Hyundai Heavy Industries HR010L Manuals

Manuals and User Guides for Hyundai Heavy Industries HR010L. We have 1 Hyundai Heavy Industries HR010L manual available for free PDF download: Operation Manual

Hyundai Heavy Industries HR010L Operation Manual

Hyundai Heavy Industries HR010L Operation Manual (427 pages)

Brand: Hyundai Heavy Industries | Category: Robotics | Size: 3 MB

Table of Contents

Table of Contents
4
Chapter 1. Safety, Operation Panel, Teach pendant

14
- Safety
  14
- General
  14
- Relevant Safety Standard
  17
- Safety Training
  17
- Safety Marking
  17
- Definition of Safety Functions
  19
- Installation of Robot
  20
- Safety Working Procedures
  27
- Safety Measures for Maintenance and Repair
  33
- Safety Function
  36
- Safety Related to End Effectors
  40
- Liabilities
  41
- Operation Panel
  43
- External Shape of Operation Panel
  43
- Buttons of Operation Panel
  43
- Teach pendant
  45
- External Shape of Teach pendant
  45
- Screen of Teach pendant
  46
- Keys of Teach pendant
  47
Chapter 2. Basic Operation of Robot

52
- Basic Operation
  52
- Controller's Power/Motor ON/OFF
  52
- Power On/Motor on
  52
- Power Off/Motor off
  52
- How to Initiate the System
  53
- Teaching
  53
- Step and Function
  54
- Basic Things for Step
  55
- The Parameter of STEP Command Line
  55
- Interpolation-Locus from between Step and Step
  56
- Pose
  57
- Speed
  58
- Accuracy
  58
- Tool Number
  58
- Output Option
  58
- Stop Condition
  59
- Stop State Variable
  59
- Step Position Validation/Modification Method
  60
- Coordinate System
  63
- JOG Operation Key
  63
- Axis Coordinate
  64
- Robot Coordinate
  65
- User Coordinate
  67
- Tool Coordinate
  68
- Auto Tool Setting
  69
Chapter 3. Service Menu

70
- Monitoring
  73
- Register
  84
- XYZ Shift Register
  85
- Shift Buffers
  87
- On-Line Shift Register Group
  89
- Palletizing Register
  91
- Frequency Condition Register
  94
- Conveyor Data
  95
- Variable
  97
- Edit Program
  98
- Modify Writing Condition Totally
  99
- Modify Speed in Record Totally
  100
- Modify Position in Record Totally
  101
- Step Copy
  103
- Step Reverse Copy
  105
- Edit Program in Running (Hot Edit)
  107
- File Management
  112
- Internal Memory File Name
  113
- Program First Data
  114
- Internal Program Axis no
  115
- Rename
  116
- Copy
  120
- Delete
  122
- Protect
  124
- Storage Media Format
  127
- Save/Load (SRAM Card)
  128
- Program Conversion
  130
- Coordinate Transformation
  131
- Mirror Image
  133
- Off-Line XYZ Shift
  136
- System Checking
  138
- System Version
  139
- Run Time
  140
- Diagnosis of Troubles
  143
- Error Logging
  145
- Stop History
  147
- Operation History
  149
- Date Setting (Date, Time)
  150
Chapter 4. Condition Setting

152
- Cycle Type
  153
- Step Go/Back Max. Speed
  153
- Function in Step Go/Back
  154
- Speed Rate
  154
- Robot Lock
  155
- Record Speed Type
  155
- Interpolation Base
  156
- User Coordinate
  156
Chapter 5. Application Condition

159
- Conveyor Operation
  160
- Search Range
  161
- Search Reference Position Record
  161
- Spot Welding
  162
- Output(Do) Signal Clear
  164
- Online Shift Register Clear
  164
Chapter 6 System Setting

165
- User Configuration
  169
- Display Language
  170
- Pose Record Type
  170
- Start Type
  171
- Change of Cursor Position in Auto Mode
  171
- Confirm When the Command Delete
  172
- WAIT(DI/WI) Forcible Release
  172
- Dettachment of Teach pendant
  173
- Power Failure Detection(Not Changeable)
  173
- External Program Selection
  173
- Using the Program Strobe Signal
  174
- Step Set Alarm Type
  175
- Lowest Position Proportion of the Cursor
  175
- Using the Collision Sensor
  176
- Controller Parameter
  177
- Input/Output Signal Selection
  178
- 1: Input Signal Logic
  178
- 2: Output Signal Logic
  178
- 6: Output Signal Assignment
  178
- 7: Input Signal Assignment
  178
- 2: Output Signal Logic
  180
- 4: Setting the Pulse Table
  182
- 5: Setting the Delay Table
  183
- 6: Output Signal Assignment
  184
- 7: Input Signal Assignment
  185
- 8: Setting the Earlier Output
  187
- 9: DIO Name Edit
  188
- 10: Setting the Field Bus
  190
- Serial Port
  195
- 1: Teach pendant (CNTP)
  195
- 2: Private Serial Port for I/O Board
  195
- 3: Serial Port #1 (CNSIO)
  195
- 4: Serial Port #2 (OPSIO)
  195
- Robot Ready
  198
- Home Position Registration
  199
- Return to the Previous Position
  200
- End Relay Output Time
  201
- Interlock Error Time
  202
- External Error Output
  203
- Power Saving : PWM off
  206
- Shift Limit
  207
- Setting the User Key
  208
- Coordination System Registration
  210
- 2: Pedestal Tool Coordination System
  212
- Machine Parameter
  213
- Tool Data
  214
- Axis Constant
  218
- Soft Limit
  219
- Arm Interference Angle
  220
- Encoder Offset Calibration
  221
- Accuracy
  225
- Speed
  228
- Additional Load Per each Axis
  229
- Application Parameter
  231
- Spot & Stud
  232
- 2: Servo Gun Parameter
  232
- 3: Spot Welding Data(Condition,Sequence)
  240
- 4: Equalizing Parameter
  245
- Arc
  247
- Palletizing
  249
- 2: Palette Dip Angle Measurement
  254
- Conveyor
  255
- 1: Conveyor Constant Setting
  256
- Speed Proportion Voltage Output
  260
- System Format
  262
- System Format
  263
- Robot Type Selection
  264
- Use Setting
  267
- Positioner Group Setting
  268
- Automatic Constant Setting
  270
- Positioner Calibration
  270
- Positioner Calibration
  273
Chapter 7. R Code

277
- 2) R5
  277
- 3) R6
  277
- External Program Selection
  279
- Step Counter Reset
  279
- External Start Selection
  279
- Frequency Condition Register
  279
- Tool Number Setting
  279
- Conveyor Data Clear
  279
- Conveyor Register Manual Input
  279
- Manual Conveyor Limit Switch on
  279
- 4) R10 Run Time Display
  283
- 5) R17 File Name Display in Internal Memory
  286
- 6) R18 Frequency Condition Register
  287
- 7) R29 Tool Number Setting
  288
- 8) R44 Conveyor Data Clear
  289
- 9) R45 Conveyor Register Manual Input
  290
- 10) R46 Manual Conveyor Limit Switch on
  291
- 11) R49 Speed Variation Setting
  292
- Speed Variation Setting
  292
- 12) R55 Palletize Counter Reset
  293
- Palletize Counter Reset
  293
- 13) R71
  294
- 14) R107 Program Head Data Display
  295
- 15) R115 Program Copy
  295
- Program Head Data Display
  295
- Program Copy
  295
- 16) R116 Program Number Modification
  296
- Program Number Modification
  296
- 17) R117 Program Delete
  297
- Program Delete
  297
- Robot Lock
  298
- Modify Accuracy in Steps
  299
- 20) R137
  300
- 21) R138
  301
- Shift Register Value Change
  302
- On-Line Shift Cancel
  302
- Spot Welding Condition Manual Output
  303
- 25) R210
  304
- Squeeze Force Setting
  304
- Moving-Tip Consumption Preset
  305
- Fixed-Tip Consumption Preset
  305
- Equalizerless Gun Number Selection
  306
- 30) R220
  306
- Monitor Mode Selection
  307
- Memory Protection Setting
  308
- Manual Output of GO-Signal
  310
- Set Max. Speed of Step Go/Back
  311
- Robot Interrupt Function Record
  312
- Execution Code Back-Up
  316
Chapter 8. Programming

317
- Edit Step
  319
- Summary of Operation Keys
  320
- Edit Command
  322
- Example - Move Sentence
  323
- Variable, Numerical Formula and String Edit
  329
- Line Number Edit
  333
- Block Edit
  334
Chapter 9. Quick Open Function

337
- Function Summary
  338
- Move - Step Position
  340
- Weaving Condition File
  351
- Program Edit in Running
  353
- Spot Welding Function
  354
- Welding Condition
  354
- Welding Sequence
  355
Chapter 10. Menu Tree

356
- Menu List
  357
- Flow Control
  360
- Etc
  362
- Arc
  363
Chapter 11. Robot Language Explanation

367
- Basic Elements
  368
- Line
  368
- Character
  368
- Address
  368
- Constant
  369
- Variable
  371
- Operator
  375
- Formula
  375
- Command Line
  376
- Robot Control
  377
- Comment
  379
- Program Flow Control
  381
- Comment
  386
- Arc Welding
  386
- Others
  390
- Function
  405
- String Function
  406
Chapter 12 Signal Connection

410
- External Input Signal (Bd430/Bd431)
  411
- External Output Signal (Bd430/Bd431)
  416
- Bd481 Circuit
  426

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