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Contents

Document Version V1.1.0(01/11/2023) XI

7.4.10

Clear output

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7.4.11

Save output

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7.5

QRL

MODE

.....................................................................................................

7.5.1 Switch to QRL mode

.............................................................................

7.5.2 Creating QRL project files

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7.5.3 Introduction to "main.ql"

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7.5.4 Introduction to "data.qlv"

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101

7.5.5 Saving and downloading program locally

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107

7.6

ANUAL JOG TEACHING

...................................................................................

109

7.7

ERVO POWER

..........................................................................................

112

7.8

PEED ADJUSTMENT

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115

7.8.1

Adjustment of system speed

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116

7.8.2

Adjustment of robot speed

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117

7.8.3

Speed adjustment during motion

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119

7.9

MERGENCY STOP AND RECOVERY

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121

7.9.1

Emergency stop

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121

7.9.2

Recovery

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......................................................................................

122

Chapter 8

Specifications

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125

Содержание AP3X

Страница 1: ...is the trademark of QKM Technology Dongguan Co Ltd QKM has been granted ownership of this trademark...

Страница 2: ...User Manual AP3X Robot AP3X 1130 1653 AP3X 1130 1654 AP3X 1600 1653 AP3X 1600 1654 QKM Technology Dongguan Co Ltd Document Version V1 1 0 Issue Date 01 11 2023...

Страница 3: ...detailed information on product features main components installation guide system debugging and technical specifications of AP3X Robot so that users can fully understand and properly use the robot R...

Страница 4: ...gerous situation would occur and cause deaths or serious injuries if it is not avoided It indicates that a potentially dangerous situation would occur and cause personal injury or robot damage if it i...

Страница 5: ...duce manufacture process and use this product and related parts Trademark statement is the trademark of QKM Technology Dongguan Co Ltd QKM has been granted ownership of this trademark Disclaimer QKM d...

Страница 6: ...ongguan Co Ltd Headquarters Tower A Building 17 Headquarters 1 No 4 Xinzhu Road Songshan Lake High tech Industrial Development Zone Dongguan City Guangdong Province Tel 86 0769 27231381 Fax 86 0769 27...

Страница 7: ...Version Issue Date Revision Content V1 0 0 12 23 2021 The first version of the document was released V1 0 1 06 01 2022 In subsection 7 7 2 add a description of the robot motion speed V1 0 2 11 25 2022...

Страница 8: ...roduction and Operation Procedures 5 Added Section 7 5 QRL Mode Description and Operation Content 6 Modify the manual teaching interface picture and operation steps in Section 7 6 7 Modify Section 7 7...

Страница 9: ...bles XIX Chapter 1 Safety Precautions 1 1 1 PRECAUTIONS FOR GENERAL SAFETY 1 1 2 PRECAUTIONS FOR SAFE USE 3 1 3 MODEL IMPLICATION 5 Chapter 2 Product Overview 7 2 1 OVERALL INTRODUCTION 7 2 2 DIMENSIO...

Страница 10: ...DESCRIPTION 21 4 2 INDICATOR DESCRIPTION 23 4 3 DEFINITION OF PINS 25 4 3 1 Power interface 25 4 3 2 Definition of communication interfaces 25 4 3 3 Digital Input Output interface I O 26 4 3 4 Auxili...

Страница 11: ...on 45 5 3 BASE INSTALLATION 46 5 3 1 Installation surface 46 5 3 2 Downward installation preferred 47 5 3 3 Upward installation 51 5 4 INSTALLATION OF SLAVE ARM 53 5 5 INSTALLATION OF ROTATING SHAFT F...

Страница 12: ...ENT INSTALLATION 72 7 2 1 Installation steps 73 7 3 OPEN MACRO COMMAND DEBUGGER 75 7 4 FUNCTIONS OF MACRO COMMAND DEBUGGER 78 7 4 1 Macro Command Debugger interface 78 7 4 2 Menu bar 78 7 4 3 Introduc...

Страница 13: ...5 4 Introduction to data qlv 101 7 5 5 Saving and downloading program locally 107 7 6 MANUAL JOG TEACHING 109 7 7 SERVO POWER ON 112 7 8 SPEED ADJUSTMENT 115 7 8 1 Adjustment of system speed 116 7 8...

Страница 14: ...t User Manual XII Document Version V1 1 0 01 11 2023 8 1 ROBOT PARAMETERS 125 8 2 ENVIRONMENTAL PARAMETERSDS 128 Appendix A Dimensions of moving platform installation surface 131 Appendix B Robot base...

Страница 15: ...inate system 12 Figure 2 6 Output axis 1 and its mark number 13 Figure 3 1 Schematic diagram of AP3X Robot base 15 Figure 3 2 Schematic diagram of master arm 16 Figure 3 3 Schematic diagram of slave a...

Страница 16: ...obot body in the case 41 Figure 5 6 Schematic diagram of taking out the base 41 Figure 5 7 Schematic diagram of AP3X Robot rack 1 for reference 43 Figure 5 8 Schematic diagram of AP3X Robot rack 2 for...

Страница 17: ...Figure 5 23 Installation of rotating shaft 57 Figure 5 24 Locking of rotating shaft 57 Figure 5 25 Installation of 3 axis robots moving platform 59 Figure 5 26 Installation of 4 axis robots moving pl...

Страница 18: ...5 Figure 7 5 ARM interface 76 Figure 7 6 ARM interface 77 Figure 7 7 Macro Command Debugger 77 Figure 7 8 Macro Command Debugger 78 Figure 7 9 Menu bar of macro command debugger ARM 78 Figure 7 10 Cus...

Страница 19: ...3 Output 95 Figure 7 24 Clear output 96 Figure 7 25 Save output 96 Figure 7 26 Switch to QRL mode 97 Figure 7 27 New Solution 98 Figure 7 28 Enter a solution name 99 Figure 7 29 New Solution file inte...

Страница 20: ...n interface 107 Figure 7 42 data qlv program content 107 Figure 7 43 Save to PC Location 108 Figure 7 44 Download History Paths interface 109 Figure 7 45 PC Location file interface 109 Figure 7 46 Jog...

Страница 21: ...oder communication interface 30 Table 4 5 Definition of pins on RS 232 communication interface 32 Table 4 6 Definition of pins on RS 485 communication interface 32 Table 4 7 Assignment of pins on MCP...

Страница 22: ...AP3X Robot User Manual II Document Version V1 1 0 01 11 2023 Table 8 1 Specification parameters of AP3X Robot 125...

Страница 23: ...manufacturing must be trained by QKM or relevant institutions or have the same professional skills Before robot installation operation teaching programming and system development relevant personnel m...

Страница 24: ...and set up special facilities for protection The area equivalent to the motion area of the robot 100 mm is dangerous To prevent personnel from entering the motion area of the robot be sure to install...

Страница 25: ...when installing and maintaining the robot to prevent accidents Do not enter the work area of the robot after it is powered on to prevent danger To avoid personal injury and property damage caused by...

Страница 26: ...Make sure that nobody is within the robot s motion area and fence before operating the robot If a person accidentally enters the motion area of the operating robot or directly contacts the robot dang...

Страница 27: ...No Rotating shaft is not Custom sign positions marked by a combination of letters A Z and numbers 0 9 Reserved digit positions Number of axes 3 3 axis 4 4 axis IP grade 20 IP20 31 IP31 54 lP54 65 lP6...

Страница 28: ...Work space Degree of freedom Rotating shaft Moving platform installable AP3X 1130 1654 1130 mm 4 axis Yes Rotating shaft is installable AP3X 1600 1653 1600 mm 3 axis No Rotating shaft is not installab...

Страница 29: ...t with a heavy weight mainly used in food packaging 3C consumer electronics packaging pharmaceutical packaging and university research laboratories and can perform fast picking high speed sorting fetc...

Страница 30: ...al 8 Document Version V1 1 0 01 11 2023 Figure 2 1 Overall structure of AP3X Robot 2 2 Dimension parameters The overall dimensions of AP3X Robot are shown in Figure 2 2 The dimension parameters are de...

Страница 31: ...sion V1 1 0 01 11 2023 9 Figure 2 2 Robot overall dimensions Table 2 1 Robot overall dimension parameters Dimension parameter mm AP3X 1130 1653 AP3X 1130 1654 AP3X 1600 1653 AP3X 1600 1654 A 588 606 8...

Страница 32: ...Document Version V1 1 0 01 11 2023 2 3 Work space The motion space of AP3X Robot is shown in Figure 2 3 and Figure 2 4 The dimension parameters of the robot are described in Table 2 2 Figure 2 3 Front...

Страница 33: ...0 01 11 2023 11 Figure 2 4 Top view of robot work space Table 2 2 Parameters of AP3X Robot work space Work space mm AP3X 1130 1653 AP3X 1130 1654 AP3X 1600 1653 AP3X 1600 1654 B 222 222 265 265 C 78 7...

Страница 34: ...he extreme position of the theoretical work area when operating the robot 2 4 Robot coordinate system Figure 2 5 shows the world coordinate system of AP3X Robot in which the X axis of the robot is par...

Страница 35: ...bly used for precision assembly sorting and packaging in a standard cycle of 0 28 s AIO design with highly integrated controller and servo drive free from separate control cabinet High positioning acc...

Страница 36: ...d in the base and the servo motor is installed on the base an interface panel is installed at the side of the base indicating the status power and communication connection Refer to Chapter 4 for funct...

Страница 37: ...ase 3 2 Master arm The master arm is connected to the motor with a high accuracy reducer The carbon fiber tube and machined parts on the master arm are assembled with special technology The head of th...

Страница 38: ...to the master arm and positioned via the ball joint A tension is provided by the spring between the ball hinges at both ends of the slave arm The schematic diagram of the slave arm is shown in Figure...

Страница 39: ...ale is sealed and can be directly cleaned with water The connecting flange of the fixture is installed at the lower end of the spiale The upper end of the spiale is connected to the rotating shaft The...

Страница 40: ...b 3 axis moving platform Figure 3 4 Schematic diagram of moving platform Figure 3 4 AP3X 3 axis Robot AP3X 1130 1653 and AP3X 1600 1653 is not equipped with a spiale on the moving platform 3 5 Rotatin...

Страница 41: ...er of the rotating shaft The upper and lower universal joints are equipped with flat keys to ensure reliable transmission The schematic diagram of the rotating shaft is shown in Figure 3 5 Figure 3 5...

Страница 42: ...n acts as a heat sink and can remove the heat from the equipment during operation to ensure normal operation of the robot The top cover fan must be properly installed Otherwise an alarm may be given i...

Страница 43: ...panel Three interface panels are evenly configured at the side of the base and their number corresponds to their axis number on the base The protection grade of the interfaces on the panel is up to I...

Страница 44: ...ace as shown in Figure 4 2 The system battery is installed behind the panel to save the system data The interface panel 2 needs to be removed when the system battery is replaced Figure 4 2 Interface p...

Страница 45: ...nel 3 1 Auxiliary Encoder A 4 Brake 2 AC LED 5 System LED 3 220 V a c 6 Auxiliary Encoder B 4 2 Indicator description The indicators on the panel 1 of AP3X Robot are shown in Figure 4 4 The functions...

Страница 46: ...indicates that the robot is powered off System LED Robot servo indicator Flash indicates that the robot servo is being powered on NO indicates that the robot servo has been powered on NC indicates th...

Страница 47: ...erface and MCP interface of the robot otherwise the internal circuit of the robot will be damaged 4 3 1 Power interface Table 4 2 Assignment of pins on the body socket Pin Function Description 230 V a...

Страница 48: ...face pins 62 core female front pinout Pin Function Description 01 E DO_1 General purpose output 1 02 E DO_2 General purpose output 2 03 Output 24 V d c 24 V d c output power 04 GND Common ground 05 E...

Страница 49: ...mon ground 17 E DO_11 General purpose output 11 18 E DO_12 General purpose output 12 19 E DO_13 General purpose output 13 20 E DO_14 General purpose output 14 21 Output 24 V d c 24 V d c output power...

Страница 50: ...36 E DI_3 General purpose input 3 37 E DI_4 General purpose input 4 38 E DI_5 General purpose input 5 39 E DI_6 General purpose input 6 40 E DI_7 General purpose input 7 41 E DI_8 General purpose inp...

Страница 51: ...DI_20 General purpose input 20 55 GND Common ground 56 E HDI_5 High speed input 5 57 E HDI_6 High speed input 6 58 GND Common ground 59 E AI 1 Analog input 1 60 AGND1 Analog input common ground 1 61 E...

Страница 52: ...ion interface Auxiliary Encoder A Auxiliary Encoder B Auxiliary encoder Communication interface Axis No Pin Function Description Axis No Pin Function Description 12 pin female front pinout Axis 1 01 O...

Страница 53: ...06 F G Shielded cable Axis 2 07 Output 5 V d c 5 V d c output power Axis 4 07 Output 5 V d c 5 V d c output power 08 GND Common ground 08 GND Common ground 09 2A Axis 2 A 09 4A Axis 4 A 10 2B Axis 2 B...

Страница 54: ...Description RS 232 communication interface 1 Unused 2 RXD Receive data 3 TXD Transmit data 4 Unused 5 GND Common ground 6 Unused 7 Request to send 8 Clear to send 9 Unused 4 3 6 RS 485 communication...

Страница 55: ...3 33 Pin Function Description RS 485 communication interface 4 Unused 5 Unused 6 Unused 7 GND Common ground 8 RS485 Communication interface 9 RS485 Communication interface For more information on RS 4...

Страница 56: ...ication interface Table 4 7 Assignment of pins on MCP communication interface MCP Pin Function 1 MCP 01 Auto Manual 2 02 Output 24 V d c 03 Auto Manual 1 04 Output 24 V d c 05 BI_D4 06 BI_D4 07 E STOP...

Страница 57: ...wiring 4 3 8 Ethernet interface Ethernet Table 4 8 Definition of RS 232 pins Ethernet interface Pin Signal name Description 01 TX_D1 Tranceivie data TLB AF 319 CLAD65 Red Orange Yellow Green Brown wh...

Страница 58: ...Version V1 1 0 01 11 2023 02 TX_D1 Tranceivie data 8 pin front i nterface 03 RX_D2 Receive data 04 BI_D3 Bi directional data 05 BI_D3 Bi directional data 06 RX_D2 Receive data 07 BI_D4 Bi directional...

Страница 59: ...npacking inspection 5 1 1 Handling The robot is packed in a wooden case The bottom plate and upper cover of the wooden case are fixed with fixing bolts The dimensions of the wooden case are shown in F...

Страница 60: ...the robot is transported to the user site check whether the packing case is placed upward vertically and dry whether the packing case is intact After inspection take the components out of the case ac...

Страница 61: ...the deflector assembly Take out the deflector components and the accessories carton Step 5 Remove the straps from the top cover fan Use a 3 mm Allen wrench to loosen the screws on the fixed post of t...

Страница 62: ...on location Figure 5 4 Schematic diagram of fan installation Users need to install the fan properly Otherwise an alarm would be given The fan connector has been installed at delivery It should be inse...

Страница 63: ...agonal screws as shown in Figure 5 5 connecting the robot body to the rack in the case Figure 5 5 Schematic diagram of fixing robot body in the case Step 9 Hook the installed eye screws to take out th...

Страница 64: ...essarily meet user requirements This document only provides relevant rack data for reference by users in their own design and manufacturing Users can fill the rack with sand or cement to reduce the po...

Страница 65: ...ject AP3X 1600 1653 AP3X 1600 1654 The racks are mainly produced with 4 mm square steel pipe with a cross sectional dimension of 80 80 mm 30 mm steel plate and 4 mm steel plate through welding The str...

Страница 66: ...eration during its motion resulting in rack vibration within a certain frequency range Such vibration would adversely affect the positioning accuracy and control performance of the robot In order to e...

Страница 67: ...ize is limited or users need to operate the robot with a high frequency in small space a smaller rack can be used if a heavy load or large work space is required users need to install a larger rack to...

Страница 68: ...2 Upward installation The base bosses should be under the support installation plate 5 3 1 Installation surface The installation surface should have a certain flatness 0 75mm recommended If the flatn...

Страница 69: ...e Through hole Throug h hole Robot base boss Through hole Screw hole Screw hole To prevent the bolts from loosening after use for a long time each bolt should be added with spring and flat washers wit...

Страница 70: ...is of the robot is parallel to its output axis 1 the installation direction of the axis 1 should be parallel to the motion direction of the work object to facilitate the layout of cables and keep the...

Страница 71: ...12 Figure 5 12 Base hoisting diagram 1 With this lifting method the minimum lift height of the hook of the lifting equipment should be greater than 2400 mm The base installation and bolt installation...

Страница 72: ...hen approaching the installation plate of the rack appropriately adjust the base angle so that the mounting boss can avoid the installation plate of the rack until the base is placed on the installati...

Страница 73: ...meter of installation plate Do not hit the fan when hoisting it Space of at least 500 mm should be reserved above the fan 5 3 3 Upward installation If the installation space is limited the base should...

Страница 74: ...n this installation method is adopted If lifting belts are used for hoisting the winding of the lifting belts is shown in Figure 5 17 The hoisting is similar to that during downward installation Refer...

Страница 75: ...urface paint of the robot 5 4 Installation of slave arm Step 1 Connect the 230 V a c interface on the panel 3 to the power to power on the robot as shown in Figure 5 18 Step 2 Press and hold the Brake...

Страница 76: ...cking foam support Step 4 Buckle the ball heads of the master arm into the two ball sockets linked with a single spring and then sag the slave arm naturally Install the other two slave arms in this wa...

Страница 77: ...rm 5 5 Installation of rotating shaft for 4 axis robot Auxiliary tool a 2 5 mm Allen wrench Step 1 Remove the packing foam from the rotating shaft and hold the carbon fiber tube in the middle of the r...

Страница 78: ...ted Step 2 Ensure that the two screws on the universal joint are complete Remove the protection cover from the output end of the motor reducer of the rotating shaft as shown in Figure 5 22 Figure 5 22...

Страница 79: ...nstallation of rotating shaft Step 5 Ensure that the groove at the shaft side faces the threaded hole as shown in Figure 5 24 Install the set screw and then the screw at the flat key Apply anaerobic a...

Страница 80: ...rews during motion Ensure that the end of the screws is aligned with the installation surface 5 6 Installation of moving platform Step 1 Align the calibrated position at the end of the moving platform...

Страница 81: ...e moving platform from damage caused by accidental drop when installing the moving platform of the 4 axis robot The two springs should be properly clasped and installed in the groove at both sides in...

Страница 82: ...calibrated position of the moving platform and the Axis 1 are in the same direction and all springs are clasped in the specified grooves as required 5 7 Deflector installation The deflector can be in...

Страница 83: ...screws at the edge of the base Step 3 Apply the deflector onto the screw at the hole 2 Step 4 Slightly adjust the deflector to lower it so that the screw is clasped at the hole 1 of the deflector Tig...

Страница 84: ...gram 6 2 Connection to emergency stop device Step 1 Take out the provided emergency stop device and open the protection cover outside the MCP interface as shown in Figure 6 2 Step 2 Install the aviati...

Страница 85: ...emergency stop device needs to be installed before the robot is normally powered on If the robot can not be powered on check whether the emergency stop switch is installed 6 3 Installation of top fan...

Страница 86: ...ct the top fan cable to the fan interface on the robot body as shown in Figure 6 3 Figure 6 3 Installation of top fan cable 6 4 Robot body grounding In order to prevent electric shock the AC input end...

Страница 87: ...on When a GB plug is connected to the power to supply power to the equipment a circuit breaker needs to be installed before the plug Switch model for reference DZ47 60 C20 Step 1 Take out the power co...

Страница 88: ...6 Ethernet connection The premise of connecting AP3X Robot to Ethernet is as follows The robot has been installed firmly and the rack is fixed The power supply has been connected and the indicators a...

Страница 89: ...Chapter 6 System Installation Document Version V1 1 0 01 11 2023 67 Figure 6 6 Schematic diagram of connection to PC...

Страница 90: ...installation surface beside the interface panel 1 as shown in Figure 6 7 unit mm Air supply components can be installed on the other two installation surfaces as required Figure 6 7 Schematic diagram...

Страница 91: ...e installed as shown in Figure 6 8 Figure 6 8 Layout of air pipes and installation surface of pneumatic components A certain length of the air pipes should be reserved at the corner of each joint Othe...

Страница 92: ...tallation 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 op...

Страница 93: ...s 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 Lie group motion...

Страница 94: ...age at the official website of QKM and install QKMLink The ARM installation package has integrated QKMLink so QKMLink will be installed automatically when ARM is installed QKMLink is designed accordin...

Страница 95: ...ent and memory 1 Win7 Win8 Win10 systems 2 Memory 2G or more 7 2 1 Installation steps Step 1 Download an ARM installation package at the official website of QKM as shown in Figure 7 1 Figure 7 1 Insta...

Страница 96: ...4 Document Version V1 1 0 01 11 2023 Figure 7 2 Start installation Step 3 Click on Next as shown in Figure 7 3 Figure 7 3 Choose installation path Step 4 Choose the installation path and click on Next...

Страница 97: ...11 2023 75 Figure 7 4 Successful installation Step 5 Click on Install to complete the installation 7 3 Open Macro Command Debugger Step 1 Double click the installed ARM to open the ARM interface and t...

Страница 98: ...ion V1 1 0 01 11 2023 mode as shown in Figure 7 5 Figure 7 5 ARM interface Step 2 On the interface of ARM in Pallas mode click Tools on the menu bar and select Macro Command Debugger in Debugging and...

Страница 99: ...Chapter 6 Robot Operation Document Version V1 1 0 01 11 2023 77 Figure 7 6 ARM interface Step 3 The macro command debugger is shown in Figure 7 7 Figure 7 7 Macro Command Debugger...

Страница 100: ...ger is used in the installed ARM programming environment 7 4 1 Macro Command Debugger interface Figure 7 8 Macro Command Debugger 7 4 2 Menu bar Figure 7 9 Menu bar of macro command debugger ARM Table...

Страница 101: ...uctions 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 instructions are sent at a tim...

Страница 102: ...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 and then click Tools Debugging...

Страница 103: ...he 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 th...

Страница 104: ...1 0 01 11 2023 Figure 7 11 call the command shortcut interface ARM 7 4 4 Establish IP communication Step 1 Open the ARM debugging environment then click the button in the menu bar Connect or disconne...

Страница 105: ...0 01 11 2023 83 Figure 7 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...

Страница 106: ...as shown in Figure 7 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...

Страница 107: ...4 1 Successful 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...

Страница 108: ...86 Document Version V1 1 0 01 11 2023 Figure 7 15 Successful connection 7 4 4 2 IP connection failure When the connection fails the Error prompt dialog box will pop up as shown in Figure 7 16 Figure 7...

Страница 109: ...ter 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 110: ...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 111: ...ed during 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 Manual When you click a corresponding macr...

Страница 112: ...etween 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 inst...

Страница 113: ...6 Robot Operation Document Version V1 1 0 01 11 2023 91 Figure 7 19 Input instructions All instructions contained under the instruction set can be prompted automatically when you enter as shown in Fig...

Страница 114: ...s in the instruction editing area one by one in sequence The results are displayed in the instruction output area as shown in Figure 7 21 If you select the All key on the upper right of the output are...

Страница 115: ...int 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 pos...

Страница 116: ...er running is displayed as shown in Figure 7 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 117: ...6 Robot Operation Document Version V1 1 0 01 11 2023 95 Figure 7 23 Output 7 4 10 Clear output Click the Clear button in the upper right corner of the output area to complete the clear as shown in Fig...

Страница 118: ...V1 1 0 01 11 2023 Figure 7 24 Clear output 7 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 119: ...e 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 shown in Figure 7...

Страница 120: ...V1 1 0 01 11 2023 Step 1 Right click in the space below Remote Location and click New Solution as shown in Figure 7 27 Figure 7 27 New Solution Step 2 After the New Solution interface pops up enter a...

Страница 121: ...s shown in Figure 7 29 Figure 7 29 New Solution file interface 7 5 3 Introduction to main ql main ql is the main file of the program Robot motion logical operation condition control loop statement con...

Страница 122: ...gure 7 30 main ql interface Run the test solution Select test in at the top of the ARM debugging interface and click the button to run it At this point the program will output Hello world below in a c...

Страница 123: ...file Double click to open the data qlv file and the data qlv interface will pop up as shown in Figure 7 32 The interface contains Location LocationJ Profile Location Array LocationJ Array Profile Arra...

Страница 124: ...rofile Array to add point motion parameters of array type Rename Rename the point name Record Select a point to record the current robot position as that point information Delete Select a point and de...

Страница 125: ...2 New LocationJ Click New Location in LocationJ and the point information of the current robot s axis coordinate position will appear in the interface The point name is the default name and you can cl...

Страница 126: ...Profile Step 4 New Location Array Click New Array 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 7 36 Figure 7 36 New...

Страница 127: ...y 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 7 38 Figure 7 38 New LocationJ Array After completion...

Страница 128: ...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 7 40 Figure 7 40 New Profile Array After completio...

Страница 129: ...and the program contents of data qlv will appear in the ARM debugging interface showing the point and motion parameter information added in the above steps as shown in Figure 7 42 Figure 7 42 data qlv...

Страница 130: ...nload history path will pop up as shown in Figure 7 43 Figure 7 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 O...

Страница 131: ...n and the program file will also appear in the corresponding save path as shown in Figure 7 45 Figure 7 45 PC Location file interface 7 6 Manual jog teaching On the ARM interface click Tools Robot Con...

Страница 132: ...AP3X Robot User Manual 110 Document Version V1 1 0 01 11 2023 Figure 7 46 Jog teach Figure 7 47 Teach interface...

Страница 133: ...ct Joint World Tool or 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 Joint mode...

Страница 134: ...of the robot separately you can click X X etc to control the motion of the robot in the direction of X etc 7 7 Servo power on When controlling the motion of the robot through the ARM programming envi...

Страница 135: ...unning speed 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...

Страница 136: ...bot via servo as shown in Figure 7 48 Method 2 send macro instruction Enter Robot Home robotIndex in the instruction editing area on the macro language development interface to send a power on instruc...

Страница 137: ...0 1 set authority with System LogIn Enter Robot PowerEnable robotIndex 1 in the instruction editing area on the macro language development interface to send a power on instruction to the robot Where r...

Страница 138: ...actions forming a complete robot operating system including all devices participating in the motion s The system operates at a certain speed which is called system speed The system speed can be adjus...

Страница 139: ...ue of system speed of the robot and its type is double For example System Speed 50 The speed of all robots in the node is set to 50 7 8 2 Adjustment of robot speed The speed of a single robot with reg...

Страница 140: ...obotIndex value or Robot Speed robotIndex in the instruction editing area on the macro language interface Where robotIndex is the index number of the robot and its type is Integer value is the speed v...

Страница 141: ...to the rated speed of the motor 3000 rpm When joint motion is used in the actual movement the multiplication of Speed System Speed and Robot Speed in the Profile parameter is equal to 100 the fastest...

Страница 142: ...parameters Speed Speed2 Accel Decel AccelRamp DecelRamp InRange Type Time BlendType BlendValue respectively represents the information on speed For details about parameters please refer to the QKM Ro...

Страница 143: ...the process of manual operation an emergency stop needs to be performed when a collision or other unexpected conditions occur due to nonproficiency of the operator Operation Press the emergency stop...

Страница 144: ...are easy to be moved away Directly move away the obstacles around it and then manually operate the robot to move it to a safe position In the case the obstacles around it are not easy to be moved away...

Страница 145: ...g interface as shown in Figure 7 51 Figure 7 51 Interface of teaching in powered on state Step 3 Unplug the power cable from the robot turn off the power switch before unplugging the power cable if th...

Страница 146: ...at the first node is powered off Step 3 Unplug the power cable from the robot turn off the power switch before unplugging the power cable if there is a power switch on the robot Method 3 press the eme...

Страница 147: ...are shown in Table 8 1 Table 8 1 Specification parameters of AP3X Robot Item Parameter Model AP3X 1130 1653 AP3X 1130 1654 AP3X 1600 1653 AP3X 1600 1654 Number of axes 3 4 3 4 Load Maximum 3 kg Repeat...

Страница 148: ...kg Rated moment of inertia 0 01 kg m 0 01 kg m Rotating shaft rotation range 360 360 Angle of stop block hard 43 3 104 27 44 44 103 13 Angle of stop block soft 40 101 41 102 Rated voltage 230 V a c 50...

Страница 149: ...ed digital inputs 2 analog inputs 10 universal digital outputs 8 system digital inputs Work environment Working temperature 0 45 relative humidity 95 non condensing protection grade IP65 Storage tempe...

Страница 150: ...0 01 11 2023 Figure 8 1 Measurement trajectories of standard cycle 8 2 Environmental parametersds Install the robot system in an environment that meets the following conditions to exert maintain the...

Страница 151: ...gas or substance Free from electromagnetic interference source electrostatic discharge etc in the vicinity Vibration Free from influence by strong impact and vibration The robot is not suitable for w...

Страница 152: ...AP3X Robot User Manual 130 Document Version V1 1 0 01 11 2023 Do not use it in corrosive environments such as acids or alkalis...

Страница 153: ...llation surface Document Version V1 1 0 01 11 2023 131 Appendix A Dimensions of moving platform installation surface a Dimensions of end flange of 3 axis moving platform output axis b Dimensions of en...

Страница 154: ...Appendix B Robot base size 132 Document Version V1 1 0 01 11 2023 Appendix B Robot base size c Top and partial view of base and its dimensions...

Страница 155: ...Appendix A Dimensions of moving platform installation surface Document Version V1 1 0 01 11 2023 133...

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