TURIN Robot User Manual V2023

TURIN User Manual V2023 Catalog 1 Safety......................... Safety................................................ ............................................. ............................................ ............................................ ............................................ .................................1 ...........1 1.1 About About Safety................... Safety ......................................... ............................................. ............................................. ............................................ .......................................1 .................1 1.2 Applicable Applicable Safety Standards.................... Standards ........................................... ............................................. ............................................ ....................................2 ..............2 1.3 Safety Terminology .......................................... ................................................................ ............................................ ............................................. .............................3 ......3 1.3.1 Safety Signals In the Manual ............................................ .................................................................. ............................................ ........................ 3 1.3.2 Safety sign on the manipulator tag...............................................................................3 1.3.3 Danger ............................................ .................................................................. ............................................ ............................................ ...................................6 .............6 1.3.3.1 Danger - Make sure the main power is off! ............................................ ....................................................... ...........6 6 1.3.3.2 Danger - moving the manipulator can have fatal fatal consequences!..................... consequences! .....................6 6 1.3.3.3 Danger- -A robot without a shaft brake may be dangerous! dangerous! .............................7 .............................7 1.3.4 Warning................... Warning ......................................... ............................................. ............................................. ............................................ ...................................7 .............7 1.3.4.1 Warning-This unit is susceptible to static static electricity! electricity!...................... ........................................7 ..................7 1.3.5 What is an emergency stop? .......................................... ................................................................ ............................................. .........................7 ..7 1.3.6 What is a safe stop?...................... stop? ............................................ ............................................. ............................................. ................................... ............. 8 1.3.7 What is safety protection? ........................................... ................................................................. ............................................. ........................... ....8 8 1.3.8 How to use the Teach Pendant device safely? .......................................... ..............................................................8 ....................8 1.4 How How to handle an emergency?................... emergency? .......................................... ............................................. ............................................ ................................ .......... 8 1.4.1 Stop the system system ........................................... ................................................................. ............................................. ............................................8 .....................8 1.4.2 Release the robot brake..................... brake ........................................... ............................................. ............................................. ............................10 ......10 1.4.3 Fire fighting ........................................... ................................................................. ............................................ ............................................. .......................... ... 10 1.4.4 Recovery from the emergency stop state.................... state ........................................... ............................................. ........................ ..10 10 1.4.5 Return to the programming path................................................................................11 1.5 Safety matters at work .......................................... ................................................................ ............................................. ...........................................12 ....................12 1.5.1 Overview .......................................... ................................................................. ............................................. ............................................ .............................. ........ 12 1.5.2 Self-safety...................... Self-safety ............................................. ............................................. ............................................ ............................................ .......................... .... 12 1.5.3 Disposal of Teach Pendant................... Pendant ......................................... ............................................. ............................................. .......................... .... 12 1.5.4 Safety Tools...................... Tools ............................................ ............................................ ............................................ ............................................. ......................... .. 13 1.5.5 Safety in manual mode ............................................ .................................................................. ............................................ ............................. ....... 13 1.5.6 Security in automatic mode ............................................ ................................................................... ............................................14 .....................14 2 Product composition...................... composition ............................................ ............................................ ............................................ ............................................ .................................15 ...........15 2.1 The The Teaching Instrument .......................................... ................................................................. ............................................. ...................................... ................ 15 2.1.1 Appearance of the Device ........................................... ................................................................. ............................................. ..........................15 ...15 2.1.2 Key function description ............................................ ................................................................... ............................................. .......................... .... 15 2.1.3 T Teach each Pendant of the interface layout ............................................ .................................................................. ............................ ......16 16 2.2 TRC TRC 3-A04 control cabinet ............................................ .................................................................. ............................................ ................................... ............. 16 2.2.1.. Appearance of the control cabinet ........................................... 2.2.1 ................................................................. ................................. ........... 16 2.2.2 Adaptive Robot--STG030 Robot--STG030 ............................................. ................................................................... ............................................ ..........................20 ....20 2.2.3Adaptive 2.2.3 Adaptive Robot--STG100 Robot--STG100 ............................................. ................................................................... ............................................ .......................... .... 21 2.2.4 Adaptive Robot--STH100 Robot--STH100 ............................................ .................................................................. ............................................. ...........................21 ....21 2.2.5 Adaptive Robot--STW030 .......................................... ................................................................. ............................................. .......................... .... 23 2.2.6 Adaptive Robot--STW060 .......................................... ................................................................. ............................................. .......................... .... 24 2.3 TRC 3-A06 control cabinet ............................................ .................................................................. ............................................ ................................... ............. 25 2.3.1 Appearance of the control cabinet ............................................ .................................................................. ................................. ........... 25 2.3.2 Adaptive Robot--STH200 Robot--STH200 ............................................ .................................................................. ............................................. ...........................28 ....28 2.3.3 Adaptive Adaptive Robot--TRB050 Robot--STH500 Robot--STH500 ............................................ ...................... ............................................. ...........................29 ....29 2.3.4 ............................................ .................................................................. ............................................ ............................................ .......................... .... 30 2.3.5 Adaptive Robot--TKB060...................... Robot--TKB060 ............................................ ............................................. ............................................. ..........................31 ....31 2.3.6 Adaptive Robot--TKB070...................... Robot--TKB070 ............................................ ............................................. ............................................. ..........................32 ....32 2.3.7 Adaptive Robot--TKB1210.................... Robot--TKB1210 .......................................... ............................................ ............................................. ...........................33 ....33 2.3.8 Adaptive Robot--TKB800...................... Robot--TKB800 ............................................ ............................................. ............................................. ..........................34 ....34 2.4 TRC 5-B06 5-B06 control cabinet .......................................... ................................................................ ............................................ ..................................... ............... 3 35 5 2.4.1 Appearance of the control cabinet ............................................ .................................................................. ................................. ........... 35 2.4.2 Adaptive Robot--TKB1400.................... Robot--TKB1400 .......................................... ............................................ ............................................. ...........................39 ....39 2.4.3 Adaptive Robot--TKB1440.................... Robot--TKB1440 .......................................... ............................................ ............................................. ...........................40 ....40 2.4.4 Adaptive Robot--TKB1900.................... Robot--TKB1900 .......................................... ............................................ ............................................. ...........................41 ....41 2.4.5 Adaptive Robot--TKB2030.................... Robot--TKB2030 .......................................... ............................................ ............................................. ...........................42 ....42 2.4.6 Adaptive Robot--TKB1600.................... Robot--TKB1600 .......................................... ............................................ ............................................. ...........................43 ....43 2.4.7 Adaptive Robot--TKB2670.................... Robot--TKB2670 .......................................... ............................................ ............................................. ...........................44 ....44 2.4.8 Adaptive Robot--TKB2690.................... Robot--TKB2690 .......................................... ............................................ ............................................. ...........................45 ....45 2.4.9 Adaptive Robot--TKB6300.................... Robot--TKB6300 .......................................... ............................................ ............................................. ...........................46 ....46 2.4.10 Adaptive Robot--TKB460.................... Robot--TKB460 .......................................... ............................................ ............................................. ...........................47 ....47 2.4.11 Adaptive Robot--TKB4600...................... Robot--TKB4600 ............................................ ............................................ ............................................ ...................... 48 2.5 TRC TRC 3-C06 control cabinet .......................................... ................................................................ ............................................ ......................................50 ................50 2.5.1 Appearance of the control cabinet ............................................ .................................................................. ................................. ........... 50 2.5.2 Adaptive Robot--TKB5600.................... Robot--TKB5600 .......................................... ............................................ ............................................. ...........................52 ....52 2.5.3 Adaptive Robot--TKB5700.................... Robot--TKB5700 .......................................... ............................................ ............................................. ...........................53 ....53 2.5.4 Adaptive Robot--TKB6700.................... Robot--TKB6700 .......................................... ............................................ ............................................. ...........................54 ....54 2.5.5 Adaptive Robot--TKB3670.................... Robot--TKB3670 .......................................... ............................................ ............................................. ...........................55 ....55 2.5.6 Adaptive Robot--TKB5800.................... Robot--TKB5800 .......................................... ............................................ ............................................. ...........................56 ....56 3. Basic knowledge of robotics ........................................... ................................................................. ............................................ ........................................... ..................... 57 3.1 Coordinate Coordinate system of the robot ........................................... ................................................................. ............................................ ............................5 ......57 7 3.1.1 Right-hand coordinate system..................... system ........................................... ............................................ ......................................... ...................57 57 3.1.2 Euler angle definition ........................................... .................................................................. ............................................. ................................57 ..........57 3.1.3 Robotic reference reference frame ......................................... ................................................................ ............................................. ............................. ....... 57 3.1.3.1 Base base frame...................... frame ............................................ ............................................ ............................................ .............................57 .......57 3.1.3.2 User coordinate system...................... system ............................................ ............................................ ....................................... ................. 58 3.1.4 Robot tool coordinates .......................................... ................................................................ ............................................ ............................... ......... 59 3.1.5 Left and right hands of the Scara robot ........................................... ................................................................. ........................... ..... 59 3.2 Zero Zero point position of the robot ......................................... ................................................................ ............................................. ............................ ...... 59 3.3 Singular Singular point and working range space ............................................ .................................................................. ....................................60 ..............60 3.3.1 Singular point .......................................... ................................................................ ............................................ ............................................. ......................... 60 3.3.2 Inaccessible zone of the robot .......................................... ................................................................ ..........................................61 ....................61 4. Robot debugging debugging tools ......................................... ................................................................ ............................................. ............................................ ............................... .........62 62 4.1 Teach Teach Pendant..................... Pendant ........................................... ............................................ ............................................. ............................................. ................................62 ..........62 4.1.1 Introduction of key function ........................................... ................................................................. ............................................ ......................62 62 4.2 Remote Remote debugging de bugging tool .......................................... ................................................................ ............................................ ......................................... ................... 63 4.2.1 Introduction of the TeachTool eachTool software ........................................... ................................................................. .......................... .... 63 4.2.1.1 Overview .......................................... ................................................................ ............................................. ..........................................6 ...................63 3 4.2.1.2 Function ....................... ............................................. ............................................ ............................................ ........................................ .................. 63 4.2.2 Download address and installation steps steps .......................................... ................................................................ ......................... ... 63 5 Controller Controller parameters parameters .......................................... ................................................................ ............................................ ............................................ .................................67 ...........67 5.1 Basic B5.1.1 asic setting..................... setting ............................................ ............................................ ............................................ .................................... .............. Cart param p ........................................... aram................... .......................................... ............................................. ............................................ ............................................ ............................ ...... 67 67 5.1.2 Joint param ............................................. ................................................................... ............................................ ............................................. ......................... 68 5.2 Introduction to the SW maintenance...................... maintenance ............................................ ............................................. ........................................ ................. 68 5.2.1 SW backup of the th e SW maintenance .......................................... ................................................................ ................................. ........... 69 5.3 System setting...................... setting ............................................ ............................................. ............................................. ............................................ ............................... .........70 70 5.3.1 EtherCat.................... EtherCat .......................................... ............................................ ............................................. ............................................. ............................... ......... 70 5.3.2 Kernel mode configuration configuration .......................................... ................................................................ ............................................ ......................... ... 70 6 Software instructions ............................................ ................................................................... ............................................. ............................................ .............................. ........ 72 6.1 Variable Variable operation.................... operation .......................................... ............................................ ............................................. ............................................. .......................... .... 72 6.1.1 Common variable type definition .......................................... ................................................................ ..................................... ...............72 72 6.1.1.1 DIGITAL DIGITAL ........................................... ................................................................. ............................................. ............................................72 .....................72 6.1.1.2 STRING ............................................ .................................................................. ............................................. ........................................... .................... 72 6.1.1.3 POINT ............................................. ................................................................... ............................................ ............................................ ......................73 73 6.1.2 Implicitly declared variables...................... variables. ........................................... ............................................ ........................................... ..................... 73 6.1.3 Input / Output ............................................ .................................................................. ............................................ ...........................................74 .....................74 6.1.3.1 I/O control.................... control .......................................... ............................................ ............................................ ........................................74 ..................74 6.1.3.2 DA control .......................................... ................................................................ ............................................. ........................................ ................. 75 6.1.4 Format description .......................................... ................................................................ ............................................. ......................................76 ...............76 6.2 Movement Movement instruction...................... instruction ............................................. ............................................. ............................................ ........................................ .................. 77 6.2.1 Common motor commands ......................................... ................................................................ ............................................. ........................ ..78 78 6.2.1.1 Type of joint movement .......................................... ................................................................ .........................................78 ...................78 6.2.1.2 Linear movement ........................................... ................................................................. ............................................ ............................7 ......79 9 6.2.1.3 Arc motion .................... .......................................... ............................................. ............................................. ...................................... ................ 80 6.2.1.4 Full Circle Motion.............................................................................................81 6.2.1.5 Type of cooperative cooperative movement ........................................... ................................................................. ............................ ......81 81 6.2.2 Logic instructions................... instructions ......................................... ............................................ ............................................. ......................................... ..................82 82 6.2.2.1 if if...else(&&||) ...else(&&||) .......................................... ................................................................ ............................................ .................................. ............ 83 6.2.2.2 While ............................................ .................................................................. ............................................ ............................................. ......................... 83 6.2.2.3 For .......................................... ................................................................ ............................................. ............................................. ............................. ....... 83 6.2.2.4 Swtich...................... Swtich ............................................. ............................................. ............................................ ............................................83 ......................83 6.2.3 Coordinate instructions ......................................... ................................................................ ............................................. .............................. ........ 84 6.2.3.1 Coordinate system instruction...................... instruction ............................................. ............................................. ............................84 ......84 6.2.3.2 Point instruction .................... .......................................... ............................................ ............................................ .............................. ........ 85 6.2.4 Procedure Control Instruction....................... Instruction ............................................. ............................................ ....................................... ................. 86 6.2.4.1 Trigger during motion .......................................... ................................................................ ............................................ ......................86 86 6.2.4.2 Movement pause and program program stop.................... stop .......................................... ........................................... ..................... 86 6.2.4.3 subsystem ........................................... .................................................................. ............................................. ...................................... ................ 87 6.3 Common Common keywords and special functions functions ............................................. ................................................................... ................................ .......... 88 6.3.1 DEFINE ........................................... ................................................................. ............................................. ............................................. .................................88 ...........88 6.3.2 PrintMsg....................... PrintMsg ............................................. ............................................ ............................................ ............................................ .............................88 .......88 7. Basic Basic operation function .................... ........................................... ............................................. ............................................ ............................................ ........................... .....89 89 7.1 Base point ........................................... ................................................................. ............................................. ............................................. ...................................... ................ 89 7.2 Interfer Interference ence ............................................. ................................................................... ............................................ ............................................ .................................. ............ 90 7.3 Safe Safe Area Setting...................... Setting ............................................ ............................................ ............................................. ............................................. ........................... .....91 91 7.4 Safety door do or .......................................... ................................................................ ............................................ ............................................ .......................................92 .................92 7.5 Prog Prog Start ............................................ ................................................................... ............................................. ............................................ ...................................... ................ 92 7.6 IO .......................................... .................... ............................................ ............................................ ............................................. ............................................. .........................94 ...94 7.7 IAlarm O group .......................................... .................... ............................................. ............................................. ............................................ .......................................... .................... 95 8 Background Background program.................... program .......................................... ............................................ ............................................. ............................................. ................................. ........... 98 8.1 Background Background functions of the robot ............................................ .................................................................. ............................................98 ......................98 8.1.1 Background program .......................................... ................................................................ ............................................ .................................. ............ 9 98 8 8.1.2 Commonly Used Background Function ............................................ .................................................................. .......................... .... 99 8.1.3 Background common program cases ............................................ .................................................................. ........................... ..... 10 100 0 8.1.3.1 Catch the edge trigger of IO signal trigger.....................................................100 8.1.3.2 Background script to switch foreground foreground programs programs ....................................... ....................................... 100 8.1.3.3 Movement judgement of the robot .......................................... .............................................................. .................... 102 8.1.3.4 Reservation function in the background background....................... ............................................. ................................ .......... 103 8.1.4 The Background TCP communication..................... communication ........................................... ............................................ ............................ ...... 105 8.1.4.1 Robot Ethernet setup .......................................... ................................................................ ...........................................105 .....................105 8.1.4.2 Server /Client ............................................ .................................................................. ............................................ ............................... ......... 110 8.1.4.3 Case:Send and receive unknown coordinate points..................................... 110 8.1.4.4 Send and receive int data.............................................................................. 114 8.1.4.5 Send and receive hex data.............................................................................115 9 Industrial Industrial fieldbus communication communication ............................................ .................................................................. ............................................ ............................... ......... 117 9.1 Remote Remote operation of the robot ......................................... ................................................................ ............................................. ........................... ..... 11 117 7 9.1.1VNC Mapping the presentation presentation device interface interface ........................................... ...................................................... ........... 117 9.2 ModbusTCP ModbusTCP.................... .......................................... ............................................ ............................................ ............................................ .................................... ..............117 117 9.3 MC MC protocol 3E frame format ........................................... .................................................................. ............................................. ............................ ......125 125 9.3 The FINS protocol................... protocol .......................................... ............................................. ............................................ ............................................ ...........................135 .....135 9.4 EtherNetIP EtherNetIP .......................................... ................................................................ ............................................ ............................................ ......................................143 ................143 9.4.1, the internal setting of the robot ........................................... ................................................................. ................................... .............143 143 9.4.2 Hardware architecture .......................................... ................................................................. ............................................. .............................14 .......144 4 9.4.3 Internal PLC settings..................... settings ........................................... ............................................ ............................................ ................................ .......... 144 9.4.4 Communication examples ................... ......................................... ............................................. ............................................. ........................ .. 144 9.5 network instructions in Xml format ............................................. ................................................................... ........................................146 ..................146 9.5.1 TCP / IP communication configuration configuration.................... .......................................... ............................................ ........................... ..... 146 9.5.2 IP address configuration configuration and communication................... communication .......................................... ....................................... ................146 146 9.5.3 Command package format................... format ......................................... ............................................. ............................................. ........................146 ..146 9.5.4 Command introduction..................... introduction ........................................... ............................................ ............................................ ............................148 ......148 9.6 Class EtherCat communication communication ........................................... ................................................................. ............................................ ........................... ..... 170 9.6.1 External Shaft ............................................. ................................................................... ............................................ .........................................170 ...................170 9.6.1.1 Hardware configuration...................... configuration ............................................. ............................................. ....................................170 ..............170 9.6.1.2 System configuration...................... configuration ............................................ ............................................ ......................................... ................... 171 9.6.1.3 External axis collaborative calibration calibration..................... ........................................... ...................................... ................ 172 9.6.1.4 Cooperative calibration calibration verification of external axes .................................... .................................... 174 10 Universal Universal industry process package .......................................... ................................................................ ............................................ ..............................175 ........175 10.1 Pallet Pallet .......................................... ................................................................ ............................................ ............................................. ............................................ ..................... 175 10.1.1 10.1. 1 typical palletizing application application....................... ............................................. ............................................ .................................... .............. 175 10.1.2 10.1. 2 Pallet setting ............................................. ................................................................... ............................................ ........................................ .................. 175 10.1.3 10.1. 3 Program preparation ............................................ ................................................................... ............................................. ........................... ..... 176 10.2 Visual ............................................ .................................................................. ............................................ ............................................ ..........................................180 ....................180 10.2.1 visual basic setting ............................................. ................................................................... ............................................ ............................... ......... 180 10.2.2 Parameter Parameter resolution..................... resolution ............................................ ............................................. ............................................ ............................ ...... 180 10.2.3.Program of process instruction..................... instruction ........................................... ............................................ ............................. ....... 182 181 10.2.4 PExplanation rogram instance..................... instance ........................................... ............................................. ............................................. .................................. ............ 10.2.5 using the background 10.2.5 b ackground prog..................... prog ........................................... ............................................ .......................................... ....................183 183 10.2.7 10.2. 7 foreground program ............................................ ................................................................... ............................................. ............................ ...... 186 10..3 tracking method .......................................... 10 ................................................................ ............................................ ............................................ ........................186 ..186 10.3.1 10.3. 1 tracking the hardware settings ............................................ .................................................................. ................................... ............. 186 10.3.2 10.3. 2 Suggestions for installation ........................................... .................................................................. ..........................................188 ...................188 10.3.3 10.3. 3 Description of the algorithm...................................................................................189 10.3.4 10.3. 4 Process Settings ........................................... ................................................................. ............................................ ..................................... ............... 190 10.3.4.1Process settings................... settings ......................................... ............................................. ............................................. ............................ ...... 190 10.3.4.2 Tr Tracking acking.................... ........................................... ............................................. ............................................ ....................................... .................191 191 10.3.4.3 Disk track calibration ............................................ .................................................................. ....................................... ................. 192 10.3.5 Instructions resolution ........................................... .................................................................. ............................................. ..........................193 ....193 10.3.6 Procedure P rocedure cases ............................................. ................................................................... ............................................ ................................... .............198 198 10.4 Punch ............................................ ................................................................... ............................................. ............................................ ........................................ .................. 200 10.4.1 General ............................................ .................................................................. ............................................ ............................................ ............................200 ......200 10.4.1.1 Ctrl options ............................................ .................................................................. ............................................ ................................ .......... 200 10.4.1.2 Display options ........................................... ................................................................. ............................................ ............................200 ......200 10.4.2 Online Settings .......................................... ................................................................ ............................................ ........................................202 ..................202 10.4.2.1 Robot online setting.................... setting .......................................... ............................................ ...........................................202 .....................202 10.4.2.2 Punch online settings...................................................................................203 10.4.2.3 Feeding mach online settings.............................................................. settings...................................................................... ........ 203 10.4.3 Operation..................... 10.4.3 Operation ........................................... ............................................ ............................................ ............................................ ......................... ... 204 10.4.3.1 Va Variable riable cylinder settings..................... settings ........................................... ............................................ ..................................204 ............204 10.4.3.2 Fixture settings .......................................... ................................................................. ............................................. ........................... ..... 204 10.4.3.3 Loadina Lo adina pt cyclic shift ............................................ ................................................................... .......................................205 ................205 10.4.3.4 Unloading pt cyclic shift ......................................... ................................................................ ......................................206 ...............206 10.4.4 10.4. 4 Teach template.................... template .......................................... ............................................ ............................................ ....................................... ................. 208 10.4.4.1 Polints...................... Polints ............................................ ............................................ ............................................. ........................................ ................. 20 208 8 10.4.4.2 Path....................... Path ............................................. ............................................ ............................................ ...........................................20 .....................208 8 10.4.4.3 Template..................... emplate ............................................ ............................................. ............................................ .................................... .............. 209 10.4.5 10.4. 5 Reset .......................................... ................................................................. ............................................. ............................................ ................................ .......... 210 10.4.6 Other Settings...................... Settings ............................................ ............................................ ............................................. ....................................... ................210 210 10.4.6.1 Interference.................... Interference .......................................... ............................................ ............................................ ................................. ........... 210 11 Turin robot welding industry basic configuration.........................................................................213 11.1 Supported types of welding machine and communication...............................................213 11.2 The Turin robot expands expands the external axis mode ........................................... .............................................................. ................... 216 11.3 welding overview .......................................... ................................................................ ............................................ ............................................ ......................... ...217 217 11.3.1 Setting of the welding process parameters........................................................... parameters............................................................. 217 11.3.1.1 General..................... General ............................................ ............................................. ............................................ .......................................217 .................217 11.3.1.2 Arc start ........................................... ................................................................. ............................................ .......................................219 .................219 11.3.1.3 Restart Restart ........................................... ................................................................. ............................................ .........................................221 ...................221 11.3.1.4 Arc end ........................................... ................................................................. ............................................ ........................................223 ..................223 11.3.1.5 Re-arcstart Re-arcstart ........................................... ................................................................. ............................................ ...................................224 .............224 11.3.1.6 Scratch Scratch start ............................................ ................................................................... ............................................. .............................. ........ 225 11.3.1.7 Wire stick .................... .......................................... ............................................. ............................................. .................................... .............. 226 11.3.1.8 V mapping .......................................... ................................................................ ............................................ ....................................22 ..............227 7 11.3.1.9 AWeaving mapping.................... ......................................... ................................................................ ............................................. ............................................. ....................................229 ..............229 11.3.1.10 .......................................... ............................................. .................................... .............. 230 11.3.1.11 Spot welding.................... welding .......................................... ............................................. ............................................. ............................. ....... 231 11.3.1.12 Touching search....................... search ............................................. ............................................ ............................................ ...................... 232 11.3.1.13 Arc track ........................................... ................................................................. ............................................ .................................... ..............233 233 11.3.1.14 Laser search ........................................... ................................................................. ............................................ .............................. ........ 236 11.3.1.15 Welding l0 def ............................................. ................................................................... ............................................ ......................... ...238 238 11.4 Welding Welding trajectory planning and programming..................... programming ............................................ ........................................... .................... 239 11.4.1 11.4. 1 Robot motion mode ........................................... ................................................................. ............................................ ...............................239 .........239 11.4.2 11.4. 2 simple workpiece welding.................... welding .......................................... ............................................ ............................................ ...................... 239 11.4.3 Welding track of duplex stations or more stations 11.4.3 stations.................... .......................................... .............................24 .......240 0 11.4.4 11.4. 4 welding instruction editing .......................................... ................................................................. ........................................... ....................241 241 11.4.4.1 Linear-line welding instruction...................... instruction ............................................ ............................................. ......................... 244 11.4.4.2 Arc welding instruction instruction..................... ............................................ ............................................. ....................................245 ..............245 11.4.4.3 Vertical Vertical arc welding instructions .................... .......................................... ............................................ ........................247 ..247 11.4.4.4 Continuous-point welding command.................... command ........................................... ...................................... ............... 248 11.4.4.5 Return welding instruction instruction ............................................ .................................................................. .............................. ........ 248 11.5 Laser tracking...................... tracking ............................................ ............................................ ............................................. ............................................. ............................ ......249 249 11.5.1 11.5. 1 The Turing Turing robot teaching device page operation ......................................... ..................................................249 .........249 11.5.1.1 The Turing Turing robot system upgrade .......................................... ................................................................249 ......................249 11.5.1.2 Show ator key introduction....................... introduction ............................................. ............................................ ............................ ...... 252 11.5.2 11.5. 2 Preparation before installation installation of the laser weld tracker ................... .......................................254 ....................254 11.5.2.1 Item preparation .......................................... ................................................................ ............................................ ..........................25 ....254 4 11.5.2.2 Software preparation ......................................... ................................................................ ..........................................254 ...................254 11.5.3Installa 11.5. 3Installation tion and wiring of the weld tracker.................... tracker .......................................... ..........................................254 ....................254 11.5.3.1 The sensor is connected to the control control cabinet.................... cabinet .......................................... ...................... 254 11.5.3.2 Sensor installation ............................................ ................................................................... ........................................... .................... 255 11.5.4 11.5. 4 Laser weld tracker setup ............................................. ................................................................... ............................................255 ......................255 11.5.4.1Laser Weld Tracker Tracker firmware version .......................................... ........................................................... ................. 255 11.5.4.2 Laser weld tracker firmware update............................................................255 11.5.5 11.5. 5 Configuration of communication communication parameters parameters .......................................... ........................................................ .............. 256 11.5.5.1 Sensor communication settings ........................................... ................................................................. ........................256 ..256 11.5.5.2 Robotic communication communication settings ........................................... ................................................................. ...................... 256 11.5.6 Calibrate...................... Calibrate ............................................ ............................................ ............................................. ............................................. ......................... ...258 258 11.5.6.1Tool 11.5.6.1T ool calibration calibration .......................................... ................................................................. ............................................. ............................ ...... 258 11.5.6.2 Monitoring of the laser tracking..................................................................259 11.5.6.3 Laser calibration calibration .......................................... ................................................................ ............................................ ...........................261 .....261 11.5.6.4 Laser verification...................... verification ............................................ ............................................ ............................................. ........................263 .263 11.5.7 11.5. 7 Laser tracking instructions.................... instructions .......................................... ............................................. ............................................264 .....................264 11.5.7.1Laser tracking tracking begins ............................................ .................................................................. ........................................ .................. 264 11.5.7.2 Laser tracker parameter settings.................................................................265 11.5.7.3 Real-time tracking program .......................................... ................................................................ ............................... ......... 267 11.5.7.4 Single point search bit change posture .......................................... ....................................................... ............. 268 11.5.7.5 Two points to change posture posture ............................................ .................................................................. ......................... ... 269 11.5.7.6 Four points to find a position position to change posture..................... posture ........................................ ................... 270 11.5.7.7 Commonly used instructions..................... instructions ............................................ ............................................. ........................... ..... 271 11.5.7.8 Common operation of laser location finding .................... .......................................... ...........................272 .....272 1 Safety 1.1 About About Safet Safety y This chapter describes the safety principles and procedures for operating a robot or a robot system. Thiss manua Thi manuall gives gives a compre comprehen hensiv sive e descri descripti ption on of the co compo mposit sition ion and operat operation ion of Turin urin industrial robots. Please be sure to read and fully understand the basis of the operation of the robot. The illustration in the maintenance manual removes the cover or safety cover for drawing for details. When operating such parts, be sure to restore the cover or safety cover as specified, and then run according to the instructions. The drawings and photos in the manual are representative examples and may be different from the purchased products. The manual is sometimes modified due to product improvement, specification change, the fact that the manual itself is easier to use and other appropriate reasons. The company is not responsible for the customer's unauthorized modification of the product, which is not within the scope of warranty. 1 1.2 Applicable Applicable Safety Safety Standards Standards The manipulator system is designed to meet the following requirements: Standard Standard Explain EN ISO ISO 12100 12100-1 -1 Safe Safety ty of mach machin iner ery y - Basi Basicc conc concep epts ts,g ,gen ener eral al prin princi cipl ples es fo forr desi design gn - Part Part 1:Basic terminology,methodology terminology,methodology EN ISO ISO 12100 12100-2 -2 Safe Safety ty of mach machin iner ery y - Basi Basicc conc concep epts ts,g ,gen ener eral al prin princi cipl ples es fo forr desi design gn - Part Part 2:Technical 2:T echnical principles EN ISO ISO 1384 138499-1 1 Sa Saffety ety of mac machin hinery ery,safety ety rel ela ated par partts of cont ontrol systems - Part 1:General principles for design EN ISO ISO 1385 13850 0 Sa Saffet ety y of ma mach chin iner ery y - Emer Emerge genc ncy y stop stop - Prin Princi cipl ples es fo forr de desi sign gn EN ISO ISO 1021 102188-1 1 Robot obotss fo forr indu indust stri rial al en envi viro ronm nmen ents ts - Part Part 1 EN ISO ISO 9787 9787 Mani Manipu pula lati ting ng indu indust stri rial al ro robo bots ts,, coor coordi dina nate te syst system ems, s, and and acti action on nami naming ng EN ISO ISO 9283 9283 Mani Manipu pula lati ting ng indu indusstr tria iall robo robots ts,, pe perf rfor orma manc nce e stand tandar ards ds,, and and asso associ ciat ated ed test methods EN ISO ISO 1464 146444-1 1 Er Erg gonom onomic icss of th the e th ther erma mall en envi viro ronm nmen entt - Pa Part rt 1 EN ISO 13732-1 EMC,Generic emission (Optional 129-1) EN 61000-6-2 EMC,Generic immunity EN IE IEC C 6097 609744-1 1 EN IE IEC C 60204 60204-1 -10 0 EN 6020 602044-1 1 IE IEC C 6052 60529 9 European Standard Standard EN 614614-1 1 EN 574 EN 953 Other Standards Standard ANSI/R ANS I/RIA IA R15.06 R15.06 ANSI/UL 1740 (Optional 429-1) Weldi elding ng ar arcc pa part rt-P -Par artt 1: Weldi elding ng powe powerr supp supply ly Arc Arc weld weldin ing g equi equipm pmen entt - Pa Part rt 10 10:E :EMC MC re requ quir irem emen ents ts Sa Saffet ety y of mach machin iner ery y - El Elec ectr tric ical al eq equi uipm pmen entt of mach machin ines es - Part Part 1 Gene Generral requirements De Degr gree eess of pro protect ctiion pro provid vided by enc enclo losu surres( es(IP code) ode) Explain Sa Saffety ety of mac machine hinery ry - Er Erg gonom onomic ic de dessign ign prin princciple ipless - Pa Part rt 1: 1:T Termino minollogy ogy and general principles Safety of machinery - Two - hand control devices - Functional aspect ects Principles for design Safety of machinery - General requirements for the design and construction of fixed and movable guards Explain Safety Safety Re Requi quire remen ments ts fo forr Indus Industri trial al Ro Robot botss and Robot Robot Sy Syst stems ems Safety Standard for Robots and Robotic Equipment 2 1.3 Safety Terminology 1.3.1 Safety Signals In the Manual Safety Signal Profile This section will clearly state all dangerous that may arise when performing the work described in this manual. Each hazard includes: Title indicating the hazard grade (danger, warning or caution) and type of hazard. Brie Brieff descr descrip ipti tion on of what what happ happen enss when when the oper operat ator or / main mainte tena nanc nce e pers person onne nell do not not eliminate the danger. danger. Instructions on how to eliminate hazards to simplify work execution. Danger Classes The following below defines the icons defining the hazard levels used in this manual. Sign Name Meaning Danger Signal words used to indicate emergency dangerous situations, if not avoided, result in serious injury. Warn Signal words used to indicate potentially dangerous situ situat atio ions ns that that,, if not not av avoi oide ded, d, may may caus cause e seri seriou ouss injury. Elec Electr tric ic Sh Shoc ock k Signal Sign al word wordss us used ed to indi indica cate te pote potent ntia iall lly y dan dange gero rous us situations associated with electrical hazards and, if not avoided, may have serious consequences. Take Care Sign Signal al words ords used used to indic ndica ate pot potent entiall ially y dan danger gerous sit situa uatio tions ns that, that, if not av avoid oided, ed, may result result in minor minor injuries. Electrostatic Discharge (ESD) Signal words used to indicate indicate potentia potentially lly dangerous dangerous conditions which, if not avoided, may cause serious damage to the product. Pay Attent ention ion Sign Signal al word ords used used to to ind indiicate im impo porrtant ant fa facts an and d situations. 1.3.2 Safety sign on the manipulator tag Tag Profile This section describes the safety marks used on the manipulator label. Marks are used in combination on the labels, describing each specific warning. The description in this section is a general description, and the labels may contain additional information such as values. Tags Type Both the manipulator and the controller are labeled with several security and information labels 3 that contain important information about the product. Sign on the Safety Label Sign Explain Warn! If you do not follow the instructions, an accident may occur, which can cause serious injury or significant damage to the product. Take Care! Care ! With Wi thou outt foll follow owin ing g th the e inst instru ruct ctio ions ns,, acci acciden dents ts that that caus cause e inju injury ry and and product damage may occur. Prohibit! Product Manuals Before disassembly, please refer to the product manual. Do Not Disassemble Extended Rotation Rotation Risk of overturning when loosening the bolts Sign Explain Squeeze Risk of crush injury 4 Brake Release High temperature danger, do not touch It is prohibited to enter the working range of the robot when it is working Brake Release Button Ring Lift the Robot Stoppage of Machine 5 Sign Explain Oil If oil is not allowed, it can be used in combination with the prohibition sign Storage of Energy Warning, this part contains energy. Used in conjunction with the "Do Not Disassemble" sign. Pressure Warning Wa rning,, this part is compress compressed, ed, usually usually contains contains additional additional text with pressure level. Turn off with a handle Use the power switch on the controller. 1.3.3 Danger 1.3.3.1 Danger - Make sure the main power is off! High-pressure operations can have fatal consequences. To avoid these consequences, be sure to do the following before you work: Close the master switch on the control cabinet: Pic 1-1 1-1 Close the maste masterr switch switch on the control control cabi cabinet net 1.3.3.2 Danger - moving the manipulator can have fatal consequences! Moving the manipulator can damage the machine. When running the manipulator, the robot may perform some unexpected or irregular movements. 6 Moreover, all movements produce large forces that endanger people or damage any equipment within the operating range of the manipulator. To av avoi oid d the the ab abov ove e cons conseq equen uence ces, s, be sure sure to perf perfor orm m the the fo foll llow owin ing g opera operati tion onss befo before re the the Operation: Be sure to install and connect the emergency stop device correctly before running. Ensure that there is no personnel activity in the robot working range before pressing the start button. 1.3.3.3 DangerDanger- -A robot without a shaft brake may be dangerous! The robot arm system is very heavy and can be dangerous if the brake is not connected, if it is connected incorrectly, if it is damaged, or if any malfunction renders it inoperable. To av avoi oid d the the ab abov ove e cons conseq equen uence ces, s, be sure sure to perf perfor orm m the the fo foll llow owin ing g opera operati tion onss befo before re the the Operation: If it is suspected that the brake can not be used properly, other methods should be used to ensure the safety of the robot arm system before operation; If you plan plan to disabl disable e the brake brake from the ex exter ternal nal power power supply supply,, please please pay attent attention ion to the following matters: matters: When the brake is disabled, never stand within the operating limits of the robot (unless another method is used to support the arm system)! Never stand under the robot axis under any circumstances! 1.3.4 Warning 1.3.4.1 Warning-This unit is susceptible to static electricity! ES ESD D (elect (electro rost stat atic ic discha discharg rge) e) is the conduc conductio tion n of stat static ic electri electricit city y betwee between n two two object objectss with with different electrical potentials, which can be transmitted either by direct contact to or by induced electric fields. When handling parts or containers of parts, ungrounded personnel may conduct a large electrostatic charge. This discharge process may damage sensitive electronic equipment. To av avoi oid d the the ab abov ove e cons conseq equen uence ces, s, be sure sure to perf perfor orm m the the fo foll llow owin ing g opera operati tion onss befo before re the the Operation: Use ESD protection mat: must be grounded by current limiting resistance; Use antistatic table pad: it shall control static discharge and must be grounded. 1.3.5 What is an emergency stop? Definition The The emer emerge genc ncy y stop stop is inde indepe pend nden entt of al alll ro robot bot el elec ectr tric ical al cont contro rols ls and and can can stop stop all all ro robo bott movements moveme nts.. Th The e emerg emergenc ency y st stop op means means that that all the power power supply supply connec connected ted to the robot robot is disconnected, but the power supply on the servo motor is not disconnected, so the emergency stop button must be released and the robot restarted. Stop can be divided into Runaway Stop, which stops the robot by cutting power to all servo motors; Controllable stop, by sending a command to the servo motor to make the robot walk the current path before stopping the power supply. It can only be used for its specific purposes and established conditions. Used to stop the equipment immediately in case of an emergency. Should not be used for normal program stop as this may cause additional unnecessary wear on the manipulator. 7 1.3.6 What is a safe stop? Definition Also called a protective stop, only disconnect the power supply of the manipulator motor. Just reconnect the motor power supply to return to normal operation. It can only be used for its specific purposes and under set conditions; Should not be used for normal program stop and may cause additional unnecessary wear of the manipulator. Security stop type safety stop description Automatic mode Disconnect the automatic mode drive power supply stop (AS) In manual mode, this input is inactive Routi Ro utine ne Stop Stop (GS) (GS) Discon Disconnec nectt drive drive power power in all opera operatin ting g modes modes Hig ighe herr-le lev vel stop Disconnect drive power in all operating modes (SS) Dedicated to external devices 1.3.7 What is safety protection? Definition With the help of protective devices to keep workers away from hazards that cannot be reasonably eliminated or completely eliminated by design. It can only be used for its specific purposes and under set conditions; Should not be used for normal program stop and may cause additional unnecessary wear of the manipulator. Security protection space Protection range of the protection device. Security protection mechanism Contains many protective devices in series. When a protective device is started, the protective chain is disconnected and the machine stops running. 1.3.8 How to use the Teach Pendant device safely? The Dead Man Switch is located on the right side of the demonstrator and is only useful in the teaching mode, and is divided into three positions: disconnect, press and repress. The servo motor is not powered when disconnected or pressed (in case of no operation or emergency), and powered when pressed. To ensure safe use of the Teach Pendant, be sure to follow the following rules: At any time, we must ensure that the actuating device can work normally; In the process of programming and testing, the manipulator must be released as soon as possible when it does not need to move; When Whe n enteri entering ng the ro robot bot works workspac pace, e, the operat operator or must must carry carry the Teach each Pendan Pendantt with with him to prevent others from touching the Teach Pendant. 1.4 How to handle an emergency? 1.4.1 Stop the system Press the emergency stop button immediately in the following situations: When the robot is running, there are staff in the working area; When endangering people and damaging equipment. 8 Emergency stop button Pic 1-2 1-2 Emergency Emergency stop stop button button on the Teach Teach Pendant Pendant Emergency stop button: the red button located in front of the control cabinet. It can also be set up according to the user's needs. SCARA control cabinet Pic 1-3 1-3 Emergency Emergency stop button button on SCARA SCARA contro controll cabinet cabinet control cabinet 9 Pic 1-4 Emergency Emergency stop stop button button on contr control ol cabine cabinett Other emergency stop equipment User and designer can place other emergency stop equipment in the appropriate position according to the actual situation. 1.4.2 Release the robot brake The robot brake shall be released manually when charged. When the controller power switch is "on", the power supplies power even if the system is in emergency. Battery powered Use batteries to power the brake system. Brake Brak e brake release button Robots have different models and different button positions. Please refer to the details of the different robots and remember the button position. Pay Attention Before releasing the brake brake, brake, always consider: How will the robotic arm move? What is the impact on the winding piece? Danger Release of the brake may cause personnel injury or property damage. Do this only with caution if necessary. If necessary, use an overhead crane, forklift or other equipment to protect the robot arm; Make sure that the robot is powered on; Ensure that when the brake release, will not increase the damage of the wound workpiece; Press the appropriate brake release button to release the brake brake. 1.4.3 Fire fighting Pay Attention In case of fire, please ensure that all personnel are evacuated safely before extinguishing the fire. Priority should be given to the injured personnel. The choice of fire extinguisher Use a carbon dioxide fire extinguisher when the electrical equipment catches fire. 1.4.4 Recovery theimportant emergency state This step is a simplefrom but very step.stop Ensure that the control system resumes operation only 10 after the danger is completely removed. Reset the emergency stop button Emergency stop can be released by turning or pulling the emergency stop button. Recovery from the emergency stop state Ensure that all hazards are eliminated; Locate and reset the equipment causing an emergency stop state; Rotate or remove the emergency stop button. 1.4.5 Return to the programming path Cutting off the power supply of the robot motor easily leads to the loss of the robot programming path. Emergency stop or safety stop may also cause path loss. Allowed slip distance is configured by the system parameters. Differs by the mode of operation. If the robot is not within the allowable distance set, the robot can be returned to the programming path, or located to the next programming point in the path, and then the program automatically continues to execute at the speed of editing in the program. 11 1.5 Safety matters at work 1.5.1 Overview About the robot The robot is of high quality and powerful. A pause or stop in motion can be dangerous. Even if the move mo veme ment nt traj trajec ecto tory ry can can be pred predic icte ted, d, th the e exte extern rnal al sign signal al has has the the pote potent ntia iall to chan change ge the the operation, producing unexpected movements without any warning. Be sure to follow all safety regulations when entering the protected spaces. About this section This section describes some of the most basic regulations that users need to follow. In practice, should be specific problem specific analysis. 1.5.2 Self-safety General Principles If there are staff in the protection space, please operate the robot system manually. When entering the protective space, please bring the Teach Pendant with you to control the robot at any time. Pay attention to the rotating or moving tools, and ensure that these tools have stopped moving before approaching the robot. Note No te the the highhigh-te temp mper erat atur ure e surf surfac ace e of the the work workpi piec ece e and and the the ro robo boti ticc syst system em.. The The moto motorr temperature is very high after running for a long time. Pay attention to the fixture and make sure the workpiece is clamped properly. If the fixture is open, the workpiece can fall off and endanger personal safety or cause damage to the equipment. If the clamps are strong and not operated in the correct way, personal safety is also at risk. Pay attention to the hydraulic and pneumatic systems and live components. Even if the power is cut off, the residual power supply is also very dangerous. Disconnect the Teach Pendant Store the Teach Pendant safely after being disconnected from the robot unit or controller. In case of danger, use the Teach Pendant to stop the robot. Note: The Teach Pendant shall be stored in an appropriate manner to avoid being mistaken as still connected to the controller. controller. Custom Teach Pendant connection After the display is connected (except the supply cable and standard connector), the emergency stop button must work properly. If you use a custom connection, test the emergency stop button regularly. 1.5.3 Disposal of Teach Pendant Disposal of Teach Pendant The Teach Pendant is a high quality handheld terminal. To avoid the failure or damage caused by the improper operation, please follow this instructions during the operation. The Teach Pendant is only for the purposes specified in this manual. Handling and cleaning Hand Ha ndle le with with care care.. Do not not brea break k or malf malfun unct ctio ion n by drop droppi ping ng,, thro throwi wing ng or poun poundi ding ng on the the demonstrator; When there is no need to use the teaching device, please place it in the corresponding position to avoid falling; Do not press the display cable; Use the touch screen with a finger or touch pen, do not use sharp objects to avoid damage to the touch screen; 12 Clean the touch screen regularly; Do not use solvent, detergent or scrub sponge cleaner. Use a soft cloth dipped in a small amount of water or a neutral detergent. When Wh en ther there e is no need need to conn connec ectt USB USB equip equipme ment nt,, cove coverr the the USB USB port port to av avoi oid d conn connec ecti tion on interruption or failure; Note: The Teach Pendant shall be stored in an appropriate manner to avoid being mistaken as still connected to the controller. controller. Cable and power supply Turn off the power supply before opening the Teach Pendant cable entry area. Otherwise, the components may be damaged or have unknown signals; Ensure that any personnel will not trip over the cable to avoid the equipment falling; Avoid the extrusion of other objects to avoid damage to the cable; Do not place the cable on sharp edges to damage the cable skin. Waste Wast e Disposal Compliance when disposing of electronic components! When replacing the components, please dispose of the used components correctly. The foreseeable abuse of the devices Means prohibiting the enabled device to be stuck in the enabled position. The foreseeable abuse of the devices must be strictly restricted. When you release the enabled device and then press it again, make sure that the system is closed before pressing again, otherwise you will receive an error message prompt. 1.5.4 Safety Tools Security protection mechanism The robot systems can be equipped with a wide variety of safety protection devices. The controller has three independent safety protection mechanisms, respectively: General Mode Safety Protection Stop (GS): always valid in any operating mode; Automatic Mode security protection stop (AS): it is only valid when the system is in automatic mode; Master Security Stop (SS): always valid in any mode of operation. Security monitoring Emerg Eme rgenc ency y stop stop and safet safety y prote protecti ction on mechan mechanism ismss are are monito monitored red to stop stop the ro robot bot when when the controller detects any fault. Limit the working scope of the robot Can be restricted by a mechanical stop, a software function, or a combination of both. 1.5.5 Safety in manual mode Brief Introduction Teaching mode for programs to create, store, and test robot paths and locations. Use the key switch to select the manual mode to effectively prevent accidental touch. In manual mode, the robot is started by the enabling switch on the monitor, which is divided into three stages: break, press and pressure. The robot motor can be started only when the enabling switch is pressed, and the machine will not move when disconnected or stressed. Service Speed In the manual mode, the movement speed of the manual teaching robot can be set autonomously. Top speed is 25% of the rated speed. 13 1.5.6 Security in automatic mode Brief Introduction The automatic mode is used to run the robotic programs in the production. Effective Eff ective safety and protection mechanism In the automatic mode, the General Mode Safety Protection Stop (GS) mechanism, the Automatic Mode security protection stop (AS) mechanism, and the Master Security Stop (SS) mechanism are all active. Processing process interfere interference nce Process interference can affect specific robotic cells and even entire system chains. The chain of events may result in dangerous operations not being known when operating individual robot cells. Therefore, the person performing all remedial actions must be familiar with the entire production line. 14 2 Product Product composition composition 2.1 The Teaching Instrument 2.1.1 Appear Appearance ance of the De Device vice The appearance of the Teach Pendant is 290 * 240 * 53 (mm), with 12 log keys, 4 program control keys, 4 custom function keys, emergency stop switch, enabling switch, mode switch, the operating temperature is-30℃~80℃. temperature The Teach Pendant Pendant is a human-com human-computer puter interact interaction ion device. device. It can realize realize the operation operation robot movement, complete the teaching programming, realize the system setting, fault diagnosis and other operations. The front includes an emergency stop switch, a touch display, and touch buttons. The enabling switch is on the right side of the Teach Pendant for the operator to hold during operation. Pic 2-1 The Teach each Pendan Pendantt 2.1.2 Key function description key F1 F2 F3 F4 J1J1+ J2J2+ J3J3+ J4J4+ J5-J5 key J5+ J6- function Preset button. J6+ SA Joint 6 moves in the pos positive dir direction or toward the RZ START (Start) but button, automatic (reproduce) mode to start the execution Joint 1 moves in the neg negative direction or toward the X axis Joint 1 moves in the pos positive dir direction or toward the X axis Joint 2 moves in the neg negative direction or toward the Y axis Joint 2 moves in the pos positive dir direction or toward the Y axis Joint 3 moves in the neg negative direction or toward the Z axis Joint 3 moves in the pos positive dir direction or toward the Z axis Joint 4 moves in the neg negative direction or toward the RX Joint 4 moves in the pos positive dir direction or toward the RX Join Jointt 5 mov moves in the the ne neg gative dir direc ecti tion on or neg negativel ely y towar oward d the the RY function Joint 5 moves in the pos positive dir direction or toward the RY Joint 6 moves in the neg negative direction or toward the RZ 15 BK ST FW program; Manual (teach) mode starts a single-step run Retu eturn to ze zerro but button, pre press and ho hold ld the the robot bot jo join intt to zer ero o, rel elea easse the the stop movement ST STO OP (St Stop op)) but button, on, au auttoma omatic (repr eproduce) uce) mode mode stop pro progra gram execut ecutio ion n Clear the drive alarm push button 2.1.3 Teach Pendant of the interface layout The Teach Pendant uses an 8-inch TFT resolution 1024 * 768 LCD display. Pic 2-2 Interfa Interface ce of the Teach Teach Pendant Pendant The interface layout is as follows: The top of the interface from left to right are: coordinate system selection for manual operation, tool coordinate selection, user coordinate selection, operation status, servo status, alarm status, demonstration status and manual operation speed selection; The second line is the main menu, including 8 main menu choices; A program content display area on the left side of the center, showing the content of the programs written and run; The right side of the middle, from top to bottom, shows the joint real-time coordinate display value and command position value respectively, and the lower half shows the IO status real-time display; At the bottom is the operation button area under each menu; Real-time status and alarm information display bar at the bottom. 2.2 TRC 3-A04 control cabinet 2.2.1. Appear Appearance ance of the control cab cabinet inet Adapter robot model: STG030, STG100, STH030, STH100, STW030, STW060 On the front front panel panel of the contr control ol cabine cabinet, t, there there ar are e a power power switc switch, h, emerge emergency ncy stop stop switc switch, h, automatic hand switch, door lock and various buttons / indicator lights. The monitor is placed 16 directly above the control cabinet, and there is an interconnection cable interface on the side of the control cabinet. Control cabinet appearance Pic 2-3 TRC3-A04 TRC3-A04 Control Control cabi cabinet net appearan appearance ce External dimension diagram of the control cabinet Pic 2-4 External External dimension dimension diagram diagram of the the TRC3-A04 TRC3-A04 control control cabinet cabinet Electric Installation Drawing Electrical drawings are mainly divided into four parts: power supply, control system, servo and user interface Customer Interface: The IO board has DB15, DB25 and DB9: DB9 internal input is connected to the anti-collision switch signal, hand press signal, program stop signal, etc. Without external power supply, directly use the fast plug internal power supply. Note: The IO board does not use internal power supply, but uses external 24V power supply. 17 Pic 2-5 Electric Electric Install Installatio ation n Drawing Drawing of Custom Customer er Interfa Interface ce 18 Pic 2-6 Electric Electric Install Installatio ation n Drawing Drawing of Custom Customer er Interfa Interface ce 19 2.2.2 Adaptiv Adaptivee Robot--S Robot--STG030 TG030 Robot Ontology Pic 2-7 The appearan appearance ce of STG030 STG030 Parameter Diagram Pic 2-8 Paramet Parameter er diagram diagram of STG030 STG030 20 2.2.3Adaptive Robot--STG100 Robot ontology Pic 2-9 The appearan appearance ce of STG100 STG100 Parameter diagram Pic 2-10 2.2.4 Adaptiv Adaptivee Robot--S Robot--STH100 TH100 Robot ontology Paramet Parameter er diagram diagram of STG100 STG100 21 Pic 2-11 The appearan appearance ce of STH100 STH100 Parameter diagram Pic 2-12 Paramet Parameter er diagram diagram of STH100 STH100 22 2.2.5 Adaptiv Adaptivee Robot--S Robot--STW030 TW030 Robot ontology Pic 2-13 The appearan appearance ce of STW030 STW030 Parameter diagram Pic 2-14 Paramet Parameter er diagram diagram of STW030 STW030 23 2.2.6 Adaptiv Adaptivee Robot--S Robot--STW060 TW060 Robot ontology Pic 2-15 The appearan appearance ce of STW060 STW060 Parameter diagram Pic 2-16 Paramet Parameter er diagram diagram of STW060 STW060 24 2.3 TRC 3-A06 control cabinet 2.3.1 Appear Appearance ance of the control cabin cabinet et Adaptation of the robot model: STH200, STH500, TRB050, YKB060, TKB070, TKB1210, On the front front panel panel of the contr control ol cabine cabinet, t, there there ar are e a power power switc switch, h, emerge emergency ncy stop stop switc switch, h, automatic hand switch, door lock and various buttons / indicator lights. The monitor is placed directly above the control cabinet, and there is an interconnection cable interface on the side of the control cabinet. Control cabinet appearance Pic 2-17 TRC3-A06 TRC3-A06 Control Control cabi cabinet net appearanc appearance e External dimension diagram of the control cabinet Pic 2-18 2-18 External External dimensi dimension on diagram diagram of the the TRC3-A06 TRC3-A06 contr control ol cab cabinet inet Electric Installation Drawing Electrical drawings are mainly divided into four parts: power supply, control system, servo and user 25 interface. Customer Interface: The IO board has DB15, DB25 and DB9: DB9 internal input is connected to the anti-collision switch signal, hand press signal, program stop signal, etc. Without external power supply, directly use the fast plug internal power supply. Note: The IO board does not use internal power supply, but uses external 24V power supply. Pic 2-19 2-19 Electric Electric Insta Installat llation ion Drawing Drawing of Customer Customer Interfa Interface ce 26 Pic 2-20 2-20 Electric Electric Insta Installat llation ion Drawing Drawing of Customer Customer Interfa Interface ce Pic 2-21 2-21 Electric Electric Insta Installat llation ion Drawing Drawing of Customer Customer Interfa Interface ce 27 2.3.2 Adaptiv Adaptivee Robot--S Robot--STH200 TH200 Robot ontology Pic 2-22 The appearan appearance ce of STH200 STH200 Parameter diagram Pic 2-23 Paramet Parameter er diagram diagram of STH200 STH200 28 2.3.3 Adaptiv Adaptivee Robot--S Robot--STH500 TH500 Robot ontology Pic 2-24 Pic 2-25 The appearan appearance ce of STH500 STH500 Parameter diagram Paramet Parameter er diagram diagram of STH500 STH500 29 2.3.4 Adaptiv Adaptivee Robot--TR Robot--TRB050 B050 Robot ontology Pic 2-26 The appearan appearance ce of TRB050 TRB050 Parameter diagram Pic 2-27 Paramet Parameter er diagram diagram of TRB050 TRB050 30 2.3.5 Adaptiv Adaptivee Robot--T Robot--TKB060 KB060 Robot ontology Pic 2-28 Pic 2-29 The appearan appearance ce of TKB060 TKB060 Parameter diagram Paramet Parameter er diagram diagram of TKB060 31 2.3.6 Adaptiv Adaptivee Robot--T Robot--TKB070 KB070 Robot ontology Pic 2-30 Pic 2-31 The appearan appearance ce of TKB070 TKB070 Parameter diagram Paramet Parameter er diagram diagram of TKB070 32 2.3.7 Adaptiv Adaptivee Robot--TK Robot--TKB1210 B1210 Robot ontology Pic 2-32 The appearan appearance ce of TKB1210 TKB1210 Parameter diagram Pic 2-33 Paramet Parameter er diagram diagram of TKB1210 TKB1210 33 2.3.8 Adaptiv Adaptivee Robot--T Robot--TKB800 KB800 Robot ontology Pic 2-34 Pic 2-35 The appearan appearance ce of TKB800 TKB800 Parameter diagram Paramet Parameter er diagram diagram of TKB800 34 2.4 TRC 5-B06 control cabinet 2.4.1 Appear Appearance ance of the control cabin cabinet et TRC 5-B06 control cabinet is divided into two kinds: handling and welding, the appearance is not different, the interior is slightly different. Adapter for robot model: Welding: TKB1400, TKB1440, TKB1900, TKB2030 Handling: TKB1600, TKB2670, TKB2690, TKB6300, TKB460, TKB4600 On the front front panel panel of the contr control ol cabine cabinet, t, there there ar are e a power power switc switch, h, emerge emergency ncy stop stop switc switch, h, automatic hand switch, door lock and various buttons / indicator lights. The monitor is placed directly above the control cabinet, and there is an interconnection cable interface on the side of the control cabinet. Control cabinet appearance Pic 2-36 TRC5-B06 TRC5-B06 Control Control cabinet cabinet appearan appearance ce External dimension diagram of the control cabinet Pic 2-37 2-37 Parameter List External External dimensi dimension on diagram diagram of theTRC theTRC5-B06 5-B06 contr control ol cab cabinet inet Project Processor configure Intel J316 35 Memory Capacity Us User er Stora Storage ge Space Space Control Cabinet Switch Push Button Control Cabinet Indicator Light Numb Nu mber er of Contr ontro ol Axes IO Quan Quanti tity ty 4G DDR DDR3 MSAT MSATA Solid Solid st stat ate e drive drive 60GB 60GB Power switch, emergency stop button (optional hand / automatic switch switch, start button, stop button) Power supply indicator lamp (optional operation indicator lamp, status indicator lamp) Single machine 6 axis, another can expand 3 external axes, linkage and collaborative movement.(Single axis axis, XY rotation axis, walking axis) Stan Standa dard rd DI (dig (digit ita al inpu input) t):: 10 DO (dig (digit ita al outp output ut): ): 14 Optional DI (digital input): 18 DO (digital output): 10 Welding reserved DI (digital input): 8 DO (digital output): 10 AO (analog output): 2 Suppor Sup portt for Extern External al Ethernet interface RJ 45 (TCP / IP; Modbus TCP); HDMI; USB Comm Co mmun unic icat atio ion n and and Interface Secur ecurit ity y Modu Module le Ensur nsure e that that the the robot bot st stop opss quic quick kly when when the the emer emerg genc ency stop is associated and the robot is abnormal Oper Op erat ator or Schem Schema a Teach eachin ing, g, repr reprod oduc ucti tion on,, remo remote te Programming Programm ing Method Teaching reproduction, reproduction, offline offline import, process editing Moto Mo torr Fu Func ncti tion on Join Joint, t, stra straig ight ht line, line, circu circula larr arc, arc, tran transf sfor orme merr link linkag age, e, coord coordin inat atio ion, n, conveyor belt to follow Code Co de Rep eper erto tory ry Moti Motion on,, logi logic, c, cr craf aft, t, oper operat atio ion n Coor Co ordi dina nate ted d Syst System em Join Jointt coor coordi dina nate tes, s, worl world d coor coordi dina nate tes, s, tool tool coor coordi dina nate tes, s, and and user user coordinates Abnorm Abn ormal al Detect Detection ion Em Emer erge genc ncy y st stop op,, serv servo, o, secu securi rity ty ma main inte tena nanc nce, e, arc arc star starti ting ng,, user user Function coordinates, coordinat es, tool coordinates, coordinates, etc Leve Levels ls of Prot Protec ecti tion on IP65 IP65 Or Origi igin n Functi Function on Absolu Absolute te type: type: bat batter tery y memory memory;; ze zero ro-po -point int calibr calibrat ation ion functi function on Cooling Heat exchangers Source 220V AC Electrical drawings (handling) Electrical drawings are mainly divided into four parts: power supply, control system, servo and user interface. customer interface: The OJ 1 port, IJ 2 port, and IJ 1 internal input port are available on the IO board: The internal input is connected to the anti-collision switch signal, hand press signal, program stop signal, etc., without external power supply, directly use the fast plug internal power supply. Note: The IO board does not use internal power supply, but uses external 24V power supply. 36 Pic 2-38 2-38 Electric Electric Insta Installat llation ion Drawing Drawing of Customer Customer Interfa Interface ce Pic 2-39 2-39 Electric Electric Insta Installat llation ion Drawing Drawing of Customer Customer Interfa Interface ce 37 Electrical Drawing (Welding) Electrical drawings are mainly divided into four parts: power supply, control system, servo and user interface. customer interface: The OJ 1 port, IJ 2 port, and IJ 1 internal input port are available on the IO board: The internal input is connected to the anti-collision switch signal, hand press signal, program stop signal, etc., without external power supply, directly use the fast plug internal power supply. Note: The IO board does not use internal power supply, but uses external 24V power supply. Pic 2-40 2-40 Electric Electric Insta Installat llation ion Drawing Drawing of Customer Customer Interfa Interface ce Pic 2-41 2-41 Electric Electric Insta Installat llation ion Drawing Drawing of Customer Customer Interfa Interface ce 38 2.4.2 Adaptiv Adaptivee Robot--TK Robot--TKB1400 B1400 Robot ontology Pic 2-42 The appearan appearance ce of TKB1400 TKB1400 Parameter diagram Pic 2-43 Paramet Parameter er diagram diagram of TKB1400 TKB1400 39 2.4.3 Adaptiv Adaptivee Robot--TK Robot--TKB1440 B1440 Robot ontology Pic 2-44 The appearan appearance ce of TKB1440 TKB1440 Parameter diagram Pic 2-45 Paramet Parameter er diagram diagram of TKB1440 TKB1440 40 2.4.4 Adaptiv Adaptivee Robot--TK Robot--TKB1900 B1900 Robot ontology Pic 2-46 The appearan appearance ce of TKB1900 TKB1900 Parameter diagram Pic 2-47 Paramet Parameter er diagram diagram of TKB1900 TKB1900 41 2.4.5 Adaptiv Adaptivee Robot--TK Robot--TKB2030 B2030 Robot ontology Pic 2-48 The appearan appearance ce of TKB2030 TKB2030 Parameter diagram Pic 2-49 Paramet Parameter er diagram diagram of TKB2030 TKB2030 42 2.4.6 Adaptiv Adaptivee Robot--TK Robot--TKB1600 B1600 Robot ontology Pic 2-50 The appearan appearance ce of TKB1600 TKB1600 Parameter diagram Pic 2-51 Paramet Parameter er diagram diagram of TKB1600 TKB1600 43 2.4.7 Adaptiv Adaptivee Robot--TK Robot--TKB2670 B2670 Robot ontology Pic 2-52 The appearan appearance ce of TKB2670 TKB2670 Parameter diagram Pic 2-53 Paramet Parameter er diagram diagram of TKB2670 TKB2670 44 2.4.8 Adaptiv Adaptivee Robot--TK Robot--TKB2690 B2690 Robot ontology Pic 2-54 The appearan appearance ce of TKB2690 TKB2690 Parameter diagram Pic 2-55 Paramet Parameter er diagram diagram of TKB2690 TKB2690 45 2.4.9 Adaptiv Adaptivee Robot--TK Robot--TKB6300 B6300 Robot ontology Pic 2-56 The appearan appearance ce of TKB6300 TKB6300 Parameter diagram Pic 2-57 Paramet Parameter er diagram diagram of TKB6300 TKB6300 46 2.4.10 Adaptiv Adaptivee Robot--TK Robot--TKB460 B460 Robot ontology Pic 2-58 The appearan appearance ce of TKB460 TKB460 Parameter diagram Pic 2-59 Paramet Parameter er diagram diagram of TKB460 47 2.4.11 2.4.1 1 Adapti Adaptive ve Robot-Robot--TKB4 TKB4600 600 Robot ontology Pic 2-60 Parameter diagram The appearan appearance ce of TKB4600 TKB4600 48 Pic 2-61 Paramet Parameter er diagram diagram of TKB4600 TKB4600 49 2.5 TRC 3-C06 control cabinet 2.5.1 Appear Appearance ance of the control cabin cabinet et Adapter for robot model: TKB5600、TKB5700、TKB6700、TKB3670、TKB5800 On the front front panel panel of the contr control ol cabine cabinet, t, there there ar are e a power power switc switch, h, emerge emergency ncy stop stop switc switch, h, automatic hand switch, door lock and various buttons / indicator lights. The monitor is placed directly above the control cabinet, and there is an interconnection cable interface on the side of the control cabinet. Control cabinet appearance Pic 2-62 TRC3-C06 TRC3-C06 Control Control cabinet cabinet appearan appearance ce External dimension diagram of the control cabinet Pic 2-63 External External dimensi dimension on diagram diagram of of theTRC3-C0 theTRC3-C06 6 control control cabinet cabinet electric installation drawing Electrical drawings are mainly divided into four parts: power supply, control system, servo and user interface. 50 customer interface: The OJ 1 port, IJ 2 port, and IJ 1 internal input port are available on the IO board: The internal input is connected to the anti-collision switch signal, hand press signal, program stop signal, etc., without external power supply, directly use the fast plug internal power supply. Note: The IO board does not use internal power supply, but uses external 24V power supply. Pic 2-64 2-64 Electric Electric Insta Installat llation ion Drawing Drawing of Customer Customer Interfa Interface ce 51 2.5.2 Adaptiv Adaptivee Robot--TK Robot--TKB5600 B5600 Robot ontology Pic 2-65 The appearan appearance ce of TKB5600 TKB5600 Parameter diagram Pic 2-66 Paramet Parameter er diagram diagram of TKB5600 TKB5600 52 2.5.3 Adaptiv Adaptivee Robot--TK Robot--TKB5700 B5700 Robot ontology Pic 2-67 The appearan appearance ce of TKB5700 TKB5700 Parameter diagram Pic 2-68 Paramet Parameter er diagram diagram of TKB5700 TKB5700 53 2.5.4 Adaptiv Adaptivee Robot--TK Robot--TKB6700 B6700 Robot ontology Pic 2-69 The appearan appearance ce of TKB6700 TKB6700 Parameter diagram Pic 2-70 Paramet Parameter er diagram diagram of TKB6700 TKB6700 54 2.5.5 Adaptiv Adaptivee Robot--TK Robot--TKB3670 B3670 Robot ontology Pic 2-71 The appearan appearance ce of TKB3670 TKB3670 Parameter diagram Pic 2-72 Paramet Parameter er diagram diagram of TKB3670 TKB3670 55 2.5.6 Adaptiv Adaptivee Robot--TK Robot--TKB5800 B5800 Robot ontology Pic 2-73 The appearan appearance ce of TKB5800 TKB5800 Parameter diagram Pic 2-74 Paramet Parameter er diagram diagram of TKB5800 TKB5800 56 3. Basic knowledge of robotics 3.1 Coordinate system of the robot 3.1.1 Right-hand coordinate system The right hand coordinate system is one of the ways to specify a rectangular coordinate system in space.In this coordinate system, the positive direction of the x-axis, y-axis and z-axis is specified as follows: put the right hand in the position of the origin, so that the thumb, index finger and middle finger form right angles to each other, point the thumb to the positive direction of the x-axis, and point the index finger to the positive direction of the y-axis, the direction of the middle finger is the positive direction of the z-axis. Pic 3-1 Right-hand coordinate system 3.1.2 Euler angle definition The TURIN controller attitude description uses Euler angle, including three attitude values: RX, RY and RZ. The rotation order of the Euler angle is around the axis xy 'z''(numerically equivalent axis Z-Y-X) with a range of ± 180 degrees (excluding ± 180). 3.1.3 Robotic reference frame 3.1.3.1 Base base frame Pic 3-2 Base base frame This coordinate system is the reference system for the robot to perform a linear motion. 57 Pic 3-3 Base coordinate system of reference The terminal flange position of the manipulator is the mechanical interface coordinate system. The rectangular coordinates in the teaching interface describe the translation and rotation between the mechanical interface coordinate system and the seat coordinate system. The X-axis direction of the seat coordinate system is set from the origin to the center of the working area of the manipulator, the Z-axis is vertical seat, and the Y direction of the robot body follows the right hand coordinate system. 3.1.3.2 User coordinate system Pic 3-4 User coordinate system The User coordinate system is also known as the artifact coordinate system. When the user wants to change the reference frame of the end-actuator (base coordinate system), the user coordinate system can be established. Now the attitude and orientation of the end actuator make mutual reference to the user coordinate system. 58 3.1.4 Robot tool coordinates Pic 3-5 robot tool coordinates The tool coordinate system is a coordinate system with the end effector installed on the mechanical interface as the reference system. The in O is the reference point (TCP) of the tool, the Z axis is related to the tool, usually the pointing of the tool. 3.1.5 Left and right hands of the Scara robot Pic 3-6 Left and right hands of the Scara robot The manipulator is divided into left hand posture and right hand posture. When working, its posture in a certain position should be as consistent as the posture of teaching. Otherwise, a slight shift in position or movement in an unexpected path occurs. 3.2 Zero point position of the robot The zero attitude of the robot is the attitude of 0 for the joint value of each axis. When the robot is at zero, the attitude is shown in the figure below: 59 Pic 3-7 Zero Point 3.3 Singular point and working range space 3.3.1 Singular point 1. Wrist joint singularity When the 4 axis and the 6 axis of the robot are in the same straight line (that is, the 5 axis is close to 0 degrees), the wrist singularity appears. When this happens, the rotation of the 4 axis cancels the 6 axis. May cause a rapid rotation of the axis. Pic 3-8 Wrist joint singularity Extend the singularity This singularity occurs when the center of the wrist is in the same line as the rotation of the 2 axis and the 3 axis. Pic 3-9 Extend the singularity The top is singular When the intersection of the 4 axis, 5 axis and 6 axis of the robot is just above the 1 axis, the top singularity will appear. In the state of the top singularity, the motion of the 1 and 4 axes of the robot can cancel each other out. Can also cause a high-speed rotation of the joints. 60 Pic 3-10 3-10 The The top top is singul singular ar 3.3.2 Inaccessible zone of the robot Unaccessible middle points: Although the start and target points of the operating arm are inside its workspace, it is likely that some points in the line connecting these two points are not in the workspace. Pic 3-11 Inaccessibl Inaccessible e zone of the robot robot 61 4. Robot debugging tools 4.1 Teach Pendant Teach Pendant is a human-computer interaction device. Through it, users can operate the robot to make a movement and complete the teaching process programming, implementing the system setting, fault diagnosis, etc. The front includes an emergency stop switch, a touch display, and touch buttons. Dead man switch is on the right side of the display device for the operator to hold during operation. 4.1.1 Introduction of key function Pic 4-1 Teach Pendant Key switch: switch manual (teaching mode, test) / automatic (reproduction mode, play) mode; Emergency stop switch: often closed effectively, cut off when shooting, the robot switches to the emergency stop mode; Dead man switch: useful only in display mode in three gears, disconnected, press and heavy. When disconnecting or overloading (no operation or emergency), the servo motor is not powered, when pressing, the servo motor is charged; Screen area: the display screen uses an 8-inch LCD screen, and the touch screen uses a resistance touch screen; Key panel: Common function buttons, shown in the following table: key function F1~F4 Custom features J1-，J1+ One axis forward and reversal J2-，J2+ Two-axis Two-axis forward and reversal 62 J3-，J3+ Three-axis forward and reversal J4-，J4+ Quad forward and reversal; around the X axis (Rx) J5-，J5+ J6-，J6+ Five axis forward and reversal; around Y axis (Rx) Six axis forward and reversal; around Z axis (Rx) SA START (start) button, automatic (reproduce) mode; BK Manual (teach) mode starts a single-step run Return to zero button, press and hold the robot joint to zero, release the stop movement ST FW STOP (Stop) button, automatic (reproduce) mode stop program execution Clear the drive alarm push button Chart 4-1 Key panel 4.2 Remote debugging tool 4.2.1 Introduction of the TeachTool software 4.2.1.1 Overview TurinTeachTool Is an APP with the function of robot teaching device, which supports Windows, Ubuntu, Android and other multi-platform installation. The software has the functions of program writing, writin g, ro robot bot contr control, ol, parame parameter ter config configura urati tion on and stat state e monito monitorin ring. g. It is the remot remote e contr control ol software of Turin Turin robot. TurinTeachTool It can connect to any Turin robot in the local area network, and the administrator can also connect to the robot under the wide area network for remote real-time operation. The software can synchronize the current posture of the robot to the display interface, and more easily and safely safely manipu manipula late te the ro robot bot,, getti getting ng rid of the tradit tradition ional al heavy heavy teachi teaching ng device device and long long control lines. 4.2.1.2 Function (1) Robot teaching; (2) Edit motion instructions and process instructions; (3) Modify the robot parameter configuration; (4) Monitoring of the robot operation status and other information; 4.2.2 Download address and installation steps Step1,download the TeachTool, https://project.turinrobot.com:2121/TurinTeachTool/stable/win64/, click to download the corresponding version. Pic 4-2 Step 1 Step 2, save the installation package to a custom folder. 63 Pic 4-3 Step 2 Step 3, open the installation package, and run, save to the target path, click [Next]. Picc 4Pi 4-4 4 Step St ep 3 Step 4: After selecting the Start menu folder, click [Next] to continue and click [Install] to complete the installation. installation. 64 Pic 44-5 5 St Step ep 4-1 Pic 44-6 6 St Step ep 4-2 65 Pic 44-7 7 St Step ep 4-3 66 5 Controller parameters 5.1 Basic setting 5.1.1 Cart param The spatial parameter is the limit on the end speed of the robot when the robot is running in the Cartesian coordinate system. When Wh en the the Ca Cart rtes esia ian n coor coordi dina nate te sy syst stem em ru runs ns,, th ther ere e is not only only the the tran transl slat atio ion, n, but also also the the transformation of the posture, namely the RX / RY / RZ direction rotation. The trajectory is different during the movement, and the participation degree of each joint is different, so the factory setting value of the spatial parameter is relatively conservative to meet the safe operation under each working condition. It can be adjusted as necessary in the actual operation. In linear motion planning, the maximum speed of each joint is still constrained according to the maximum speed of the joint in the joint parameters. For example, under a trajectory, an axis needs more than 3000rpm speed to meet, and the controller will generate an alarm. Pic 5-1 Cart param interface 67 5.1.2 Joint param Pic 5-2 Joint param interface Joint parameters mainly limit the range of motion and the maximum speed of each joint during the operation of the robot. The value of parameters depends on the interval of the robot in space and the driving performance of the motor. Other parameters in the interface, such as: pulse number, deceleration ratio, joint steering, do not blindly modify. Lead range and speed ratio conversion The guide is the displacement of the axial rotation in mm (mm). Reducation Reducatio n ratio =360° / guide. The relationship of single coil pulse and joint speed (Number of pulses / single ring pulse) / deceleration ratio = joint speed 5.2 Introduction to the SW maintenance User files are mainly stored in the following folders: Motion Front desk motion script log Controller running log configs Robot parameter profil file co coll llec ecti tion on Acqu Acquis isit itio ion n of th the e runn runnin ing g da data ta backpr bac kprogr ogram am Backs Backsta tage ge progr program am script script 68 Pic 5-3 File copy interface 5.2.1 SW backup of the SW maintenance If you need to back up the software system, or there are operational problems need to be solved by the manufacturer, generally need customers to provide some operation related parameters, the following are some commonly used parameters backup. Select the U disk and click what you to Backup, and start the backup. Backup will only pack the files and will not delete the original system files. Pic 5-4 SW backup interface 69 5.3 System setting Ether EtherCa Catt Th The e ENI fil file e used used in the interf interfac ace e shall shall cor corres respon pond d to the actual actual corre correspo spondi nding ng slave slave network mode. 5.3.1 EtherCat Pic 5-5 EtherCat interface 5.3.2 Kernel mode configuration Kernel mode, after switching must restart the operating system to ensure the correct function. Pic 5-6 Choose ENI file interface Support ESI files in kernel mode This option is empty. When this option is empty, the system scans the current master station topology, configure the slave SM (Synchronization Manager) and starts the master station by reading the slave SII information. Two problems may arise with starting the master station in this way: For various reasons, we may encounter bus topology structure changes or SM configuration when the slave SII information read is incomplete. The incorrect slave SM may be configured at this time. The result of this situation is that the slave station cannot control or cannot enter the OP state, which ultimately causes the bus to communicate normally. If we are going to connect six drives to the bus, in fact only five drives are connected, in the absence of ENI files, the system will scan and use the five drivers and start working, so there may be an accident. Therefore, this option must not be left blank when the end customer produces. pay attention to: 70 1. When running in non-kernel mode, the bus cannot communicate. 2. The ENI generated in the kernel mode cannot be used for the non-kernel mode master station, and the ENI generated by EC-engineer is universal in both modes. Pic 5-7 MAC interface The network card address will specify which network card the system will use as the EtherCat communication interface. The default value is 12 F, which represents the first card on the BUS bus. pour: In kernel mode, no longer need to modify the card address. Pic 5-8 Drive interface Kernel Ker nel drive drive is the networ network k card card drive, drive, accord according ing to the diffe differen rentt networ network k card card to choose choose the different drive, among: 1.N31 uses INTEL I211 network card, you need to choose igb driver 2.N80 uses INTEL 8257 network card, need to choose e1000e driver. 3.Generic is a universal network card driver, which can be used by all network cards. This driver is not a dedicated driver and has uncertain communication delay, so this option is only used during testing. Other network card drivers will be added later as needed. Monitor the operation status of the main station in this mode, which only indicates the connection status of the main station and is unrelated to the communication status of the main station. 71 6 Software Software instructions instructions 6.1 Variable operation 6.1.1 Common variable type definition 6.1.1.1 DIGITAL Digital is a float type variable, store 4 bytes. Pic 6-1-1-1 digital 6.1.1.2 STRING String Is a string-type variable that can be used to store the text. Pic 6-1-1-2 String 72 6.1.1.3 POINT Point is a coordinate point variable that is used to store the robot points. 6.1.2 Implicitly declared declared variabl variables. es. 1. V variables The V variab variable le st store oress the float float data. data. Throug Through h the varia variable ble opera operati tion, on, additi addition, on, subtra subtract ction ion,, multiplication, division and other operations. In practice, the V variable is often used to count and store the coordinates. coordinates. Pic 6-1-2-1 V variable 2. S variables The S va varia riable ble st store oress the st strin ring g data. data. Throug Through h the va varia riable ble opera operati tion, on, additi addition, on, subtra subtract ction ion,, multip mul tiplic licat ation ion,, divisi division on and other other oper operat ation ions. s. In pract practice ice,, the S variab variable le is often often used used for text sending. Pic 6-1-2-2 S Variable 3. P variable 73 The P variable stores the coordinate point information in the column coordinate system and the Cartesian Cart esian coordina coordinate te system system (joint coordina coordinate te system, system, Cartesian Cartesian coordina coordinate te system) system).. There are generally two ways to use the program. The first directly calls the stored P point to perform the movement, so that the program runs the same position many times. The second one stores the current position at point P, then changes the coordinates of the P variable, and then calls it. In practical use, it can be used to perform a relative offset or to obtain the absolute coordinates through communication. communication. Case refer to the figure below. Pic 6-1-2-3 Case counter-example: Pic 6-1-2-3 counter case explanatory note: 1. The variable variable names should be consisten consistentt between between the modified modified P variable, variable, stored stored P variable variable and the P variable performing motion. 2, modify the Cartesian coordinate to use the straight line instruction to execute the movement, and vice versa. 6.1.3 Input / Output 6.1.3.1 I/O control During the use of a robot, communication with external devices is done through IO signals. After connecting the hardwired cables, users may need to check the current status of the IO. This can be done by navigating to【Monitoring/Control】-【Input/Output】-【I/O Control】to view the current IO status. DI signals: DI signals are input signals, also known as digital input signals. They are used for the controller to read the status of digital signals from external devices. Signals 00-05 are reserved for system internal use, where 00 represents emergency stop state signal, 01 represents anti-collision switch signal, 02 represents reproduce/autosignal, 03 represents hand-pressure activation signal, 04 represents program start signal, and 05 represents program stop signal. DO signals: DO signals are output signals, also known as digital output signals. They are used for the contr con troll oller er to output output the contr control ol st stat atus us of digita digitall signal signalss to extern external al device devices. s. Signal Signalss 00-01 00-01 are are reserved for system internal use, where 00 represents program run prompt, and 01 represents program stop prompt. 74 Pic 6-1-3-1 IO control 6.1.3.2 6.1. 3.2 DA control control In welding technology, analog communication is usually used with the welding machine, and DA control is used. This is a voltage range from 0-10V, which is combined into a linear function using the analog value given by the robot and the numerical value given by the welding machine. Pic 6-1-3-2 DA control interface 75 6.1.4 Format description Variable Types: There are three variable types available in the control system: numerical variables (float type), character variables (1024 bytes), and coordinate point variables (which can be used to store point in space or joints without kinematic relation). Variable Var iable Scope: There three types of variable scopes in the control system: system variables, global variables, and fileare variables. System variables: System variables are created and destroyed with the system start/stop. System variables are usable across the whole system, which means they can be shared by motion scripts and background programs. System variables are not affected when any program starts or stops, and can only be changed by scripts or the network, like TCP server. Global variables: Global variables are created and destroyed when the current script starts and stops. Global variables can be shared in the current script, including sub-files. However, other places like front-end and back-end, and network cannot access these variables. File variables: Also called local variables, the life cycle of the file variables is consistent with that of the global variables. However, file variables are not shared between the main file and sub-files. Variable Var iable Definition: Predefined system variables: V0~V999: 1000 system numerical variables. Note that for convenience, V0, V00, V000 represent the same variable, and so on. All system preset variables work like this. However, it is recommended to use the V000 format for hand-coding to look neat. S0~S999: 1000 system character variables. P0~P999: 1000 system coordinate point variables. Predefined file variables: FV0~FV999: 1000 file numerical variables. FS0~FS999: 1000 file character variables. FP0~FP999: 1000 file coordinate point variables Note: As it was said before, the scope of a file variable is a single file, even if the name is the same, that is, each main file and each subfile have FV, FS, FP, etc. (3,000 variables), but it cannot be shared between them. The same variables use the respective memory. Variable monitoring Variable It can monitor the content of variables in the system in real time 76 Pic 6-1-1-4 Variable record interface When the variable is set to automatically store on, the system continuously monitors the variables used in the script. When the value of the variable changes, it will immediately be stored into the file, so that the next time the script is launched, it will have access to the updated values.. 6.2 Movement Movement instruction instruction Motion commands typically record position data, motion types, and motion speeds. The position data records the current position information of the robot, and the position information is recorded at the same time as the motion command. The motion type specifies the motion trajectory between the teach points during execution. The robot generally supports three types of motion: joint motion (MOVJ), linear motion (MOVL), and arc motion (MOVC). To add a motion command, the driver needs to be enabled using the “enable” switch. 77 6.2.1 Common motor commands 6.2.1.1 Type of joint movement Joint motion can also be understood as free motion, where only the endpoint is provided by the user and the trajectory planner plans the way to reach it. Its characteristics are that it has the fastest speed and the path is unknown. Therefore, this type of motion is generally used for spatial points, running automatic iting must checked lowthe speed to observe whethe whe therrand there thebefore re is any interf interfer erenc ence e with witprograms, h surro surround unding equipm eqube ipment ent based basat eda on actual actual motion motion trajectory of the robot. Joint motion type is used when the robot does not need to move to the current teach point along a specified path. The corresponding motion command for joint motion type is [Joint Motion] (English instruction: MoveJ). Generally, for safety reasons, the joint motion type is used for the starting point of a program. The steps to add a [Joint Motion] command are as follows: Click [Add Ins] -> [Motion Instruction] -> [Joint Motion], enter the related parameters such as speed, acceleration, smoothness, tool, and user coordinate system, then click the [Create] button. Pic 6-2-1-1 Create Move Ins 78 6.2.1.2 Linear movement When the robot needs to move through the straight line path to the current teaching point, the linear motion type is adopted. The corresponding motion command for linear motion type is [Linear Motion] (English instruction: MoveL). The starting point of linear motion is the teach point of the previous motion command, and the end point is the teach point of the current instruction. During the linear motion, the robot’s motion control point moves in a straight line, and the fixture posture changes automatically. The steps to add a [Linear Motion] command are as follows. Use the endpoint of the previous motion command as the starting point of the linear motion. Manually move the robot to the endpoint of the linear motion. Click [Add Instruction] -> [Motion Instruction] -> [Linear Motion], enter the relevant parameters such as speed, acceleration, smoothness, tool, and user coordinate system, then click the [Create] button. Pic 6-2-1-2 Create MoveL ins 79 6.2.1.3 Arc motion 6.2.1.3 motion Arc motion type is used when the robot needs to move to the current teach point along an arc path. The corre correspo spondi nding ng motion motion comman command d fo forr arc motion motion type type is [Arc [Arc Motion Motion]] (Engli (English sh instru instructi ction: on: MoveC). Three motion points are needed for arc motion. The first arc motion starting point is a non-arc in inst stru ruct ctio ion, n, pass passin ing g th thro roug ugh h the the firs firstt point point (a (aux uxil ilia iary ry poin point) t) and and re reac achi hing ng the the seco second nd poin pointt (endpoint). If multiple arc motions are connected, the endpoint of the previous arc motion is the starting point of the next arc motion, and the second arc starting point is an arc instruction. Pic 6-2-1-3 Arc motion The steps to add a [Arc Motion] command are as follows: Use the endpoint of the previous motion command as the starting point of the arc motion. Manually move the robot to the auxiliary point of the arc motion. Click [Add Instruction] -> [Motion Instruction] -> [Arc Motion]. Enter relevant parameters such as speed, acceleration, smoothness, tool, user coordinate system, etc. Click the [Create] button. Pic 6-2-1-4 Create Arc ins Cont Co ntin inue ue to move move the the mach machin ine e to the the end end of the the arc, arc, clic click k [A [Add dd inst instru ruct ctio ion] n] -> [Move [Movemen mentt command] -> [Arc motion] to set the parameters and create a new one. Such a complete arc movement trajectory composed of two [arc motion] instructions is established. 80 6.2.1.4 Full Circle Motion When the robot needs to perform a full circle motion, the whole circle motion type is used. The corre cor respo spondi nding ng motion motion comma command nd for whole whole cir circle cle motion motion type type is [Full [Full Circle Circle Motion Motion]] (Engl (English ish instruction: MoveFC). Three motion points are required for the whole circle motion. The first whole circle motion starting point is an auxiliary point, which is not a whole circle instruction. It passes through the first point (a point on the whole circle), and then passes through the second point (another point on the whole circle). Pic 6-2-1-4 FCmotion The action of adding the [Full Circle motion] instruction is shown below. The end of the above movement command is the starting point of linear movement. When the manual movement robot reaches the end of linear movement, click [Add Instruction] -> [Movement Instruction] -> [Round movement], input the speed, acceleration, smoothness, tool, user coordinate system and other related parameters, and click the [Create] button. 6.2.1.5 Type of cooperative movement When Whe n the robot robot needs needs to perfo perform rm coord coordina inate ted d opera operati tions ons with with a positi positione onerr, the coord coordina inated ted motion type is used. Pic 6-2-1-5 Positioner sync mode 81 6.2.2 Logic instructions Logic instructions can perform logical operations and are essential to perform complex functions. Pic 6-2-2 Logic Ins Conditional Statements: In a conditional statement, one “ if ” corresponds to one condition. To To judge multiple states, use “ else if ” stateme statements nts.. Otherwise, Otherwise, the code won ’ t compile. When another condition needs to be checked under a condition, a nested structure must be used to add another conditional statement. statement. Loop Statements: A loop statement is followed by a condition. When the set condition is met, the program repeatedly executes the contents of the loop body. Wait Statements: This statement makes the program wait until the designated state is reached before continuing to execute. execute. Jump Statements: This is an unconditional jump. Once the program executes the “ jump to ” instruction, it will look for the corresponding label and continue running the program from there. Program-related Programrelated Operations: These are instructions related to program control. 82 6.2.2.1 if...else(&&||) Pic 6-2-2-1 ifelse script The conditional statement is a nested structure. When using a conditional statement, there must be a conditional end, a conditional end and otherwise if it cannot be used alone. Use character editing, "& &" for with, "| |" for or 6.2.2.2 While Pic 6-2-2-2 While Script In this example, (V0 < 9) is the loop condition expression, and the statements between “ While ” and “EndWhile” are the loop body. As long as (V0 < 9) is satisfied, the contents of the loop body will be repeatedly executed. 6.2.2.3 For Pic 6-2-2-3 For script In this case, DO 0 to DO 11 is completely set as 0. 6.2.2.4 Swtich In this case, SWITCH (V1), when the value of V1 is corresponding to 1,2,3,4,5, will execute the instruction in the corresponding case, if not satisfied, execute the instruction in default. 83 Pic 6-2-2-4 Switch ins Similarly, the S variable can also be used in SWITCH. In this example, when S1 is the corresponding instruction is not satisfied, then the instruction in default is executed. 6.2.3 Coordinate instructions 6.2.3.1 Coordinate system instruction The coordinate system instruction can automatically modify the coordinate system information in the program. By offsetting the coordinate system as a whole, the motion instructions based on that coordinate system in the program can be offset. The amount of offset can be a constant or a variable. Pic 6-2-3-1-1 Coord system ins Adding an offset to the tool coordinate system: Pic 6-2-3-1-2 TCP Adding an offset to the User coordinate system:: 84 Pic 6-2-3-1-3 UCS 6.2.3.2 Point instruction The coordinate point instruction reads and modifies the registers of the coordinate point variable. It is often used when using machine vision to guide the robot hand. By using a communication-based method, the coordinate information of the target point can be changed. Coordinate points are stored in both the joint and rectangular coordinate systems. When modifying and calling them, it is important to pay attention to the consistency of the coordinate system. Pic 6-2-3-2 Point Ins 85 6.2.4 Procedure Control Instruction 6.2.4.1 Trigger Trigger during motion These instructions instructions are added before before the motion motion instruct instructions. ions. They can perform correspond corresponding ing actions during the execution of motion instructions, such as outputting IO signals and modifying variables. Pic 6-2-4-1 Trigger during motion 6.2.4.2 Movement pause and program stop The robot motion is paused and the robot can resume its motion by pressing the SAT (Start) button.. Pic 6-2-4-2-1 Movement Pause After the whole program, the cursor automatically looks back on the line. Pic 6-2-4-2-2 Movement Stop 86 6.2.4.3 subsystem File interface interface Pic 6-2-4-3-1 File Open interface The controller program is based on txt text, and generally has the same priority. call subroutine Pic 6-2-4-3-2 Call sub program Only when the "call subprogram" statement appears in the program, the system says that the current program definition is the main program, and the primary and secondary program, into a tree distribution. Just interpret the subprogram as hidden paragraphs in use. Using it in this way can increase the readability of the program. After running, add the return instruction and return to the main program. 87 6.3 Common keywords and special functions 6.3.1 DEFINE DEFINE Define an identifier to represent a constant. Use for example: Pic-6-3-1 Define Demo 6.3.2 PrintMsg PrintMsg is to format the output function, the main function PrintMsg function is to write, print logs. The general call format of PrintMsgis: PrintMsg (V1, S1). Pic 6-3-2 PrintMsg Demo 88 7. Basic operation function 7.1 Base point Pic 7-1 Base Point interface 1. Base index number: 1~10 2. Switch: on / off 3. Notes: Note for the current reference point 4. DO at base point: When the robot position reaches the reference point position, the IO output is placed at a high level. 5. Detection method: the way to detect whether the robot is at the reference point. Respectively, either the instruction position or the current position. 6. Move to base point DI: When the input IO is the rising edge, trigger the action of the robot to return to the reference point. 7. Move type: There are joint motion, linear motion and command file three ways to return to the reference refere nce point 8. File to move to base point: set the instruction file to return the reference point 9. Left offset: detect whether the floating (negative) left value of the robot is at the base point 10. Base point: the accurate value of the base point of the robot 11. Right offset: detect whether the floating (positive) right value of the robot is at the base point explain: 1. On this page, you can use the SA key joint to run to the reference point, only if the reference point must be turned on 2. Reference points can be used in the motion instruction interface. The prerequisite is that the 89 reference referenc e point must be turned on. When using a straigh straightt motion to the datum point, the user and the tool must select 0. 7.2 Interference 1. Interference region number: 1~10 2. Interference switch: on / off 3. Priority: high / low, when the high priority is set, the interference area will become larger (joint angle increases by 0.5 degrees, spatial position axis direction plus 10mm), this function ensures that the high-priority robot will signal into the interference zone first. 4. Detection method: detect whether the robot is at the reference point. There is a command location or a current location. 5. DO while entering: output low level when entering the area, otherwise output high level. 6. DO while ext dev entering: the movement stops when the external equipment enters the low level, and when the external equipment enters the high level, the movement continues (Note: this function is not suitable for the transformer). 7. Notes: Note for the current interference zone 8. Axis region: set the joint values for 6 starting points and 6 end points. 9. Vertex cubic region: set two vertices to form a cube space (the corrugated line is parallel to the world coordinate XYZ axis). 10. Center cubic region: set a center point and three directions, left and right, up and down (the world coordinate XYZ) are offset to form a cube interference zone. 90 7.3 Safe Area Area Setting Setting Pic 7-3 Safe Area Setting The safe area uses the description in cartesian coordinate system to constrain the motion range of the robot. After the function is Enabled, the robot can only move in the limited area, and beyond the limit, the robot will indicate abnormal movement then report error. 91 7.4 Safety door Pic 7-4 Safety Door The safety door refers to the robot running in a closed space. The safety door is connected with the robot IO signal. When the signal disappears, the robot will alarm and stop running. 7.5 Prog Start Pic 7-5 Prog Start External IO start program: Figure setting, when the robot is in the automatic state, press the button or start the IO signal, the 92 program starts from the current line. When the state is automatic but the program is not running, the controller captures the rising edge of the DI0 and the cursor jumps to the first line. The cursor is in the first row, and the output state of the DO0 is low. Special case: the subprogram triggers the cursor to look back on the line, the normal is to return to the first line of the main program. If you switch to manual mode, change the content of the subroutine, and drawings: trigger the look back signal, you will return to the first line of the subroutine. Attached Atta ched wiring

TURIN Robot User Manual V2023

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