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Six-axisrobotcontrolsystemmanualV2 3

This document provides a manual for operating a six-axis robot control system. It describes the system configuration and installation, operation interface including screens and keys, manual operation modes, and stop state settings like parameters, mechanics, and maintenance.

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0% found this document useful (0 votes)

40 views132 pages

Six-axisrobotcontrolsystemmanualV2 3

Uploaded by

mark luigi Sarmiento

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Download as PDF, TXT or read online on Scribd

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Six-axis robot control system manual

HC-S6 V2.3
Catalogue
1 SYSTEM CONFIGURATION AND INSTALLATION.................................................................... 4

1.1 BASIC CONFIGURATION................................................................................................................. 4

1.2 SYSTEM INSTALLATION....................................................................................................................4

2 OPERATION INTERFACE................................................................................................................5

2.1 APPEARANCE AND DESCRIPTION.................................................................................................. 5

2.2 KEY FUNCTION DESCRIPTION........................................................................................................ 5

2.2.1 State selection switch......................................................................................................... 5

2.2.2 Function keys....................................................................................................................... 6

2.2.3 Axis action keys................................................................................................................... 7

2.2.4 Fine adjustment knob..........................................................................................................9

2.2.5 Emergency button....................................................................................................................9

2.3 MAIN SCREEN AND AXIS DEFINITION...........................................................................................10

2.3.1 Main screen description....................................................................................................10

2.3.1.1Authority management......................................................................................................................11

2.3.1.2 Calculator.........................................................................................................................................12

2.3.1.3I / O monitoring................................................................................................................................ 13

2.3.1.4 Model............................................................................................................................................... 14

2.3.1.5 Alarm log......................................................................................................................................... 16

2.4 OPERATING MODE......................................................................................................................... 18

2.4.1 Origin Reversion................................................................................................................... 18

3 MANUAL STATUS............................................................................................................................20

3.1 PROGRAM......................................................................................................................................21

3.2 ACTION MENU............................................................................................................................... 26

3.2.1Axis action.......................................................................................................................................... 27

3.2.2 Path.......................................................................................................................................29

3.2.4Output action......................................................................................................................................32

1
3.2.5Check......................................................................................................................................33

3.2.6Condition.............................................................................................................................................34

3.2.7Wait......................................................................................................................................................35

3.2.8Counter..................................................................................................................................36

3.2.9 Sync...................................................................................................................................... 37

3.2.10Comment.......................................................................................................................................... 38

3.2.11Stack.................................................................................................................................... 39

3.2.11.1Normal stacking.............................................................................................................................. 40

3.2.11.2 Boxing and in-box stacking........................................................................................................... 46

3.2.11.3 Data source stacking...................................................................................................................... 48

3.2.12 Custom Alarm................................................................................................................................. 51

3.2.13 Module............................................................................................................................................. 52

3.2.14Vision.................................................................................................................................................53

3.2.15Path speed..........................................................................................................................54

3.2.16 Data command............................................................................................................................... 55

3.2.17Origin.................................................................................................................................................56

3.2.18 Extent................................................................................................................................. 58

3.2.18.1 Axis pay......................................................................................................................................... 59

3.2.18.2 Safety Zone.................................................................................................................................... 60

3.2.18.3 Single Stack................................................................................................................................... 64

3.3 MANUAL OPERATION.....................................................................................................................67

3.3.1Signal output.........................................................................................................................67

3.3.2 Programmable Keys(New M CMD)................................................................................. 68

4 STOP STATE.....................................................................................................................................69

4.1 PARAMETER SETTING................................................................................................................... 69

4.1.1 Product settings.................................................................................................................. 70

4.1.2 Valve setting........................................................................................................................ 71

4.2 MECHANICAL SETTINGS............................................................................................................... 72

2
4.2.1 Operating parameters..................................................................................................... 73

4.2.2 Motor parameters............................................................................................................... 74

4.2.3 Structural parameters........................................................................................................ 77

4.3Structural parameters............................................................................................................ 78

4.3.1Manual setting........................................................................................................................ 79

4.3.2Network Configuration........................................................................................................ 80

4.3.3Picture settings.....................................................................................................................81

4.3.4 Registration..........................................................................................................................83

4.3.5 Maintain................................................................................................................................84

4.3.6User Management............................................................................................................... 86

5 AUTOMATIC STATE....................................................................................................................... 88

6 ALARM INFORMATION AND ALARM REASONS....................................................................90

7 BOARD PORT DEFINITIONS......................................................................................................120

7.1 MAIN CONTROL BOARD SERIAL PORT DEFINITION..................................................................120

7.2 PORT DEFINITION FOR THE I / O BOARD...................................................................................121

7.3 SERVO DRIVE INTERFACE DEFINITION....................................................................................... 122

8 WIRING DIAGRAM........................................................................................................................123

8.1 THE SERVO CONNECTIONS AND PARAMETER SETTING............................................................ 123

8.2 EXAMPLE PANASONIC SERVO MOTOR USED.............................................................................123

8.3 USING MITSUBISHI SERVO MOTOR RECORDS.......................................................................... 125

9 SIZE CHART................................................................................................................................... 126

9.1 BOARD METAL CASE SIZES........................................................................................................ 126

9.2 HAND CONTROLLER...................................................................................................................127

9.3 SWITCHING POWER SUPPLIES INSTALLATION DIMENSIONS...................................................... 128

ANNEX1.............................................................................................................................................. 130

3
1 System configuration and installation

1.1 Basic Configuration

1,8 inch true color touch screen

2, servo control panel

3, I / O board

4, the power part (2 power supply)

1.2 System installation

1, wiring operations must be carried out by a professional electrician.

2, to confirm the power to disconnect before starting the job.

3, please install on metal and other fire-retardant materials and away from
combustibles.

4, must be safely grounded.

5, the external power supply failure, the control system failure, in order to make the
whole system safe, be sure to set the external control system security circuit.

6, installation, wiring, operation, maintenance, must be familiar with the contents of this
manual; use must also be familiar with the relevant machinery, electronic common sense
and all relevant safety precautions.

7, install the controller of the electrical box, should have a well-ventilated, oil, dust
conditions. If the electronic control box is closed, it is easy to make the controller
temperature is too high, affecting the normal work, to be installed fan, electric box suitable
temperature is 50 ℃ below, do not use in condensation and freezing place.

8, the controller should be installed to avoid contactors, transformers and other

accessories too close to the layout, to avoid unnecessary surge interference.

CAUTION: Improper handling may result in hazards, including personal injury or

equipment accidents.

4
2 Operation interface

2.1 Appearance and description

State selection switch Emergency button

Fine adjustment knob

Function keys

Axis action key

Accelerator / deceleration
key

2.2 Key function description

2.2.1 State selection switch

Manual control of the state is divided into three kinds, manual, stop, auto.

"Manual" ：The status selector switch to the left to enter the manual state, the upper

left corner of the screen icon becomes As shown in Fig In

this state, manual operation and programming can be performed.

"Stop"：The status selector switch to hit the middle of the state into the stop, the upper

5
left corner of the screen icon becomes Figure
In this state, parameter setting is possible

"Auto"：The status selector switch to the right to enter the automatic state, the upper

left corner of the screen icon becomes Figure

In this state can be fully automatic and the corresponding settings.

2.2.2 Function keys

"Start" key: Press "Start" key in automatic state to enter the automatic running state.
Press the [Reset] key and then the [Start] key to return to the home position.

"Stop" key: Function 1: Press this button to enter the single cycle mode. In the
automatic mode, the system will stop in the single-cycle mode. After pressing the [Stop] key
again, the robot Stop motion.

Function 2: In the event of an alarm, press this key in the stop state to clear the alarm
display that has been resolved.

"Origin" key: In the stop state, press this key, then press "start" key to start the home
return operation.

Note: You can select the way of homing and the order of homing in this key. For details,
please refer to 3.2.1.17 Function description of origin command.

“Reset” key: Press the [Reset] key and then press the [Start] key to return all the axes
to the home position.

Note: You can also add other commands to this key, for example, to turn off an output
point when you press the reset button. For details, see section 3.1.

6
2.2.3 Axis action keys

X +key: Pressing this key moves the axis in the positive direction at the current speed.

X- key: The axis moves at the current speed in the negative direction.

Y1- key: The axis moves at the current speed in the negative direction.

Y1- key: The axis moves at the current speed in the positive direction;

Z + key: Pressing this key moves the axis in the positive direction at the current speed.

Z- key: The axis moves at the current speed in the negative direction.

U + key: Pressing this key moves the axis in the positive direction at the current speed.

U- key: The axis moves at the current speed in the negative direction.

V + key: Press this key to move in the positive direction at the current speed.

V- key: The axis moves in the negative direction at the current speed.

W + key: Pressing this key moves the axis in the positive direction at the current speed.

W- key: The axis moves at the current speed in the negative direction.

There are two types of axis motion, one is the world coordinate motion and the other is
the joint movement. Pressing the axis type in manual mode and pressing the axis action
button will activate the corresponding axis.

Operating procedures:

1,In manual mode, click this icon once to open the manual keyboard button.

2, The icon after opening the icon below, in this figure, select the axis movement type
and press the apprReturn to originiate axis keys (keyboard keys or hand control button), the
corresponding axis will act.

3,Manual speed control: in manual mode can press the acceleration and deceleration
keys can be adjusted speed, can also be fixed in the manual speed, the corresponding
setting can be entered in the stop state "parameter" → "machine settings" → "run
parameters (Chapter 4.2.1) of the Standalone Control Manual option.

7
8
2.2.4 Fine adjustment knob

Function: You can use this knob to precisely move the axis when the manual mode is
fine-tuned.

To do this, click the Open button, click the [Tune sel] option, select the tune speed,
select the axis to be fine-tuned in the left box, or press the axis button (on the hand
controller) The fine adjustment knob moves the axis one point at a time to the target point.

Tune speed:

X1: The movement of a grid axis is 0.01mm or the axis is rotated by 0.01 degree.

X5: moving a grid axis 0.05mm or axis rotation 0.05 degrees.

X10: moving a grid axis movement 0.1mm or axis rotation 0.1 degrees.

X50: moving a grid axis moving 0.5mm or axis rotation 0.5 degrees.

World Coordinates: The position and attitude of the end point of the tool with the center
of the robot base as the origin.

Joint coordinate: The coordinate value of the motor coordinate converted by the
mechanism coupling relationship.

2.2.5 Emergency button

Function: Press the emergency stop button in emergency, it will cut off all axes to
enable, the system alarm "emergency stop", after the knob is unscrewed, press "stop" key
to cancel the alarm.

9
2.3 Main screen and axis definition

2.3.1 Main screen description

Status Display IO Monitor Alarm record button

Speed display Model number management Account Login

Alarm content, information tips, world coordinate position, joint coordinate position display area

This line shows the location of the world coordinates

This line shows the position of the joint

10
2.3.1.1Authority management

Login: Click "Login" to enter the login interface, first select the user type, enter the
password, then click "login". To exit to the minimum privilege, click "Logout". The operation
diagram is as follows:

Note 1: Please log on before setting the system, because different user names have
different administrative rights.

Note 2: Create a new user name to see section 4.3.6.

Op(Operator) : The permission can only be moved in the manual state can not enter the
teaching page to teach the page, automatic state can start the robot, adjust speed, stop
state can enter the home return.

Admin(Administrator) : This permission can only move the axis in the manual state can
not enter the teaching page to teach, automatic state can start the robot, adjust the speed,
stop state can enter the home return.

Super: The user can perform all the operations except for user management, the
default login password 123456.

Root(Super administrator): the user can perform all the operations under the default
login password 12345678.

Permissions Size: Op <Administrator <Super < Root

11
2.3.1.2 Calculator

Click once to open the counter and click the second page to retract.

12
2.3.1.3I / O monitoring

Click once to view the I / O points and intermediate variable on / off status and click the
second page retraction.

13
2.3.1.4 Model

Click the model number to enter the model management page can be "new", "load",
"copy", "delete" specific operation is as follows:

New : in the new file name text box to enter the new model name, and then click "New"
button, you can create a new model of the blank program, model name can enter letters and
numbers.

Copy: After entering a new name in the new module name text box, click the saved
model name, and then click the [Copy] button to copy the stored model number program to
the new model number program .

Load : Click the stored model number, and then click "Load" button, you can load the
selected model number, run automatically when running the program.

Del: Click the stored model number, and then click the [Delete] button to delete the

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module. The currently loaded module can not be deleted.

Export: Click the saved module number, and then click [export to U disk] button, you
can export the selected model number.

Import: insert U disk to USB port of manual controller Click "Import from U disk" button,
select the module to import. Click "Open" button and then "Load" to import the module.

Search: Enter the model name in the edit box and click "Search" button to search the
existing model number.

Clear search: Click once to clear your search history.

15
2.3.1.5 Alarm log

Click the [Alarm Log] button to view the alarm log and the operation log.

Alarm Logging Page:

Note: Drag up or down to see more.

16
Operation Log Page:

Note: Drag up or down to see more.

17
2.4 Operating mode

The manipulator has manual, stop, automatic three states, the status selector switch to
the left gear position for the manual state, in which the state of the robot manual operation.
Rotate the status selector switch to the neutral position to stop the robot. In this state, the
robot will stop all the movements and return the robot to the home position. Rotate the
status selector switch to the right position and press the "Start" button once, the robot will
enter the automatic running state.

2.4.1 Origin Reversion

In order for the robot to operate correctly and automatically, the Return to origin
operation is performed every time the power is turned on and stopped. The Return to origin
operation will drive each axis of the robot to its home position.

Return to origin operation method:

Condition 1:Operation flow without origin setting.

1. Move all axes to the home position in the manual mode.

2. To save the home position: In the stop state, go to "Setting" → "Mechanical Conf"
→ "Motor Configs" page, click "Set All Origin" or "Set as Origin" button, and then click "Save
Origin" button Can be.

Condition 2:The flow of operation has been set to the origin.

Press the "OPEN" key in the stop state to display the selection dialog box as shown in
the following figure. Select the option according to the actual situation (if you do not
understand the options, please click the [Help] button) The robot starts the Return to origin
operation.

"Display Help" Details:

□ Near the origin: The position is probably used in the vicinity.

□ Emergency shutdown before shut down: Only make sure the camera has been
photographed before shutdown can be used.

18
□ re-homing: has not returned in the vicinity of the origin of the time, once again when
the original point of use.

Note: You can not perform manual, automatic operation and parameter setting on the
robot during the Return to origin. In case of an emergency, press the [STOP] key to stop the
Return to origin or press the [EMERGENCY STOP] button.

19
3 Manual status

The manual knob on the third gear hit the "manual" into the manual state, the state can
be carried out on the robot to teach action. As shown below:

Manual keyboard button (this button is only displayed in manual

Reference Point Edit button (this button will only be displayed if you are in manual
mode)

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3.1 Program

Modulus of the composition: a set of molds contains a main program and eight
subroutines can be selected according to their actual use.

Main

Sub-1

Sub-2

Sub-3
program
Contains Sub-4
(Model number)

Sub-5

Sub-6

Sub-7

Sub-8

Program selection method: Pull down the "Edit" menu, select the program (click once
that means selected).

Special subroutine: Subroutine 8(Sub-8), the program itself in the default Subroutine
8(Sub-8), regardless of the state (auto / manual / stop) will automatically run.

Tip: In the case of the program to teach to run automatically when the subroutine and
the main program is running at the same time.

21
"Programmable Keys(New M CMD)": You can program in a self-defined key name.

New Programmable Keys(New M CMD): Click "New Programmable Keys(New M

CMD)" → edit the name of the button. Click OK → pull down the "Edit" menu. Move the
page up and down to find the programmable key. Click once to edit the name of the button
to enter the instruction page. teach.

Special Programmable Keys(New M CMD):

"Origin" If you perform homing in the stop mode (pressing the home key again to start),
the system will execute the program that has been edited in the "Origin" key if the sequence
of homing or other actions is instructed in this key.

"Reset" Pressing the [Reset] key once in the stop state, the system will execute the
program which has been edited in the reset button.

Deleting Programmable Keys(New M CMD): Select the name of the button in the
drop-down "Edit" and then click the [Delete Programmable Keys(New M CMD)] button.

22
New programmable key flow chart:

23
Programming interface:

Program content

This number is the operator in the first few steps to

Serial number insert this program, if you need to click on the

finishing order number button

"Trial": press this button, the robot will go to run this step.

"Up": Click on the program to move to the previous line.

"Down": Click to move to the next line.

“Copy”: Click the [Copy] button to pop up the contents of the selected copy of the selection
box as shown below:

NOTE: The number entered in the "Selected Line" edit box indicates the program number.

24
Copy the use case: Suppose you want to copy the sequence number 0 and 1 to wait for the
program X011 pass the following steps are as follows:

Step 1: Click the Copy button, enter 1 in the "Selected Row" edit box and then click the
[Copy Selected Row to Current Row] button.

Step 2: Select the next line you want to paste the program Click the [Paste] button.

Note: If the copy of the "end of the module," this sentence is pasted into the program is
invalid, the module must be the end of this sentence in the final step.

"Paste": Paste the copied program in a single click.

"Edit": Click [Edit] button to pop up the edit dialog box to edit the program content.

“Shield”: click that shield, if you want to cancel and then a "shield" can be.

"Delete": Click delete to delete the program.

"Fix index.": Click the number in the auto-finishing sequence.

25
3.2 Action menu

Click "Editor S/H" to enter the action type interface to teach, this interface a total of 17
actions, click the corresponding action button to enter the action editor interface to set. As
shown below. Click once for the Open menu, and a second for the Close menu.

26
3.2.1Axis action

Click the button to enter the following interface.

Insert: In the instruction page, select the location where you want to insert the action and
choose to teach the action. Click Insert to insert the action into the program.

Insert: When the axis and the target location click "set" and then click "Insert" to teach the
location of the target point to the program.

Sync: Select several axes and then select "Synchronize" the axis will be in motion at the
same time movement.

Rel point: Check the coordinates of the axis after the point of the optional use of the edited
reference point.

Early End Pos: Inserting this step into teaching indicates that the next movement has

27
started when the axis has not reached the target position when it reached the end position.

Use case: If the advance position is set to 200 and the position is set to 1000, the axis
moves to the position of 800 (1000-200) and the next step is carried out, and the procedure
continues to 1000.

ESD POS: Insert this step in the teachings to indicate that the axis will decelerate at the set
speed when it reaches the advanced deceleration position.

Use case: If the advance position is set to 200, the advance deceleration rate is 5%, the
position is set to 1000, and the speed is set to 80%. Then the axis from 0-800 to 80% of the
speed of operation, 800-1000 to 5% speed.

Signal stop or Fast stop: When the input signal is detected, it will decelerate to stop or
stop immediately.

Rel(Relative): Moves the set distance relative to the current position.

Stop: When selecting an axis and selecting "Stop", the program will stop immediately when
running.

28
3.2.2 Path

Click the button to enter the following interface.

Area 1 is the type of action to insert:

Line 2D (Line XY, Line XZ, Line YZ): Holds the position in a plane from the current position
to the "end point" position.

Line 3D: In the space, from the current position to "set to end" position to maintain a
position to go straight.

Curve 2D (Curve XZ, Curve XZ, Curve YZ): Holds the arc in a plane from the current
position to the position set to the intermediate point and the position set as the end point.

Curve 3D: In the space, from the current to "set to the middle point" position and "set to the
end of the" position to maintain a position to take a curve.

29
Posture: from the current position into the target position.

Relative line: The current point as a starting point, the direction of the offset coordinates.

Relative Curve: The current point as a starting point, the direction of the offset coordinates.

Posture straight line: from the current point of conversion into the target position to "set
the end" of the location of a straight line.

Pose curve: from the current point of change into the target position to "set to the middle
point" and "set to the end" of the position to take the curve.

Pose full circle: from the current point of conversion into the target position to "set to the
middle point" and "set to the end of the" circle.

Free path: no track movement, the movement of the axis at the same time moving
simultaneously.

Relative Joint: Offset in the axial direction relative to the joint.

Relative posture line: Starting from the current point, U, V, W keep a posture in the
direction of coordinate offset.

Relative posture curve: from the current point as a starting point, U, V, W to keep a
posture in the direction of coordinate offset.

Full circle: Draws a circle with three known points.

Area 2 is to set the coordinates of the location method, set in two ways:

The first one: If it is the current manual control to display the coordinates of the coordinates
of the edit position to edit the box you need to first hit the [set] button and then click [set the
end] can be, if you want to zero is a direct click [Zero] button.

Second: use the reference point, check the reference point selection box 111 drop-down
triangle arrows to select "point", and then click "set to the middle point" or "Set the end
point(Set Epos)" button to replace the coordinates of the target point Coordinate value can
be.

Reference point button Edit method:

Step 1: Check the box to use it.

Step 2: Click this icon in the lower left corner to open the reference point edit button

30
interface, as shown below:

Reference point role: to facilitate the user for the location of a point to re-use.

Note! : The free path can only refer to the joints, and the relative joints can only refer to
the offset points. The rest of the action types can only refer to path points.

Points of the editing process:

Step 1: Position Instruction: Edit the value directly Move the axis to the target point and
then click "Set World Position or "Set Joint Position" (choose according to the type of new
point).

Step 2: Create a new point name in the Point Name dialog box.

Step 3: Click once to create a new type point (new node, the new path, the new offset
point) to edit the point of editing a blank point to the dialog box.

Delete method: select the point you want to delete into a light blue and then click the
"Delete" button.

Replace Location Method: Edit the "New Location" and click the "Replace Location"
button to complete the replacement.

31
3.2.4Output action

Click the button to enter the following interface:

Output signal insertion method: Select the output type (□ Y / □ M / □ time Y) →

select the output point on / off state → set the delay time → click the [Save] button →
Instruction page Select the location of the need to insert the next step [Insert] can be.

Y Output: Wait for the delay time, Y only pass or off.

Time Y: When the program execution to this step will let Y output pass and then set the time
to automatically disconnect, waiting for the same time the program will synchronize the next
step.

M (Intermediate Variable): A variable value that can be changed (typically used to call
subroutines).

32
3.2.5Check

Click the button to enter the following interface,On this page you can

select the valve to be tested.

33
3.2.6Condition

Click the button to enter the following interface:

How to use labels:

1, check the √ definition label "option, click the label edit box" Define flag "pop-up
keyboard edit name.

2, in the program need to jump into the location of the previous step from the good tag
name.

3, check √ "use flag" option to enter the condition selection interface:

34
3.2.7Wait

Click the button to enter the following interface:

Wait for the signal insertion method: select the type of wait point → select the wait point on
the off → set the delay time → click "Save" button → in the teaching page need to insert
the location of the next click "insert".

Note: Wait means that the action to the implementation of this step, the waiting time in the
set conditions did not reach the system will alarm.

35
3.2.8Counter

Click the button to enter the following interface:

Counter category:1,Set counter;2,Clear counter

New counter method: Select the counter type → new counter name → click the "new"
button → click the "Save" button → complete.

Current: The current counter count value, the value can be set according to the user's
actual situation.

If the current value of the counter is set to 2, then the robot will start from the new model
when the first item from the beginning of the second reactor heap things .

Target: The target value of the counter.

36
3.2.9 Sync

Click the button to enter the following interface:

Inserting a sync start and a sync end before and after a program indicates that the
program is combined to move simultaneously.

Note:

1, synchronization can not nest each other.

2, jump can not use the synchronization function.

3, the beginning of synchronization and synchronization of the end of certain

combinations appear, there must be synchronized to start teaching a synchronous end.

37
3.2.10Comment

Click the button to enter the following interface:

Note that the meaning of the mark, when the user teaches a lot of programs if too much
looks will look messy, then the different procedures before and after the corresponding
comments to facilitate the search problem.

Note Edit method: in the blank click into the name edit box → edit the name and click
"Save" key → select the location to insert the next line click "insert" button.

38
3.2.11Stack

Click button to enter the stack edit page, as shown below:

Stacking type classification:1,Normal; 2,Box;3,Data Source

39
3.2.11.1Normal stacking

General stacking can be divided into two categories: rectangular shape, as the name
suggests can be square out of the items; offset stack, can be stacked into a diamond shape
can also be stacked on a slope (Z-axis offset).

Stacked rectangular shape of the operation method:

1, first click the "New" button to create a new stack name or open the file name has
been built.

2, click "→" to enter the stack editing interface.

3, Set the starting point coordinates and spacing.

There are two ways to set up:

Use the three-point method to set: three-point method is to use has been set to
automatically calculate the three points offset, spacing.

The first step, in the manual state click "three-point method set" button to enter the edit
page shown below.

In the second step, move the robot to the starting position of the stack and then click
the “Set In” button to set the current coordinate value into the coordinates edit box of each
axis.

In the third step, move the manipulator to the next point in the X1 axis direction and
then click the [Set] button to set the coordinate value to the X1, Y1 coordinates edit box.
Then move the robot to the next point in the Y1 axis direction and then click the [Set] button
to set the coordinate value to the X1, Y1 coordinates edit box.

Step 4 Click the [OK] button to return to the previous page for other settings.
40
Do not use the three-point method: Calculate the spacing manually.

In the first step, enter the interface as shown in the figure below. Move the robot to the
stacking start point manually and then click the [Set] button to set the current coordinate
value to the coordinate edit box of each axis.

In the second step, manually measure the spacing between the points in each axis and
edit the spacing values into the corresponding edit boxes.

In the third step, set the direction of stacking of each axis, and the positive direction
refers to the direction of the axis position + (press the axis button on the hand controller to
identify the direction of the axis position).

5, set the stack count, order, counter and run the order, the interface as shown
below:

Count: Set the number of heap points on the axis.

Run Sequence: Sets the order in which each axis is stacked.

Counter selection: "self" means that the program runs a mode, the system default
counter has been increased by 1; custom counter (in the action menu -> [counter] to set).

6, edit the data and click [Save] button.

7, playing √ "using the stack" in the "stack" in the choice of using the stack, and set the
stack speed, choose a good location in the program click on "set" to edit the stack to teach.

8, if the use of custom counters to be inserted in the process of teaching the stack
counter plus 1 otherwise the counter does not count.

41
The offset heap method of operation:

The use of offset stacks can be piled into a diamond shape or stacked on a sloped
surface (Z-axis offset)

1, first click the "New" button to create a new stack name or open the file name has
been built.

2, click "→" to enter the stack editing interface.

3. Check the [Use Offset] option

4, Set the starting point coordinates and spacing.

Diamond-shaped heap when the starting point and spacing of the set there are two
ways:

Use the three-point method to set: three-point method is to use has been set to
automatically calculate the three points offset and distance.

The first step, in the manual state click "three-point method set" button to enter the edit
page shown below.

In the second step, move the robot to the starting position of the stack and then click
the [Set] button to set the current coordinate value into the coordinates edit box of each
axis.

Step 4 Click the [OK] button to return to the previous page for other settings.
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Not using the three-point method: manually calculate the offset distance and spacing of
the axis.

In the second step, manually measure the distance and offset between points in each
axis and edit the spacing and offset values into the corresponding edit boxes.

The third step is to set the stacking direction of each axis, and the positive direction
refers to the direction of the axis position + (press the axis key on the hand controller to
identify) the reverse refers to the direction of the axis position.

X, Y offset effect map:

The effect of the X offset is shown below, with the left unbiased and the right shifted by
the X offset.

Before unbiased After the offset

The effect of the Y offset is shown below, with the left unbiased and the right shifted by
X offset.

43
Before unbiased After the offset

Inclined pile starting point, pitch setting mode:

The first step is to move the manipulator to the stack start position manually and then
click the [Set] button to set the current coordinate value to the coordinates edit box for each
axis.

In the second step, set the offset distance in the Z direction (default is Z in the X
direction). If you want to offset Z in the Y direction, check the [Y direction offset Z] option.

The third step, set the stacking direction, count, order, counter and run the order.

Direction: Direction, direction of axis position +, direction of minus axis, axis direction.

Count: Sets the number of points to be stacked on the axis.

Run Sequence: Sets the order in which each axis is stacked.

Counter selection: "self" means that the program runs a mode, the system default
counter has been increased by 1; custom counter (in the action menu -> [counter] to set).

The fourth step, edit the data and click [Save] button.

The fifth step, playing √ "using the stack" in the "stack" in the choice of using the stack,
and set the stacking speed, choose a good location in the program click on "Settings" to edit
the stack to teach.

The sixth step, if you use a custom counter to be inserted in the process of teaching the
stack counter plus 1 or counter does not count.

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Slope offset Stacking Example:

Suppose you need to pile up four circles in the following heap position .

Teaching Page Setup:

Note: 1, because the counter is selected from the definition of the technology will need
to teach more than one stack after the counter plus 1

2, if the counter is full, such as after the start of the new conditions, the need to use
conditions to clear the jump, conditional Jump page settings as shown
below:

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3.2.11.2 Boxing and in-box stacking

Packing and in-box stacking Method of use:

1, select the "box and box stacking" option.

2, click "→" to enter the stack editing interface.

3, first click the "New" button to create a new stack name.

4, in this interface set up under the first box, the spacing between products, quantity,
order, direction, and the choice of counter.

5, click "→" to enter the next editing interface This interface is set between each
stacking box spacing, number, order, direction and the choice of counter.

6, set all the data Click the Save button.

7, playing √" "use stack "stack" in which to choose which stack, and set the stack speed,
select a good location in the program click on "set" to edit the stack to teach.

"Use Offset": When selected, offset the previous stack point by the set distance.

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47
3.2.11.3 Data source stacking

Data source stack usage:

1, select the "data source stack" option.

2, first click the "New" button to create a new stack name.

3, click "→" to enter the stack editing interface.

4, select the data source type, the data source type is divided into two types of irregular
points (for irregular stacking), such as select this and then click "Edit Point" into the edit
point box on the specific editing specific user ID.

5, playing √" "use stack "stack" in which to choose which stack to use, and set the stack
speed, select a good location in the program click on "set" to edit the stack to
teach.

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Data source type option "irregular points" and then click "edit point" button to enter the
point editing interface as shown below:

"Replace position": Click the edited position Click "Replace position" button to replace
the old coordinate position with the current position.

"Synchronization Replacement": If the user has the position drawing and the starting
coordinate of the drawing is inconsistent with the origin coordinate of the manipulator, it can
be easily set in the irregular point by synchronous replacement.

Here's how:

1, first edit the target points Assumptions need to edit the five points as follows:

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2. Click the first point to change the coordinate value of the current point to the
coordinate value of the origin (first point) of the drawing, and then click the [Save] button, as
shown in the following figure:

Dedicated user ID display interface:

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3.2.12 Custom Alarm

Click button to enter the following interface:

Select the alarm number and then click the [insert] button to the alarm into the program,
when the program runs to "alarm" when the robot hand to stop running and pop-up alarm
content.

Note: This alarm is generally used in the subroutine, the user can be used according to
actual needs.

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3.2.13 Module

Click button to enter the following interface:

Module New: Click "New Module" button → New Module Name → [Save] → In the current
module to teach into the program → "Save"

Deleting a module: Pull down the module menu, select the module name and click the
[Delete module] button.

Module Insert Method: Pull down the "Call Module" menu Select the module to be called →
Pull down the "Return Label" menu Select the return type (Note: If you select the label type,
define the label and insert it in advance) → Select The next step of the location click [insert]
can.

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3.2.14Vision

Click button to enter the following interface:

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3.2.15Path speed

Click button to enter the following interface:

Role: adjust the trajectory movement speed.

Scope: only applies to the line in the path and curve movement.

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3.2.16 Data command

Click button to enter the following interface:

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3.2.17Origin

Click button to enter the following interface:

Function of origin command: In this interface, you can set the sequence speed of the
axis homing.

The way back to the origin is divided into four kinds, the user can choose according to
their own institutions:

1, manually set the origin plus switch.

2, find the Z pulse directly.

3, automatically set the origin plus switch (short origin).

4, automatically set the origin plus switch (long origin).

Description:

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1, the origin command must be edited in the "origin" in the programmable button.

2, inserted in the order of teaching represents the homecoming order.

3, this interface can be set to the origin of the axis back to speed (Note: the speed of
return to the origin should not be too fast to avoid collision).

Actual speed of the homing in the stopped state = Origin speed (value set on the motor)
* Speed set on the lower axis of this page.

4, insert the synchronization in the program start and end of the synchronization can be
homogenized at the same time the axis action.

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3.2.18 Extent

Click button to enter the following interface:

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3.2.18.1 Axis pay

Check √ Axis Ply options The rear axle can be used for single-axis reciprocating
motion.

Axis Sel (Axis selection): Pull down the triangular arrow to select the axis of the
reciprocating motion.

AxisFly Pos1(Starting position): Move the axis to the starting point position manually
and then click the [Set] button to set the position of the current axis in the position edit box
or manually edit the starting point position.

AxisFly Pos2(End position): Move the axis to the end position manually and then
click the [Set] button to set the position of the current axis in the position edit box or
manually edit the end position.

AxisFly Speed: Sets the speed at which the axis reciprocates.

AxisFly Num: Sets the number of times the axis reciprocates.

Delay: Set the delay time when the axis is reciprocating.

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3.2.18.2 Safety Zone

Check the √ safe zone option to customize the safety zone of the axis.

Under normal circumstances the safe area set editing in the Subroutine 8(Sub-8), the
user can be applied according to the actual situation.

(801 to 899) does not represent the actual distance but the address variable, and the
actual distance setting is set to the data instruction to be set. The distance between the
restricted axis and the restricted axis can be set to an integer between 801 and 899.

Example:

Suppose the X axis is within 300 to 500 Y or Y is not in the 0 to 100, the system
reported "5001" the police prompt the user.

Step 1: Limit the range of the axes to be set.

Special Note:

Here 801/802 is not the distance range, the actual distance range should be set in the
data instruction, the need to set the contents of the circle as shown below:

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Set a value that is smaller than the X axis (restricted axis) setting:

To set a value greater than the value of the X axis (restricted axis):

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Step 2: Set the conditions for limiting the axis

Case 1: When the Y axis (limit axis) position has changed when the system reported
"5001" this police.

Case 2: When Y (limit axis) is not within the range of 0 ~ 100, the system reports
"5001".

Special Note:

Here 803/804 is not a distance range. The distance range should be set in the data
instruction, as shown below:

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Set the minimum range for IE (restricted axis):

Set the maximum range of the restricted axes:

63
3.2.18.3 Single Stack

Enter the following interface to set the single-axis stack.

Step 1: √ The axis of the selection axis is stacked.

Step 2: Select the axis to be stacked.

The third step: Edit the starting position, starting point coordinates There are two ways
to edit.

Mode 1: Move the axis to the start position manually and then click the [Set] button to
set the current coordinate value to the starting position edit box, or manually edit the input
coordinate value.

Mode 2: √ Select the reference point after the screen becomes as shown below, the
starting point of the option will become a reference point can be used as a starting
point.

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Step 3: Set the stacking interval and set the spacing mode.

Method 1: Edit the value directly in the Spacing edit box.

Method 2: Use the address variable to set the spacing.

Go to [Data Command] function page and set the address variable. For example, if the
distance is 50, the setting is as follows:

The address variable (801, which is not the actual distance) is entered in the address
space.

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Step 4: Set the stack count.

Step 5: Set the stacking speed.

Step 6: Select the counter, you can choose their own or in the counter inside a custom.

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3.3 Manual operation

3.3.1Signal output

In this interface can be forced to a certain output point output, click the [pass] button
corresponding to the corresponding green light will point the signal output.

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3.3.2 Programmable Keys(New M CMD)

In this interface, press the button has been edited by the programmable button will be
to implement the robot has been editing the program.

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4 Stop state

The third gear knob to hit the middle position into the "stop" state interface.

You can view the settings of all parameters in the stop status but can not perform
manual operation.

4.1 Parameter setting

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4.1.1 Product settings

Click the button to enter the following interface shown in , in this interface
under the product-related things can be set.

Program: a program can use multiple programs at the same time, the system initially
default to the main program and subroutine are used, such as do not want to use the
drop-down triangle to select it as not used.

Special Note: 1, the main program and the subroutine is running at the same time.

2, can be used separately The subroutine part does not use the main program
to carry on the programming.

3, special subroutine - sequence Subroutine 8(Sub-8), in this interface, select

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the "use" or "do not use" option on the Subroutine 8(Sub-8) is invalid. Because the system
itself has been the default subprogram 8 in any state (automatic / manual / stop) will
automatically run.

4.1.2 Valve setting

Click the button to enter the following interface, in this interface can be
related to set the valve.

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4.2 Mechanical settings

Click the “Mechanical Setting “button to enter the following interface, in this interface
can be related to the machine parameter settings.

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4.2.1 Operating parameters

Click the button to enter the following interface, in this interface can be

run under the relevant parameters.

Tolerance: The difference between the transmit pulse and the feedback pulse.

Turn Auto Speed: three-block knob to run automatically when the default run speed
settings.

Alarm Times: Set the alarm output Y013 flashing several times.

Independent Manual speed: Check this to set the speed of each axis in manual
mode.

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4.2.2 Motor parameters

Click "Click Parameters" button to enter the following interface:

The axis can be selected for use in this interface, as well as for settings related to the
axis.

Axis use: All axes are selected as the default use, if not, please check the "do not"
check box.

Encoder Read Way: At present, "Huichuan", "Anchuan", "Taida” three brands.

Axis Type: The current type is divided into three "absolute", "incremental", "none."

Motor Dir: classified as three "pulse", "CAN", "RS485".

Motor Dir: The axis type is divided into rotation and straight.

Pulse Count Per Circle: Set the number of pulses per revolution of the servo motor.
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Reduction Ratio: Sets the reduction ratio of the servomotor.

The deceleration ratio is the ratio of the instantaneous input speed to the output speed
in the reduction mechanism, denoted by the symbol "i".

If the input speed is 1500r / min, and the output speed is 25r / min, then the speed
reduction ratio is: i = 1, the speed ratio of the input speed and output speed is 1: 60: 1.

Positive Limit: The maximum distance the axis moves.

Negative limit: The minimum distance the axis moves.

Negative limit point: This item can define the negative limit point of X axis. The default
is the normally closed point. If the check mark is set to long open point, input the specified
value in the box to specify an input point as X axis negative limit point , Detailed numerical
control please refer to the following table:

Origin : This setting is when the axis in the homing to move forward or backward to find
the origin, the default is to move forward, if you want to set the direction of movement
please check the "reverse move."

Acceleration time(ACC 1): Set the acceleration time of the servo motor.

Deceleration time(ACC 2): Set the deceleration time of the servo motor.
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Maximum speed(Max RPM): Set the maximum speed of the servo motor

Motor +: the motor forward test, test and feedback are displayed 10000, said the test
was successful.

Motor -: the motor reversal test, the test showed 10000, 55536 feedback showed that
the test was successful.

Set to Origin: move a single axis or all axes to the origin and click "Set as Origin" or
"Set All Origin" and click "Save".

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4.2.3 Structural parameters

Click the button to enter the following interface, in this interface can be

related to the configuration parameters.

77
4.3Structural parameters

Click the [Manual Setting] button to enter the manual to set the interface, as shown
below:

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4.3.1Manual setting

Click the button to enter the following interface, in this interface can be

related to the controller settings.

Language: Select Chinese or English.

Key tone: key tone on, off switch.

Date time: The system displays the date and time, select the date and time, press the
plus or minus keys to change.

Screensaver time: Set the time when the Screensaver time is on.

Brightness: Adjusts the brightness of the display.

Touch Calibrate: click and follow the prompts to operate can be corrected, or random

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rotation of the three-wheel knob and then use the hand controller shortcut keys in order to
press F5 → F3 → F4 → F3 → F2 → F3 → F1 → F5 into the school screen Interface, follow
the prompts to screen.

4.3.2Network Configuration

Click the button to enter the following interface, in this interface can be
related to the network settings.

Instructions:

1, check the .
2, set the robot IP address.

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3, fill in the target peripheral IP address.

4, select the communication mode.

5, click [save] button to save the set data.

6. Click the [Send Test Data] button.

7, waiting for external feedback to the hand controller data that the network
configuration is successful.

4.3.3Picture settings

Click the button to enter the following interface, in this interface, the
controller can start the picture and standby picture to update.

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Start page and standby page Update method:

1, Production Pictures:

Image size: Start page image: Width * Height is 800 * 600 (unit: pixels).

Standby page image: width * height of 800 * 400 (unit: pixels).

Format: png format

2,In the U disk with the directory new HCUpdate_pic, copy the picture to the folder

3, Insert the U disk to the manual control device to enter the picture settings interface, click
on the scan picture, select the picture, select the start page or set to standby page

4, If the standby page, change the status of the third gear can be set to boot the success of
the start up page view you need to re-power to view.

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4.3.4 Registration

Click the button to enter the following interface, in this interface can be
registered under the age hand controller.

Registration process:

1, click [production machine code] button.

2, the machine code to the supplier to allow suppliers to register the production registration
code.

3, according to the registration code provided by the manufacturer to enter the "registration
code" edit box.

4. Click the [Register] button to complete the registration.

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4.3.5 Maintain

Click the button to enter the following interface. In this interface, you can

update the controller version and backup and restore parameters.

Manual version number Main control board number

Version upgrade method: plug in the U disk, a few seconds, click “scan update “to
select the version you want to upgrade and then click “start update”.

The upper left corner of this screen displays the current manual version number and
the master version number.

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Backup / Restore:

Machine running: refers to the axis parameter setting, including the soft limit, per
revolution distance.

HMI Configs: programmable key parameters in the manual settings and settings under
all settings.

Ghost: the meaning of all the backup.

Update : The system will automatically save the upgraded version of the file if you want
to upgrade again before the version can check the option, the controller will display the
version number has been upgraded click on the file name to upgrade, or In this interface,
export the version number of the hand controller to the U disk and then upgrade to the other
hand controller through the U disk.

Backup operation flow: Check → select the data to be backed up (machine

parameter / manual parameter / all backup) → export → export is complete.

Restore process: Check → select to restore the data (machine parameters / manual
parameters / all the backup) → click [restore selected backup button] → according to the
prompt the controller will restart waiting for restart to complete the restore.

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4.3.6User Management

Click the button to enter the following interface, in this interface you can
create, Edit, delete the user name.

System operator default password:

Op: 123

Admin: 123

Super: 123456

Root: 12345678

Permission Interpretation and Size Ranking: Op <Mold <System <User

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Op: The permissions are: in the manual state can move the axis, but can not enter the
teaching page to teach; automatic state can start the robot, adjust the speed; stop state can
enter the home return.

Mold: This privilege has all the permissions of the Op; the settings associated with the
model number.

System: This permission has: Op and Mold all rights; May revise the system parameter

User: All operations are possible.

Create a new user name: Edit user name → set password → check the permissions □ Op
→ click "OK".

□ Admin

□ Super

□ System

□ User

Delete User Name: Click the user list → click [Delete] button.

87
5 Automatic state

The third gear knob to "automatic" into the automatic state is as follows:

In this interface, press the start button on the hand controller, the robot will start the
movement to teach a good program.

Single-step, single-cycle button (only in the automatic

state this button will be displayed)

Cycle, Output, Counter display button (only in the automatic state

this button will be displayed)

Speed en Speed: After checking, press the key speed deceleration key on the manual
controller to adjust the speed.

Follow: Select the program to run after the step to which step the color will become dark.

Single-step mode: single-step operation in automatic mode.

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Single-cycle mode: The program moves from the first step to the end of the module.

Cycle Time: The time taken by the entire program to go to the end of the module.

Cycle Display Button: Click this button to display the cycle time and the current cycle
time. You can also view the status of all counter counts.

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6 Alarm information and alarm reasons

Alarm number Alarm information Processing methods

Start up is completed automatically

Err1 Finish is not initialized
cleared

Host axis configuration and

Select host according to demand or manual
Err2 manually controlled-axis
control
configurations

Master axis configuration

Err3 No
parameter error

Teaching program for too long, will

reciprocate the same action using module

Err4 Not enough memory
integration. Press the stop key to clear the

alarm.

Teach error manual and host application

version does not match the type matches the

Err5 Teach parsing errors
version of the program. Press the stop key to

clear the alarm.

Edit error overload mode, or create a new

Err6 Teaching data editing errors model number. Press the stop key to clear the

alarm.

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Release the emergency stop press the stop

button to clear alarms

Reason: 1, And the emergency stop switch is

Err7 Emergency stop
pressed. 2, no wiring emergency stop switch

ports on the host, if not required, separately

that is, switch, you will need to STOP port is

shorted.

Press the stop key to clear the alarm.

Err8 Auto run jumping errors

Reason: 1 , Teaches programs jump label is

invalid or was deleted.

Err9 Failed to connect to host Host free programs or the wrong version

Err10 Teaching program errors Press the stop key to clear the alarm.

Configuration parameters are Restart or press the stop key to clear the
Err11
stored fails alarm.

Err12 Model set errors Press the stop key to clear the alarm.

Single step / Single-loop

Err13 Press the stop key to clear the alarm.
debugger setting errors

From the host FLASH Data

Err14 From the host FLASH Data read error
read error

1, And repair wiring

Err15 IO Communication failure
2, Examination boards, IO

Servo absolute position read

Err16 Check the host and servo wiring
failed

Servo absolute position

Err17 Check the host and servo wiring
failed to read the calibration

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Read function code error
Err18 Check the host and servo wiring
servo absolute position

Servo absolute position read

Err19 Check the host and servo wiring
timeout

1, And repair wiring .

Err20 IO 2 Communication failure
2, Check motherboard IO.

1 ,And repair wiring .

Err21 IO 3 Communication failure
2, Check motherboard IO.

1, And repair wiring .

Err22 IO 4 Communication failure
2,Check motherboard IO.

Hand control and

Err23 inconsistent host teaching No

program

FPGA Alarm, power failure

Err24 No
restart!!!!

96
Press the stop key to clear the alarm.

Movement again.

Reason: 1,Teaches the same axis at the same

time campaigns;
Err107 Axis 8 Sports fail
2 ,Main program and subroutine has the same

shafts at the same time campaigns;

3,Teach single axis motion trajectory and

run at the same time;

Press the stop key to clear the alarm.

Movement again.
Err110 Axis 1 Speed setting error

Press the stop key to clear the alarm.

Err111 Axis 2 Speed setting error
Movement again.

Press the stop key to clear the alarm.

Err112 Axis 3 Speed setting error
Movement again.

Press the stop key to clear the alarm.

Err113 Axis 4 Speed setting error
Movement again.

Press the stop key to clear the alarm.

Err114 Axis 5 Speed setting error
Movement again.

Press the stop key to clear the alarm.

Err115 Axis 6 Speed setting error
Movement again.

Press the stop key to clear the alarm.

Err116 Axis 7 Speed setting error
Movement again.

Press the stop key to clear the alarm.

Err117 Axis 8 Speed setting error
Movement again.

97
Press the stop key to clear the alarm.

Movement again.
Err120 Axis 1 Movement speed
Reason: 1 ,Tracks acceleration setting too

large

Press the stop key to clear the alarm.

Err121 Axis 2 Movement speed
Movement again.

Press the stop key to clear the alarm.

Err122 Axis 3 Movement speed
Movement again.

Press the stop key to clear the alarm.

Err123 Axis 4 Movement speed
Movement again.

Press the stop key to clear the alarm.

Err124 Axis 5 Movement speed
Movement again.

Press the stop key to clear the alarm.

Err125 Axis 6 Movement speed
Movement again.

Press the stop key to clear the alarm.

Err126 Axis 7 Movement speed
Movement again.

Press the stop key to clear the alarm.

Err127 Axis 8 Movement speed
Movement again.

position.

Machine setting -> Operating parameters ,

Tolerance set, press the stop key to clear the

alarm. Movement again.

Reason: 1 , Servo feedback signal not in

the motor page to test motor positive

Err155 Axis 6 Large deviation
inversion.

2 , Tolerance is set too small, campaigns,

feedback pulse and pulse output there is a gap,

the tolerance value is set to a reasonable

position.

Machine setting -> Operating parameters ,

Err156 Axis 7 Large deviation Tolerance set, press the stop key to clear the

alarm. Movement again.

106
Machine setting -> Operating parameters ,

Tolerance set, press the stop key to clear the

alarm. Movement again.

Reason: 1, Servo feedback signal not in the

Err157 Axis 8 Large deviation motor page to test motor positive inversion.

2, Tolerance is set too small, campaigns,

feedback pulse and pulse output there is a gap,

the tolerance value is set to a reasonable

open odds with the switch installation;

3 ,And limit signal connected to the wrong

port

108
Press the stop key to clear the alarm.

Movement again.

Reason: 1, And ultimate disconnect signal

Err171 Axis 2 Limit signal alarm 2 ,Limit signal normally closed or

normally open odds with the switch

installation;

3, And limit signal connected to the wrong

port

Press the stop key to clear the alarm.

Movement again.

Reason: 1, And ultimate disconnect signal

Err172 Axis 3 Limit signal alarm

2, Limit signal normally closed or normally

open odds with the switch installation;

3, And limit signal connected to the wrong

port

Press the stop key to clear the alarm.

Movement again.

Reason: 1, And ultimate disconnect signal

Err176 Axis 7 Limit signal alarm

2, Limit signal normally closed or normally

open odds with the switch installation;

3, And limit signal connected to the wrong

port

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Press the stop key to clear the alarm.

Movement again.

Reason: 1, And ultimate disconnect signal

Reason: 1, And ultimate disconnect signal

Axis 6 Negative limit signal

Err185 2 ,Limit signal normally closed or
alarm
normally open odds with the switch

installation;

3, And limit signal connected to the wrong

port

Press the stop key to clear the alarm.

Movement again.

Reason: 1, And ultimate disconnect signal

Axis 7 Negative limit signal
Err186
alarm 2, Limit signal normally closed or normally

open odds with the switch installation;

3, And limit signal connected to the wrong

port

Press the stop key to clear the alarm.

Movement again.

Reason: 1, And ultimate disconnect signal

Axis 8 Negative limit signal
Err187
alarm 2, Limit signal normally closed or normally

open odds with the switch installation;

3, And limit signal connected to the wrong

port

113
Press the stop key to clear the alarm.

Reset.
Axis 1 The original signal is
Err190
not set Cause: the axis origin signals not set

system parameters. Original point teaches the

Executive with the original signal.

Press the stop key to clear the alarm.

Reset.
Axis 2 The original signal is
Err191
not set Cause: the axis origin signals not set

system parameters. Original point teaches the

Executive with the original signal.

Press the stop key to clear the alarm.

Reset.
Axis 3 The original signal is
Err192
not set Cause: the axis origin signals not set

system parameters. Original point teaches the

Executive with the original signal.

Press the stop key to clear the alarm.

Reset.
Axis 4 The original signal is
Err193
not set Cause: the axis origin signals not set

system parameters. Original point teaches the

Executive with the original signal.

Press the stop key to clear the alarm.

Reset.
Axis 5 The original signal is
Err194
not set Cause: the axis origin signals not set

system parameters. Original point teaches the

Executive with the original signal.

114
Press the stop key to clear the alarm.

Reset.
Axis 6 The original signal is
Err195
not set Cause: the axis origin signals not set

system parameters. Original point teaches the

Executive with the original signal.

Press the stop key to clear the alarm.

Reset.
Axis 7 The original signal is
Err196
not set Cause: the axis origin signals not set

system parameters. Original point teaches the

Executive with the original signal.

Press the stop key to clear the alarm.

Reset.
Axis 8 The original signal is
Err197
not set Cause: the axis origin signals not set

system parameters. Original point teaches the

Executive with the original signal.

Press the stop key to clear the alarm.

Movement again.

Err200 Motion failed

Reason: there are some singular points in

the trajectory, through single-axis motion

around the singularity.

Manual linear trajectory

Err201 No
starting coordinates are not set

Straight line trajectory

Err202 endpoint coordinates manually is No

not set

115
Joint exercise starting
Err203 No
coordinates manually is not set

Joint Movement end point

Err204 No
coordinates manually is not set

Move line relative

Err205 No
coordinates manually is not set

Joints move relative to the

Err206 No
coordinates manually is not set

Teach straight line

Err207 trajectory starting coordinates No

is not set

Teach a straight line

Err208 trajectory endpoint coordinates No

is not set

Teaches joint starting

Err209 No
coordinates are not set

Teaches joint movement end

Err210 No
point coordinates is not set

Guidance line relative

Err211 No
coordinates is not set

Teach joints move relative to

Err212 No
the coordinate is not set

Tracking movement of the arc

Err213 starting point coordinates No

manually is not set

Manual arc trajectory point

Err214 coordinates in the middle is not No

set

116
Manually track movement of

Err215 the arc endpoint coordinates is No

not set

Taught arc trajectory

Err216 starting point coordinates is not No

set

Taught arc trajectory

Err217 No
coordinates is not set

Taught arc trajectory

Err218 No
endpoint coordinates is not set

Press the stop key to clear the alarm.

Movement again.

Err219 Motion speed setting failed Reason: 1 Speed is set to 0 ; 2 , Trajectory

in the movement, move on to the next motion,

such as a track is running the main program,

subroutine starts another trajectory.

Press the stop key to clear the alarm. Slow

Trajectory planning of movement again. Reason: there are some

Err220
failure singular points in the trajectory, through

single-axis motion around the singularity.

Reason: 1 Too fast, track movements, in a

Err221 Trajectory planning failure number of amendments to track speed, a joint

motion is still too fast.

Reason: 1 , Visual picture is not

Timed out waiting for stack successful.
Err222
data source
2 Disconnect, Visual Communications.

Err223 Stack data source error Check the stack counter settings

117
Press the stop key to clear the alarm.
Err300 Counter is not defined
Reset.

Err500 Axis 1 Over current alarm No

Err501 Axis 2 Over current alarm No

Err502 Axis 3 Over current alarm No

Err503 Axis 4 Over current alarm No

Err504 Axis 5 Over current alarm No

Err505 Axis 6 Over current alarm No

Err506 Axis 7 Over current alarm No

Err507 Axis 8 Over current alarm No

Err510 Axis 1 z Pulse errors Check the servo wiring, check the servo

Err511 Axis 2 z Pulse errors Check the servo wiring, check the servo

Err512 Axis 3 z Pulse errors Check the servo wiring, check the servo

Err513 Axis 4 z Pulse errors Check the servo wiring, check the servo

Err514 Axis 5 z Pulse errors Check the servo wiring, check the servo

Err515 Axis 6 z Pulse errors Check the servo wiring, check the servo

Err516 Axis 7 z Pulse errors Check the servo wiring, check the servo

Err517 Axis 8 z Pulse errors Check the servo wiring, check the servo

Err520 Axis 1 No z Pulse Check the servo wiring, check the servo

Err521 Axis 2 No z Pulse Check the servo wiring, check the servo

Err522 Axis 3 No z Pulse Check the servo wiring, check the servo

Err523 Axis 4 No z Pulse Check the servo wiring, check the servo

Err524 Axis 5 No z Pulse Check the servo wiring, check the servo

Err525 Axis 6 No z Pulse Check the servo wiring, check the servo

Err526 Axis 7 No z Pulse Check the servo wiring, check the servo

Err527 Axis 8 No z Pulse Check the servo wiring, check the servo

Err530 Axis 1 Origin offset Origin has changed, reset the origin

118
Err531 Axis 2 Origin offset Origin has changed, reset the origin

Err532 Axis 3 Origin offset Origin has changed, reset the origin

Err533 Axis 4 Origin offset Origin has changed, reset the origin

Err534 Axis 5 Origin offset Origin has changed, reset the origin

Err535 Axis 6 Origin offset Origin has changed, reset the origin

Err536 Axis 7 Origin offset Origin has changed, reset the origin

Err537 Axis 8 Origin offset Origin has changed, reset the origin

Err2048 IO Alarm start address Press the stop key to clear the alarm.

IO Address is currently only

Err4095 Press the stop key to clear the alarm.
up to the end of alarm 3583

Err5000 Custom alarm started Press the stop key to clear the alarm.

Err1000
Custom alarm end Press the stop key to clear the alarm.
0

119
7 Board Port Definitions

7.1 Main control board serial port definition

STANDBY CAN B 120 CAN A STOP

Manual device terminal

Alarm
sv-on

W
sv-on

Alarm

V
sv-on

Alarm

U
Alarm
sv-on

Z
sv-on

Alarm

Y
Alarm
sv-on

120
7.2 Port definition for the I / O board
Power Input

X10
X11 绿灯
X12 黄灯
X13 红灯
X14 Y13
X15 Y14
X16 Y15
X17 Y16
Y17

X20
X21 Y20
X22 Y21
X23 Y22
X24 Y23
X25 Y24
X26 Y25
X27 Y26
Y27

X30
X31 Y30
X32 Y31
X33 Y32
X34 Y33
X35 Y34
X36 Y35
X37 Y36
Y37

X40
X41
X42
X43
X44
X45
X46
X47

121
7.3 Servo drive interface definition

PIN number Terminal definition PIN number Terminal

definition
1 +24V 9 0V
2 OA+ 10 P+
3 OA- 11 P-
4 OB+ 12 BRAKE
5 OB- 13 N+
6 OZ+ 14 N-
7 OZ- 15 ALM
8 SON

122
8 Wiring diagram

8.1 The servo connections and parameter setting

Control system output location command to position the servo motor control, command
pulse type is forward pulse train and reverse pulse, pulse output frequency 500Kpps,
Please set the correct servo drive parameters to match.

8.2 Example Panasonic servo motor used

Panasonic A5 Servo drive parameters

Control Set
Parameter name
no value

Pr0.01 Control mode set 0

Command pulse input

Pr0.07 1
mode setting

Motor pulses per

Pr0.08 10000
instruction

Motor pulses per output

Pr0.11 2500
number

123
Panasonic A5 Servo drive wiring

Control Panel terminal block interface Panasonic (A5) Servo drive interface

PIN
Signal PIN Signal
numbe Signal descriptions Signal descriptions
definitions number definitions
r

10 P+ 3 PULS1
Forward impulse
Command pulse input 1
output
11 P- 4 PULS2

13 S+ 5 SIGN1
Reverse pulse
Command pulse input 2
output
14 S- 6 SIGN2

2 A+ 21 OA+
A Feedback pulse
A Pulse output
input
3 A- 22 OA-

4 B+ 48 OB+
B Feedback pulse
B Pulse output
input
5 B- 49 OB-

6 Z+ 23 OZ+
Z Feedback pulse
Z Pulse output
input
7 Z- 24 OZ-

+24V Power
1 +24V 7 COM+ External control power supply+
supply

41 COM- External control power supply-

9 0V 24V Power to the 36 ALM- Server alerts-

10 BRKOFF- Motor brake-

15 ALRM Servo-drive alarm 37 ALM+ Server alerts+

8 SON Servo 29 SRV-ON Servo

Lead control brake relay coil (output 0V ) 11 BRKOFF+ Motor brake+

124
8.3 Using Mitsubishi servo motor records

Mitsubishi MR-E Servo drive parameters

(Resolution of servo motor 131072 Pulse / Turn)

Control no Parameter name Set value

No.0 Control mode 0

No.1 Feature selection 1 The brake signal (CN1-12) 0012

No.3 Electronic gear 14

No.4 Electronic gearing denominator 1
No.21 Command pulse option 0000
No.27 Encoder output pulse rate 14

No.54 Feature selection 9 ( output pulse rate) 1***

Mitsubishi MR-E Servo drive wiring

Control Panel terminal block interface Mitsubishi MR-E Servo drive interface
PIN PIN
Signal Signal Signal
numbe numbe Signal descriptions
definitions descriptions definitions
r r
10 P+ Forward impulse 23 PP
Command pulse input 1
11 P- output 22 PG
13 S+ Reverse pulse 25 NP
Command pulse input 2
14 S- output 24 NG
2 A+ A Feedback pulse 15 LA
A Pulse output
3 A- input 16 LAR
4 B+ B Feedback 17 LB
B Pulse output
5 B- pulse input 18 LBR
6 Z+ Z Feedback pulse 19 LZ
Z Pulse output
7 Z- input 20 LZR
+24V Power
1 +24V
supply 1 VIN External DC24V Power supply+
9 0V 24V Power to the 13 SG External DC24V Power supply-
15 ALRM Servo-drive alarm 9 ALM Fault
8 SON Servo 4 SON Servo
Lead control brake relay coil (output 0V ) 12 MBR Electromagnetic brakes
Mitsubishi servo drive Terminal CN1 : 6 ( LSP )、 7(LSN) 、 8(EMG) And you want 13 ( SG ) Short

125
28.45

28.45
109.4

5
8.8
20.5

20.5
8
6

6
47.6

7
8

7
7

13.8

8.8
8.8

120

4- ? 3.5 沉孔
166.3
9 Size chart

11,29
4.5
24V
0V

22,32
POW
24V RUN
0V

4,37
HMI

126
24V 24V
X10 24V
X11 Y10
X12 Y11
X13 Y12
X14 Y13
X15 Y14
X16 Y15
X17 Y16
0V Y17
24V 24V
X20 24V
X21 Y20
X22 Y21
9.1 Board metal case sizes

X23 Y22
X24 Y23

246.59
X25 S6 Y24
SON6 ALARM6
X26 Y25
X27 Y26
0V Y27
S5
SON5 ALARM5
24V 24V
X30 24V
X31 Y30
X32 Y31
X33 S4 Y32
SON4 ALARM4
X34 Y33
X35 Y34
X36 Y35
X37 Y36
0V Y37
S3
SON3 ALARM3
24V RY0A
X40 RY0B
X41 S2 RY1A
X42 SON2 ALARM2 RY1B
X43 RY2A
X44 RY2B
X45 RY3A
X46 RY3B
X47 S1
SON1 ALARM1 RY0
0V
RY1

5,00
RY2
RY3
9.2 Hand controller

127
9.3 Switching power supplies installation dimensions

The installation Install a no. Screw Lmax Install

installation specification torque
position
Floor screws - M3 4mm 6.5Kgf.cm(
installation ③-⑥ M3 4mm max)

The side screws ⑦-⑧ M3 4mm 6.5Kgf.cm(

M3 4mm max)
⑨-⑩

128
Note:n order to ensure the safety, screws into the power supply chassis length L (As shown in the
figure below) as shown in the table above are
satisfied

1, the installation of the ac input terminals

A function termi The first material Maximu
no nal installation specifications m torque
1 N 9.5 with 22-14AWG 12Kgf.cm
clamshell
2 L （max)
terminals
3

2, install and use dc input terminals

A function termi The first material Maximu
no nal installation specifications m torque
4 +V 9.5 with 22-14AWG 12Kgf.cm
clamshell
5 -V （max)
terminals

This product is improved at the same time , information

may be subject to change , without prior notice.

129
Annex1

Motherboard appearance

130
This product is improved at the same time , information may be

subject to change , without prior notice.

131

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