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Fig. 8-134 Manual calibration of the one-axis force sensor.

The robot automatically calculates the center of gravity of the one-axis force. After
the calibration of the gravity of the one-axis force is successful, the "center of gravity
of the sensor is calibrated successfully" prompt will pop up, and the calibration is
completed.

Fig. 8-135 Completion of the one-axis force sensor calibration.

Note that when calibrating the force sensor, there needs to be sufficient movement
space around the robot to avoid collisions between the robot and external objects.
Secondly, in the entire calibration process, the external force must not be added to the
robot and the sensor, so as to avoid data errors.

8.4.2.7 Data Map of the Force Sensor

Robot with force sensor can record the one-axis force data or six- axis force data in
real time as shown in the following figure which is six-axis force data.

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Содержание RM65

Страница 1: ...RealMan RML63 Robot Manual V1 1 RealMan Intelligent Technology Beijing Co Ltd ...

Страница 2: ...生活美好臂不可少 http www realman robotics com 1 Version History Version Date Comment V1 0 2022 5 30 Init V1 1 2022 6 9 Corret errors ...

Страница 3: ...8 5 2 Controller I O 19 5 2 1 Digital Input 21 5 2 2 Digital Output 22 5 2 3 Analog Input 22 5 2 4 Analog Output 22 5 3 The Tool End Interface Board 23 5 3 1 Digital I O Input 24 5 3 2 Digital I O Output 25 5 3 3 Power Output 25 5 3 4 Communication Interface 25 6 Robot Installation 26 6 1 Introduction 26 6 2 Important Safety Instruction 26 6 3 Robot Workspace 27 6 4 Robot Installation 28 6 5 The E...

Страница 4: ...play 43 8 2 20 Origin Pose Button 43 8 2 21 Initial Pose Button 43 8 3 Online Programming 44 8 3 1 New Project Button 45 8 3 2 Select Project Button 45 8 3 3 Save Project 46 8 3 4 Project Content Display 46 8 3 5 Add Trajectory Point 47 8 3 6 Basic Commands 48 8 3 7 Advanced Commands 64 8 3 8 Edit 72 8 3 9 Start Button 73 8 3 10 Pause Button 75 8 3 11 Stop Button 75 8 3 12 Single Step Button 76 8 ...

Страница 5: ...生活美好臂不可少 http www realman robotics com 4 11 Technical Specifications 119 ...

Страница 6: ...ument RML63 adopts modular joint design It integrates the controller at its base therefore no extra control cabinet needed Users can build their own robot control system by accessing the APIs of our collaborative RML63 Besides this product also provides online programmable software through which users can monitor the real time status of RML63 adjust the settings and simulate offline Product Compon...

Страница 7: ...ys be aware of this and follow the instructions in this document 1 2 Safety Warning Signs and Symbols Table 2 lists all the safety warning signs and symbols of the robot It is crucial and the instructions shall be followed Table 2 Warning Signs and Symbols and Instructions Sign Symbol Instruction An impending hazardous electrical condition that if not avoided can result in casualty to persons or d...

Страница 8: ...escribe various situations regarding safety it is impossible to record all situations that users may encounter The following essential information needs to be understood and followed when starting the robot for the first time Other safety related information is introduced in other sections of the manual However it is impossible to cover all aspects In practical applications specific situations nee...

Страница 9: ...as been installed and configured a comprehensive risk assessment should be performed again and recorded 7 The safety related hyperparameters are set and changed by authorized personnel only Passwords or isolation measures are applied to prevent unauthorized personnel from changing or setting safety related hyperparameters After the safety related factors are modified the related safety features ne...

Страница 10: ...h is much larger than the cases of high speeds and high payloads 9 Jointing different machinery can exacerbate a hazard or create new ones Always conduct a comprehensive risk assessment for the entire installation When safety levels and emergency stop criterion levels are asked always select the highest performance level Please read and understand the manuals for all equipment used during the inst...

Страница 11: ... the design installation and operation of a complete robot nor does it include all the possibilities that may affect the safety of the peripheral equipment of such a complete system The safety of a complete robot installation depends on how the robot is ensembled The integrator is required to conduct a risk assessment for the design and installation of the complete system in accordance with the la...

Страница 12: ...zards to acceptable levels at the time of final installation 1 5 Hazard Identification The risk assessment should take into account all potential contacts between the operator and the robot and foreseeable maloperations during normal use The neck face and head of the operator should not be exposed to avoid touching The use of a robot without the use of peripheral safety guards requires first a ris...

Страница 13: ...ures to eliminate or minimize these risks until the risk is reduced to an acceptable level It is not safe to use until appropriate risk mitigation measures if needed have been taken If the robot is installed uncooperatively e g when using hazardous tools the risk assessment may infer that the integrator needs to connect additional safety devices e g safe start devices to ensure the safety of perso...

Страница 14: ...calibrate the robot and tool end origin on site You also need to check the hyperparameter settings If there is a hyperparameter backup you can import the backup hyperparameters otherwise you need to reset the hyperparameters Repairs must be conducted by the authorized integrators or us as RealMan Intelligent Technology Beijing Co Ltd The parts shall be returned to us as RealMan Intelligent Technol...

Страница 15: ... arm or controller Cautions 1 Replace the faulty part with a new part that has the same serial number or we as RealMan Intelligent Technology Beijing Co Ltd replace the faulty part 2 Reactivate all disabled safety features as soon as maintenance is accomplished 3 Keep maintenance records in the technical documents related to the whole robot system 4 The controller has no parts that users can repai...

Страница 16: ...g Co Ltd shall remain with us as RealMan Intelligent Technology Beijing Co Ltd If the product is no longer under warranty we as RealMan Intelligent Technology Beijing Co Ltd reserves the right to charge the customer for the replacement or repair Out of the warranty period we as RealMan Intelligent Technology Beijing Co Ltd shall not be responsible for any damage or loss such as loss of production ...

Страница 17: ...Changes to software or internal data 12 Failure that cannot be reimplemented or failure that cannot be identified by us as RealMan Intelligent Technology Beijing Co Ltd 13 Use the product in radioactive equipment biological test equipment or in the use that we as RealMan Intelligent Technology Beijing Co Ltd judge to be dangerous 14 Failures other than the mentioned above is not caused by the duti...

Страница 18: ...n in Fig 5 1 RML63 cooperative robot system is mainly composed of robot body or the robot arm controller integrated in the body base and tablet pad with teach pendant software optional The robot body mimics a human arm that has six rotating joints each representing one degree of freedom DoF As shown in Figure 5 2 the robot joints include shoulder joint 1 shoulder joint 2 elbow joint 3 wrist 1 join...

Страница 19: ...ler panel In the 2 core power cable the brown core is the positive power supply and the blue core is the negative power supply The robot also integrates a variety of communication interfaces for data transmission with various devices as shown in Figure 5 3 The maximum energy consumption of the robot is less than 200W and normally the combined energy consumption is less than 100W The positive and n...

Страница 20: ...wer socket plug in the power cable 3 extension plug outlet the RS485 I O etc interface of the controller 4 WIFI Bluetooth antenna wireless communication 5 USB 1 update software import and export files 6 USB 2 control the robot 7 Ethernet 1 connect to ethernet devices 8 Ethernet 2 connect to teaching devices and remote access 5 2 Controller I O USB 1 Extension plug Power plug WIFI Bluetooth antenna...

Страница 21: ...cifically the cable definition of the I O interface is shown in the table below Color Symbol Functionality Other 1 blue striped brown purple 5V 5 volts output 2 yellow brown green brown GND Ground 3 red brown 12V 12 volts output 4 purple brown CAN_H CAN bus Optional 5 blue black CAN_L CAN bus Optional 6 yellow black 485_L 485 bus 7 green black DOUT1 Digital output channels 0 12 volts 8 red black D...

Страница 22: ...e AIN4 25 red OUT_PWR_DOUT External digital output channel 0 12 volts 26 black DGND External digital ground Robot has I O ports whose quantities and functionalities are shown below digital output DO 4 ports configurable from 0 to 24 volts digital input DI 3 ports configurable from 0 to 24 volts analog output AO 4 ports output voltage from 0 to 10 volts analog output AI 4 ports input voltage from 0...

Страница 23: ...nnel DGND to provide level reference for digital output Electrical characteristics are shown in the table below Digital output Min Typical Max Unit input power Vin 0 5 24 V 5 2 3 Analog Input The controller has 4 analog input channels or ports Its voltage range is 0 10V Its electrical characteristics are shown in the table below Analog input Min Typical Max Unit input voltage 0 5 12 5 V detection ...

Страница 24: ... trajectory reproduction respectively Note When plugging and unplugging the aviation plug cable of the end interface board please ensure that the end output power is off otherwise there is a risk of hardware damage Fig 5 5 The arm end tool interface The description of the interface board is shown as follows Interface Type Quantity Functionality 1 power output 1 configurable from 5V 12V 24V switch ...

Страница 25: ...inition of aviation plug on tool end Pin Wire Color Functionality 1 yellow RS485_A 2 white RS485_B 3 red digital interface 1 DI1 DO1 4 black digital interface 2 DI2 DO2 5 green power GND 6 blue power output 0V 5V 12V 24V which is programmable Note that multiplexing function in the above table can be switched by programming The factory default pin 3 and 4 are the digital input channel DI1 and DI2 a...

Страница 26: ...24V the actual output voltage is the same as the power supply voltage of the robot If the power supply voltage is unstable the output voltage will be affected The power output type can be configured and switched on and off via the teach pendant software or JSON protocol The electrical characteristics are shown in the table below Hyperparameter Min Typical Max Unit power voltage 0 24 V power curren...

Страница 27: ...the robot body on the base 3 Install the end tool 6 2 Important Safety Instruction Environmental requirements of installation include non corrosive gases or liquids no dust or metal powder no radioactive material no oily fume no mechanical strike or vibration low humidity altitude below 1 000 meters avoid direct sunlight not used outdoors no salty fog no electromagnetic noise and no flammable mate...

Страница 28: ...uipment Fig 6 1 The dimensions of robot joints Fig 6 2 shows the movement range of RML63 B robot Excluding the cylindrical space above and below the base the movement range of the robot is a sphere with a radius of 610 mm When selecting the robot installation location be sure to consider the cylinder space above and below the robot and avoid moving the tools into the cylinder space as much as poss...

Страница 29: ...sufficient to withstand torsional forces of at least 3500Nm in the rotation direction of rotation of the base joint and a weight of at least 100kg The base surface must not vibrate If the robot is mounted on a moving platform the acceleration of the moving platform should be very low 2 It is recommended that the user use base surface with large heat dissipation such as all aluminum material When t...

Страница 30: ...sure tools are properly and securely installed in place 2 Ensure the safety of the installed tool end structure so that no parts will accidentally fall and cause damage 7 Robot Power On and Power Off 7 1 Before Power On Unpack and install the RML63 robot to the base Please refer to Chapter 6 Robot Installation for the detailed installation instructions 1 Ensure that the robot and cable do not cont...

Страница 31: ... connected Ensure that the robot does not bump into nearby people or equipment Make sure the power cable is connected to a 24V DC power supply Press the power button After the power indicate light turns blue and wait for about 25s When the controller buzzer sound stops the initialization of the controller system of the robot is completed Fig 7 2 Robot power button 7 3 Power Off Power socket Power ...

Страница 32: ...ot body and controller execute and create robot programs and read robot information Fig 8 1 The teach pendant shortcut If optional teach pendant is not included users install the package to use the teach pendant software or teach pendant software on Windows The installation of the software package is as follows Fig 8 2 Software installation package 1 Copy the RML63 directory to any disk directory ...

Страница 33: ...nt software interface The teach pendant software shortcut is shown as follows Fig 8 4 The shortcut of the teach pendant software 8 2 Robot Teaching The teaching panel is used for robot teaching operation Users can move the robot joints by clicking on the icon on the panel This panel also demonstrates the information of the robotic movement to the user ...

Страница 34: ...robot power button 3 robot emergency stop button 4 communication status gray robot not connected green robot connected 5 menu bar 6 position control 7 pose control 8 joint control 9 operation mode selection 10 operation coordinate system selection 11 tool coordinate system selection 12 3D simulation model 13 move in base coordinate system 7 8 9 10 11 17 18 12 19 20 21 ...

Страница 35: ...Full screen Button This button is used to control the teach pendant software into and out of full screen Fig 8 6 The full screen button 8 2 2 Power Button The button is used to control the robot power Blue represents that the power supply of the robot is on and gray represents that the power supply of the robot is in the off status Fig 8 7 The robot power button 8 2 3 Robot Emergency Stop Button W...

Страница 36: ... users to operate The selected panel has an light blue background Fig 8 10 The menu bar 8 2 6 Position Control The position of the robot end can be controlled based on the base coordinate system Base the tool coordinate system Arm_Tip and the customized coordinate system The user can teach the robot end in different coordinate systems denotes moving to negative x axis direction denotes moving to p...

Страница 37: ...robot end in different coordinate systems When teaching pose the position of the robot arm end remains unchanged while the pose changes around the specified coordinate axis denotes rotating to negative x axis direction denotes rotating to positive x axis direction Fig 8 12 The pose control panel 8 2 8 Joint Control The robot has 6 DoF Each joint from bottom to top is named as joint 1 to joint 6 wh...

Страница 38: ...cted the program runs on the actual robot The robot will move according to programs Its parameters and the move status simulation of the robot arm will be displayed on the interface When the simulation mode is selected the robot does not move but its 3D simulation To finalize a robot program the simulation mode can be selected first and then the program can be run simulatively to verify whether th...

Страница 39: ...ll take the coordinate system as shown in Fig 8 15 as the Base coordinate system Users can also create their own operation coordinate system as the reference direction of the robot movement to meet actual project requirements Assuming that work1 is the operation coordinate system set by the user see Section 8 4 2 3 for the method of setting robot operation coordinate system After the setting is co...

Страница 40: ...the coordinate system of the flange center by default see Fig 8 17 Users can also set customized tool coordinate systems Assuming that tool1 is the tool coordinate system set by the user see Section 8 4 2 2 for the method of setting the robot tool coordinate system the tool coordinate system can be switched after the setting is completed as shown in Fig 8 18 Fig 8 17 The coordinate system of the f...

Страница 41: ... can check whether the control program of the robot is reasonable and correct by simulation In the simulation model users can change the dimension and direction by dragging the mouse or touching the tablet interface according to the needs Fig 8 19 The 3D simulation model 8 2 13 Move in Base Coordinate System Select Move in Base Coordinate System the robot will move in base coordinate system Fig 8 ...

Страница 42: ...l end coordinate system Fig 8 21 Move in tool end coordinate system 8 2 15 Draw Trajectory Select Draw Trajectory the real time movement of the robot will be displayed in the model simulation section Fig 8 22 Draw trajectory demo 8 2 16 Clear Trajectory Select Clear Trajectory the robot movement trajectory will be cleared in the model simulation section ...

Страница 43: ... the step size of the robot by clicking the buttons on the left and right sides of the input box Position Indicates the step size in millimeters that controls the movement of the end position at the position control panel Do not release the button during the movement it will stop once released Posture Represents the step size to control the motion angle of the end in radians at the pose control pa...

Страница 44: ...ystem in a certain order Fig 8 25 A robot end position and posture display demo 8 2 19 Speed Display Drag the slider to set the percentage of the robot speed with respect to the designed maximum speed Fig 8 26 The speed setting slider 8 2 20 Origin Pose Button Origin pose Long hold can reset the robot to the origin Release the button to stop the movement 8 2 21 Initial Pose Button Initial pose Lon...

Страница 45: ...rface to implement the complex robot movement Fig 8 27 The online programming panel Table 7 Online programming panel Name 1 create new project button 2 select project button 3 save project button 4 project content display 5 add trajectory point 6 basic commands 7 advance commands 8 edit 9 start button 10 pause button 11 stop button ...

Страница 46: ...ed and by default an empty command line is added where the user can add commands Fig 8 28 Create a new project If there is a project that is being edited and is not saved the save the current project prompt box will pop up click Yes to save or click No to not save Fig 8 29 Prompt box to save or not save the project 8 3 2 Select Project Button For the created project click the button then select th...

Страница 47: ...e the save The data in the project content display area will be automatically saved to the document specified by the user with suffix as txt Fig 8 31 A project save demo 8 3 4 Project Content Display This area displays the edited program and the recorded motion points in the form of a tree map When the program runs it will be executed from the first line Click the button before a command to show o...

Страница 48: ...mber of lines in the project where the command is located Fig 8 32 Program tree map 8 3 5 Add Trajectory Point A trajectory point can be added after or before by selecting Add After or Add Before Fig 8 33 Position options for adding a trajectory point These options indicate that the next command will be added to the previous or next line of the cursor position in the program The reference command ...

Страница 49: ...The move command includes four types of movements MOVEJ MOVEL MOVEJ_P and MOVEC MOVEJ and MOVEJ_P This only guarantees to reach the final position but no intermediate trajectory is constrained MOVEL While ensuring reaching the final position the trajectory between the two points is linear MOVEC Used to execute an arc or circular trajectory only two waypoints intermediate point and end point can be...

Страница 50: ...nate system After the setting is completed click the OK button to save Fig 8 38 Configuration of Move command Movement type including MOVEJ MOVEL MOVEJ_P and MOVEC representing joint motion linear motion and circular arc motion when the number of execution laps is 0 the arc trajectory is executed when the number of execution laps is greater than or equal to 1 the circular trajectory is executed re...

Страница 51: ...n be customized Demo 1 Add a MOVEJ trajectory in the program where the motion between Waypoint1 and Waypoint3 is MOVEJ as shown in the following figure Fig 8 39 MOVEJ command demo Demo 2 Add a MOVEL trajectory in the program where the motion of Waypoint4 and Waypoint5 is MOVEL as shown in the following figure Fig 8 40 MOVEL command demo Demo 3 Add a MOVEC trajectory in the program where the motion...

Страница 52: ...ck to edit the command including point name speed blend radius point setting and point editing Fig 8 42 Waypoint hyperparameters Waypoint name The user can set the waypoint name the default name is composed of the Waypoint number e g Waypoint1 Speed The waypoint speed is customizable The actual operation speed is the product of the speed slider and the speed of the waypoint ...

Страница 53: ...his sets the motion position of the waypoint Positional parameters can be taught or manually modified acting on simulated robotic arms Demo Add a waypoint in the MOVEJ command in the program and set the waypoint to Waypoint3 under Waypoint2 as shown in the following figure Fig 8 43 Waypoint demo Click the waypoint to set the point shown in the following figure Fig 8 44 Waypoint demo Wait The Wait ...

Страница 54: ...2 DIN3 and tool end digital input interfaces T_DIN1 T_DIN2 The digital inputs are divided into high and low potentials Waiting for analog input Wait for the analog signal input to meet the predefined conditions Analog inputs include controller end analog input interfaces AIN1 AIN2 AIN3 AIN4 and tool end analog input interfaces T_AIN1 The analog input reference can be 0 10V Demo Add Wait command be...

Страница 55: ...the specified status Digital output interface includes controller end digital output interfaces DON1 DON2 DON3 DON4 and tool end digital input interfaces T_ DON1 T_ DON2 The digital output interface is divided into high and low potentials Set the analog output Set the analog signal output interface to a specified voltage Analog output interface includes controller end analog input interfaces AON1 ...

Страница 56: ...own in the figure below Fig 8 50 Set command demo IF The IF command is used to determine whether to execute a branch program The branch program is executed when the predefined conditions are met and the branch program is skipped when it is not met Fig 8 51 IF command settings Digital input judgment Check if the digital signal input meets the predefined ...

Страница 57: ...put check Check if the analog signal input meets the predefined conditions Analog inputs include controller end analog input interfaces AIN1 AIN2 AIN3 AIN4 and tool end analog input interfaces T_AIN1 The analog input reference can be 0 10V Demo Add an IF command between Waypoint4 and Waypoint5 as shown below Fig 8 52 IF command demo The line 8 is the IF command to check if the digital input is low...

Страница 58: ...tely Fig 8 54 Loop command hyperparameters No loop Run the program once Loop a specified number of times repeat the program for a specified number of times Infinite loop Repeat the program infinitely Demo Add a Loop command between Waypoint6 and Waypoint7 as the figure shows below Fig 8 55 Loop command demo The line 12 is the Loop command that runs the program two times ...

Страница 59: ...56 Loop command completion demo Popup Prompt The Popup Prompt command is used to indicate information to the user and the pop up content must be English Fig 8 57 Popup prompt command setting Demo Add a Popup Prompt command after Waypoint7 shown below ...

Страница 60: ... Popup prompt command demo It shows in the figure below the completion of the popup prompt command setting Fig 8 59 Popup prompt command demo The line 16 is a popup prompt command that when the trajectory moves to this point it will popup prompt window ...

Страница 61: ... After the popup prompt is confirmed the program continues The following figure shows after the project is completed Fig 8 61 Popup prompt command demo Halt The Halt command is used to stop a running program Demo Add a Halt command between Waypoint6 and Waypoint7 as shown below ...

Страница 62: ...ompleted and Waypoint7 will not be executed File The File command is used to import a saved program file including a project file and a trajectory by dragging file Import a project file Double click the File command it will pop up the project file selection dialog box then select the project file and click the Open button to import the project file ...

Страница 63: ...erwise the trajectory file open failed prompt will appear Fig 8 64 Trajectory file import error Double click the File command it pops up the default file path the drag folder under the root directory of the teach pendant software that is the directory where the trajectory file needs to be put Then select the project file click the Open button to import the trajectory file into the project ...

Страница 64: ...rajectory file storage path Demo Add a File command between Waypoint4 and Waypoint5 as shown below Fig 8 66 File command demo The line 8 is the File command that it will execute the trajectory file The following figure shows after the project is completed ...

Страница 65: ...nd Lift Fig 8 68 Advanced commands Force The Force Control or Force command is only for robots that have a torque sensor at the end of the robot i e RML63 ZF RML63 6F RM75 ZF RM75 6F The hyperparameters include sensor options coordinate system options hybrid force position control direction force values and hybrid force position control mode on and off ...

Страница 66: ...id force position control or force location mix control After checking the hybrid force position control the subsequent movement command in the program will no longer use the hybrid force position control mode Note 1 Waypoint controlled by hybrid force position must record its parameters through the Cartesian coordinate system That is it must not contain MOVEJ command 2 RML63 B robot does not supp...

Страница 67: ... Fig 8 70 RML63 B robot error prompt Demo Add a force control trajectory e g the linear movement between Waypoint4 and Waypoint5 as shown below Fig 8 71 Force control demo The line 8 is to start the force control mode with its settings as below ...

Страница 68: ...t5 in force control mode before turning the mode off The force control mode setting is shown as follows Fig 8 73 Turn off the force control Comment The Comment command is used to explain the functionality of a program Comment content must be English Fig 8 74 Comment command example Demo Add a Comment command between Waypoint5 and Waypoint6 shown as follows ...

Страница 69: ...ith the maximum speed of 70mm s Gripping force To set the gripper force The force parameter can be set to 0 1000 with the maximum force of 20N Block mode It has blocking and non blocking modes In blocking mode after the gripper movement is completed the robot executes the subsequent instructions in the non blocking mode the robot synchronously executes the subsequent program during the gripper mov...

Страница 70: ...er command where its speed and force are set as 200 and 420 respectively Fig 8 78 Gripper release example Fig 8 79 Gripper close example Hand The Dexterous Hand or Hand command is used to control the five fingered dexterous hand movement It supports blocking mode setting gesture setting and action ...

Страница 71: ...the subsequent instructions in the non blocking mode the robot synchronously executes the subsequent program during the dexterous hand movement Gesture setting The predefined gesture e g 14 by default Action sequence number setting The predefined gesture sequence number of the dexterous hand that can be set to 1 40 and each sequence number represents 1 gesture action Demo Add a Hand command after ...

Страница 72: ...et height This controls the position of the lift The position can be set according to the actual working position of the robot but within the actual itinerary of the lift Blocking mode setting It has blocking and non blocking modes In blocking mode after the lift movement is completed the robot executes the subsequent instructions in the non blocking mode the robot synchronously executes the subse...

Страница 73: ...height of 40mm and speed of 50 Fig 8 85 Lift command example 8 3 8 Edit 8 3 8 1 Up Click button you can move the selected line up one position in the program The move should happen between the same level commands in the program tree map 8 3 8 2 Copy Click button you can copy the command and location information for the ...

Страница 74: ...mands in the program tree map 8 3 8 6 Edit Click button and you can edit the selected command s 8 3 8 7 Delete Click button and it will delete the selected command line s 8 3 8 8 Ban Click button and it will disable the selected command line and the disabled command line s will no longer run The banned commands can be enabled by clicking button 8 3 9 Start Button When the online program project is...

Страница 75: ...he button on the lower left side of the page the button becomes a button after being clicked During the trajectory being running the background color of the current movement command line changes to yellow Fig 8 86 Start running the online program ...

Страница 76: ...d continue demo 8 3 11 Stop Button When the button is clicked to end the project the button content reverts to If a trajectory planning error occurs during the running planning stops and cannot continue Click the button and the trajectory will also stop and cannot continue Note During the operation of the program in order to avoid accidents caused by misoperation the function buttons of the interf...

Страница 77: ...ects the trajectory start point in the left bar then the background color changes to blue Click the button and the button becomes a button with the pause function to complete the trajectory reproduction In the single step mode the program is executed one by one Only after a single command is completed click the button again to execute the next trajectory command ...

Страница 78: ...to control the robot s movement from its current position to the target waypoint in the form of MOVEJ First click on the target waypoint in the left display bar the target point background color will turn blue Then press and hold the button the robot will move to the target waypoint through joint space planning and release the button to stop the movement ...

Страница 79: ...oint command and is used to control the robot s movement from its current position to the target waypoint in the form of MOVEL After selecting the target waypoint press and hold button then the robot end will move along a straight line toward the target waypoint The movement will stop when releasing the button or the planning is wrong ...

Страница 80: ...on mode which can preview the trajectory of the program and can run synchronously with the real robot in real robot mode Fig 8 93 Simulated robot preview 8 3 15 1 Draw Trajectory Turn on the Draw Trajectory function and the robot trajectory will be displayed in real time in the robot simulation preview area Fig 8 94 Draw trajectory demo 8 3 15 2 Clear trajectory ...

Страница 81: ...trajectory is cleared and the Draw Trajectory feature is automatically disabled Fig 8 95 Clear trajectory demo 8 4 Configuration 8 4 1 System Configuration The system configuration interface mainly configures the communication of the robot controller Fig 8 96 The system configuration interface ...

Страница 82: ...and communicate with the controller in WIFI AP mode immediately after the configuration In this mode the IP of the controller is 192 168 1 18 the communication port number is 8080 and the communication is in Server mode Fig 8 97 WIFI AP mode WIFI AP模式连接机器人时电脑连接好机器人WIFI 示例WIFI名称为 RM75 019 设置电脑WLAN本地IP与机器人IP在同一网段 The network name and password contain English characters and numbers only and the netw...

Страница 83: ... specified controller and the network password is the specified router password After the completion of configuration the controller communicates with the outside in WIFI STA mode immediately In this mode the IP of the controller is automatically assigned to the router the communication port number is 8080 and the communication mode is server Fig 8 99 WIFI STA mode setting Click button if the robo...

Страница 84: ...gement interface check the IP address of the robot assigned by the router and set the local network configuration on the teach pendant as the IP assigned by the router with a port number of 8080 Fig 8 101 Local network configuration For example the IP address of the robot assigned by the router is 192 168 1 142 ...

Страница 85: ...ate is 100M Fig 8 102 The controller panel Local network configuration The default IP address of the controller is 192 168 1 18 and port number is 8080 when the teach pendant software starts If the robot IP has been reset you need to set the actual connected robot IP in The network IP address of the robot controller is 192 168 1 18 In order to establish network connection between the computer and ...

Страница 86: ...robotics com 85 Fig 8 103 Open network and sharing center in Windows 2 If the robot is connected by an Ethernet cable click Local Connection Fig 8 104 Local connection 3 Click the Properties button in the dialog box that pops up ...

Страница 87: ...In the pop up dialog box select Internet Protocol Version 4 first and then click the Properties button Fig 8 106 Select the Internet protocol version 5 Configure the network IP address according to the following figure Click OK button to complete the local network setting after the configuration ...

Страница 88: ...onnection between the teach pendant software and the robot controller is established Fig 8 108 Connect to the robot 8 4 2 Robot Configuration The robot configuration interface includes safety configuration tool calibration working operation coordinate system calibration initial pose setting installation information force sensor configuration force sensor data map version information and IO setting...

Страница 89: ...n The safety configuration interface mainly configures the joints of the robot TCP parameters of the robot end and collision prevention as shown in the figure below Fig 8 110 The safety configuration 1 Joint Configuration Select joints 1 6 in the left drop down box corresponding to the six joints from ...

Страница 90: ...sful send the joint recovery enable instruction It should be noted that when the joint is restored the user needs to ensure that the joint is in a static state to avoid positioning errors in the joint during the activation process After the joint is enable the user can control the joint movement Fig 8 111 The joint configuration Speed Maximum speed of the joint in RPM with a maximum of 30RPM Accel...

Страница 91: ...e the joint before use Each joint of the robot has a mechanical origin position as shown in the figure below The origin position refers to the position and pose of all joints at the origin position of the robot If the robot is in the origin position and the mark of the mechanical origin position is not aligned then the robot needs to be set back to the mechanical origin position manually In the or...

Страница 92: ... other joints can be set likewise 1 Select joint 1 from the leftmost option 2 Click the Disenable button on the right if the joint is in the upper enabled status to disenable the joint first Fig 8 114 Set the origin of a joint 3 Rotate joint 1 to the mechanical origin position i e the mechanical origin position after the grooves on both sides of the joint gap match exactly Fig 8 115 Align the mark...

Страница 93: ...cking pose When the robot stops moving the packing pose is completed Fig 8 117 Joint origin pose setting demo 2 TCP Speed Limit This feature includes the linear velocity linear acceleration angular velocity and angular acceleration of the robot end After the network connection between the teach pendant software and the robot controller is established this feature will automatically update the TCP ...

Страница 94: ...ult collision level on the mechanical arm is 0 that is there is no collision detection Fig 8 118 Collision protection rating level setting Note The user should make reasonable choice when setting the collision protection level The higher the level is the higher the probability of the robot detecting a false collision will be If the robot end changes the tool and payload the mass and centroid param...

Страница 95: ...letion is completed the robot operates in end flange coordinate system In addition the Arm_Tip robot tool end coordinate system cannot be deleted 2 Automatic Calibration After selecting this feature the current tool coordinate system can be calibrated by the six point method First fill in the name of the tool English characters no more than 10 characters and then contact the tool reference point w...

Страница 96: ...Keeping the pose of 4 and moving from 4 to some position along the negative x axis of the Base coordinate system 6 Keeping the pose of 4 and moving from 4 to some position along the positive z axis of the Base coordinate system 3 Manual Setting of the Tool End Coordinate System When the user knows the accurate relative pose of the tool with respect to the center of the flange at robot end the tool...

Страница 97: ...tem is shown in the figure below Region 1 displays the names of all the current operation coordinate system and Its positions and poses relative to the Base coordinate system Region 2 automatically calibrates the current operation coordinate system Region 3 manually sets the information of the operation coordinate system Fig 8 122 Tool end coordinate system calibration demo ...

Страница 98: ... the calibration of these three points is completed click the Add Coordinate System button The system automatically calculates the current coordinate system information according to these three reference points After the calculation is completed the information is transmitted back to the teach pendant software and displayed in the coordinate system table In addition due to the memory limitation of...

Страница 99: ...ally set to set the current angles of the six joints of the robot as the joint angles of the initial pose After successful setting it will be shown in region 1 Fig 8 123 Setting robot initial pose 8 4 2 5 Installation Information Robot installation information includes device model selection and installation angle setting The interface contains a model window to see in real time whether the instal...

Страница 100: ...sor Load rating Z axis 200N Ultimate load static load X 400N Y 400N Z 400N MX 5Nm MY 5Nm MZ 50Nm Six axis force sensor Load rating X 200N Y 200N Z 200N MX 7Nm MY 7Nm MZ 7Nm Note that during operation the robot should avoid a hard collision between the sensor and external equipment which may cause damage The force sensor configuration interface includes six axis force center of gravity calculation ...

Страница 101: ...er the end tool has been replaced The calibration process can be automatically calibrated by the controller s pre stored trajectory path In order to avoid interference with external equipment during operation the user can also manually calibrate according to the actual scene Fig 8 126 Six axis force sensor automatic calibration Click button during automatic calibration the calibration status confi...

Страница 102: ...f gravity of the sensor is calibrated successfully prompt will pop up and the calibration is completed Fig 8 128 Completion of the six axis force sensor calibration In the manual calibration check the manual setting marquee set 4 points through the robot teach pendant software interface and after the 4 points are recorded as shown in the figure below click the button Fig 8 129 Manual calibration o...

Страница 103: ...ion One axis force sensor calibration The calibration method of one axis force transducer is similar to that of six axis force sensor and has also two methods i e automatic calibration and manual calibration Fig 8 131 Automatic calibration of one axis force sensor Click button during automatic calibration the calibration status confirmation prompt will pop up as shown in the following figure ...

Страница 104: ...utton to terminate the operation After the calibration of the gravity of the one axis force is successful the center of gravity of the sensor is calibrated successfully prompt will pop up and the calibration is completed Fig 8 133 Completion of the one axis force sensor calibration In the manual calibration check the manual setting marquee set 2 points through the robot teach pendant software inte...

Страница 105: ...mpleted Fig 8 135 Completion of the one axis force sensor calibration Note that when calibrating the force sensor there needs to be sufficient movement space around the robot to avoid collisions between the robot and external objects Secondly in the entire calibration process the external force must not be added to the robot and the sensor so as to avoid data errors 8 4 2 7 Data Map of the Force S...

Страница 106: ...ot the version information interface lists the controller software version number joint software version number terminal interface board version number and Chinese English switch Fig 8 137 Version information example 8 4 2 9 I O Setting The I O setting can set the controller I O and tool I O as shown in the following figure ...

Страница 107: ...8 I O setting demo 1 Controller I O Setting The I O configuration interface in the teach pendant software can display the status of the controller I O and configure the controller I O as shown in the following figure Fig 8 139 Controller I O setting demo ...

Страница 108: ... the output of the corresponding channel is low Analog Input This section displays the voltage values of the four analog I O input channels Analog output This feature can configure the corresponding analog I O output channel voltage value in range of 0 10V 2 Tool I O Configuration The tool I O interface in the teach pendant software can display the status of the tool I O and configure the I O as s...

Страница 109: ...code before the joint movement can be controlled System log contains all the operation instructions of the teach pendant software and the error types of the robot and controller and it is displayed in the text box with time stamps At the same time you can also save the log information to the specified location through the Save button When the Clear button is clicked all displayed system logs are c...

Страница 110: ...l end can be switched to perform simple control of the end gripper as shown in the following figure Fig 8 143 Tool end I O configuration Output power This part configures the external output power of the end interface board which can be one of 0V 5V 12V and 24V Peripheral equipment By far the tool end by default adds gripper and dexterous hand and other devices can be added later The gripper contr...

Страница 111: ...ter completing the action release the green button It is also possible to tap the button in the teach pendant software and drag the robot Click again when user completes the track recording It pops up the save window and you can choose whether to save the trajectory file according to the actual needs After the track recording is complete press the blue button at the robot end to reproduce the traj...

Страница 112: ...n the robot end tool is our company s standard two finger gripper in addition to recording the trajectory of the robot movement the gripper action can also be recorded by drag teaching While long pressing the green button to teach by dragging long press the blue button the gripper closes short press the blue button the gripper opens 8 6 3 Lift Control The lift control can be configured in the acce...

Страница 113: ...ontrol the movement of a robot s extended joint lift or slide The height can be raised or lowered and a target height can be set so as to bring the lift to the target height by clicking the motion button This is shown in the following figure Fig 8 147 Lift control setting 9 Online Programming Demo ...

Страница 114: ...uction line 3 Click the Move button Figure 9 1 Add Move Command 4 In the tree diagram on the left side of the interface a MOVEJ command and a waypoint are automatically added 5 Double click the MOVEJ command line it pops up the parameter setting window and click the OK button to save it after setting ...

Страница 115: ...Figure 9 2 MOVEJ command parameter setting 6 Double click the Waypoint1 command line to set the waypoint parameters Figure 9 3 Waypoint command parameter setting 7 Click the button it pops up the robot teaching interface to set the waypoint pose ...

Страница 116: ...the teach software 8 Select the reference command line click and it pops up the Waypoint parameter setting window Fig 9 5 Add the 2nd waypoint i e Waypoint2 9 After setting the location click the button to add a second waypoint The system will automatically name it Waypoint2 ...

Страница 117: ...rajectory tracking will run automatically 2 Press the Pause button and the movement will be paused in the trajectory After the pause press the Continue button to continue the movement 3 Press the Single Step button to perform single step movement 4 Press the Stop button to stop the movement To prevent accidents manually click the Stop button after the trajectory tracking finished so that the funct...

Страница 118: ... software system in the robot controller can be upgraded through the USB flash drive The specific operation steps are as follows 1 Turn off the power supply of the robot 2 Copy the bin update file s provided by the manufacturer to the bin directory of the USB flash drive If there is no bin folder create it yourself in the root directory and copy the bin files to the folder 3 Plug the USB flash dri...

Страница 119: ...g If the buzzer rings for once do not perform subsequent operations 5 After the buzzer sounds long power off the robot and pull out the USB flash drive 6 Turn on the power and the robot with updated software system can work normally Note The controller bin file s will be updated within 30s But the robot arm end interface board and joints will be updated in 70s so please be patient Please do not po...

Страница 120: ...24V 27V Max Energy Consumption 200W Combined Energy Consumption 100W Material Aluminum Alloy Controller Built in Communication WIFI Ethernet Bluetooth USB RS485 Teach Development Tablet API IP Rating IP 54 I O Power 5V 12V Digital I O Ports Input 3 Output 4 Analog I O Ports Input 4 0 10V Output 4 0 10V Joint Speed Joint1 2 180 s Joint3 6 225 s Joint Movement Range Joint1 2 4 5 180 Joint3 165 150 J...

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