  93
- Deleting I/O
  93
- Setting Global Variables
  94
- I/O Bit Operation
  95
- Add/Delete
  95
- I/O Bit Operation Settings
  95
Chapter 8 Safety Settings

97
- Limiting Robot Movement
  97
- Default Settings
  98
- Manual Setting Method
  98
- Setting Safety Boundaries
  99
- Adding Safety Boundary Planes
  100
- Viewing Safety Boundary Planes
  101
- Applying Safety Boundaries
  102
- Changing the Name of Safety Boundaries
  103
- Deleting Safety Boundary Settings
  103
- Setting Tool Boundaries
  105
- Adding Tool Safety Boundary Surfaces
  105
- Setting Tool Safety Boundary Surfaces
  106
- Applying Tool Safety Boundary Surfaces
  106
- Setting Redundant I/O
  107
- Exceeding Safety Limit of Joints
  109
Chapter 9 Programming

110
- How to Use Commands
  110
- Selecting a Flowchart
  110
- Type of Commands
  111
- Additional Commands
  112
- Entering Commands
  113
- Changing Command Names
  113
- Deleting Commands
  113
- Searching Commands
  114
- Skipping Commands
  114
- Setting Variables
  115
- Adding Variables
  115
- Modifying Variables
  116
- Deleting Variables
  116
- Variable Monitoring
  116
- Editing Programs
  117
- Overview of Edit Menu
  117
- Example of Program Editing
  118
- Undo Function
  119
- Managing a Program
  120
- Saving a Program
  120
- Making a New Program
  121
- Loading a Program
  121
- Deleting a Program
  121
- Using Templates
  122
- Saving as a Template
  122
- Loading a Template
  123
- Deleting a Template
  123
- Applying Programs
  124
- Move Command
  124
- Selecting a Movement Method
  124
- Radius of Linear
  127
- Don't Stop at this Point
  128
- Setting the Coordinates for Movement
  129
- Displaying as Groups
  129
- If Command
  131
- Loop Command
  132
- Switch Command
  133
- Wait Command
  134
- Set Command
  135
- Message
  136
- Output Format
  136
- Message Operation
  136
- Message Format
  136
- Pattern Command
  137
- Pattern Types
  137
- Setting the Pattern Coordinates
  138
- Setting Repeat Counts
  138
- Advanced Commands for Patterns
  139
- Setting Pattern Points
  139
- Using a Sub Program
  141
- Making a Sub Program
  141
- Saving and Loading a Sub Program
  142
- Entering a Sub Program
  142
- Vision Command
  144
- Setting Basic Options
  144
- Setting the Movement Speed
  144
- Setting the Movement Location
  145
- Thread
  146
- Thread Tab
  146
- Thread Creation
  147
- Script
  147
- Script Viewer
  147
- Path Command
  149
- Recording Paths
  149
Chapter 10 Starting the Robot

151
- Turning ON/OFF the Robot
  152
- Checking and Setting the Robot Operation Data
  152
- Operating the Robot
  153
Chapter 11 Monitoring

154
- Monitoring the Robot
  154
- Monitoring the Robot Positions
  154
- Checking the Robot Status
  155
- Monitoring Inputs/Outputs
  155
- Monitoring Controller Inputs/Outputs
  156
- Monitoring Tool Inputs/Outputs
  157
Chapter 12 Report

158
Chapter 13 Linking with External Equipment

159
- Using Aision Vision System
  159
- Adding and Setting Vision Equipment
  161
- Adding a Vision Equipment
  161
- Setting a Vision Equipment
  161
- Setting Vision Workspace
  163
- Adding Vision Workspace
  163
- Understanding Rotation Offsets
  164
Chapter 14 Environment Setting

166
- General Setting
  166
- Network Setting
  167
Chapter 15 Turning off the System

168
- Shutting down the Operation Software
  168
- Turning off Controllers
  169
Chapter 16 Maintenance

170
- Inspection Items and Periods
  170
- Checking the Robot Arm
  171
- Inspection Period
  171
- Checking and Cleaning the Robot Arm
  171
- Checking the Controller
  171
- Checking and Cleaning the Controller
  171
- Cleaning and Replacing the Filter
  172
- Viewing and Managing Logs
  173
- Deleting Logs
  173
- Exporting Logs
  173
- Managing the Robot System Configuration
  174
- Exporting the Configurations
  174
- Importing the Configurations
  176
- Packaging Posture
  177
- Factory Reset
  177
- Software Update
  177
- Cautions During Update
  178
- Updating the Operation Software
  178
- Updating the Controller Software
  179
Appendix Awarranty

181
- Warranty
  181
- Warranty Period
  181
- Limitation of Liability
  181
Appendix Bcertification

182
- Safety
  182
Appendix Cdimensions for Installation

183
Appendix Dtool Flange Cross Section

184
Appendix Eport Pin Map

185
Appendix Fsystem Specifications

186
Appendix Gstopping Time and Distance

187
Appendix Herror Codes

189

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Hanwha HCR-12 Collaborative Robot Manuals

Hanwha HCR-12 User Manual (206 pages)

Table of Contents

Preface

Copyrights

Chapter 1 Product Overview

Chapter 2 Safety

Chapter 3 Installation

Chapter 4 Getting Started

Chapter 5 Software Overview

Chapter 6 Registering Robots and Users

Chapter 7 Setting Robots

Chapter 8 Safety Settings

Chapter 9 Programming

Chapter 10 Starting the Robot

Chapter 11 Monitoring

Chapter 12 Device Setting

Chapter 13 Environment Setting

Chapter 14 Turning off the System

Chapter 15 Maintenance

Appendix Awarranty

Appendix Bcertification

Appendix Cdimensions for Installation

Appendix Dtool Flange Cross Section

Appendix Eport Pin Map

Appendix Fsystem Specifications

Appendix Gstopping Time and Distance

Appendix Herror Codes