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AUBO AUBO-i3, User Manual

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AUBO AUBO-i3 User Manual Download Page 105

V4.5 

 

 

©2015-2019 AUBO.All rights reserved. 

 

101 

 

Tool Calibration 

 

Figure 10-22 Tool Calibration 

 

Tool calibration consists of two parts: kinematics calibration and dynamics calibration. A tool consists of 
kinematic properties (kinematic parameters that constrain tool end trajectory) and dynamics properties 
(Constraints on the dynamics, such as speed and acceleration, of a manipulator with a load). 

The tool calibration in the above figure is divided into three calibration interfaces: Tool Calibrate, 
Kinematics Calibrate and Dynamics Calibrate. 

After calibrating the kinematic and kinematic parameters of the tool, enter the tool calibration interface, 
select a kinematic and dynamics attributes for the tool, enter the name of the tool, and then add the tool. 

Summary of Contents for AUBO-i3

Page 1: ...USER MANUAL AUBO i3 CB4 Please read this manual carefully before using the product...

Page 2: ......

Page 3: ...by AUBO Beijing Robotics Technology Co Ltd This manual is applicable to AUBORPE V 4 5 For details please refer to the version information section of this manual Please check the actual product version...

Page 4: ...ology Co Ltd assumes no responsibility for any errors or omissions in this document AUBO Beijing Robotics Technology Co Ltd assumes no responsibility for incidental or consequential damages arising fr...

Page 5: ...use 18 Emergency situations 19 Emergency stop device 19 Recovering from the emergency condition 20 Emergency move for joint 20 Excessive force protection 20 2 TRANSPORTATION AND PRECAUTIONS 21 3 MAINT...

Page 6: ...age mode 47 8 INTERNAL ELECTRICAL INTERFACE 51 Introduction 51 Electrical warnings and cautions 51 Control box communication interface 52 Control box I O power supply 53 Internal power supply 53 Exter...

Page 7: ...83 Power on the manipulator 83 Preparation 83 Power on System 84 Power off the manipulator 85 Start system quick 85 10 TEACH PENDANT 86 Instruction 86 Teach Pendant Operation Interface 86 User login 8...

Page 8: ...on 104 Tool Calibrate 105 Coordinate Calibration 106 Robot Safety Settings 110 System Setting tab 111 Language Tab 111 Date Time tab 112 Network Tab 113 Password Tab 113 Lock Screen 114 Update Tab 115...

Page 9: ...t 144 Block Comment 145 Goto 145 Message 146 Empty 147 Advanced Command Condition Tabs 147 Thread 147 Script 147 Offline Record 148 Record Track 149 Variable Tab 151 Timer 152 Inserch Timer 152 Timer...

Page 10: ...V4 5 2015 2019 AUBO All rights reserved vi...

Page 11: ...eir own robot control system based on the application interaface provide by the AUBO platform Meanwhile AUBO robot is equipped with a dedicated programmable operation interface which allows the user t...

Page 12: ...d as below Name Quantity Manipulator AUBO i3 1 Teach Pendant 1 Control Box 1 Teach Pendant cable 1 Manipulator cable 1 Power cable 1 Manipulator base optional 1 Product outline structure is shown in p...

Page 13: ...d specifications in this manual Both the integrators and users should have adequate safety awareness and follow the Industrial robots safety regulations ISO 10218 Warning Symbols in this Manual The ta...

Page 14: ...t consequences Safety Precautions General This manual includes safety precautions for protecting the user and preventing damage to the machine Users need to learn all the relevant descriptions and ful...

Page 15: ...hen the robot is installed a comprehensive risk assessment is necessary and the test results need to be recorded in a report 3 Set and modify the safety parameters by a qualified person Use password o...

Page 16: ...increase the risk or lead to new dangers Make sure to perform a comprehensive risk assessment for entire installation Always choose the highest level performance when different safety and emergency s...

Page 17: ...rogram separately It is recommended to test the robot program using temporary waypoints outside the workspace of other machines 2 AUBO Beijing Robotics Technology Co Ltd cannot be held responsible for...

Page 18: ...it is possible that robot is waiting for the signal and in the upcoming action status Even in such state it should be considered as the robot is in action 4 A line should be drew to mark the range of...

Page 19: ...ents Task based Risk Assessment Methodology ANSI B11 0 2010 Safety of Machinery General Requirements Risk Assessment AUBO robot integrators need to fulfill but not limited to the following responsibil...

Page 20: ...2015 2019 AUBO All rights reserved 16 AUBO Beijing Robotics Technology Co Ltd seeks to ensure the accuracy and reliability of the contents in this manual but is not responsible for any errors or omiss...

Page 21: ...s to reducer the risk to acceptable level However Integrators should be aware that specific robotic equipment may have other dangers Combine the inherent safety design which applied by AUBO robot with...

Page 22: ...assed the risk assessment On the premise that not using any security device and sensing device there will be no unacceptable risk when personnel or other objects in workplace like tool equipment surfa...

Page 23: ...with IEC 60947 5 5 Emergency stop button can be found on the teach pendant and the control box of AUBO i3 The button must be pressed when a dangerous situation or emergency occurs As shown in Figure1...

Page 24: ...or in an emergency which can force the robot to move by follow method Forced back driving Force a joint to move by pulling hard at least 700 N on the robot arm Excessive force protection Manipulator h...

Page 25: ...bot Power up the robot after fixing it Using hand guiding to adjust robot orientation to a suitable location Save the original packaging after transportation Store the packaging material in a dry plac...

Page 26: ...V4 5 2015 2019 AUBO All rights reserved 22...

Page 27: ...ally The purpose of maintenance and repair is to r to make sure that system runs normally or help it return to normal condition when system error occurs including faults diagnosis and actual maintenan...

Page 28: ...deactivated safety measures immediately after the work is completed 3 Record all maintenance operations and save in technical documentation 4 There is no self serviceable part in control box If mainta...

Page 29: ...pment Disclaimer 1 This Warranty will be invalid if the equipment defect is caused by improper handling or failure to follow the relevant information described in the user manual 2 Failures caused by...

Page 30: ...ned by AUBO Beijing Robotics Technology Co Ltd According to the product warranty AUBO Beijing Robotics Technology Co Ltd only provides warranty to the flaws and defects in the products and components...

Page 31: ...a degree of freedom As shown in figure5 2 manipulator s joint includes a robot base A a shoulder B an elbow C a wrist1 D a wrist2 E and a wrist3 F The manipulator base is used for the robot body and t...

Page 32: ...es inside control box AUBO i3 provides multiple I O interfaces there are 4 channel digital I O and 2 channel analog inputs on end effector flange Control box communicates with manipulator by CAN Bus T...

Page 33: ...tion No electromagnetic noise No radioactive materials Low humidity No flammable materials Ambient temperature 0 C 45 C Avoid direct sunlight avoid using outdoor Floor carrying capacity Install manipu...

Page 34: ...reserved on each side of the control box to ensure smooth air circulation 3 The teach pendant can be hung from the control box Make sure you don t step on the cable 1 Make sure that the control box t...

Page 35: ...e cylindrical space directly above and directly below the robot base When choosing the installation position be sure to consider the cylindrical space directly above and directly below the robot base...

Page 36: ...s for fixing and moving the robot easily When fixing the robot rotate the upper part of thefoundation bolt and lower it When moving the robot use tool wrench to rotate the lower part of anchor bolt an...

Page 37: ...nstallation method as shown below Figure 6 5 Diagram of different installation poses Using four M8 bolts to fix manipulator on the base It s recommend using two 6mm holes to install pins to improve th...

Page 38: ...e unpredictable movement in hand guiding mode Make sure manipulator is installed correctly and safely If the robot is submerged in water over an extended time it might be damaged The robot should not...

Page 39: ...tor flange unit mm 1 Make sure the tool is properly and safely bolted in place 2 Make sure that the tool is constructed such that it cannot create a hazardous situation by dropping a part unexpectedly...

Page 40: ...V4 5 2015 2019 AUBO All rights reserved 36 Teach pendant cable Manipulator cable Control box power cable Socket at the bottom of the control box that is connected to the cable 1 2 3...

Page 41: ...insertion and tighten the locking ring after inserting it 2 manipulator cable connected to the control box The end of the robot cable connected to the control box is a curved circular aviation plug 3...

Page 42: ...In the socket rotate the fastening nut on the plug clockwise in the direction of the plug toward the socket until you hear a click indicating that the connection is successful Pay attention to the fo...

Page 43: ...ntrol box and the robot Therefore the connection between the robot and the teach pendant or the control box must be checked securely before use Control box is designed with hardware protection and sof...

Page 44: ...e robot only Do not use the robot for applications where the cables will be subjected to bent Contact your supplier if longer or flexible cables are needed 3 All mentioned GND connections are only for...

Page 45: ...state EMERGENCY The robot emergency stop button the robot is powered off after pressing STANDBY When the indicator light is on it indicates that the control panel interface board program is initialize...

Page 46: ...manual mode the indicator light is always on In the linkage mode the indicator light is off to indicate that the teach pendant is not available Control box side panel The USB interface is provided on...

Page 47: ...V4 5 2015 2019 AUBO All rights reserved 43 Figure 7 4 Control box side panel parts marking a Figure 7 5 Control box side panel parts marking b...

Page 48: ...ndle 5 Leakage protector displayed after removing the 3 power on handle 6 Safety Relays 7 Teachee enable switch 8 AC contactor 9 Ground terminal 10 Sub terminal 11 48V DC power supply 12 Motherboard d...

Page 49: ...ble 6 Description of the control panel back panel interface Number Interface Function 1 Ethernet interface Can be used for remote access and control 2 Modbus RTU interface Can be connected to a Modbus...

Page 50: ...nd unplug the USB device while the robot is running Selection of working mode The robot system has two working modes manual and linkage which are selected by button switches When changing the working...

Page 51: ...age mode the robot arm can communicate with one or more external devices mechanical arms etc through the linkage mode IO port This mode is generally suitable for coordinated motion between multiple ro...

Page 52: ...he power to the control box is disconnected Follow the demonstration below connect the external devices with IO interface on the back of the control box Users can use the external singals to manipulat...

Page 53: ...e use showcase Under linkage mode if the teach pendant is not needed after setup the default program successfully the user can switch off the teach pendant enable in the control box After TEACH PENDAN...

Page 54: ...V4 5 2015 2019 AUBO All rights reserved 50...

Page 55: ...For digital IO outputs the method to check the IO status is to measure the resistance between DO and 0V When the DO is set to Effective or High the resistance goes to approximately 0 otherwise the res...

Page 56: ...UBO Robotic I Series standard control box provides a variety of electrical interfaces for connecting external devices that are easily accessible to the user Remove the back cover of the back panel of...

Page 57: ...The control panel panel IO defaults to the internal power supply mode as shown in the following figure Figure 8 2 Internal power supply schematic External power supply If the user needs to use externa...

Page 58: ...y I O are orange color in the external panel of the control box The safety functions are defined as following Input SI00 SI10 External Emergency Stop SI04 SI14 Enabling Device SI01 SI11 Safeguard Stop...

Page 59: ...is case the robot can be operated without any additional safety equipments Figure 8 4 Default safety configuration Safety Output Worst case responding time Safety Output Worst case responding time Rob...

Page 60: ...All rights reserved 56 External Emergency Stop Input In the case that there is required to use one or more external emergency stop buttons users can connect those devices as below Figure 8 5 External...

Page 61: ...t curtain to connect to the safeguard stop input interface See below Figure 8 6 Safeguard stop input Internal Power Supply After the operator enters the safety zone the robot stops moving and maintain...

Page 62: ...the robot stops moving and maintains category 2 stop When the operator leaves the safety zone it needs to be reset from the outside of the safety zone by pressing reset button and then click on the AU...

Page 63: ...8 8 Reduceed mode input connection When the operator enters the safety zone the robot enters the reduction mode and the motion parameters joint speed TCP speed of the manipulator are limited to the us...

Page 64: ...nput terminal See the next figure Figure 8 9 Safeguard stop Resert Input connection Internal power supply After the operator enters the safety zone the robot stops moving and maintains at category 2 s...

Page 65: ...ing device input connection In the verify mode the robot starts to move when the three position enable switch is in the enable position intermediate position when the user releases or presses the thre...

Page 66: ...rmal mode and the user can use the robot normally When the user switches the selector switch to the B position the robot enters the verification mode In this mode only when the enabling device input i...

Page 67: ...ator can use the emergency stop button of one machine to control the entire line of the machines into an emergency stop state The user can refer to the following example the two robots share the emerg...

Page 68: ...following example to connect the external alarm light to the system emergency stop output interface See the next figure Figure 8 14 robot emergency stop output connection In this configuration when th...

Page 69: ...xample to connect the external indicator to the robot moving output interface See the figure below Figure 8 15 Figure robot moving output connection In this configuration when the robot moves normally...

Page 70: ...ple to connect the external indicator to the robot not stopping output interface See the figure below Figure 8 16 robot not stopping output connection In this configuration when the robot receives the...

Page 71: ...er to the following example to connect the external indicator to the reduced mode output interface See the figure below Figure 8 17 reduced mode output connection In this configuration when the robot...

Page 72: ...following example to connect the external indicator to the not reduced mode output interface See the figure below Figure 8 18 not reduced mode output connection In this configuration when the robot en...

Page 73: ...fer to the following example to connect the external indicator to the system error output interface See the figure below Figure 8 19 System error output connection In this configuration when the robot...

Page 74: ...of the interface is not open to the user The user can view the internal I O status through the teach pendant interface see10 3 1Controller I O Tab The internal IO status of the control box is describ...

Page 75: ...is to measure the resistance between DO and 0V When the DO is set to Effective or High the resistance goes to approximately 0 otherwise the resistance is about 12K When connecting external devices all...

Page 76: ...10 DO11 DO12 DO13 DO14 DO15 DO16 DO17 Electrical parameter specification DI Input form P lesend No voltage contact input NPN open collector transistor Input method Input signal current Electrical spec...

Page 77: ...le Figure 8 21 DI end connection button switch schematic DI end connection two end sensor As shown in the figure below there is a sensor connected between the DI terminal and GND If the voltage differ...

Page 78: ...ented by VO and CO respectively As shown below Figure 8 24 Analog I O interface diagram General purpose analog input and output available to users Input VI0 Analog voltage input VI2 Analog voltage inp...

Page 79: ...g accuracy 10 BITS VO end electrical parameters Parameter term minimum value Maximum value Single VO terminal input voltage 0V 10 V Single CO terminal input current 0mA 20 mA Example Analog voltage ou...

Page 80: ...panel of the control box is the clear alarm signal interface This signal is active low Remote switch control I O interface The remote power on off control I O interface is located on the back panel in...

Page 81: ...ter the switch is closed Figure 8 28 schematic diagram of remote boot wiring Remote power off This example shows how to connect the remote shutdown interface ie the teach pendant and the robot are pow...

Page 82: ...4 5 2015 2019 AUBO All rights reserved 78 The linkage control interface can be used to control the movement state of the robot body from the teach pendant For details on the usage see7 4 2Linkage mode...

Page 83: ...ns see table below Pin Color Signal 1 White GND 2 Brown 12 24V 5 Gray DI O 0 7 Blue DI O 1 3 Green DI O 2 4 Yellow DI O 3 8 Red AI 0 6 Pink AI 1 Table 22 Electrical parameters of the analog end Parame...

Page 84: ...inputting 1A current 0 35 0 4 0 85 A Input Current 0 35 0 4 0 5 A Current through GND 0 35 0 4 0 5 A Tool digital input The digital input is implemented as an NPN with a weak pull down resistor as sho...

Page 85: ...V4 5 2015 2019 AUBO All rights reserved 81...

Page 86: ...rface for menu operation programming and online operation The user can directly operate and control the robot body to perform related tasks through the AUBORPE software displayed on the teach pendant...

Page 87: ...h pendant Please refer to 6 6 Cable connection for specific connection instructions and warning information 6 It is determined that the safety information in Chapter 6 ROBOT INSTALLATION has been obse...

Page 88: ...as two working modes manual mode and linkage mode Please read chapter 8 4 4 for more instructions Wait for STANDBY lights steady and enters the standby state Press start up button on the upper left of...

Page 89: ...em which may result in robot malfunction 2 Ensure to unplug the power cord after power off the whole robot system Start system quick Before starting the robot system please make sure that the robot bo...

Page 90: ...stop button on the teach pendant can be used to stop the robot If you need to return to the normal mode you need to rotate the button in the direction shown on the button 4 Force control switch It is...

Page 91: ...t user cannot choose actively The default password is 1 the user cannot modify Safty Settings 10 5 and update 10 6 6 are not available Username does not support customization After checking the automa...

Page 92: ...nterface Robot Movement Control Robot Teaching User Interface The Robot Teaching panel is used for the robot teaching operation User can move the robot by clicking icon on the panel and get feedback i...

Page 93: ...d initial pose button 15 Speed display 16 Date and time display 17 speed control 1 Currently logged in user The section of the software header bar displays the name of the currently logged in user You...

Page 94: ...tating clockwise along Z axis zoom in and zoom out The function of the icons as follow Base plane click to hide the base reference plane in the simulation interface Actual waypoint model click to hide...

Page 95: ...low the controlled variable change precisely in a stepwise manner Use step control mode by activating step mode Click the button on both sides of input box to adjust the robot s step length Position s...

Page 96: ...V4 5 2015 2019 AUBO All rights reserved 92 Figure 10 9 Position control base Figure 10 10 Position control end...

Page 97: ...shown below Figure 10 1 base end Select the end coordinate system end on the teach pendant interface to control the robot The robot will move according to the coordinate system as shown below Figure 1...

Page 98: ...Y Z are represented to end pose quaternions End pose is represented by quaternions which can also be transformed as other representations for example Euler angles 11 Target selection The Target Selec...

Page 99: ...f Joint control The robot has six degrees of freedom namely Joint 1 to Joint 6 from bottom to top Users can control the movement of each joint by using the buttons on the teach pendant interface repre...

Page 100: ...erface Figure 10 16 Zero Pose and Init Pose default 15 Motion speed control Figure 10 17 Motion speed control Users can adjust the robot s motion speed by sliding the slide bar the percentage of the m...

Page 101: ...bot I O settings and status display The electrical I O of the robot system see 8 Electrical Interface can be viewed and set up with the following summary The I O settings panel is divided into control...

Page 102: ...There are four analog output signals VO0 VO1 CO0 and CO1 respectively VO0 VO1 output voltage CO0 CO1 output current output IO control select the IO and then enter the corresponding value in the text...

Page 103: ...nd effect s setting status Users can configure 4 digital I O by pin 3 4 5 6 and pin 7 8 can be configured as an analog input Pin 2 can be configured to three kinds output voltages 0v 12V and 24V Users...

Page 104: ...ab InitPose Figure 10 21 InitPose Click Set Init Pose to set the initial position by moving robot via the teach pendant or hand guiding which correspond to Init Pose on the interface and synchronize t...

Page 105: ...ry and dynamics properties Constraints on the dynamics such as speed and acceleration of a manipulator with a load The tool calibration in the above figure is divided into three calibration interfaces...

Page 106: ...entation and then add three waypoints while keeping the reference point the end tool relative to the coordinate system of the base unchanged At the final calibration of the 4 waypoints ideally the cen...

Page 107: ...matics name and click the Add button to add a tool kinematic calibration The above figure also supports the manual write input of tool kinematics parameters After manually entering the parameters also...

Page 108: ...ck Add to save the parameters When modifying the tool dynamics parameters first select the item to be modified and then enter the value to be modified and click the Modify button to complete the modif...

Page 109: ...hen modify the tool calibration select the item to be modified you can modify the name kinematic parameters and dynamic parameters Click the Modify button to complete the modification When delete tool...

Page 110: ...Oyz yOyx zOzx zOzy The different coordinate system types naming rules calibration points and requirements are listed as follows Figure 10 28 XOY The figure above is xOy type The first point requires f...

Page 111: ...The first point requires for the calibration is the origin of the coordinate system The second point is any point on the positive of the Z axis and the third point is any point on the positive semi ax...

Page 112: ...The first point requires for the calibration is the origin of the coordinate system The second point is any point on the positive of the Y axis and the third point is formed at any point within the f...

Page 113: ...he coordinate system origin Use the same method to calibrate Point2 and Point3 Enter the name of the coordinate system and click the Add button to save the coordinate system parameters When modifying...

Page 114: ...ection and the sixth level is the default level Motion limit initial value The initial value of the motion limit is the limit of the speed of the project After this configuration is completed the soft...

Page 115: ...ce input signal is invalid When verification mode is selected the external enabling device input signal is valid System Setting tab The Robot Setting tab has nine units including Languages Date Time P...

Page 116: ...V4 5 2015 2019 AUBO All rights reserved 112 Date Time tab Figure 10 39 Date Time tab Date Time tab can set date and time...

Page 117: ...segment with the IP address of the robot Restart the AUBOPE system after saving the configuration Password Tab Figure 10 41 Password Tab The password setting unit can set the user password here the d...

Page 118: ...ock Screen Check the display line number After switching to the online programming interface the line number of the program will be displayed in the program logic Enter the lock screen time and click...

Page 119: ...reset from the USB memory stick The update interface can be modified only when the admin user logs in USB disk format supports FAT32 but does not support NTFS format Factory Reset Figure 10 43 Factory...

Page 120: ...software firmware button in the interface as shown above click the scan software package scan firmware package and identify the software to be updated in the update package list Click on the software...

Page 121: ...ration interface To fill in other basic information you need to refer to the parameter description of the added device b Configure the IO parameters of the device on the IO configuration page c After...

Page 122: ...V4 5 2015 2019 AUBO All rights reserved 118 Figure 10 46 Modbus Add the PickIt 3D vision system to the teach pendant software Figure 10 47 PickIt Add Camera plugin to the teach pendant software...

Page 123: ...V4 5 2015 2019 AUBO All rights reserved 119 Figure 10 48 Camera Added palletizing process package to the teach pendant software Figure 10 49 Stack...

Page 124: ...nt status the operating state of the six joints voltages currents and temperatures Robot log display the log information Running time the robot operation time The format of Robot Log date time informa...

Page 125: ...V4 5 2015 2019 AUBO All rights reserved 121...

Page 126: ...ce Table 29 Online Programming Panel Number Name 1 Menu Bar 2 toolbar 3 Program list 4 sport control 5 Program operation 6 Program control 7 Property window The user s programming of the AUBO robot is...

Page 127: ...commands Cutting can be used to cut the block Copying enables copying of blocks The paste command can be used to paste the block The delete command is a program edit control command and the program se...

Page 128: ...ons such as user digital I O analog I O Variable condition when the variable is used the Arabic numeral indicates the value In the signal input and output 0 means invalid 1 means valid For text input...

Page 129: ...the tab will change to Command automatically When a new project is created it will cover the current project Therefore remember to save the current project Click Add before to insert a new command be...

Page 130: ...nd a target program and load The selected program will be loaded in program logic list Click Start button on the lower left corner to enter auto move tab Press and hold Auto button to move robot to in...

Page 131: ...t enter a name and click save The project files will be saved as xml format If saved project need to be edited click Save Project again Saved project can be exported by clicking Robot Settings Update...

Page 132: ...cording to the requirements Click auto load default project to load the default project automatically after opening the programming environment Click auto load and run default project to load and oper...

Page 133: ...ally move Press Manual button to jump into the teaching interface which can move robot manually Manually move mode can be used when manipulator moves undesirably Manually move mode can be used when au...

Page 134: ...ator can perform safely without hitting any working platform barriers Procedure Procedure is a process project You can edit the program section for multiplexing and it is easy to load into other proje...

Page 135: ...ch can be edited for reuse are easily loaded into other project blocks New load and save engineering methods are consistent with the project management chapter The list of programs in the subproject s...

Page 136: ...process block Select Procedure Undefined at the project list and the subproject file that can be called is displayed in the properties window Select the subproject file and click OK to invoke the subp...

Page 137: ...three options for the motion properties of the arm move joint move line and move track A detailed description will be given later Click Remove to remove this Move command You must click Confirm to co...

Page 138: ...e simultaneously to the target waypoint as fast as they can Both initial velocity and final velocity are 0 The end moving path between these waypoints during the move can be observed on Track display...

Page 139: ...Optimum time mode It is recommended to choose S Curve to ensure that start and end motions are smoother in a short time Maximum joint speed and maximum joint acceleration can be set as Figure 11 8 Mo...

Page 140: ...ooth transition of linear trajectory B Spline B spline curve When writing a Move Track you need at least three waypoints for each Move condition there is no upper limit for theory and you need to inse...

Page 141: ...celeration in the same linear motion MOVEP is a smooth transition of arcs between multiple linear trajectories The running characteristics of the blending radius are continuous motion and will not sto...

Page 142: ...r more waypoints Figure 11 21 Waypoint command Click the alias to the right of the input box to modify the command name Waypoint can only be added after the Move command Click Add before to add a new...

Page 143: ...nts save programming time The variable point corresponds to the type in the variable configuration as the pose variable Relative waypoint The user performs motion control of the robot arm or end tool...

Page 144: ...stablished enter the loop otherwise exit loop Click Clear to clear the expression Click Confirm to confirm and save the configurations Figure 11 23 Loop Break Break command is used to jump out of a lo...

Page 145: ...conditions Click Input condition to input condition expression based on C language arithmetic rule as shown in Figure 11 18 b If the condition is evaluated to be true the program inside this If are ex...

Page 146: ...e with the condition value of the following Case statement If they are equal execute the following program segment in the Case statement If there is no Case value that satisfies the condition then exe...

Page 147: ...able Choose a variable on the below drop down list Input an expression to assign a value to the choose variable which should follow C language arithmetic rule Click Clear to clear expression Click Rem...

Page 148: ...wait condition Click Remove to delete a wait command Figure 11 29 Wait Line Comment Line Comment is a command that explains the following program by line comment Clicking Alias to the right of the bla...

Page 149: ...lected Block_Comment Click Confirm to confirm the configurations and save Figure 11 31 Block Comment Goto In some industrial scenarios the robot needs to be interrupted of whatever it s doing and turn...

Page 150: ...ick Alias input box on the right to modify the command name Click the Message Type drop down menu to select the information types corresponding to Information Warning Critical and the corresponding wi...

Page 151: ...p user can achieve the parallel control with the main program Note It is recommended to avoid the use of multi threaded If you must use multiple threads be aware of the parallel logic and timing of th...

Page 152: ...ve to delete the selected Thread Click Confirm to confirm configuration and save Figure 11 35 Script Offline Record The Offline Record command can import the track file which was generated via offline...

Page 153: ...l position of the track record and then click on the run to play the track Track pause Clicking Stop will pause the robot in playback Resume after the track is paused long press to move to the ready p...

Page 154: ...Start to record the movement track of the robot click Finish to stop the recording enter the track name click Save to finish Track replay Click the Track to select click Load then press and hold Ready...

Page 155: ...s is displayed in table including name type and value Choose a variable the information will display in the drop down list of variable type variable name input box and variable value selection input o...

Page 156: ...used in existing project file it won t prompt that this variable name condition is undefined until reload the project After changing variable name users must reload the project before operation in cas...

Page 157: ...program file Timer1 and Timer2 are the corresponding time displayed when a Timer command is selected The time interval is the time interval between the selected Timer and the last selected Timer Note...

Page 158: ...XYZ and the rotate parameters RX RY RZ Users can check Show track and see the end of the track in the simulation window Users can also set the Track duration to specify the track display time Figure...

Page 159: ...V4 5 2015 2019 AUBO All rights reserved 155 Figure 11 43 script file editor...

Page 160: ...04 1 2006 Diagnostic coverage DC is a measure of the effectiveness of the diagnostics implemented to achieve the rated performance level For more information see EN ISO13849 1 2008 Integrator The inte...

Page 161: ...onal leading level AUBO i5 passed the robot performance test of China National Robot Testing and Evaluation Center Headquarters The performance index has surpassed most domestic brands reaching the st...

Page 162: ...certification It meets all the relevant requirements of the Korean certification standard AUBO i5 robot was test by the China National Robot Testing and Assessment Center headquarters robot performan...

Page 163: ...d horizontally Speed 100 the general speed of the robot is set to 100 and the movement is performed at a joint speed of 183 s Payload maximum payload when connecting to the TCP 3 kg The test on the jo...

Page 164: ...ing 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 Safety relate...

Page 165: ...figurable DO 16 4 Configurable AI 4 2 AO 4 I O power supply 24V 3A in the control box parameters are subject to actual data 0V 12V 24V 0 8A in tool Communication Ethernet Modbus RTU TCP Interface SDK...

Page 166: ...t the center of gravity offset which is the distance between end effector flange focus and tool focus 1 The load conditions should within the range shown in the figure 2 The payload shown in figure re...

Page 167: ...les Arm canbus error code 3 3 Joint 3 Robot arm module can communication error Check the CAN bus connection between modules Arm canbus error code 4 4 Joint 4 Robot arm module can communication error C...

Page 168: ...dication etc The teach pendant software enters the simulation mode and cannot operate the real robot arm Check log file Call getIsLinkageModeInter face failed Get the arm failed online The teach penda...

Page 169: ...ation parameter is wrong Prompt message Check if the SDK call parameters are correct code 10015 10015 ErrCode_CoordinateSyste mCalibrateError coordinate system calibration failed Prompt message Check...

Page 170: ...inkage Slave Mode Come in linkage slave mode disable UI Enter linkage mode disable UI Normal operation no Mac Communication Error Mac communication error disable IO settings Mac communication error di...

Page 171: ...nt Re planning the track Robot status exception Abnormal state unable to move Irregular movement Re planning the track Robot Controller Warning Please wait for robot to stop Please wait for the robot...

Page 172: ...problem need to replace or repair the joint circuit board joint error encoder pollustion Encoder pollution The arm cannot be powered on and the joint module hardware is faulty Hardware problem need t...

Page 173: ...e motion track configuration is reasonable joint error target speed out of range Target speed over range Prompt message Check if the motion track configuration is reasonable robot error type Robot arm...

Page 174: ...n loop failed Enable position loop failure The arm cannot be powered on and the joint module hardware is faulty Hardware problem need to replace or repair the joint circuit board set max accelerate fa...

Page 175: ...reduced mode Normal operation no Enter the safety mode Enter safe mode Normal operation no please manually release Please manually lift Normal operation no the external safety stop DI External safe st...

Page 176: ...ergency stop signal Soft Emergency Collision Robot Error Info Notify Collision joint error collision collision Mechanical arm pause motion Check if the arm collides Toolio Error Toolio Error Tool side...

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