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NEXCOBOT Co., Ltd.

www.nexcobot.com

Configuration

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Tool Information

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Содержание MiniBot

Страница 1: ...NEXCOBOT Co Ltd www nexcobot com MiniBot 7 Axis User Manual Version 1 0 Date 2018 10 31 ...

Страница 2: ...vance this document or any part of it shall not be photocopied sold distributed modified published stored or otherwise used To keep this document and its contents correct and complete NexCOBOT reserves the right to change or revise the document at any time without further notification Operating machine or equipment has a certain level of danger It is the user s responsibility to pay special attent...

Страница 3: ...iii NEXCOBOT Co Ltd www nexcobot com Document Version Version Release 1 0 First released ...

Страница 4: ...or Load diagram 4 Cabinet specifications 5 Cabinet Outer Dimension 6 Cabinet Outer interfaces 7 2 Installation 8 Mounting base 8 The robot consists of the following components 8 I O Description 9 Mounting flange 10 The power switch side is show below 10 3 Operation tool 11 NexGRC 11 Home Menu 11 Status 12 System function 15 JOG 19 I O 21 Monitor 22 Configuration 24 Setting 31 Shutdown 33 NexGRC 33...

Страница 5: ...e Yes J3 Motor 100W Brake Yes J4 Motor 80W Brake Yes J5 Motor 50W Brake Yes J6 Motor 50W Brake None J7 Motor 30W Brake None Motion range degree J1 334 ﾟ 167 ﾟ 167 ﾟ J2 220 ﾟ 110 ﾟ 110 ﾟ J3 334 ﾟ 167 ﾟ 167 ﾟ J4 210 ﾟ 105 ﾟ 105 ﾟ J5 334 ﾟ 167 ﾟ 167 ﾟ J6 170 ﾟ 85 ﾟ 85 ﾟ J7 360 ﾟ 180 ﾟ 180 ﾟ Reduction ratio J1 145 2 J2 120 J3 126 25 J4 106 667 J5 110 528 J6 50 J7 10 Encoder Resolution J1 17 bit J2 17 ...

Страница 6: ...www nexcobot com 1 Cycle time The cycle time is the time that the robot moves forward and backward in the vertical height 25mm and the horizontal distance 300mm with 1 kg load Manipulator Outer Dimension and Motion Range ...

Страница 7: ...3 NEXCOBOT Co Ltd www nexcobot com ...

Страница 8: ... of center of gravity when the 1kg payload and the distance limits and range of motion for the tip of the arm The horizontal axis indicates the distance in X direction or Y direction parallel to the flange surface at the tip of the arm whereas the vertical axis indicates the distance in Z direction perpendicular to the flange surface at the tip of the arm both in mm ...

Страница 9: ... driver overload alarm will occur in this case it can be dealt with by adjusting the arm s posture and or reducing acceleration or deceleration Cabinet specifications Item Specification Axis 7 Motion type Point To Point Continuous Path Drive system Servo Motor Protocol EtherCAT I O Input 16 Output 15 Power Consumption Input voltage VAC Single phase 220VAC Max rated current 10A Voltage frequency Hz...

Страница 10: ...6 NEXCOBOT Co Ltd www nexcobot com Cabinet Outer Dimension The dimensions of the electric control box in mm are shown below ...

Страница 11: ...ly connector Single phase 220VAC 60Hz 10A 4 Lan port Connect the Ethernet cable 5 USB 3 0 ports Connect the USB memory 6 USB 2 0 ports Connect the USB memory 7 HDMI port Connect the Monitor 8 RS232 port This port is used for the RS 232C communication with external devices 9 Lan port option Connect the Ethernet cable 10 Teach pendant port Connect the Teach Pendant 11 I O port This port is used for ...

Страница 12: ...8 NEXCOBOT Co Ltd www nexcobot com 2 Installation Mounting base The installation base is shown below The robot consists of the following components Front side of robot ...

Страница 13: ... 6 DI 5 28 DO 7 7 DI 6 29 24V 8 DI 7 30 0V 9 24V 31 DO 8 10 0V 32 DO 9 11 DI 8 33 DO 10 12 DI 9 34 DO 11 13 DI 10 35 DO 12 14 DI 11 36 DO 13 15 DI 12 37 DO 14 16 DI 13 38 DO 15 17 DI 14 39 24V 18 DI 15 40 0V 19 24V 41 EXT_EMG_1A 20 0V 42 EXT_EMG_1B 21 DO 0 43 EXT_EMG_2A 22 DO 1 44 EXT_EMG_2B DI 1 DI 1 is used for Emergency Button DI connection drawing ...

Страница 14: ...10 NEXCOBOT Co Ltd www nexcobot com DO connection drawing Mounting flange The power switch side is show below Step I represent power on O represent power off ...

Страница 15: ...ation tool NexGRC After installing Cabinet robot and NexGRC software on the Cabinet Home Menu NexGRC main page is shown as below Home Menu is highlighted with red box which include Program Jog I O Monitor Configuration Message Setting Shutdown ...

Страница 16: ...12 NEXCOBOT Co Ltd www nexcobot com Status User can choose which robot to use ...

Страница 17: ...13 NEXCOBOT Co Ltd www nexcobot com Click Enable if user wants to start control robot The status will become Standby Operation Mode ...

Страница 18: ...14 NEXCOBOT Co Ltd www nexcobot com Select operation mode before user operator robot T1 and T2 are manual mode AUTO is auto mode Click Enable to start control robot then status will become STAND STILL ...

Страница 19: ...T Co Ltd www nexcobot com Speed The speed icon describe the speed percentage of robot movement while executing program or jogging robot User can change speed percentage value from 0 to 100 System function Program ...

Страница 20: ...obot script user need to use command page to select desire command for robot script and user also need to set the desire parameters for selected command For example if user want to control robot to move to P2 point first step is selecting PTP P2 Vel 50 ACC Dec 150 from Script Command and keep pressing Step button and then robot will move to P2 position ...

Страница 21: ...ser want to operate robot to run whole robot script once user should keep pressing Once button until robot movement is finished While operating with auto mode If robot will have collision with obstacle user can click Stop button to stop robot ...

Страница 22: ...ocity and Acceleration PTP LIN Set Do Wait DI Wait Sec Ex Axis are the commands for user writing their own robot script User can use Move Up Move Down or Delete command to change the script line sequence after changing script line sequence user need to click save button for saving current robot script to file ...

Страница 23: ...19 NEXCOBOT Co Ltd www nexcobot com User can see position of each point in Point page User need to click Update Point to save new position to selected point JOG ...

Страница 24: ...20 NEXCOBOT Co Ltd www nexcobot com There are two methods to control robot 1 You can control robot by Cartesian space 2 User can jog robot In Jog page ...

Страница 25: ...BOT Co Ltd www nexcobot com I O The status of each DI digital input and DO digital input channel appears on the I O channel setup page User need to click state if user would like to actuating device through I O ...

Страница 26: ...22 NEXCOBOT Co Ltd www nexcobot com For example if user would like to control robot gripper through I O device then user will see state become green after you enable state Monitor ...

Страница 27: ... www nexcobot com In position page you can see degree of axis and Cartesian s space In status page OP bit will become on if robot is doing PTP movement ACC MV and DEC bit will become ON if robot is doing linear movement ...

Страница 28: ...24 NEXCOBOT Co Ltd www nexcobot com Configuration Tool Information ...

Страница 29: ...25 NEXCOBOT Co Ltd www nexcobot com Manipulator and tool setting page Tool coordinate origin information ...

Страница 30: ...26 NEXCOBOT Co Ltd www nexcobot com Homing Setting of tool User can set home position of robot in Home page ...

Страница 31: ...EXCOBOT Co Ltd www nexcobot com Please make sure robot is on homing position before start to control robot And please check each joint s groove is aligned which is shown as below Axis 1 Axis 2 Axis 3 Axis 4 ...

Страница 32: ...28 NEXCOBOT Co Ltd www nexcobot com Axis 5 Axis 6 Axis 7 ...

Страница 33: ...29 NEXCOBOT Co Ltd www nexcobot com User can set velocity and deceleration for each axis User can set velocity and deceleration with Cartesian space ...

Страница 34: ...30 NEXCOBOT Co Ltd www nexcobot com User can set velocity and deceleration of orientation with Cartesian space User can set velocity limit of position and maximum acceleration limit in limit page ...

Страница 35: ...31 NEXCOBOT Co Ltd www nexcobot com Setting Setting page list NexGRC Framework version NexMotion Library version and NMXP Library version ...

Страница 36: ...uage page Currently NexGRC support Chinese Chinese Simplified and English User login System default password is empty which you can edit Account Name and Account Authority Strong password recommended For your device own safety please create a strong password of your own choosing ...

Страница 37: ...33 NEXCOBOT Co Ltd www nexcobot com Shutdown Always shut down the controller properly Please use the shutdown function in the Home Menu Message Message page include two pages System page and User page ...

Страница 38: ...34 NEXCOBOT Co Ltd www nexcobot com ...

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