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GS602-A Robot Arm Manual

GS Automatic Co., Ltd

2022.01

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Summary of Contents for GS602-A

Page 1: ...GS602 A Robot Arm Manual GS Automatic Co Ltd 2022 01...

Page 2: ...o their respective rights holders The contents of the manual are inconsistent with the actual product and the actual product shall prevail If you have any unclear or objection to the contents or terms...

Page 3: ...y differ from the products purchased Specifications are sometimes modified appropriately for reasons such as product improvements specification changes and easier use of the specifications themselves...

Page 4: ...ver 10 III Zero calibration 14 IV GS AutomaticV2 0 instructions 15 V I O and Encoder Hardware Interface Definition 22 1 master port definition 23 2 master wiring diagram 24 Circuit diagram of relay wi...

Page 5: ...equipment knowledge safety knowledge and precautions and pay special attention to the following safety signs 1 symbols and their meanings Misoperation is dangerous and may result in Misoperation is da...

Page 6: ...nipulator observe the following 1 consider the strain scheme when the manipulator suddenly moves to its position 2 make sure to set up a shelter just in case The mechanical arm action caused by misope...

Page 7: ...omatic arm must be responsible for their own safety Ano robot reminds users to wear safety protection equipment and comply with safety regulations when using manipulator products 3 Do not modify the m...

Page 8: ...s 7 other harsh environment 5 safety operating procedures 1 Control the movement of the manipulator 1 the movement of the manipulator should be adjusted at a lower rate in front of the operating manip...

Page 9: ...move on 6 routine maintenance and storage GS Automatic the arm is safe to use and can adapt to the environment to the maximum extent Please follow the instructions Please be sure to follow the precau...

Page 10: ...ver First connect the computer to the controller through the data line as shown in the figure Open Ano factory data package open USB TO RS232 folder according to the use of computer systems to selecti...

Page 11: ...11 http www GS Automatic com GS Automatic Arm Manual...

Page 12: ...12 http www GS Automatic com GS Automatic Arm Manual...

Page 13: ...anual When the USB Serial Converter is seen in the universal serial bus controller the USB TO RS232 driver installation is successful Select the port installed just now the port number of each machine...

Page 14: ...w GS Automatic com GS Automatic Arm Manual Zero calibration 2 power on reset open host connect serial port then click pause exit and reset 3 read joint position click pause exit teach joint print paus...

Page 15: ...4J1 6 7543 J5J1 2 0276 0 0052 compensation reset file G09ENC OFFSET1 0 0024 G09ENC OFFSET2 0 0021 G09ENC OFFSET3 96 0922 G09ENC OFFSET4 67543 G09ENC OFFSET5 2 0276 G09ENC OFFSET6 0 00525 Delete initia...

Page 16: ...c2 0 s current software disk Selection determination Then select OK and then restart the software When the serial port is connected the port number will be displayed automatically If the serial port i...

Page 17: ...17 http www GS Automatic com GS Automatic Arm Manual Click Restart the beige receiving area will receive the system version information 3 Enter reset mode click pause exit reset...

Page 18: ...sets it Before operation the parameter file of the controller is required The servo motor reads the absolute encoder position Before operation the parameter file of the controller is required and the...

Page 19: ...e joint angle is printed and the joint debugging controls J1 J1 J2 J2 J3 J3 J4 J4 J5 J5 J6 J6 The brackets in the control are 1234567890 on the keyboard after selecting the keyboard When you click rec...

Page 20: ...19 http www GS Automatic com 5 Programming in the teaching mode click on the project click to clear edit click to run the file header then click debug to return to the debug interface...

Page 21: ...nual Click the cursor line in the editing area select the instruction head click record instruction record position 6 File download click pause exit file download the download control needs to enter t...

Page 22: ...21 http www GS Automatic com GS Automatic Arm Manual 7 Run click pause exit run...

Page 23: ...definition Note Y1 24V Y2 0V Y3 5V Y4 COM Y5 BAT Y6 485B Y7 485A Y8 GND Y9 interface definition Pin number definition Note X1 J1_P X2 J1_P X3 J1_D X4 J1_D X5 J2_P X6 J2_P X7 J2_D X8 J2_D X9 J3_P X10...

Page 24: ...23 http www GS Automatic com GS Automatic Arm Manual X24 J6_D 1 master port definition...

Page 25: ...24 http www GS Automatic com GS Automatic Arm Manual 2 master wiring diagram Circuit diagram of relay wiring in 3 control box...

Page 26: ...GS Automatic Arm Manual 25...

Page 27: ...Manual 4 control box internal relay wiring physical diagram only one set of output in the diagram When multiple outputs are needed the positive pole is connected to pin 1 5 controlled by O00 O04 respe...

Page 28: ...27 http www GS Automatic com GS Automatic Arm Manual VI 602 parameters 1 Dimensional parameters...

Page 29: ...80 CG20X 0 DG20X 0 G20X 300 YG20X 131 ZG20X 47 AG20X 0 BG20X 180 CG20X 0 DG20X 0 G06O P0 1 G20X 300 YG20X 131 ZG20X 38 AG20X 0 BG20X 180 CG20X 0 DG20X 0 G20X 300 YG20X 131 ZG20X 51 AG20X 0 BG20X 180 C...

Page 30: ...start of the file and the end of the program c o d e file start position English colon Reset file Function after the deviceis re energized each axis is assigned Rules FILE OQ RFL ST file type Document...

Page 31: ...CG21X 0 DG21X 0 Straight line G00J1 20 J2G00J1 70 J3G00J1 2 J4G00J1 0 7 J6G00J1 0 Joint coordinates 5 call instruction G08 space G08 ACALL G08 subroutine name Example G08ACALL ZAINA 6 jump instruction...

Page 32: ...G00J1 0 J2G00J1 0 J4G00J1 0 0 0 0 J6G00J1 joint coordinates G20X 270 YG20X 0 ZG20X 300 0 BG20X 180 0 0 0 rectangular coordinates Stra ight line G01J1 10 J2G01J1 20 J3G01J1 40 10 J5G01J1 2 20 joint coo...

Page 33: ...31 http www gsautomatic com G06DEGREE ARC three point arc...

Page 34: ...nates 0 output of joint coordinates XX MOV VXX Integer assignment DEGR EE 3 5 The robot walks 35 2 degrees Z ADJ xx Zshaft height adjustment XX MOVF VXX Integer assignment REPO S J The J axis HOME in...

Page 35: ...32 http www gsautomatic com nts G07MARKPOS X1 1 0...

Page 36: ...vo motor is a special instruction refer to zero file example 4 Memory Use Naming rules VXX xx unit XX Constant V0 V127 V400 V511 of user computing units Port number t e Porto Software ort number Regis...

Page 37: ...ds required software zero FLAGi00 p0 V288 ENi01 P1 V257 FLAGi01 P1 V289 ENi02 P2 V258 FLAGi02 P2 V290 ENi03 P3 V259 FLAGi03 P3 V291 ENi04 P4 V260 FLAGi04 P4 V292 ENi05 P5 V261 FLAGi05 P5 V293 ENi06 P...

Page 38: ...unction set standby Running mode instruction 13 H E X Function 35 http www gsautomatic com File mode instruction H E X 11Function 1 read the Idle mode instruction 10 H E X Function Instructi onMode 14...

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