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Maintenance manual for Collaborative Robot 

Hyundai Robotics 

Safety | Safety requirements_

9

 

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1.

 

Safety 

1.1

 

Safety requirements 

1.1.1

 

Applicable standards 

This product has been designed and manufactured in compliance  with ISO 10218-1, a safety standard of industrial 
robots,  and  ISO/TS  15066,  a  standard  specifying  safety  requirements  for  collaborative  operation.  The  safety 
standards applicable to this product are as follows: 

 

ISO 10218-1:2011 Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots 

 

ISO  10218-2:2011  Robots  and  robotic  devices  -  Safety  requirements  for  industrial  robots  -  Part  2:  Robot 
systems and integration 

 

ISO/TS 15066:2016 Robots and robotic devices - Safety requirements - Industrial collaborative workspace 

 

IEC  61508-1:2010  Functional  safety  of  electrical/electronic/programmable  electronic  safety-related  systems  - 
Part 1: General requirements 

 

IEC  61508-2:2010  Functional  safety  of  electrical/electronic/programmable  electronic  safety-related  systems  - 
Part 2: Requirements for electrical/electronic/programmable electronic safety-related systems 

 

IEC  61508-3:2010  Functional  safety  of  electrical/electronic/programmable  electronic  safety-related  systems  - 
Part 3: Software requirements 

 

IEC  61508-4:2010  Functional  safety  of  electrical/electronic/programmable  electronic  safety-related  systems  - 
Part 4: Definitions and abbreviations 

 

IEC  61508-5:2010  Functional  safety  of  electrical/electronic/programmable  electronic  safety-related  systems  - 
Part 5: Examples of methods for the determination of safety integrity levels 

 

IEC  61508-6:2010  Functional  safety  of  electrical/electronic/programmable  electronic  safety-related  systems  - 
Part 6: Guidelines on the application of IEC 61508-2 and IEC 61508-3 

 

IEC  61508-7:2010  Functional  safety  of  electrical/electronic/programmable  electronic  safety-related  systems  - 
Part 7: Overview of techniques and measures 

 

IEC 61800-5-1:2007/A1:2017 Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - 
Electrical, thermal and energy 

 

IEC  61800-5-2:2015  Adjustable  speed  electrical  power  drive  systems  -  Part  2:  General  requirements  -  Rating 
specifications for low voltage adjustable speed a.c. power drive systems 

 

ISO 13849-1:2015 Safety of machinery - Safety-related parts of control systems - Part 1: General principles for 
design 

 

ISO 13849-2:2012 Safety of machinery - Safety-related parts of control systems - Part 2: Validation 

 

IEC  62061:2005/A2:2015  Safety  of  machinery.  Functional  safety  of  safety-related  electrical,  electronic  and 
programmable electronic control systems 

 

IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General 
rules and profile definitions 

 

IEC 61800-3:2017 Adjustable speed electrical power drive systems - Part 3: EMC requirements and specific test 
methods 

Содержание YL005

Страница 1: ...Maintenance Manual for Collaborative Robot ...

Страница 2: ......

Страница 3: ...ct and manual are protected by the Copyright Act and a confidentiality agreement Any use reproduction and disclosure or distribution of this manual to third parties not explicitly permitted by Hyundai Robotics are strictly prohibited Copyright ⓒ 2020 HYUNDAI ROBOTICS All rights reserved Notation rules This manual utilizes the following expression rules and safety directions for easy understanding ...

Страница 4: ...t to the related information in the manual Cross references will be in quotation marks and in the bold type For details of making changes in date and time information see 4 5 Date and time setting References Useful or additional information on using the product will be provided as follows Remarks Blinking of the icon in the status bar indicates the engineer mode ...

Страница 5: ... who manufacture robot application systems or use the robot must read and fully understand the manual and take training in robot operation For the safety of operators and users prepare adequate safety facilities such as safety fences before installing the product Secure sufficient space so that the robot arm can move freely During the robot operation product damages or user injuries may occur Fast...

Страница 6: ...magnetic interferences Magnetism may lead to product damages or malfunction In operating the product do not wear loose outfit or accessories If you wear long hair tie it at the back of the head so that it is not entangled between joints and the like of the robot While the product is in operation do not enter its operating range or touch the robot It may lead to injuries Transport the product as it...

Страница 7: ...face 38 3 4 Stopping distance and time 45 3 4 1 STOP0 45 3 4 2 STOP1 46 3 5 Safety setting 48 3 6 Programming and restarting 48 3 7 Axis restriction devices 48 3 8 Movement without driving power 48 3 9 Other safety precautions 49 4 Maintenance 50 4 1 Checks on the collaborative robot 50 4 1 1 Check sheet 51 4 1 2 Wiring check 52 4 1 3 Bolt check 52 4 2 Maintenance of the collaborative robot 53 4 2...

Страница 8: ...현대로보틱스 8_Contents 6 2 3 Teach pendant 91 Certificates 92 Warranty 93 ...

Страница 9: ...e electronic safety related systems Part 4 Definitions and abbreviations IEC 61508 5 2010 Functional safety of electrical electronic programmable electronic safety related systems Part 5 Examples of methods for the determination of safety integrity levels IEC 61508 6 2010 Functional safety of electrical electronic programmable electronic safety related systems Part 6 Guidelines on the application ...

Страница 10: ...7 Electrical equipment for measurement control and laboratory use EMC requirements Part 3 1 Immunity requirements for safety related systems and for equipment intended to perform safety related functions functional safety General industrial applications 1 1 2 Safety performance The safety performance of the collaborative robot is as follows Category Safety performance Applicable standards HFT 1 IE...

Страница 11: ...llowing safety functions For the details of the safety functions see the Safety Function Manual for Collaborative Robots STO Safe Torque Off SS1 Safe Stop 1 SS2 Safe Stop 2 EM Emergency Stop Protective Stop SBC Safe Brake Control Safety Outputs Safety Inputs SOS Safe Operating Stop Joint SLP Joint Angle Monitoring Joint SLS Joint Angular Speed Monitoring Joint SLT Joint Torque Monitoring Collision...

Страница 12: ...yundai Robotics establishes and implements plans for providing training in product installation use and maintenance Product operators and workers must take the relevant training programs before handling the product Workers who are responsible for the robot s teaching and checkups must take a training program in robot use and safety before handling the robot The safety training program covers the f...

Страница 13: ...arly distinguished from other facilities and equipment 1 2 4 Emergency stop The emergency stop function is actuated in emergency where a worker or object enters a hazard area All the emergency stop switches are installed at places easily accessible from outside the safety areas When the emergency stop function is actuated the robot will immediately stop moving in any case The servo system power of...

Страница 14: ...L devices according to site conditions and applications For more details see 3 3 2 3 Terminal block TB3 common safety signal I O Terminal bock TBSDI 1 External Emegency Stop Devices 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Safety Control Module SCM Figure 5 Connecting emergency stop device of a safety control module SCM Note See the details of 3 3 2 2 Terminal block TB2 dedicated safety signal input a...

Страница 15: ...d systems referring to the relevant details of the manual For collaborative robots it is possible to set TCP speed pressure power momentum collision detection limit values of reduction ratio and limit values of joint specific angles speeds and torques In addition safety functions can be composed by using safety related I Os For more details for the composition of safety functions see the Safety Fu...

Страница 16: ...due to abrupt power shut offs Erroneous activation of emergency stop switches due to confusion with those of other equipment Errors due to arbitrary modification of the settings of safety functions Because the types of potential risks vary depending on system compositions risk assessment must be carried out before using a robot integrated system 1 5 Validity and responsibilities The user should co...

Страница 17: ...Maintenance manual for Collaborative Robot Hyundai Robotics Safety Validity and responsibilities_17 Safety ...

Страница 18: ...ct may be used only for the specified intended uses Use of this product for other purposes than the intended uses will be considered as an inappropriate behavior Hyundai Robotics will not take responsibilities for injuries or property losses including product damages and faults caused by unintended uses of this product Examples of improper uses of this product include the following Using the produ...

Страница 19: ... robot Controller Robot connection cables Teach pendant Power connector User manual Note The available collaborative robot models are YL005 YL012 and YL015 This maintenance manual describes the methods for composing installing using and maintaining them based on the YL012 model Partial details including components product parts and methods for using may be different depending on collaborative robo...

Страница 20: ...connector This establishes communication with tools through EtherCAT based terminals For more details of EtherCAT see 3 3 1 Tool flange connection point Tool I O connectors These control the motion of tools For more details of the tool I O see 3 3 1 Tool flange connection point Air outlets YL012 YL015 These are used for moving various tools by connecting pneumatic hoses ø3 2 two pieces Hand grip m...

Страница 21: ...ct teaching is possible Red The robot is stopped due to an error Resolve the error and try actuating the servo motor Power and communication connectors These supply power to and communicate with the robot respectively Air inlet This supplies pneumatic pressure through the pneumatic hose Note Air outlets are available only for the YL012 and the YL015 models The LED lamp position varies depending on...

Страница 22: ...ts out the heated air inside the controller Door This door is used for opening a side of the controller 2 3 3 Teach pendant Figure 9 Teach pendant front side left rear side right No Name Description Operating keys These are used for controlling the robot motion entering commands selecting and setting menus Display This displays and allows modification of the robot s motion states and setting infor...

Страница 23: ... this step the robot can be operated Cable connector This connects cables with the controller USB port This is for connecting USB devices such as portable storage media 2 4 Nameplate The nameplate attached on the product contains such information as robot type manufacture number and manufacture date Compare it with the specifications of the purchased product Figure 10 Nameplate of the collaborativ...

Страница 24: ...tics collaborative robots and controllers are denoted as follows Division Information Collaborative robot Robot code YL Collaborative robot Payload 005 5 kg 012 12 kg 015 15 kg Material standard material Specification number Controller Platform Hi6 Hi6 platform Controller code H for collaborative robots Material 00 Plastic case 10 Metallic case ...

Страница 25: ...s based on the result of the assessment For more details of the safety functions see the Safety Function Manual for Collaborative Robots 3 1 Environment of installation and preparation 3 1 1 Environments of installation and use Install the product at an adequate place in consideration of the requirements for the environments of installation and use The adequate temperature of use for the product i...

Страница 26: ...operation in which the operator is not allowed to contact the robot system the operator should work only in the safeguarded space In the general operation of industrial robots the operator should work outside of the safeguarded space Operating space a part of the restricted space that is used while the robot moves according to the operating program Restricted space a part of the maximum space that...

Страница 27: ...Maintenance manual for Collaborative Robot Hyundai Robotics Product installation Environment of installation and preparation_27 Product installation YL012 1 305 mm YL015 963 mm ...

Страница 28: ...Hyundai Robotics 28_Product installation Environment of installation and preparation Hyundai Robotics ...

Страница 29: ...st axis load of the models are as follows Division YL005 YL012 YL015 Weight 49 N 5 kgf maximum 117 6 N 12 kgf maximum 147 N 15 kgf maximum Load torque R2 axis rotation Rating 48 Nm 4 9 kgf m Rating 49 Nm 5 0 kgf m Rating 49 Nm 5 0 kgf m B axis rotation Rating 26 5 Nm 2 7 kgf m Rating 54 9 Nm 5 6 kgf m Rating 54 9 Nm 5 6 kgf m R1 axis rotation Rating 27 4 Nm 2 8 kgf m Rating 27 4 Nm 2 8 kgf m Ratin...

Страница 30: ...Hyundai Robotics 30_Product installation Environment of installation and preparation Hyundai Robotics YL012 YL015 ...

Страница 31: ... robot system as an integrated system interfaced with peripheral devices should be composed and connected with a selection of adequate peripheral devices command input state indication power supply command input monitoring Teach pendant Controller Collaborative robot Teach pendant This is the I O device that enables command input and state view for controlling the entire robot system It can teach ...

Страница 32: ... 9 four pieces fixate the collaborative robot The proper tightening torque of the bolts is 340 kgf cm If you use the positioning pins Ф6 two pieces you can install the collaborative robot accurately at a specific point Connecting an earth cable will prevent electrostatic discharge The information on the installation positions of YL005 and YL015 are the same with that of YL012 Warning Tighten the b...

Страница 33: ... product installation Warning The robot installation surface should be firm enough to bear both the weight of the robot and the load that occurs during robot operation 6 Check the installation surface of the collaborative robot and remove any uneven points cracks and the like 7 Put the mounting plate on the surface on which the collaborative robot will be installed 8 Pass the anchor bolts M20 thro...

Страница 34: ...umbers used 11 To the connectors of the tool flange connect the tool I O cable and the EtherCAT cable If you need to use a pneumatic line assemble the one touch fittings M5 and connect the hoses Ф3 2 two pieces to the air outlets Figure showing the cables connected between the tool and the flange Note The connection methods may vary depending on tools to be used For more details of the tool connec...

Страница 35: ...ase of the collaborative robot and clamp the cable with the connection ring so that the cable cannot be disconnected 13 Insert the other end of the robot connection cable into the connection terminal on the front of the controller and clamp the cable with the connection ring so that the cable cannot be disconnected 14 Connect the teach pendant connection cable of the controller to the cable connec...

Страница 36: ...y types of wiring termination and electrical work Check the shapes of the cable connectors and connect the proper cables to them without applying excessive force Excessive force may bend or damage the pins Do not modify or extend cables in an arbitrary manner Hyundai Robotics will not take responsibilities for product damages due to customer s carelessness unskillful operation and errors Never arb...

Страница 37: ...essive force Excessive force may bend or damage the pins Do not modify or extend cables in an arbitrary manner Hyundai Robotics will not take responsibilities for product damages due to customer s carelessness unskillful operation and errors Never arbitrarily modify disassemble or repair the product 3 3 1 Tool flange connection point Connect the tool to the connection port of the tool flange at th...

Страница 38: ... No Description No Description 1 Digital output CH0 7 Digital input CH2 2 Digital output CH1 8 Digital input CH3 3 Digital output CH2 9 Analog input CH0 4 Digital output CH3 10 Analog input CH1 5 Digital input CH0 11 Voltage output 6 Digital input CH1 12 GND 3 3 2 External device interface You can connect various external devices to the external device interface on the front of the controller ...

Страница 39: ...em to the external device interface you may change the composition of basic connections For more details of the installation of additional optional items and the composition of connections consult with our Customer Support Team 3 3 2 1 Terminal block TB1 common analog I O signals You can connect common analog I O signals two at a time to Terminal Block TB1 For more details of signal connection see...

Страница 40: ... DSW1 7 OFF BD5B3T DSW1 8 OFF BD5B3T DSW1 9 OFF BD5B3T DSW1 10 OFF Caution Set all the pins from 6 to 10 of BD5B3T DSW1 at the OFF position If you set all the pins from 6 to 10 of BD5B3T DSW1 at the ON position the pin combinations of 1 6 2 7 3 4 and 5 10 of the Terminal Block TB1 will be short circuited Therefore pay attention not to set them at the ON position 3 3 2 2 Terminal block TB2 dedicate...

Страница 41: ...TB3 You can compose the robot system by connecting various peripheral devices such as emergency stop devices safeguarding protective devices PLCs and conveyor belt encoders Set the safety I O signals according to usages referring to Safety Function Manual for Collaborative Robots For example if you will not use the teach pendant and will use an enabling switch connect it to the common safety signa...

Страница 42: ...N7 Internal connections of the controller SCM TBDIO 16 SCM TBDIO 17 SCM TBDIO 18 SCM TBDIO 19 SCM TBDIO 20 BD5B3T CN1 12 BD5B3T CN1 14 BD5B3T CN1 16 BD5B3T CN1 18 BD5B3T CN1 20 Caution Separate safety signals and common I O signals and never connect safety signals to other PLCs than safety PLCs If you connect safety signals to other PLCs it will lead to malfunction of the safety stop function and ...

Страница 43: ...ge Safety signal input 0 Channel 1 Safety signal input 1 Channel 1 Safety signal input 2 Channel 1 Safety signal input 3 Channel 1 Safety signal input 4 Channel 2 Pin number 6 7 8 9 10 Internal connections of the controller 14 15 16 1 2 3 4 Name SDIN5 SDIN6 SDIN7 SIO_POW1 SIO_POW2 Usage Safety signal input 5 Channel 2 Safety signal input 6 Channel 2 Safety signal input 7 Channel 2 Safety signal in...

Страница 44: ...l 2 Safety signal output common Channel 1 Safety signal output common Channel 1 Safety signal output common Channel 2 Safety signal output common Channel 2 3 3 2 5 D sub 9 pin connector COM1 COM2 serial communication RS485 422 You can connect D sub 24 pin connectors SDIOs to two ports for external communication For more details of signal connection see 4 3 5 Microcomputer module Internal connectio...

Страница 45: ...oad Extension 33 66 100 Speed 33 66 100 Load 33 66 100 YL005 5 kg YL012 12 kg YL015 15 kg Stop categories STOP0 STOP1 per IEC60204 1 3 4 1 STOP0 At STOP0 the stopping distance and time of the models at different extension and speed values are as follows Extension 100 Speed 30 50 100 Load maximum load of the model Division Stopping distance degree Stopping time sec 30 50 100 30 50 100 YL005 S axis ...

Страница 46: ...extension and speed values are as follows YL005 Extension 33 66 100 Speed 33 66 100 Division Stopping distance degree Stopping time sec 33 66 100 33 66 100 S axis 33 66 100 H axis 33 66 100 V axis 33 66 100 YL012 Extension 33 66 100 Speed 33 66 100 Division Stopping distance degree Stopping time sec 33 66 100 33 66 100 S axis 33 66 100 H axis 33 66 100 V axis 33 66 100 ...

Страница 47: ...dai Robotics Product installation Stopping distance and time_47 Product installation YL015 Extension 33 66 100 Speed 33 66 100 Division Stopping distance degree Stopping time sec 33 66 100 33 66 100 S axis 33 66 100 H axis 33 66 100 V axis 33 66 100 ...

Страница 48: ... the collaborative robot does not support mechanical axis restriction devices Safety rated ductile axis and space restriction device The collaborative robot is capable of restricting safety rated ductile axis and space For more details see the Safety Function Manual for Collaborative Robots Dynamic restriction functions Note that the collaborative robot does not support dynamic restriction functio...

Страница 49: ...fety fences are installed for the purpose of operating general industrial robots all the workers should stay out of the safeguarded space Any protective devices that were temporarily stopped in a mode other than the automatic mode should be reactivated to function completely before entering the automatic mode For example the automatic safeguard can be disabled in the manual mode Before entering th...

Страница 50: ...ler are turned off During maintenance keep the existing safety setting of the software as it is During maintenance take precautions so that foreign matters such as water or dust do not penetrate into the product If a defective part is found replace it with a new one having the same specifications with the part to be replaced and return the defective part to Hyundai Robotics Make sure to use parts ...

Страница 51: ...bnormal vibration temperature maintained as usual no abnormal noise vibration maintained as usual Brakes O Operation upon the brake release switch ON OFF Caution When the brake release switch is turned ON the arm or motion axis will fall Therefore make sure to turn OFF the brake release switch within one second Visual check on brake abrasion state Check on abnormal brake noise robot stopped at bra...

Страница 52: ... Check on malfunction of the robot manipulator Check on the operability of the emergency stop function 4 1 3 Bolt check Check on the major bolts to be checked and the recommended fastening torques Because the bolts to be checked vary depending on operations carried out by the robot contact our Customer Support Team for more details Fasten the bolts mounting the integrated driving module of each ax...

Страница 53: ...internal cable identify the wiring type by consulting with our Customer Support Team Before replacing cables cable protecting springs or hoses check that the replacement parts are not broken or damaged 4 2 2 Replacement of the integrated driving module Replacement of the integrated driving module must be carried out by qualified experts who have taken the relevant training provided by Hyundai Robo...

Страница 54: ...rm may fall when the brake release switch is turned ON OFF The brake release switch is on the circuit board placed near the door inside the controller Anomalies of the encoder An abnormal encoder will lead to deviation in position malfunction rush etc It may also lead to shaking at stopping and irregular cycles pulsation In such cases check the error code through the teach pendant and replace the ...

Страница 55: ...Other parts YL005 S M3 M4 M5 4XM3 6 4XM3 10 12XM4 20 12XM5 18 3XPIN5 10 H M3 M4 M5 8XM3 6 12XM4 20 12XM5 18 3XPIN5 10 V M3 M4 8XM3 6 12XM3 30 9XM4 25 PIN3 6 2XPIN4 15 R2 M3 M4 10XM3 6 12XM3 30 9XM4 20 PIN3 6 2XPIN4 15 B M3 M4 4XM3 5 small diameter head 6XM3 6 12XM3 18 6XM4 10 8XM3 25 PIN3 6 PIN4 10 R1 M2 5 M3 6XM4 10 countersunk head 4XM3 5 small diameter head YL012 S M3 M5 5XM3 6 10XM5 18 12XM5 4...

Страница 56: ...uch straight fitting KQH23 00A1 S M3 M5 5XM3 6 10XM5 18 12XM5 40 3XPIN5 10 H M3 M6 10XM3 6 12XM6 20 12XM6 45 3XPIN5 10 One touch straight fitting KQH23 00A1 4 2 2 4 Recommended posture in disassembling the integrated driving module In replacing the integrated driving module setting the axis at the following posture will facilitate the disassembling work For example in replacing the module of H axi...

Страница 57: ...f it 23 Remove the bolts at the servo drive side with a torque wrench Caution Retain the removed robot parts securely on a flat floor 24 Remove the bolts at the reducer with a torque wrench If you failed to set the robot at the recommended posture release the brake by removing the brake connector of the servo drive forcibly rotate the module and remove the bolts 25 Apply Loctite 518 on the contact...

Страница 58: ...preparation at ON and ensure that the power is connected by pressing the enabling switch of the teach pendant for two to three seconds 34 Identify the position of the battery of each axis and remove the frame cover of the battery by removing bolts with a torque wrench No Axis Cover Bolts S Lower frame cover Hex socket bolts M3X6 five pieces H Upper frame cover Hex socket bolts M3X6 five pieces V U...

Страница 59: ...gulations 36 Put the frame cover on the axis and fixate it by fastening bolts with a torque wrench 4 2 4 Grease replacement Because the collaborative robot uses harmonic reducers it does not require grease replacement at regular intervals However because cases may occur where the grease should be replaced depending on the service environment of the robot check on abnormal noise or temperature of t...

Страница 60: ...e Description Microcomputer module miniH6COM This makes overall control of the collaborative robot Power switch and breaker CP1 This turns on off the main power of the controller Noise filter NF1 This filters conductive noise Buffer power BUFFER This supplies power to the microcomputer module for a certain period of time in case of blackout Power supply 2 SMPS2 This is the power source 48 V DC of ...

Страница 61: ...4 3 2 1 Connection and display The connector layout usages and connecting devices used by the SCM are as follows Figure 17 Safety control board BD6F1 Connector Usage External connecting device CNPS1 2 Power input for the safety circuit 24 V DC Channels 1 and 2 Power supply SMPS2 CNCAN1 Data communication exchange of torque data with the torque sensors Channel 1 of the mechanical parts Robot cable ...

Страница 62: ...e of information on the state of regenerative discharge action Regenerative discharge module RDM CNPC2 Power input for I O Power supply SMPS2 TBSYS1 Input for the emergency stop switch and protective stop switch safeguard control of power charging function and connection of monitoring signals External safety switch power pre charge module PPM TBSDO Connection of safety output signals Safety device...

Страница 63: ...box 11 ES1 Emergency stop input Channel 1 Connection of the emergency stop switch of the control box 4 SF_POW2 Emergency stop input common Channel 2 Connection of the emergency stop switch of the control box 12 ES2 Emergency stop input Channel 2 Connection of the emergency stop switch of the control box 5 IN_POW1 PRIN input common 13 PRIN Precharge relay state input 6 IN_POW2 Reserved signal input...

Страница 64: ...nal input 2 Channel 1 4 SIO_POW1 Safety signal input common Channel 1 12 SDIN3 Safety signal input 3 Channel 1 5 SIO_POW2 Safety signal input common Channel 2 13 SDIN4 Safety signal input 4 Channel 2 6 SIO_POW2 Safety signal input common Channel 2 14 SDIN5 Safety signal input 5 Channel 2 7 SIO_POW2 Safety signal input common Channel 2 15 SDIN6 Safety signal input 6 Channel 2 8 SIO_POW2 Safety sign...

Страница 65: ...ut common Channel 1 12 SDOUT3 Safety signal output 3 Channel 1 5 SIO_GND2 Safety signal output common Channel 2 13 SDOUT4 Safety signal output 4 Channel 2 6 SIO_GND2 Safety signal output common Channel 2 14 SDOUT5 Safety signal output 5 Channel 2 7 SIO_GND2 Safety signal output common Channel 2 15 SDOUT6 Safety signal output 6 Channel 2 8 SIO_GND2 Safety signal output common Channel 2 16 SDOUT7 Sa...

Страница 66: ...mon digital signal power 2 EX_IO_GND Common digital signal power GND 12 EX_IO_GND Common digital signal power GND 3 GDOUT0 Common digital signal output 0 13 GDIN0 Common digital signal input 0 4 GDOUT1 Common digital signal output 1 14 GDIN1 Common digital signal input 1 5 GDOUT2 Common digital signal output 2 15 GDIN2 Common digital signal input 2 6 GDOUT3 Common digital signal output 3 16 GDIN3 ...

Страница 67: ...BAIO Common analog output signals are connected through TBDIO two at the maximum In the following example the load of External Device 1 is operated through output to GAOUT0 and the load of External Device 2 is operated through output to GAOUT1 Figure 24 Connection of common analog output signals TBAIO No Name Usage No Name Usage 1 GAIN0_N Ground of GAIN0 for common analog input 5 GAIN0 Common anal...

Страница 68: ...he motor of the joint actuator installed for the collaborative robot It is composed of relays that open close the charging system and a resistor that prevents inrush current Figure 25 Power pre charge module PPM 4 3 3 1 Connection and display The connector layout usages and connecting devices used by the PPM are as follows Connector Usage External connecting device CNPM3 Output terminal of the 48 ...

Страница 69: ...g of the charging system may give significant impact on the system the PPM utilizes safety relays for state monitoring Component Usage Specification Resistor for preventing inrush current RC1 Prevention of inrush current during pre charging PQR10 10Ω 10 W ceramic wire wound resistor Safety relay SR1 Opening closing of the pre charging system V23047 A1024 A501 5 A 250 V AC Force guided relay 4 3 4 ...

Страница 70: ...charge resistor The regenerative discharge resistor is disconnected displayed even during the regenerative discharge operation LED9 Detection of regenerative discharge operation Under regenerative discharge operation LED10 Detection of regenerative discharge overtime Occurrence of regenerative discharge operation for 10 ms or longer 4 3 4 2 Information on major components The regenerative discharg...

Страница 71: ...t power 58V 20A Regenerative discharge resistor Resistor for discharging regenerative current 5Ω 100W 4 3 5 Microcomputer module The microcomputer module miniH6COM EBC GF53 drives and controls the collaborative robot based on the Hi6 control platform For more details of this module see Operation Manual for Hi6 Controllers The composition of the external interface COM ports and power connector of t...

Страница 72: ...2 422 485 2 GPIO Digital I O 8 bit Dsub 9 1 DC IN Power input 12 24 V DC 10A 1 Extension slot PCIe x1 PCI 2 Figure 31 COM port male pin map No Name No Name 1 COMn_422_485_TX 6 COMn_DSR 2 COMn_422_485_TX 7 COMn_RTS 3 COMn_422_RX 8 COMn_CTS 4 COMn_422_RX 9 COMn_RI_V 5 GND Figure 32 COM port female pin map No Name No Name 1 COMn_422_485_TX 6 COMn_DSR 2 COMn_422_485_TX 7 COMn_RTS 3 COMn_422_RX 8 COMn_...

Страница 73: ...of 48 V DC and 24 V DC are used Component Usage Specification SMPS1 Power supply for motor driving 2 000 W 48 V DC RSP 2000 48 295 L x 127 W x 41 H mm 1 95 kg SMPS2 Power supply for controlling 320 W 24 V RSP 320 24 215 L x 115 W x 30 H mm 0 9 kg BUFFER Power buffer for controlling 24 V DC 40 A QUINT4 BUFFER 24DC 40 125 L x 130 W x 56 H mm 1 kg 4 3 7 Teach pendant The teach pendant TP600 directly ...

Страница 74: ...he teach pendant see the Operation Manual for Hi6 Controllers and the Safety Function Manual for Collaborative Robots 4 3 8 PCI communication card optional The PCI communication installed in the collaborative robot controller enables industrial communication This section describes the models composition and functions of a PCI communication card for Ethernet which is a general model For more detail...

Страница 75: ...ave PCIe RJ45 socket CIFX 50 CC HRC CC link slave PCI CombiCon male connector 5 pin CIFX 50E CC HRC CC link slave PCIe CombiCon male connector 5 pin CIFX 50 DN ML HRC DeviceNet master PCI CombiCon male connector 5 pin CIFX 50 DN HRC DeviceNet slave PCI CombiCon male connector 5 pin CIFX 50E DN ML HRC DeviceNet master PCIe CombiCon male connector 5 pin CIFX 50E DN HRC DeviceNet slave PCIe CombiCon ...

Страница 76: ...a 3 RX Receive data 4 Term1 Connected to each other and terminated to PE through RC circuit Bob Smith Termination 5 Term1 6 RX Receive data 7 Term2 Connected to each other and terminated to PE through RC circuit Bob Smith Termination 8 Term2 Figure 38 CC link interface CombiCon male connector 5 pin No Signal Description 1 DA Data A 2 DB Data B 3 DG Data ground 4 SLD Shield 5 FG Field ground ...

Страница 77: ... V Reference potential DeviceNet supply voltage 2 CAN_L CAN Low Signal 3 Drain Shield 4 CAN_H CAN high signal 5 V 24 V DeviceNet supply voltage Figure 40 PROFIBUS interface Dsub female connector 9 pin No Signal Description 3 RxD TxD P Receive Send Data P respectively connection B plug 5 DGND Reference potential 6 VP Positive supply voltage 8 RxD TxD N Receive Send Data N respectively connection A ...

Страница 78: ...re workers lift it at the same time and move it to the target location Figure 41 Manual moving Caution To move the collaborative robot manually two or more workers should lift it at the same time and move it When two or more workers move it at the same time connections may be damaged Therefore take care not to damage them Putting down the collaborative robot at it is on a floor the frame cover may...

Страница 79: ...acity of the crane should be 0 2 t while the weights of the collaborative robot models are as follows YL005 27 kg YL012 43 kg YL015 41 kg Warning In moving the product by means of a crane conform to the local and national safety regulations and the instructions for equipment use In moving the product by means of a crane ensure that no workers stand under the product Never work or pass under the cr...

Страница 80: ... manually maintain the proper posture If not physical damages may occur To move the collaborative robot manually two or more workers should lift it at the same time and move it When two or more workers move it at the same time connections may be damaged Therefore take care not to damage them In moving the collaborative robot by means of a crane conform to the local and national safety regulations ...

Страница 81: ... between 15 and 40 Do not store the collaborative robot at a place where chemicals acid or alkali products batteries circuit breakers etc are placed Caution Storing the collaborative robot by setting it at a posture other than that recommended in the maintenance manual may make the product tumble and damaged 5 3 Disposal To secure user safety and to protect the environment specific components shou...

Страница 82: ...Hyundai Robotics 82_Moving and storing Disposal Hyundai Robotics ...

Страница 83: ...grams_83 Appendix 6 Appendix 6 1 Block diagrams 6 1 1 YL012 S axis No Description Material manufacturer Quantity 7112 315 BOTTOM COVER A6061 T6 1 7112 P01 MODULE 32 TS ABS 1 7112 P02 PARALLEL PIN 5X10 2 7112 B01 HEX SOCEKT BOLT M4X10 12 9 4 7112 B02 HEX SOCEKT BOLT M5X10 12 9 12 ...

Страница 84: ...T BOLT M3X6 12 9 5 7212 B02 HEX SOCKET BOLT M5X18 12 9 10 6 1 2 YL012 H axis No Description Material manufacturer Quantity 7212 441 LOWER FRAME COVER ABS 1 7212 446 UPPER FRAME COVER 1 ABS 1 7212 P01 MODULE 40 TS 1 7212 P02 PARALLEL PIN 5X10 2 7212 B01 HEX SOCEKT BOLT M6X6 12 9 10 7212 B02 HEX SOCEKT BOLT M6X20 12 9 12 7212 B03 HEX SOCEKT BOLT M6X45 12 9 12 ...

Страница 85: ... No Description Material manufacturer Quantity 7212 447 UPPER FRAME COVER 2 ABS 1 7212 P01 MODULE 32 TS 1 7212 P02 PARALLEL PIN 5X10 2 7212 B01 HEX SOCEKT BOLT M3X6 12 9 5 7212 B02 HEX SOCEKT BOLT M5X20 12 9 12 7212 B03 HEX SOCEKT BOLT M5X40 12 9 12 7312 134 ARM FRAME COVER ABS 1 7312 B01 HEX SOCKET BOLT M3X6 12 9 ...

Страница 86: ...terial manufacturer Quantity 7088 211 WASHER PLATE FOR M20 A6061 T6 2 7312 134 ARM FRAME COVER ABS 1 7312 P01 MODULE 20 TS 1 7312 P02 PARALLEL PIN M4X15 2 7312 B01 HEX SOCEKT BOLT M3X6 12 9 5 7312 B02 HEX SOCEKT BOLT M3X30 12 9 12 7312 B03 HEX SOCEKT BOLT M4X25 12 9 10 7412 306 ARM PIPE COVER ABS 1 ...

Страница 87: ...cription Material manufacturer Quantity 7412 B01 HEX SOCKET BOLT M3X6 12 9 6 6 1 5 YL012 B axis No Description Material manufacturer Quantity 7088 211 WASHER PLATE FOR M20 A6061 T6 2 7312 306 ARM PIPE COVER ABS 1 7312 P01 MODULE 20 TS 1 7312 P02 PARALLEL PIN M4X15 2 7312 B01 HEX SOCEKT BOLT M3X6 12 9 6 ...

Страница 88: ...rer Quantity 7312 B02 HEX SOCEKT BOLT M3X30 12 9 12 7312 B03 HEX SOCEKT BOLT M4X25 12 9 10 7412 P01 HAND GRIP MODULE 1 7412 B01 M3 SMALL DIAMETER BOLT 4 6 1 6 YL012 R1 axis No Description Material manufacturer Quantity 7412 P01 HAND GRIP MODULE 1 7412 B01 HEX SOCEKT FLAT HEAD SCREW M4X10 12 9 6 ...

Страница 89: ...L012 tool flange No Description Material manufacturer Quantity 7412 111 MECHANICAL INTERFACE A60610T6 1 7412 P01 MODULE 40 TS 1 7412 B01 HEX SOCEKT FLAT HEAD SCREW M4X10 12 9 6 6 1 8 Power connector No Division Specification Order no Manufacturer PLUG ENCLOSURE HDC 04A TWLU 1M20G 1788810000 Weidmuller INSERT HDC HA 4 MS 1498300000 Weidmuller CABLE ENTRY VG M20 MS 68 1772220000 Weidmuller ...

Страница 90: ...ackward 270 90 270 90 270 90 V Up down 180 180 180 Wrist axis R2 Rotation 2 180 180 180 B Bending 180 180 180 R1 Rotation 1 180 180 180 Maximum Speed Main axis S Rotation 180 s 180 s 180 s H Forward backward 180 s 125 s 125 s V Up down 180 s 180 s 180 s Wrist axis R2 Rotation 2 180 s 180 s 180 s B Bending 180 s 180 s 180 s R1 Rotation 1 180 s 180 s 180 s Position repetition accuracy 0 1 mm Ambient...

Страница 91: ...ight 27 kg Dimensions 260 W x 490 H x 510 D mm Ingress protection grade IP 20 Digital I O ports DIO 8 8 points Analog I O ports AIO 2 2 points Rated supply voltage 110 V 220 V AC 6 2 3 Teach pendant Division Specification Weight 1186 g Dimensions 223 W x 291 H x 73 D mm w mode switch Ingress protection grade IP 5x Screen size 8 Cable length 5 m ...

Страница 92: ...red certificates of the robot from the following official testing and certification bodies for supplying stable robot systems Functional safety certificate Certificate image CE NRTL certificate Certificate image Autonomous safety verification reporting certificate KCs Certificate image ...

Страница 93: ...ach other the delivery date will be the beginning date of warranty When the product is replaced with a new finished product the warranty period will be calculated from the replacement date Warranty limitations and exceptions To maintain the warranty valid the customer should comply with the maintenance procedure specified by us and keep the relevant records When we decide as follows because the cu...

Страница 94: ...formance that are beyond the scope specified in the Warranty Statement Customer Support Representative phone number 1670 5041 Email robotics hyundai robotics com Working hours Weekdays Monday Friday 09 00 18 00 Closed on weekends and holidays For details queries about products or services please contact our Customer Support Team ...

Страница 95: ... si Ulsan Room 201 5 Automotive and Shipbuilding Engineering Hall Maegoksaneop ro 21 Buk gu Ulsan si Middle Region Song gok gil 161 Yeomchi eup Asan si Chungcheongnam do Gwangju Room 101 Building B Pyeongdongsandan ro 170 3 Gwangsan gu Gwangju si ARS 1588 9997 1 Robot Sales 2 Service Sales 3 Purchasing Consultation 4 Customer Support 5 Investment Queries 6 Recruitment and Other Queries www hyundai...

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