Hanwha HCR-14 Manuals

Manuals and User Guides for Hanwha HCR-14. We have 1 Hanwha HCR-14 manual available for free PDF download: User Manual

Hanwha HCR-14 User Manual (216 pages)

Brand: Hanwha | Category: Robotics | Size: 11 MB

Preface
3
Copyrights
5
Table of Contents
7
Chapter 1. Product Overview
11
Collaborative Robot System
11
System Components
12
Basic System Configuration
12
Overview of Robot Arms
13
Overview of Robot Controller
15
Overview of Teaching pendant
17
Axial Coordinates and Operational Range
19
Robot's Working Range
20
Maximum Load Capacity for the Tool
21
Chapter 2. Safety
23
Safety Marks in the User Manual
23
General Safety Cautions
24
Intended Use
25
Potential Dangers
26
Limitation of Liability
26
Transportation
27
Emergency Stop
28
Using Emergency Stop
28
Canceling Emergency Stop
28
Safety Fence
29
Limits of Speed and Rotational Angles
29
Operating Robots Without Driving Power
29
Safety Controller
29
Risk Assessment
30
Chapter 3. Installation
31
Installation Locations
31
Installation Types
32
Fixing Robots
33
Connecting Tools to Robots
34
Connecting Cables
35
Fixing the Controller Box
38
Overview of Controller I/O
39
Common Spec for Digital I/O
40
Configuring the Safety Input
43
Configuring the General Digital I/O
46
Configuring the General Analog I/O
48
Analog Output
49
Analog Input
49
Chapter 4. Getting Started
51
Turning on the Robot Controller
51
Turning on the Teaching pendant
52
Chapter 5. Software Overview
53
Menu Overview
53
Preview Screen
55
Manual Move Screen
57
Virtual Keypad
59
Text Keypad
59
Number Keypad
59
Chapter 6. Registering Robots and Users
63
Managing Robots
63
Managing Users
66
Login/Logout
69
Logging out
69
Checking Status
70
Checking Errors
70
Checking the Software Version
71
Chapter 7. Setting Robots
73
Setting the Robot Installation Angles
73
Setting Tcp
75
Setting Inputs/Outputs
84
Coordinates
88
Setting Global Variables
90
I/O Bit Operation
92
Chapter 8. Safety Settings
93
Limiting Robot Movement
93
Default Settings
94
Setting Redundant I/O
96
Setting Safety Boundaries
98
Setting Tool Boundaries
103
Setting Safeguard I/O
105
Exceeding Safety Limit of Joints
106
Chapter 9. Programming
107
How to Use Commands
107
Type of Commands
108
Additional Commands
109
Entering Commands
110
Deleting Commands
111
Setting Variables
113
Editing Programs
115
Undo Function
117
Managing a Program
118
Saving a Program
118
Loading a Program
119
Deleting a Program
119
Using Templates
121
Loading a Template
122
Deleting a Template
122
Applying Programs
124
Move Command
125
If Command
131
Loop Command
133
Switch Command
134
Wait Command
135
Set Command
136
SET Variable
138
Folder
139
Create New Folder
139
Message
140
Output Format
140
Message Operation
140
Message Format
141
Select Message
141
Pattern Command
142
Pattern Types
142
Using a Sub Program
146
Conveyor Command
149
Thread
151
Script
153
Path Command
154
Chapter 10. Starting the Robot
157
Operating the Robot
161
Locking Screen
162
Chapter 11. Monitoring
163
Monitoring the Robot
163
Monitoring Inputs/Outputs
165
Utilization
168
Chapter 12. Device Settings
169
Configuring Modbus Tcp
169
Registering Devices
170
Setting the Conveyor
176
Encoder Settings
177
Encoder Input
177
Rdm Setting
179
Ethernet/Ip
181
Connecting to External Equipment
181
Chapter 13. Environment Setting
187
General Setting
187
Network Setting
188
Chapter 14. Turning off the System
189
Shutting down the Operation Software
189
Turning off Controllers
189
Chapter 15. Maintenance
191
Inspection Items and Periods
191
Checking the Robot Arm
192
Checking the Controller
192
Cleaning and Replacing the Filter
193
Viewing and Managing Logs
194
Deleting Logs
194
Exporting Logs
194
Managing the Robot System Configuration
196
Factory Reset
196
Software Update
199
Updating Software
200
Appendix A Warranty
201
Warranty Period
201
Limitation of Liability
201
Appendix B Certification
202
Appendix C Tool Flange Cross Section
205
Appendix D 툴 플랜지 단면도
206
Appendix E Port Pin Map
207
Appendix F System Specifications
208
Appendix G Stopping Time and Distance
209
Appendix H Error Codes
211

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