Hanwha HCR-12 User Manual Download

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Chapter

1 3

ing

ith

E x

terna

E q u

ipment

147

Chapter 13

Linking with External

Equipment

You can link your robot to an external equipment such as a vision equipment (object
detection camera), and conveyor system.

Note

Different external equipment is supported depending on the software
version.

13.1

Using a Vision System

You can register an equipment to be linked to the robot and configure necessary
settings.

In the main menu, press

Device Setting

Vision System

Summary of Contents for HCR-12

Page 1: ...HCR 12 Collaborative Robot User Manual Nov 2018...

Page 2: ......

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

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

Page 5: ...RANGE 11 1 8 ROBOT S WORKING RANGE 13 1 9 MAXIMUM LOAD CAPACITY FOR THE TOOL 14 CHAPTER 2 SAFETY 15 2 1 SAFETY MARKS IN THE USER MANUAL 15 2 2 GENERAL SAFETY CAUTIONS 16 2 3 INTENDED USE 17 2 4 POTEN...

Page 6: ...configuration 35 Connecting the emergency stop button 36 Sharing emergency stop circuits with other equipment 36 3 10 CONFIGURING THE GENERAL DIGITAL I O 37 Load control with digital outputs 37 Digita...

Page 7: ...5 6 2 MANAGING USERS 55 Adding users and setting authorities 56 Menu available to each authority 57 6 3 LOGIN LOGOUT 58 Logging in 58 Logging out 58 6 4 SELECTING ROBOTS AND CHECKING STATUS 59 Selecti...

Page 8: ...es 80 Editing I O settings 81 Deleting I O 81 7 6 SETTING GLOBAL VARIABLES 82 7 7 I O BIT OPERATION 83 Add Delete 83 I O bit operation settings 83 CHAPTER 8 SAFETY SETTINGS 85 8 1 LIMITING ROBOT MOVEM...

Page 9: ...ting variables 104 Variable Monitoring 104 9 3 EDITING PROGRAMS 105 Overview of edit menu 105 Example of program editing 106 Undo Function 107 9 4 MANAGING A PROGRAM 108 Saving a program 108 Making a...

Page 10: ...15 USING A SUB PROGRAM 129 Making a sub program 129 Saving and loading a sub program 130 Entering a sub program 130 9 16 VISION COMMAND 132 Setting basic options 132 Setting the movement speed 132 Se...

Page 11: ...HAPTER 14 ENVIRONMENT SETTING 154 14 1 GENERAL SETTING 154 14 2 NETWORK SETTING 155 CHAPTER 15 TURNING OFF THE SYSTEM 156 15 1 SHUTTING DOWN THE OPERATION SOFTWARE 156 15 2 TURNING OFF CONTROLLERS 157...

Page 12: ...ftware 167 APPENDIX A WARRANTY 169 Warranty 169 Warranty period 169 Limitation of Liability 169 APPENDIX B CERTIFICATION 170 Safety 170 APPENDIX C DIMENSIONS FOR INSTALLATION 171 APPENDIX D TOOL FLANG...

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

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

Page 15: ...pter 1 Produ c t O v erv iew 3 1 2 System Components The following is a list of system components Robot arm Teaching pendant Robot controller Teaching pendant fixing bracket 8 pin tool cable User manu...

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

Page 17: ...Chapter 1 Produ c t O v erv iew 5 1 4 Overview of Robot Arms Parts and joints Tool Flange Upper Arm J5_J6 J2 Lower Arm J1 J3_J4...

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

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

Page 20: ...Chapter 1 Produ c t O v erv iew 8 Bottom No Name Robot connector Teaching pendant connector Power button AC power socket...

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

Page 22: ...pter 1 Produ c t O v erv iew 10 Rear No Name Description Handle Users can insert their hands and lift the teaching pendant for use Users can turn the handle and insert their hand in the desired direct...

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

Page 24: ...Chapter 1 Produ c t O v erv iew 12 Note The J3 axis has a limited operational range due to its unique structure When the J3 axis is at 160 When the J3 axis is at 160...

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

Page 26: ...acity for the tool The load capacity of the robot arm may vary depending on the distance between the tool flange and the payload s center of gravity The load capacity per distance is as follows Distan...

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

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

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

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

Page 31: ...al documents including the user manual Complying with the safety items in the user manual does not mean that all possible risks are prevented 2 6 Transportation The weight of the robot arm is 51 kg an...

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

Page 33: ...2 10 Operating Robots without Driving Power In case of emergency when the robot is not driven by power an adult can move each axis with their own force Caution If you use excessive force to move the...

Page 34: ...ble functions are as follows Joint Rotation Limit You can limit the angle of each joint Joint Speed Limit You can limit the speed of each joint TCP Speed Limit You can limit the max speed for the TCP...

Page 35: ...ts of international standards and local laws and regulations or due to not performing review on the risk assessment as mentioned in Section 2 12 3 1 Installation Locations It is recommended to install...

Page 36: ...ple of installation on floor You can also install it on a moving dolly Example of installation on a moving dolly Warning If you install the robot on a moving dolly you must make sure the moving dolly...

Page 37: ...I ns tal l ation 25 After installing the robot you must configure the robot installation information depending on each type of installation For more details refer to 7 1 Setting the Robot Installatio...

Page 38: ...on determination pins to determine the location In addition to prevent electrostatic charges you must connect the grounding line using a piece of M4 x 10 mm bolt Warning When fixing the robot securely...

Page 39: ...to the user manual provided by the tool maker For more details about specifications of tool flange refer to Appendix D Tool Flange Cross Section 2 After fixing the tool connect the necessary cables to...

Page 40: ...eaching pendant cable by using fixing bolts for the connector securely fasten it so that the cable does not slip out Be careful of pin being bended while connecting Connecting the robot arm to the rob...

Page 41: ...fuses and circuit breakers and they should be prepared by the person who prepares for installation The following electrical specifications are applicable to power supplies Input power 100 240 VAC Exte...

Page 42: ...fixing the controller box are not included in the product package 3 7 Overview of Controller I O If you want to connect other external equipment to your controller then you must first connect it to t...

Page 43: ...EA Output 8 EA By implementing the terminal block called IO Power J8 you can supply power to the digital I O from an internal 24V power supply or external power supply The left two blocks are compose...

Page 44: ...fficient then you can connect an additional power supply externally If an internal external power supply is used then the current limit of 2A is applied If the digital I O requires more current then y...

Page 45: ...4 29 V 24V 0V Current 0 2 A The digital I O is manufactured by complying with the IEC 61131 2 standard The following electrical specifications apply Terminal Parameter Minimum Format Maximum Unit Digi...

Page 46: ...t from each other in this sense Emergency Stop Safety protection stop Robot stops the movement Example Example Run the program Stop Pause Robot power Off On Initialization Manual Auto or manual Freque...

Page 47: ...gnal failure Before installing the robot you must check the safety functions In addition the function should be checked for defects periodically Initial safety configuration The safety configuration f...

Page 48: ...with other equipment When you use the robot with other equipment it is recommended that you share the same emergency stop circuits If you do then you will not have to check which emergency stop butto...

Page 49: ...specifications of digital I O The general digital I O can be used to configure relays or PLC systems In this configuration if the program is not running the output is maintained low at all times Load...

Page 50: ...used to set or measure voltage 0 10V or current 4 20mA between two equipment For high reliability it is recommended that you use the following method Use the analog ground closes to the I O Equipment...

Page 51: ...AG Resolution 12 Beat Voltage mode input AIx AG Current 0 10 V AIx AG Resistance 12 Kohm AIx AG Resolution 12 Beat Current mode output AOx AG Current 4 20 mA AOx AG Resistance 0 10 V AOx AG Resolution...

Page 52: ...Chapter 3 I ns tal l ation 40 Analog input You can use analog sensor outputs as analog inputs You can configure it as follows...

Page 53: ...tarted 41 Chapter 4 Getting Started 4 1 Turning on the Robot Controller Turn on the power switch at the bottom of the controller If you turn on the power switch for the controller power will be suppli...

Page 54: ...top of the teaching pendant Caution Do not turn on the teaching pendant with USB devices connected It may cause problems with starting the system Connect it after the system is booted completely Do no...

Page 55: ...reen to expand the menu You can check the name of each menu and if a sub menu exists then you can select it as well Robot Operation You can configure basic operation control start pause of your robot...

Page 56: ...can configure the safety items before operating the robot safely For more details refer to Chapter 8 Safety Settings Device Setting You can configure an external equipment that will be linked to the...

Page 57: ...Message You can select whether or not to display the message window that shows messages that have been set while the robot program is running Manual Move You can control the robot manually For more de...

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

Page 59: ...ding on the purpose of the menu some buttons are not available in the preview screen Robot task control button You can preview the programmed robot tasks Start the program from the beginning or at the...

Page 60: ...ates Joint Position Displays the angle of the joints You can modify it by entering a specific angle Move Adjusts the coordinates of TCP by using jog buttons Rotation Rotates the TCP by using jog butto...

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

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

Page 63: ...ted numbers press the Enter key If you want to delete the entire inputted text string press the button If you want to close the keypad then press the button at the right top Note The Enter key is deac...

Page 64: ...added into the parenthesis Delete an expression After selecting any item in the parenthesis press the Delete button The basic input item added into the parenthesis will be deleted If you want to dele...

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

Page 66: ...u must restart the system for normal operation Note The number of robots that can be registered depends on the software version and controller options In the early version you can register only one ro...

Page 67: ...2 After pressing the text box having the robot name modify it as you want 3 Press the Apply button 6 2 Managing Users You can make sure only specific users can use the software by registering them Als...

Page 68: ...owing two authorities Admin Can use all the functions of the software Operation Cannot use the safety and the critical setting functions Settings can be all inquired about 3 Press the Apply button Aft...

Page 69: ...tatus O O O Robot Setting Mounting O O O TCP Setup O O O I O Setup O O O MODBUS TCP O O O Safety Setting Motion Limit O X X Safety I O O X X Safety Boundary O X X Device Setting Vision System O O O Ma...

Page 70: ...s displayed at the right top of the screen After finishing registering a user while logged off press the icon and enter your ID password and press the Login button Logging out While logged in the icon...

Page 71: ...the robot status By pressing the robot icon in the Robot Selection button or the status icon at the right top of the screen you can check the robot s status Green Normal connection Red Communication f...

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

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

Page 74: ...alled on the wall press 90 or if installed on the ceiling press 180 to set the tilt value more quickly You can touch the gauge or press the left right buttons to fine tune the tilt for the X Y axis Yo...

Page 75: ...ect Robot Setting TCP Setup Warning If the TCP profile is incorrectly entered accidents such as collision and jamming may occur while operating the robot and the robot may operate incorrectly while us...

Page 76: ...ates the tool length The tool length is automatically calculated but users cannot enter it on their own Payload Set the tool weight If not specified it is automatically set to 0 00 6 Press the Save bu...

Page 77: ...P1 enter the position data After that move to an arbitrary point P2 and let it face the same point and enter the position data Proceed this way until you have at least three points The angle between...

Page 78: ...Chapter 7 S etting R ob ots 66 To calculate the position of TCP proceed as follows 1 After pressing the Edit button press the Position button 2 Press the Teaching button...

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

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

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

Page 82: ...profile currently used by the selected robot and proceed as follows 1 Select the TCP profile to edit 2 Press the Edit button You cannot edit the TCP profile currently being used by another robot You c...

Page 83: ...ing the name of I O used by the controller you can make sure they are easily detected and also assign a function to be executed depending on the input output signals In the main menu select Robot Sett...

Page 84: ...e the same name already in use by another I O Max 15 letters 30 bytes are allowed Special characters cannot be used Command Set the command to be executed when the preset value Low High is inputted or...

Page 85: ...Editing the analog I O setting Press the Edit icon of the analog input or output item to modify and the editing window will appear as follows Name Use a name easy for a user to identify or change the...

Page 86: ...e Add a line consisting of two points Plane Add a plane consisting of 3 points Coordinates generated by a point a line and a plane are available when you a variable is selected Points consisting of ea...

Page 87: ...becomes the robot s Z axis X axis This is set to the other axis Registering plane coordinates You can add and set plane coordinates To define a plane set point 1 point 2 and point 3 in sequence Coordi...

Page 88: ...ing Devices To use MODBUS I O register a device to share I O information with 1 Press the Add button 2 Enter following information in the Add Device screen and press the Add button Device Name Enter t...

Page 89: ...settings for a new device When copying I O information of the device is also copied 1 Press the Edit button from the list of registered devices 2 Modify items you want to change and press the OK butto...

Page 90: ...Deleting a device in the list 1 Select a device to delete from the list Check the check box for the device 2 Press the Delete button and then press the OK button When you delete a device I Os for the...

Page 91: ...gister Input Reads 2 byte values 0 65535 from a device Register Output Sends 2 byte values 0 65535 to a device 1 Select a device to add an I O to from the device list When a device is selected I Os cu...

Page 92: ...r type I Os as variables in a program Viewing the communication status After an I O is registered you can view its communication status Normal Unable to connect Input value error Device response delay...

Page 93: ...es the value currently read from the device Register Output Indicates the value being currently sent to the device Press the value to change it Editing I O settings 1 Press the Edit button of an I O t...

Page 94: ...You can set the global variables that are available and shared by many programs by restarting the system Variable name Specifies a variable name Up to 10 characters 20 bytes can be entered Variable v...

Page 95: ...on is enabled when any check box in a row is selected If it is clicked the selected row will be deleted Settings cannot be added while the program is running or started I O bit operation settings Set...

Page 96: ...Chapter 7 S etting R ob ots 84...

Page 97: ...robot operation Warning Make sure to check safety settings immediately after the robot is installed In addition all of the functions for safety settings must be regularly checked 8 1 Limiting Robot Mo...

Page 98: ...to use the default setting check Preset and select one out of the four choices Manual setting method If you want to set each item on your own you can use the adjustment bar to change the value while...

Page 99: ...b general mode or deceleration mode to the previous value When the settings are complete press the Apply button to apply it to the robot Caution The joint speed cannot be limited with the Speed option...

Page 100: ...ding safety boundary planes After adding multiple safety boundary planes if necessary you can select one of them and use it 1 To add a boundary plane press the Add button If you press the Add button t...

Page 101: ...e Screen Your safety boundary will be created in a location that is separated from the center axis of the flange as much as the TCP length set in the TCP 3 To save the settings press the OK button Vie...

Page 102: ...ion vector for the border plane that can indicate a collision with the safety border in the controller Blue Z axis on the screen Applying safety boundaries 1 Activate the boundary for use To use Not t...

Page 103: ...es If you add a safety boundary it will save as Boundary and a number by default 1 Press the name of boundary to modify 2 Enter the desired name and press the OK button Deleting safety boundary settin...

Page 104: ...Chapter 8 S af ety S ettings 92 3 Press the OK button...

Page 105: ...ol Safety Boundary Surfaces The safety boundary of the tool can be set only for TCP settings that have already been set 4 Select the Tool Boundary tab and select an item with the name of the TCP you w...

Page 106: ...the tool has the same coordinate axes as TCP s coordinate axes Setting Tool Safety Boundary Surfaces 7 The boundary surfaces of the tool set to Use are set to a box by default The user selects one of...

Page 107: ...are no longer checking a single I O value Instead the two designated inputs or outputs check the High or Low signals to determine validity of values In the main menu press Safety Setting Redundant I O...

Page 108: ...he two designated IOs are in the emergency stop state Low 0 is output Otherwise High 1 is output When a physical emergency stop button is pressed it operates even when the designated IO is in the emer...

Page 109: ...fely set to the normal range through the following procedure 1 Go to the administration screen by selecting the administration menu or clicking the top guidance message 2 Uncheck Use Safe Settings 3 C...

Page 110: ...the main menu 9 1 How to Use Commands Selecting a flowchart There are two types of flow charts main and sub Main Program In this screen you can input or modify the main program Sub Program In the mai...

Page 111: ...tails refer to 9 9 LOOP Command Switch Branch the command for each case of the designated variable For more details refer to 9 10 SWITCH Command Wait Tell the robot to wait until the condition entered...

Page 112: ...nd icons and bundles the programs into a sub folder Halt Terminate the program Vision Use a vision equipment to scan an object For more details refer to 9 16 VISION Command Pattern Tell the robot to m...

Page 113: ...roll At the start of the program you can initialize variables IO robot posture etc using the initialization icon This initialization icon cannot be deleted Changing command names Each command offers a...

Page 114: ...earched command the number of searched commands is displayed and you can easily find the command by using the left right navigation button Skipping Commands For each command created in the program you...

Page 115: ...management button a screen for variable management and monitoring is displayed at the top as shown below Adding variables Press the Add button If you press the Add button the default name and value 0...

Page 116: ...enter a number The range is from 999999999 to 999999999 Character variable s maximum length 20 characters Deleting variables 1 Check the checkbox for the variable to delete 2 Press the Delete button a...

Page 117: ...he selected command You can crop a command to another location Copy Copy the selected command You can copy a command to another location Paste Paste the cropped or copied command to the selected locat...

Page 118: ...cted indicates the order of pasting 2 In the edit menu press the Cut button After pressing the Cut or Copy button the Select Mode button will be activated so that you can cancel the edit command and r...

Page 119: ...te button Undo Function Undo You can use the edit function to undo edits made to items Redo You can redo an edit that has been undone Note Up to 50 steps are saved The edit history is initialized when...

Page 120: ...ng a program 1 To save the completed program select File Save at the bottom of the screen 2 Enter the program name and press the OK button Only if the program is newly saved or saved with a new name t...

Page 121: ...he program name when you apply or save a program Loading a program 1 To load the saved program select File Load at the bottom of the screen 2 Select a program to load and press the OK button Deleting...

Page 122: ...entire program structure is saved but the option for each command is not saved Saving as a template To save the completed program as a template select Template Save at the bottom of the screen If you...

Page 123: ...emplate select Template Load at the bottom of the screen 2 Select a template to load and press the OK button Deleting a template 1 To delete the saved template select Template Load at the bottom of th...

Page 124: ...ion To link it to a real robot select Real Robot The entire program speed can be adjusted by using the Speed slide bar 9 7 Move command The command is used to move the robot arm by designating the des...

Page 125: ...his point This is a setting that allows you to move at a constant speed without stopping operation between move commands For details refer to Move without stopping Joint The tool movement path between...

Page 126: ...st position held by the robot are the coordinates of the starting point Circle The tool moves along the circle formed by the start point S and the two waypoints P1 P2 Speed 0 1 mm s 1000 mm s accel Ac...

Page 127: ...s interrupted because the robot stops momentarily at point P1 For smooth movements enter the radius value greater than 0 Then the robot will make a smooth curve movement before P1 and it will continue...

Page 128: ...and the next move command is the same straight line motion the robot will move without stopping If P1 and P2 are linear motion and the radius is 0 the move commands of P1 and P2 should be on the same...

Page 129: ...refer to 5 3 Manual Move Screen Relative You can set the movement coordinate with respect to the previous location Variables position Coordinate Note The inputted coordinate is examined in the contro...

Page 130: ...Chapter 9 Programming 118 In the flow chart press the group button then they will be grouped as one The number of commands in a group will be indicated by a number at the right top of the group icon...

Page 131: ...F then press the Else IF button To delete the Else IF statement you added select the checkbox for the Else IF statement and press the Delete button If you select the icon on the right side of the cond...

Page 132: ...hild execute the Else program command 9 9 LOOP Command Use the command to repeatedly execute a series of commands Disabled Do not use a LOOP command Always Repeat execution Loop input times Repeat as...

Page 133: ...nd is executed immediately by finding the corresponding case thus it is much faster than execution of an IF command 1 Using the drop down menu next to Switch select a variable For more details about t...

Page 134: ...put terminal For a digital signal you can choose either of low or high Analog Waits until the condition of the value set to a specific analog input terminal is met On analog setting whether to use the...

Page 135: ...value Analog Set a specific analog output value The output unit is based on the analog unit that you set in the Monitoring menu Variable Assigns a specific value to a variable added to the variable l...

Page 136: ...tput format Pop up Displays a pop up window with messages List Displays messages in the lower left console window Message operation If you set the message format as pop up you can specify the operatio...

Page 137: ...g with certain intervals Unstack pattern In this pattern the robot unstacks objects while vertically moving with certain intervals Line pattern In this pattern the robot repeats the same task while mo...

Page 138: ...re details about the Manual Move screen refer to Manual Move Screen On the Manual Move screen enter the final coordinate values 3 Proceed with point setting until you reach the last number Setting rep...

Page 139: ...ing index 0 Base After executing the pattern the monitoring variable is automatically increased by 1 Set a variable to use the position to move Used to move to a specific position using a variable Var...

Page 140: ...ptions for the pattern point settings are the same as the linear movement options in the move command section and additionally you can insert move commands before and after the pattern point to adjust...

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

Page 142: ...pare a program Saving and loading a sub program After creating a sub program in the Sub tab you can save it as a file or load the sub program or template Entering a sub program After creating and savi...

Page 143: ...e added to the timeline as shown below and a sub program line will be added at the bottom to indicate the content of the sub program In the main program you can also modify the content of the sub prog...

Page 144: ...an communicate with a vision equipment by using the vision data configured in the Device Setting menu Setting basic options Press the drop down menu to select a desired vision equipment and set the wa...

Page 145: ...osition is configured in the Device Setting menu you do not need to set it in the vision command again Wait time s After a vision equipment moves to the recording location it may require some waiting...

Page 146: ...want to use a tool such as a griper you will need to input the set command additionally 9 17 Thread When a robot program is executed it is possible to execute parallel programs that require IO and oth...

Page 147: ...icked on as an icon and added to the timeline in the lower layer Note Commands to control the motion of the robot cannot be used 9 18 Script Provides the function to edit the robot script and set it a...

Page 148: ...pter 9 Programming 136 EDIT You can edit the edit window by opening it Click the Validation Check button to check the integrity of the created script Note For script commands refer to the separate man...

Page 149: ...p window and can be canceled or stopped During recording you cannot move to another screen or perform other operations If an already created path is found it will be deleted and a new one created 2 Pa...

Page 150: ...there are the same postures at the start and end points in the motion recording process they are deleted Note To execute the recorded motion the Move coordinates immediately before the Path command an...

Page 151: ...the Robot Starting the robot means that you are powering up the servo motor and get ready for its operation Select Robot Operation in the main menu Note If your robot is already registered then it wil...

Page 152: ...tton will be deactivated OFF Power off the motor for the robot joints and enable robot operation If the robot status is OFF then the ON button will be activated and the OFF button will be deactivated...

Page 153: ...t how to export robot settings refer to 16 5 Managing the Robot System Configuration Select Robot Program You can select one of the program files stored in a local storage and quickly apply it to the...

Page 154: ...al time 11 1 Monitoring the Robot You can check the robot s position and status in real time Select Monitoring Robot Status in the main menu Monitoring the robot positions In the robot position tab yo...

Page 155: ...ts Outputs You can check and set the real time I O status of robot In the main menu select Monitoring I O Status Note The monitoring period is 10 Hz You can check the status of digital I O by examinin...

Page 156: ...press High then it switches to Low For analog outputs you can press the icon to enter values Voltage range 0 10 00 V Current range 0 004 0 02 A You can select either voltage or current as the analog I...

Page 157: ...nputs outputs and analog inputs are set and displayed in the same way those of the controller are set and displayed If you can set the output voltage to a tool then you can select one from 0 V 12 V or...

Page 158: ...ion time servo start and the program operation time information Cumulative system operation time Total cumulative system operation time from production time to present Note The basic unit for collecti...

Page 159: ...nal equipment such as a vision equipment object detection camera and conveyor system Note Different external equipment is supported depending on the software version 13 1 Using a Vision System You can...

Page 160: ...unication Setting To send and receive data to and from the vision system data is exchanged via TCP IP communication The vision system should be set up to use TCP IP communication Exchange Data Format...

Page 161: ...by the Vision workspace setting the vision coordinates recognized by the vision are converted into the robot coordinates to move the robot 13 2 Adding and setting vision equipment Adding a vision equ...

Page 162: ...and the robot Range of port number 0 65535 Press the Connection Test button to check the status of connection with a vision equipment by using the connection data Note To perform the connection test...

Page 163: ...robot arm to the scanning location Press the Move button to move the robot arm to desired location and view it there Press the Set Point button to launch the manual control screen For more details ab...

Page 164: ...gle data from its own perspectives and use a gripper accordingly thus making it hard to pick up an object accurately As shown below if the scanning location is same as the basic TCP location of robot...

Page 165: ...Chapter 1 3 L ink ing w ith E x ternal E q u ipment 153 B When the scanning location and the robot s location are shifted by X...

Page 166: ...lso set the time date In the main menu press SW Configuration General Language Selection You can select a language for the UI Units Selection You can select units of weight Set Date Set Time You can s...

Page 167: ...communication of your operation software In the main menu press SW Configuration Network DHCP IP address is automatically assigned Static IP Fixed IP address is used Obtain DNS server address automati...

Page 168: ...button of the teaching pendant to shut it down If the operation software does not shut down properly press and hold the power button of the teaching pendant for 5 to 10 seconds Caution Shutting down t...

Page 169: ...Chapter 1 5 T u rning O f f the S y s tem 157 15 2 Turning Off Controllers After shutting down the operation software press the power switch to turn off the controller...

Page 170: ...wn contact Hanwha Precision Machinery Co Inspection item What to inspect Periods Robot arm All Check if the robot moves to the desired destination according to the program Daily All Remove stains dust...

Page 171: ...motor the brake and the decelerator 4 Remove stains dusts and pollutants 16 3 Checking the Controller If dusts accumulate inside the controller electrostatics or overheating can cause product malfunc...

Page 172: ...usts 5 Check if the connector cables are connected properly Cleaning and replacing the filter The controller has an air suction hole and an air discharge hole which have dust filter mounted in them Se...

Page 173: ...and manage the logs for the operation system Select Management Log in the main menu Deleting Logs Press the Delete button and the log data found will be deleted Exporting Logs 1 Press the Export butt...

Page 174: ...d program files 16 5 Managing the Robot System Configuration You can save the robot configuration in a local or external storage device or retrieve the saved robot configuration from them In the main...

Page 175: ...r 2 Select the file path to export Press the refresh button to update the storage list and the file list 3 Press the filename input field and enter the filename Filename is limited to 25 letters and e...

Page 176: ...rting Press the refresh button to update the storage list and the file list 2 Press the Import button 3 Select the configuration items to import and press the OK button You can select multiple items I...

Page 177: ...actory reset Initializes the system to its factory settings A warning message is displayed twice before the reset is performed When the factory reset is complete the system restarts Note If you perfor...

Page 178: ...in the versions compatible with each other If versions incompatible with each other are installed as a result of not checking compatibility the robot may not work normally The update function is not a...

Page 179: ...onally If no additional update is available the system restarts Updating the controller software Check the version of the controller software and proceed as follows 1 Connect the external storage devi...

Page 180: ...From the software update window press the Update button When the controller software is updated a window appears to ask whether to update the operation software additionally If no additional update is...

Page 181: ...nty period One year since the date of equipment purchase varies depending on the contract between our company and you Limitation of Liability If a problem occurs after the customer mounts an unauthent...

Page 182: ...170 Appendix B Certification Safety...

Page 183: ...Appendix C Dimensions for Installation...

Page 184: ...172 Appendix D Tool Flange Cross Section The tool flange is designed suitable for ISO9409 1 50 4 M6...

Page 185: ...Tool I O SACC DSI M8FS 8CON M8 0 5 1458790 Port Layout Pin number Signal Color Tool I O 1 Analog Input Ch 1 White 2 Analog Input Ch 0 Brown 3 Digital Output Ch 0 Green 4 Digital Output Ch 1 Yellow 5...

Page 186: ...mm 242mm Temperature 0 50 IP class IP64 Robot Arm IP20 Robot Controller Power supply 100 240 VAC 50 60 Hz Controller Tool connector I O port Digital input 16 4 Digital output 16 4 Analog input 2 2 Ana...

Page 187: ...the robot joint Payload Maximum load possible to be installed on the TCP 3 kg The behavior to measure the stopping distance for the joint J1 was driven in parallel to the ground and joints J2 and J3...

Page 188: ...position of the robot arm fully stretched horizontally to make the maximum load Speed Maximum joint speed maximum speed of 180 sec which can be generated at the robot joint Payload Maximum load possib...

Page 189: ...If the same problem persists then ask the administrator 10008 A communication error heartbeat occurs between the operation software and the controller Check the EPC and controller board connection ca...

Page 190: ...eck the motion s input value and try again 100017 A communication error occurs while sending the program s command data motion Check the network cable and restart the system 100018 A communication err...

Page 191: ...t and try again 100053 The currently set speed limit is zero so the robot may not move Check the safety speed limit 100057 An error occurs while using the inputted point data to calculate the TCP Rese...

Page 192: ...r For circular motion setting check the radius and input values 203100 The operating robot s joint exceeds the range of safety operation Press the reset button in the operation menu and move the robot...

Page 193: ...occur when excessive torque is applied to the joint drive Press the reset button in the operation menu and try again If the same error persists ask the administrator 203105 Out of the range of safety...

Page 194: ...controller If the system does not operate normally despite of actions taken as above restart the system 280002 Drive error Use the device log in the Log Inquiry screen to inquire about the axial numbe...

Page 195: ...Machinery Co Ltd Address Hanwha Precision Machinery R D Center 6 Pangyo ro 319 beon gil Bundang gu Seongnam si Gyeonggi do 13488 Republic of Korea Email robot_inquiry hanwha com Homepage http www han...

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Hanwha HCR-12, User Manual

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