Elite EC612, User Manual

Page 1: ...Elite Robot User Manual Doc Name EC612 User Manual Suzhou Elite Technology Co Ltd www elibot cn April 3 2020...

Page 2: ...ear in the new version The contents or information herein is subject to change without prior notice Suzhou Elite Robot Co Ltd shall assume no liability for any errors which will occur in the manual pr...

Page 3: ...of the robot arm 17 Chapter 2 Carrying and Cautions 19 Chapter 3 Maintenance Repair and Disposal 20 3 1 Maintenance and Repair 20 3 2 Disposal 21 3 3 Maintenance 21 Chapter 4 Quality Assurance 22 4 1...

Page 4: ...input 52 8 7 3 Tool digital output 53 8 7 4 Tool analog input 55 8 7 5 Tool analog output 55 8 7 6 Tool communication I O 56 Chapter 9 Teach Pendant 57 9 1 Programming Pendant Display 58 9 1 1 Main M...

Page 5: ...3 Interference Area 107 9 8 4 Home Position 110 9 8 5 Authority 113 9 8 6 Speed Parameters 115 9 8 7 Limit Parameters 115 9 8 8 System Configuration 116 9 9 Backup and Upgrade 117 9 9 1 Software Info...

Page 6: ...takes a joint modular design and uses a developer oriented robot system The user may develop his own robot control system in accordance with an application program interface provided by a ELITE colla...

Page 7: ...ist of one set of complete EC612 robot is shown in the table below More Information If you require more information please visit the website www elibot cn Name Quantity Robot body 1 Control box includ...

Page 8: ...mplement the specifications and requirements in this manual The user and the integrator must have sufficient safety awareness and comply with ISO 10218 Industrial Robots Safety Specification 1 2 Safet...

Page 9: ...ent Indicating a potentially hazardous situation which if not avoided could result in personnel injury or serious damage of the equipment As for the items marked with this symbol the major consequence...

Page 10: ...all try to describe various situations However it seems impossible to record all the cases that cannot be done in accordance with so many possibilities 1 3 2 Usage Notice The following basic informati...

Page 11: ...records kept 3 Only the authorized personnel could set and change the safety parameters and the passwords or the isolation measures must be used to prevent the unauthorized personnel from changing or...

Page 12: ...s or create new hazards Always make an overall risk assessment for the complete installation When different safety and emergency stop performance levels are needed always choose the highest performanc...

Page 13: ...lthough it seems to have stopped Even in this state the robot should be regarded as being in action 4 Lines should be drawn on the floor to mark the range of action of the robot in this way the operat...

Page 14: ...ents for industrial robots Part 2 Industrial robot system and integration RIA TR R15 306 2014 Technical report of industrial robots and robot systems Safety requirements and task based risk assessment...

Page 15: ...rsonnel is clamped by the robot base or the joint The danger caused by bumping against the robot The danger because the robot or the tool connected to the end is not fixed in place The danger due to i...

Page 16: ...owever only in the case that no danger occurs in accordance with the risk assessment Namely on the premise that no safety protective device and the on site sensor are used anticipated or accidental co...

Page 17: ...should meet the requirements of IEC 60947 5 5 The EC612 is equipped with the emergency stop buttons on the control box and the teach pendant The button should be pressed only when meeting the dangero...

Page 18: ...sonnel does not want to use the power supply In this way the robot joints are forced to move through the following method Forced reverse drive push or pull the robot arm hard at least 700N as to force...

Page 19: ...Page 18 of 130 Doc No T202001006 www elibot cn robot arm The function may reduce the damage as a result of impact and the risk assessment must be implemented when used for other purposes...

Page 20: ...e installation position from the packing material of the robot the robot should be supported until all bolts of the robot base are tightened completely After fixing the robot is powered on and the pos...

Page 21: ...eters are not backed up the parameters should be set again If the robot joints or the tool needs to be replaced the dynamics of the robot needs to be re identified with the identification method intro...

Page 22: ...event water or dust from entering into the robot arm or the control box Cautions 1 Replace the parts trapped in failure with new parts with the identical part number or the corresponding parts approve...

Page 23: ...nvalid The failure caused by the following circumstances shall not be covered by the warranty 1 Installation wiring and connection to other control equipments are not in line with the industrial stand...

Page 24: ...t of quality guarantee for the defects or deficiencies occurring in the products and the parts sold to the dealers As for any other explicit or implied warranties or liabilities including but not limi...

Page 25: ...ng one degree of freedom As shown in Figure 5 2 the robot joint includes a substrate joint 1 a shoulder joint 2 an elbow joint 3 a wrist 1 joint 4 a wrist 2 joint 5 and a wrist 3 joint 6 The substrate...

Page 26: ...The EC63 provides multiple IO interfaces and the tool flange of the robot end is equipped with four digital input and output interfaces and two analog input and output interfaces The control box can c...

Page 27: ...C Operating humidity 5 90 without dewing Bearing capacity of the floor the robot should be installed on a hard surface The surface should be able to bear at least ten times of the complete torsion of...

Page 28: ...ensions diagram of the EC612 robot with unit of mm 6 3 2 Range of motion of the robot Figure 6 2 shows the range of motion of the EC612 namely a sphere with a radius of 1304mm except the cylindrical s...

Page 29: ...lation location and is compatible with installation hoisting wall mounting and other specific installation ways on the base as shown in Figure 6 3 Figure 6 3 Schematic diagram of different installatio...

Page 30: ...5 C the user is strongly recommended to use the material with strong heat dissipation performance Make sure the robot arm is correctly and securely installed in place If soaked in water for more than...

Page 31: ...5 Mechanical dimensions diagram of the tool flange of the robot with unit of mm 1 Make sure the tool is correctly and securely installed in place 2 Make sure the tool is safely constructed such that i...

Page 32: ...all within the scope shown in the chart 2 The payload shown in the diagram indicates a maximum payload which should not exceed a maximum weight shown in the diagram under any circumstances 3 The compo...

Page 33: ...ble will not cause tripping hazard DANGER 1 Make sure the control box the teach pendant and the cables do not come into contact with liquids The wet control box may cause casualties 2 The control box...

Page 34: ...e Figure 7 2 Connection of the robot cable to the control box 7 1 2 2 Connection of the control box to the mains supply There is a heavy load rectangular plug at the end of the mains cable of the cont...

Page 35: ...Always use the original power cord correctly WARNING 1 Do not disconnect the robot cable when the robot arm is turned on 2 Do not extend or modify the original cable 7 2 Robot Power on 7 2 1 Preparati...

Page 36: ...bot and the teach pendant Normal exit exit the program and press the software closing button in the upper right corner of the operation interface of the teach pendant Forced shutdown long press the st...

Page 37: ...e robot application is designed and installed Furthermore observe these warnings and cautions as well when implementing maintenance DANGER 1 Never connect the safety signals to a PLC which is not a sa...

Page 38: ...he control box with the reliable GND with the dedicated power supply socket of the control box 4 Please be careful when installing the interface cable to the robot I O A metal plate on the back of the...

Page 39: ...es and currents are in direct current DC unless otherwise specified 8 3 Controller I O This chapter describes how to connect the equipment to the I O inside the control box The I O is extremely flexib...

Page 40: ...J102 J103 J104 J105 Configurable digital input DI J109 J110 J111 J112 J113 General purpose digital DO J108 J107 General purpose analog I O The following chapters shall describe how to use the digital...

Page 41: ...be implemented through the J14 terminal on the IO plate via the internal 24V power supply The configurable I O is defined that the digital input may be configured to two input modes including NPN and...

Page 42: ...tion PNP Type DOUTx ILOx IEC61131 2 1A Type Digital input DINx Voltage 3 30 V DINx OFF region 2 2 V DINx ON region 8 30 V DINx Current 8 30V 2 8 5 mA DINx Function PNP Type DINx IEC 61131 2 3 Type Dig...

Page 43: ...pes of safety related protective equipments The functional differences are shown below Emergency stop Safeguard stop Motion stop of the robot Yes Yes Program execution Stop Pause Power supply of the r...

Page 44: ...the safety stop device may be invalid 8 3 2 1 Default safety configuration The default configuration is implemented for the delivered robot which can be operated in absence of any additional safety eq...

Page 45: ...behind him The configurable I O may be used to set a reset button outside the door as to reactivate motion of the robot DANGER The robot shall resume motion automatically when the safeguard signal is...

Page 46: ...n the section below The regular digital outputs are taken in these examples however this type of outputs may also be used if the configurable output is not configured to perform the safety function Lo...

Page 47: ...is not galvanically isolated from the control box Use a shielded cable or twisted pair Connect the shielded cable to the GNDP terminal on the Power terminal The electrical specifications are shown bel...

Page 48: ...o T202001006 www elibot cn 8 3 5 2 Using an analog input This example illustrates how to connect with an analog sensor 8 4 Ethernet The Ethernet is provided on the top of the control box Please refer...

Page 49: ...heavy load plug In order to power on the robot the control box must be connected to the power supply This process must be completed by connecting with the rectangular heavy load plug at the bottom of...

Page 50: ...olts which are unused and connected to the grounding symbols inside the control box The grounding conductor should have at least the rated current of the highest current in the system 2 Make sure that...

Page 51: ...n the robot arm is started The power supply of the robot must be turned off when disconnecting the robot cable Caution 1 Do not disconnect the robot cable when the robot arm is started 2 Do not extend...

Page 52: ...ould be used for reference for a function list of 12 connecting pins of an aviation plug Note the mode of the aviation plug is HR10A 10R 12P of HRS company Pin No Function description 1 Digital ground...

Page 53: ...are shown in the table below 1000 mA for max 1 second Maximum duty cycle 10 Average current should not exceed 600 mA 8 7 1 Tool power supply The tool I O of the Elite collaborative robot can provide...

Page 54: ...with a simple button 8 7 3 Tool digital output The digital output is compatible with a sinking drive mode NPN namely it is in the low level state when the output port is activated and the level state...

Page 55: ...xample illustrates how to open and use a load of the internal 24V power supply It is recommended to use a protective diode for the inductive load as shown in the figure below Caution Even when the loa...

Page 56: ...g input are illustrated in the following section Using the tool analog input non differential This example illustratesan analog sensor connection with a non differential output Using the tool analog i...

Page 57: ...quests RS485 signals use internal fail safe biasing If the connected device is not compatible with this fail safe the signal biasing must either be done in the connected tool or added externally by ad...

Page 58: ...on and pose parameters and so on but facilitate operations of the user All operations may be completed by directly clicking the screen The housing of the teach pendant is designed in combination with...

Page 59: ...iffer in status control area coordinate area and sub menu area Could click to switch status pop up dialog box etc While it only changes status no pop up dialog boxes when using keyboard After clicking...

Page 60: ...splayed when the information prompt area is activated 5 The monitoring area and information prompt area in the three display areas can be hidden When the monitoring area or information prompt area is...

Page 61: ...em Upgrade Expert user System Configuration Robot configuration Root Network configuration Root Language configuration Root Institutional Information General user Software information General user Pro...

Page 62: ...sion Switch user General user Change password Expert user Monitoring First Level Menu Second Level Menu Operation Authority Coordinate Joint coordinates General user Cartesian coordinates Variable Var...

Page 63: ...le operation Administrator can modify the home position Program home position Expert user Home position calibration Expert user User processes Corresponding process setting menu will display under the...

Page 64: ...Page 63 of 130 DOC No T202001006 www elibot cn Program list Program editing Speed parameter setting...

Page 65: ...monitoring area is mainly used to display the robot coordinates variable values IO port status motor running status etc All the options under the Monitor menu are displayed in the monitoring area as s...

Page 66: ...Page 65 of 130 DOC No T202001006 www elibot cn Half display of the monitoring area Full display of the monitoring area...

Page 67: ...lding unfolding coordinate system selection joint cartesian tool user cylinder operation cycle selection single step single cycle continuous cycle synchronized unsynchronized state switching reset etc...

Page 68: ...ordinate Area The coordinate area will display the corresponding icon according to the selected coordinate system The icon of the coordinate area can only be displayed when the servo is enabled For jo...

Page 69: ...Page 68 of 130 DOC No T202001006 www elibot cn Joint coordinates Cartesian User Tool coordinates...

Page 70: ...rmissions Display the current permissions can open the permission settings window by touching screen Running status Display the current running status of the robot including stop pause run alarm etc R...

Page 71: ...by clicking the icon or by the corresponding key The submenu area shows as below when program list is focused 9 2 Robot Axes and Coordinates Systems 9 2 1 Basic Operations 9 2 1 1 Security Confirmati...

Page 72: ...s of JOINT CARTESIAN TOOL USER CYLINDER and then select the coordinate system 9 2 1 5 Speed Selection The speed contains manual teach speed play speed and remote speed The play speed and remote speed...

Page 73: ...the servo enable button in the bottom right corner of the programming pendant At this time the SERVO indicator in the upper left corner of the programming pendant is on In REMOTE mode the servo is tur...

Page 74: ...r position the manipulator can move parallel to the X Y or Z axes When using a manipulator of 6 axes rotation Rx Ry Rz can also be performed Rx rotates around the X axis Ry rotates around the Y axis a...

Page 75: ...while maintaining the tool orientation with the workpieces User can set the tool coordinates number 0 7 according to the actual tool conditions 9 2 2 4 User Coordinates The user coordinates are defin...

Page 76: ...2 5 Cylindrical Coordinates In the cylindrical coordinates the manipulator rotates around the Z axis of the body or moves parallel to the Z axis at right angles The axes R axes and Z axes directions...

Page 77: ...tool tip point control point is not changed and only the axis operation of the tool posture is changed Turning of each wrist axis differs in each coordinate system In Cartesian or cylindrical coordin...

Page 78: ...DOC No T202001006 www elibot cn In tool coordinates wrist axis rotations are based on X Y or Z axis of the tool coordinates In user coordinates wrist axis rotations are based on X Y or Z axis of the u...

Page 79: ...fy the emergency stop button is pressed ensure the servo power supply is disconnected and whether the manipulator alarms When an external emergency stop button is connected you should also ensure that...

Page 80: ...op up dialog box and press OK Delete Select the program that needs to be deleted in the program list and press DELETE In the pop up confirmation prompt box press OK to delete press CANCEL to cancel de...

Page 81: ...neral purpose display area The sub menu displays the corresponding program editing options Each program file starts with NOP and ends with END The line where the cursor locates will be displayed in bl...

Page 82: ...is MOVL Linear interpolation is used for work such as welding The manipulator moves automatically changing the wrist position as shown in the figure below Circular Interpolation The manipulator moves...

Page 83: ...press the desired option to switch the instruction mode The electronic handwheel is disabled by default in the program editing page after booting Push the electronic handwheel inward to switch betwee...

Page 84: ...elibot cn 4 After selecting the move instruction edit the contents of its additional items and press OK to insert it The Enable switch must be hold when inserting the move instructions Otherwise the...

Page 85: ...e the instruction to be inserted Then press EDIT INSTRUCTIONS under the main menu or QUICK INSTRUCTIONS in the submenu area to select the instruction to be inserted After editing the additional items...

Page 86: ...he program editing page Then press MODIFY in the submenu area and the instruction editing window will pop up For the non motion instructions only UPDATE PARAMETERS can be used After modifying the inst...

Page 87: ...be used only when holding the Enable switch 9 3 2 4 Checking Steps After completing the program editing the manipulator can be moved ahead in step number sequence manually in order to check in advance...

Page 88: ...n only execute the move instruction The non motion instructions can only be executed in PLAY mode 9 3 2 5 Editing Programs When editing the program the Program Edit option under the main menu provides...

Page 89: ...t the NOP and END lines cannot be deleted Press BLOCK DELETE and the dialog box will pop up for specifying the range of the instruction lines to be deleted Press OK to complete the delete operation Se...

Page 90: ...es of all matching items in the program with the specified value at once Customizing Quick Instructions In the program editing page QUICK INSTRUCTIONS in the submenu area can be pressed to customizing...

Page 91: ...d to reset the system status 9 3 3 List of program instructions Instruction Group Instruction Description I O Instructions DOUT Digital output MOUT Virtual digital output DIN Digital input PULSE Pulse...

Page 92: ...eration XOR Logic XOR operation GETPOS Get the current position of manipulator MFRAME Establish a coordinate DIST Calculate the distance between the two points Move Instructions MOVJ Joint interpolati...

Page 93: ...n Cycles Switch to PLAY mode press the icon in the status control area to select one of three types of manipulator operation cycles SINGLE STEP Executes one step instruction at a time SINGLE CYCLE Exe...

Page 94: ...own and stop There are two ways to pause the program 1 Press PROGRAM PAUSE button on the programming pendant 2 Use the external input signal The program pause operation will be executed when the input...

Page 95: ...er Processes The ERC G200 control system includes user processes such as arc welding reservation external axes laser tracking scripting vision tracking palletizing stamping etc which can be enabled in...

Page 96: ...B000 B255 256 I Integer Type I000 I255 256 D Double Type D000 D255 256 P Position Type P000 P255 256 In the variable monitor page the user can switch between different variable types by pressing the b...

Page 97: ...ition type variable Select the desired P variable using the cursor in the variable monitor page Press VIEW to view its value in the information prompt area Press CLEAR to reset it to the default value...

Page 98: ...ot cn 9 6 3 IO The IO monitor page includes four options input output virtual input and virtual output Select the desired option to open the corresponding monitor page The user can switch between the...

Page 99: ...lect Y000 using the cursor and press MODIFY in the submenu area to reverse its state Its value will become 1 from 0 or become 0 from 1 9 6 4 Motor The motor monitor page includes three options pulse m...

Page 100: ...ed monitor page the real time rotational speed of each axis can be viewed according to the actual requirements In the absolute position monitor page the pulse counting at the current position for the...

Page 101: ...sing JOINT CARTESIAN button in the submenu area In the program editing window use the cursor to select the desired move instruction and the coordinate values of the target point corresponding to the i...

Page 102: ...ow can be expanded towards the desired direction by pressing Expand Up Down and Expand Left Right buttons Therefore the multiple windows can be displayed during the program execution which is convenie...

Page 103: ...ed from 0 to 7 can be set in the system Go to the page of Readiness for operation Tool coordinates and select the tool coordinate number The TCP can be calculated by inputting the tool coordinate valu...

Page 104: ...a as shown in the figures below tool A tool B tool C Cases of Tool A B X Y Rx Ry Rz are 0 and Z is 260 Cases of Tool C X Rx Ry Rz are 0 Y is 145 and Z is 260 Enter the value into the coordinate input...

Page 105: ...hould always be the same point e g the tip of the calibration cone and each angle must be arbitrary Accuracy may decrease when pose setting is rotated in a constant direction The points P6 and P7 are...

Page 106: ...sed manual operation can be simplified by setting the user coordinates for each fixture as shown in the following figure User coordinates are defined by three points that have been taught to the manip...

Page 107: ...r Operation User coordinates to open the user coordinate setting page First select the user coordinate number to be set Then select one of the three defining points and press RECORD button in the subm...

Page 108: ...rence Area This area is a rectangular parallelepiped which is parallel to the base coordinate Cartesian coordinate The system judges whether TCP of the current position of the manipulator is inside or...

Page 109: ...rference area will be set successfully 2 Number Input of the Side of Cube and Teaching Center Move the manipulator to the center point of the cube using the axis keys and record it Then enter the leng...

Page 110: ...ave been set at the plus and minus sides of the axis to define the working range a signal indicating whether the current position of the axis is inside or outside this range is output ON inside OFF ou...

Page 111: ...fying the PLC program 9 8 4 Home Position The Readiness for Operation Home position menu includes three options mechanical home position program home position and home position calibration 9 8 4 1 Mec...

Page 112: ...setting mechanical home position in Initial Configuration Manual 9 8 4 2 Program Home Position The program home position is the reference point for manipulator operations It prevents interference with...

Page 113: ...libration cone 2 Go to Readiness for Operation Home Position Home Position Calibration 3 Select the above program and the tool number that needs to be calibrated 4 Press Set button and if the calibrat...

Page 114: ...ettings Authority menu switching users and changing password 9 8 5 1 Switching users The system provides four types of user authorities general user expert user root and administrator The user authori...

Page 115: ...elibot cn 9 8 5 2 Changing Password The password of the current user authority can be modified in the page of changing password Enter the previous password and the new password at the given locations...

Page 116: ...es can be used for the parameters in this page which most users do not need to set 9 8 7 Limit Parameters In the page of Settings Limit Parameters the maximum and minimum angular position of each axis...

Page 117: ...rations press SET button and the users will be prompted to decide whether to restart the system Then press OK button all the settings will take effect after the restart Generally all above settings ar...

Page 118: ...take effect after the restart 9 9 Backup and Upgrade The backup and upgrade operations of the system software are simple fast and convenient which only need an ordinary USB flash disk After preparing...

Page 119: ...1 1 Basic Information The basic information includes the IP address of the controller the software version number and the system version number The software information page displays the basic inform...

Page 120: ...eenshots etc Script Backup Delete Backup or delete script files When performing Save to USB operation if there is no folder called rbctrl in the root directory of the USB flash disk the system will au...

Page 121: ...mechanical home position page before the system upgrade The detailed upgrade procedures are as follows 1 Prepare a USB flash disk and copy the system upgrade file firmware bin to its root directory 2...

Page 122: ...l and copy the firmware upgrade file into it 2 Insert the USB flash disk into the USB port of the collaborative robot cabinet and a USB device icon will be displayed in the coordinate area of the prog...

Page 123: ...It is defined as a controlled stop with power available to the robot The robot stops all motions within one second Through the operation of the safety related assessment control system the robot may...

Page 124: ...crete level which is used to specify the ability of each safety related part in the control system to implement the safety function under foreseeable conditions PLd is a second highest reliability cla...

Page 125: ...the robot performance test of National Robot Testing and Assessment Center Headquarters of China and the performance indexes have exceeded most of the domestic brands and achieved the standard of the...

Page 126: ...collaborative robot The test standards are as follows GB 5226 1 2008 GB 11291 1 2011 GB T 15706 2012 GB T 17799 2 2003 GB 17799 4 2012 The EC612 robot is subjected to the robot performance test implem...

Page 127: ...0 the general speed of the robot is set as 100 and the robot moves at a joint speed of 180 s Payload a maximum payload 12kg that can be handled by the robot connected to TCP The Joint 0 test was carri...

Page 128: ...tates relating to electromagnetic compatibility and repealing Directive 89 336 EEC EN ISO 13850 2008 Safety of machinery Emergency stop Principles for design EN ISO 13849 1 2008 Safety of machinery Sa...

Page 129: ...out 2 analog in and 4 analog out Tool IO 2 digital in 2 digital out 1 analog in and 1 analog out IO power supply The control box is 24V 2A and the tool end is 24V 0 8A Communication with control box...

Page 130: ...Page 129 of 130 DOC No T202001006 www elibot cn F Alarm Information and Description of Routine Problems See the detailed instructions of the control system for the alarm information...