Hanwha HCR-5 Collaborative Robot Manuals

Hanwha HCR-5 Collaborative Robot Manuals

Manuals and User Guides for Hanwha HCR-5 Collaborative Robot. We have 1 Hanwha HCR-5 Collaborative Robot manual available for free PDF download: User Manual

Hanwha HCR-5 User Manual

Hanwha HCR-5 User Manual (206 pages)

Collaborative Robot

Brand: Hanwha | Category: Robotics | Size: 9.8 MB

Table of Contents

Preface

3
Copyrights

4
- Table of Contents
  5
Chapter 1 Product Overview

15
- Collaborative Robot System
  15
  - Easy Setting
    15
  - Flexible Rearrangement
    15
  - Safe Collaboration
    16
- System Components
  17
- Basic System Configuration
  18
- Overview of Robot Arms
  19
- Overview of Robot Controller
  21
  - Front
    21
  - Bottom
    22
- Overview of Teaching Pendant
  23
  - Front
    23
  - Rear
    24
- Axial Coordinates and Operational Range
  25
- Robot's Working Range
  27
- Maximum Load Capacity for the Tool
  28
Chapter 2 Safety

29
- Safety Marks in the User Manual
  29
- General Safety Cautions
  30
- Intended Use
  31
- Potential Dangers
  32
- Limitation of Liability
  32
- Transportation
  33
- Emergency Stop
  34
  - Using Emergency Stop
    34
  - Canceling Emergency Stop
    34
- Safety Fence
  35
- Limits of Speed and Rotational Angles
  35
- Operating Robots Without Driving Power
  35
- Safety Controller
  35
- Risk Assessment
  35
Chapter 3 Installation

37
Chapter 4 Getting Started

55
- Turning on the Robot Controller
  55
- Turning on the Teaching Pendant
  56
Chapter 5 Software Overview

57
- Menu Overview
  57
  - Expanding Menu
    57
  - Robot Operation
    57
  - Programming
    57
  - Monitoring
    58
  - Robot Setting
    58
  - Safety Setting
    58
  - Device Setting
    58
  - Management
    58
  - SW Configuration
    58
  - Message
    58
  - Manual Move
    58
- 3D Preview Screen
  59
  - Screen Display Setting Button
    59
  - Robot Task Control Button
    60
- Manual Move Screen
  61
- Virtual Keypad
  63
  - Text Keypad
    63
  - Number Keypad
    64
  - Expression Keypad
    64
Chapter 6 Registering Robots and Users

66
- Managing Robots
  66
  - Registering Robots
    67
  - Modifying the Robot Name
    67
  - Registering Force Torque Sensor
    67
- Managing Users
  69
  - Adding Users and Setting Authorities
    69
  - Menu Available to each Authority
    70
- Login/Logout
  71
  - Logging in
    71
  - Logging out
    72
- Checking Status
  72
  - Checking Robot Status
    72
  - Checking Errors
    72
  - Checking the Software Version
    73
Chapter 7 Setting Robots

74
- Setting the Robot Installation Angles
  74
- Setting Tcp
  75
  - Creating a New TCP Profile
    76
  - Calculating the TCP Position
    78
  - Setting the TCP Orientation
    81
  - Changing the TCP Profile Name
    83
  - Editing the TCP Profile
    83
  - Deleting the TCP Profile
    84
- Setting Inputs/Outputs
  85
- Coordinates
  89
- Setting Global Variables
  91
- I/O Bit Operation
  92
  - Add/Delete
    92
  - I/O Bit Operation Settings
    92
Chapter 8 Safety Settings

93
- Limiting Robot Movement
  93
  - Default Settings
    94
  - Manual Setting Method
    94
- Setting Safety Boundaries
  97
- Setting Tool Boundaries
  102
- Setting Redundant I/O
  104
- Setting Safeguard I/O
  106
- Exceeding Safety Limit of Joints
  107
Chapter 9 Programming

108
- How to Use Commands
  108
  - Selecting a Flowchart
    108
  - Type of Commands
    109
  - Additional Commands
    110
  - Entering Commands
    111
  - Check Icon Status
    111
  - Changing Command Names
    111
  - Deleting Commands
    112
  - Searching Commands
    112
  - Skipping Commands
    112
  - Tree
    113
- Setting Variables
  114
  - Adding Variables
    114
  - Modifying Variables
    115
  - Deleting Variables
    115
  - Variable Monitoring
    115
- Editing Programs
  116
  - Overview of Edit Menu
    116
  - Example of Program Editing
    117
  - Undo Function
    118
- Anaging Arogram
  119
  - Saving a Program
    119
  - Making a New Program
    119
  - Loading a Program
    120
  - Deleting a Program
    120
  - Export as Script
    121
  - Export Program File
    121
- Using Templates
  122
  - Saving as a Template
    122
  - Loading a Template
    123
  - Deleting a Template
    123
- Applying Programs
  124
- Move Command
  125
  - Selecting a Movement Method
    125
  - Radius of Linear
    127
  - Don't Stop at this Point
    127
  - Blending
    127
  - Advanced
    129
  - Setting the Coordinates for Movement
    129
  - Displaying as Groups
    130
- If Command
  131
- Loop Command
  132
- Switch Command
  133
- Wait Command
  134
- Set Command
  135
- Folder
  136
  - Change Programed Icons into Folder
    136
  - Create New Folder
    136
- Message
  137
  - Output Format
    137
  - Message Operation
    137
  - Message Format
    138
  - Select Message
    138
- Pattern Command
  139
  - Pattern Types
    139
  - Setting the Pattern Coordinates
    140
  - Setting Repeat Counts
    140
  - Advanced Commands for Patterns
    141
  - Setting Pattern Points
    142
- Using a Sub Program
  143
  - Making a Sub Program
    143
  - Saving and Loading a Sub Program
    144
  - Entering a Sub Program
    144
- Conveyor
  146
  - Conveyor Setting
    146
  - Conveyor Start Options
    147
  - Setting Conveyor Command
    147
- Vision Command
  148
  - Setting Basic Options
    148
  - Setting the Movement Speed
    148
  - Setting the Movement Location
    149
- Thread
  150
  - Thread Tab
    150
  - Thread Creation
    150
  - Event Tab
    151
- Script
  152
  - Script Viewer
    152
- Path Command
  153
  - Recording Paths
    153
Chapter 10 Starting the Robot

155
- Turning ON/OFF the Robot
  156
- Monitoring
  156
- Checking and Setting the Robot Operation Data
  157
- Operating the Robot
  157
- Locking Screen
  159
Chapter 11 Monitoring

160
- Monitoring the Robot
  160
  - Monitoring the Robot Positions
    160
  - Checking the Robot Status
    161
- Monitoring Inputs/Outputs
  161
  - Monitoring Controller Inputs/Outputs
    162
  - Monitoring Tool Inputs/Outputs
    163
- Utilization
  164
Chapter 12 Device Settings

165
- Configuring Modbus Tcp
  165
  - Registering Devices
    166
  - Editing/Copying the Device Settings
    167
  - Registering I/O
    168
  - Viewing the Communication Status
    170
  - Viewing and Setting the I/O Values
    170
  - Editing I/O Settings
    171
  - Deleting I/O
    171
- Using a Vision System
  172
- Adding and Setting Vision Equipment
  173
  - Adding a Vision Equipment
    173
  - Setting a Vision Equipment
    173
- Setting Vision Workspace
  175
  - Adding Vision Workspace
    175
  - Understanding Rotation Offsets
    176
Chapter 13 Environment Setting

178
- General Setting
  178
- Network Setting
  179
Chapter 14 Turning off the System

180
- Shutting down the Operation Software
  180
- Turning off Controllers
  180
Chapter 15 Maintenance

181
- Inspection Items and Periods
  181
- Checking the Robot Arm
  182
  - Inspection Period
    182
  - Checking and Cleaning the Robot Arm
    182
- Checking the Controller
  182
  - Checking and Cleaning the Controller
    182
  - Cleaning and Replacing the Filter
    183
- Viewing and Managing Logs
  184
  - Deleting Logs
    184
  - Exporting Logs
    184
- Managing the Robot System Configuration
  185
  - Packaging Posture
    185
  - Factory Reset
    186
  - Use Default Program
    186
  - Exporting the Configurations
    186
  - Importing the Configurations
    187
- Software Update
  189
  - Cautions During Update
    189
  - Updating Software
    189
Appendix Awarranty

191
- Warranty
  191
- Warranty Period
  191
- Limitation of Liability
  191
Appendix Bcertification

192
- Safety
  192
- MD(Machinery Directive)
  194
- Lvd(Low Voltage Directive)
  195
- EMC (Electro Magnetic Compatibility)
  196
- Cleanroom-Body
  197
- Cleanroom-Controller
  198
Appendix Cdimensions for Installation

199
Appendix Dtool Flange Cross Section

200
Appendix Eport Pin Map

201
Appendix Fsystem Specifications

202
Appendix Gstopping Time and Distance

203

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