Hanwha HCR-3, User Manual

Page 1: ...HCR 3 Collaborative Robot User Manual Aug 2019 V 2 001...

Page 2: ......

Page 3: ...system concepts and installation issues The actual product may differ from the manual Please keep this manual in a safe place for future reference Voltage 100 240VAC 50 60Hz 1kW It should be connected...

Page 4: ...s are responsible for any damages caused by their misuse or modification of the patent rights for the equipment The information provided by the manual is deemed trustworthy by Hanwha Precision Machine...

Page 5: ...ROBOT S WORKING RANGE 25 1 9 MAXIMUM LOAD CAPACITY FOR THE TOOL 26 CHAPTER 2 SAFETY 27 2 1 SAFETY MARKS IN THE USER MANUAL 27 2 2 GENERAL SAFETY CAUTIONS 28 2 3 INTENDED USE 29 2 4 POTENTIAL DANGERS 3...

Page 6: ...y stop button 49 Safety protection stop and restart 49 3 10 CONFIGURING THE GENERAL DIGITAL I O 50 Load control with digital outputs 50 Digital input control using buttons 51 Communicating with other...

Page 7: ...9 6 3 LOGIN LOGOUT 70 Logging in 70 Logging out 71 6 4 CHECKING STATUS 71 Checking robot status 71 Checking errors 71 Checking the software version 72 CHAPTER 7 SETTING ROBOTS 73 7 1 SETTING THE ROBOT...

Page 8: ...oundaries 97 Changing the name of safety boundaries 98 Deleting safety boundary settings 98 8 3 SETTING TOOL BOUNDARIES 100 Adding Tool Safety Boundary Surfaces 100 Setting Tool Safety Boundary Surfac...

Page 9: ...rt Program File 119 9 5 USING TEMPLATES 120 Saving as a template 120 Loading a template 121 Deleting a template 121 9 6 APPLYING PROGRAMS 122 9 7 MOVE COMMAND 123 Selecting a movement method 123 Radiu...

Page 10: ...ONVEYOR 144 Conveyor Setting 144 Conveyor Start Options 145 Setting Conveyor Command 145 9 18 VISION COMMAND 146 Setting basic options 146 Setting the movement speed 146 Setting the movement location...

Page 11: ...USING A VISION SYSTEM 170 12 3 ADDING AND SETTING VISION EQUIPMENT 171 Adding a vision equipment 171 Setting a vision equipment 171 12 4 SETTING VISION WORKSPACE 173 Adding Vision Workspace 173 Under...

Page 12: ...rations 185 15 6 SOFTWARE UPDATE 187 Cautions during update 187 Updating software 187 APPENDIX A WARRANTY 189 Warranty 189 Warranty period 189 Limitation of Liability 189 APPENDIX B CERTIFICATION 190...

Page 13: ...d memorize movements Users can preview the robot movement in a real time 3D and use the icon based intuitive GUI for easy operation As the installation method is simple even if users are not robot eng...

Page 14: ...features users can safely work next to the robot without using additional safety tools or devices The robot is automatically stopped when it detects an impact so as long as the working range of the ro...

Page 15: ...hapter 1 Product Overview 15 1 2 System Components The following is a list of system components Robot arm Teaching pendant Robot controller Teaching pendant fixing bracket 8 pin tool cable User manual...

Page 16: ...ot that can be used to convey objects or assemble parts and it can be used by attaching various tools such as grippers Robot controller Can control the robot arm s various movements according to the p...

Page 17: ...Chapter 1 Product Overview 17 1 4 Overview of Robot Arms Parts and joints Tool Flange Lower Arm J1 J6 Wrist3 Elbow Base J5 Wrist2 J3 J4 Wrist1 J2 Shoulder...

Page 18: ...ls to Robots Tool I O It is the I O port used to control a tool For more details about specifications refer to Appendix E Port Pin Map LED Indicates the status of robot Green Operation mode Blue Direc...

Page 19: ...rview of Robot Controller Front No Name Handle Air exhaust hole exhaust hole filter Air intake hole intake hole filter Controller cover locking screw Teaching pendant fixing hook Controller fixing bra...

Page 20: ...Chapter 1 Product Overview 20 Bottom No Name Robot connector Teaching pendant connector Power button AC power socket...

Page 21: ...to 4 2 Turning on the Teaching Pendant Emergency stop button Press it to stop the robot For more details refer to 2 7 Emergency Stop Touch screen A resistive touch screen that detects a touch even if...

Page 22: ...hapter 1 Product Overview 22 Rear No Name Description Handle Users can insert their hands and lift the teaching pendant for use Users can turn the handle and insert their hand in the desired direction...

Page 23: ...s the following coordinates and operational ranges The direction of arrow indicates the rotational angle and the opposite direction of arrow indicates the rotational angle Operational axis Operational...

Page 24: ...Chapter 1 Product Overview 24 Note The J3 axis has a limited operational range due to its unique structure When the J3 axis is at 160 When the J3 axis is at 160...

Page 25: ...ion for the robot when its arm is fully stretched is 630 mm The radius of 74 3 mm from the center axis of the base is the area where the robot arm cannot reach due to its structure A Working range whe...

Page 26: ...view 26 1 9 Maximum load capacity for the tool The load capacity of the robot arm may vary depending on the distance between the tool flange and the payload s center of gravity The load capacity per d...

Page 27: ...user does not obey the safety mark then it can cause a severe accident including death or serious injury of a user Warning If a user does not obey the safety mark then it can cause an accident includi...

Page 28: ...used only for safety related I O When using the teaching pendant pay close attention to the robot s movements When the robot is operating do not enter the working range of the robot or touch the robo...

Page 29: ...robot failures Hanwha Precision Machinery will not be responsible for it Do not expose the robot to a strong magnetic field Your robot can be damaged 2 3 Intended Use This robot may be used for trans...

Page 30: ...by objects separated or fallen from the tool Note Potential dangers that may occur vary depending on the final system 2 5 Limitation of Liability This user manual does not cover all of the peripherals...

Page 31: ...l documents including the user manual Complying with the safety items in the user manual does not mean that all possible risks are prevented 2 6 Transportation The weight of the robot arm is 13 kg and...

Page 32: ...collision or an emergency stop while driving over the speed of 120 sec check the zeroing of the robot joint and calibrate it if needed After that check if the movement path of the tool set in the ope...

Page 33: ...ety 33 2 8 Safety Fence Unlike other kinds of industrial robots that adopt physical fences virtual fences are implemented to make sure that the TCP does not reach out of certain limits For more detail...

Page 34: ...n overload the driving unit The manufacturer is not responsible for the failure caused by excessive force 2 11 Safety Controller The safety controller for HCR 3 complies with the ISO13849 Cat3 PLd cla...

Page 35: ...peed Limit You can limit the max speed for the TCP s linear movement Force Limit You can limit the maximum force that stops the robot when it detects a collision with a surrounding object Safety Bound...

Page 36: ...of international standards and local laws and regulations or due to not performing review on the risk assessment as mentioned in Section 2 12 3 1 Installation Locations It is recommended to install t...

Page 37: ...3 Installation 37 3 2 Installation Types You can install the robot arm on ceiling wall or floor as follows Example of installation on floor Example of installation on wall Example of installation on...

Page 38: ...stall the robot on a moving dolly you must make sure the moving dolly is fixed to the ground when operating the robot Note The moving dolly or fixed post is not included in the product package After i...

Page 39: ...determination pins to determine the location In addition to prevent electrostatic charges you must connect the grounding line using a piece of M4 x 10 mm bolt Warning When fixing the robot securely fa...

Page 40: ...s from tool to tool For more detailed methods refer to the user manual provided by the tool maker For more details about specifications of tool flange refer to Appendix D Tool Flange Cross Section 3 A...

Page 41: ...ndant to the robot controller After connecting the teaching pendant cable by using fixing bolts for the connector securely fasten it so that the cable does not slip out Be careful of pin being bended...

Page 42: ...s power terminal accepts standard IEC plugs The minimum requirements for power supply are ground main fuses and circuit breakers and they should be prepared by the person who prepares for installation...

Page 43: ...g teaching pendant to controller pay attention to the pin of the connector 3 6 Fixing the Controller Box The controller box can be fixed to the ground by using the fixing bracket at the bottom Fix it...

Page 44: ...xible so it can be connected to various equipment such as relays PLC and emergency stop buttons The following electrical interface layout exists for the area inside the controller box 3 8 Common Spec...

Page 45: ...limit 2 A Typ DC 24 V Min DC 23 V Max DC 26 V ING Internal 24 V I O GND EXV External 24 V I O power supply EXG External 24 V I O GND If the digital I O power supply provided from the inside of the con...

Page 46: ...ly INT ING Voltage 23 24 25 V Current 0 2 A External 24V requirements EXV EXG Voltage 20 24 29 V Current 0 2 A The digital I O is manufactured by complying with the IEC 61131 2 standard The following...

Page 47: ...al I O When you install the safety device or equipment you should comply with the instructions from Chapter 2 Safety and Chapter 3 Installation Safety inputs include emergency stop and safety protecti...

Page 48: ...tion may fail causing severe injury or even death The safety signal and the general I O signal should be separated from each other Warning All the safety class I O s are duplexed By separating the cha...

Page 49: ...tion stop and restart As an example of basic safety protection device basically when the door opens you can press the door switch to stop the robot You can configure the function as follows If you can...

Page 50: ...I O The general digital I O should comply with the common specifications of digital I O The general digital I O can be used to configure relays or PLC systems In this configuration if the program is...

Page 51: ...simple button to a digital input You can configure it as follows Communicating with other equipment or PLC The digital I O can be configured to communicate with other equipment if a common GND is esta...

Page 52: ...power J12 terminal The current signal is not sensitive to noise so simply use an equipment operating in current mode The input mode can be set in the GUI The following electrical specifications apply...

Page 53: ...on 53 Analog output You can use analog outputs as speed control inputs to the conveyor belt You can configure it as follows Analog input You can use analog sensor outputs as analog inputs You can conf...

Page 54: ...arted 54 Chapter 4 Getting Started 4 1 Turning on the Robot Controller Turn on the power switch at the bottom of the controller If you turn on the power switch for the controller power will be supplie...

Page 55: ...op of the teaching pendant Caution Do not turn on the teaching pendant with USB devices connected It may cause problems with starting the system Connect it after the system is booted completely Do not...

Page 56: ...n to expand the menu You can check the name of each menu and if a sub menu exists then you can select it as well Robot Operation You can configure basic operation control start pause of your robot For...

Page 57: ...t that will be linked to the robot For more details refer to Chapter 12 Linking with External Equipment Management You can register a robot or user and manage logs etc For more details refer to Chapte...

Page 58: ...he screen perspectives Screen display setting button You can configure the information displayed on the preview screen and the screen layout Basic setting button Hide or unhide the TCP coordinates Ini...

Page 59: ...me buttons are not available in the preview screen Robot task control button You can preview the programmed robot tasks Start the program from the beginning or at the selected task When you press the...

Page 60: ...tation Rotates the TCP by using jog buttons Direct Teaching If you manually adjust the robotic arm as you press this button the system detects any changes in the joint position When the Manual Control...

Page 61: ...en the screen will be changed as follows and then you can enter the coordinates and the joint angles on your own Press the Move button to move the robot arm to the preset position Press the Input rese...

Page 62: ...re accepts touch based inputs so you can use a virtual keypad on the screen Depending on the input types there are three types of virtual keypads as follows Text keypad You can enter or edit simple En...

Page 63: ...The Enter key is deactivated and cannot be used if there is no inputted text string Expression keypad You can enter or edit simple expression Basically an expression is composed of three input items G...

Page 64: ...d If you want to delete the selected input item then press the Clear key If you want to display the inputted expression press the Enter key If you want to close the keypad then press the button at the...

Page 65: ...ng the robot turn on the system for the first time Only the Management menu will be seen If there is no robot registered other menus will not be seen 6 1 Managing Robots You can register a new robot t...

Page 66: ...utton 4 When the restart confirmation window appears press the OK button You must restart the system for normal operation Deleting robots 1 In the list of registered robots select a robot 2 Press the...

Page 67: ...6 Registering Robots and Users 67 Modifying the robot name 1 In the list of registered robots select a robot 2 After pressing the text box having the robot name modify it as you want 3 Press the Apply...

Page 68: ...an grant an individual right to each user to limit their access to the menus In the main menu select Management User Adding users and setting authorities 1 Press the Add button 2 Set the user informat...

Page 69: ...then contact local distributor Menu available to each authority Depending on the authority set in User Management the following menus become available Even if you are not logged in you can still use s...

Page 70: ...X Shutdown O O X Zeroing Robot X X X Note The Zeroing Robot menu is only accessible by the Super Admin user If you need assistance with zeroing contact the manufacturer or a local distributor 6 3 Log...

Page 71: ...the robot name and the status icon in the upper right of the screen Green Servo On Red Servo Off Checking errors You can check errors that occur while the robot is in operation or being programmed wh...

Page 72: ...rsion You can check the current version of the operating software and control software by clicking the information display icon at the top of the screen Operating software Displays the operating softw...

Page 73: ...peration of the robot arm looks same as what we saw in the preview screen and let the controller know the direction of gravity Warning The system is unable to automatically recognize the tilt of the g...

Page 74: ...e directly 2 Press the Apply button to apply the settings to the system Press the Cancel button to revert to the previous settings 7 2 Setting TCP When you mount a tool in the robot arm for the first...

Page 75: ...rding to the TCP type before operating the robot Creating a new TCP profile 1 Press the Add button 2 Enter the new TCP name and press the OK button You may enter up to 25 characters Special characters...

Page 76: ...4 Press the Save button If successfully saved then the Set Active TCP button is activated 5 If you want to apply the newly set TCP profile to the robot press the Set Active TCP button The robot will r...

Page 77: ...1 enter the position data After that move to an arbitrary point P2 and let it face the same point and enter the position data Proceed this way until you have at least three points The angle between ea...

Page 78: ...Chapter 7 Setting Robots 78 To calculate the position of TCP proceed as follows 1 After pressing the Edit button press the Position button 2 Press the Teaching button...

Page 79: ...al Move screen refer to 5 3 Manual Move Screen 5 In the Manual Move screen press the OK button 6 When the P2 button is activated repeat steps 3 through 5 An error will occur if the previously inputted...

Page 80: ...three points are set properly 8 Check the calculated position result and press the Apply button Press the Cancel button to cancel the task Setting the TCP orientation You can calculate the orientatio...

Page 81: ...screen use jog control and Direct Teaching button to adjust the tool orientation as follows For more details on the Manual Move screen refer to 5 3 Manual Move Screen As shown in the figure below let...

Page 82: ...utton Editing the TCP profile After checking the name of TCP profile currently used by the selected robot and proceed as follows 1 Select the TCP profile to edit 2 Press the Edit button You cannot edi...

Page 83: ...name of TCP profile currently used by the selected robot and proceed as follows 1 Select the TCP profile to modify 2 Press the Delete button You cannot delete the TCP profile currently being used by...

Page 84: ...be executed depending on the input output signals In the main menu select Robot Setting I O Setup Types of digital I O There are three types of digital I O as follows Redundant I O Input and output wi...

Page 85: ...s cannot be used Command Set the command to be executed when the preset value Low High is inputted or outputted to the I O terminal Unassigned The I O is not used Program Play Start the program Progra...

Page 86: ...e set Low High to the output terminal is output Unassigned The I O is not used Program Running Outputs the set value when the program is executed Program Stopped Outputs the set value when the program...

Page 87: ...tem to modify and the editing window will appear as follows Name Use a name easy for a user to identify or change the existing name You cannot use the same name already in use by another I O Max 15 le...

Page 88: ...inates generated by a point a line and a plane are available when you a variable is selected Points consisting of each of them are available when Enable is selected When you select the name of a point...

Page 89: ...Z axis This becomes the robot s Z axis X axis This is set to the other axis Registering plane coordinates You can add and set plane coordinates To define a plane set point 1 point 2 and point 3 in se...

Page 90: ...ou can set the global variables that are available and shared by many programs by restarting the system Variable name Specifies a variable name Up to 10 characters 20 bytes can be entered Variable val...

Page 91: ...is enabled when any check box in a row is selected If it is clicked the selected row will be deleted Settings cannot be added while the program is running or started I O bit operation settings Set I...

Page 92: ...obot operation Warning Make sure to check safety settings immediately after the robot is installed In addition all of the functions for safety settings must be regularly checked 8 1 Limiting Robot Mov...

Page 93: ...ings are provided If you want to use the default setting check Preset and select one out of the four choices Manual setting method If you want to set each item on your own you can use the adjustment b...

Page 94: ...gle of each joint Joint Speed You can limit the speed of each joint Press the Cancel button to revert the settings newly changed by a user in the current tab general mode or deceleration mode to the p...

Page 95: ...from moving beyond the boundary of these virtual fences Press Safety Setting Safety Boundary in the main menu Adding safety boundary planes After adding multiple safety boundary planes if necessary y...

Page 96: ...ove screen refer to 5 3 Manual Move Screen Your safety boundary will be created in a location that is separated from the center axis of the flange as much as the TCP length set in the TCP 3 To save th...

Page 97: ...r the safety boundary Point Indicates the center of the 3 D where the center of the safety boundary is located Direction Indicates the direction vector for the border plane that can indicate a collisi...

Page 98: ...safety boundary planes in the list press the up down button to scroll Changing the name of safety boundaries If you add a safety boundary it will save as Boundary and a number by default 1 Press the n...

Page 99: ...Chapter 8 Safety Settings 99 3 Press the OK button...

Page 100: ...l Safety Boundary Surfaces The safety boundary of the tool can be set only for TCP settings that have already been set 1 Select the Tool Boundary tab and select an item with the name of the TCP you wa...

Page 101: ...he tool has the same coordinate axes as TCP s coordinate axes Setting Tool Safety Boundary Surfaces 1 The boundary surfaces of the tool set to Use are set to a box by default The user selects one of t...

Page 102: ...e I O value Instead the two designated inputs or outputs check the High or Low signals to determine validity of values In the main menu press Safety Setting Redundant I O There are two tabs digital in...

Page 103: ...the emergency stop state Low 0 is output Otherwise High 1 is output When a physical emergency stop button is pressed it operates even when the designated IO is in the emergency stop state Robot Movin...

Page 104: ...n the main menu press Safety Setting Safe Guard Assign a Safeguard Stop function with the IO Click Apply button to apply to the system Note Only one Safeguard Stop can be set at a time Assigning a fun...

Page 105: ...ely set to the normal range through the following procedure 1 Go to the administration screen by selecting the administration menu or clicking the top guidance message 2 Uncheck Use Safe Settings 3 Cl...

Page 106: ...There are two types of flow charts main and sub Main Program In this screen you can input or modify the main program Sub Program In the main program you can call multiple sub programs for use Press th...

Page 107: ...r each case of the designated variable For more details refer to 9 10 SW ITCH Command Wait Tell the robot to wait until the condition entered by the user is met For more details refer to Wait Command...

Page 108: ...a sub folder Message Define Message Type Halt Terminate the program Conveyor Set the operation to be linked with conveyor s movement Vision Use a vision equipment to scan an object For more details r...

Page 109: ...ing the initialization icon This initialization icon cannot be deleted Check Icon Status The status of the icon indicates the status of the newly added command and the modified command Command that do...

Page 110: ...ick the Search button to display the search function on the screen 2 Enter the name of a command to be searched and perform a search 3 If there is a searched command the number of searched commands is...

Page 111: ...Skip are grayed out and will not be executed during program execution Tree If you click the all the commands programed are displayed in Tree structure The commands in the Tree and the command icons i...

Page 112: ...riable management and monitoring is displayed at the top as shown below Adding variables Press the Add button If you press the Add button the default name and value 0 will be automatically entered Num...

Page 113: ...nter a number The range is from 2147483647 to 2147483647 Character variable s maximum length 20 characters Deleting variables 1 Check the checkbox for the variable to delete 2 Press the Delete button...

Page 114: ...the cropped or copied command to the selected location Copy Copy the selected command You can copy a command to another location Delete Delete the selected command from the program Left or Right Move...

Page 115: ...cted indicates the order of pasting 2 In the edit menu press the Cut button After pressing the Cut or Copy button the Select Mode button will be activated so that you can cancel the edit command and r...

Page 116: ...te button Undo Function Undo You can use the edit function to undo edits made to items Redo You can redo an edit that has been undone Note Up to 50 steps are saved The edit history is initialized when...

Page 117: ...screen 2 Enter the program name and press the OK button Only if the program is newly saved or saved with a new name the name input window will appear If you want to save the program with a different n...

Page 118: ...aved program select File Load at the bottom of the screen 2 Select a program to load and press the OK button Deleting a program 1 To delete the saved program select File Load at the bottom of the scre...

Page 119: ...pt at the bottom of the screen 2 Enter the file name and press the OK button Export Program File You can save the program and the configuration file of current system 1 To save the program select File...

Page 120: ...entire program structure is saved but the option for each command is not saved Saving as a template To save the completed program as a template select Template Save at the bottom of the screen If you...

Page 121: ...emplate select Template Load at the bottom of the screen 2 Select a template to load and press the OK button Deleting a template 1 To delete the saved template select Template Load at the bottom of th...

Page 122: ...tion If you want to link the program to an actual robot or check it in previews press the Apply button To revert it to the previous settings before the changes are made press the Cancel button To chec...

Page 123: ...e complex way Frame Select whether to move by TCP or Flange Reference coordinate system Select the reference coordinate system on which the robot moves when executing the move command Speed 0 1 mm s 1...

Page 124: ...l Acceleration 0 1 mm s2 2500 mm s2 Note The TCP coordinates of the last position held by the robot are the coordinates of the starting point Circle The tool moves along the circle formed by the start...

Page 125: ...If the currently set move command is Move Linear and the next move command is the same straight line motion the robot will move without stopping If P1 and P2 are linear motion and the radius is 0 the...

Page 126: ...tes of the next move command as below Moving path when radius within driving range Limitation of Radius length The maximum length of the radius that can be set is limited to 50 of the shorter distance...

Page 127: ...ile moving Select Advanced Add the digital outputs to control and set the values of them Setting the coordinates for movement To set the movement coordinates you can either use an absolute value that...

Page 128: ...nate is examined in the control software whether it indicates an area where the robot can move to Even if you entered an input within the range an error can occur when the area is prohibited by the sa...

Page 129: ...IF then press the Else IF button To delete the Else IF statement you added select the checkbox for the Else IF statement and press the Delete button If you select the icon on the right side of the con...

Page 130: ...a series of commands Disabled Do not use a LOOP command Always Repeat execution Loop input times Repeat as many times as the entered number By default it is set to one Max 1 000 000 Execute loop based...

Page 131: ...cuted immediately by finding the corresponding case thus it is much faster than execution of an IF command 1 Using the drop down menu next to Switch select a variable For more details about the variab...

Page 132: ...put terminal For a digital signal you can choose either of low or high Analog Waits until the condition of the value set to a specific analog input terminal is met On analog setting whether to use the...

Page 133: ...based on the analog unit that you set in the Monitoring menu Tool Power Set the voltage of Tool IO Power Test Test defined output before running program Variable Assigns a specific value to a variabl...

Page 134: ...1 Click the Edit icon 2 Select icons that you want to group into folder 3 Click the Combine Folder icon When converting a folder the folder is created at the last location of the program Create New Fo...

Page 135: ...Command Extension tab Output format Pop up Displays a pop up window with messages List Displays messages in the lower left console window Message operation If you set the message format as pop up you...

Page 136: ...er has entered Variable output Selects the variable to which to output the value Select message Write a message in advance and save the text file to the USB in UTF 8 format Click Select message Select...

Page 137: ...s pattern the robot stacks objects while vertically moving with certain intervals Unstack pattern In this pattern the robot unstacks objects while vertically moving with certain intervals Line pattern...

Page 138: ...set by starting with number 1 Select the number for the sample image or press the list of the pattern location coordinates 2 Press the Set Point button Press the Set Point button to launch the Manual...

Page 139: ...the start position If Start at the Next Position is checked the start position is set at the initial position of the pattern Location verification While pressing this button move to the position you e...

Page 140: ...oint setting you can avoid collisions with them and smoothly continue with the next pattern task by selecting a desirable tool path Press the pattern point icon to launch the following setting screen...

Page 141: ...ogram 1 In the flow chart press the Sub tab 2 Press the subprogram button in the command menu of the Sub tab Once the subprogram button is pressed a new sub program will be created The name of the sub...

Page 142: ...tab you can save it as a file or load the sub program or template Keep Sub Program Even if the original subprogram is changed the contents of the program at the time of loading can be preserved and e...

Page 143: ...e a sub program is selected the subprogram command will be added to the timeline as shown below and a sub program line will be added at the bottom to indicate the content of the sub program In the mai...

Page 144: ...t save it in the Sub tab 9 17 Conveyor Executes operations linked with conveyor movement Conveyor Setting Direction Set the conveying direction information of the conveyor Select the line coordinates...

Page 145: ...ut is available Setting Conveyor Command Set the actions to be executed during conveyor tracking During conveyor tracking the robot moves to the Move position specified by the conveyor moving directio...

Page 146: ...desired vision equipment and set the waiting time and the data receiving option Setting the movement speed Once you have entered the vision command a vision capture point and a moving point will be cr...

Page 147: ...arm s position is stabilized No waiting time is required depending on the robot speed Set the waiting time for responses after requesting data from a vision equipment Default 3 sec Input range 1 10 Re...

Page 148: ...lect the Thread tab to create a thread Click the drop down menu to select the vision device you want to use and set the wait time and data reception options Repeat Selects whether to repeat the progra...

Page 149: ...Programming 149 Note Commands to control the motion of the robot cannot be used Event Tab Create Thread which has condition Select the Event tab to create a Event It s same with Thread except using c...

Page 150: ...is displayed on the screen EDIT You can edit the edit window by opening it Click the Validation Check button to check the integrity of the created script Manual Control Operate the robot manually and...

Page 151: ...p window and can be canceled or stopped During recording you cannot move to another screen or perform other operations If an already created path is found it will be deleted and a new one created 2 Pa...

Page 152: ...re the same postures at the start and end points in the motion recording process they are deleted Note To execute the recorded motion the Move coordinates immediately before the Path command and the s...

Page 153: ...e Robot Starting the robot means that you are powering up the servo motor and get ready for its operation Select Robot Operation in the main menu Note If your robot is already registered then it will...

Page 154: ...Power off the motor for the robot joints and enable robot operation If the robot status is OFF then the ON button will be activated and the OFF button will be deactivated Monitoring Program Name Indi...

Page 155: ...rrently set TCP information Load Robot Configuration A user can load a robot configuration file exported to a local storage For more details about how to export robot settings refer to 15 5 Managing t...

Page 156: ...start of the current coordinate and there is a possibility of a cllision you can check it and move the robot to the safety position and start Move Move robot to start position Manual Manually move ro...

Page 157: ...Chapter 10 Starting the Robot 157 Locking Screen Restricts the operation of the screen during program execution All operations except screen lock button are restricted...

Page 158: ...l time 11 1 Monitoring the Robot You can check the robot s position and status in real time Select Monitoring Robot Status in the main menu Monitoring the robot positions In the robot position tab you...

Page 159: ...Monitoring Inputs Outputs You can check and set the real time I O status of robot In the main menu select Monitoring I O Status Note The monitoring period is 10 Hz You can check the status of digital...

Page 160: ...example if you press High then it switches to Low For analog outputs you can press the icon to enter values Voltage range 0 10 00 V Current range 0 004 0 02 A You can select either voltage or current...

Page 161: ...puts outputs and analog inputs are set and displayed in the same way those of the controller are set and displayed If you can set the output voltage to a tool then you can select one from 0 V 12 V or...

Page 162: ...tion time servo start and the program operation time information Cumulative system operation time Total cumulative system operation time from production time to present Note The basic unit for collect...

Page 163: ...camera and conveyor system Note Different external equipment is supported depending on the software version 12 1 Configuring MODBUS TCP TCP based MODBUS is supported as an extended interface to commu...

Page 164: ...th 1 Press the Add button 2 Enter following information in the Add Device screen and press the Add button Device Name Enter the device name to be displayed on the screen IP Address Enter the IP addres...

Page 165: ...ation of the device is also copied 1 Press the Edit button from the list of registered devices 2 Modify items you want to change and press the OK button Or press the Copy button if you want to copy th...

Page 166: ...he Delete button and then press the OK button When you delete a device I Os for the device will be deleted as well Registering I O After you registered a device you must set an I O or I Os for it The...

Page 167: ...device is selected I Os currently added to it are displayed 2 Press the Add button 3 Enter information of the I O and press the OK button Name Enter the user identifiable name of the I O Signal Addre...

Page 168: ...nput value error Device response delay Address error Viewing and setting the I O values After an I O is registered you can view or set its value Digital Input Indicates an icon for the digital value H...

Page 169: ...e device Press the value to change it Editing I O settings 1 Press the Edit button of an I O to be modified from the I O list 2 Modify the settings and press the OK button Note It is not allowed to ch...

Page 170: ...communication Exchange Data Format Protocol Setting To exchange data with the robot system the type and format of the data sent from the vision system should be set as follows Data Communication Proto...

Page 171: ...will be added under names such as Vision1 Vision2 to the list and they become configurable Setting a vision equipment Name Enter the equipment name The length of name is limited to 15 letters and spec...

Page 172: ...on test correctly the vision system and our system must be connected to a single network before the test Vision Type Select a type of vision installation Embedded Attached to the robot arm Stand Alone...

Page 173: ...special characters are allowed Exclude and _ Vision Scan Coordinates If the vision type is Embedded the setting is necessary for moving the robot arm to the scanning location Press the Move button to...

Page 174: ...t that a vision equipment sends to the robot is obtained from the perspectives of vision equipment Now if the robot does not know the angle between the scanning location and the its position rotation...

Page 175: ...Chapter 12 Device Setting 175 A When the scanning location and the robot s location are on the same line B When the scanning location and the robot s location are shifted by X...

Page 176: ...o set the time date In the main menu press SW Configuration General Language Selection You can select a language for the UI Units Selection You can select units of weight Set Date Set Time You can set...

Page 177: ...mmunication of your operation software In the main menu press SW Configuration Network DHCP IP address is automatically assigned Static IP Fixed IP address is used Obtain DNS server address automatica...

Page 178: ...on software does not shut down properly press and hold the power button of the teaching pendant for 5 to 10 seconds Caution Shutting down the system improperly may cause problems for the software If t...

Page 179: ...n contact Hanwha Precision Machinery Co Inspection item What to inspect Periods Robot arm All Check if the robot moves to the desired destination according to the program Daily All Remove stains dusts...

Page 180: ...e motor the brake and the decelerator 4 Remove stains dusts and pollutants 15 3 Checking the Controller If dusts accumulate inside the controller electrostatics or overheating can cause product malfun...

Page 181: ...sts 5 Check if the connector cables are connected properly Cleaning and replacing the filter The controller has an air suction hole and an air discharge hole which have dust filter mounted in them Sep...

Page 182: ...and manage the logs for the operation system Select Management Log in the main menu Deleting Logs Press the Delete button and the log data found will be deleted Exporting Logs 1 Press the Export butto...

Page 183: ...onfiguration You can save the robot configuration in a local or external storage device or retrieve the saved robot configuration from them In the main menu select Management Setting Management Packag...

Page 184: ...d automatically when the robot is booted It provides Servo On and program start function automatically after booting Check Use Default Program to activate it Select the program to be loaded among the...

Page 185: ...ters and empty character is not allowed 3 Press the Export button 4 When the confirmation window appears press YES Importing the configurations 1 Select the file path for importing Press the refresh b...

Page 186: ...Chapter 15 Maintenance 186 4 When the confirmation window appears press YES...

Page 187: ...te files may be composed of multiple files instead of a single file For proper update of files do not modify the name or path of an update file package arbitrarily The update function is not available...

Page 188: ...in the correct location and press the OK button The extension of the update file is tgos and the update file name contains its version The file selection window displays applicable files only 4 From t...

Page 189: ...ranty period One year since the date of equipment purchase varies depending on the contract between our company and you Limitation of Liability If a problem occurs after the customer mounts an unauthe...

Page 190: ...190 Appendix B Certification Safety...

Page 191: ...191 MD Machinery Directive...

Page 192: ...192 LVD Low Voltage Directive...

Page 193: ...193 EMC Electro Magnetic Compatibility...

Page 194: ...194 Appendix C Dimensions for Installation...

Page 195: ...195 Appendix D Tool Flange Cross Section The tool flange is designed suitable for ISO9409 1 50 4 M6...

Page 196: ...ns Tool I O SACC DSI M8FS 8CON M8 0 5 1458790 Port Layout Pin number Signal Color Tool I O 1 Analog Input Ch 1 White 2 Analog Input Ch 0 Brown 3 Digital Input Ch 0 Green 4 Digital Input Ch 1 Yellow 5...

Page 197: ...IP20 Robot Controller Power supply 100 240 VAC 50 60 Hz Controller Tool connector I O port Digital input 16 2 Digital output 16 2 Analog input 2 2 Analog output 2 I O power supply Controller 24 V 2 A...

Page 198: ...at the robot joint Payload Maximum load possible to be installed on the TCP 3 kg The behavior to measure the stopping distance for the joint J1 was driven in parallel to the ground and joints J2 and J...

Page 199: ...position of the robot arm fully stretched horizontally to make the maximum load Speed Maximum joint speed maximum speed of 180 sec which can be generated at the robot joint Payload Maximum load possib...

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Page 202: ...Machinery Co Ltd Address Hanwha Precision Machinery R D Center 6 Pangyo ro 319 beon gil Bundang gu Seongnam si Gyeonggi do 13488 Republic of Korea Email robot_inquiry hanwha com Homepage https www ha...