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Doc No.

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T202001004

www.elibot.cn

Joint coordinates

Cartesian / User / Tool coordinates

Содержание EC63

Страница 1: ...Elite Robot User Manual Doc Name EC63 User Manual Suzhou Elite Technology Co Ltd www elibot cn April 3 2020...

Страница 2: ...ear in the new version The contents or information herein is subject to change without prior notice Suzhou Elite Robot Co Ltd shall assume no liability for any errors which will occur in the manual pr...

Страница 3: ...Carrying and Cautions 18 Chapter 3 Maintenance Repair and Disposal 19 3 1 Maintenance and Repair 19 3 2 Disposal 20 3 3 Maintenance 20 Chapter 4 Quality Assurance 21 4 1 Product Quality Assurance 21 4...

Страница 4: ...input 51 8 7 3 Tool digital output 52 8 7 4 Tool analog input 54 8 7 5 Tool analog output 54 8 7 6 Tool communication I O 55 Chapter 9 Teach Pendant 56 9 1 Programming Pendant Display 57 9 1 1 Main M...

Страница 5: ...Interference Area 104 9 8 4 Home Position 107 9 8 5 Authority 110 9 8 6 Speed Parameters 112 9 8 7 Limit Parameters 112 9 8 8 System Configuration 113 9 9 Backup and Upgrade 114 9 9 1 Software Informa...

Страница 6: ...akes a joint modular design and uses a developer oriented robot system The user may develop his own robot control system in accordance with an application program interface provided by a ELITE collabo...

Страница 7: ...list of one set of complete EC63 robot is shown in the table below More Information If you require more information please visit the website www elibot cn Name Quantity Robot body 1 Control box includ...

Страница 8: ...ements in this manual The user and the integrator must have sufficient safety awareness and comply with ISO 10218 Industrial Robots Safety Specification 1 2 Safety Warning Symbols The safety related c...

Страница 9: ...bot or the robot system for the first time and other safety related information shall be introduced in other parts of the manual However it seems impossible to cover all aspects In practical applicati...

Страница 10: ...t records kept 3 Only the authorized personnel could set and change the safety parameterd thes an passwords or the isolation measures must be used to prevent the unauthorized personnel from changing o...

Страница 11: ...s or create new hazards Always make an overall risk assessment for the complete installation When different safety and emergency stop performance levels are needed always choose the highest performanc...

Страница 12: ...h it seems to have stopped Even in this state the robot should be regarded as being in action 4 Lines should be drawn on the floor to mark the range of action of the robot in this way the operator may...

Страница 13: ...nts for industrial robots Part 2 Industrial robot system and integration RIA TR R15 306 2014 Technical report of industrial robots and robot systems Safety requirements and task based risk assessment...

Страница 14: ...rsonnel is clamped by the robot base or the joint The danger caused by bumping against the robot The danger because the robot or the tool connected to the end is not fixed in place The danger due to i...

Страница 15: ...e however only in the case that no danger occurs in accordance with the risk assessment Namely on the premise that no safety protective device and the on site sensor are used anticipated or accidental...

Страница 16: ...n should meet the requirements of IEC 60947 5 5 The EC63 is equipped with the emergency stop buttons on the control box and the teach pendant The button should be pressed only when meeting the dangero...

Страница 17: ...sonnel does not want to use the power supply In this way the robot joints are forced to move through the following method Forced reverse drive push or pull the robot arm hard at least 700N as to force...

Страница 18: ...Page 17 of 126 Doc No T202001004 www elibot cn robot arm The function may reduce the damage as a result of impact and the risk assessment must be implemented when used for other purposes...

Страница 19: ...e installation position from the packing material of the robot the robot should be supported until all bolts of the robot base are tightened completely After fixing the robot is powered on and the pos...

Страница 20: ...the parameters are not backed up the parameters should be set again If the robot joints or the tool needs to be replaced the dynamics of the robot needs to be re identified with the identification met...

Страница 21: ...off 5 Prevent water or dust from entering into the robot arm or the control box Cautions 1 Replace the parts trapped in failure with new parts with the identical part number or the corresponding parts...

Страница 22: ...nvalid The failure caused by the following circumstances shall not be covered by the warranty 1 Installation wiring and connection to other control equipments are not in line with the industrial stand...

Страница 23: ...t of quality guarantee for the defects or deficiencies occurring in the products and the parts sold to the dealers As for any other explicit or implied warranties or liabilities including but not limi...

Страница 24: ...g one degree of freedom As shown in Figure 5 2 the robot joint includes a substrate joint 1 a shoulder joint 2 an elbow joint 3 a wrist 1 joint 4 a wrist 2 joint 5 and a wrist 3 joint 6 The substrate...

Страница 25: ...The EC63 provides multiple IO interfaces and the tool flange of the robot end is equipped with four digital input and output interfaces and two analog input and output interfaces The control box can c...

Страница 26: ...ot should be installed on a hard surface The surface should be able to bear at least ten times of the complete torsion of the base joints and at least five times of the weight of the robot arm In addi...

Страница 27: ...ge of motion of the robot Figure 6 2 shows the range of motion of the EC63 namely a sphere with a radius of 624mm except the cylindrical space directly above and directly below the base When choosing...

Страница 28: ...compatible with installation hoisting wall mounting and other specific installation ways on the base as shown in Figure 6 3 Figure 6 3 Schematic diagram of different installation poses When installing...

Страница 29: ...g heat dissipation performance Make sure the robot arm is correctly and securely installed in place If soaked in water for more than a certain period of time the robot may be damaged The robot should...

Страница 30: ...h unit of mm 1 Make sure the tool is correctly and securely installed in place 2 Make sure the tool is safely constructed such that it cannot create a hazardous situation by a dropping part unexpected...

Страница 31: ...all within the scope shown in the chart 2 The payload shown in the diagram indicates a maximum payload which should not exceed a maximum weight shown in the diagram under any circumstances 3 The compo...

Страница 32: ...ble will not cause tripping hazard DANGER 1 Make sure the control box the teach pendant and the cables do not come into contact with liquids The wet control box may cause casualties 2 The control box...

Страница 33: ...e Figure 7 2 Connection of the robot cable to the control box 7 1 2 2 Connection of the control box to the mains supply There is a heavy load rectangular plug at the end of the mains cable of the cont...

Страница 34: ...on Always use the original power cord correctly WARNING 1 Do not disconnect the robot cable when the robot arm is turned on 2 Do not extend or modify the original cable 7 2 Robot Power on 7 2 1 Prepar...

Страница 35: ...robot and the teach pendant Normal exit exit the program and press the software closing button in the upper right corner of the operation interface of the teach pendant Forced shutdown long press the...

Страница 36: ...when the robot application is designed and installed Furthermore observe these warnings and cautions as well when implementing maintenance DANGER 1 Never connect the safety signals to a PLC which is...

Страница 37: ...GND with the dedicated power supply socket of the control box 4 Please be careful when installing the interface cable to the robot I O A metal plate on the back of the box is intended for the interfac...

Страница 38: ...rent DC unless otherwise specified 8 3 Controller I O This chapter describes how to connect the equipment to the I O inside the control box The I O is extremely flexible and may be applied to various...

Страница 39: ...J102 J103 J104 J105 Configurable digital input DI J109 J110 J111 J112 J113 General purpose digital DO J108 J107 General purpose analog I O The following chapters shall describe how to use the digital...

Страница 40: ...ia the internal 24V power supply The configurable I O is defined that the digital input may be configured to two input modes including NPN and PNP which may implement selection with J22 on the IO plat...

Страница 41: ...Type DINx IEC 61131 2 3 Type Digital input safety input DINx x_STOPx Voltage 10 26 V DINx x_STOPx OFF region 22 26 V DINx x_STOPx ON region 10 19 V DINx x_STOPx Current 10V 19V 1 10 mA DINx x_STOPx F...

Страница 42: ...use Infrequent Once within each cycle Requires re initialization Brake released only No Stop category IEC 60204 1 2 Performance level ISO 13849 1 PLd PLd The emergency stop output and other safety I O...

Страница 43: ...ach pendant is equipped with the emergency stop button the equivalent circuit is shown below and the short circuit is required to implement for E_STOP1 and GNDP when the E_STOP1 enabling is not config...

Страница 44: ...al can be re established from the inside of the safety perimeter 8 3 3 General purpose digital I O This section introduces the general purpose 24V I O The common specifications in section 4 3 1 must b...

Страница 45: ...ection way of the load controlled by the digital output See the figure below 8 3 4 Digital input from a button This example shows a connection way of a simple button and the digital input 8 3 5 Genera...

Страница 46: ...e or twisted pair Connect the shielded cable to the GNDP terminal on the Power terminal The electrical specifications are shown below Terminal Parameter Min Type Max Unit Analog input AINx GNDPA Volta...

Страница 47: ...h an analog sensor 8 4 Ethernet The Ethernet is provided on the top of the control box Please refer to the figure below The Ethernet interface can be applied to the following applications Remote acces...

Страница 48: ...m of the control box with the corresponding wire Please refer to the figure below The power supply should be equipped with at least following accessories Connection to ground Mains fuse Residual curre...

Страница 49: ...uld have at least the rated current of the highest current in the system 2 Make sure that the input current of the control box is protected with the residual current device RCD and the appropriate fus...

Страница 50: ...is started The power supply of the robot must be turned off when disconnecting the robot cable Caution 1 Do not disconnect the robot cable when the robot arm is started 2 Do not extend or modify the o...

Страница 51: ...he aviation plug is HR10A 10R 12P of HRS company Pin No Function description 1 Digital ground GND 2 Digital output interface 1 DO1 3 Digital output interface 2 DO2 4 Digital input interface 1 DI1 5 Di...

Страница 52: ...rative robot can provide the external tool with a 24V power supply 8 7 2 Tool digital input The implementation mode of the digital input interface is shown in the figure below The electrical specifica...

Страница 53: ...ivated and the level state is in a high impedance breaking state when the output port is not activated The electrical specifications of the digital output port are shown below Parameter Min Type Max U...

Страница 54: ...Page 53 of 126 Doc No T202001004 www elibot cn Caution Even when the load is off voltage is still present between the power connector and the shield ground...

Страница 55: ...ustrated in the following section Using the tool analog input non differential This example illustratesan analog sensor connection with a non differential output Using the tool analog input differenti...

Страница 56: ...gnals use internal fail safe biasing If the connected device is not compatible with this fail safe the signal biasing must either be done in the connected tool or added externally by adding a pull up...

Страница 57: ...luding the position and pose parameters and so on but facilitate operations of the user All operations may be completed by directly clicking the screen The housing of the teach pendant is designed in...

Страница 58: ...keys while all buttons input boxes options etc can be clicked and controlled Keyboard and click operations differ in status control area coordinate area and sub menu area Could click to switch status...

Страница 59: ...or of this area changes or a cursor bar appears The status control area the coordinate area and the sub menu area changes accordingly when the display area is switched 4 Activation status of general p...

Страница 60: ...various parameter settings such as system setting program editing parameter setting monitoring instructions editing operation preparation and user process System First Level Menu Second Level Menu Op...

Страница 61: ...rameters Administrator Limit parameter Root Servo parameter Administrator Institutional parameter Administrator Other parameters Administrator Permission Switch user General user Change password Exper...

Страница 62: ...le operation Administrator can modify the home position Program home position Expert user Home position calibration Expert user User processes Corresponding process setting menu will display under the...

Страница 63: ...Page 62 of 126 Doc No T202001004 www elibot cn Program list Program editing Speed parameter setting...

Страница 64: ...monitoring area is mainly used to display the robot coordinates variable values IO port status motor running status etc All the options under the Monitor menu are displayed in the monitoring area as s...

Страница 65: ...Page 64 of 126 Doc No T202001004 www elibot cn Half display of the monitoring area Full display of the monitoring area...

Страница 66: ...lding unfolding coordinate system selection joint cartesian tool user cylinder operation cycle selection single step single cycle continuous cycle synchronized unsynchronized state switching reset etc...

Страница 67: ...ordinate Area The coordinate area will display the corresponding icon according to the selected coordinate system The icon of the coordinate area can only be displayed when the servo is enabled For jo...

Страница 68: ...Page 67 of 126 Doc No T202001004 www elibot cn Joint coordinates Cartesian User Tool coordinates...

Страница 69: ...rmissions Display the current permissions can open the permission settings window by touching screen Running status Display the current running status of the robot including stop pause run alarm etc R...

Страница 70: ...by clicking the icon or by the corresponding key The submenu area shows as below when program list is focused 9 2 Robot Axes and Coordinates Systems 9 2 1 Basic Operations 9 2 1 1 Security Confirmati...

Страница 71: ...s of JOINT CARTESIAN TOOL USER CYLINDER and then select the coordinate system 9 2 1 5 Speed Selection The speed contains manual teach speed play speed and remote speed The play speed and remote speed...

Страница 72: ...ogramming pendant At this time the SERVO indicator in the upper left corner of the programming pendant is on In REMOTE mode the servo is turned on automatically 9 2 1 7 Axis Operations In the TEACH mo...

Страница 73: ...und the X axis Ry rotates around the Y axis and Rz rotates around the Z axis respectively following the right hand rule Taking a manipulator of 6 axes as an example the directions of motion are as sho...

Страница 74: ...number 0 7 according to the actual tool conditions 9 2 2 4 User Coordinates The user coordinates are defined by teaching the manipulator three points and the manipulator moves parallel to each axis of...

Страница 75: ...2 6 Control Points Remain Unchanged The operation in which the control point remains unchanged means that the position of the tool tip point control point is not changed and only the axis operation o...

Страница 76: ...Doc No T202001004 www elibot cn In tool coordinates wrist axis rotations are based on X Y or Z axis of the tool coordinates In user coordinates wrist axis rotations are based on X Y or Z axis of the u...

Страница 77: ...the teach pendant are function correctly Verify the emergency stop button is pressed ensure the servo power supply is disconnected and whether the manipulator alarms When an external emergency stop b...

Страница 78: ...me Select the program that need to be renamed in the program list and press RENAME Enter the required new file name in the pop up dialog box and press OK Delete Select the program that needs to be del...

Страница 79: ...main menu bar are enabled The current file name the total number of lines and the current line number will be displayed at the bottom of the general purpose display area The sub menu displays the corr...

Страница 80: ...the linear interpolation is used to teach a robot axis the move instruction is MOVL Linear interpolation is used for work such as welding The manipulator moves automatically changing the wrist positi...

Страница 81: ...sired option to switch the instruction mode The electronic handwheel is disabled by default in the program editing page after booting Push the electronic handwheel inward to switch between the enable...

Страница 82: ...elibot cn 4 After selecting the move instruction edit the contents of its additional items and press OK to insert it The Enable switch must be hold when inserting the move instructions Otherwise the...

Страница 83: ...onal items press OK to insert the instruction QUICK INSTRUCTIONS in the submenu area contains only part of the instructions and all instructions can be found by pressing EDIT INSTRUCTIONS under the ma...

Страница 84: ...be used only when holding the Enable switch 9 3 2 4 Checking Steps After completing the program editing the manipulator can be moved ahead in step number sequence manually in order to check in advance...

Страница 85: ...non motion instructions can only be executed in PLAY mode 9 3 2 5 Editing Programs When editing the program the Program Edit option under the main menu provides many convenient and quick operations co...

Страница 86: ...p for specifying the range of the instruction lines to be deleted Press OK to complete the delete operation Searching Press SEARCH and the search window will pop up The items can be searched are the a...

Страница 87: ...specified value at once Customizing Quick Instructions In the program editing page QUICK INSTRUCTIONS in the submenu area can be pressed to customizing the quick instructions for editing the program T...

Страница 88: ...reset the system status 9 3 3 List of program instructions Instruction Group Instruction Description I O Instructions DOUT Digital output MOUT Virtual digital output DIN Digital input PULSE Pulse outp...

Страница 89: ...on XOR Logic XOR operation GETPOS Get the current position of manipulator MFRAME Establish a coordinate DIST Calculate the distance between the two points Move Instructions MOVJ Joint interpolation MO...

Страница 90: ...n Cycles Switch to PLAY mode press the icon in the status control area to select one of three types of manipulator operation cycles SINGLE STEP Executes one step instruction at a time SINGLE CYCLE Exe...

Страница 91: ...stop There are two ways to pause the program 1 Press PROGRAM PAUSE button on the programming pendant 2 Use the external input signal The program pause operation will be executed when the input EXT HD...

Страница 92: ...G200 control system includes user processes such as arc welding reservation external axes laser tracking scripting vision tracking palletizing stamping etc which can be enabled in System System Confi...

Страница 93: ...56 I Integer Type I000 I255 256 D Double Type D000 D255 256 P Position Type P000 P255 256 In the variable monitor page the user can switch between different variable types by pressing the buttons in t...

Страница 94: ...ition type variable Select the desired P variable using the cursor in the variable monitor page Press VIEW to view its value in the information prompt area Press CLEAR to reset it to the default value...

Страница 95: ...ot cn 9 6 3 IO The IO monitor page includes four options input output virtual input and virtual output Select the desired option to open the corresponding monitor page The user can switch between the...

Страница 96: ...lect Y000 using the cursor and press MODIFY in the submenu area to reverse its state Its value will become 1 from 0 or become 0 from 1 9 6 4 Motor The motor monitor page includes three options pulse m...

Страница 97: ...ed monitor page the real time rotational speed of each axis can be viewed according to the actual requirements In the absolute position monitor page the pulse counting at the current position for the...

Страница 98: ...ing JOINT CARTESIAN button in the submenu area In the program editing window use the cursor to select the desired move instruction and the coordinate values of the target point corresponding to the in...

Страница 99: ...ow can be expanded towards the desired direction by pressing Expand Up Down and Expand Left Right buttons Therefore the multiple windows can be displayed during the program execution which is convenie...

Страница 100: ...ed from 0 to 7 can be set in the system Go to the page of Readiness for operation Tool coordinates and select the tool coordinate number The TCP can be calculated by inputting the tool coordinate valu...

Страница 101: ...a as shown in the figures below tool A tool B tool C Cases of Tool A B X Y Rx Ry Rz are 0 and Z is 260 Cases of Tool C X Rx Ry Rz are 0 Y is 145 and Z is 260 Enter the value into the coordinate input...

Страница 102: ...hould always be the same point e g the tip of the calibration cone and each angle must be arbitrary Accuracy may decrease when pose setting is rotated in a constant direction The points P6 and P7 are...

Страница 103: ...sed manual operation can be simplified by setting the user coordinates for each fixture as shown in the following figure User coordinates are defined by three points that have been taught to the manip...

Страница 104: ...r Operation User coordinates to open the user coordinate setting page First select the user coordinate number to be set Then select one of the three defining points and press RECORD button in the subm...

Страница 105: ...rence Area This area is a rectangular parallelepiped which is parallel to the base coordinate Cartesian coordinate The system judges whether TCP of the current position of the manipulator is inside or...

Страница 106: ...rference area will be set successfully 2 Number Input of the Side of Cube and Teaching Center Move the manipulator to the center point of the cube using the axis keys and record it Then enter the leng...

Страница 107: ...ave been set at the plus and minus sides of the axis to define the working range a signal indicating whether the current position of the axis is inside or outside this range is output ON inside OFF ou...

Страница 108: ...fying the PLC program 9 8 4 Home Position The Readiness for Operation Home position menu includes three options mechanical home position program home position and home position calibration 9 8 4 1 Mec...

Страница 109: ...pter of setting mechanical home position in Initial Configuration Manual 9 8 4 2 Program Home Position The program home position is the reference point for manipulator operations It prevents interfere...

Страница 110: ...f the calibration cone 2 Go to Readiness for Operation Home Position Home Position Calibration 3 Select the above program and the tool number that needs to be calibrated 4 Press Set button and if the...

Страница 111: ...ettings Authority menu switching users and changing password 9 8 5 1 Switching users The system provides four types of user authorities general user expert user root and administrator The user authori...

Страница 112: ...elibot cn 9 8 5 2 Changing Password The password of the current user authority can be modified in the page of changing password Enter the previous password and the new password at the given locations...

Страница 113: ...es can be used for the parameters in this page which most users do not need to set 9 8 7 Limit Parameters In the page of Settings Limit Parameters the maximum and minimum angular position of each axis...

Страница 114: ...rations press SET button and the users will be prompted to decide whether to restart the system Then press OK button all the settings will take effect after the restart Generally all above settings ar...

Страница 115: ...take effect after the restart 9 9 Backup and Upgrade The backup and upgrade operations of the system software are simple fast and convenient which only need an ordinary USB flash disk After preparing...

Страница 116: ...and the system version number The software information page displays the basic information by default 9 9 1 2 Detailed Information Press DETAILED INFORMATION in the submenu area to display the detaile...

Страница 117: ...e saved in it directly 9 9 3 Local from USB The System Load from USB option includes parameter upgrade IO annotation upgrade PLC upgrade user data recovery script upgrade and identification file impor...

Страница 118: ...d wait several minutes The system will check the firmware and be upgraded automatically It will restart the system after successful upgrade 9 9 4 2 Firmware Upgrade The firmware upgrade is peculiar to...

Страница 119: ...t cn 3 Go to System System Upgrade and a dialog box with the message Confirm System Upgrade will pop up After pressing OK button the system will give the message Please select the content that needs t...

Страница 120: ...ISO13850 2008 or IEC60204 1 2006 Stop Category 2 It is defined as a controlled stop with power available to the robot The robot stops all motions within one second Through the operation of the safety...

Страница 121: ...for details Performance level PL The PL is a discrete level which is used to specify the ability of each safety related part in the control system to implement the safety function under foreseeable co...

Страница 122: ...rnational leading level The EC63 has passed the robot performance test of National Robot Testing and Assessment Center Headquarters of China and the performance indexes have exceeded most of the domes...

Страница 123: ...e CR certification standards regarding the collaborative robot The test standards are as follows GB 5226 1 2008 GB 11291 1 2011 GB T 15706 2012 GB T 17799 2 2003 GB 17799 4 2012 The EC63 robot is subj...

Страница 124: ...00 the general speed of the robot is set as 100 and the robot moves at a joint speed of 180 s Payload a maximum payload 3kg that can be handled by the robot connected to TCP The Joint 0 test was carri...

Страница 125: ...tates relating to electromagnetic compatibility and repealing Directive 89 336 EEC EN ISO 13850 2008 Safety of machinery Emergency stop Principles for design EN ISO 13849 1 2008 Safety of machinery Sa...

Страница 126: ...out 2 analog in and 4 analog out Tool IO 2 digital in 2 digital out 1 analog in and 1 analog out IO power supply The control box is 24V 2A and the tool end is 24V 0 8A Communication with control box T...

Страница 127: ...Page 126 of 126 Doc No T202001004 www elibot cn F Alarm Information and Description of Routine Problems See the detailed instructions of the control system for the alarm information...

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