Neuromeka INDY7 User Manual Download Page 196

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196

| Programming

Alternatively, press and hold

Hold to Move

, and the actual robot will move to the selected

position.

In this way, you can check the position of each movement.

⑬

When all settings are complete, touch

Save

Now you have completed configuring the pick for picking the objects on the pallet.

Summary of Contents for INDY7

Page 1: ...Version 2 3 0 2019 08 16...

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Page 6: ...l property rights of Neuromeka Copyright Trademark Notice Indy NRMKFoundation NRMKPlatform STEP and the related logos as well as all related files and documentation are Copyright 2016 2022 by Neuromek...

Page 7: ...from actual ones and Neuromeka is not responsible for any errors or inaccuracies that may appear in the documentation All information is based on the time of writing and all information provided in th...

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Page 9: ...ent sitevia internet Process data monitoring As the data is always collected for management of the process which Indy is involved in one can monitor and report the process progress Blackbox Everytime...

Page 10: ...can find the detailed information in Sec 4 1 Getting Started Motor Status Motor status can be checked by Motor Status in the option on the upper menu bar Now you can check the current status and the...

Page 11: ...e following features become obsolete from ver 2 3 0 Option Menu In option menu list virtual keyboard reset position and reset over current state have been eliminated Program Menu In program menu Load...

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Page 13: ...24 2 1 TRANSPORTATION 24 2 2 SYSTEM COMPONENTS 25 2 3 SYSTEM OVERVIEW 26 2 4 INSTALLATION 28 3 SYSTEM SPECIFICATIONS AND INTERFACES 35 3 1 ROBOT ARM 35 3 2 CONTROL BOX 43 4 GETTING STARTED AND CONNEC...

Page 14: ...UARTERLY INSPECTION 305 8 4 PERIODIC INSPECTION 306 8 5 HOW TO MEASURE INSULATION RESISTANCE 307 8 6 PART REPLACEMENT PERIOD 308 8 7 UPDATE 308 8 8 MANAGING LOG FILES 309 8 9 TRANSFERRING LOG FILES 31...

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Page 16: ...the country in which you are using it and system integrators must understand the safety laws and regulations of their countries and ensure that major risks do not occur This includes but is not limit...

Page 17: ...to the product or peripheral devices Danger Failure to follow the instructions with this mark may result in serious accidents and death or serious injury to the operator may be caused Warning Failure...

Page 18: ...hock 4 The robot and all electrical equipment must be installed according to the specifications and warnings in Chapters 2 3 and 4 of this manual Warning 1 Users must understand the contents of the ma...

Page 19: ...f kinetic energy proportional linearly to the payload and quadratically to the speed Kinetic energy 1 2 mass velocity2 17 Movement in the task space is limited in some portion of the workspace due to...

Page 20: ...ng and assembling objects using the tool under the operating conditions of the robot specified in the specification or the manual It is possible to work collaboratively with a person without a physica...

Page 21: ...mply with the relevant regulations of the international standards and domestic regulations in the installation and use or the improper performance of the risk assessment 1 8 Potential Hazards Users sh...

Page 22: ...ISO 60204 1 Caution As soon as the emergency stop button is pressed the control system of the control box transmits the stop command to the robot and the power of the motor is shut off and the magneti...

Page 23: ...ovement without Drive Power One can move the robot forcefully even when the power of each joint of the robot cannot be used or is not used In the non powered state pushing or pulling hard on the joint...

Page 24: ...case you need to transport the robot again Additional components are carried separately from the default components Warning The body of Indy7 weighs about 29kg and the control box weighs about 15 5kg...

Page 25: ...e provided as follows Additional Components Additional components currently available separately include the Android Tablet PC with Smart Teach Pendant application installed a foldable mobile base ele...

Page 26: ...his you can attach various tools such as grippers to the endtool flange of the robot and you can check the status of the robot through the light of the endtool indicator Control Box IndyCB It controls...

Page 27: ...Android based Smart Teach Pendant application hereinafter referred to as Conty provides control and monitoring of the robot and various interface signals and provides a graphical user interface GUI f...

Page 28: ...tallation Locations It is recommended to install the robot in a place that meets the following conditions no flammable or explosive material no leakage solid flat floor bearing the weight of the robot...

Page 29: ...lass 12 9 of the same standard may be used instead Warning Securely fasten the fixing bolts so that they will not loosen Also check the tightening status of the bolts periodically as the environment i...

Page 30: ...e robot base terminal respectively After connection fasten the latch down so that the cable does not get unplugged Connect the emergency stop cable to the EMERGENCY terminal on the back panel of the c...

Page 31: ...by failure to keep these specifications Installing Ground Wire Injection of over current or over voltage and occurrence of electrical noises can do harm to the facilities and or people and electrical...

Page 32: ...ndard Conty tablet together with the robot from Neuromeka Depending on the robot model you purchased the suitable application is provided and the installation method is as follows Install the Adobe AI...

Page 33: ...nty tablet with preconfigured Conty application by Neuromeka can be purchased separately as an additional component In the case of user s tablet PCs purchased separately Conty can be installed but in...

Page 34: ...ing a USB cable or Wi Fi as follows Using a USB cable Connect the USB port on the back panel of the control box and the tablet with a USB cable Using Wi Fi Connect the LAN cable from a wireless router...

Page 35: ...bot arm It uses a total of six rotating joints to move in space where the work space is determined by the link length and the travel range of each joint The weight of the tool that can be installed at...

Page 36: ...s called the zero position Note that the direction indicated by the arrow is positive rotation i e positive angle and the opposite direction is negative rotation All joints have a limited travel range...

Page 37: ...has a position where the robot cannot move in arbitrary direction linearly or rotationally within the workspace This is a physical phenomenon where the robot can no longer be translated or rotated in...

Page 38: ...nter of mass with respect to the following robot posture The following graph displays the maximum payload in terms of the distance in the X Z plane with respect to the tool coordinate frame where the...

Page 39: ...origin facing away from the connector is the X axis and the direction facing upwards perpendicular to the floor is the Z axis The Y axis is determined automatically by the right hand rule Refer to Sec...

Page 40: ...origin of the default tool frame is the point where the end of the endtool flange meets the sixth joint axis The direction emanating from the origin to the endtool port defines the Y axis and the Z a...

Page 41: ...number are as follows Pin Signal Digital Output NPN CAN High CAN Low RS485 RS485 EtherCAT Rx EtherCAT Rx EtherCAT Tx EtherCAT Tx 24V DC 5V DC GND The cables necessary for connection to the endtool po...

Page 42: ...icates each mode in terms of three colors and two actions e g lighting on and flashing the meanings of which are as follows Color Action Description Green Solid Ready Green Blinking Moving Blue Solid...

Page 43: ...otor drivers as well as processes all inputs and output signals through electrical connections to various peripherals It can also turn off the power in case of emergency Mechanical Specifications The...

Page 44: ...tput Output 48VDC 30A 24VDC 1A Total regulation range Main output 2 Power consumption 700 Wmax in Indy7 Output noise PARD 1 max p p 50 mV max p p Environment Operating temperature 40 C to 70 C Linear...

Page 45: ...er is on air inlet hole This is where the outside air is sucked in for cooling inside the control box For smooth air circulation be careful not to block the air inlet hole during installation Caution...

Page 46: ...o the digital I O board and the bottom left and right of the lower terminal block are for common power supply 24V and GND The remaining 16 channels are all 24V digital inputs Refer to Section 4 3 Conn...

Page 47: ...mouse or an external storage device to the control box Air outlet hole Heated air inside of the control box is cooled by blowing out using a fan For smooth air circulation be careful not to block the...

Page 48: ...and the robot Do not turn off the power while the robot is in operation except in an emergency cases because unexpected power off may cause damage to the product Caution If the power does not turn on...

Page 49: ...ally the endtool indicator lights up red or green according to the startup mode setting Refer to Section 6 1 Robot Settings for a detailed description of the startup mode setting Caution If the endtoo...

Page 50: ...l Connect Conty is used alone without connection with the robot Conty has a built in simulator that allows you to simulate a simple teaching with a virtual robot However only some functions are availa...

Page 51: ...ory of the past IP addresses is shown When you select an IP address from the list it is automatically entered into the IP address Caution The worse the Wi Fi connection is the worse the robot operatio...

Page 52: ...tion and the robot as well as the running time of the robot all in real time On the left side of the home screen are the current joint angles of the robot and the position and the orientation of the t...

Page 53: ...ons for more information on the home position setting Log It provides a history of all event messages that occurred during use For details on how to check the log refer to Section 7 3 Recovery Reset T...

Page 54: ...e language can be altered to the language appropriate for your country for proper use of the product We currently support three languages Korean English and Chinese Here we change the language setting...

Page 55: ...Connecting Peripherals Touch one of the following languages of your preference You must restart the application to use the selected language When the warning message Do you want to use selected langua...

Page 56: ...04 Getting Started and Connecting Peripherals On the message It s changed Application will be terminated touch OK to finish Conty Restart it If you run Conty again the language will change as shown be...

Page 57: ...se the latest software to use the Neuromeka product with the latest features and the best performance Users should check the software information after receiving the product Touch Option in the menu b...

Page 58: ...along with the model name of the product you are using as follows Caution In order for the robot to run normally the Conty application and the control box software version must match If the version is...

Page 59: ...all the latest version of Conty before updating to the latest software Contact the manufacturer for the latest version of Conty The following steps describe the procedure to update to the latest softw...

Page 60: ...en appears In order to execute software update the tablet and the control box should be connected by a USB cable After connecting the USB cable between the tablet and control box touch on the button D...

Page 61: ...installed software and the firmware in the right window Touch Software Update After confirming the information on the new version touch Update Warning Never turn off the power during software update I...

Page 62: ...ur to five minutes in average Upon successful completion of software update the system will reboot automatically and the endtool indicator turns to red or green according to the startup mode For start...

Page 63: ...t for the automatic mode all motion performs in the manual mode In the manual mode the robot operates only when the user keeps pushing the button of each function of Conty or when the user keeps apply...

Page 64: ...ect teaching mode is deactivated In this state if you touch the direct teaching button the mode changes to green and the direct teaching mode is activated Touch again to turn it off With the direct te...

Page 65: ...method based on joints Jog method based on the tool frame Joint space and task space There are two spaces in describing the robot movements that is the joint space and the task space The joint space i...

Page 66: ...tween the tool attached to the endtool flange of the robot and the workpiece as follows The default tool center point is located at the center point of the endtool flange surface As a matter of fact t...

Page 67: ...are mutually orthogonal to each other emanating from a point called the origin in three dimensional space Note that the direction of each axis is determined by Euler s right hand rule Such a coordina...

Page 68: ...coincides with the origin while the perpendicular direction to the robot mounting surface is defined as the Z axis and the direction opposite to the robot communication cable connector is defined as t...

Page 69: ...ed the jog commands are displayed in joint coordinate units When the task space is selected they are displayed in cartesian coordinate units Jog option There are two jog modes i e smooth and interval...

Page 70: ...each joint of the robot Depending on the jog mode selected in the jog option it moves joints either at the preset constant speed while touching or by the preset interval at each touch Joint jog moves...

Page 71: ...he following describes how to use joint jog Set the jog mode and the related jog parameters in the jog options In Jog Type select Joint In Jog command select the joint you want to move Then the select...

Page 72: ...es the tool frame either at the preset constant speed while touching or by the preset interval at one touch The robot moves with respect to the reference frame or the tool frame according to the jog c...

Page 73: ...the arrow is the same as the coordinate axis color shown in the robot model Red indicates the X axis green indicates the Y axis and blue indicates the Z axis Also the straight arrows in the upper stan...

Page 74: ...on function that moves the robot s joint or the tool frame to a position value specified directly It is provided on all Conty screens that require robot motion Joint position movement Here s how to mo...

Page 75: ...ssage Enter the desired joint value in place of the current value then touch OK Caution Joints have different travel ranges In the notification message check the movable range of the joint Select the...

Page 76: ...bot moves to the entered joint values When the touch stops the robot stops moving immediately Keep touching while you are reaching your goal position Once you ve successfully reached your goal positio...

Page 77: ...on which frame is the reference for task movement Caution Movement of the robot in the task space is stopped immediately by the safety function when approaching singularity regions In such cases move...

Page 78: ...d speed level from 1 to 9 The higher the level is the faster the movement will be Touch Hold to Move While touching the robot moves to the preset target position and releasing touch stops the robot im...

Page 79: ...79 04 Getting Started and Connecting Peripherals Upon arrival at the target position normally the pop up window disappears with the instant message displaying It reached target position as follows...

Page 80: ...changed by the user On the other hand the home position is used as the position initiating and terminating general motions or as the docking position to which the robot returns in case of an error Us...

Page 81: ...red speed level from 1 to 9 The higher the level is the faster the movement will be Touch Hold to Move While touching the robot moves to the preset home position and releasing touch stops the robot im...

Page 82: ...Upon arrival at the home position normally the pop up window disappears with an instant message displaying It reached target position Movement to zero position Movement to the zero position is simila...

Page 83: ...red speed level from 1 to 9 The higher the level is the faster the movement will be Touch Hold to Move While touching the robot moves to the preset zero position and releasing touch stops the robot im...

Page 84: ...84 04 Getting Started and Connecting Peripherals Upon arrival at the zero position normally the pop up window disappears with an instant message displaying It reached target position...

Page 85: ...port or the control box Interface The input output interface for tools and devices is located on the robot arm s endtool and the rear of the control box The layout of each electrical interface is as...

Page 86: ...e adaptor that connects the tool to the flange Refer to Section 3 1 Robot Arm for the information on dimension for fabrication Here we re going to install the gripper on the endtool flange Secure the...

Page 87: ...it is necessary to reflect the physical properties of the tool and conduct the test First you use Conty to set the tool center point with the weight and the center of mass of the tool to use the exis...

Page 88: ...nge In case you have dimensional information in your design drawing record it Enter the tool center point parameters measured or recorded in into the TCP Parameter The x y and z values are the distanc...

Page 89: ...ripherals Touch Save to store the newly set tool center point Multiple tools can be registered However you cannot modify the currently available information already registered Touch Save to display th...

Page 90: ...w tool center point name as tcp_1 Once the settings entered with the new tool center point name are saved normally the red text will be displayed in white However this does not mean that it now become...

Page 91: ...when you see the following message If the tool center point name has the tag current TCP displayed on its right side the tool frame is normally reflected as the current value For a detailed descriptio...

Page 92: ...ool center point deviates significantly from the center of rotation during rotation the tool center point setting is incorrect Re enter the tool center point value until the robot can rotate around th...

Page 93: ...or by reference to the specification if it is a commercial product If it is difficult to retrieve the relevant information measure the weight directly using a scale Locate the center of mass and measu...

Page 94: ...Failure to correctly enter the mass and the center of mass of the tool may result in malfunction of collision detection during operation Also in the direct teaching mode the robot can move in a direc...

Page 95: ...input output signal on the control box s I O board you must first supply 24V power supply to the I O board The I O board power supply can be provided by connecting the internal 24V power source or an...

Page 96: ...ated on the back panel of the control box to GND of the external power supply and connect pin 9 of DIO 11 20 terminal block to 24V of the external power supply to supply power to the I O board Digital...

Page 97: ...e control box Note that NPN type devices had better be connected to Terminal block 11 20 as it is of NPN type Here we will supply power to the I O board using the internal power Connection to a 24V el...

Page 98: ...Peripherals The following is an example of connection that controls the 24V electrical load simply through digital signal output Or the connection can be made as follows Both works properly except wh...

Page 99: ...power is already supplied internally and the pins to be connected are different However only the PNP open collector type can be directly wired while the NPN type requires separate relay connection The...

Page 100: ...ddle to configure so that current flows into the digital signal input port of the control box The following is an example of connecting 24V DC three wire proximity sensor of PNP open collector type to...

Page 101: ...als The following is an example of connecting type 24V DC three wire proximity sensor of NPN open collector type to digital signal input of the control box using relay The following is an example of c...

Page 102: ...tput and the pins to be connected are different Analog signal Input and output The analog input and output modules convert the analog signal input to the control box into a digital value and the digit...

Page 103: ...he PC is possible by using TCP IP socket communication connected to Ethernet ports of the control box For PLC Modbus TCP or digital signal based method can be applied In the case of using Modbus TCP i...

Page 104: ...of them cannot transfer a signal due to any problem such as disconnection Therefore if a problem occurs in one or more of the signal lines connected to the emergency stop the power supplied to the ro...

Page 105: ...ped with the default emergency stop configuration at the factory The initial configuration is as follows When EMERGENCY 2 is not used it must be short circuited Additional emergency stop button An add...

Page 106: ...lect Program on the home screen of Conty 5 1 Start Program In Start Program screen shown below you can begin programming by creating a new program by importing an existing program or by loading and ed...

Page 107: ...rogram tree The program commands you have created are listed in tree format When the program is executed the commands in the program tree are executed in the order from top to bottom in principle User...

Page 108: ...st the robot is detected during program execution Variables It declares the variables used in the program There are five types of data and initial values are set for each Free branches It is a branch...

Page 109: ...opied to the control box so that the program can be executed by the control box alone or triggered by an external device without executing Conty One can save the program as the default program as foll...

Page 110: ...mming A list of default programs that are saved is displayed as follows We will save the current program as the default program in the first slot Select No 1 Empty and touch Save Enter the file name a...

Page 111: ...am resistration is completed is displayed registration is completed normally Touch OK If you touch Save to default program again on the right side of the screen the basic program is displayed with the...

Page 112: ...field Stop program Upon collision detection the program stops running No collision detection Turn off collision detection and run the program Danger Do not turn off the collision detection function wh...

Page 113: ...ouching Enable starts IndyCARE service and touching Disable stops IndyCARE service Setting Data One can register and rename the data which will be monitored in IndyCARE service Maximum number of data...

Page 114: ...Programming The following shows the steps to use IndyCARE service Touch configuration in the program tree window Touch IndyCARE setting in the right configuration window and touch Enable in IndyCARE...

Page 115: ...a which will be monitored in IndyCARE service choose a suitable one in the five fields in Data setting option The following window appears for registering a data for monitoring First touch the field b...

Page 116: ...ivitiy of the process involving the robot Type Temperature monitoring This represents the type for monitored data in IndyCARE Monitoring command and is used for saving the temperature of each joint of...

Page 117: ...117 05 Programming All setting is completed to use IndyCARE service For detailed description of IndyCARE commands refer to Sec 5 9 IndyCARE Commands...

Page 118: ...value between 32 768 and 32 767 float It represents floating point numbers with a decimal point boolean It represents Boolean variables It has one of two values true or false direct It represents pred...

Page 119: ...straight line to the target position Features It is used when the tool center point path is important Due to singularity regions it may stop with an alarm before reaching the target position If you n...

Page 120: ...arc of radius centered at the next waypoint and ends the turn at the intersection of the next path and the same circular arc For frameMove the constant speed mode is provided additionally in the blend...

Page 121: ...ill move the robot across several waypoints using jointMove Example The robot is currently stationary at position 1 passes positions 2 and 3 and returns to position 1 again On the Programming screen s...

Page 122: ...window Select the desired motion mode among the two modes Take Velocity based as an example Time The robot moves based on the time it takes to move to the target position Velocity The robot moves base...

Page 123: ...ming Touch Add to add the current position as the first waypoint Move the robot to position 2 and select Add to add it as a second waypoint Refer to Section 4 2 Basic Operations for manual positioning...

Page 124: ...g Add position 3 as the third way point in the same way as If you select the first waypoint and then press and hold Hold to Move the robot moves to the first position Keep pressing until you reach the...

Page 125: ...int that is the last waypoint and then select Add to add it after this waypoint If you select each waypoint to make sure that all waypoint positions are set as desired they will be displayed in purple...

Page 126: ...aypoints select the speed level in Setting in the bottom center window to set the travel speed The speed level is selectable from level 1 to 9 The higher the number the higher the speed In this exampl...

Page 127: ...127 05 Programming When the message Do you want to save current waypoint information is displayed touch Yes Finally enter the motion name and touch OK...

Page 128: ...128 05 Programming Now your jointMove setup is complete...

Page 129: ...ot across several waypoints using frameMove Example The robot is currently stationary at position 1 passes position 2 to position 4 and returns to position 1 again all along straight lines On the Prog...

Page 130: ...window Select the desired motion mode among the two modes Take Velocity based as an example Time The robot moves based on the time it takes to move to the target position Velocity The robot moves base...

Page 131: ...ng Touch Add to add the current position as the first waypoint Move the robot vertically down to position 2 and select Add to add it as a second waypoint Refer to 4 2 Basic Operations for manual posit...

Page 132: ...132 05 Programming Move it to position 3 horizontally and add it as a third waypoint in the same way as Move vertically to position 4 in the same manner as in and add it as the fourth waypoint...

Page 133: ...the first position Keep pressing until the robot reach the target position When the robot arrives in the first position select Add and add it as the fifth waypoint However before adding the waypoint s...

Page 134: ...check in the similar manner as and press Hold to Move Keep touching until the robot reach the target position When you have finished checking the position of all waypoints and paths connecting them s...

Page 135: ...135 05 Programming When all settings are complete touch Save When the message Do you want to save current waypoint information is displayed touch Yes...

Page 136: ...136 05 Programming Finally enter the motion name and touch OK Now the frameMove setting is complete...

Page 137: ...rcs Example The robot is currently stationary at position 1 passes position 2 to position 4 and returns to position 1 again all along straight lines Use blending to trace along blended arcs at interme...

Page 138: ...window Follow the previous frameMove example in the exactly same way to create the waypoints along straight line segments When all waypoints have been set touch the radius in Setting window in the ce...

Page 139: ...amming To set the radius value enter 150 in the edit box and touch Update The blending radius input unit is mm for frameMove and deg for jointMove The changed radius information can be checked in Sett...

Page 140: ...140 05 Programming Select the second waypoint and touch Edit In the waypoint setting dialog select On in the Blending radius...

Page 141: ...the On button the radius value is automatically set to 150 mm in the right field The radius value set in is entered as the default radius of blending option Touch Update Now the radius of the second w...

Page 142: ...142 05 Programming Change the radius to 150mm for the third and the fourth waypoints in the same way as When all settings are complete touch Save...

Page 143: ...143 05 Programming When the message Do you want to save current waypoint information is displayed touch Yes Finally enter the motion name and touch OK...

Page 144: ...144 05 Programming Now the setting for the blending of frameMove is completed...

Page 145: ...constant speed using constant speed mode Example The robot is currently stationary at position 1 passes position 2 to position 4 and returns to position 1 again all along straight lines The speed is k...

Page 146: ...window Follow the previous frameMove example in the exactly same way to create the waypoints along straight line segments When all waypoints have been set touch the radius in Setting window in the ce...

Page 147: ...47 05 Programming To set the radius value enter 150 in the edit box and touch Update The blending radius input unit is mm for frameMove The changed radius information can be checked in Setting as belo...

Page 148: ...ndow When the constant speed mode is turned on the blending option is automatically turned on for all waypoints with the blending option off and the default blending radius is reflected For those wayp...

Page 149: ...at the constant speed the maximum speed at which constant speed motion can be performed is recommended with path segments hard to trace by constant speed Touch Save to alter the travel speed with the...

Page 150: ...When frameMove is executed in the constant speed mode collision may be falsely detected when there is severe direction change In this case use the new feature for auto tuning of collision detection t...

Page 151: ...e The robot moves from the current zero position position 1 to the home position position 2 Move the robot first to the zero position Refer to Section 4 2 Basic Operations for details on how to move t...

Page 152: ...152 05 Programming Now your home movement setup is complete...

Page 153: ...ccording to the condition set by the user to wait for execution of the following commands or jump to another branch depending on the conditional result loop It repeats the commands in the child tree a...

Page 154: ...e The two are equal 100 100 100 50 The two are different 100 50 100 100 The left hand side is less than the right hand side 50 100 200 100 The left hand is less than or equal to the right hand 50 100...

Page 155: ...cycle of relational operation Multiple ports can be selected if If the condition set by the user is satisfied execute the commands in the child tree otherwise execute the following command Set the re...

Page 156: ...tree otherwise execute the following command It cannot be used alone but should be accompanied with the previous if command The setting method is the same as the if command else Executes the followin...

Page 157: ...On the setting window set the condition for the desired input port Multiple selection is possible else if digitalInput Adds another digital signal input condition when the condition set in the if com...

Page 158: ...158 05 Programming subprogram It loads the previously saved program tree into the current program tree Touch sub program in the basic command list Select an existing program and touch Load data...

Page 159: ...ared in variables It cannot be used if there are no variables declared in variables Touch assignment Note that variables must have been declared in variables command beforehand For example let us supp...

Page 160: ...ing variable var1 from the current value string to say assignment On the right window touch var1 in the variable list The current value of var1 is displayed in the upper field Clear the current value...

Page 161: ...yed in white as follows The changed value will be displayed along with a tag of Value assigned Other variables can be changed in a similar way loopBreak It stops loop iteration by the loop command and...

Page 162: ...162 05 Programming stop It stops program execution No setup is required...

Page 163: ...smartDO It controls the digital signal output of the control box You can select the port and set the desired condition for the port in the right setting window smartAO It controls the analog signal o...

Page 164: ...tal signal output of the endtool port When you select a pre registered tool the tool commands that can be executed by the tool are displayed Select a tool command from the list Refer to Section 6 1 Ro...

Page 165: ...elects a tool Pick and Place Pick and place commands are used by the robot to pick or place an object with the gripper pick The robot picks the object at the specified position Process sequence Move t...

Page 166: ...robot is currently stopped at position 1 approaches the object vertically in position 2 retreats back vertically and returns to position 1 again On the program screen add jointMove to set the current...

Page 167: ...command list at this time it implies that the tool for the pick and place process is not properly set Set the tool in Setting Refer to Section 6 1 Robot Settings for details on tool setting Touch Edi...

Page 168: ...168 05 Programming Touch the arrow on the right of the Selected tool field in Setting window in the center bottom Select the tool from the User tool list of pre registered tools...

Page 169: ...is the speed of movement to the position before picking the object and the robot moves in the joint space to avoid singularities Use direct teaching or jog move to move the robot to the grip position...

Page 170: ...170 05 Programming Touch Update position on the left to save your current position This position is saved as the position to hold the item...

Page 171: ...p position and retracting from the grip position waitfor Before approaching to the grip and after retracting to the grip position the robot waits until the signal input set by the user comes in It set...

Page 172: ...Update Check the movement positions to make sure that the positions to pick the object are set correctly If you select one of the approach position the target position and the retract position the ro...

Page 173: ...tively press and hold Hold to Move and the actual robot will move to the selected position In this way you can check the position of each movement When all settings are complete touch Save Now the set...

Page 174: ...st jointMove in the program tree and touch the First waypoint on the right window The robot is virtually displayed in purple in the selected position You can easily move to the first position by press...

Page 175: ...st first touch Pick in the program tree and add jointMove to add the jointMove command to the line following pick Alternatively you can copy and paste the first jointMove in the program tree You must...

Page 176: ...176 05 Programming Your program is complete Touch the program start in the program execution window of the program screen to try to run the program...

Page 177: ...ier Example The robot now is stationary at position 1 approaches vertically downward to position 2 where it places object and retracts vertically upward and returns to position 1 On the program screen...

Page 178: ...178 05 Programming Touch Edit Place on the right window Touch the arrow in the Selected tool field in the Setting window in the center bottom...

Page 179: ...rom the User tool list of registered tools Set the velocity level in the Setting window at the bottom center This is the speed of movement to the position before the place process and the robot moves...

Page 180: ...he robot to the position where you want to place the object then touch Edit Touch Update position on the left to save your current position It is saved as the position to place the object This positio...

Page 181: ...speed in approaching to or retracting from the release position waitfor Before approaching to and after retracting from the release position the robot waits until the signal input set by the user com...

Page 182: ...Update Check the movement positions to make sure that the positions to pick the object are set correctly If you select one of the approach position the target position and the retract position the ro...

Page 183: ...ively press and hold Hold to Move and the actual robot will move to the selected position In this way you can check the position of each movement When all settings are complete touch Save Now the sett...

Page 184: ...jointMove in the program tree and touch the First waypoint below in the same window The robot is virtually displayed in purple in the selected position You can easily move to the first position by pr...

Page 185: ...irst touch Place in the program tree and add jointMove to add the jointMove command to the line following place Alternatively you can copy and paste the first jointMove in the program tree You must co...

Page 186: ...186 05 Programming Your program is complete Touch the program start in the upper right corner of the program screen to try to run the program...

Page 187: ...e position to grip the object Close the gripper to grip the object Grip the object and retreat to the vertical position Repeat as many times dictated by the palette pattern with set positions place pa...

Page 188: ...nd retracted vertically Then the robot moves back to position 1 again The pick command will repeatedly pick one of the objects in the palette for each run with a certain pattern Therefore you need to...

Page 189: ...he jointMove command for a detailed explanation On the Program screen touch pick to add it in the tree If the pick command is not displayed in the user command list it implies that the tool for the pi...

Page 190: ...ick on the right window If the current gripper is closed you have to open the gripper before editing by touching Release below on the same window Touch the arrow in the Selected tool field in the Sett...

Page 191: ...tool from the User tool list of registered tools Set the velocity level in the Setting window This is the speed of movement to the position before picking the object and the robot moves in the joint...

Page 192: ...192 05 Programming Touch Edit at the top center Touch the palette shaped picture to load the positions of the objects in the preset palette with a certain rule...

Page 193: ...e target objects in the palette list If the target palette does not appear in the palette list the palette is not set yet for this palletizing process Set the pallet in the Setting Refer to Section 6...

Page 194: ...elow distance mm It sets the approach or retraction distance from the current target position of the pallet velocity Lv It sets the speed in approaching to and retracting from the target position on t...

Page 195: ...The position list shows the positions of the objects that are placed on the pallet with a certain pattern Check the movement positions to make sure that each position is set correctly One can confirm...

Page 196: ...Hold to Move and the actual robot will move to the selected position In this way you can check the position of each movement When all settings are complete touch Save Now you have completed configurin...

Page 197: ...st jointMove in the program tree and touch the First waypoint on the right window The robot is virtually displayed in purple in the selected position You can easily move to the first position by press...

Page 198: ...ove command to the line following pick Alternatively you can copy and paste the first jointMove in the program tree You must copy the first jointMove and then touch pick in the program tree first to p...

Page 199: ...add in the program we wrote earlier Example The robot now stops at position 1 and approaches vertically downward to a target position where it places the object places the object and retracts vertica...

Page 200: ...200 05 Programming Touch Edit Place on the right window Touch the arrow under the Selected tool in the Setting window in the center bottom...

Page 201: ...from the User tool list of registered tools Set the velocity level in the Setting window This speed is the speed of movement to the position before the object is released and the robot moves in the j...

Page 202: ...202 05 Programming Touch Edit on the right Touch the palette like picture to load the information on the positions for placing the objects on the palette with a certain pattern...

Page 203: ...objects in the palette list If the target palette does not appear in the palette list it implies that the palette is not set yet for this palletizing process Set the pallet in the Setting Refer to Se...

Page 204: ...It sets the approach or retraction distance from the current target position of the pallet velocity Lv It sets the speed in approaching to and retracting from the target position on the palette waitfo...

Page 205: ...n touch Update The position list shows the positions of the objects where you need to place them on the pallet with a certain pattern Check the movement positions to make sure that each position is se...

Page 206: ...old to Move and the actual robot will move to the selected position In this way you can check the position of each movement When all settings are complete touch Save Now you have completed configuring...

Page 207: ...st jointMove in the program tree and touch the first waypoint on the right window The robot is virtually displayed in purple in the selected position You can easily move to the first position by press...

Page 208: ...irst touch Place in the program tree and add jointMove to add the jointMove command to the line following place Alternatively you can copy and paste the first jointMove in the program tree You must co...

Page 209: ...209 05 Programming Your program is now complete Touch the program start in the upper right corner of the program screen to try to run the program...

Page 210: ...n the program has been executed during program execution IndyCARE Monitoring This command is used to measure and monitor the joint temperatures or the analog signals to the analog input ports IndyCARE...

Page 211: ...lected in the right setting window Then the list of data you registered in IndyCARE setting is displayed as follows Note that IndyCARE Count command is only valid for the data of type Type Count Choos...

Page 212: ...212 05 Programming All setting for IndyCARE Count has been completed When you connect to IndyCARE service provider you can monitor the production performance easily while the program is running...

Page 213: ...t is the higher the temperatures of the joints Accordingly it is desired to monitor the temperature of each joint e g before placing the object using IndyCARE service in order to prevent any problem d...

Page 214: ...ght setting window Then the list of data you registered in IndyCARE setting is displayed as follows Note that IndyCARE Monitoring command is only valid for the data of type Type Monitoring Choose the...

Page 215: ...onitoring command has been completed When you connect to IndyCARE service provider you can monitor the joint temperatures measured at the instant before placing the object as well as the production pe...

Page 216: ...216 6 Settings 6 1 Robot Settings Before using the robot you can set the configurations related to robot operation and signal input output Touch Setting in the top menu bar...

Page 217: ...the Setting menu on the left window Manual power off of Servoes One can control servo power for each joint If the robot is in normal state all the servoess are powered on and the brakes are not activa...

Page 218: ...t fall due to gravity At this time the state of the robot changes from normal to NotReady state Touch the servo of the joint again to turn on the servo and release the brake Manual power off of Brakes...

Page 219: ...orce the joint to move by applying forces Caution When the brake is released manually the joint falls down by gravity Be sure to support the robot arm so as not to fall before releasing the brakes bec...

Page 220: ...utput signals to each channel connected to the external device by entering the value and touching Send Monitoring and Controlling of Digital Signals One can monitor the digital input signals to the te...

Page 221: ...on the left Preset mounting angles Typical mounting angles such as the horizontal floor the vertical walls or the ceiling are provided as preset mounting angles When you touch each button for a prese...

Page 222: ...ngle information touch Move The changed posture can be checked through the simulation window Robot tilt angle about Y axis You can tilt the robot arbitrarily by entering the tilt angle manually The ro...

Page 223: ...ion or entering the base rotation angle and the robot tilt angle manually touch Update at the bottom If the mounting inclination information entered by the user is normal the message Update is complet...

Page 224: ...ng Unreflected mounting angle results in malfunctioning of the robot after installing the robot on a sloped surface such as a wall or a ceiling Particularly in direct teaching mode you must be careful...

Page 225: ...Touch Property in the Setting menu on the left Motion command properties It sets the default values for the speed and the blending radius of the jointMove or frameMove command It is convenient because...

Page 226: ...the tool center of mass measured with respect to the tool frame Touch Update after entering the center of mass and the mass Warning Imprecise tool properties e g the mass and the center of mass can ge...

Page 227: ...e from level 1 to level 5 and the higher the number the more insensitive that means more severe collision is necessary to raise collision alarm After selecting the collision detection level touch UPDA...

Page 228: ...frame information cannot be modified but only can be deleted These preset tool frames are used as the current tool frame that is the basis of frameMove or task jog movements The default tool frame is...

Page 229: ...ameters We will show for example how to register a new tool frame for a new tool that is 100 mm away from the center of the endtool flange surface along the Z axis and is rotated by 30 degrees about t...

Page 230: ...e consecutively rotations of the default tool frame now relocated at the newly defined tool center point that is the coordinate system consisting of Xtemp Ytemp and Ztemp axes based on the fixed XYZ c...

Page 231: ...newly entered tool information If the information you have entered is displayed in red it indicates that it has not been saved yet Enter the name of the tool frame newly registered and then touch OK D...

Page 232: ...set the newly registered tool frame to the current tool frame of the robot touch Set The tool frame is now set as follows The robot position in the task space that is the task position or the tool pos...

Page 233: ...alize the signal transmitted to the tool Reset A preset signal is generated when program terminates execution or pauses This is useful for those processes where the signal to be transmitted to the too...

Page 234: ...234 Follow the following steps Touch Add at the bottom left window Enter a new user tool name say vacuumGripper and touch OK...

Page 235: ...added user tool is displayed Let s define the application commands for this tool Touch the combo box arrow in the Application type field When you see the message Please select user tool type touch Pic...

Page 236: ...nds associated with the pick and place process that is Hold and Release are newly added as shown in the figure You need to set the proper signal for each command Select the tool command Hold and touch...

Page 237: ...e port for output when executing the tool command We will use the digital output signal from the control box for example Touch I O menu on the top Select the digital output port of the control box wir...

Page 238: ...here implying no delay for signal delivery Touch Renewal Set the other tool commands similarly as well When all commands necessary for tool operation are completed touch Renewal in the bottom left cor...

Page 239: ...te task jogging in manual operation The default reference frame is fixed at the floor with its origin coinciding with the center of the robot base whose Z axis is upward perpendicular direction to the...

Page 240: ...ed in terms of three points in space Use direct teaching or jog move to teach the three points by consulting to the information graphic in the center window First teach the first point and touch Set p...

Page 241: ...s the X axis After teaching the last third point touch Set point This point is denoted by P3 and is used to define the XY plane First the Z axis is determined automatically by Euler s right hand rule...

Page 242: ...242 Touch Save in the center of the screen Enter the name say ref_1 of the reference coordinate system to be newly registered and touch OK...

Page 243: ...ouch the arrow in the area where the name and the values of the reference coordinate system are displayed The newly saved reference coordinate system is displayed in the list Select ref_1 and touch Se...

Page 244: ...the current reference frame for the current robot in use As shown in the figure the current reference frame has been moved from the bottom of the robot base i e the default one to the new one The tool...

Page 245: ...below to display the list of registered reference frames If you change the reference frame here the current frameMove will be based on the changed reference frame If the jog coordinate system is set...

Page 246: ...iteration Therefore the pallet setting is a pain saving utility function that automatically calculates the target positions by using only the three teaching points the interval in row and column and...

Page 247: ...angular shapes in terms of just these four patterns Now let s create a palette using the pallet settings as follows Use direct teaching or jog move to teach the first base point of the pallet and then...

Page 248: ...respectively and then touch Set point respectively Once you have finished fixing all the base points of the pallet you need to determine the pallet pattern Touch the palette graphic on top to see fou...

Page 249: ...ed m and n on the right side of the pallet graphic you can input each number where m is the number of columns the number of positions between the first and the third base points and n is the number of...

Page 250: ...nter the name of the currently created palette and touch OK When the message Save complete appears touch OK Any pallet saved with a unique name can be called from the program commands such as pick or...

Page 251: ...t startup the system can start with the motors powered on or off or the default program can be loaded or even started automatically In the Setting menu on the left touch Starting Configuration Auto se...

Page 252: ...C or PC Load Set to current program Play It loads the program registered as the default program and set it as the current program Also upon normal completion of all booting process the program will ru...

Page 253: ...Select one of the programs listed in the control box and register it as the default program as follows The control box can store up to ten programs created by Conty Refer to Section 5 4 Program for d...

Page 254: ...input configuration When a digital signal is input from an external device to the control box the following functions can be assigned for each digital input Map ID Command 0 9 Register as a Default Pr...

Page 255: ...o each digital output signal The following screen shows Setting digital input Connect the signal line from the external device to the digital signal input terminal of the control box as follows We wil...

Page 256: ...256 Touch Digital input configuration at the top Touch Add at the bottom to add functions to be associated with the digital input signal...

Page 257: ...257 The commands that can be executed by the digital input signals are listed as follows...

Page 258: ...window until the color turns to green Each time you touch the color iterates red green and gray again Green means the function executes itself when the on signal is input to the port and red means the...

Page 259: ...259 When the message Do you want to renew it appears touch Yes The message Renewal is complete is displayed Touch OK...

Page 260: ...e Program and Resume Program with the proper port of the digital input port to which the buttons are connected Also set the color of each Digital input to green When all settings are complete touch Se...

Page 261: ...us is transferred to the external device The following robot states can be associated with any digital output signal Map ID Command 11 isRobotReady 12 isEmergencyState 13 isCollided 14 isErrorState 15...

Page 262: ...ignal line from the external device to the digital signal output terminal of the control box as follows We will configure the digital output signals so that the control box can notify the status indic...

Page 263: ...263 Touch the Digital output configuration at the top Touch Add at the bottom to add the robot status to be associated with the digital output signal...

Page 264: ...264 Robot statuses that can be associated with the digital output signals are listed as follows...

Page 265: ...State which generates on signal when the specified robot status is true If necessary the digital output signal port can be set in the OffState generating on signal when the specified robot status is f...

Page 266: ...266 When the message Do you want to renew it appears touch Yes The message Renewal is complete is displayed Touch OK...

Page 267: ...e way you can associate the emergency stop status of the robot with the any ports of the digital output terminal connected to the external device When all settings are complete touch Set to default co...

Page 268: ...268 When the message Do you want to set current DO configuration to connected robot appears touch Yes Now digital output setup is completed...

Page 269: ...269 6 2 Options There are Conty related settings and settings for the manufacturer s service engineers provided Touch Option in the top menu bar There are the following options available...

Page 270: ...er displayed on the Conty You can view the virtual robot model in Conty from a custom viewpoint by rotating it about the axes In the list of options touch Viewer rotation option The default axis of vi...

Page 271: ...rovided in Gain tuning window as follows Manual tuning This setting is for service engineers and is not available to general users Automatic tuning Collision threshold Conty will automatically find an...

Page 272: ...nt movement For example this automatic tuning is used when collision detection happens falsely in movement with no actual collision e g if a heavy tool is attached to the robot the exact mass and the...

Page 273: ...menu The higher the precision the closer the collision detection threshold is set to the torque generated by the robot motion so that minute collisions can be detected However collision detection is...

Page 274: ...ion threshold that applies to all jointMove used within the program On the other hand the task space will calculate the collision detection threshold that applies to all frameMove Select joint task sp...

Page 275: ...s repeated five times with increasing speed automatically for every iteration During tuning the collision detection function does not work temporarily so it is necessary to proceed tuning without any...

Page 276: ...the automatically calculated collision detection threshold to the factory defaults touch the Initialization Collision threshold in the list of Gain tuning as follows Caution Using automatically calcu...

Page 277: ...displayed on the Conty We currently support three languages Korean English and Chinese Conty will close in order to apply language change Touch Language in the list of options Select one of the follow...

Page 278: ...ty in order to use the selected language When the warning message Do you want to use selected language is displayed touch Yes Upon the message It s changed Application will be terminated touch OK to c...

Page 279: ...279 If you run Conty again the language is changed and shown as follows...

Page 280: ...the robot returns when an error occurs You can specify your home position according to the purpose Use direct teaching or jog move to move the robot to the desired position then touch Save home posit...

Page 281: ...ion changes normally you will see the message Home position was registered Touch OK You can confirm the changed home position by the home command Refer to Section 4 2 Basic Operations for a descriptio...

Page 282: ...onal user inputs Lock screen setting allows you to set the time to lock the normal Conty user screen or even to disable lock screen if necessary Touch Screen lock from the list of options Select eithe...

Page 283: ...283 The following shows the screen locked In the locked screen all user input is disabled To release the lock touch the arrow on the bottom right and slide to unlock...

Page 284: ...he list of options The software version is displayed with the model name of the product you are using as follows If the control box is connected to the network its IP information is also displayed Not...

Page 285: ...t shuts down and restarts the control system Upon rebooting the robot arm is reconnected to the control box as the motor is powered off and back on Touch Reboot in the list of options Select Yes upon...

Page 286: ...to the start screen automatically when communication is terminated After approximately two to three minutes the endtool indicator is flashing in red Soon it changes to red or green depending on the s...

Page 287: ...7 Motor Status It displays information on the current status and error code of each joint motor Touch Motor Status in the list of options In the alarm message Do you want to check motor status touch Y...

Page 288: ...quired 0xFF11 Encoder generates alarm continuously maintenance required 0xFF20 Too high voltage input to the driver normal 5V exceeding 5 5V 0xFF21 Too low voltage input to the driver normal 5V lower...

Page 289: ...on Conty There are two types of messages showing information pop up messages asking for user s confirmation and instant messages disappearing automatically Pop up Messages It displays the message in t...

Page 290: ...lated joint position velocity Motor State Error motor error joint position motor status Torque limit joint torque limit violated joint positions torques Connection lost EtherCAT connection lost the nu...

Page 291: ...message Soft reset done soft reset done instant message Hard reset done hard reset done system restarted instant message Configuraiton update failed configuration update failed pop up message Move fi...

Page 292: ...obot status can be retrieved in real time from Conty s status bar and can be one of three status normal abnormal and recovery as shown below Normal All functions of the robot are readily available and...

Page 293: ...rough the logging function Here s how to check your logs Touch Log in the top menu bar Log information is recorded in chronological order Use the buttons to browse the page to find the log that occurr...

Page 294: ...the following two methods according to the alarm type Soft reset After five to ten seconds around without any change the robot state will be restored to normal state by software reset Hard reset The...

Page 295: ...ftware necessary for running the robot This process is the same as a hard reset If the robot cannot be restored to normal state even though the reset function has been executed you can enforce the rob...

Page 296: ...296 07 Trouble shooting Select Reboot in the option list Upon the alarm message Do you want to reboot the running Indy S W touch Yes...

Page 297: ...onnects communication and moves automatically to the start screen After two to three minutes the endtool indicator will be flashing red Then it turns to red or green depending on the startup mode sett...

Page 298: ...ate the robot after proper reset or reboot Then you have to apply the following troubleshooting case by case Singularity This problem occurs when approaching singularity region during robot operation...

Page 299: ...n or it stops repeatedly due to the same alarm by attempting to move toward the singularity region over and over In these cases the robot must be moved away from the vicinity of the singularity region...

Page 300: ...ample as the actual permissible range of motion for joint 6 is 215 degree to 215degree it is limited to 205 degree to 205 degree in direct teaching mode Upon exceeding this range during operation dire...

Page 301: ...Touch Reset in the upper right corner Then those joints that are out of the physical joint travel range return automatically toward inside the feasible range with two degree margin Upon normal complet...

Page 302: ...y by the recovery function Upon completion of the automatic recovery an instant message and the status bar at the top will show the results of the recovery If automatic recovery fails retry the recove...

Page 303: ...rly inspection and periodical inspection However inspections should be made more frequently in the following environments 1 with very dusty and humid condition 2 where there is a high probability of a...

Page 304: ...thing different than usual temperature humidity Use a thermometer and a hygrometer to check the ambient temperature and humidity Appropriate temperature is within 0 to 40 Robot arm Inspection item Ins...

Page 305: ...method exterior inspection Check for contaminants such as dirt and dust Make sure that there is no foreign material at each joint Make sure that each joint is spaced in parallel or at regular gap Make...

Page 306: ...t is moving exactly to the position you specified and that there is no vibration during movement Control box If dust accumulates inside the control box overheating due to non smooth air circulation or...

Page 307: ...sulation Resistance in AC Input Stage Measure the AC input terminal with the multimeter as follows The normal range is as follows Inspection item Connection terminal Normal value AC power input AC220...

Page 308: ...PS power filter noise filter fan control box cooling fan battery encoder battery others relay circuit breaker electric contactor 8 7 Update Latest Software The latest software can be found on the supp...

Page 309: ...oldest log files when they exceed the allocated capacity of the control box s storage Therefore you may need to use Conty to copy the log files to an external storage device or delete them if unnecess...

Page 310: ...epair Touching the maintenance button the pop up dialog requiring password input appears as follows Enter the password provided by the manufacturer in purchasing and touch OK On the next Maintenance S...

Page 311: ...311 08 Maintenance and Repair Connect the control box to the Conty tablet with a USB cable Touch Disconnected in the top right corner to establish connection...

Page 312: ...ol box is properly connected the upper right display changes from Disconnected to Connected Touch Getting Log on the left In case that Conty and the control box is not normally connected the following...

Page 313: ...ox storage can be browsed in Conty as follows and can be deleted or copied to the storage on the tablet Log file list Conty displays information on all the log files Touch a log file to select it and...

Page 314: ...nance and Repair Log page browse Touch the upward or downward arrow in the top right corner to browse the previous or the next log page Sort by name All log files are sorted by names that is in alphab...

Page 315: ...Maintenance and Repair Deselect All All selected log files can be deselected Download all to Conty One can copy all the log files to the tablet s storage The storage folder in the tablet is Tablet Con...

Page 316: ...age They are copied into the folder on the table i e Tablet Conty log Delete selected Log It deletes all the selected log files from the control box storage Caution The log files are permanently delet...

Page 317: ...ou make use of Conty s log transfer function Note that the maximum size of the log files that can be transferred is 20 MB and this function can be used only in an environment with wireless internet To...

Page 318: ...is displayed in the center of the screen and the maintenance button that was hidden appears at the corner Touching the maintenance button the pop up dialog requiring password input appears as follows...

Page 319: ...319 08 Maintenance and Repair On the next Maintenance Service screen touch Log Touch Sending Log...

Page 320: ...Multiple selection is supported The screen will automatically move from Conty to Google email service The selected log files are automatically attached to the email After completing the email with pr...

Page 321: ...321 09 Certification 9 Certification 9 1 Machinery Directive...

Page 322: ...322 09 Certification 9 2 Electromagnetic Compatibility Directive...

Page 323: ...warranty service during the warranty period Repair or Exchange Free of Charge In the event of a defect in the product under normal use during the warranty period from the date of purchase the product...

Page 324: ...arranty service Service Hour Mon Fri 09 00 18 00 Sat Sun legal holidays off Contact Phone 82 70 8680 3958 E mail sales neuromeka com Application procedure Download the C S form from the homepage and f...

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