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Chapter 3 Components and Functional Description

Document Version V3.0 (01-11-2023) 7

represented by rotation angle of each axis.

The "+" and "-" indicating directions of the axes are

applicable to the joint coordinate system.

Figure 3-3 Trajectories of each axis

Содержание Hermes

Страница 1: ......

Страница 2: ...User Manual Hermes Robot HM3 0800 0652 0000 HM8 0500 0652 0000 QKM Technology Dongguan Co Ltd Version V3 0 Date 01 11 2023...

Страница 3: ...vides detailed information on product features main components installation guide system debugging and technical specifications of Hermes Robot so that users can fully understand and properly use the...

Страница 4: ...es an imminently hazardous situation which if not avoided will result in death or serious injury It indicates that a potentially dangerous situation would occur and cause personal injuries or equipmen...

Страница 5: ...e manufacture process and use this product and its related parts Trademark statement is the trademark of QKM Technology Co Ltd and QKM possesses the ownership of the trademark Disclaimer QKM takes no...

Страница 6: ...chnology Dongguan Co Ltd Head Office Block A Building 17 No 1 Head Office No 4 Xinzhu Road Songshanhu High tech Industrial Development Zone Dongguan City Tel 86 0769 27231381 Fax 86 0769 27231381 8053...

Страница 7: ...nt V1 0 01 14 2022 The first version V2 0 07 08 2022 Modified Chapter 3 subsection 3 3 1 Horizontal Workspace And add a description of the hard limit V2 1 07 29 2022 In subsection 6 7 2 add a descript...

Страница 8: ...e pictures of the ARM installation process in Section 6 2 3 Modify the interface picture and operation steps of the new version of ARM in Section 6 3 4 Modify Section 6 4 Macro Command Debugger Functi...

Страница 9: ...Revision history Document Version V3 0 01 11 2023 VII speed adjustment control in Section 6 8 9 Added 6 10 Robot power off method 1 and method 2 operation steps and added method 3...

Страница 10: ...res XIV List of tables XIX Chapter 1 Safety Precautions 1 1 1 Precautions for general safety 1 1 2 Precautions for safe operation 4 1 3 Safety signs 5 Chapter 2 Product Overview 1 2 1 Introduction 1 2...

Страница 11: ...e 8 3 4 Robot coordinate system 11 3 5 Specification and dimension 12 3 5 1 Overall dimension 12 3 5 2 Base dimensions 14 3 6 Technical parameters 16 3 7 Environmental parameters 16 3 8 Electrical par...

Страница 12: ...MCP interface MCP E stop 26 4 3 4 Communication interface RS 232 28 4 3 5 Communication interface RS 485 30 4 3 6 Ethernet interface LAN RTN1 RTN2 30 4 3 7 Digital input output interface I O 32 Chapte...

Страница 13: ...48 5 8 3 Power connection 49 5 8 4 Check after installation 50 5 8 5 Check before power on 51 5 9 Installation of end fixture 52 5 10Robot movement and storage 53 Chapter 6 Robot Operation 54 6 1 Pre...

Страница 14: ...P connection failure 70 6 4 5 Query on description of macro language instructions 73 6 4 6 Input instructions 73 6 4 7 Run instructions 76 6 4 8 Breakpoint debugging 77 6 4 9 Output 78 6 4 10 Clear ou...

Страница 15: ...ower on 97 6 8 Speed adjustment 100 6 8 1 Adjustment of system speed 100 6 8 2 Adjustment of robot speed 101 6 8 3 Speed adjustment during motion 104 6 9 Emergency stop and recovery 105 6 9 1 Emergenc...

Страница 16: ...800 0652 0000 with hard limit 9 Figure 3 6 HM8 0500 0652 0000 no hard limit 10 Figure 3 7 HM8 0500 0652 0000 with hard limit 11 Figure 3 8 World coordinate system 12 Figure 3 9 Dimensions of HM3 Robot...

Страница 17: ...right 36 Figure 5 1 Reserved space at the back of the base 40 Figure 5 2 Installation diagram 41 Figure 5 3 Installation position of external parts unit mm 42 Figure 5 4 Camera installation diagram 4...

Страница 18: ...RM interface 61 Figure 6 7 Macro Command Debugger 61 Figure 6 8 Macro Command Debugger 62 Figure 6 9 Menu bar of macro command debugger ARM 62 Figure 6 10 Customize the editing interface ARM 65 Figure...

Страница 19: ...22 Add a breakpoint 78 Figure 6 23 Output 79 Figure 6 24 Clear output 80 Figure 6 25 Save output 80 Figure 6 26 Switch to QRL mode 81 Figure 6 27 New Solution 82 Figure 6 28 Enter a solution name 83 F...

Страница 20: ...ure 6 40 New Profile Array 91 Figure 6 41 Profile Array information interface 92 Figure 6 42 data qlv program content 92 Figure 6 43 Save to PC Location 93 Figure 6 44 Download History Paths interface...

Страница 21: ...4 1 Introduction of interface panel 21 Table 4 2 Description of power indicator 22 Table 4 3 Description of system indicator status 22 Table 4 4 Definition of power interface pins 23 Table 4 5 Defini...

Страница 22: ...023 Table 5 1 Tightening torque 45 Table 6 1 Functions of tools on the macro command debugger 62 Table 6 2 Introduction to tools on the jog teach interface 96 Table 6 3 Introduction to tools on the Se...

Страница 23: ...al operations Personnel who use this product for system design operation and maintenance must be trained by QKM or relevant institutions or have the same professional skills Personnel must read this m...

Страница 24: ...ects around the robot which may cause damage to it As the robot may be scratched and bumped due to the motion of its movable mechanical parts users should carry out risk assessment of the operation en...

Страница 25: ...d maintenance of the robot according to the manual and related requirements and timely replace damaged parts to ensure safe operation and service life of the robot Before operating maintaining and tes...

Страница 26: ...amming of the robot Only qualified designated personnel who correctly understand the precautions for safe operation master the using method and receive specialized training can operate maintain and re...

Страница 27: ...equirements and timely replace damaged parts to ensure safe operation and service life of the robot If the robot and its components are scrapped and shall be discarded please handle the industrial was...

Страница 28: ...anual 6 Document Version V3 0 01 11 2023 No Labeling Notes 1 A triangle sign for warning of high voltage 2 Grounding sign 3 Do not disassemble the robot to prevent failures 4 A sign for protection fro...

Страница 29: ...h high precision high speed and adopts the AIO drive control power design highly integrating drive components control components IO ports and power supply into the robot body the robot with 2 DOF can...

Страница 30: ...oller improves electromagnetic compatibility EMC EMI and system stability High precision is perfectly fitting for high precision laminating and assembly applications 2 3 Model implication Figure 2 2 M...

Страница 31: ...3 Table 2 1 Model preview Model Name Rate d Load kg Maximu m Load kg Horizont al Work Space mm Installati on Protectio n Grade Operating environme nt HM3 0800 0652 0 000 1 3 800 Tabletop mounting IP...

Страница 32: ...rminal flange By taking HM3 0800 0652 0000 as an example it is introduced below with its appearance and structure shown in Figure 3 1 Figure 3 1 Overall structure of Hermes Robot Hermes Robot has mech...

Страница 33: ...rs etc are arranged on the interface board of the base back Four through holes and two pin holes are provided at the installation location of the base for accurate fixation of the robot 3 1 2 Mechanic...

Страница 34: ...For connecting power Ethernet cables etc 2 Grooved handrail Convenient for users to handle the robot 3 LED Indicators It indicates the status of the robot Refer to Section 4 1 for details For details...

Страница 35: ...Functional Description Document Version V3 0 01 11 2023 7 represented by rotation angle of each axis The and indicating directions of the axes are applicable to the joint coordinate system Figure 3 3...

Страница 36: ...Hermes Robot User Manual 8 Document Version V3 0 01 11 2023 3 3 Work space 3 3 1 Horizontal Work Space Figure 3 4 HM3 0800 0652 0000 no hard limit...

Страница 37: ...Chapter 3 Components and Functional Description Document Version V3 0 01 11 2023 9 Figure 3 5 HM3 0800 0652 0000 with hard limit...

Страница 38: ...Hermes Robot User Manual 10 Document Version V3 0 01 11 2023 Figure 3 6 HM8 0500 0652 0000 no hard limit...

Страница 39: ...ard limit The factory default of the robot is no hard limit Users can add the hard limit according to the actual situation and the materials related to the hard limit are not provided for the time bei...

Страница 40: ...Hermes Robot User Manual 12 Document Version V3 0 01 11 2023 applicable to the cartesian coordinate system Figure 3 8 World coordinate system 3 5 Specification and dimension 3 5 1 Overall dimension...

Страница 41: ...ment Version V3 0 01 11 2023 13 HM3 0800 0652 0000 Figure 3 9 Dimensions of HM3 Robot with an arm length of 800 Unit mm Figure 3 10 Dimensions of HM3 Robot with an arm length of 800 Unit mm 150 mm spa...

Страница 42: ...rsion V3 0 01 11 2023 HM8 0500 0652 0000 Figure 3 11 Dimensions of HM8 Robot with an arm length of 500 Unit mm Figure 3 12 Dimensions of HM8 Robot with an arm length of 500 Unit mm 3 5 2 Base dimensio...

Страница 43: ...n V3 0 01 11 2023 15 HM3 0800 0652 0000 Figure 3 13 Dimensions of HM3 Robot with an arm length of 800 Unit mm HM8 0500 0652 0000 Figure 3 14 Dimensions of HM8 Robot with an arm length of 500 Unit mm T...

Страница 44: ...500 J1 425 250 J2 375 250 Maximum speed J1 J2 mm s 11000 7000 Work space J1 132 135 J2 135 140 Repeated positioning accuracy J1 J2 mm 0 03 0 025 Rated load Kg 1 3 Maximum load Kg 3 8 Total weight kg 3...

Страница 45: ...erference source electrostatic discharge etc in the vicinity Vibration Free from influence by strong impact and vibration The robot is not suitable for work in harsh environmental conditions If used i...

Страница 46: ...7 Robot electrical parameters Item Parameter Rated voltage 230V a c 50 60Hz Rated Power 2 kW Motor brake voltage 24 V d c I O interface 20 universal digital inputs 6 high speed inputs 2 analog inputs...

Страница 47: ...tion to Electrical Interfaces 4 1 External electrical interface The electrical interfaces of Hermes Robot mainly include power interface communication interface and user interface etc which are distri...

Страница 48: ...Hermes Robot User Manual 20 Document Version V3 0 01 11 2023 4 1 1 Base interface panel Figure 4 2 Schematic diagram of interface panel...

Страница 49: ...ED Main power indicator 6 POWER Power interface 7 Auxiliary Encoder Auxiliary encoder interface 8 RS 232 Communication interface 9 RTN2 Real time Ethernet interface 2 10 MCP Emergency stop component i...

Страница 50: ...lar LED light and shows different colors when the robot works The status of the system indicator is described below Table 4 3 Description of system indicator status State Description OFF Indicates tha...

Страница 51: ...s Document Version V3 0 01 11 2023 23 pins 4 3 1 Power interface POWER Table 4 4 Definition of power interface pins Pin Function Description 230 V a c Power Interface 1 L Live wire 4 pin male front pi...

Страница 52: ...ary Encoder Axis No Pin Function Description 12 pin female front pinout Axis 1 01 Output 5 V d c 5 V d c output power 02 GND Common ground 03 1A Axis 1 A 04 1B Axis 1 B 05 1Z Axis 1 Z 06 F G Shielded...

Страница 53: ...herwise the internal circuit of the robot will be burnt The auxiliary encoder and main encoder on the same axis share one way 5V power supply with maximum continuous output current of 500 mA typical o...

Страница 54: ...when an external manual control pendent MCP is connected and function 2 is enabled under emergency conditions MCP emergency stop is classified as type 1 Table 4 6 MCP Definition of MCP pins MCP interf...

Страница 55: ...4 V d c output power 05 BI_D4 Two way data 06 BI_D4 Two way data 07 E STOP_0 Emergency stop contact 0 E STOP_0 08 GND Common ground GND 09 10 11 E STOP_2 Emergency stop contact 2 E STOP_2 12 GND Commo...

Страница 56: ...232 Table 4 7 Definition of RS 232 pins Definition of RS 232 pins Pin Function Description 9 pin male front pinout 01 Unused 02 RXD Receive data 03 TXD Transmit data 04 Unused 05 GND Ground terminal...

Страница 57: ...Chapter 4 Introduction to Electrical Interfaces Document Version V3 0 01 11 2023 29 06 Unused 07 Unused 08 Unused 09 Unused...

Страница 58: ...interface RS 485 Table 4 8 Definition of RS 485 pins Definition of RS 485 pins Pin Function Description 9 pin female front pinout 01 Unused 02 Unused 03 Unused 04 Unused 05 Unused 06 Unused 07 GND Gro...

Страница 59: ...4 9 Definition of Ethernet interface pins Ethernet interface Pin Signal name Description 8 core positive pinout 01 TX_D1 Transmit data 02 TX_D1 Transmit data 03 RX_D2 Receive data 04 BI_D3 Two way dat...

Страница 60: ...description of each pin on the interface as shown in Figure 4 11 Table 4 10 Definition of I O interface pins Definition of I O interface pins 62 core female front pinout Pin Function Signal code Desc...

Страница 61: ...109 General output 9 14 E DO_10 20110 General purpose output 10 15 Output 24 V d c 24 V d c output power 16 GND Common ground 17 E DO_11 20111 General output 11 18 E DO_12 20112 General purpose output...

Страница 62: ...nput 3 32 E HDI_4 30104 High speed input 4 33 HGND High speed input common ground 34 E DI_1 10101 General input 1 35 E DI_2 10102 General input 2 36 E DI_3 10103 General input 3 37 E DI_4 10104 Genera...

Страница 63: ..._16 10116 General input 16 51 E DI_17 10117 General input 17 52 E DI_18 10118 General input 18 53 E DI_19 10119 General input 19 54 E DI_20 10120 General input 20 55 GND Common ground 56 E HDI_5 30105...

Страница 64: ...y digital output DO indicates NPN output in open circuit mode with a maximum operating frequency of 1kHz and a maximum current of less than 200mA 2 The ordinary digital input DI indicates input in PNP...

Страница 65: ...n with the DO it serves as an active output to provide energy to the outside and can be connected to resistive inductive and capacitive loads The one way 24V DC power supply has a maximum output curre...

Страница 66: ...the robot by themselves The shape and size of the rack may vary depending on the purpose of the robot system The rack must withstand the weight of the robot and the dynamic force produced when the ro...

Страница 67: ...e mechanical arm should be iron plate with a thickness of 20 mm or more a surface roughness of 25 m or less and a flatness of less than 0 5 mm The poor accuracy of the installation surface would degra...

Страница 68: ...trong and rigid The bottom plate with a thickness of 20mm or more is recommended Position and install the robot base through four instillation holes and two pin holes Then use the hex socket bolts M12...

Страница 69: ...ng list should contain HM3 Robot body Accessories box containing user manual In case of any damage or component incompletion after unpacking please contact QKM or local office 5 3 Installation site an...

Страница 70: ...from flammable or corrosive liquids or gases and sources of electrical interference 5 4 Installation of external parts External equipment such as vision camera solenoid valve etc can be installed thro...

Страница 71: ...rs by yourself Figure 5 4 Camera installation diagram 5 5 Handling of robot Use a forklift or the like to handle the robot in a packed state as far as possible Comply with the following requirements w...

Страница 72: ...remove the fixing bolts or the robot fixed on the handling pallet would roll over Be careful to avoid clamping your hands or feet by the robot The robot must be held by at least two persons with their...

Страница 73: ...e bolts elastic washers and flat washers to install the base The dimensions and installation of the bolts and washers are shown in Figure 5 6 Figure 5 6 Install bolts on the base CAUTION The base of t...

Страница 74: ...s when connecting to the robot Check whether the above conditions exist before connection When cabling the robot do not interfere with the motion of the robot Interference would be caused in the area...

Страница 75: ...e power Figure 5 7 Grounding diagram 5 8 1 Communication connection Hermes Robot communicates via Ethernet Cable to be used CAT5E network cable Step 1 Install one end of the network cable to the Ether...

Страница 76: ...ith cable at delivery Cable to be used cable for emergency stop device The wiring steps are shown below Step 1 Take out the provided emergency stop device and install its aviation plug at the MCP inte...

Страница 77: ...ated design without power supply box for power connection which is convenient for use Cable to be used Power cable The wiring steps are shown below Step 1 Take the power cable out of the accessories b...

Страница 78: ...r and mark with warning signs e g Do not turn on the power Avoid poor contact and ensure that the screw cap of the power connector is rotated to the end without loosening Provide 220 V a c power suppl...

Страница 79: ...that 1 each fastener of the robot is free from loose connection 2 necessary protective devices have been properly installed and functioned well 3 the voltage level of the energized electrical equipmen...

Страница 80: ...off the power before installing the end fixture If the end fixture installation is conducted under the condition that the power is not turned off damage to the robot system and unnecessary personnel i...

Страница 81: ...the robot hold it by hand to ensure balance The loss of balance may cause the robot to fall resulting in personal injury and damage to the robot To reassemble the robot after long term storage and re...

Страница 82: ...of ARM the functions and usage of macro language development interface the functions of jog teach interface servo power on speed adjustment emergency stop and recovery and robot power off operation U...

Страница 83: ...ssing interactions between users and projects etc 2 Proficiency in QRL language QRL QKM Robot Language is a robot secondary development language based on Lua language and independently defined on the...

Страница 84: ...s follows Download the QKMLink installation package at the official website of QKM and install QKMLink The ARM installation package has integrated QKMLink so QKMLink will be installed automatically wh...

Страница 85: ...for download environment and memory 1 Win7 Win8 Win10 systems 2 Memory 2G or more 6 2 1 Installation steps Step 1 Download an ARM installation package at the official website of QKM as shown in Figur...

Страница 86: ...58 Document Version V3 0 01 11 2023 Figure 6 2 Start installation Step 3 Click on Next as shown in Figure 2 3 Figure 6 3 Choose installation path Step 4 Choose the installation path and click on Next...

Страница 87: ...Chapter 6 Robot Operation Document Version V3 0 01 11 2023 59 Figure 6 4 Successful installation Step 5 Click on Install to complete the installation...

Страница 88: ...installed ARM to open the ARM interface and then click window on the menu bar to switch to Pallas mode as shown in Figure 6 5 Figure 6 5 ARM interface Step 2 On the interface of ARM in Pallas mode cl...

Страница 89: ...Chapter 6 Robot Operation Document Version V3 0 01 11 2023 61 Figure 6 6 ARM interface Step 3 The macro command debugger is shown in Figure 6 7 Figure 6 7 Macro Command Debugger...

Страница 90: ...debugger is used in the installed ARM programming environment 6 4 1 Macro Command Debugger interface Figure 6 8 Macro Command Debugger 6 4 2 Menu bar Figure 6 9 Menu bar of macro command debugger ARM...

Страница 91: ...es Start Note Run all instructions in order Continue Pause Stop Single step Previous Jump Clear There are two options i e Single and Cycle Click on the inverted triangle to select Hide and show 10 ins...

Страница 92: ...uctions will be added to the right side of the interface for easy access next time For example add the command of servo power on in the interface Step 1 Click the arm software debugging environment an...

Страница 93: ...e right side of the macro command debugge To call the command of servo power on again the user can directly click the shortcut key of servo power on on the right side of macro command debugger and the...

Страница 94: ...V3 0 01 11 2023 Figure 6 11 call the command shortcut interface ARM 6 4 4 Establish IP communication Step 1 Open the ARM debugging environment then click the button in the menu bar Connect or disconne...

Страница 95: ...01 11 2023 67 Figure 6 12 connection interface Step 2 Click the lower left corner to enter the scanning interface the Scan interface will automatically scan the IP address of the robot click the IP a...

Страница 96: ...wn in Figure 6 14 The IP addresses of the robot and the host computer must remain on the same network segment The IP of the robot is 192 168 10 120 then that of the host computer can be set to 192 168...

Страница 97: ...essful IP connection The premise of successful IP connection is that the IP addresses of the robot and the host computer are on the same network segment Upon successful connection there is a prompt of...

Страница 98: ...al 70 Document Version V3 0 01 11 2023 Figure 6 15 Successful connection 6 4 4 2IP connection failure When the connection fails the Error prompt dialog box will pop up as shown in Figure 6 16 Figure 6...

Страница 99: ...er and the robot is connected normally or whether the network port connected to the robot is correct and the network port connected to the robot by the network cable is a LAN port Step 2 If the robot...

Страница 100: ...fter If the specific values of the parameters of byte time and TIL are returned it indicates that the network is connected as shown in the figure Note The IP in the figure is just an example The corre...

Страница 101: ...uring robot debugging For details please refer to the QKM Robot Instruction Manual Double click the button in the interface to open the QKM Robot Command Manuall When you click a corresponding macro l...

Страница 102: ...ween case and instruction and the default first letter of instruction is uppercase When inputting a single instruction you can enter the first letter of the instruction If you want to select an instru...

Страница 103: ...6 Robot Operation Document Version V3 0 01 11 2023 75 Figure 6 19 Input instructions All instructions contained under the instruction set can be prompted automatically when you enter as shown in Figu...

Страница 104: ...s in the instruction editing area one by one in sequence The results are displayed in the instruction output area as shown in Figure 6 21 If you select the All key on the upper right of the output are...

Страница 105: ...nt debugging If you need to debug or run an instruction separately you can locate it by adding a breakpoint before the instruction Method of adding a breakpoint Click the left mouse button at the posi...

Страница 106: ...er running is displayed as shown in Figure 6 23 The output interface contains the feedback information of each command If the command is successfully executed the feedback result will be displayed in...

Страница 107: ...6 Robot Operation Document Version V3 0 01 11 2023 79 Figure 6 23 Output 6 4 10 Clear output Click the Clear button in the upper right corner of the output area to complete the clear as shown in Figu...

Страница 108: ...n V3 0 01 11 2023 Figure 6 24 Clear output 6 4 11 Save output If you need to save the output you can click the Save button in the upper right corner of the output box to save it in the log format as s...

Страница 109: ...and then click the lit button on the left to switch to the QRL mode When clicking the button a pop up window will appear to confirm whether you would like to switch to QRL mode Click OK to switch as...

Страница 110: ...cation under Pallas Solution Explorer Step 1 Right click in the space below Remote Location and click New Solution as shown in Figure 6 27 Figure 6 27 New Solution Step 2 After the New Solution interf...

Страница 111: ...igure 6 28 Enter a solution name Step 3 After the creation is completed the corresponding solution file will appear below Remote Location Expand the test file and then the project file which contains...

Страница 112: ...e written in this file Double click to open the main ql file the corresponding program content will appear in the middle of the ARM debugging interface as shown in Figure 6 30 The program content in t...

Страница 113: ...5 4 Introduction to data qlv data qlv is the robot motion point and motion parameter setting file Double click to open the data qlv file and the data qlv interface will pop up as shown in Figure 6 32...

Страница 114: ...lected point position Move Line Switch to the pattern to control the linear movement of the robot to the selected point position New Location Add the point of the robot s current position in the curre...

Страница 115: ...Edit Switch to file programming and manually write coordinate points or motion parameters Save Save modified information in data qlv Cancel Cancel information modification and close the data qlv inter...

Страница 116: ...dinate position will appear in the interface The point name is the default name and you can click Rename to modify it as shown in Figure 6 34 Figure 6 34 New LocationJ Step 3 New Profile Click New Pro...

Страница 117: ...y in Location Array and the New Array interface will pop up Enter the array name and array length and click OK as shown in Figure 6 36 Figure 6 36 New Location Array After completion the Location Arra...

Страница 118: ...Click New Array in LocationJ Array and the New Array interface will pop up Enter the array name and array length and click OK as shown in Figure 6 38 Figure 6 38 New LocationJ Array After completion t...

Страница 119: ...Array Click New Array in Profile Array and the New Array interface will pop up Enter the array name and array length and click OK as shown in Figure 6 40 Figure 6 40 New Profile Array After completio...

Страница 120: ...lv will appear in the ARM debugging interface showing the point and motion parameter information added in the above steps as shown in Figure 6 42 Figure 6 42 data qlv program content 6 5 5 Saving and...

Страница 121: ...Figure 6 43 Save to PC Location Step 2 Click the button in the download history path select the path where the file needs to be saved and click OK Step 3 A path will appear in the download history pat...

Страница 122: ...ill also appear in the corresponding save path as shown in Figure 6 45 Figure 6 45 PC Location file interface 6 6Manual jog teaching On the ARM interface click Tools Robot Controls Jog Control and the...

Страница 123: ...Chapter 6 Robot Operation Document Version V3 0 01 11 2023 95 Figure 6 46 Jog teach Figure 6 47 Teach interface...

Страница 124: ...u can select Joint World Tool o r UseFrame Jog Mode You can select Jog Step or Disable in this mode Inching distance Manually enter the distance value for each inching Robot coordinate Coordinates in...

Страница 125: ...d to control the motion of the robot separately you can click X X etc to control the motion of the robot in the direction of X etc 6 7Servo power on When controlling the motion of the robot through th...

Страница 126: ...peed of the whole system by percentage Robot Speed The user adjusts the running speed of the robot by percentage After the robot is powered on for the first time or restarted after a power off a Unhom...

Страница 127: ...o as shown in Figure 6 48 Figure 6 48 Power on button interface Method 2 send macro instruction Enter Robot Home robotIndex in the instruction editing area on the macro command debugger to send a powe...

Страница 128: ...robot For example Robot PowerEnable 1 1 the robot at the first node is powered on 6 8Speed adjustment There are three speeds System speed Robot speed Speed in robot motion parameters 6 8 1 Adjustment...

Страница 129: ...t of system speed Method 2 send macro instruction Enter System Speed value in the instruction editing area on the macro language interface to send instructions to the robot Where value indicates the v...

Страница 130: ...50 Figure 6 50 Speed adjustment Method 2 send macro instruction Prerequisites 1 The robot is stopped 2 The control authority is 0 1 set authority with System LogIn Enter Robot Speed robotIndex value o...

Страница 131: ...oad Using the robot under the condition of exceeding the rated load or rated speed for a long time will cause the speed reducer and other parts to accelerate wear and lead to reduced service life 2 Th...

Страница 132: ...certain point in the process of robot motion send a macro instruction Step 1 Enter Profile profileName Speed Speed2 Accel Decel AccelRamp DecelRamp InRange Type Time BlendType BlendValue in the instru...

Страница 133: ...y is 0 1 set authority with System LogIn Step 2 Enter Profile Set robotIndex ProfileName and send an instruction to the robot Where robotIndex is the index of the robot and its type is Integer Profile...

Страница 134: ...al operations should be adjusted according to different scenarios The robot may be stopped in an open area or stuck between obstacles The handling methods are shown in Table 6 4 Ensure that the robot...

Страница 135: ...a safe position Release the brake button and manually operate the robot to move it to a safe position 6 10 Robot power off When it is necessary to stop or maintain the robot it needs to be powered of...

Страница 136: ...power switch on the robot Method 2 send macro instruction Prerequisites Manual or auto mode The control authority is 0 1 set authority with System LogIn Step 1 Stop the program that the robot is runni...

Страница 137: ...gging the power cable if there is a power switch on the robot Method 3 press the emergency stop button Step 1 Stop the program that the robot is running Step 2 Press the emergency stop button and the...

Страница 138: ...to help you remove faults and reply to your inquiry in detail If your robot or equipment fails during use you can contact our service department and provide information below as much as possible Model...

Страница 139: ......

Страница 140: ...HL6 Series 6 Axis Robot User Manual 46 Document Version V3 0 01 11 2023...

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