OKM AH6-0500-0204-2000 Manuals

Manuals and User Guides for OKM AH6-0500-0204-2000. We have 1 OKM AH6-0500-0204-2000 manual available for free PDF download: User Manual

OKM AH6-0500-0204-2000 User Manual (150 pages)

Brand: OKM | Category: Robotics | Size: 7 MB

Preface
3
Version History
7
Table of Contents
12
Contents
13
List of Figures
18
Chapter 1 Safety Precautions
27
Precautions for General Safety
27
Precautions for Safe Operation
30
Safety Signs
31
Table 1-1 Warning Signs
32
Product Overview
33
Introduction
33
Figure 2-1 AH6 Robot (AH6-0500-0204-2000) Appearance
34
Model Implication
35
Figure 2-2 Model Implication
35
Table 2-1 Model Preview
35
Product Features
37
Components and Functional Description
38
Introduction to Main Body
38
Upper Control Cabinet
38
Figure 3-1 Composition of AH6 Robot (AH6-0500-0204-2000)
38
Base
39
Mechanical Arm 1
39
Mechanical Arm 2
39
Cable
40
Trajectory
40
Figure 3-2 Trajectories of each Axis
40
Work Space
41
Vertical Work Space
41
Figure 3-3 Vertical Work Space of AH6 Robot with an Arm Length of 500 MM
41
Table 3-1 Vertical Work Space of AH6 Robot with an Arm Length of 500 MM
41
Figure 3-4 Vertical Work Space of AH6 Robot with an Arm Length of 600 MM
42
Table 3-2 Vertical Work Space of AH6 Robot with an Arm Length of 600 MM
42
Figure 3-5 Vertical Work Space of AH6 Robot with an Arm Length of 700 MM
43
Table 3-3 Vertical Work Space of AH6 Robot with an Arm Length of 700 MM
43
Horizontal Work Space
45
Figure 3-6 AH6-0500-0204-2000/AH6-0500-0204-3000
45
Figure 3-7 AH6-0600-0204-2000/AH6-0600-0204-3000
45
Robot Coordinate System
46
Figure 3-8 AH6-0700-0204-2000/AH6-0700-0204-3000
46
Specification and Dimension
47
Overall Dimension
47
Figure 3-9 World Coordinate System
47
Figure 3-10 Dimensions of AH6 Robot with an Arm Length of 500 (Unit: MM)
48
Table 3-4 Dimensions of AH6 Robot with an Arm Length of 500 (Unit: MM)
48
Table 3-5 Dimensions of AH6 Robot with an Arm Length of 600 (Unit: MM)
49
Base Dimensions
51
Figure 3-15 Dimensions of AH6 Robot with an Arm Length of 700 (Unit: MM)
51
Figure 3-16 Product Dimensions (Unit: MM)
51
Table 3-6 Dimensions of AH6 Robot with an Arm Length of 600 (Unit: MM)
51
Terminal Flange Dimensions
52
Figure 3-17 Installation Dimensions of Terminal Flange (Unit: MM)
52
Technical Parameters
53
Table 3-7 Technical Parameters of AH6 Robot
53
Environmental Parameters
54
Table 3-8 Environmental Parameters
55
Electrical Parameters
56
Table 3-9 Robot Electrical Parameters
56
Introduction to Electrical Interfaces
57
External Electrical Interface
57
Mechanical Arm 2 Interface Panel
57
Figure 4-1 External Interface Panel
57
Figure 4-2 Schematic Diagram of Interface Panel
58
Table 4-1 Interface Panel Description
58
Upper Control Cabinet Interface Panel
59
Figure 4-3 Schematic Diagram of Interface Panel
59
Base Interface Panel
60
Table 4-2 Interface Panel Description
60
Indicator Description
61
Main Power Indicator
61
Figure 4-4 Schematic Diagram of Interface Panel
61
Table 4-3 Interface Panel Description
61
Table 4-4 Description of Power Indicator Status
61
System Indicator (Mechanical Arm 2)
62
Definition of Interface Pins
62
Power Interface (POWER)
62
Table 4-5 Description of System Indicator Status
62
Table 4-6 Definition of Power Interface Pins
62
Auxiliary Encoder
63
Table 4-7 Definition of Auxiliary Encoder Pins
63
MCP Interface (MCP/E-Stop)
65
Figure 4-5 Auxiliary Encoder
65
Table 4-8 MCP Definition of MCP Pins
65
Communication Interface (RS-232)
67
Ethernet Interface (Ethernet)
67
Figure 4-6 Wiring Diagram of Emergency Stop Device
67
Table 4-9 Definition of RS-232 Pins
67
Table 4-10 Definition of Ethernet Interface Pins
67
Digital Input/Output Interface (I/O)
68
Table 4-11 Definition of I/O Interface Pins
69
Figure 4-7 Diagram of Input Circuit (Left) and Output Circuit (Right)
73
Customer Signal Interface of Upper Control Cabinet (CS)
74
Table 4-12 Definition of Upper Control Cabinet CS Interface Pins
74
Customer Signal Interface of Mechanical Arm 2 (CS)
76
Table 4-13 Definition of Mechanical Arm 2 CS Interface Pins
76
Figure 4-8 Wiring Diagram of CS Interface of F19W-Core Robot General Cable
77
Product Installation
79
Installation Requirements
79
Product Confirmation
81
Installation Site and Environment
81
Figure 5-1 Installation Diagram
81
Installation of External Parts
82
Figure 5-2 External Parts Mounting Position（Unit：MM
82
Installation of Camera (Optional)
83
Figure 5-3 Schematic Diagram of Camera Installation
83
Handling of Robot
84
Figure 5-4 Schematic Diagram of Packaging and Transportation
85
Figure 5-5 Cut the Cable Ties
85
Base Installation
86
Figure 5-6 Installation of Bolts in the Base
86
Table 5-1 Tightening Torque
86
Ground Protection
87
Installation of Robot Cable
87
Figure 5-7 Schematic Diagram of Ground Connection
87
Communication Connection
88
Connection of Emergency Stop Device
89
Figure 5-8 Schematic Diagram of Communication Connection
89
Power Connection
90
Figure 5-9 Schematic Diagram of Emergency Stop Device Connection
90
Figure 5-10 Connection of Power Cable to Socket and Robot
91
Check after Installation
92
Check before Power-On
92
Robot Movement and Storage
93
Robot Operation
95
Prerequisites
96
Programming Environment Installation
97
Installation Steps
98
Figure 6-1 Installation Package
98
Figure 6-2 Start Installation
99
Figure 6-3 Choose Installation Path
99
Open Macro Command Debugger
100
Figure 6-4 Successful Installation
100
Figure 6-5 ARM Interface
101
Figure 6-6 ARM Interface
102
Figure 6-7 Macro Command Debugger
102
Functions of Macro Command Debugger
103
Macro Command Debugger Interface
103
Menu Bar
103
Figure 6-8 Macro Command Debugger
103
Figure 6-9 Menu Bar of Macro Command Debugger (ARM)
103
Table 6-1 Functions of Tools on the Macro Command Debugger
103
Introduction to User Defined Instruction Editing Area
105
Figure 6-10 Customize the Editing Interface(ARM)
106
Establish IP Communication
107
Figure 6-11 Call the Command Shortcut Interface(ARM)
107
Figure 6-12 Connection Interface
108
Figure 6-13 Scanning Interface
109
Figure 6-14 IP Connection
110
Figure 6-15 Successful Connection
111
Figure 6-16 Connection Failure
111
Query on Description of Macro Language Instructions
113
Input Instructions
114
Figure 6-17 Macro Manual
114
Figure 6-18 Input Instructions
115
Figure 6-19 Input Instructions
116
Run Instructions
117
Figure 6-20 Input Instructions
117
Breakpoint Debugging
118
Figure 6-21 Run Instructions
118
Output
119
Figure 6-22 Add a Breakpoint
119
Clear Output
120
Figure 6-23 Output
120
Save Output
121
Figure 6-24 Clear Output
121
Figure 6-25 Save Output
121
QRL Mode
122
Switch to QRL Mode
122
Creating QRL Project Files
122
Figure 6-26 Switch to QRL Mode
122
Figure 6-27 New Solution
123
Introduction to "Main.ql
124
Figure 6-28 Enter a Solution Name
124
Figure 6-29 "New Solution" File Interface
124
Figure 6-30 "Main.ql " Interface
125
Figure 6-31 Run the Solution
125
Introduction to "Data.qlv
126
Figure 6-32 "Data.qlv" Interface
126
Figure 6-33 New Location
128
Figure 6-34 New Locationj
128
Figure 6-35 New Profile
129
Figure 6-36 New Location Array
129
Figure 6-37 "Location Array" Information Interface
130
Figure 6-38 New Locationj Array
130
Figure 6-39 "Locationj Array" Information Interface
131
Figure 6-40 New Profile Array
131
Saving and Downloading Program Locally
132
Figure 6-41 "Profile Array" Information Interface
132
Figure 6-42 "Data.qlv" Program Content
132
Figure 6-43 Save to "PC Location
133
Figure 6-44 "Download History Paths" Interface
133
Manual Jog Teach
134
Figure 6-45 "PC Location" File Interface
134
Figure 6-46 Jog Teach
135
Figure 6-47 Teach Interface
135
Table 6-2 Introduction to Tools on the Jog Teach Interface
136
Servo Power-On
137
Table 6-3 Introduction to Tools on the Servo Power-On Interface
137
Speed Adjustment
140
Figure 6-48 Power-On Button Interface
140
Adjustment of System Speed
141
Figure 6-49 Adjustment of System Speed
141
Adjustment of Robot Speed
142
Figure 6-50 Speed Adjustment
143
Speed Adjustment During Motion
144
Emergency Stop and Recovery
145
Emergency Stop
145
Recovery
145
Table 6-4 Handling Methods
146
Robot Power-Off
147
Figure 6-51 Interface of Teaching in Powered-On State
147
Technical Service
149

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