ADTECH Robotic Drive System ADT-RC400

Transcription

1 Information of manual ADTECH Robotic Drive System ADT-RC400 User Manual (Flex Pendant) I

2 Information of manual This manual is edited By ADTECH (SHENZHEN) TECHNOLOGY CO., LTD. The editors of this manual: The version of this manual: V1.1.2 Copy Right All parts of this manual, property right owned by Adtech (Shenzhen) Technology Co.,LTD (hereinafter referred to as) to all, without permission, no unit or individual is not any imitation, copying, copying or translation. Position this guide without warranty of any kind, expressed or implied. As mentioned by this manual or its product information, arising out of, directly or indirectly, information flow, loss of interest or career ending, and its employees will not take any responsibility. In addition, the products and information mentioned in this manual are for reference only, subject to updates without notice. All rights reserved, do not reproducing. ADTECH (SHENZHEN) TECHNOLOGY CO., LTD II

3 Range of manual This is the first manual of QC400 drive robotic control system concluding full description, drive control for the initial users, to help users select reasonable motor type; followed this specification for drive control electrical wiring between the machine and the robot in detail. Transport and storage Precautions Product package iteration of no more than six It is not available in the product box on the climb, stand or place heavy objects Cannot use drag the cables attached to the product or handling products No collision, scratching the Panel and display screen Product box should avoid wet, dry and the rain Opening inspection After opening the packaging please confirm whether you purchased the product Check whether the products in transit damage Control list identifies whether the part is complete, there is no damage Product model, lack accessory or transport damage, please contact with me Wiring To participate in connections and inspection personnel must have the appropriate skills for professionals Products must be reliable earthling, grounding resistance should be less than 4 ohms; you cannot use the neutral (zero line) instead of ground Wiring must be properly and firmly, so as not to lead to product failure or unexpected consequences And surge absorption diode must be connected in accordance with the regulations are connected with, otherwise you will damage Plug plugs or open the front of the chassis, you must cut off the power supply Maintenance Must cut off the power before repair or replacement of components Should check the fault when a short circuit or overload occurs, troubleshooting before they can restart Cannot pass off frequently, if required to re-apply after a power failure, separated by

4 at least 1 minute Others Do not open the Cabinet without permission, Long when not in use, please cut off the power. To pay special attention not to let dust, iron powder into the controllers. Output relay if the use of solid state relays shall be freewheeling diode in parallel in the relay coil. Check if the power supply meets the requirements, put an end to the controller is burnt out. Life of the controller temperature has much to do with the environment, if the processing temperature is too high, please install the cooling fan. Controller working ambient temperature range between To avoid high temperatures, humidity, dust or corrosive gas environments. Shake strongly to add buffer rubber Rails. Maintenance Under normal conditions of use (environment conditions: average 30, load 80%, running 12 hours a day), please press the following items for routine checks and regular checks. Daily Check Period Check Daily 1 year Recognition of environmental temperature, humidity, dust and foreign bodies There are no abnormal vibrations, Substantial sound part is loose or not Terminal block damage Since the robot system is more complex, dangerous. The manual records and security-related precautions, please strictly observe transactions as recorded. II

5 Safety Precautions and mark Mark Mark meaning Use wrongly, it will lead to a dangerous situation, Danger causing serious injury or death Use wrongly, It will lead to a dangerous situation that note may cause personal injury or damage to equipment which caused material damage.! Ban Forcibly Absolutely unenforceable Must be implemented Danger Please do not use this system in the flammable and explosive environment. Likely to cause injuries or fire. Please follow the instructions drawings or wiring. Prone to electrical shock and damage the motor. In an energized state, do not arbitrarily pull the plug, in the operating state; do not touch the robot operation site. Easy electric shock, causing personal injury. Energized state, not for wiring, maintenance and other operations, be sure to power at least 5 minutes before proceeding. Easy electric shock. III

6 Please be sure to take a reliable grounding between the drive and the robot body. When the fault occurs easily lead to electric shock, fire incident, easy to trigger errors. Non professional personnel, please do not open the drive and control one machine shell, please do not use hand to touch the drive and control of internal components Easy electric shock In the case of power, do not touch the power plug of the integrated machine. Easy electric shock. Please do not damage, the weight of cable or cable suspended load Easy electric shock The energized state, do not plug the drive terminal machine control on Easy electric shock and short circuit Running state, do not pull out the terminal on the one machine Easy electric shock and short circuit Attention Please pay attention to the drive and control of the motor and the heat of the peripheral equipment. Easy to burn. When a fault occurs, the power supply is cut off, the cause is identified and removed, and the low speed running equipment should be removed. IV

7 If there are adverse factors, easy to cause false action. When using the controller and the robot body, it cannot exceed the scope of its specification. Easily cause damage to the product. When the robot is moved, it needs to be fixed with the attached fixed tool. To prevent the lifting arm, due to accidents. The installation, operation, maintenance and inspection before, be sure to read the instructions carefully, according to the operating instructions in step. Easy electric shock, fire Power supply voltage, power capacity must be specified by the company's specifications. Improper use of equipment failure, easy to cause a fire. Please correct use of the correct control of each other to drive one machine and robot. Prone to failure Should be regularly on the implementation of the robotics drive system maintenance and inspection operations. Neglect of maintenance and inspection is an important cause of equipment failure and accidents. Please do not put heavy objects on the product. Easily cause damage V

8 Please correct the wiring in the instruction manual. The wrong wiring way is easy to cause the robot or the drive control one machine damage or cause a fire. When an exception occurs, please stop. Easy electric shock, personal injury, fire Need to repair, please contact our company, please do not disassemble. Easy cause trouble. Do not impact Easy cause trouble VI

9 Ban In the course of the robot's movement, no person is allowed to stand in the robot action area. There will be a major injury accident. Equipment to prevent the movement of the robot in the workplace. When the device is abnormal, it is easy to cause damage. The emergency stop switch on the handheld display device is prohibited. Robots in an accident or is not running properly, you need an emergency stop switch, stop operation of the equipment. There is no correct operation of the prohibition on the instruction manual. Incorrect operation will bring about the incorrect operation of the equipment. Other personnel outside the operating personnel to close to the equipment Touching the dangerous area can cause the injury or the major accident. When an accident, to cut off the power supply, clear reasons. When there are bad reasons, the robot may have a wrong action, causing adverse consequences. Users are prohibited to carry out parts of the exchange and transformation. Will reduce the system performance and may malfunction VII

10 Please do not remove the cleaning. Easy to cause fire, easy to get electric shock. Please don't make the product stored in the leaks, water, and other harmful gases in the environment. Prone to failure Forced! Please keep the sun out of the sun.! Easy cause trouble Please use the specified range.! Easily cause burn, failure Equipment protection cover must be shut off during operation.! Open the protective cover will have electric shock, the disabled. Operator to go through the full training.! Incorrect operation will cause the device to malfunction, resulting in disability or major disaster. If the robot is not in accordance with the specified direction of action, press the emergency stop, stop the equipment operation.! Accidents and failures. VIII

11 Power cord must be used with the specified wire.! Prone to fire and failure. Safety regulations Before starting the run, we need to know all the tasks of robot in accordance with the program to be executed; Robots run in automatic mode, personnel are not allowed to enter any of its movement reach areas; When the need for programming, testing and maintenance work, the robot shall be placed under manual mode; When debugging personnel enter the robot work area, he shall carry a teach pendant, to prevent others from malfunction; When the robot does not work for a long time, the fixture should not place items; it shall be empty machine; After a power outage, the main power on the robot should shut down timely, and remove the clamp on the work piece. IX

12 Contents Information of manual... II Key Key Key Interface Partial Explanations of Keys Run Run Run Interface Position Interface Trajectory Interface Parameters Parameters Parameters Management General Parameters Axis Parameters Management Paramerers The interface of management parametrs is shown below: Parameters of Robotic Body Configuration of Terminal Setting of Arch Parameters Coordinate System... Error! Bookmark not defined. 4 Coordinate System Interface of Coordinate System User Coordinate System Tool Coordinate System User Coordinate Teach Tool Coordinate Teach

13 Edit Edit Edit Interface Program Interface Teaching Interface Data Interface File Interface AR Edit Diagnosis Diagnosis Diagnostic Interface Alert Input Output System Information Calibration Function Test

14 Key 1 Key The EPB-06 FlexPendant of ADTCH robotic drive system adopts key and touching combined control mode. There are three manual switches, which are key switch, emergency switch, three-gear switch on back of FlexPendant and 53-membrane switch. It makes the operation more convenient and fast for user using reasonable layout. 1.1 Key Interface Partial Explanations of Keys Manuals switches on EPB-06 FlexPendant Keys Explanations [A/Lock/M] Key switch: it includes A (Auto), Lock and M (Manual) three modes. Only in Lock mode, PC can control the system. [STOP] Emergency stop: it may occur a collision between the robot and the peripheral device, with this emergency, press this key to close motor s enable and extinguish the Mot light. 12

15 [MOT] Manually enable: it is a three-gear switch. The first-gear switch is normally open; the second-gear switch is manual enable (you need to press this gear to enable, and loose this gear to close enable); the third-gear switch is emergency alarm (press Reset to clear alarms) Keys explanations on EPB-06 Flex Pendant Keys thumbnails of Flex Pendant are shown below: Keys Explanations [Fast keys] It is used when select each menu of the submenu on the Flex Pendant s screen. As shown in right figure, if you want to select Prog, please press F1. [Shift]: Composite function key. It can be combined with other keys as shortcut keys. [Reset]: Reset function key. It is used to clear system s alarms and running states. [Speed]: speed rate, it is used to quickly adjust speed under manual 13

16 mode. Low, Middle and High are corresponding to 30%, 70% and 120% of speed rate, respectively. [Mot]: servo enables function. LED light is always flashing No enable, which means that the robot is going to be enabled. LED light is always bright at the state of enable. LED light is always dim No enable. In this case, it is impossible to enable manually, you need to press Mot to be enabled state. [Step]: it is used to step movement under manual and auto motion. [Pause]: it is used to pause to process. By pressing again Start to continue processing. [Start]: it is used for the program under auto motion. [Keys of axis operation] These keys are used for operating the movement of each axis. In four-axis SCARA robot: X- /X+ Corresponding to upper arm Y- /Y+ Corresponding to lower arm Z-/Z+ Corresponding to vertical arm C- /C+ Corresponding to rotating arm [Direction keys]: Press [ / / / ] keys to select items for functions. When combine Shift with these keys, you can quickly change to next page. [Enter/Yes]: Confirmation/Yes, which are used for selection. [Esc/No]: Cancel/No, which is also used for selection? 14

17 [R1-R5]: these keys can be defined for spare use in system. [File]: quickly open contents of file management. [Coordinate System]: it is used to switch between joint coordinate system and Cartesian coordinate system. [Step]: it is used to teach position with high accuracy under manual mode. [Number keys]: press these keys to enter the corresponding numbers. [ ]: it is backspace, which is used to delete characters one by one. If you firstly select parameters when editing commands, then reversely displays the current value. In this case, you will delete all the parameters if you press this key. [ + ] [ - ] [ ]: You can enter +/-/Del keys quickly if you press one of them and Shift together. 15

18 Run 2 Run After opening the robotic drive system, the displaying main interface of RPB06 FlexPendant is the run interface, which displays several kinds of information of current system, for example, current run mode, coordinate system, coordinate position of each axis, real-time speed of each axis, name of program file, program name, system time and run state. User can know the current processing information directly and quickly through this interface. 2.1 Run Interface Position Interface The run position interface is shown in below figure: Three modes are JOG, Lock and AUTO is switched with key of RPB06 FlexPendant. JOG : user can conduct any operations, including data modify, parameters modify and program edit in this mode. Lock : user only can view all the system information, but cannot control 16

19 axis to move. AUTO : user can select files to be processed, but have no right to change program and parameters. Joint : in this place, there are three options can be selected, which are Joint, Decare, Tool and User coordinate system. Coordinate system in this interface is currently being used coordinate system. Pos : there are four options contained in this place. Abs pos : real-time positions of X, Y, Z and C axis of current coordinate system are with respect to the origin. Knuckle position : real-time positions of J1, J2, J3 and J4 of current coordinate system. Machine pos : real-time machine positions of J1, J2, J3 and J4 of current coordinate system. Actual pos : real-time positions of feedback from each motor s encoder, which are referred to the origin. Unit is 1 pulse. Speed : the speed of current each axis with manual or auto, unit is r/min. Rate : Manual rate or auto rate, which is the percentage with respect to the speed, set in parameters. For example, the auto speed of J2 set in parameters is 200 and current auto rate is 50%, so the actual auto speed of J2 is 200*50% = 100. The actual processing speed is equal to current program speed multiply this rate when robot runs in auto mode Trajectory Interface The trajectory interface of run mainly simulates running program. During processing, user can see motion trajectory of end directly through this interface. Interface of running trajectory is shown in following figure: 17

20 Close : to exit current trajectory interface. It only exit current interface, not end tracking during trajectory tracking. Cls : clear current interface s trajectory. Tracking : trajectory tracking starts from current position. Middle : display current trajectory on middle of screen or press up and down keys on Flex Pendant to move the displayed position of trajectory. Stop Tracking : stop trajectory tracking immediately. Plane : display the trajectory on plane through this button. Coord : select trajectory of current coordinate system. 18

21 Parameters 3 Parameters Six types of parameters are included, which are general parameters, axis parameters, management parameters, robot body parameters, terminal configuration and parameters of the arch. 3.1 Parameters Management General Parameters 001, Line Velocity: the velocity of linear and arc motions. 002, Line Acceleration: acceleration of linear and arc motions. 003, Line Acceleration mode: acceleration curves of linear and arc motions. 004, Limiting Filter Tines: detection times of soft limit reach the set times, then the system will give alarms. 005, selection of communication: configuring network and mode of serial communication. 006, the Baud rate system: configuring baud rate of COM2, which is also modified 19

22 in program? 007, controller ID: Configuring the station address of controller in the modbus communication. 008, circular interpolation feed: precision of arc split. 009, code preprocessing processing mode: select whether has a velocity preprocessing of joint movement between linear and arc motion. 010, IP address: IP address of Network system. 011, subnet mask: subnet masks address of system. 012, default gateway: default gateway of system. 013, MAC address: MAC address of the system. 014, feed ratio variation: adjust the variation of speed ratio with automatic mode. 015 run the CNC file: the setting system only run CNC files. 016, off-line simulation model: the motor of system can not be enabled with off-line mode. 017, braking delay: time delay of brake after motor enabled. 018, Belt PE: one pulse of conveyor encoder corresponds to the actual length (unit is Millimeter). 019, conveyor belt crawl range 1: the start position of robot catching objects region, which is referred to visual calibration position. 020, 018, conveyor belt crawl range 2: the end position of robot catching objects region, which is referred to visual calibrating position. 021, Camera photographed distance: the distance of the system IO triggering 20

23 camera to take pictures Axis Parameters 001, Jn axis forward soft limit: where n is1 4. Jn axis negative soft limit: where n is , Jn axis PTP processing speed ( /s): the maximal motion speed of each PTP axis (1 4). 003, Jn axis PTP acceleration ( /s^2): the maximal acceleration of each PTP axis (1 4). 004, Jn axis manual speed ( /s): the speed of manual axis (1 4). 005, Jn axis manual acceleration ( /s^2): the maximal acceleration of manual axis (1 4). 006, X, Y, Z axis manual speed (mm/s): manual linear velocity. 21

24 007, X, Y, Z manual acceleration (mm/s^2): manual linear acceleration. 008, Jn axis pulse logic direction: motor s rotary direction. 009, Jn axis Encoder bits: encoder bits of each axis motor, where n are from 1 to 6. 22

25 3.1.3 Management Parameters User Manual of SCARA Robotic Drive System The interface of management parameters is shown below: 001, Select SupMode: change current management mode among administrator, operator and common user. 002, AlterSuperuserPasswor: manage administrator s password. 003, Alter User Password: alter operator s password. 004,Initialize: Initialize all general parameters to factory defaults. 005, Initialize IO Config: initialize all terminal parameters to factory defaults. 006, all para reset< >: initialize all terminal parameters to factory defaults. 007, para backup: backup all the parameters to SYSCONF.BAK file. 008, para recover: recovery parameters in SYSCONF.BAK file to system. 009 generate cryptogram: this function is not yet open. 010, clear add up work num: clear cumulative times of CNC files processed by system. 011, clear current work num: clear current times of CNC files processed by system. 012, maximum work num: the maximal times of processing CNC files. 013, sys language bag: there are simplified Chinese, traditional Chinese and English language bag. 014, startup picture display: the time of logo being displayed. 015, sys display axis setting: this function is only open for programmers. 016, sys debug information En: this function is only open for programmers. 017, Screen Safeguard En: set whether to enable screensavers. 23

26 018, Modbus Master/Slave set: set master and slave mode of modbus protocol Parameters of Robotic Body This interface is used to set the parameters of each part of robot body. These parameters will directly affect calculation accuracy. The interface of robotic parameters is set in following figure: 001, J1 to J2 arm length: horizontal length (unit is millimeter) between center of joint 1 reducer and center of joint 2 reducer, whose direction is along the base to the end of robot. 002, J2 to J3 arm length: horizontal length (unit is millimeter) between center of joint 2 reducer and center of joint 3reducer, whose direction is along the base to the end of robot. 003, J3 rotate: the length (mm/pulse) of screw walking when linkage screw of joint 3 rotates a circle. 004, J3 and J4 composite: if J3 and J4 are composited axis, then enter ON, or enter OFF. 005, J1 axis drive ratio: the ration of a certain angle of joint 1 motor rotating and actual angle of drive end. 006, J2 axis drive ratio: the ration of a certain angle of joint 2 motor rotating and actual angle of drive end. 007, J3 axis drive ratio: the ration of a certain angle of joint 3 motor rotating and 24

27 actual angle of drive end. 008 J4 axis drive ratio: the ration of a certain angle of joint 4 motor rotating and actual angle of drive end Configuration of Terminal Configure the effective voltage of input port and external enable/suspension integrated function. 001, external enables Input port number: configure the input port of start with auto mode. 002, external suspension Input port number: configure the input port of suspension with auto mode. 003, external emergency stop Input port number: configure the input port of emergency stop with auto mode. 004, external stop Input port number: configure the input port of stop with auto mode. 005, external reset Input port number: configure the input port of reset with auto mode. 006, alarm Output port number: configure the output port of alarm with auto mode. 007, running Output port number: configure the output port of running state with 25

28 auto mode. 008 stop Output port number: configure the output port of stop with auto mode. 009, system work Output port number: configure the output port of servo enabled state. 010, servo state light Output port number: configure the output port of servo enabled state. 011 J1 brake Output port number: configure the output port of joint 1 brake. 012 J2 brake Output port number: configure the output port of joint 2 brakes. 013 J3 brake Output port number: configure the output port of joint 3 brakes. 014 J4 brake Output port number: configure the output port of joint 4 brakes. 015, the origin indicating the output port: configure the output port of light of the origin. 016, external enable input port number: configure the input port of motor enable. 017, the input detection effective level 00~31: configure the effective voltage of input ports (00~31). 018, the input detection effective level 31~63: configure the effective voltage of input ports (31~63). 019 reset the IO configuration 00~31: configure the state of output port (00~31) when reset the system. 020 reset the IO configuration 32~63: configure the state of output port (32~63) when reset the system Setting of Arch Parameters Configure the parameters of motion mode with arch moving. Its interface is shown below: 26

29 001, C0 arch start Z height (mm): set the start height of Z-axis with C0 arch motion. C0 arch end Z height (mm): set the end height of Z-axis with C0 arch motion. C0 arch limit Z position (mm): set the limited height of Z-axis with C0 arch motion. 002, C1 arch start Z height (mm): set the start height of Z-axis with C1 arch motion. C1 arch end Z height (mm): set the end height of Z-axis with C1 arch motion. C1 arch limit Z position (mm): set the limited height of Z-axis with C1 arch motion. 003, C2arch start Z height (mm): set the start height of Z-axis with C2arch motion. C2 arch end Z height (mm): set the end height of Z-axis with C2 arch motion. C2 arch limit Z position (mm): set the limited height of Z-axis with C2 arch motion. 004, C3 arch start Z height (mm): set the start height of Z-axis with C3 arch motion. C3 arch end Z height (mm): set the end height of Z-axis with C3arch motion. C3 arch limit Z position (mm): set the limited height of Z-axis with C3 arch motion. 27

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31 Coordinate System 4 Coordinate System It includes user coordinate system, tool coordinate system and coordinate teach. 4.1 Interface of Coordinate System User Coordinate System The use of user coordinate system greatly improves the convenience of system s operation when position teaching and calculation are not referred to the base as the zero. There are six user coordinates in the system, in which user 0 is default and users (1 to 5) can be set manually or directly generated by the three-point method teaching Tool Coordinate System Motion trajectory is referred to tool end, not flange s center. The use of tool coordinate makes teaching and programming more flexible. There are six tool coordinates in the system, in which tool 0 is default and users (1 to 5) can be set manually or directly generated by the two-point method teaching. 29

32 Motion trajectory is referred to tool end, not flange s center. The use of tool coordinate makes teaching and programming more flexible. There are six tool coordinates in the system, in which tool 0 is default and users (1 to 5) can be set manually or directly generated by the two-point method teaching User Coordinate Teach 1. Select User coordinate system org point, and then manually adjust the tool end to coincide with the origin of the new user coordinate under Cartesian coordinate system, next click Teach to assign the current position to org point. 30

33 2. Select User coordinate system xx point, and then move the work-piece with a longer distance to an appropriate position along the X direction under Cartesian coordinate system, next click Teach to assign the current position to xx point. Notice: do not move C axis during movement, or the calculation is wrong. 3. Select User coordinate system yy point, and then move the work-piece with a longer distance to an appropriate position along the Y direction under Cartesian coordinate system, next click Teach to assign the current position to yy point. Notice: do not move C axis during movement, or the calculation is wrong. 4. Click Count after teaching org, xx and yy points to generate user coordinate 1 (by default, if you change the number of user coordinate, you can select user 1 to 5, then click Count to regenerate.) Then you can view parameters (X, Y, Z, U, V, W) of the generated user coordinate Tool Coordinate Teach 1. Two-points teaching method. Firstly, click Tool-teach to select P1 point; then manually adjust the tool end of robot to coincide with reference point; at 31

34 last, click Teach to assign the current position to P1 point. 2. Select P2 point in Tool-teach, then manually rotate x axis with an angle (greater than o 60 ) in order that the tool end coincides with reference point, and then click Teach to assign current position to P2 point. 3. Click Count after teaching P1 and P2 points to generate tool coordinate 1 (by default, if you want to change tool number, you can choose tool 1 to 5, then click Count to regenerate a new tool). 32

35 Edit 5 Edit 5.1 Edit Interface All the program operations of RC400 robotic drive system are basically completed in this edit interface, mainly include Prog, Teach, Data, File and AR Edit five parts. Simple explanations are listed in below table: Main Sub-menu Main contents menu Prog New, open and save files; insert, delete and modify commands. Edit Teach Teach point data, track goals and return back to the origin. Data Delete, save and modify the taught point data. File Copy and paste data from each disk, and download files. AR Edit Modify AR, CNC or NC files. Edit interface is shown below: 33

36 5.1.1 Program Interface User Manual of SCARA Robotic Drive System Click Prog in main edit menu, which includes six parts: insert command, modify command, delete command, new program, open program and save program. All these edit operations are used for processing files. Program interface of edit is shown as follows: Close : back to program interface of edit. Ins line : insert several kinds of commands; the inserted command is next line of current one by default. Command is executed from current one. PTP: each axis moves from one point to another point in the space, and the speed is PTP moving speed. Line: robotic end moves from one point to next point with line trajectory, and speed is the feed speed. Arc: its format is MOVE C, P[n], V = 100%, where C is arc command and P[n] is arbitrary point on the arc. Pay attention: three points decides a arc, which are start point, arbitrary point and end point. Except for the start point, the other two points are needed to use arc command, so arc commands appears in pairs and end with the end of the arc. 34

37 IO line: monitor IO command during line motion. Once detect input signal, the line movement will end. Waiting: waiting for internal input signal, its format is DI [M, 0], where M is input signal and 0 is close (1 is open). Control output: waiting for internal output signal, its format is DO [N,0], where N is output signal and 0 is low voltage (1 is high voltage) Delay: its format is DELAY [P], where P is delay time (unit is millisecond). Arch: its format is JUMP [P[n], C0], where P[n] is the start point of the arch and C0 is a group number. In parameter setting, four group number of arch are included, where C0 is the first group and C1, C2, C3 respectively correspond to the second, third, fourth group. The specific instructions are explained in parameters setting of arch. Line CP: it has the similar movement with line. Add smooth transition between one line and another line, which makes movement smoother. PTP CP: it also has the similar movement with PTP. Add smooth transition between one point and another point, which makes movement smoother. Using commands introduces above, a program example is listed in below table: Commands MOVE P, P[1], V=100% MOVE L, P[2], V=100% MOVE C, P[3], V=100% MOVE C, P[4], V=100% DELAY 400 DO(2)= 1 JUMP P P(6), C0 Explanations Moves to point P(1) from current position with PTP mode(100% speed) Moves to point P(1) from current position with line mode(100% speed) Moves to point P(1) from current position with arc mode(100% speed) P(4) is the end point of the arc. Have a delay with 400ms Open the signal of OUT2 port Moves to P(6) from P(4) with arch mode, where CO represents arch parameters of the first group. 35

38 DO(2)= 0 DI(1)= 1 Close OUT2 signal. Wait for the input signal of INPUT1, then motion is over. New: build a new processing file, whose name is made up of arbitrary numbers and suffix is JOB. Open: open the processing files, whose name s suffix is JOB, CNC and NC. Save: save the program commands of current file. User should save file immediately once the file has been modified. Delete all: delete all the program commands of current file. User must click Save after deleting to ensure that entire programs are modified successfully. Del line: delete the program commands of current files selected by cursor. User must click Save after deleting to ensure that entire programs are modified successfully Teaching Interface This interface is mainly used for teaching operation, which includes teaching point data, tracking targets and returning to the origin. For RC400 robotic drive system, 257 points (from 0 t0 256) can be taught in each PTS file to be used in program Teaching Mode Joint : there are four joints with RC400 and each joint move separately. Each joint is called upper arm, lower arm, vertical axis and rotary axis, respectively. Decare : X, Y, Z and C execute interpolation operation under Cartesian coordinate system Teaching Velocity The teaching velocity is manual speed, which is taught by up/down key. Teaching range is 10%~100%, and each adjustment is 10%. Or this velocity can be adjusted with rate, and low speed, middle speed and high speed are corresponding to 30%, 70% and 100%, respectively. Interface of program teach: 36

39 Set goals: they are the current taught points, and undefinition points are not taught points. User can move cursor using / keys on FlexPendant or press shift + and Shift + to change to next page. ****.PTS: current data of points file. Coordinate system: it can switch among Cartesian coordinate system, joint coordinate system, user coordinate system and tool coordinate system. Hand coordinate system: it includes left-hand and right-hand coordinate system. And displayed hand coordinate system is the current one. Coordinate: it has user Coordinate and tool coordinate, each of which has five groups (the user coordinate 1-- User Coordinate 5, tool coordinate 1-- tool coordinate 5). The user coordinates 0 and tool coordinate 0 are default in system. You can choose one of them as you want. And teaching point and processing file are carried out in the current coordinate system. Step distance: press the Step key on FlexPendant to choose the corresponding step distance, which includes 0.001mm, 0.01mm, 0.1mm and 1mm. Or you can select to enter customized length, and then robot can move this length with one step. Home: return to the origin of each joint, that is also the origin of the robot. Firstly enable manually, and then click Home. At this moment, robot moves with manual speed of current rate, and each axis returns to the origin according the order J4J3 J1 37

40 J2. Record: it is used to record teaching points. Manually enable, and then select the target point to be set and move each joint to reach the target position. Then click "Record" to record the position of the current target as target point. Follow: move to the set target point. Manually enable, and then select the target point to be set and then click on "Tracking". At this moment, robot moves with manual speed of current rate. Robot firstly lifts the J3 axis, then moves axis J1 and J2 axis to the target point, and then moves axis J3 and J4 axis to the target. Tracking is end after four axis are stop Data Interface In this interface, user can delete and modify points of processing files, and build a new PTS file of point data and open/save these files. Interface of data points is listed in following figure: Delete: it is used to delete the current command selected by cursor. Delete all: delete all the commands in the current point files with PTS suffix. New: build a new point file with PTS suffix. Open: open a point file with PTS suffix. Save: save the current point data. Recover: it is used to recover to point data saved before. 38

41 Modification of Point Data Point values of X/Y/Z/C are referred to user 0 coordinate system by default, which are absolute position of robot. No. is set g points. User can modify the values of X/Y/Z/C under manual mode, in order to obtain a better effect. You must click Save after modification File Interface This interface mainly used for copying and pasting among each file. User can operate data transmission among local disks, external U disks and PC in robotic drive system. File Interface is shown below: Devices: click Devices, the system switches among all disks. Copy: copy the file and folder selected by cursor. Paste: paste the copied file or folder to the current directory. Cut: cut the file or folder selected by cursor. To PC: connect it to PC using printer line. At this point, the controller in the form of a removable disk is connected to the PC. 39

42 5.1.5 AR Edit In the AR Edit: menu, user not only can view the current file commands of CNC, NC and AR, but also have right to modify a several commands. The below figure is the interface of AR edit: Soft keyboard selection: you can close/open the soft keyboard by pressing Mot button under manual mode. Delete: it is corresponding to Del key on FlexPendant, which can delete the current data pointed by curser. Save: it is corresponding to Reset key on FlexPendant. After completing modification, click Reset to save files. Wrap: it is corresponding to Enter key on FlexPendant, which means to change another line to edit. 40

43 Diagnosis 6 Diagnosis The Diagnostic interface of robotic drive system covers system s alarm information, input/output diagnosis, key detections, system information robot calibration and clearing encoder functions. These functions are usually used during debugging. we can say that we use the most in the commissioning phase. It is good for you debugging robot and excluding errors if you familiar with this operating interface. 6.1 Diagnostic Interface Alert In submenu Alert of main diagnostic interface, we can view historic alarm contents of system. System errors will be automatically added in list of alarm information, such as, emergency switch being opened, servo alarms, servo power-offgdfv, soft limits and so on. It not only can help us exclude current errors, but also allows us to deeply analyze the running condition of the robot. Alarm interface is listed in below figure: 41

44 6.1.2 Input User can detect whether external input signal is effective through the submenu Input of diagnostic interface. RC400 robotic drive system receives external input signals (low voltage is the effective signal among these signals.).if you use proximity switch, DC 24V NPN proximity switch is advised. Input analog light of FlexPendant s input interface will turn red from green (as shown in Manual I37, which is the input signal of system when the key switch of FlexPendant is in auto mode) when input signal is effective. Input interface in shown below: Output In the submenu Output of diagnostic interface, user can manually open the output signal of robotic drive system. Specific steps are listed as: AUTO mode moves cursor of Flex Pendant to output port Click Enter key on the Flex Pendant open the corresponding output port Click Enter key 42

45 again to close the corresponding output port. The output port s signal of RC400 robotic drive system is low voltage, the output state is as follows: Relay outputs of 6-ways: it can directly drive brakes and electromagnetic valves with low power load. Opto-isolated outputs of 21-ways: it is common output. It is needed to add a relay adapter when its load is inductive. The output analog light of FlexPendant s output interface turns to red from green when output signal is open, as the OUT00 is shown in below figure of output interface: System Information In submenu Sys inf of diagnostic interface, user can view all the hardware s and software s information of RC400 robotic drive system. The system information is shown in below figure: 43

46 6.1.5 Calibration In submenu Dem of diagnostic interface, user can calibrate the robot body, which includes upper arm calibration, lower arm calibration, origin calibration, visual calibration and clear encoder. Calibration is basically divided into following parts: Function Types Explanations Calibration Calibrate the lengths of upper and lower arms; calibrate the origin and clear encoder Calibrate vision Clear encoder The accuracy of trajectory is higher with calibrating robot manually. Its accuracy is higher than calibration by hand. Set current position as the origin. Accuracy of Trajectory is bad, so it is not suitable for trajectory. Calibrating interface is shown below: 44

47 Calibration notes: 1) Strictly follow the calibration steps, if operation with errors, advise starting from the beginning. 2) Manually measure the distance more accurately, because the measured date is directly affect the calibrating accuracy. 3) Manual enable must be always keeping until all joints of robot return to the zero point when calibrate the origin at eighth step. Then loosen the enable, and click Reset encoder to clear the current having been calibrated position. After this step, calibration of the origin is over Function Test In submenu Module of diagnostic interface, user can test keys to check whether the key of FlexPendant is good. Key tests operate in order, then click Del three times to exit Key test interface. Definitions of background color of screen keys in test interface of Flex Pendant are as follows: Green: it is corresponding to keys on Flex Pendant. Pink: button to be tested, which means that the corresponding key on the Flex Pendant is going to be tested. Red: the color of screen key is turn to red from pink when this key is effective. The interface of function test is shown in following figure: 45

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