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Table 5-7 Module Variables Related to Fixed Vision

Variable

Name

Type

Remarks

vision.x

lreal

Workpiece position: X coordinate

vision.y

lreal

Workpiece position: Y coordinate

vision.z

lreal

Workpiece position: Z coordinate

vision.a

lreal

Workpiece posture: Angle rotating around Z axis

vision.b

lreal

Workpiece posture: Angle rotating around Y axis

vision.c

lreal

Workpiece posture: Angle rotating around X axis

vision.attr

int

Workpiece attribute

vision.id

int

Workpiece ID

Fig.5-19 Program Testing Code

Line 1: Start of the loop;
Line 2: Move the robot to posture 1;
Line 3: Set the camera trigger command to 1; (this procedure is not required if t

he camera is set to IO trigger)

Line 4: Trigger the camera to take photos. The variable hasObj=true if the data i

s obtained successfully;

Line 5: Execute Line 6-11, if the camera data is obtained successfully;
Line6: Define robot posture 2 (grabbing point);
Line7: Define robot posture 3 (position above the grabbing point);
Line8: The robot moves to posture 3;

Summary of Contents for ECR5

Page 1: ...ECR5 Collaborative Robot User s Manual Please Read This Manual Carefully Before Use ...

Page 2: ...EFORT INTELLIGENT EQUIPMENT CO LTD ECR5 User Manual Teach Pendant Instructions Version V1 1 Service Hotline Tel 4000528877 Version V1 1 Tel 4000528877 ...

Page 3: ...her objects around you This statement and manual are the latest version of this batch of products before leaving the factory Please visit www efort com cn Official website for updated information This manual is only used as a guide for the normal operation of the product During the use of the product EFORT will not be liable for personal injury and property loss caused by other reasons except prod...

Page 4: ...Technical service personnel Meanings of Common Sign A large number of warning signs are used in this manual to indicate important information during use The warning signs and their meanings are shown in the table below Table 1 symbols used in this article DANGER If you do not follow the instructions there will be accidents leading to serious or fatal personal injury or material damage Warning If y...

Page 5: ...llowing aspects in risk assessment but not limited to 1 Sharp corners such as end effector work piece cause injury to personnel 2 Obstacles in the robot workspace cause injuries to personnel and equipment 3 When the robot is running it may collide with people and cause injury 4 There may be risks when robots operate dangerous goods 5 Different security parameter settings may have risks in applicat...

Page 6: ...Mode Switch Knob 2 1 2 2 Enabling Key 3 1 2 3 Control Keys 4 1 2 4 Function Keys 5 1 2 5 Emergency Stop Key 5 7 2 1 Main 7 2 1 1 Navigation Bar 8 2 1 2 Status Bar 8 2 2 Login Page 9 2 2 1 User Types 10 11 3 1 JOG Servo on 11 3 2 JOG Joint Movement 12 3 3 Jog Cartesian Movement 14 3 4 Drag Teaching 17 19 ...

Page 7: ... 52 5 1 1 Mounting Angle 52 5 1 2 Tool Coordinate System TCP 53 5 1 3 User Coordinate System User Frame 58 5 1 4 Load Identification 59 5 1 5 Track Record 65 5 1 6 Home Position 67 5 1 7 Module Updates 71 5 1 8 I O Configuration 72 5 1 9 Fixed Vision 75 5 1 10 Auxiliary Axis 86 5 1 11 Joint Slip Compensation 98 5 1 12 Conveyor belt Tracking 99 5 2 Safety 115 5 2 1 Area Monitoring 116 5 2 2 Positio...

Page 8: ... Bus 157 5 4 1 TCP IP 157 5 4 2 MES 172 5 4 3 EtherCAT Settings 177 5 4 4 EthernetIP Settings 178 180 6 1 Information of position 180 6 2 Coordinate system 181 6 3 Robot Jogging 181 6 3 1 joint motion 182 6 3 2 Cartesian motion 182 6 3 3 Step in motion 183 6 4 Activation of coordinate system 184 6 4 1 Activation of tool coordinate system 184 6 4 2 Activation of user coordinate system 185 6 5 Posit...

Page 9: ...nal 191 7 3 On site monitoring of bus data 193 7 3 1 Function of Modbus 193 7 3 2 Function of Profinet 203 7 3 3 Function of EtherCAT 217 7 3 4 Function of EthernetIP 228 241 8 1 Alarm Process 241 8 2 System Log 242 8 3 Program Log 242 244 A 1 System Alarm Code 244 A 2 User Alarm Code 1400 1499 248 A 3 Major Error Code 1800 1899 258 A 4 General Alarm Code 3900 3999 268 A 5 User Alarm Code 4900 499...

Page 10: ...Catalog EFORT INTELLIGENT EQUIPMENT CO LTD 5 ...

Page 11: ...am with the right one as shown in figure 1 1 Fig 1 1 The right way to hold a teach pendant 1 2 Components See Figure1 2 and figure 1 3 for the location of the components of the teach pendant and see Table 1 1 and table 1 2 for the detailed descriptions Fig 1 2 Front of teach pendant Table 1 1 Front Components Description No Name Remarks 1 Display touch screen HMI operation area 2 Function key Prov...

Page 12: ... 1 3 Back of teach pendant Table 1 2 Back Components Description No Name Remarks 7 Stylus Used to click the touch screen 8 USB interface protection cover Protect USB interface 9 Enabling key Please refer to section 1 2 2 for specific usage 10 Bracelet When holding the teaching pendant prevent it from leaving 11 Outlet cover plate The cover plate needs to be opened when replacing the wiring harness...

Page 13: ... to the ratio of the robot s moving speed and the maximum speed defined in the motor Motion rate is displayed at the right bottom side as show in the following picture 1 2 2 Enabling Key The enabling key is placed at the back of the teach pendant which should be pressed during the entire process of a robot arm movement An exception can be made in the case of a programed movement The corresponding ...

Page 14: ...r rotation of an end effector in the Cartesian coordinate system The location of control keys are shown in figure 1 8 and the functions are described in details in table 1 5 Fig 1 8 Control Keys Table 1 5 Control Keys Functions Icons JOG Mode Cartesian Mode Start to execute a program Pause Control a single joint to move towards the positive direction Control a single joint to move towards the posi...

Page 15: ...This key is used switch to an auxiliary axis See more details in auxiliary axes section 6 This key is used to switch the motion reference system 7 Not enabled 8 This key is used to reduce the movement speed 9 This key is used to increase the movement speed 10 Servo on off 1 2 5 Emergency Stop Key Press the emergency stop key at the up right corner of the control panel to terminate a movement in ca...

Page 16: ...1 10 Teach pendant control keys Step 2 Turn the emergency stop key clockwise until it pops up to remove the emergency signal Step 3 Remove the warning message by clicking on CHECK and the robot restores to normal state Fig 1 11 Remove the Warning Message ...

Page 17: ...here are three major sections in the system interface as shown in figure 2 1 Fig 2 1 HMI Interface Table 2 1 HMI Interface Description No Section Remarks 1 Navigation Bar This section includes navigation bar program manager and navigation drawer 2 Content Section This section includes routines functions and parameters editor 3 Status Bar This section displays the running status of a robot ...

Page 18: ... torque and temperature 6 Log Section It is used to check the running records 7 It is used to display the loaded RPL program filename 8 It is used to create a new RPL program file 9 It is used to open the RPL program manager 10 It is used to save a RPL program 11 The navigation drawer menu includes system information and system configuration 2 1 2 Status Bar Fig 2 3 Status Bar Table 2 3 Status Bar...

Page 19: ...e motion reference system There are 4 types of reference systems such as joint robot tool and user Refer to section 1 2 3 for more details of joint mode and Cartesian mode 8 Displaying the chosen tool coordinate system 9 Displaying the chosen user coordinate system 10 Displaying the speed ratio 2 2 Login Page Turn on the power and load the system The login page for ECR HMI is shown as figure 2 4 F...

Page 20: ...d Both the operator and engineer users have limited access to the system while the administrator user has no access limits Refer to table 2 4 for the detailed descriptions of user authorization Table 2 4 User Authorization Description Authorized Access Operator Engineer Administrator Program Section Setting Section Movement Section Monitoring Section Log Section Program Manager Navigation Drawer M...

Page 21: ...rotate in the positive or negative direction following the X Y or Z axes Operation Steps Step 1 Turn the mode switch on the teach pendant to T1 and Manual S is shown on the status bar as illustrated in figure 3 1 Left Right Fig 3 1 Mode Switch Step 2 Press PWR on the teach pendant to turn on the servo The process generally takes 3 5 seconds A sequential click from each of the 6 joints indicates th...

Page 22: ...Mode Note The motion reference switch is disabled in the Auto mode The motion reference switch is enabled only in Manual S or Manual F mode Step 2 Press the enabling key at the back of the teach pendant and the ECR5 icon on the status bar turns green as shown in figure 3 4 Left Right Fig 3 4 Enabling Key Step 3 Hold the enabling key with the left hand and press the control key or to rotate the fir...

Page 23: ... Joint Rotation in the positive or negative direction Note Press the V or V keys to adjust the movement speed ration Control Pannel System Interface Note The speed ratio ranges from 0 20 in the Manual S mode The speed ration ranges from 0 100 in the Manual F mode ...

Page 24: ...between the big arm and the small arm should be greater than 10 as shown in figure 3 6 The separation angle between wrist No 1 and wrist No 3 should be greater than 20 as shown in figure 3 6 Left Right Fig 3 6 Robot Arm Figure 3 7 shows the recommended separation angle for each joint in Cartesian movement Refer to section 3 2 for detailed description of joint movement Fig 3 7 Starting Posture of C...

Page 25: ...ach pendent and turn to Robot as shown in figure 3 8 Left Right Fig 3 8 Motion Reference Robot Note The motion reference switch is disabled in the Auto mode The motion reference switch is enabled only in Manual S or Manual F mode Step 3 Hold the enabling key with the left hand and press the control key or titled 1 with the right hand to command the robot to do the linear movement in the positive o...

Page 26: ...the robot to move or rotate on X Y or Z axis with the base as the origin 1 Positive or negative linear movement on the X axis 2 Positive or negative linear movement on the Y axis 3 Positive or negative linear movement on the Z axis 4 Positive or negative rotation on the X axis 5 Positive or negative rotation on the Y axis 6 Positive or negative rotation on the Z axis ...

Page 27: ...e servo Step 2 Press the drag teaching switch on the end flange Fig 3 10 Drag Teaching Switch Step 3 Press the enabling key with the left hand at the back of the teach pendant The drag teaching switch indicator turns red and the belt lamp turns green on the end flange Step 4 Hold the enabling key and drag the robot as desired Fig 3 11 Drag Teaching Note The robot cannot be dragged if the enabling ...

Page 28: ...flashing Note There are 3 statuses for the indicator on the end flange 1 The indicator flashes with green light 2 The indicator stays in green light all the time 3 The indicator light goes out Press the indicator and it switches among the three statuses Refer to section 9 2 4 for the detailed description of the indicator ...

Page 29: ...ing program files can be opened copied and deleted Click on the Open File button in the navigation column as shown in Figure 4 2 to pop up the program manager page and click the button as shown in Figure 4 3 to close the manager Fig 4 2 Open the program manager Fig 4 3 Close refresh program manager Note The operator user can only use the open and USB import export functions as shown in the figure ...

Page 30: ...B flash disk the program file extension must be uppercase such as demo XPL instead of lowercase such as demo xpl otherwise the program file will not be recognized by the teach pendant software 4 2 Program Tab Program tab can implement the following functions edit program debug program run program Fig 4 4 Program tab ...

Page 31: ...command code for current program parameter setting It displays the detailed parameters of the currently selected command in the program and edit it Note Click on expand button to expand the program tree area 4 2 2 Example 1 Run a sample program In this example the following can be implemented according to the operation procedures program loading program execution in automatic mode step in the prog...

Page 32: ...on the open button and wait for the program to be loaded 2 After the program is loaded 1 Rotate the mode knob to Auto Servo On PWR button on the panel of the teach pendant 3 1 Click on the Program Run button The robot starts to move according to the commands in the program 4 When the program is run the status in the status bar changes from initiate to run Note Click on the program pause button to ...

Page 33: ...Click on the terminate button to terminate the program Note Pause program is different from terminate program Pause Program Only the execution of the program is suspended while the program in the controller is still working Terminate Program Turn the program from the working state to the stop state and the program enters the editable state In robot control system many operations such as jog robot ...

Page 34: ...e of the program is executed and the program will not be executed again Note When manually debugging the program the enable key should always be held down If it is released the program will pause immediately Table 4 1 Description of program execution mode Mode Remarks Continue After the program is executed it runs until the end of the program Step In The main program Main pauses after each line Wh...

Page 35: ...C refers to Set the program cursor to a specified line After clicking on the program run key the program starts to execute the program from that line SetPC Operation Procedures Demonstration Remarks 1 1 Continue the operation of step in program in the previous section 2 Execute the program to line in a step in manner 2 1 Select line in the program segment that is click on line below 2 Click on Set...

Page 36: ...mistakes It indicates that there are robot motion related commands in the current program line It indicates that the current line is active and there is movement in execution There is an error of the current line including motion commands 4 2 3 Example 2 Write the First Program This example will demonstrate how to create a new program insert robot motion commands create new variables and subroutin...

Page 37: ...gram 4 Click on the button to complete the creation 2 Wait for the file to be created and finished loading Insert MJOINT Command The operation procedures of inserting command are as follows Demonstration Remarks 1 1 Click to select the Main row 2 Click on movement MJOINT command in command bar Complete command and insert it into the program tree 2 Complete command insertion ...

Page 38: ... above the selected line The following demonstrates the insertion of the command line in reverse order The procedures of the insertion of the command line in reverse order are as follows 图示说明 1 1 To continue the above click on the second line in the program tree the MJOINT line 2 Click on the MLIN command in the command bar 2 Complete the reverse order insertion command Teach Waypoint Two motion ...

Page 39: ...save the modification Type 2 Teach method Demonstration Remarks 1 1 Rotate each joint of the robot to the value show in the figure in manual mode joint motion See section 3 3 2 2 1 Select line 5 in the program tree 2 Click the Teach button in the Parameter page The red letter in the figure indicates the change of posture data 3 Click on the Apply button to save the data 3 The teach is completed ...

Page 40: ...it Bar button 2 Select the MLIN command in line 2 3 In the pop up edit bar click on the Delete button 5 Click Yes to complete the deletion operation 6 1 Click on the Edit Bar or Retreat button again to hide the edit bar In the same way add 4 more postures to the program tree using MJOINT command and save the program and posture data as shown in the figure below Note Click on the Save button in the...

Page 41: ... by adding variables and loop command FOR command Process 1 Create variables Process 2 Set the initial value of the variable Process 3 Insert the FOR command in the program tree the FOR command requires this variable as an command parameter Procedure 1 The procedures of create variables are as follows Demonstration Remarks 1 1 Click on the Variable tab 2 In the tab page select Main item 3 Click on...

Page 42: ...he above process This is to set the scope of the variable For the concept of scope please refer to another document RPL Programming Manual Procedure 2 The operation procedures of Set the initial value of the variable are as follows Demonstration Remarks 1 1 Select the iter variable 2 Click on Edit button 2 1 Click on the More button ...

Page 43: ...ton 4 Set the initial value of the variable and then complete Procedure 3 The operation procedures of Insert FOR Command are as follows Demonstration Remarks 1 1 Select line 2 2 Click on Loop FOR Command 2 1 Select FOR in line 2 2 Click the Select Variable button on the Parameter page and select the iter variable in the list ...

Page 44: ...ue bar and the Expression Editor will pop up 2 Click on the 123 numeric keyboard button in the expression editor 3 Type 0 in the pop up keyboard 4 Click to enter the value 4 1 Click on the OK button to finish editing 5 Complete the setting of end value and step value in sequence End value 10 Step value 1 ...

Page 45: ...ms in the program tree 2 Multi select operation tap and hold the 4th row and drag down to the 13th row 8 1 Click on the Edit Bar button to pop up the edit bar 2 Click on the Cut button in the edit bar 9 1 Select the End FOR of third line in the program tree 2 Then click on the Paste button in the edit bar to move multiple motion commands into the FOR loop body ...

Page 46: ...rom line 3 to line 13 in the main program into a sub function which is called by the main program as shown in Figure 4 10 Fig 4 10 call the subroutine In the figure 4 10 line 3 is the name of the subroutine lines 4 to 13 indicate that the code is annotated that is it will not run again The procedures in the figure above are as follows Demonstration Remarks 1 1 Click on the newSub button to add a s...

Page 47: ...Change the name to moveROBOT 3 Click on to save it 3 1 Add 5 MJOINT commands in the moveROBOT subroutine and teach 5 waypoints 4 Click on the Program Switch drop down box to switch back to the main program Main 5 1 Click to select the third line in the main program 2 Click on Basic Command CALL command to insert ...

Page 48: ... Click on the Edit button to jump to the call list 7 1 In the candidate list select moveROBOT 2 Click on the Confirm button 8 1 Click on the Apply button to save the settings of the CALL command 9 1 Multi select the program from line 3 13 2 Click on the edit bar comment button to comment out the multi line program ...

Page 49: ...lick on the Edit Bar Delete button 4 2 4 Drag Teaching Section 3 3 4 introduces the operation of dragging the robot This section will explain how to quickly insert the pose or motion trajectory of the robot into the program tree in combination with the drag operation that is drag teaching There are two types of drag teaching teaching point and teaching track Drag Teaching Point Prerequisite for st...

Page 50: ...ORT INTELLIGENT EQUIPMENT CO LTD 40 The operation procedures of drag teaching point are as follows Demonstration Remarks 1 1 Create a new program named DragTeaching 2 1 In the current robot posture insert the MJOINT command ...

Page 51: ...The box button has 3 states breathing flashing always on and light off Each time you click on this button it will switch to the next state in turn that is breathing flashing constant light light off off 5 1 Gently hold the enable key with your left hand At this time the light band of the end flange will turn green which means that you can start to drag the robot Note The effect of holding the enab...

Page 52: ...on on the end flange to insert the current robot posture into the program tree 7 The program interface will pop up a dialog box This dialog box asks which motion command to move to the point to be inserted Here we choose the MJOINT option 8 Drag the operation steps of teaching point to complete Note There are two ways to exit the teaching mode 1 Turn the current Auto Mode to Manual Mode 2 Click on...

Page 53: ...ollowing figure Overwrite means to update the robot pose target of the current command Insert The MJOINT and MLIN query boxes in step 7 above will pop up The Track of Drag Teaching Following the operation of drag teaching point the following describes how to teach the movement trajectory of a robot by dragging The operation procedures of the track of drag teaching are as follows Demonstration Rema...

Page 54: ...the button light is steady blue 4 1 Gently hold the enable key and start dragging the robot for a short trajectory After dragging release the enable key 5 1 Click on the triangle button on the end flange again 1 2 At this time a line of MPATH command will be automatically inserted into the program tree which is the reproduction command of the drag track 6 Drag teaching track operation is completed...

Page 55: ... virtual PLC built into the controller You can use the logic commands in the RPL commands to write programs that run in the soft PLC but you cannot use the robot motion commands Note There are 4 soft PLC environments built in the controller system and 4 soft PLC program files can be loaded into these 4 environments respectively New Soft PLC Program The operation steps of a new soft PLC program are...

Page 56: ...rogram Main environment to the soft PLC environment 2 1 According to the normal procedure of creating a program you can create a soft PLC program with the program name plc_1 3 Create a new soft PLC program and then complete Note In the soft PLC editing environment the Movement and Motion Par categories in the command bar are in the disabled state as shown in the figure below ...

Page 57: ...rogram Mode 1 The operation steps of starting soft PLC program manually are as follows Demonstration Remarks 1 Load the soft PLC program into the softplc1 environment 1 Click on the drop down box to switch to the softplc1 environment 2 Open the plc_1 file 3 In the current soft PLC environment with the same operations as the running program automatic running step in see section 4 2 3 you can run th...

Page 58: ...e as follows Demonstration Remarks 1 1 Switch the program tree environment back to robot 2 1 Insert CALL command 2 Select the CALL command inserted into the program tree error 1 3 In the Parameters tab on the right click on the Edit button 3 1 In the candidate list select the system startPLC1 item 2 Click on Confirm button ...

Page 59: ...1 fill in 1 3 Click on Apply button to complete the setting 5 Additional operations in step 4 6 Run the program realize the soft PLC to run plc_1 XPL Table 4 3 system start PLC command illustration system startPLC command format Call system startPLC1 string type Call system startPLC2 string type Call system startPLC3 string type Call system startPLC4 string type The above four commands can be desi...

Page 60: ... the upper right corner of the program interface to view the PLC program storage path in the pop up interface for example RPL PLC1 XPL 2 type PLC operation mode 0 means that the PLC program is running when the main program is running and when the main program is paused the PLC is paused 1 means that no matter whether the main program is running or paused the PLC program is always running in the ba...

Page 61: ...n the proper operation of the robot refer to table 5 1 for details Table 5 1 Installation Settings Tab Description General Mounting Angle Safety Areas Monitor TCP Position Monitor User Frame Flange Config Load Identification Collision Track Record Restrictions Home Position Safety Plane Module Updates Body Risk IO Config Safety Sensor Fixed Vision Auxiliary Axis Joint Slip Compensation Conveyor Tr...

Page 62: ... and joint slip compensation 5 1 1 Mounting Angle Fig 5 2 Mounting Angle Interface The Mounting Angle interface allows three settings for robot mounting floor ceil and angle mounting Enter the installation angle screen the displayed installation angle is read out from the last installation setting saved in the controller and displayed Setting procedures for Mounting Angle Demonstration Remarks 1 C...

Page 63: ...djust the installation tilt and rotation angle where the tilt angle can be adjusted from 1 to 179 the tilt angle degree change is actually only divided into acute angle obtuse angle and right angle three installation posture and will not be accurate to the specific degree the rotation angle can be adjusted from 0 to 359 5 1 2 Tool Coordinate System TCP Fig 5 3 TCP Interface Users can calibrate mod...

Page 64: ...t 2 Click the to activate the selected tool Operation method 2 Demonstration Remarks 1 Click on Jog to jump to the configuration page Click and select a tool from the drop down list The chosen tool is then activated Note The name of the activated tool is shown on the status bar Tool Calibration Tool calibration refers to the process in which the end effector is moved to the calibration point in di...

Page 65: ... procedures of Tool Calibration Demonstration Remarks 1 1 Select any tool from the drop down list beside tool0 2 Click on CALIBRATE 2 1 Select TCP default fr om the drop down list 2 Click on NEXT TCP default is chosen for demonstration Other calibration methods are explained in table 4 2 ...

Page 66: ...G 4 Jog the robot s end effector to aim for the calibrator as shown in figure 5 4 Click on OK to complete Set Point 1 and interface automatically returns to TCP 5 Repeat the previous step 3 and step 4 for the rest three points Click on Calibrate to get the TCP data 6 Click on APPLY to save the results ...

Page 67: ...t on the Z axis in the robot coordinate system and calibrates the point TCP Z X 6 The calibration method for first 5 points is the same as that in TCP Z The 6th point moves away from the calibration point on the X axis in the robot coordinate system and calibrates the point Tool Edition TCP values can be modified by Direct Edit Setting procedures of Tool Edition Demonstration Remarks 1 1 Select an...

Page 68: ... modified or recalibrated Wobj0 stands for the base coordinate system with the robot base as the origin The user coordinate system is illustrated in the following figure Fig 5 6 Schematic of User Coordinate System The procedures for activation calibration and edition of the user coordinate system are the same as those explained in section 5 1 2 The only difference lies in point teaching Descriptio...

Page 69: ...ny one on the X axis that in the positive direction to the first point The third point is any one on the Y axis 5 1 4 Load Identification Fig 5 7 Load Identification Interface When the load is added to the end of the robot including a tool or workpiece it might influence the effects of drag teaching and collision Load identification is used to identify the centroid or inertia tensor parameters of ...

Page 70: ...n click Teach you can also directly edit to change the robot axis 3 6 to record the current robot joint position where the upper and lower limit positions of each axis must meet the conditions of prompt 1 otherwise an error will occur alarms Track path points Set the number of generated track path points With more track path points the identification process will be longer and the accuracy will be...

Page 71: ...not performed the speed can be adjusted to low speed for load identification of the trial running robot to confirm whether the identified trajectory is safe If it is the speed can be adjusted to 50 before operation 4 is performed to meet all operations and carry out load identification 4 Identification in progress Note Do not adjust the motion speed of robot or press the Pause button on teach pend...

Page 72: ...Load Click on Fig 5 8 on the left and then modify the current load item directly Fig 5 8 on the right In order to edit the load parameters directly the customer is recommended to use the data of 3D mathematical modeling graph provided by the equipment supplier Fig 5 8 Edit the Load Interface Activate the Load Select the load item to be loaded and then click on to activate it ...

Page 73: ...mmand Function Name dynamics setPayLoaadPar Function Select and activate load item in the program Number of Parameter 2 Remarks for Parameter 1 isEnablePayLoad bool type representing activating or deactivating load 2 payLoadIndex DINT type representing load index which ranges from 0 to 9 Procedures of RPL Program Demonstration Remarks 1 Create a new RPL program and then insert CALL command ...

Page 74: ...rameters of this command 3 1 Select dynamics setPayLoaadPar in the list of candidate subroutine 2 Click on Confirm to return to the parameter setting page of CALL command 4 1 Type in true and 0 into the input box of Para 0 and Para 1 respectively Note True and 0 represent activating Load0 2 Click on Apply to save the settings 5 Completed ...

Page 75: ...Record page 1 Record the sampling time interval of track 2 Manage the existing tracks Note See section 4 2 4 for the approaches of generating tracks Drag teaching of tracks is included in section 4 2 4 Procedures of Sampling Time Interval Demonstration Remarks 1 1 Click on EDIT to activate the drop down box ...

Page 76: ...he sampling interval is longer 3 1 Click on APPLY to complete the modification Track Files Management Demonstration Remarks 1 1 Select any item in the list of file name to do some operations such as Notes and Delete 2 Click Refresh Comment and Delete to operate accordingly Operation to Select Multiple Files Demonstration Remarks ...

Page 77: ...es Note Click on Cancel to exit the multi select mode 5 1 6 Home Position Fig 5 11 Home Position Interface The Default Pose page is used to set and save the posture of a robot Combine it with the DEFAULT POSE button in Jog interface as is shown in Fig 5 12 And this combination can make the robot to move to the preset posture automatically This is a type of shortcut operation ...

Page 78: ...nterface Set the Default Pose Procedures Demonstration Remarks 1 1 Click on EDIT POSITION The page jumps to Jog interface 2 Move the robot to the target posture Click on to save the posture And then the interface will jump back to Default Pose page automatically ...

Page 79: ... There are two methods to use the DEFAULT POSE button Procedures of the First Method Demonstration Remarks 1 Click on Jog on the task bar 2 Set the state of robot to Manual Mode Servo ON Keep pressing the Enabling Key Keep clicking on DEFAULT POSE to move the robot to the default pose ...

Page 80: ...Set the state of robot to Auto Mode Servo ON Keep clicking on DEFAULT POSE to move the robot 2 After the robot is in place a tooltip will pop up which indicates the robot has moved to the default pose Click on OK Note It is necessary to take the actual removable area of the robot into consideration before using this function so that it can avoid the collision when the robot returns back to the ori...

Page 81: ...nd 988 alarms will appear in the interface of the demonstrator as follows Fig 5 13 1497 988 Warning 正确处理该报警步骤如下 Demonstration Remarks 1 1 Click on the Installation Settings navigation page 2 Click the Module Update menu to enter the module update interface 2 1 Click on the Update button 2 Click Yes to confirm the update of the module 3 Click OK and wait for the module update to finish ...

Page 82: ...ain digital IO port bind it to a certain system function DI When an external level is placed on the port it triggers the bound system function DO When this system function is in effect it will set the bound digital IO port high and low Set the analog type of the analog IO port current type voltage type Fig 5 14 Main Interface of IO configuration ...

Page 83: ...nterface At present the system is open for users to use functional IO has four categories general area position monitoring additional axes and safety Procedures of I O Configuration Demonstration Remarks 1 Click Edit button the interface enters the editable state 2 Clicking on a feature in the list will bring up a settings dialog ...

Page 84: ...where 0 means low level in the Effective level drop down box 1 means high level 4 Filter time applies only to digital input ports to filter noise level signals It is usually set to 0 1 seconds 5 Click Apply button to complete the setting Analog IO setting electric control cabinet ...

Page 85: ...he end flange of the robot Note The end flange has only analog input port no analog output port 5 1 9 Fixed Vision Vision function means that the robot and vision system communicate via TCP IP protocol with the vision system as the server and the robot as the client The vision system translates the position information acquired based on the position of the object under the vision system coordinate...

Page 86: ...ece recognition by camera pixel calibration and etc Camera Communication Format In the process of using after the image of workpiece has been processed the vision system camera needs to transmit its information to robot via the fixed communication format provided by the robot Based on these received data the robot performs pick and place actions Therefore the robot communication format mainly incl...

Page 87: ...s not needed set the default value of the camera communication format to 0 The specific communication data format is as follows Image r n r n Done r n In the above format Image Represent the beginning of the data It is the beginning symbol which indicates that a group of image data begins to deliver Done Represent the end of the data which means that a group of image data has been delivered Note I...

Page 88: ...if the camera does not capture the image of object or fail to recognize the object Camera Settings Demonstration Remarks 1 1 Click on SETTING to enter the camera setting interface 2 1 Set the camera parameters such as camera brand photo time interval camera trigger mode and etc 2 Click on APPLY to save the camera settings Camera Connection Demonstration Remarks ...

Page 89: ...ction is not turned on 2 Click on ENABLE to turn on the fixed vision function 2 1 CAM OFFLINE is displayed if the camera is not connected after turning on the fixed vision function 2 Click on CONNECT to connect the camera Hand Eye Calibration Demonstration Remarks 1 1 Tick Use HandEye Calibration ...

Page 90: ... CALIB 3 A query box will pop up to ask whether to use pixel resolution calibration Note Select NO to skip to procedure 6 directly 4 1 Click on TAKE PHOTOS to obtain the pixel value of workpiece 2 Click on TEACH to obtain the value of workpiece in the robot coordinate system 3 Click on NEXT to calibrate the next point 2 points in total ...

Page 91: ...ocedures are operations of Hand Eye Calibration 1 Select the number of calibration points in the drop down box 2 Click on NEXT to enter the specific teaching interface 7 1 Click on TAKE PHOTOS to obtain the position of workpiece in the camera coordinate system 2 Click on TEACH to obtain the position of workpiece in the robot coordinate system 3 Click on CALCULATE after calibrating all points ...

Page 92: ...Settings EFORT INTELLIGENT EQUIPMENT CO LTD 82 8 1 Click on DONE to save the calibration Workpiece Details Demonstration Remarks 1 1 Click on More Detail ...

Page 93: ... Remarks Command Function Name vision Init_ Function This command is used to initialize the vision related functions It does not need to be called during normal use The function will run automatically after starting the program Number of Formal Parameters 0 Remarks of Formal Parameters None Return parameters None Descriptive Items Remarks Command Function Name vision getData Function Calling this ...

Page 94: ...e this command can set the command triggered by the camera Number of Formal Parameters 1 Remarks of Formal Parameters 1 The value of p int type is consistent with the camera configuration so that the camera can be triggered to take photos Same as the setting of Trigger on Camera Setting page Return parameters None Descriptive Items Remarks Command Function Name vision trigCam Function When the cam...

Page 95: ...al Workpiece posture Angle rotating around X axis vision attr int Workpiece attribute vision id int Workpiece ID Fig 5 19 Program Testing Code Line 1 Start of the loop Line 2 Move the robot to posture 1 Line 3 Set the camera trigger command to 1 this procedure is not required if t he camera is set to IO trigger Line 4 Trigger the camera to take photos The variable hasObj true if the data i s obtai...

Page 96: ...ied directly However vision a vision b and vision c need to be compensated numerically according to the actual situation on site 5 1 10 Auxiliary Axis Fig 5 20 Auxiliary Axis Configuration Interface Based on standard robot the function of auxiliary axis is to add 1 to 4 auxiliary axes to help the robot complete the complex site work of customers Note The current collaborative robot control system ...

Page 97: ... the configuration interface to configure the number of axes 3 1 Configure the number of additional axes When you select the number of additional axaxeses the number of additional axes to be configured appears on the left screen 4 1 Configure whether there is a gantry axis If there is a gantry axis configure the maximum error of the master and slave shafts ranging from 0 01 mm to 100mm ...

Page 98: ...ed axes does not exceed the total number of additional axes and does not exceed the number 3 6 1 Configure the system model of interpolation axes Different number of interpolation axes corresponds to different system models After the number of additional axes is configured then the axis parameters are configured Note Gantry axis in the software refers to the synchronized movement of two motors tha...

Page 99: ...ral motors if installed on opposite sides of the guide rails or placed relatively choose this option 2 master and slave axis motor with the same direction of motion that is the same direction of motor rotation general motor installed on the same side of the rail or placed in the same direction to choose this option Additional axes as interpolation axes the direction of motion of each axis must be ...

Page 100: ... the parameters In addition to the basic parameters the parameters of asynchronous axis need to be configured after turning on the function switch of independent and asynchronous axis 3 1 After setting click the Exit button to return to the system configuration screen 2 Click on APPLY to save the configuration ...

Page 101: ...rk Generally it can be set according to the maximum20 100 times as fast as max acceleration parameter Asynchronous axis velocity The running velocity is that of the auxiliary axis as an asynchronous axis Its value is a percentage of the max velocity Type in 0 100 and the velocity must be greater than 0 Asynchronous axis function Switch on the asynchronous axis On represents that the auxiliary axis...

Page 102: ...oves to the target position in the fastest path For example the current position of the robot is 90 the robot will run in the mode of 90 0 300 if the target position is 300 and the robot will run in the mode of 90 180 250 if the target position is 250 Encoder resolution It is the encoder resolution of the motor For example the encoder resolution of a 17 bit is 131072 Reduction ratio If the output ...

Page 103: ...he opposite direction JOG Auxiliary Axis After configuring the auxiliary axis successfully the control key on the teach pendant can control the rotation of the auxiliary axis Procedures of Synchronous Non interpolated Axis Dementration Remarks 1 1 Click on Jog on the taskbar 2 Click once on 2nd on the teach pendant There will be 2 corresponding changes in the interface of teach pendant 3 At this t...

Page 104: ...epresent the auxiliary axes 2 The Auxiliary axis type is a synchronous non interpolated axis which does not participate in the interpolation of the robot movement track When programming it is recommended to set the parameter of circular arc transition zone to fine that is execute the next command after moving to the target position MJOINT EPOINTJ is the synchronous axis joint running command And M...

Page 105: ... related auxiliary axis function in CALL 2 In auxj AuxMoveStep AuxNum Step AuxNum parameter is the sequence number of the auxiliary axis Its value is 1 4 indicating that moving auxiliary axis is selected The Step parameter is the value of step angle which is set in auxiliary axis APP The Step parameter is 1 or 2 indicating the step angle is step angle 1 or step angle 2 after one operation For exam...

Page 106: ... statement will always run until the asynchronous axis movement is completed Add DWELL statement The buffer time of 0 1 second is to ensure the WAIT statement is executed after asynchronous axis starting to move Otherwise the WAIT statement will be terminated if the asynchronous axis does not start to move 3 In condition of hand pressing signal the selected asynchronous axis is controlled to run a...

Page 107: ...ing the running of synchronous axis all asynchronous axis requests will n ot be responded 2 During the running of asynchronous axis the asynchronous axis running com mand will be interrupted until there is a request of synchronous non interpolated axis When switching the synchronous interpolated axis to the asynchronous axis 1 auxj ClearAuxMask do not need to be executed if the smooth transition c...

Page 108: ...1 movement the value of auxj AuxStoped 1 is false and WAIT auxj AuxStoped 1 makes the program keep waiting in this line After the completion of its movement the value of auxj AuxStoped 1 is true and WAIT auxj AuxStoped 1 command is completed And then the following command can be executed 5 1 11 Joint Slip Compensation Fig 5 21 Joint Slip Compensation Interface Joint slip compensation Due to collis...

Page 109: ...lete joint slip compensation 5 1 12 Conveyor belt Tracking Tracking is when a robot s Tool Center Point TCP follows a moving object At present this function only supports tracking the workpiece on the conveyor belt with 2D camera A typical example is following an object on a conveyor belt The function takes pictures through the camera and obtains the position and pose of the object on the conveyor...

Page 110: ...cking Interface Set 2D camera parameters Procedures of Set 2D camera parameters Dementration Remarks 1 Click on Installation Settings Conveyor Tracking menu 2D Visual Tracking 2 Click the Settings button to open the camera parameter settings panel Camera Parameter Description ...

Page 111: ... login This setting is only applicable to Cognex camera other cameras do not need to be set 3 Login Password This setting is only applicable to Cognex cameras 4 Camera IP Address Note The IP address should be set to the IP address of the camera s algorithm server not the IP address of the camera 5 Camera port Note The port number should be set to the port number on which the camera algorithm serve...

Page 112: ... to the robot 2 Data format Currently only 1 is available The 2D camera provider is also required to set the data information to be transmitted to the robot in the data format corresponding to option 1 The data format is X Y A Attr ID where means fill in the actual value and semicolon separates the subsequent data items 3 Camera data acquisition command This parameter is only applicable to Cognex ...

Page 113: ...mple both parties agree to use the string 123 as the trigger command The following set of images shows a sample setup This set up uses the McMansion camera combined with the IO trigger method Fig 5 24 Camera Settings Reference Interface Test Encoder Module Procedures of Test Encoder Module Dementration Remarks 1 1 Click the Open button ...

Page 114: ...eal time data provided that the encoder module has been correctly installed to the robot controller and the conveyor belt is open Calculate camera pixel resolution Note The following 2 points need to be met first for subsequent operations 1 It must be done after the camera is successfully connected and the encoder c ount can be refreshed with the correct values 2 Confirm again that the current too...

Page 115: ...alibration Select Yes Open the Conveyor Calibration Pixel Resolution Calibration panel 3 Place the target workpiece in a corner of the camera s field of view 4 Clicking on the Photo button to trigger the camera to take a picture and thus obtain data on the target workpiece camera view conveyor belt Conveyor belt encoder ...

Page 116: ...y 6 Click the Teach button Next button 7 JOG robot moves out of the camera field of view after which the target workpiece is placed to the diagonal end of the camera field of view and the above steps 3 to 6 are repeated to calibrate the second point 8 Finish teaching the sec ond point and click Calc ulate Click OK to get the value of pixel resolution ...

Page 117: ...n Remarks 1 Confirm the direction of t he drive belt Turn on the belt and adju st the direction of belt op eration to the desired dire ction on site Select forw ard reverse for the belt b ased on the change in the encoder count value For example if the encoder count is decreasing select Reverse in the software interface and vice versa 2 Demonstration point 1 Place the target workpiece in the camer...

Page 118: ... the camera s field of view pause the conveyor belt and repeat the previous step 4 Demonstration of point 3 Turn on the conveyor bel t transport the target wor kpiece to this point and p ause the conveyor belt JOG robot make the end tool touch the gripping point of the target workpiece vertically Click the Teach button Click the Next button Camera view Camera view Tracking start point ...

Page 119: ... 操作同上一步骤启停传送带之后 JOG 机器人使末端工具尖端触碰到抓取点第 4 点为跟踪中间点取样点第 5 点为跟踪放弃点即目标工件被传送带输送超出第 5 点位之前机器人尚未完成对该工件的跟踪与抓取则放弃此次目标工件 6 示教第 6 点第 6 点不需要传送带来输送而是直接将工件手动搬运到指定位置示教第 6 点的目的在于标定出传送带坐标系的 Y 方向因此将工件从第1点第5点的移动轨迹视作 X 方向采用右手坐标系则 Y 方向为该条轨迹线的左侧 ...

Page 120: ...n RPL program use case Module built in instructions built in variables Table5 8 Module Built in Instructions Built in Variables Description Instruction Function track init Initialize conveyor tracking 2D vision state track getWobj Get the artifact data in the trace queue and build wobj_cvy which can be considered as a user coordinate system on the artifact ...

Page 121: ...y can be used to track and grip the workpiece In this example besides the main program Main there is also a subroutine skipm ove 1 Main program to implement the process flow to achieve tracking and grabbin g of workpieces on the conveyor belt 2 skipmove subroutine some post processing procedures when the robot fails to grasp Note Robot tracking and gripping of workpieces can fail due to factors su...

Page 122: ...re not obtained by means of a teach in but must be edited directly for them and the va lues have strict requirements according to the gripping attitude Position 3 POINTC 0 0 Z 0 0 0 180 Position 4 POINTC 0 0 0 0 0 0 180 Where Z is the height between the end of the tool and the gripping point of the workpiece See the screenshot of the program below for details The following are screenshots of the R...

Page 123: ...ixed coordinate system Line 23 the program will remain blocked on this line until the data of the tracking target can be successfully acquired Line 25 opening of the interrupt trigger Line 26 Position 3 tracking workpiece point The robot will move to a height of 50 mm from the workpiece gripping point At the same time the attitude is adjusted to the tool vertical downwards three values after POINT...

Page 124: ...gram to track and grab the next part II skipmove subroutine Line 2 delete the first workpiece data in the tracking queue Line 3 the robot stops the current action Line 4 clearing the sequence of incomplete actions Line 5 starts execution of the instruction after the current program line Line 6 the robot moves to position 1 Line 8 the program is restarted Ⅲ Custom Variables in the Program Position ...

Page 125: ...am Number of targets successfully tracked and captured getobjready BOOL Main Program Used to receive whether the tracking target was successfully acquired 5 2 Safety Each page of function options in the safety part is related to secure cooperation with robot Before setting the parameters in these pages it is necessary to input the security password prior to editing as shown in the following figure...

Page 126: ...e reference point area monitoring is the relative position between this reference point and the area set by the user When TCP violates the setting that is goes beyond or enters the setting area the system will alarm and stop the robot at the same time Introduction of Interface Figure 5 27 Interface elements of area monitoring Table 5 11 Introduction of interface ...

Page 127: ...tting include Work area TCP can only move in this area Forbidden area TCP cannot enter this area Shared area TCP can send a signal in this area otherwise it will be cancelled 5 Status icon Displaying the relative position relationship between the TCP and the setting area Monitor is not enabled In the work area without violation of setting Outside the work area with violation of setting Outside the...

Page 128: ...tion that is in case of violation the system will immediately alarm and stop the robot Note when the area is shared area whether to enter the occupied shared area is determined by the control switch 9 Violation indicator Green indicates there is no violation of setting Red indicates there is a violation of setting Notes Violation or No violation only applies to work area and forbidden area There i...

Page 129: ...mple 2 1 Select work area forbidden area and shared area in the type of area 2 The shape of TCP can be set to cubes and spheres 3 The area shape can only be set to cube 4 Way to set area Steps for setting position monitoring Diagram Description 1 1 Click on setting region 1 button to enter the setting page Take area 1 as an example ...

Page 130: ... 3 The area shape can only be set to cube 4 Way to set area Notes When shared area is selected it is necessary to set the DO port and bind the function with this DO port You can operate in the page of general IO configuration area location monitoring function options 3 1 Set the center point position and posture of the monitoring area 2 Set the side length of the cuboid ...

Page 131: ...the radius for sphere 3 Click on the save button to complete the setting Notes TCP area refers to enveloping end tools of the robot with cuboids or spheres Start monitoring and control Steps for activating area monitoring Diagram Description 1 Check the activate button to enable the area monitoring function Click the monitoring switch button to start t he monitoring of area 1 ...

Page 132: ... after violation Recovery steps after alarm on area violation Diagram Description 1 1 The area violation indicator turns red to indicate that an area violation has occurred 2 1 Click the control switch button to close the control function 2 Click on process and check to clear the alarming popping up window and the upper servo will not alarm at this time Be sure to operate the robot in manual mode ...

Page 133: ...the UI interface will be disabled You can t click to open the monitor function Notes In the page of general IO configuration function options configure the corresponding DI Port input the high and low levels of the DI port through external devices and turn on off the monitoring function The use cases of Module function and RPL program Steps for programming area monitoring function Diagram Descript...

Page 134: ...tive is to tick enable area monitoring Check when the parameter is true and cancel when it is false 2 areasmonitor benable and areasmonitor bctrl can be used to control a button switch of the monitoring column and control column The first parameter is 1 2 3 4 5 6 7 8 Select one of the eight regions When the second parameter is true turn on the button and when it is false turn off the button ...

Page 135: ...vated the system starts to monitor the motion posture of the robot and judge whether the robot moves to the target position posture set by the user At the same time combined with IO configuration system sends the signal that the robot is in place to the external setting This page of function options provides users with 4 location fields to be monitored Enable position monitoring Steps for configur...

Page 136: ...ivate the position mo nitoring function 2 1 Click on the edit butto n to open the monitoring position setting page 3 Set the joint ang le to be monitored a nd allowable error 2 Click on the apply butto n to save the settings 4 1 Tick the check box to en able monitoring of the postur e ...

Page 137: ...er descriptio n Bool type true indicates activation and false indicates shutd own Return param eters None Item Description Name of instr uction functio n areasmonitor baxsfena Function Enable position monitoring for field No n Number of fo rmal paramete rs 2 Formal param eter descriptio n 1 Type DINT 1 4 indicates the fields to be enabled 2 Type BOOL true indicates that monitoring is enabled an d ...

Page 138: ...g position safeJPos3 POINTJ 3 monitoring position safeJPos4 POINTJ 4 monitoring position Figure 5 29 Example of RPL programming 5 2 3 Flange Setting Figure 5 30 End setting The page of flange setting function can set 1 Enable disable virtual end button 2 Set the output voltage 0V 12V 24V on the end flange which supplies power to the end tool ...

Page 139: ...tput a forced signal and whether the level signal is high or low s determined by the configuration Virtual End Button Steps for displaying the virtual buttons Diagram Description 1 1 Tick the check box but ton 2 Click on the apply butt on 2 A hover button will appear on the software interface 1 Click the hover button 3 The button in the window has the same function as the enti ty key on the end fl...

Page 140: ...y button can be resumed Configuration of IO Force Button Steps for configuring the IO button Diagram Description 1 1 Check the output po rt 1 in the check box 2 Select high level in the drop down box 3 Click on the apply button 2 1 Switch the software i nterface to the monitori ng internal IO interf ace 3 1 Pull down the scroll bar to the bottom where DO 24 and DO 2 5 correspond to output port 1 a...

Page 141: ...ill change with subs equent steps 4 1 Click on the virtual button hover button 2 Click on the on but ton this operation is eq uivalent to pressing the button on the end fl ange At this time the DO 24 indicator is green i ndicating that the forced state is successfully set ...

Page 142: ...ital output ports Do 24 and DO 25 can output high level only when the terminal output voltage is not 0 5 2 4 Collision Detection Figure 5 31 Collision detection The function of collision detection is used to monitor whether the robot has a collision accident and prevent the robot from further damage or damaging the hit ...

Page 143: ... occurred However due to slight jitter in robot motion and slight structural differences between batches false alarm is easy to occur if it is strictly based on the torque peak at the time of delivery In order to avoid false alarm users need to set a threshold according to their own use situation that is to increase the value based on the peak value of force moment so as to reduce false alarm Each...

Page 144: ...e function Base collision value Notes The details of Set parameters in module function are expounded in the section program use collision detection The collision detection sensitivity of each joint of JOG robot is S Jog teaching runtime basic collision value Once real time torque torque peak S RPL Rated torque Then it is determined that the robot has collided Notes The smaller the values of S RPL ...

Page 145: ...ion sensitivity val ue of program running 2 Click the on off button of the collision detection switch 3 Click the apply button to sa ve the above application 2 1 Open the RPL program file in the program tab take test 120h XPL as an exam ple 3 1 Click on basic instruction to find CALL instruction 2 Click on CALLl instruction and insert it into the program tre e The program tree displays error 1 ...

Page 146: ...lues in parameter 0 and parameter 1 as true and 10 0 respectively 2 Click the apply button to sa ve the above settings Notes Parameter 0 BOOL type indicating that collision detection is turned on off from this program segment Parameter 1 DINT type indicating parameter set in module function in the above S RPL formula is a sensitivity gain 7 1 The robot status is set to a utomatic mode upper servo ...

Page 147: ...p then the collision detection function will work normally Notes If the robot sends a collision alarm without any collision when executing the program Or actual collision happens without stop and alarm You need to adjust sensitivity or parameter 1 of collision setCollisionPar in the program code line The lower the value the easier it is to trigger the collision alarm ...

Page 148: ... be detected Loaded The above operations are carried out when the robot is under no load When the robot is used in real operation that is tools and work pieces are installed at the end of the robot and then the collision detection function is enabled the load identification operation must be carried out in advance see section 5 1 4 and the load item must be loaded on the load identification page a...

Page 149: ...he load i s very large Reduce detection sensitivi ty 3 Many external forces are introduc ed into the process Reduce the sensitivity of collision detection at 3 0 intervals until no fals e positives are generated 4 There are short term or temporary external forces Use the collision setCollis ionPar command to reduc e sensitivity or turn off t he collision detection fun ction 5 In automatic mode whe...

Page 150: ...ing steps Diagram Description 1 1 Click the enter settin g button Be careful When entering the setting interface the system will automatically turn off the collision detection function 2 Click the setting bu tton and the system will enter the torque acquisit ion state 3 Perform setting ...

Page 151: ...n detection switch in t he collision detection inter face is off the collision se tCollisionPar in the progra m will still work 5 Terminate the program aft er 2 cycles of complete e xecution of the program Switch back to the c ollision detection interfa ce and click the apply button to close data acq uisition 6 Click the exit butto n All setting operations are completed After the calibration phase...

Page 152: ...P spee d Limit the Cartesian space velocity of the robot e nd tool unit mm s 2 TCP force Limit the force on the end tool of the robot uni t N 3 Stop time Limit the time required for the robot to stop un it s 4 TCP mom entum Limit the momentum of the robot end tool uni t kg m s 5 TCP Pow er Limit the power of the robot end tool unit W 6 Stopping distance Limit the distance required for the robot to...

Page 153: ...cts that the limit value is exceeded the robot will alarm and stop 5 2 6 Physical Risk Figure 5 36 Physical risk Page of physical risk function according to the human body area that may contact with the robot in actual work the contact area of the human body in human computer cooperation check the corresponding body parts in this function page to evaluate the degree of reduction mode that the robo...

Page 154: ...fety sensors need to be combined with peripheral safety sensing devices such as safety laser scanners ECR robot can use two ways to carry out unidirectional signal transmission from sensing equipment to robot namely network as shown in figure 5 38 below and digital IO as shown in figure 5 39 below ...

Page 155: ...e robot to stop and the fastest is 0 2s The speed magnification indicates that when the area is triggered the robot decelerates to the magnification set by the user If both alert 1 and alert 2 are enabled the magnification of alert 1 shall be less than Alert 2 otherwise an error will be prompted Region type up to three regions can be set Tick the required region The corresponding region parameters...

Page 156: ...ive area the robot will resume operation in an active automatic or passive manual manner active mode i e automatic When foreign objects leave the robot can resume its movement without manual participation passive mode i e manual When the foreign objects leave the robot still stops and can continue to move only after manually clicking the restore button as shown in the following figure Figure 5 41 ...

Page 157: ...ction and stop Notes Select disable to indicate the corresponding plane and the security mechanism will not be enabled temporarily as shown in the following figure Steps for using safety plane Diagram Description 1 Click the setting P1 butt on to enter the plane settin g wizard page 2 Complete the setting of 3 location points according to the wizard prompts Note after the robot is mov ed to the po...

Page 158: ...of the options reduce or stop 2 Click the on button to apply the current settings Prompt Keep clicking on back to exit the plane setting As shown below Use TCP IP communication As shown in figure 5 42 below set the IP and port as the sensor s own IP address and monitoring port number check the area type to be used fill in the value of area parameter and then turn on the speed and separation monito...

Page 159: ...TCP IP In addition the function configuration of the DI Port in the sensor access control cabinet needs to be carried out in the general IO configuration page as shown in the following figure Figure 5 43 Security sensor IO configuration Notes Pay attention to the one to one correspondence between the IO signal line in the sensor equipment and the safety area as well as the effective value of the l...

Page 160: ...itoring field so select safe location 1 when c onfiguring DO 2 1 Enter the IO configur ation interface and click the area and position m onitoring button 2 Click on DO to ent er the port of configurati on interface 3 Pull down the menu bar to find the safe locat ion section 4 Click on the edit b utton to configure the co rresponding safe location 3 1 Click the correspondi ng safe position and the ...

Page 161: ...monitorin g page As shown in the left figure it indicates that IO configuration has been completed 5 3 Factory Settings The function page in factory settings can only be used after the Administrator user logs in to the system Before using the specific function page you also need to enter the authorization code as shown in figure 5 44 below before editing Figure 5 44 Authorization button ...

Page 162: ...s the robot have a serious collision resulting in the deviation the deviation can be compensated in combination with the general joint slip compensation function that is the slip datum point is the premise of the joint slip compensation function Operation steps for setting the sliding datum point are as follows Diagram Description 1 Directly edit the text box and set the joint angle Note the posit...

Page 163: ...his position button to move the robot to the preset position 3 Click the get value but ton to obtain the encoder val ue of the current position ro bot 5 3 2 Reset Drive Figure 5 46 Reset drive In the page of resetting drive function you can view the alarm code and error description of each joint of the robot and reset the home position ...

Page 164: ...Click reset zero button that is to complete the cle aring of joint 6 3 Repeat step 2 in turn to co mplete the reset of all joints Notes If the additional axis is configured the resetting of home position of the additional axis is also carried out in this interface Attention Resetting the home position must be performed by a professional technician after the operation of calibration of home positio...

Page 165: ...OG robot to home position 5 3 3 DH Parameters Figure 5 47 DH parameters Attention There is a risk to modify the DH parameters of the robot by oneself If modification is necessary it is recommended to contact after sales technicians for confirmation before modification 5 3 4 Joint Restriction ...

Page 166: ... CO LTD 156 Figure 5 48 Joint Restriction Attention There is a risk to modify the DH parameters of the robot by oneself If modification is necessary it is recommended to contact after sales technicians for confirmation before modification ...

Page 167: ...erver Figure 5 50 TCP IP function page client In the page of TCP IP function the controller can be configured as a client or server in the TCP IP communication protocol and configures its communication parameters Among them 3 servers can be set and 5 clients can be set Client side communication settings ...

Page 168: ...server port number 4 Connection time d out When information receiving if the time exceeds this value it will be considered as receiving failure 5 Heartbeat time When there is no data interaction between the client and the server there will be a regular detection ab out whether the communication link with the server exists If the detection outcome is no the client wi ll actively disconnect 6 First ...

Page 169: ...acte r by ticking No 8 and No 9 8 Carriage return Tick to add a carriage return after the end characte r 9 Line break Tick to add a line break after the end character Server communication settings Figure 5 52 Interface elements of server Table 5 17 Description of server interface Name Description 1 Connection statu s Displays whether it is successfully connected 2 Local IP Displays the IP address ...

Page 170: ...he first and last characters and store onl y valid data when receiving data when sending dat a the first and last characters will be added automa tically 8 End character p arameter Its operation is the same as No 6 and a carriage return line feed can be added after the end characte r by ticking No 8 and No 9 9 Carriage return Tick to add a carriage return after the end characte r 10 Line break Tic...

Page 171: ...on Instruction fu nction name tcpip sockclose id Function The client channel is open Number of f ormal param eters 1 Formal para meter descrip tion DINT type indicating the socket number needed to be closed Return param eters 1 Return refere nce descripti on DINIT type Return value 1 shut down succeed 3 Description Instruction fu nction name tcpip socksend id str type Function Send information Num...

Page 172: ... descripti on DINIT type Return value 1 sending succeed Return value 1 sending failed 4 Description Instruction fu nction name tcpip sockrecv id type Function Receive information Number of f ormal param eters 2 Formal para meter descrip tion 1 DINT type socket number of the message needed to be re ceived 2 BOOL type true represents client false represents server Return param eters 2 Return refere ...

Page 173: ...robot status Number of f ormal param eters 0 Formal para meter descrip tion None Return param eters 4 Return refere nce descripti on 1 STRING type robot status 2 STRING type alarm message 3 STRING type Cartesian coordinates 4 STRING type Joint coordinates Table 5 19 Format description of robot status First characte r Byte1 Servo status Byte2 Emergency stop status Byte3 Alarm status Byte4 RPL progr...

Page 174: ...ion of robot alarm information First characte r Byte1 Alarm number Byte2 Alarm message End characte r Table 5 21 Format description of Cartesian coordinates of robot First characte r Byte1 X Byte2 Y Byte3 Z Byte4 A Byte5 B Byte6 C End characte r Table 5 22 Format description of joint coordinates First characte r ...

Page 175: ... client_con i BOOL type array Client side connection status Where i represents the socket number of the client tcpip server_con i BOOL type array Server connection status Where i represents the socket number of the server Description of string function Table 5 24 String module function 1 Description Instruction fu nction name str_fun str2int str Function Converts a string to an integer Number of f...

Page 176: ...tion Instruction fu nction name str_fun str2real str Function Converts a string to a real number Number of f ormal param eters 1 Formal para meter descrip tion STRING type the data variable to be converted Return param eters 1 Return refere nce descripti on LREAL type the converted data variable 3 Description Instruction fu nction name str_fun int2str dint Function Converts an integer to a string ...

Page 177: ...tion Instruction fu nction name str_fun real2str lreal Function Converts a real number to a string Number of f ormal param eters 1 Formal para meter descrip tion LREAL type the data variable to be converted Return param eters 1 Return refere nce descripti on STRING type the converted data variable 5 Description Instruction fu nction name str_fun strlen str Function Gets the length of the string Nu...

Page 178: ...2 Function String comparison Number of f ormal param eters 2 Formal para meter descrip tion 1 STRING type String 1 to be compared 2 STRING type String 2 to be compared Return param eters 1 Return refere nce descripti on DINT type Return value 0 represents str1 str2 Return value 0 represents str1 str2 Return value 0 represents str1 str2 7 Description Instruction fu nction name str_fun strsplit str1...

Page 179: ...name str_fun strleft str1 N Function Extract the sub string a string composed of N characters from the left Number of f ormal param eters 2 Formal para meter descrip tion 1 STRING type string to be extracted 2 DINT type the length of the string to be retrieved N is c ounted starting from 1 Return param eters 1 Return refere nce descripti on STRING 类型提取出的子字符串 9 Description Instruction fu nction na...

Page 180: ... string 10 Description Instruction fu nction name str_fun strmid str1 pos N Function Extracts the sub string and takes N characters starting from the pos character Number of f ormal param eters 3 Formal para meter descrip tion 1 STRING type string to be extracted 2 DINTtype the starting bit of the extracted character 3 DINT type length of string to be fetched Return param eters 1 Return refere nce...

Page 181: ...n BOOL type Value of bit 12 Description Instruction fu nction name str_fun strconcat str1 str2 delim Function string concatenation Number of f ormal param eters 3 Formal para meter descrip tion 1 STRING type string 1 to be concatenated 2 STRING type string 2 to be concatenated 3 STRING type separator Return param eters 1 Return refere nce descripti on STRING type The output string is str1 delim st...

Page 182: ...age set the relevant configuration of monitoring and enable monitoring Figure 5 54 Interface elements of MES Table 5 25 Description of MES interface Name Description 1 Turn on the mo nitor button Start stop listening i e allow forbid connection r equests 2 Controller IP Displays the IP address of the current controller It ...

Page 183: ...forbidden and cannot be edited 3 Listen mode It includes broadcast and inquiry modes Broad cast It means that the server actively sends d ata and supports robot protocol and addit ional axis protocol Inquir y It means that the client side sends inquir y instructions and the server answers the robot status Only the robot protocol is supported 4 Interval time The interval between sending data only v...

Page 184: ... Packet_Length short 2 788 3 Data command Packet_Orders short 2 1002 4 Data heartbeat Packet_Heartbeat short 2 5 Alarm status bErrorStatus bool 1 1 with alarm 0 without alarm 6 Emergency stop status bHstopStatus bool 1 1 without emerge ncy stop 0 with emergency stop 7 Permission statu s bAuthorityStatus bool 1 No external PLC mode 8 Servo status bServoStatus bool 1 1 enabled 0 disabled 9 Axis moti...

Page 185: ...ic 14 Speed status nSpeedStatus short 2 Percentage unit 15 IoDOut status bIoDOut 0 31 bool 1 3 2 Digital output 0 7 local digital o utput 1 8 8 31 remote digita l input 0 23 16 IoDIn status bIoDIn 0 31 bool 1 3 2 Digital input 0 7 local digital in put 1 8 8 31 remote digita l input 0 23 17 IoIOut status nIoIOut 0 31 int 4 3 2 Reserved 18 IoIIn status nIoIIn 0 31 int 4 3 2 Reserved 19 Loading proje...

Page 186: ...sJer 0 6 float 4 7 Degrees second 3 units 27 Torque of each axis dbAxisTor 0 6 float 4 7 Percentage of rate d torque unit 28 Reverse countin g of each axis nAxisDirCnt 0 6 unsigne d int 4 7 Times unit statist ics 29 Total working hours of each a xis nAxisTime 0 6 unsigne d int 4 7 Seconds unit stat istics 30 Total time of e quipment startu p nDeviceTime unsigne d int 4 Seconds unit stat istics 31 ...

Page 187: ...t robot has no auxiliary axes r n 2 1 string EA1 xx xx r n 3 2 string EA1 xx xx EA2 xx xx r n 5 4 3 EtherCAT Settings Figure 5 55 Setting page of EtherCAT Steps for operating EtherCat Diagram Description 1 1 Click the enable Eth erCAT slave button to select or cancel so as to turn on or off the Ethe rCAT function ...

Page 188: ...Settings EFORT INTELLIGENT EQUIPMENT CO LTD 178 2 1 Click on apply to a pply this setting 5 4 4 EthernetIP Settings Figure 5 56 Setting page of EthernetIP Steps for operating EtherIP Diagram Description ...

Page 189: ... port a t present only ETH3 exists i n the local network port Afte r selection the IP and sub ne t mask set by the correspondi ng network port will be auto matically read 2 1 Click on the right arrow to apply this setting a pr ompt box appears and select yes to re start the teaching p endant and controller to apply this setting ...

Page 190: ...ol end 2 Switches the tools coordinate and the user coordinate 3 Adjusts the robot including that the position initializing back to home position step in motion etc 6 1 Information of position The highlight in figure 6 2 below is the parameter display area including that a The coordinate position of tool end basing on the robot coordinate b The real time angle of each robot joints Figure 6 2 Infor...

Page 191: ...ith the workpiece as a reference coordinate is usually not used alone 6 3 Robot Jogging Robot jogging means that the robot is operated in manual mode by the joint way or the Cartesian way Chapter 3 has described the basic operating steps about it In this section motioning tab interface is combined with to introduce the robot jogging By clicking the coordinate system button on the panel of teaching...

Page 192: ...esian motion at user coordinate when control button is pushed 6 3 1 joint motion When the reference coordinate is switched to joint the tab joint motion on the motioning tab interface will be activated as figure 6 5 below which indicates that the control buttons are corresponding to axes 1 to 6 of the joint Figure 6 5 Joint motion 6 3 2 Cartesian motion When the reference coordinate is switched to...

Page 193: ... then move on the step in length by another clicking For example the joint angle of one axis is currently 11 96 degrees the step in length is set to 15 in step in motion settings When clicking the control button first time joint angle of the axis will vary to 15 degrees which is the closest to 11 96 degrees and at the same time the integer fold of 15 degrees And then each clicking the button of th...

Page 194: ...dingly as figure 6 7 below Figure 6 7 Switching the coordinate system 6 4 1 Activation of tool coordinate system When keeping the robot posture unchanged and the different tool coordinate systems were activated values in the Tools Location bar will change accordingly For example the coordinate data of tool1 are X 0 Y 0 Z 120 A 0 B 0 C 0 The figure 6 8 below shows the position values variation in t...

Page 195: ...er coordinate system When different user coordinate systems is activated the robot will be operated severally along the axes of the currently activated user coordinate system by using the user coordinate driving way Figure 6 10 Cartesian motion User coordinate system 6 5 Position initializing and back to home position 6 5 1 Position initializing The operation steps of position initializing are as ...

Page 196: ...ialog window will be pop up to show that the position of robot had been initialized 1 Click the OK button to finish the initializing job Attention Before using this function it need to be considered that whether the current actual area is fully enough for robot adjusting motion to avoid from collision during the automatic process 6 5 2 Back to home position The operations of home position return a...

Page 197: ...rawer menu includes About System Settings and Help as show n in figure 9 1 Figure 9 1 HBB Drawer Menu 9 1 About the System This page introduces the general information of the robot and teach pendent such as robot type and software version Figure 9 2 About the System ...

Page 198: ...settings tab namely security password 4 Reset the security password used when you forget the security password Fig 8 5 The Page of System Settings Note The function of modifying the IP and security password is only available when the Engineer and Administrator users log in The security password reset function is only available when the Administrator user logs in 9 3 Help The introduction in the he...

Page 199: ...HBB Drawer Menu EFORT INTELLIGENT EQUIPMENT CO LTD 189 Fig 9 4 The Page of Help ...

Page 200: ...real time monitored and the data in the bus communication can be checked even the output value of these data can be set Figure 7 1 Monitoring tab interface 7 1 Status monitoring of robot joints The torque value and the real time temperature value of joints operation can be checked in this interface as figure 7 2 below Figure 7 2 Status monitoring window of robot joints ...

Page 201: ...igital input signal can be simulatively forced Notes the forcing of input signal are used mostly when debugging programs Table 7 1 Operation steps of forcing Demonstration Description 1 Forcing of digital IO signal 1 Click the Forcing switch of the corresponding port to force the port 2 Forcing of analog IO signal 1 Click the Output switch to enter the setup interface 2 Click the Forcing switch to...

Page 202: ...l reverse its current status To analog IO signal its output value can be modified Notes In auto mode Forcing of DO signal is invalid Forcing of DI signal is allowable To simulate the electrical signal sent from external devices to robot when program debugging Notes The two digital output ports DO 24 and DO 25 can emit high levels only when the terminal output voltage is not 0 ...

Page 203: ...d those of read write part includes 64 pieces of bool type data 64 pieces of int type data and 16 pieces of float type data In Profibus EtherCat and EthernetIP the inputs and outputs each includes 64 pieces of bool type data 6 pieces of int type data and 24 pieces of float type data This interface can perform bus data monitoring and bus output settings 7 3 1 Function of Modbus Usage steps for view...

Page 204: ... alue The 4th column are the corre sponding bus variable respecti vely 2 By ticking the data type ch eckbox such as BOOL INT1 6 FLOAT the data which ha ve corresponding type can be displayed Modbus data output Usage steps for setting up the Modbus data output Demonstration Description 1 1 The data output list will b e shown when clicking the Modbus write only 2 Click value column of th e variable ...

Page 205: ...ent the read only and write only section are classified into system protocols and the user protocols The system protocols configured and maintained by developer mainly to read and setup the motion parameters or status of robot Users can only read or write the fixed variables stored in a designated fixed address The user protocols are configured and maintained by users but only for using robotic la...

Page 206: ...rogram seque nce number For example set t he target program sequence nu mber as 2 and send a Bit4 typ e high level signal to the phys ical address 40104 to load the target program The target pr ogram cannot be loaded if any other program is in progress 40105 I16 2 I16 Confirm the serial number of a dditional axis 1 for the 7th ax is 2 for the 8th axis 3 for 9th axis and 4 for 10th axis 40106 I16 2...

Page 207: ... 0 40140 I16 2 I16 Corresponding to fidbus mtcp_r o_i 1 40141 I16 2 I16 Corresponding to fidbus mtcp_r o_i 2 40142 I16 2 I16 Corresponding to fidbus mtcp_r o_i 3 40143 I16 2 I16 Corresponding to fidbus mtcp_r o_i 4 40144 I16 2 I16 Corresponding to fidbus mtcp_r o_i 5 40145 FLOAT 4 FLOAT Corresponding to fidbus mtcp_r o_r 0 40147 FLOAT 4 FLOAT Corresponding to fidbus mtcp_r o_r 1 40149 FLOAT 4 FLOA...

Page 208: ... mtcp_r o_r 13 40173 FLOAT 4 FLOAT Corresponding to fidbus mtcp_r o_r 14 40175 FLOAT 4 FLOAT Corresponding to fidbus mtcp_r o_r 15 40177 FLOAT 4 FLOAT Corresponding to fidbus mtcp_r o_r 16 40179 FLOAT 4 FLOAT Corresponding to fidbus mtcp_r o_r 17 40181 FLOAT 4 FLOAT Corresponding to fidbus mtcp_r o_r 18 40183 FLOAT 4 FLOAT Corresponding to fidbus mtcp_r o_r 19 40185 FLOAT 4 FLOAT Corresponding to ...

Page 209: ...ation status 40002 I16 BOOL Reserved BOOL type variable for system not available for users 40003 I16 2 I16 Robot operating speed progra m oriented 40004 I16 2 I16 Alarm code 1 40005 I16 2 I16 Alarm code 2 40006 I16 2 I16 Program sequence number indi cator It is used to indicate w hether a target program is succ essfully loaded For example t he indicator turns to 2 if the t arget program whose sequ...

Page 210: ..._b 31 40037 I16 2 BOOL Bit0 Bit15 corresponding to fid bus mtcp_wo_b 32 fidbus mt cp_wo_b 47 40038 I16 2 BOOL Bit0 Bit15 corresponding to fid bus mtcp_wo_b 48 fidbus mt cp_wo_b 63 40039 I16 2 I16 Corresponding to fidbus mtcp_ wo_i 0 40040 I16 2 I16 Corresponding to fidbus mtcp_ wo_i 1 40041 I16 2 I16 Corresponding to fidbus mtcp_ wo_i 2 40042 I16 2 I16 Corresponding to fidbus mtcp_ wo_i 3 40043 I1...

Page 211: ..._ wo_r 9 40065 FLOAT 4 FLOAT Corresponding to fidbus mtcp_ wo_r 10 40067 FLOAT 4 FLOAT Corresponding to fidbus mtcp_ wo_r 11 40069 FLOAT 4 FLOAT Corresponding to fidbus mtcp_ wo_r 12 40071 FLOAT 4 FLOAT Corresponding to fidbus mtcp_ wo_r 13 40073 FLOAT 4 FLOAT Corresponding to fidbus mtcp_ wo_r 14 40075 FLOAT 4 FLOAT Corresponding to fidbus mtcp_ wo_r 15 40077 FLOAT 4 FLOAT Corresponding to fidbus...

Page 212: ...01 I16 2 BOOL Bit0 Bit15 corresponding to fid bus mtcp_rw_b 0 fidbus mtc p_rw_b 15 40302 I16 2 BOOL Bit0 Bit15 corresponding to fid bus mtcp_rw_b 16 fidbus mt cp_rw_b 31 40303 I16 2 BOOL Bit0 Bit15 corresponding to fid bus mtcp_rw_b 32 fidbus mt cp_rw_b 47 40304 I16 2 BOOL Bit0 Bit15 corresponding to fid bus mtcp_rw_b 48 fidbus mt cp_rw_b 63 40305 I16 2 BOOL Bit0 Bit15 corresponding to fid bus mtc...

Page 213: ... steps for viewing Profinet data Demonstration Description 1 In the interface select the c ommunication protocol data need to be viewed 1 Click Monitoring Exter nal MODBUS to enter th e Profinet monitoring interfac e 2 Click Profinte read only or Profinte write only In here Profinte read only is as example 2 1 The data list will be sho wn when clicking the Profi net read only In data list the foll...

Page 214: ...d Profinet data output Usage steps for setting up the Profinet data output Demonstration Description 1 1 The data output list will be shown when clicking the Profinet write only 2 Click value column of t he variable need to be outpu tted to enable the editor Ta ke BOOL variable as an exa mple 2 1 Input a value by using th e pop up keyboard of editor 2 Click to confirm afte r value input was finish...

Page 215: ...version of data should be noticed Note The Profinet function only supports Robox RP2 Pro controllers There is no any content about the function to be displayed in the TPU interface for the Robox RP2 Eco From PLC to Robot In signal transport from PLC to Robot the PLC is as sending end and the robot is as receiving end Data received mainly include the system variables and the TPU variables where the...

Page 216: ... Bit10 Program a ppointment for d eleting confirmati on Bit11 Appointme nt for program st artup Pulse Bit12 Servo Ena bling Pulse Bit13 Servo Dis abling Pulse Bus_Get 2 3 I16 2 BOOL Reserved BOOL type variable for system not ava ilable for users Bus_Get 4 5 I16 2 I16 Robot operating speed program o riented Bus_Get 6 7 I16 2 I16 Load the target program sequence number For example set the target pro...

Page 217: ...for 9th axis and 4 for 10th axis Bus_Get 10 11 I16 2 I16 Speed settings of the auxiliary axis Bus_Get 12 19 I16 2 4 I16 Reserved I16 type variable for system not available for users Variable Type Physical Address Unit Bytes Sub Unit Remark User Varia ble Bus_Get 20 21 I16 2 BOOL Bit0 Bit15 corresponding to fidbus pfb_ro_b 0 15 fidbus pfn_r o_b 0 15 Bus_Get 22 23 I16 2 BOOL Bit0 Bit15 corresponding...

Page 218: ...ng to fidbus pfb_ro_i 1 fidbus pfn_ro_i 1 Bus_Get 32 33 I16 2 I16 Corresponding to fidbus pfb_ro_i 2 fidbus pfn_ro_i 2 Bus_Get 34 35 I16 2 I16 Corresponding to fidbus pfb_ro_i 3 fidbus pfn_ro_i 3 Bus_Get 36 37 I16 2 I16 Corresponding to fidbus pfb_ro_i 4 fidbus pfn_ro_i 4 Bus_Get 38 39 I16 2 I16 Corresponding to fidbus pfb_ro_i 5 fidbus pfn_ro_i 5 System Variable Bus_Get 40 87 FLOAT 4 1 2 FLOAT Re...

Page 219: ... 3 fidbus pfn_ro_r 3 Bus_Get 104 107 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 4 fidbus pfn_ro_r 4 Bus_Get 108 111 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 5 fidbus pfn_ro_r 5 Bus_Get 112 115 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 6 fidbus pfn_ro_r 6 Bus_Get 116 119 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 7 fidbus pfn_ro_r 7 Bus_Get 120 123 FLOAT 4 FLOAT Corresponding to ...

Page 220: ...OAT Corresponding to fidbus pfb_ro_r 13 fidbus pfn_ro_r 13 Bus_Get 144 147 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 14 fidbus pfn_ro_r 14 Bus_Get 148 151 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 15 fidbus pfn_ro_r 15 Bus_Get 152 155 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 16 fidbus pfn_ro_r 16 Bus_Get 156 159 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 17 fidbus pfn_ro_r 17 B...

Page 221: ... to fidbus pfb_ro_r 22 fidbus pfn_ro_r 22 Bus_Get 180 183 FLOAT 4 FLOAT Corresponding to fidbus pfb_ro_r 23 fidbus pfn_ro_r 23 Bus_Get 184 191 Undefined From Robot to PLC Table 7 6 The data sending protocol of Profinet Variable Type Physical Address Unit Byte s Sub Unit Remark System Va riable Bus_Set 0 1 I16 2 BOOL Bit0 Manual mode Bit1 Auto mode Bit2 Remote contr ol Bit3 Servo status Bit4 Alarm ...

Page 222: ...s_Set 2 3 I16 2 BOOL Bit0 Status of safety spot 5 Bit1 Status of safety spot 6 Bit2 Status of safety spot 7 Bit3 Status of safety spot 8 Bus_Set 4 5 I16 2 I16 Robot operating speed program oriented Bus_Set 6 7 I16 2 I16 Alarm code 1 Bus_Set 8 9 I16 2 I16 Alarm code 2 Bus_Set 10 11 I16 2 I16 Program sequence number indicator It is used to indicate whether a target program is successfully loaded For...

Page 223: ...not available for users Variable Type Physical Address Unit Byte s Sub Unit Remark User Varia ble Bus_Set 20 21 I16 2 BOOL Bit0 Bit15 corresponding to fidbus pfb_wo_b 0 15 fidbus pfn_wo_ b 0 15 Bus_Set 22 23 I16 2 BOOL Bit0 Bit15 corresponding to fidbus pfb_wo_b 16 31 fidbus pfn_wo _b 16 31 Bus_Set 24 25 I16 2 BOOL Bit0 Bit15 corresponding to fidbus pfb_wo_b 32 47 fidbus pfn_wo _b 32 47 Bus_Set 26...

Page 224: ...ding to fidbus pfb_wo_i 5 f idbus pfn_wo_i 5 System Variable Bus_Set 40 63 FLOAT 4 6 FLOAT Joint angles for J1 to J6 Positions in Cartesian coordinate Bus_Set 64 79 FLOAT 4 4 FLOAT Joint angles for J7 to J10 auxiliary axis 1 to 4 Bus_Set 80 87 FLOAT 4 2 FLOAT Reserved Float type variable for system not available for users User Variable Bus_Set 88 91 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 0...

Page 225: ..._r 7 f idbus pfn_wo_r 7 Bus_Set 120 123 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 8 f idbus pfn_wo_r 8 Bus_Set 124 127 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 9 f idbus pfn_wo_r 9 Bus_Set 128 131 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 10 fidbus pfn_wo_r 10 Bus_Set 132 135 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 11 fidbus pfn_wo_r 11 Bus_Set 136 139 FLOAT 4 FLOAT Correspo...

Page 226: ...o_r 17 Bus_Set 160 163 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 18 fidbus pfn_wo_r 18 Bus_Set 164 167 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 19 fidbus pfn_wo_r 19 Bus_Set 168 171 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 20 fidbus pfn_wo_r 20 Bus_Set 172 175 FLOAT 4 FLOAT Corresponding to fidbus pfb_wo_r 21 fidbus pfn_wo_r 21 Bus_Set 176 179 FLOAT 4 FLOAT Corresponding to fidbus...

Page 227: ...ng interface 2 Click EtherCAT read only or EtherCAT write only In here EtherCAT read only is as example 2 1 The data list will be shown when clicking the EtherCAT read only In data list the following data item can be viewed The 1st column are the data title name The 2nd column are the data type The 3rd column are the data value The 4th column are the corresponding bus variable respectively 2 By ti...

Page 228: ...nfirm after value input was finished 3 1 After the variable value rewriting was confirmed the new value will be displayed in the monitoring interface EtherCAT Protocols Currently the robot only supports the EtherCAT protocol But users can switch to other protocols such as CCLink etc by through the EtherCAT protocol EtherCAT function mainly includes two sections the data receiving end and the data ...

Page 229: ..._Get 0 Bus_Get 191 is 192 Byte as the data reception Table 7 7 The data receiving protocol of EtherCAT Variable Type Physical Address Unit Bytes Sub Unit Remark System Va riable Bus_Get 0 1 I16 2 BOOL Bit0 Servo on off Pulse Bit1 Running P ulse Bit2 Termination Pulse Bit3 Clear an al arm Pulse Bit4 Load a pro gram Pulse Bit5 Program re peats from the fi rst line Pulse Bit6 PLC warnin g High level ...

Page 230: ... spot 7 Bit3 Status of safety spot 8 Bus_Get 4 5 I16 2 I16 Robot operating speed program oriented Bus_Get 6 7 I16 2 I16 Alarm code 1 Bus_Get 8 9 I16 2 I16 Alarm code 2 Bus_Get 10 11 I16 2 I16 Program sequence number indicator It is used to indicate whether a target program is successfully loaded For example the indicator turns to 2 if the target program whose sequence number is 2 has been successf...

Page 231: ...corresponding to fidbus ethcat_ro_b 16 31 Bus_Get 24 25 I16 2 BOOL Bit0 Bit15 corresponding to fidbus ethcat_ro_b 32 47 Bus_Get 26 27 I16 2 BOOL Bit0 Bit15 corresponding to fidbus ethcat_ro_b 48 63 Bus_Get 28 29 I16 2 I16 Corresponding to fidbus ethcat_ro_i 0 Bus_Get 30 31 I16 2 I16 Corresponding to fidbus ethcat_ro_i 1 Bus_Get 32 33 I16 2 I16 Corresponding to fidbus ethcat_ro_i 2 Bus_Get 34 35 I1...

Page 232: ...cat_ro_r 1 Bus_Get 96 99 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 2 Bus_Get 100 103 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 3 Bus_Get 104 107 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 4 Bus_Get 108 111 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 5 Bus_Get 112 115 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 6 Bus_Get 116 119 FLOAT 4 FLOAT Corresponding to fidb...

Page 233: ... fidbus ethcat_ro_r 14 Bus_Get 148 151 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 15 Bus_Get 152 155 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 16 Bus_Get 156 159 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 17 Bus_Get 160 163 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 18 Bus_Get 164 167 FLOAT 4 FLOAT Corresponding to fidbus ethcat_ro_r 19 Bus_Get 168 171 FLOAT 4 FLOAT Co...

Page 234: ... is 192 Byte as the data sending Table 7 8 The data sending protocol of EtherCAT Variable Type Physical Address Unit Byte s Sub Unit Remark System Va riable Bus_Set 0 1 I16 2 BOOL Bit0 Manual mode Bit1 Auto mode Bit2 Remote control Bit3 Servo status Bit4 Alarm Bit5 Emergency stop Bit6 Program runnin g status Bit7 Status of safety spot 1 Bit8 Status of safety spot 2 Bit9 Status of safety spot 3 Bit...

Page 235: ... 2 I16 Program sequence number indicator It is used to indicate whether a target program is successfully loaded For example the indicator turns to 2 if the target program whose sequence number is 2 has been successfully loaded to the system otherwise it turns to other value Bus_Set 12 13 I16 2 I16 Program appointment for appointing status Bus_Set 14 15 I16 2 I16 Program appointment for running sta...

Page 236: ...to fidbus ethcat_wo_i 0 Bus_Set 30 31 I16 2 I16 Corresponding to fidbus ethcat_wo_i 1 Bus_Set 32 33 I16 2 I16 Corresponding to fidbus ethcat_wo_i 2 Bus_Set 34 35 I16 2 I16 Corresponding to fidbus ethcat_wo_i 3 Bus_Set 36 37 I16 2 I16 Corresponding to fidbus ethcat_wo_i 4 Bus_Set 38 39 I16 2 I16 Corresponding to fidbus ethcat_wo_i 5 System Variable Bus_Set 40 63 FLOAT 4 6 FLOAT Joint angles for J1 ...

Page 237: ... 115 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 6 Bus_Set 116 119 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 7 Bus_Set 120 123 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 8 Bus_Set 124 127 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 9 Bus_Set 128 131 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 10 Bus_Set 132 135 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 11 B...

Page 238: ...et 164 167 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 19 Bus_Set 168 171 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 20 Bus_Set 172 175 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 21 Bus_Set 176 179 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 22 Bus_Set 180 183 FLOAT 4 FLOAT Corresponding to fidbus ethcat_wo_r 23 Bus_Set 184 191 Undefined 7 3 4 Function of EthernetIP Usage...

Page 239: ...he data list will be show n when clicking the EthernetI P read only In data list the following data item can be viewed The 1st column are the data ti tle name The 2nd column are the data t ype The 3rd column are the data v alue The 4th column are the corre sponding bus variable respecti vely 2 By ticking the data type ch eckbox such as BOOL INT1 6 FLOAT the data which ha ve corresponding type can ...

Page 240: ...unction supports that a robot can be connected as a slave system with the same IP address to controller The controller has the default communicated serial address 0 and the default port number 2222 The data storage uses Small Endian Ethernet IP function mainly includes two sections the data receiving end and the data sending end which severally has 64 pieces of BOOL type 6 pieces of Int type and 2...

Page 241: ...L Bit0 Servo on off Pulse Bit1 Running Pu lse Bit2 Termination Pulse Bit3 Clear an ala rm Pulse Bit4 Load a prog ram Pulse Bit5 Program rep eats from the first line Pulse Bit6 PLC warnin g High level sign al Bit7 Servo prepar ation confirm Pul se Bit8 Type of rob ot position Bit9 Program app ointment for addi ng confirmation Bit10 Program ap pointment for dele ting confirmation Bit11 Appointme nt ...

Page 242: ...sequence number as 2 and send a Bit4 type high level signal to the Bus_Get 0 1 to load the target program The target program cannot be loaded if any other program is in progress Bus_Get 4 I16 1 I16 Confirm the serial number of additional axis 1 for the 7th axis 2 for the 8th axis 3 for 9th axis and 4 for 10th axis Bus_Get 5 I16 1 I16 Speed settings of the auxiliary axis Bus_Get 6 9 I16 1 4 I16 Res...

Page 243: ...esponding to fidbus eip_wo_b 3 2 47 Bus_Get 37 I16 1 BOOL Bit0 Bit15 corresponding to fidbus eip_wo_b 4 8 63 Bus_Get 38 I16 1 I16 Corresponding to fidbus eip_wo_i 0 Bus_Get 39 I16 1 I16 Corresponding to fidbus eip_wo_i 1 Bus_Get 40 I16 1 I16 Corresponding to fidbus eip_wo_i 2 Bus_Get 41 I16 1 I16 Corresponding to fidbus eip_wo_i 3 Bus_Get 42 I16 1 I16 Corresponding to fidbus eip_wo_i 4 Bus_Get 43 ...

Page 244: ... Corresponding to fidbus eip_wo_r 7 Bus_Get 60 61 FLOAT 2 FLOAT Corresponding to fidbus eip_wo_r 8 Bus_Get 62 63 FLOAT 2 FLOAT Corresponding to fidbus eip_wo_r 9 Bus_Get 64 65 FLOAT 2 FLOAT Corresponding to fidbus eip_wo_r 10 Bus_Get 66 67 FLOAT 2 FLOAT Corresponding to fidbus eip_wo_r 11 Bus_Get 68 69 FLOAT 2 FLOAT Corresponding to fidbus eip_wo_r 12 Bus_Get 70 71 FLOAT 2 FLOAT Corresponding to f...

Page 245: ...T Corresponding to fidbus eip_wo_r 22 Bus_Get 90 91 FLOAT 4 FLOAT Corresponding to fidbus eip_wo_r 23 From Robot to PLC In signal transport from Robot to PLC the PLC is as receiving end and the robot is as sending end Data sent mainly include the system variables and the TPU variables where the Bus_Set 0 Bus_Set 191 is 192 Byte as the data sending Table 7 10 The data sending protocol of Ethernet I...

Page 246: ...it12 Servo conf irming status Bit13 Program a ppointment for ac tivating Bit14 Program resetting Program starts again Bus_Set 1 I16 1 BOOL Bit0 Status of safety spot 5 Bit1 Status of safety spot 6 Bit2 Status of safety spot 7 Bit3 Status of safety spot 8 Bus_Set 2 I16 1 I16 Robot operating speed program oriented Bus_Set 3 I16 1 I16 Alarm code 1 Bus_Set 4 I16 1 I16 Alarm code 2 Bus_Set 5 I16 1 I16 ...

Page 247: ...ther value Bus_Set 6 I16 1 I16 Program appointment for appointing status Bus_Set 7 I16 1 I16 Program appointment for running status Bus_Set 8 9 I16 1 2 I16 Reserved I16 type variable for system not available for users Bus_Set 10 21 FLOAT 2 6 FLOAT Joint angles for J1 to J6 Positions in Cartesian coordinate Bus_Set 22 31 FLOAT 2 4 FLOAT Joint angles for J7 to J10 auxiliary axis 1 to 4 Bus_Set 32 33...

Page 248: ...7 Bus_Set 37 I16 1 BOOL Bit0 Bit15 corresponding to fidbus eip_wo_b 4 8 63 Bus_Set 38 I16 1 I16 Corresponding to fidbus eip_wo_i 0 Bus_Set 39 I16 1 I16 Corresponding to fidbus eip_wo_i 1 Bus_Set 40 I16 1 I16 Corresponding to fidbus eip_wo_i 2 Bus_Set 41 I16 1 I16 Corresponding to fidbus eip_wo_i 3 Bus_Set 42 I16 1 I16 Corresponding to fidbus eip_wo_i 4 Bus_Set 43 I16 1 I16 Corresponding to fidbus ...

Page 249: ... to fidbus ethcat_wo_r 6 Bus_Set 58 59 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 7 Bus_Set 60 61 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 8 Bus_Set 62 63 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 9 Bus_Set 64 65 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 10 Bus_Set 66 67 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 11 Bus_Set 68 69 FLOAT 2 FLOAT Corresponding t...

Page 250: ... to fidbus ethcat_wo_r 17 Bus_Set 80 81 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 18 Bus_Set 82 83 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 19 Bus_Set 84 85 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 20 Bus_Set 86 87 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 21 Bus_Set 88 89 FLOAT 2 FLOAT Corresponding to fidbus ethcat_wo_r 22 Bus_Set 90 91 FLOAT 2 FLOAT Correspondi...

Page 251: ...he system executes a protective stop in case of an emergency and users need to analyze and clear the alarm codes by clicking on DISPOSE CHECK in the function page Meanwhile the controller will automatically check all the alarm codes to see if they are restored to normal The robot returns to work after all the alarm codes have been checked and disposed of ...

Page 252: ... of alarms warnings and operations in the sys tem log The records can both be sorted by a filter option and be exported or cleared when in need as shown in figure 8 3 Figure 8 3 System Log Page 8 3 Program Log Users can check the history record of program loading and execution in the program log Figure 8 4 Program Log Page ...

Page 253: ...Log EFORT INTELLIGENT EQUIPMENT CO LTD 243 Note Users can empty message box by clicking on CLEAR but these messages still remain in cache ...

Page 254: ...ters loss 可保持参数寄存器值异常 The read value of the parameter register that can be kept is inconsistent with that of the last time when it was switched off If an alarm occurs when the controller is powered on please keep pressing the red ADV button on the controller and restart 3 Alarm History loss 系统报警信息异常 The system alarm information is inconsistent with that of the last time when it was switched off ...

Page 255: ...is too far 3 Reduce robot motion parameters speed acceleration jerk 4 Check the wiring of the controller and the drive the wiring of the drive and the servo motor 14 nn Lower E E O S reached 到达负限位 The target position e xceeds the minimum limit that has been set 15 nn Upper E E O S reached 到达正限位 The target position exceeds the maximum limit that has been set 21 nn Transducer is NOT yet ready 编码器连接异...

Page 256: ...04 R3 task load failure tt Use REPORT for details task 加载失败 1 Restart the controller 2 Contact the manufacturer 807 OB load failure d Use REPORT for details OB 加载失败 1 Restart the controller 2 Contact the manufacturer 984 Illegal transducer definition in RTE CFG RTE CFG 文件中编码器定义非法 Error of encoder configuration parameter Check the transducer definition in the project configuration or in the RTE C...

Page 257: ...atch the hardware information 990 System LOCKED task tt step ss 系统锁定 1 Restart the controller 2 Check whether there is interference from external PLC or other equipment 3 Contact the manufacturer 999 Error in LICENSE lic Use REPORT for details LICENSE 文件异常 Please check whether the LICENSE in the KEY folder of the CF card is normal ...

Page 258: ...ort circuit of the drive UV The drive is damaged Repair or replace the drive 1402 0x22000000 Axis d 0x2341 short circuit of the drive VW The drive is damaged Repair or replace the drive 1403 0x22000000 Axis d 0x5210 abnormality in AD sampling circuit The drive is damaged Repair or replace the drive 1404 0x22000000 Axis d 0x5530 abnormality in EEPROM An error occurred in checking parameter CRC Chec...

Page 259: ...f rotor positioning 1 The compensation angle of the motor rotor position is set incorrectly 2 The drive is damaged 1 Re check the compensation angle of the motor rotor position 2 Repair or replace the drive 1409 0x22000000 Axis d 0xFF1A Error of the phase sequence of the motor wiring The phase sequence of the motor wiring is incorrect Check the phase sequence of the motor wiring 1410 0x22000000 Ax...

Page 260: ... cycle 2 Check the position command 1413 0x22000000 Axis d 0 xFF05 Inter nal fault of the encode r 1 The encoder wiring is incorrect 2 The encoder connection is damaged 3 The encoder is damaged 1 Check the encoder wiring 2 Check the encoder connection 3 Replace the encoder 1414 0x22000000 Axis d 0xFF3D Fault of incremental encoder 1 The code disc is contaminated 2 The encoder is damaged 1 Clean up...

Page 261: ...k the V phase wiring 2 Reduce the motor load 3 Repair or replace the drive 1418 0x22000000 Axis d 0x3210 Overvoltage of DC bus bar 1 The voltage of the power supply is too high 2 The resistance value of the braking is too high 1 Check the voltage of the power supply 2 Choose the proper resistance 1419 0x22000000 Axis d 0xFF02 Continuous overload of the drive 1 Mechanical jam occurs 2 The drive is ...

Page 262: ...he motor power line is disconnected 2 The motor is damaged 3 The drive is damaged 1 Check the wiring of the motor power line 2 Replace or repair the motor 3 Replace or repair the drive 1423 0x22000000 Axis d 0xFF25 Transient overload of the drive 1 There is a short circuit on the output side 2 Interference leads to malfunction 3 The control parameters are unreasonable 4 The drive is damaged 1 Chec...

Page 263: ...der 1426 0x22000000 Axis d 0x2320 Overcurrent of the drive hardware 1 There is mechanical jam 2 The motor is overloaded 3 The motor parameters or control parameters are not set correctly 4 The motor is malfunctioning 5 The drive is malfunctioning 1 To improve the mechanical transmission performance Check the mechanical transmission part including the motor brake 2 Check the motor load 3 Check the ...

Page 264: ...if there is any blocking phenomenon 2 Check the load reduce the acceleration and deceleration or replace the drive and motor with a larger capacity 1431 0x22000000 Axis d 0x6320 Abnormalit y in Parameter data 1 The range of t he parameter exce eds the limit 2 The location un it is set incorrectl y 1 Check whether the parameter setting exceeds the parameter range that has been set 2 Check the setti...

Page 265: ...parameters are inappropriate 3 The external load fluctuates or the interference is excessive 1 Check the wiring of the encoder 2 Re adjust the control parameters 3 Take more anti interference measures 1435 0x22000000 Axis d 0xFF1E Failure in writing EEPROM The drive is dama ged Repair or replace the drive 1436 0x22000000 Axis d 0xFF16 Positive software limit The feedback valu e of the position exc...

Page 266: ...anical zero 2 It can be cleared when there is no abnormality 1439 0x22000000 Axis d 0xFF26 Illegal modificatio n to servo parameters The modified serv o parameters exce ed the limit value Modify the parameter value within the modifiable range of servo parameters 1440 0x22000000 Axis d 0xFF0B Overspeed of the motor 1 The feedback s peed exceeds the preset speed and the error exceeds threshold that ...

Page 267: ...the motor load 3 Repair or replace the drive 1444 0x22000000 Axis d 0X7500 Failure in Can communicat ion Can node is close d 1 Check 120 matching resistance 2 Check the can line 3 Check the source of interference 1497 0x22000000 CAN Open Virtual node does not exist Please check the wiring and restart the cabinet CAN Open virtual node does not ex ist Check the CAN Open wiring between the Robox cont...

Page 268: ...of joint motion 1 Code 1 Invalid axis group Check the axis group settings of the controller 2 Code 2 Invalid target point Check whether the target point is reasonable 3 Code 3 Invalid speed and acceleration parameters Please reset the relevant parameters 4 Code 4 The target point exceeds the joint motion range Please reset the target point position 5 Code 5 The movement queue is full Retry or chec...

Page 269: ...d and acceleration parameters Please reset the relevant parameters 4 Code 4 The target point exceeds the joint motion range Please reset the target point position 5 Code 5 The movement queue is full Try again or check the controller 6 Code 6 The motion axis group is not executed 3 Try again or check the controller 1802 0x220000 00 Emergency stop signal The emergency stop button is pressed Please c...

Page 270: ...alarm of c ontrol cabinet There is an alar m that the contr ol cabinet is ov erheated 1 Check whether the fan and temperature control switch in the control cabinet work normally 2 Whether the temperature control switch value is set correctly 1807 0x220000 00 Alarm of area violation Area violation prompts an alarm 1 Switch the robot to manual mode 2 Close the control command of the area monitoring ...

Page 271: ... plc 1812 0x220000 00 Safety door al arm Safety door prompts an alarm 1 Check whether the safety door is opened and confirm whether there are workers in the work area 2 Check whether the safety door signal is normal 1813 0x220000 00 Auxiliary axis d Please check whethe r the motion mode is set correctly Please check whether the motion mode is set correctly Check whether the motion mode is set corr...

Page 272: ...0x220000 00 mot program Error of open ing program file mot program Fail to open the program file Check whether the file path is correct 1818 0x220000 00 mot program Error of read ing program file mot program Fail to read the program file Check if the file format is correct 1819 0x220000 00 Kinetics Failu re in initializ ation The dynamic identification file or the load identification file is wrong...

Page 273: ... confirm whether there are workers in the work area 2 Check whether the safety grating signal is normal 1823 0x220000 00 Error of safety board emerg ency stop sig nal Safety board emergency stop signal is incorrect 1 Please check whether the emergency stop button is reset after pressing 2 Press the reset button on the front panel of the electric cabinet and observe whether the EMG and EMGO lights ...

Page 274: ...External emergency stop of the safety board is incorrect 1 Check whether the external equipment is reset after the emergency stop is pressed 2 Press the reset button on the front panel of the electric cabinet and observe whether the EEMG light of the safety board is on 3 Check whether the wiring between the X3 connector of the safety board and the external emergency stop terminal on the front pane...

Page 275: ...ween the teach pendant and the X9 connector of the safety board is disconnected or poorly connected 3 Replace the safety board 4 Restart the electric cabinet 1826 0x220000 00 Error of Safet y board STO P1 Safety board STOP1 is incorrect 1 Press the reset button on the front panel of the electric cabinet and observe whether the STOP1 light of the safety board is on 2 Check whether the wiring betwee...

Page 276: ...iring between the X8 connector of the safety board and the external emergency stop terminal on the front panel of the electric cabinet is disconnected or poorly connected 3 Replace the safety board 4 Restart the electric cabinet 1850 0x220000 00 Arc welding Abnormality i n welding m achine code d Welding machine is abnormal Check the welding machine alarm and start welding after solving the weldin...

Page 277: ...ing the abnormality of the cooling system start welding again 1852 0x220000 00 Arc welding Abnormality i n the shieldin g gas The shielding gas is abnormal After solving the shielding gas abnormality start welding 1853 0x220000 00 Arc welding The torch col lides The torch collides 1 Turn on the arc welding APP device settings collision detection switch in turn turn off the torch collision detectio...

Page 278: ...e signal is correct 3901 0x220000 00 The dead center of the punching machine is lost The dead center of the punching machine is lost 1 Input the signal that the dead center of the punching machine is lost 2 Check whether the signal is correct 3902 0x220000 00 Non single material It is non single material 1 A non single material signal is detected 2 Check whether the signal is correct 3903 0x220000...

Page 279: ...correct 3906 0x220000 00 Waiting tim eout Waiting time is out 1 Input the signal of waiting timeout 2 Check whether the setting of the user defined action time is reasonable 3907 0x220000 00 Area occupied on manual JOG mode Area is occupied on manual JOG mode Automatically reset after the robot moves out of the area 3908 0x220000 00 Axis d Approaches the limit when running the program The current ...

Page 280: ... welding wire from sticking The sticking wire automatically released button is turned on but the robot fails to remove the sticking wire Handling the sticky wire manually Set a reasonable released current and voltage for sticky wire 3922 0x220000 00 Arc welding The arc is broken during the welding process The arc interruption detection is turned on and the arc interruption occurs during the weldin...

Page 281: ...f the search distance is unreasonable 2 The surface of the weldment is covered with oil or paint 1 Set a reasonable search distance 2 Clean the covering surface of the weldment 3927 0x220000 00 Arc welding Please turn on the swing arc function before enabling arc tracking The arc swing function is not turned on before arc tracking is enabled Please turn on the swing arc function before enabling ar...

Page 282: ... after arcing fail 2 If the arc is not broken the robot is malfunctioning 3 If the arc is not broken the robot is manually paused Reset the arc welding signal and re execute the program 3930 0x220000 00 Arc welding Current robot motion is not Cartesian motion During the arc welding process the robot does not move in Cartesian motion Select Cartesian space movement mode during arc welding such as l...

Page 283: ...ions 4900 0x220000 00 Axis group s Illegal axis group mode d The axis group mode is illegal 4901 0x220000 00 Axis group s Zero position is missing The zero position is lost Please check whether the robot encoder zero point corresponds to the mechanical zero point 4902 0x220000 00 XPL API error please find the reason in the program log There is an error in XPLAPI program Please check the program lo...

Page 284: ...n reading parameter file Fail to read the collision detection parameter file Check whether application collisiondete ct collisionpardata xml exists or whether the file content is correct 4907 0x220000 00 Collision detection failure in reading configuration file Fail to read the collision detection configuration file Check whether the robot configuration file exists in the application collisiondete...

Page 285: ... file 4911 0x220000 00 Modification to configuration parameters under power on Modification to configuration parameters under power on will prompt an alarm Please click the save button when the servo is turned off manually 4912 0x220000 00 The target position exceeds the maximum limit The target position exceeds the maximum limit Check whether the target position of single step operation exceeds t...

Page 286: ...ogram running mode Move the robot out of the area and automatically reset 4917 0x220000 00 Waiting for reclaiming timeout Timeout of waiting for the reclaiming will prompt an alarm 1 Please check whether there is material at the reclaiming point 2 Please check whether the signal is correct 4918 0x220000 00 Waiting for discharging timeout Wait for discharging timeout 1 Please check whether there is...

Page 287: ...ration of the external IO module is incorrect Check whether the number and sequence of modules are consistent with the configuration in the IO 4924 0x220000 00 External IO device malfunction The external IO device is malfunctioning Check whether the external IO device is normal 4925 0x220000 00 External IO module malfunction The external IO module is malfunctioning Check whether the external IO mo...

Page 288: ...220000 00 Pieces dropped Pieces dropped Place the fallen piece back on the jaws 4931 0x220000 00 There is an error of the product stacking information in the pallet2 palletizing mode The product stacking information in the advanced palletizing mode is incorrect Check whether the product placement information of the model file is correct 4932 0x220000 00 Failure in reading the analog IO configurati...

Page 289: ... Check whether the motion mode is set correctly in the auxiliary axis APP 4936 0x220000 00 Simple palletizing Update palletizing position error 1 The palletizing serial number is entered incorrectly 2 The palletizing mode is entered incorrectly 3 The workpiece number is selected incorrectly 4 The input pallet is not calibrated 1 Please confirm that the currently input palletizing serial number is ...

Page 290: ...load identification file is correct 4940 0x220000 00 Kinetics Failure in reading load identification parameters Fail to read the load identification parameters Check whether the parameters of the load identification file are correct 4941 0x220000 00 Kinetics Abnormality during the identification process An abnormality occurred during the identification process 1 Whether an abnormal alarm occurs du...

Page 291: ...t manually 4945 0x220000 00 Auxiliary axis In PLC control mode setting the number of auxiliary axes to run is wrong An error occurs when setting the number of auxiliary axes to run When the PLC controls the number of motion axes please check whether the auxiliary axes set to run are correct Seven of them are 1 and so on 4946 0x220000 00 Auxiliary axis In PLC control mode please turn off the auxili...

Page 292: ...mote IO Inovance IO and EFORT IO cannot be opened at the same time Remote IO Inovance IO and EFORT IO cannot be opened at the same time 1 Turn off Inovance IO or EFORT IO 2 Click the Save button to generate a new configuration file 4949 0x220000 00 EFORT IO board ARM initialization is abnormal and the device needs to be restarted EFORT IO board ARM initialization is abnormal ARM initialization is ...

Page 293: ...e parameter file on the robot teach pendant interface and save it Code 0 fail to load the welding machine setting file Code 1 fail to load the welding parameter file Code 2 fail to load the device setting file Code 3 fail to load current characteristic file Code 4 fail to load voltage characteristic file Code 5 fail to load the pendulum arc file Code 6 fail to load the arc trace file 4953 0x220000...

Page 294: ...servo enabled 4956 0x220000 00 Arc welding The protocol file does not match the hardware please reconfigure in the device settings A mismatch between the protocol file and the hardware was detected when the machine was turned on Reconfigure the protocol in the device settings and save and restart the robot 4957 0x220000 00 Arc welding Failure in manual arc starting operation Manual arc starting op...

Page 295: ...al and the device needs to be restarted EFORT IO board The internal bus initialization of the system is abnormal The device needs to be restarted 4963 0x220000 00 EFORT IO board DI is running abnormally and the device needs to be reinitialized or restarted EFORT IO board DI is running abnormally The device needs to be reinitialized or restarted 4964 0x220000 00 EFORT IO board DO is running abnorma...

Page 296: ...analog input is running abnormally The device needs to be reinitialized or restarted 4967 0x220000 00 Drag teaching Loading drag configuration file error Drag teaching Fail to load drag configuration file Check whether the drag configuration file exists or whether the content is wrong 4968 0x220000 00 Drag teaching Loading drive parameter file error Drag teaching Fail to load drive parameter file ...

Page 297: ...ck whether the dynamic model is wrong and whether the load setting is correct 5 Check whether the current position of each joint is within the allowable range of drag teaching or whether the 2 3 axis position is too close to the zero point less than 20 degrees 6 Check whether the drag teaching configuration file or the drive torque control file is wrong 4971 0x220000 00 Drag teaching The drag proc...

Page 298: ... robot 4974 0x220000 00 Collaborative security Exceeding the secure TCP momentum limit Collaborative security Exceed the secure TCP momentum limit Reduce the robot operating speed or reduce the size of the load or increase the TCP force limit value 4975 0x220000 00 Collaborative security Exceeding the safety joint torque limit Collaborative security Exceed the safety joint torque limit Reduce the ...

Page 299: ...each the program again to avoid the singularity of the robot 2 Avoid singularities or switch to moving the robot in the joint space 4980 0x220000 00 Bending The thickness of the workpiece is unqualified Bending The thickness of the workpiece is unqualified Please check the number of workpiece and reposition them 4981 0x220000 00 Bending The bending knife speed is illegal Bending The bending knife ...

Page 300: ...he range of motion of each axis 6 Check whether the dynamic configuration file exists and whether the format is wrong 4983 0x220000 00 Kinetics Update the friction parameters successfully please restart the robot Restart the robot controller Restart the robot controller 4984 0x220000 00 Tool flush The calculation of the direction included angle exceeds the limit please adjust the The angle between...

Page 301: ...tem and the reference coordinate as much as possible 4987 0x220000 00 Tool flush The target position is unreachable The target position is unreachable Adjust the tool posture to reduce the angle between the tool coordinate system and the reference coordinate as much as possible 4988 0x220000 00 No servo confirmation operation is performed before the servo is loaded 1 Press the servo confirmation b...

Page 302: ...k d press Stop button 10004 0x23000000 XPL Task d stop 10005 0x23000000 Axis d has reached the negative limit 10006 0x23000000 Axis d has reached the positive limit 10007 0x23000000 The teach pendant is unplugged 10008 0x23000000 Teach pendant is inserted 10009 0x23000000 Successfully loaded RPL file 10010 0x23000000 Press escape 10011 0x23000000 Abnormal emergency shutdown of the press 10012 0x23...

Page 303: ...te the content of 5 1 1 Mounting Angle 2 Update the content of 5 1 4 Load Identification 3 Update the 5 1 6 default po sition to home position 4 Add the function of 5 1 7 Module Updates 5 Update the content of 5 1 8 IO Configuration 6 Update the content of 5 1 1 0 Auxiliary Axis 7 Add the function of 5 1 12 Conveyor belt 8 Update the content of 5 2 1 Area Monitoring 9 Update the content of 5 2 2 P...

Page 304: ...P 13 Add the function of 5 4 3 EtherCAT Settings 14 Add the function 5 4 4 Et hernetIP Settings Chapter Six Motioning Tab In terface 1 Update the default position button to home position but ton Chapter Seven Monitoring Tab Interface 1 Update the content of 7 2 I O Monitoring 2 Add the function of 7 3 O n site monitoring of bus data ...

Page 305: ...ns of this product are subject to change without notice if they need to be improved The technical data and illustrations are for reference only and the right to change is reserved Efort Intelligent Equipment Co Ltd Address No 96Wanchun East Road JiujiangEconomic Development Zone Wuhu Anhui China Website http www efort com cn ...

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