Positioner user manual Foreword

I
Positioner user manual Foreword

Foreword
About This Manual

This manual introduces the application of the robot positioner, and describes in detail the
hardware connection and software configuration process when the positioner is used. Reading
this document will help readers to master the working principle and use method of the
positioner.

Prerequisites

Before operating the robot, be sure to read the relevant safety instructions and operation
instructions of the product carefully. Users must understand the safety knowledge and basic
operation knowledge before using the robot's positioner function.

Please read the following documents when necessary:

◼ "Operation Manual of AIR-TP Teach Pendant"
◼ "ARL Programming Manual"
◼ "Fault and Troubleshooting Manual of AIR Series Industrial Robot System"

Target Groups

◼ Operators

◼ Product technicians

◼ Technical service personnel

◼ Robot teachers

Meaning of Common Signs

The signs and their meanings in this manual are detailed in Table 1.

Table 1 Signs used in this manual

Sign Meaning

Failure to follow the instructions may cause accidents, resulting

in serious or fatal personal injury.
Danger
危险

Failure to follow the instructions may cause accidents, resulting

in moderate or minor personal injury, and may also cause
damage to materials only.
Warning
危险

You are prompted to keep in mind environmental conditions

and important matters, or quick operation methods.
Notice
危险

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Foreword Positioner user manual

Sign Meaning

You are prompted to refer to other literature and instructions

for additional information or more details about operation
instructions.
Tip
提示

Manual Description

The contents of this manual are subject to supplementation and modification. Please visit
"Download Center" on the website regularly to obtain the latest version of this manual in a
timely manner.

Website URL: http://robot.peitian.com/

Revision History

The revision history contains the instructions for each document update. The latest version of the
document contains updates to all previous versions of the document.
Table 2 Signs used in this manual

Version Publication date Modification description

V1.0.0 2020/03/17 1st official publication

2nd official publication

V1.1.0 2020/6/30
Upgrade the software version to V2.6.2
3rd official release
V1.2.0 2020/10/15
Upgrade the software version to V2.6.3
4th official release
V1.3.0 2020/11/15
Upgrade the software version to V2.6.4

Document Number and Version

The document-related information is shown in Table 3.
Table 3 Document-related information

Document name "Positioner instruction manual"

Document number
UM-ZY0212-BJ-001

Document version
V1.3.0

Software version
2.6.5

Symbol convention

Refer to Table 4 for document related symbol conventions.

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Positioner user manual Foreword

Table 4 Symbol convention

Format Significance

<> The angle bracket "< >" indicates the button name, such as "click the <OK> button".

"[]" with square brackets indicates the window name, menu name and data table, such as
[]
"pop up [New User] window".

Multi-level menus are separated by "/". Such as [File/New/Folder], the multi-level menu
/
represents the [Folder] menu item under the [New] submenu under the [File] menu.

III
Positioner user manual Contents

Contents
Foreword .......................................................................................................................................................................I
Contents ........................................................................................................................................................................ i
1 Positioner overview .............................................................................................................................................. 1
1.1 Definition of positioner ........................................................................................................................................... 1
1.2 Features of positioner ............................................................................................................................................ 1
1.3 Application scenarios of positioner ........................................................................................................................ 1
2 Servo drive connection and debugging ................................................................................................................. 3
2.1 Connection method ................................................................................................................................................ 3
2.2 Debugging method ................................................................................................................................................. 4
3 Basic operation .................................................................................................................................................... 5
3.1 Permission level ..................................................................................................................................................... 5
3.2 Confirm version information ................................................................................................................................... 5
3.2.1 Version number requirements ................................................................................................................................ 5
3.2.2 Version information viewing process ..................................................................................................................... 5
4 System parameter configuration .......................................................................................................................... 9
4.1 General parameter configuration ........................................................................................................................... 9
4.2 Zero calibration .................................................................................................................................................... 15
4.3 Positive and negative limit configuration ............................................................................................................. 16
4.4 Check the configuration ....................................................................................................................................... 20
5 Coordinate system calibration ............................................................................................................................ 23
5.1 Calibration of Tool Coordinate System ................................................................................................................. 23
5.2 Positioner calibration ........................................................................................................................................... 26
5.3 Workpiece coordinate system .............................................................................................................................. 30
6 Jog operation of positioner linkage function ....................................................................................................... 33
6.1 No linkage jog operation mode ............................................................................................................................ 33
6.1.1 The robot is not linked with the positioner .......................................................................................................... 33
6.1.2 The robot is linked with the positioner................................................................................................................. 33
6.2 Linkage jog operation mode ................................................................................................................................. 34
7 Teaching practice............................................................................................................................................... 37

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 Positioner user manual Positioner overview

1 Positioner overview

1.1 Definition of positioner

Positioner is one of the most widely used welding auxiliary equipment in the field of welding at home and abroad. The

positioner mainly has the functions of rotation and flip, and is a typical representative of the tooling shaft. in:

◼ The rotation function can realize the purpose of automatic welding of the circular seam of the cylindrical
workpiece.
◼ The flip function can make the workpiece in the best welding position.

The AIR series industrial robot of Petian Robot Technology Co., Ltd. can form an arc welding system with a positioner

(as shown in Figure 1-1), which improves the efficiency and quality of welding.

Figure 1-1 AIR series industrial robots can be combined with positioners to form an arc welding system diagram

1.2 Features of positioner

The two outstanding features of positioner applications in the welding field are as follows:

◼ Realize all-position welding.

◼ Clamping, welding all weld beads at one time.

1.3 Application scenarios of positioner

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Positioner overview Positioner user manual

The selection of the positioner must be provided by the positioner supplier according to the needs of the customer. At

present, the AIR series industrial robots of Petian Robotics Co., Ltd. are calibrated to support up to three-axis

positioners.

Support "single robot + one axis/dual axis positioner" scenario: a robot is linked with a one axis or two axis positioner to

cooperate with each other to complete the workpiece welding.

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Positioner user manual Servo drive connection and debugging

2 Servo drive connection and debugging

2.1 Connection method
In Figure 2-1, the AE5115 series AC servo drive is taken as an example to illustrate the connection method between the

servo drive and the control cabinet and multiple motors. Please refer to "AE5115 AC Servo Drive User Manual" for the

connection mode and interface description of each interface of the AE5115 series servo drive.

Figure 2-1 Diagram of AE5115 driver connected to three motors

Among them, the positioner axis 1 refers to the axis closest to the base, and the positioner axis 2 refers to the axis

placed on the positioner axis 1 (as shown in Figure 22), and so on, as shown in Figure 2-2.

Figure 2-2 Diagram of base shaft

The connection mode of the servo drive and the motor brake is shown in Figure 2-3.

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Servo drive connection and debugging Positioner user manual

Figure 2-3 Diagram of the connection between the servo drive and the motor brake

2.2 Debugging method

After completing the equipment connection, you need to debug the parameters of the servo drive according to the

actual load. For the parameter debugging method of AE5115 series servo drive, please refer to "AE5115 AC Servo Drive

User Manual".

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 Positioner user manual Basic operation

3 Basic operation

3.1 Permission level

When using the AIR-TP teach pendant for the first time, it will prompt the user interface when logging in for the first

time, and the user can choose:

◼ Teacher: Permission 4

It can perform operations such as writing the robot working program, and has the authority to modify some

parameters. The initial login password is: PEACE.

◼ Operator: Permission 5

The robot's position parameter operation status can be simply checked, and there is no program modification or

parameter modification authority. The initial login password is: LOVE.

Ordinary users can only log in to the teach pendant with the authority of the teach pendant and operator.
Tip
提示

3.2 Confirm version information

3.2.1 Version number requirements

The software version numbers of ARCS and HMI need to be higher than "V 2.6.4" in order to realize the positioner

function. Therefore, before using the positioner and setting relevant parameters, you need to confirm whether the

current version information matches the required version information.

3.2.2 Version information viewing process

The detailed steps for viewing version information are as follows:

Step 1. Log in to the teach pendant with the authority above "Teacher" and enter the main interface of the teach

pendant as shown in Figure 3-1.

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Basic operation Positioner user manual

Figure 3-1 Teach Pendant Main Interface

Step 2. Click [System/System and Update/System Information] in the menu area at the upper right corner.

Figure 3-2 System related drop-down list

Step 3. The [Coordinate system measurement] dialog box shown in Figure 3-3 pops up, carefully check whether the

[ARCS software] and [HMI software] in the [Version Information] column are both higher than "2.6.4". If yes,

you can continue the parameter configuration later; if not, please contact our company's after-sales engineer in
time.

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Positioner user manual Basic operation

Figure 3-3 System message

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 Positioner user manual System parameter configuration

4 System parameter configuration

4.1 General parameter configuration
Before using the positioner, please complete the relevant parameter configuration of the system.

Step 1. As shown in Figure 4-1, select [System/Parameter Configuration] in the upper right corner of the main interface

to enter each [Parameter Configuration] interface shown in Figure 4-2.

Figure 4-1 [Parameter configuration] selection list

Figure 4-2 [Parameter configuration] tab display area

Step 2. In the [Global] interface, click to select the [SERVO_NUM (Servo Number)] parameter.

Step 3. Click <Edit>, and the dialog box shown in Figure 4-3 will pop up. Configure the parameters in [Value] and click

<Yes>.

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System parameter configuration Positioner user manual

Figure 4-3 Servo slave number configuration interface

Table 4-1 Parameter description

Parameter Description

Value The number of servo slaves connected to the bus includes the 6 servo slaves of the robot body
and the external servo slaves. The external servo slave station can be configured with 1 to 6, the
value is 6+n (n is an integer, and the value range is 1 to 6). When the outer axis is a positioner, 3
axes can be selected as long, and the value is 6+n (n=1, 2, 3).

The configuration of this parameter does not match the actual number of
slaves, which may cause the bus connection to fail when the system is
started.
Tip
提示

Step 4. In the [Channel 1] interface, click to select the [EX_JOINT_NUM (External Axis Number)] parameter.

Step 5. Click <Edit>, and the dialog box shown in Figure 4-4 will pop up. Configure the parameters in [Value] (see

Table 4-2 for parameter descriptions) and click <Yes>.

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Positioner user manual System parameter configuration

Figure 4-4 External axis quantity configuration interface

Table 4-2 Parameter description

Parameter Description

Value The number of external axes controlled by this channel. The value is an integer, ranging from 1 to 6.
When the outer shaft is a positioner, the value range is 1-3.

Step 6. In the [Channel 1] interface, click to select the [MECH_UNIT_NUM (Mechanical Units Number)] parameter.

Step 7. Click <Edit>, and the dialog box shown in Figure 4-5 will pop up. Configure the parameter in [Value] to 2 (see

Table 4-3 for parameter description), click <Yes>.

Figure 4-5 Number of mechanical units configuration interface

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System parameter configuration Positioner user manual

Table 4-3 Parameter description

Parameter Description

Value The number of mechanical units in this channel. When configuring the positioner function, the
mechanical unit includes the robot body and the positioner, so the value is configured as 2.

Step 8. In the [Channel 1] interface, click [+] to the left of the [MECH_UNIT_MODEL (Mechanical Unit Model)]

parameter, and click to select "[1]" ([0] is the robot body, [1] is the sub-item of positioner).

Step 9. Click <Edit>, and the dialog box shown in Figure 4-6 will pop up. Configure the parameter in [Value] as

"Positioner", click <Yes>.

Figure 4-6 Mechanical unit model configuration interface

Step 10. In the [Channel 1] interface, click [+] to the left of the [MECH_UNIT_NAME (mechanical unit name)] parameter,

and click to select "[1]" ( [0] is the robot body, [1] is the positioner.) sub-items.

Step 11. Click <Edit>, and the dialog box shown in Figure 4-7 will pop up. Configure the parameters in [Value] (for

example: P1), and click <Yes>.

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Positioner user manual System parameter configuration

Figure 4-7 Mechanical unit name configuration interface

Step 12. In the [Channel 1] interface, click [+] on the left side of the [EXJOINT_TYPE (external axis type)] parameter, and

click to select "[0]" (when the number of external axes is 1) in the expanded sub-items item.

When configuring, you need to select several sub-items according to the actual situation. For
example: when there are two external axes, select [0], [1] sub-items for configuration; when there
are three external axes, select [0], [1], [2] sub-items for configuration.
Tip
提示

Step 13. Click <Edit>, the dialog box shown in Figure 4-8 pops up. Configure the parameter in [Value] to 0 (rotation axis),

and click <Yes>.

Figure 4-8 External shaft type configuration interface

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System parameter configuration Positioner user manual

Step 14. If the external shaft is connected with a reducer, in the [Channel 1] interface, click [+] to the left of the

[EXJOINT_REDUCER_RATIO (external shaft reducer reduction ratio)] parameter, and click to select [0] in the

expanded sub-items (When the number of external axes is 1).

When configuring, you need to select several sub-items according to the actual situation. For
example: when there are two external axes, select [0], [1] sub-items for configuration; when there
are three external axes, select [0], [1], [2] sub-items for configuration.
Tip
提示

Step 15. The dialog box shown in Figure 4-9 pops up. Configure the parameter in [Value] (this value needs to be

determined according to the actual connection positioner parameters), and click <Yes>.

Figure 4-9 External shaft reducer reduction ratio configuration interface

Step 16. After the parameter configuration is completed, click <Save>, and the dialog box shown in Figure 4-10 will pop

up. Select "Save all" in [Please select save type], and click <Yes>.

Figure 4-10 Save as type dialog

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 Positioner user manual System parameter configuration

Step 17. Click <Yes> in the prompt dialog box that pops up. As shown in Figure 4-11.

Figure 4-11 Confirm to save the modification prompt box

Step 18. Click <Yes> in the pop-up dialog box of successful parameter saving. As shown in Figure 4-12. Power off and

restart the control cabinet, and the parameter configuration takes effect.

Figure 4-12 Save successful prompt box

4.2 Zero calibration

Before configuring the positive and negative limit positions, you need to calibrate the zero point of the external axis first.

The calibration steps are as follows:

Step 1. Move the external axis to the zero-point desired by the user.

Step 2. Select [Run/Calibrate/Zero Calibration] on the main interface of the teach pendant, as shown in Figure 4-13.

Figure 4-13 Main interface diagram

Step 3. In the pop-up [Zero Calibration] interface, select the external axis to be calibrated, and click the <Calibrate>

button. As shown in Figure 4-14.

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 System parameter configuration Positioner user manual

Figure 4-14 Zero point calibration interface diagram

Step 4. Click <Yes> in the prompt dialog box that pops up, as shown in Figure 4-15. After the calibration is successful,

the calibration success will be displayed in the alarm information prompt column of the main interface.

Figure 4-15 Prompt interface diagram

4.3 Positive and negative limit configuration

By configuring the positive and negative limit of the positioner, the maximum range of the robot body can be specified.

Before setting the positive and negative limits, you need to complete the zero-point calibration of the positioner and

make the zero-point effective.

The configuration steps of positive and negative limit parameters are as follows:

Step 1. As shown in Figure 4-16, select [System/Parameter Configuration] in the upper right corner of the main

interface, and then enter the various tab selection interfaces shown in Figure 4-17.

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Positioner user manual System parameter configuration

Figure 4-16 "Parameter configuration" selection list

Figure 4-17 "Parameter Configuration" tab display area

Step 2. In the [Channel 1] interface, click [+] on the left side of the [EXJOINT_MAX_STROKE (external axis positive

limit)] parameter, and click to select [0] in the expanded sub-items (when the number of external axes is 1 ).

When configuring, you need to select several sub-items according to the actual situation. For
example: when there are two external axes, select [0], [1] sub-items for configuration; when there
are three external axes, select [0], [1], [2] sub-items for configuration.
Tip
提示

Step 3. The dialog box shown in Figure 4-18 pops up. Configure the parameter in [Value] (this value is the actual
positive limit value of the positioner), and click <Yes>.

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System parameter configuration Positioner user manual

Figure 4-18 External axis positive limit configuration interface

Setting the actual positive and negative limit value range of the positioner should be determined
according to the maximum movement range of the actual positioner.
Tip
提示

Step 4. In the [Channel 1] interface, click [+] on the left side of the [EXJOINT_MIN_STROKE (external axis negative

limit)] parameter, and click to select [0] in the expanded sub-items (when the number of external axes is 1 ).

When configuring, you need to select several sub-items according to the actual situation. For
example: when there are two external axes, select [0], [1] sub-items for configuration; when there
are three external axes, select [0], [1], [2] sub-items for configuration.
Tip
提示

Step 5. The dialog box shown in Figure 4-19 pops up. Configure the parameter in [Value] (this value is the actual

negative limit value of the positioner), and click <Yes>.

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Positioner user manual System parameter configuration

Figure 4-19 External axis negative limit configuration interface

Step 6. After the parameter configuration is completed, click <Save>, and the dialog box shown in Figure 4-20 will pop

up. Select "Save all" in [Please select save type], and click <Yes>.

Figure 4-20 Save as type dialog

Step 7. Click <Yes> in the prompt dialog box that pops up. As shown in Figure 4-21.

Figure 4-21 Confirm to save the modification prompt box

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 System parameter configuration Positioner user manual

Step 8. Click <Yes> in the pop-up dialog box of successful parameter saving. As shown in Figure 4-22. Power off and

restart the control cabinet, and the parameter configuration takes effect.

Figure 4-22 Save successful prompt box

4.4 Check the configuration

After power off and restart, click [System/Parameter Configuration] on the main interface of the teach pendant, and add

the newly created [Positioner P1] tab in the [Parameter Configuration] interface. Click this tab to enter the interface

shown in Figure 4-23 to view and modify parameters. The parameter configuration of the positioner is the same as the

parameter configuration method in [Channel].

Figure 4-23 Positioner T1 parameter configuration interface

The parameter description is shown in Table 44.

Table 4-4 Parameter description

Parameter Description

POSITIONER_AXIS_NUM (Number of axes) The number of axes of the positioner.

The number of shafts of the positioner shall be

consistent with that of channel 1.
Notice
危险

POSITIONER_EXAXIS_MAP (Mapping of each The mapping relationship between each axis of the positioner and the outer
axis and outer axis) axis. The default configuration is that the positioner 1 axis corresponds to
the outer axis 1, the positioner 2 axis corresponds to the outer axis 2, and
the positioner 3 axis corresponds to the outer axis 3. The user does not need

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Positioner user manual System parameter configuration

Parameter Description

to modify the configuration, and the positioner needs to be installed

according to this mapping sequence when installing the positioner.

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 Positioner user manual Coordinate system calibration

5 Coordinate system calibration

When performing positioner linkage, by calibrating the coordinate system related to the positioner linkage function, the

robot TCP can be made to move relative to the moving workpiece on the positioner according to the program setting, as

shown in Figure 5-1.

Figure 5-1 Diagram of positioner linkage

5.1 Calibration of Tool Coordinate System

The calibration steps of tool coordinate system are as follows:

Step 1. Enter the [Coordinate System Measurement] dialog box through the [Run/Coordinate System Measurement]

path, and select the "Tool Coordinate System" option in the [Coordinate System Type].

Step 2. Click to select the row where the tool coordinate system tool0 is located, and click <Multi-point method> to

pop up the interface as shown in Figure 5-2. Calibrate the direction of the coordinate system XYZ.

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Coordinate system calibration Positioner user manual

Figure 5-2 Multi-point calibration

Step 3. Follow the operation method prompted on the interface to complete the <Record> of each point. When all "×

" changes to "√" (as shown in Figure 5-3), click <Calculate> to complete the calibration.

Figure 5-3 Successful multi-point calibration

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Positioner user manual Coordinate system calibration

When you need to specify the direction of each axis of the tool coordinate system, you need to
follow the steps 4 to 5 below.
Tip
提示

Step 4. (Optional) Click to select the row where the tool coordinate system tool0 is located, and click <Three Point

Method> to pop up the interface as shown in Figure 5-4. By calibrating the posture ABC of the coordinate

system.

Figure 5-4 Three-point calibration

Step 5. (Optional) Follow the instructions on the interface to complete the <Record> of each point. When all the "×"

changes to "√" (as shown in Figure 5-5), click <Calculate> to complete the calibration.

Figure 5-5 Successfully calibrated by three-point method

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 Coordinate system calibration Positioner user manual

Step 6. Click the <Save> button to complete the calibration.

It is recommended to limit the calibration error to within 1mm, if it is within 2mm, it is barely usable.
Notice
危险

5.2 Positioner calibration

The joint coordinate system represents the location of a joint when the joint is at the zero position, and its

representation is in the form of x, y, z, a, b, c, and the default z-axis is along the axis of the joint, that is, for rotation axis,

the joint rotates around the z-axis, and for the movement axis, the joint moves along the z-axis.

When the geometric parameters between the axis of the positioner are unknown, the multi-point method can
be used for axis-by-axis calibration (refer to Figure 5-6). The axis 1 coordinate system and the base coordinate
system are coincident, so there is no need to specifically calibrate the base coordinate system of the
Tip
提示 positioner.

(a)Schematic diagram of axis 1

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Positioner user manual Coordinate system calibration

(b)Schematic diagram of axis 2

Figure 5-6 Schematic diagram of positioner shaft serial number

The specific steps for calibrating the joint coordinate system of the positioner are as follows:

Step 1. Before calibrating the positioner, click [Continuous] in the upper left corner of the teach pendant interface, as

shown in Figure 5-7.

Figure 5-7 Teach Pendant Interface

Step 2. In the axis control mode setting interface that pops up, select [Tool] as "tool0" as a reference, as shown in

Figure 5-8.

Figure 5-8 Axis control mode setting interface

Step 3. Click [Run/Coordinate System Measurement] in the menu area at the upper right corner of the teach pendant

interface.

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Coordinate system calibration Positioner user manual

Step 4. The interface shown in Figure 5-9 pops up, and select "Base Coordinate System" in [Coordinate System

measurement]. Click to select the row where "P1" is located, and click <Calibration> to pop up the [Positioner

Calibration] interface.

Figure 5-9 Base coordinate system calibration interface

Step 5. When calibrating, you need to determine a sharp point on the second axis of the positioner (this sharp point

should be far away from the axis of the second axis), and then the TCP of the robot should be aligned with this

sharp point when calibrating the positioner.

Step 6. First calibrate the axis 1 coordinate system (axis 2 remains unchanged), click to select the row where "Axis 1" is

located, and click <Calibration> to pop up the calibration interface as shown in Figure 5-10.

Step 7. Configure [Reference Mechanical Unit], [base], and [Calibration point number]. Refer to Table 5-1 for the

configuration method. Follow the prompt operation steps to <Record> each point. After all records are

completed, click <Calibrate >. When [Status] shows that the calibration is successful, click <Next> to calibrate

the axis 2 coordinate system.

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Positioner user manual Coordinate system calibration

Figure 5-10 Axis 1 coordinate system calibration

Table 5-1 Parameter Description

Parameter Description

Reference mechanical The mechanical unit referenced by the positioner coordinate system. When there are only
unit robots and positioners in the system, this value is R1.

base Reference benchmark. The values are as follows:

◼ Robot: The use scene is "one robot + one positioner" or "one robot + multiple

positioners".
◼ Positioner: The use scene is "multiple robots + one positioner".((see "multimove user

manual" for details))

Calibration point number The number of calibration points, the values are as follows:
◼3

◼ 4(More accurate)

Step 8. Calibrate the axis 2 coordinate system (axis 1 remains stationary), the calibration method is the same as that of

axis 1. When the [Status] column shows that the calibration is successful, the calibration is completed, click

the <Save> button to end the calibration of the positioner, and restart the control cabinet after power off.

◼ When the positioner is calibrated, there is no restriction on the rotation direction and starting point of a

single axis.
◼ When calibrating each point, first move the external axis to a certain position, and then align the robot TCP
Tip
提示
to the sharp point of the positioner at this time, then the calibration can be successful.
◼ When the calibration of the positioner is completed, if the value in the [error] column is too large, it needs

to be re-calibrated. When the axis 1 or 2 of the positioner is rotated, the robot TCP can meet the
requirements to keep relative to the sharp point on the positioner ,if the position is unchanged and there is
no obvious error, the calibration is successful. If the error visible to the naked eye is too large, it still needs

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Coordinate system calibration Positioner user manual

to be re-calibrated.

5.3 Workpiece coordinate system

When the user calibrates the workpiece coordinate system, the workpiece can be set as the reference mechanical unit.

For example, if the workpiece coordinate system refers to the positioner, then when the positioner is moving, the

workpiece coordinate system will also move, as shown in Figure 5-11.

(a)

(b)
Figure 5-11 Diagram of the workpiece coordinate system on the positioner moving with the movement of the positioner

The specific steps for calibration of the workpiece coordinate system are as follows:

Step 1. Enter the [Coordinate System Measurement] interface as shown in Figure 5-12 through the [Run/Coordinate

System Measurement] path, and select the "Workpiece Coordinate System" option from the [Coordinate
System Type].

Step 2. Change the name of the [mechanical unit] corresponding to the workpiece coordinate system wobj0 to "P1".

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Positioner user manual Coordinate system calibration

Figure 5-12 Workpiece coordinate system calibration

Step 3. (Optional) Click the cell in the row of the "workpiece coordinate system" to be set to make it editable, and

modify x, y, Z, a, B and C to the required values through the keypad.

Step 4. After configuration, click < Save >.

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 Positioner user manual Jog operation of positioner linkage function

6 Jog operation of positioner linkage function

There are 3 jog operation modes of positioner linkage function, including 2 non linkage modes and 1 linkage mode.

6.1 No linkage jog operation mode

6.1.1 The robot is not linked with the positioner

The workpiece coordinate system of the robot is a coordinate system not associated with the positioner, and the robot is

not linked. In this case, no additional axis control mode setting is required.

6.1.2 The robot is linked with the positioner

The workpiece coordinate system of the robot is the coordinate system associated with the positioner, and the robot is

not linked.

Figure 6-1 Diagram of robot non linkage operation

The setting steps of this mode are as follows:

Step 1. Click the " " icon in the upper left corner of the main interface, and the [JOG] operating

parameter configuration interface will pop up. As shown in Figure 6-2.

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 Jog operation of positioner linkage function Positioner user manual

Figure 6-2 JOG interface

Step 2. Move the TCP point to a fixed sharp point, and configure the parameters of the [JOG] interface. The

configuration method is shown in Table 6-1.

Table 6-1 Configuration steps and instructions

Steps Parameter Configuration instructions

1 Click and select [Cartesian mode]. In this mode, the TCP

point of the operator can be controlled to move along the
positive or negative direction of X axis, Y axis or Z axis, or
the TCP of the manipulator can be controlled to rotate
around Z axis, Y axis or X axis.

2 Click and select [external axis mode], or you can switch the
mode by pressing the shortcut key < F2 >.

3 In jog mode, this item indicates that the speed magnification

of the lower "jog" can be adjusted through " " and
" " in the function keys of the teaching pendant.

4 Tool Select the tool "tool0".

5 Coordinate system Select "wobj0".

6 Linkage Uncheck the [linkage] check box.

6.2 Linkage jog operation mode

The workpiece coordinate system of the robot is the coordinate system associated with the positioner. The robot is

linked with the positioner, that is, the position and attitude of the TCP of the robot remain relatively stationary relative

to the workpiece coordinate system, as shown in Figure 6-3.

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Positioner user manual Jog operation of positioner linkage function

Figure 6-3 Diagram of robot linkage operation

The setting steps of this mode are as follows:

Step 1. Click the " " icon in the upper left corner of the main interface, and the [JOG] operating

parameter configuration interface will pop up. As shown in Figure 6-4.

Figure 6-4 Operation parameter configuration interface

Step 2. Move the TCP point to a fixed sharp point, and configure the parameters of the [JOG] interface. The

configuration method is shown in Table 6-2.

Table 6-2 Configuration steps and instructions

Steps Parameter Configuration instructions

1 Click and select [Cartesian mode]. In this mode, the TCP

point of the operator can be controlled to move along the
positive or negative direction of X axis, Y axis or Z axis, or
the TCP of the manipulator can be controlled to rotate
around Z axis, Y axis or X axis.

2 Click and select [external axis mode], or you can switch

the mode by pressing the shortcut key < F2 >.

3 In jog mode, this item indicates that the speed

magnification of the lower "jog" can be adjusted through
" " and " " in the function keys of the teaching
pendant.

4 Tool Select the tool "tool0".

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Jog operation of positioner linkage function Positioner user manual

Steps Parameter Configuration instructions

5 Coordinate system Select "wobj0".

6 Linkage Uncheck the [linkage] check box.

After the calibration is completed, rotate the axis 1 or axis 2 of the positioner, and the robot TCP
should keep the relative position unchanged with the sharp point on the positioner, and there is no
Tip
提示
obvious error. If the error visible to the naked eye is too large, it needs to be re-calibrated.

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Positioner user manual Teaching practice

7 Teaching practice
The enable buttons can be installed on the left and right sides of the rear shell of the teach pendant. The default

installation is on the right side when leaving the factory, as shown in Figure 4-9.

The <Enable> button provides 3 key positions, the specific operation method is as follows:

◼ The power is turned on when the first key position is pressed lightly.
◼ The teach pendant in the second (middle) key position can operate the robot manipulator.
◼ The power is cut off when the button is completely released.

Enable button

Figure 7-1 Teach pendant enable button

The operation steps of drag teaching are as follows:

Step 1. In the drag teaching mode, while pressing the <Enable> button I of the teach pendant, manually drag the

robot to move.

Step 2. After moving to the target point, release the <Enable> button.

Step 3. Click [Run/Program Editor] on the main interface of the teach pendant.

Step 4. In the pop-up [Program Editor] interface, click [More Edit/Open] to open the created arl program file.

Step 5. Manually enter the instructions to be inserted. If the robot manipulator needs to be linked with the positioner,

the lin and cir instructions should be inserted. (As shown in Figure 71)

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Teaching practice Positioner user manual

Figure 7-2 Insert lin command interface

Step 6. Click the " " after [p], and select [Workpiece Coordinate System] as the calibrated workpiece coordinate

system of the positioner (as shown in Figure 72). Click <Yes>.

Figure 7-3 Workpiece coordinate system selection interface

Step 7. On the motion instruction interface as shown in Figure 7-1, click <Insert > to complete the insertion of the

motion instruction.

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Positioner user manual Teaching practice

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