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-------Shenzhen ERA Automation Co.,Ltd------- ---User Manual of Cobot---

-Catalog-
Chapter 1 Foreword ........................................................................................................................................................1
1.1 What is installed in the box .............................................................................................................................. 1
1.2 Important security description ..........................................................................................................................1
1.3 How to use this manual .................................................................................................................................... 1
1.4 Follow the relevant standards ...........................................................................................................................1
Chapter 2 Robot brief introduction ................................................................................................................................ 2
2.1 Basic parameters ...............................................................................................................................................2
2.2 Range of Motion ...............................................................................................................................................3
2.3 Robot Coordinate System .................................................................................................................................6
2.4 Robot Denavit–Hartenberg parameters ............................................................................................................7
Chapter 3 Installation ..................................................................................................................................................... 9
3.1 Instructions for security ....................................................................................................................................9
3.1.1 Brief introduction .................................................................................................................................. 9
3.1.2 Personnel safety .....................................................................................................................................9
3.1.3 Security settings .................................................................................................................................... 9
3.1.4 Danger recognition ..............................................................................................................................10
3.1.5 Nameplate information(Example:ERA-M10) .................................................................................... 11
3.1.6 Effectiveness and responsibility ..........................................................................................................11
3.1.7 Limited responsibility ......................................................................................................................... 12
3.1.8 The warning signs in this manual ....................................................................................................... 12
3.1.9 Pre-use evaluation ............................................................................................................................... 12
3.1.10 Emergency stop ................................................................................................................................. 12
3.1.11 Power-free movement ....................................................................................................................... 14
3.2 Equipment transportation ............................................................................................................................... 14
3.2.1 Transportation ......................................................................................................................................14
3.2.2 Carry ....................................................................................................................................................14
3.2.3 Storage .................................................................................................................................................15
3.3 Maintenance and scrap treatment ...................................................................................................................15
3.3.1 Maintenance disposal .......................................................................................................................... 15
3.3.2 Robot waste disposal ...........................................................................................................................15
3.4 Installation specifications ...............................................................................................................................15
3.4.1 Robot arm installation ......................................................................................................................... 15
3.4.1.1 Installation requirements for ERA-M3 robot .......................................................................... 16
3.4.1.2 Installation requirements for ERA-M5 robot .......................................................................... 17
3.4.1.3 Installation requirements for ERA-M10&ERA-M16 robot .................................................... 18
3.4.1.4 Installation requirements for ERA-M20 robot ........................................................................ 20
3.4.2 Tool end installation ............................................................................................................................ 21
3.4.3 Installation environment ......................................................................................................................22
3.4.4 Floor carrier capacity .......................................................................................................................... 22
3.4.5 Maximum valid load ........................................................................................................................... 22
3.5 Control connection ......................................................................................................................................... 24
3.5.1 Controller interface ............................................................................................................................. 24
3.5.2 Controller I/O panel ............................................................................................................................ 25

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3.5.3 RJ45 network interface group ............................................................................................................. 26

3.5.4 End plate ..............................................................................................................................................26
3.5.5 Ground .................................................................................................................................................27
3.5.6 The common specifications of all digital I/O ..................................................................................... 28
3.5.7 Safety I/O ............................................................................................................................................ 29
3.5.8 Universal digital amount I/O ...............................................................................................................31
3.5.9 Digital input from the button .............................................................................................................. 32
3.5.10 Interact with other devices or PLC ................................................................................................... 32
3.5.11 Simulation I/O ................................................................................................................................... 32
3.6 Demonstrate and end LED ............................................................................................................................. 34
3.6.1 Introduction to the button box .............................................................................................................34
3.6.2 ERA-HMI Teach pendant introduction ...............................................................................................35
3.6.3 End LED definition ............................................................................................................................. 36
Chapter 4 Quick start ....................................................................................................................................................37
4.1 Install the robot arm and control box ............................................................................................................. 37
4.2 Demonstrate startup control robot ..................................................................................................................37
4.3 Button box control robot movement .............................................................................................................. 37
4.3.1 Not paired with teaching pendant ....................................................................................................... 37
4.3.2 Matching the Teach Pendant ............................................................................................................... 40
4.4 Teach Pendant control robot movement .........................................................................................................40
Chapter 5 Teaching pendant software .......................................................................................................................... 42
5.1 Basic information ........................................................................................................................................... 42
5.1.1 Introduction ......................................................................................................................................... 42
5.1.2 Start software .......................................................................................................................................42
5.1.3 User login and permission update .......................................................................................................42
5.2 System initial interface ...................................................................................................................................43
5.2.1 Control area ......................................................................................................................................... 43
5.2.2 Status Bar ............................................................................................................................................ 44
5.2.3 Menu Bar .............................................................................................................................................45
5.2.4 Operating area ..................................................................................................................................... 45
5.3 3D simulation robot ........................................................................................................................................45
5.3.1 3D virtual trajectory and import tool model ....................................................................................... 45
5.3.2 3D visualization display of robot coordinate system ..........................................................................46
5.3.3 Robot installation method setting and display ....................................................................................47
5.4 Robot settings ................................................................................................................................................. 48
5.4.1 Tool coordinates .................................................................................................................................. 48
5.4.2 External tool coordinates .....................................................................................................................50
5.4.3 Workpiece coordinates ........................................................................................................................ 51
5.4.4 Extended Axis Coordinates .................................................................................................................53
5.4.5 Collision level ..................................................................................................................................... 57
5.4.6 Soft limit ..............................................................................................................................................57
5.4.7 End load ...............................................................................................................................................58
5.4.8 Friction compensation .........................................................................................................................59
5.4.9 Speed scaling .......................................................................................................................................59
5.5 Control box I/O .............................................................................................................................................. 60

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5.5.1 I/O settings .......................................................................................................................................... 60

5.5.2 I/O status display .................................................................................................................................60
5.5.3 I/O filtering ..........................................................................................................................................61
5.5.4 I/O configuration ................................................................................................................................. 61
5.5.5 I/O alias configuration .........................................................................................................................63
5.6 Robot operation .............................................................................................................................................. 66
5.6.1 Teaching point record ..........................................................................................................................66
5.6.2 Joint Jog ...............................................................................................................................................67
5.6.3 Base Jog ...............................................................................................................................................68
5.6.4 Tool Jog ............................................................................................................................................... 69
5.6.5 Wobj jog .............................................................................................................................................. 69
5.6.6 Move ....................................................................................................................................................70
5.6.7 Eaxis move .......................................................................................................................................... 70
5.6.8 TPD (Teach-in programming) .............................................................................................................70
5.7 Teaching simulation ....................................................................................................................................... 73
5.7.1 Introduction ......................................................................................................................................... 73
5.7.2 Tool bar ................................................................................................................................................75
5.7.3 Program command .............................................................................................................................. 76
5.7.4 Logic Command Interface .................................................................................................................. 76
5.7.4.1 While command ....................................................................................................................... 76
5.7.4.2 if. . . else command .................................................................................................................. 77
5.7.4.3 Goto command ......................................................................................................................... 77
5.7.4.4 Wait command ..........................................................................................................................78
5.7.4.5 Pause command ........................................................................................................................79
5.7.4.6 Dofile command .......................................................................................................................80
5.7.4.7 Var command ............................................................................................................................80
5.7.5 Motion command interface ................................................................................................................. 81
5.7.5.1 PTP command .......................................................................................................................... 81
5.7.5.2 Lin command ........................................................................................................................... 82
5.7.5.3 Arc command ........................................................................................................................... 82
5.7.5.4 Circle command ....................................................................................................................... 83
5.7.5.5 Spiral command ....................................................................................................................... 84
5.7.5.6 N-Spiral command ................................................................................................................... 85
5.7.5.7 Spline command .......................................................................................................................86
5.7.5.8 N-Spline command .................................................................................................................. 86
5.7.5.9 Weave command ...................................................................................................................... 87
5.7.5.10 TPD command ....................................................................................................................... 87
5.7.5.11 Offset command ..................................................................................................................... 88
5.7.5.12 ServoCart command ...............................................................................................................89
5.7.5.13 Trajectory command .............................................................................................................. 89
5.7.5.14 TrajectoryJ command .............................................................................................................90
5.7.5.15 DMP command ...................................................................................................................... 91
5.7.5.16 WPTrsf command .................................................................................................................. 91
5.7.6 Control command interface .................................................................................................................92
5.7.6.1 IO command .............................................................................................................................92

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5.7.6.2 AI command ............................................................................................................................. 93

5.7.6.3 Vir-IO command ...................................................................................................................... 94
5.7.6.4 Aux-IO command .....................................................................................................................94
5.7.6.5 MoveDO command ..................................................................................................................95
5.7.6.6 ToolList command ....................................................................................................................95
5.7.6.7 Mode command ........................................................................................................................96
5.7.6.8 Collision command .................................................................................................................. 96
5.7.6.9 Acc command ...........................................................................................................................97
5.7.7 Peripheral Command Interface ........................................................................................................... 98
5.7.7.1 Gripper command .....................................................................................................................98
5.7.7.2 Spray command ........................................................................................................................99
5.7.7.3 EAxis command ....................................................................................................................... 99
5.7.7.4 Convey command .................................................................................................................. 100
5.7.7.5 Polish command .....................................................................................................................100
5.7.8 Welding command interface ............................................................................................................. 101
5.7.8.1 Weld command .......................................................................................................................101
5.7.8.2 Segment command .................................................................................................................102
5.7.8.3 Laser command ...................................................................................................................... 102
5.7.8.4 LT-Rec command ................................................................................................................... 103
5.7.8.5 W-Search command ............................................................................................................... 104
5.7.8.6 Weld-Trc command ................................................................................................................105
5.7.8.7 Adjust command .................................................................................................................... 105
5.7.9 Force control command interface ..................................................................................................... 106
5.7.9.1 F/T command ......................................................................................................................... 106
5.7.9.2 Torque command ....................................................................................................................106
5.7.10 Visual command interface ...............................................................................................................107
5.7.10.1 3D command ........................................................................................................................ 107
5.7.11 Palletizing command interface ........................................................................................................108
5.7.11.1 Pallet command .................................................................................................................... 108
5.7.12 Communication command interface ............................................................................................... 109
5.7.12.1 Modbus command ................................................................................................................109
5.7.12.2 Xmlrpc command .................................................................................................................111
5.7.13 Auxiliary command interface ..........................................................................................................112
5.7.13.1 Thread command ..................................................................................................................112
5.7.13.2 Function command ...............................................................................................................112
5.7.14 Teaching program encryption ......................................................................................................... 113
5.7.15 Local teaching point ........................................................................................................................115
5.7.16 Current program backup ................................................................................................................. 117
5.7.17 Graphical programming .................................................................................................................. 117
5.7.17.1 Motion Graphical Programming Commands ...................................................................... 119
5.7.17.2 Control graphical programming commands ........................................................................ 119
5.7.17.3 Advanced graphical programming commands .................................................................... 119
5.7.17.4 Example of using graphical programming commands ........................................................120
5.7.17.5 Modularization of graphical programming code blocks ..................................................... 121
5.7.18 Teaching management .....................................................................................................................122

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5.8 Status information ........................................................................................................................................ 124

5.8.1 System log ......................................................................................................................................... 124
5.8.2 Status query ....................................................................................................................................... 124
5.9 Auxiliary application .................................................................................................................................... 125
5.9.1 Robot packaging ................................................................................................................................125
5.9.2 System Upgrade ................................................................................................................................ 126
5.9.3 Data backup .......................................................................................................................................128
5.9.4 10s data record .................................................................................................................................. 128
5.9.5 Teach point configuration ................................................................................................................. 129
5.9.6 Matrix move ...................................................................................................................................... 129
5.9.7 Work origin ........................................................................................................................................130
5.9.8 Interference zone configuration ........................................................................................................ 131
5.9.9 Terminal LED configuration ............................................................................................................. 133
5.9.10 Peripheral protocol .......................................................................................................................... 134
5.9.11 Main program configuration ........................................................................................................... 135
5.9.12 Drag lock ......................................................................................................................................... 136
5.9.13 Welding Expert Library ...................................................................................................................136
5.9.14 Safe speed setting ............................................................................................................................140
5.9.15 Security Wall Configuration ........................................................................................................... 141
5.9.16 Security daemon ..............................................................................................................................143
5.10 System settings ........................................................................................................................................... 144
5.10.1 General settings ............................................................................................................................... 144
5.10.2 Account settings account settings ................................................................................................... 145
5.10.2.1 User Management ................................................................................................................ 145
5.10.2.2 Authority management .........................................................................................................146
5.10.2.3 Import/Export .......................................................................................................................150
5.10.3 About ............................................................................................................................................... 151
5.10.4 Custom information ........................................................................................................................ 151
5.10.4.1 Parameter range configuration .............................................................................................152
Chapter 6 Peripheral ...................................................................................................................................................153
6.1 Gripper Peripheral Configuration ................................................................................................................ 153
6.1.1 Gripper program teaching steps ........................................................................................................ 153
6.1.2 Gripper program teaching ................................................................................................................. 154
6.2 Spray gun peripheral configuration ..............................................................................................................154
6.2.1 Spray gun peripheral configuration steps ......................................................................................... 154
6.2.2 Spray program teaching .................................................................................................................... 155
6.3 Peripheral configuration of welding machine ..............................................................................................155
6.3.1 Peripheral configuration of welding machine ...................................................................................155
6.3.2 Welding program teaching ................................................................................................................ 158
6.3.3 Arc interruption parameter configuration ......................................................................................... 158
6.4 Sensor Peripheral Configuration ..................................................................................................................158
6.4.1 Sensor Peripheral Configuration Steps ............................................................................................. 158
6.4.2 Laser sensor tracking function .......................................................................................................... 161
6.4.3 Laser sensor trajectory reproduction function .................................................................................. 162
6.5 Extended Axis Peripheral Configuration ..................................................................................................... 163

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6.5.1 Configuration steps of Controller + PLCUDP ..................................................................................163

6.5.2 Controller + Servo drive (485) ..........................................................................................................166
6.5.3 Extended axis with laser tracking welding teaching program ..........................................................169
6.6 Conveyor Tracking Configuration ............................................................................................................... 169
6.6.1 Conveyor Tracking Configuration Steps .......................................................................................... 169
6.6.2 Conveyor belt tracking teaching program ........................................................................................ 171
6.7 Attitude Adaptive Configuration ..................................................................................................................171
6.7.1 Attitude adaptive configuration steps ................................................................................................171
6.7.2 Laser Tracking Welding Program ..................................................................................................... 172
6.8 Force/Torque Sensor Peripheral Configuration ........................................................................................... 173
6.8.1 Force/Torque Sensor Configuration Steps ........................................................................................ 173
6.8.2 Force/Torque Sensor Load Identification ......................................................................................... 174
6.8.3 Force/Torque Sensor Assisted Drag ..................................................................................................174
6.8.4 Force/Torque Sensor Collision Detection .........................................................................................175
6.8.5 Force/Torque Sensor Force Control Motion ..................................................................................... 176
6.8.6 Force/Torque Transducer Screw Insertion ........................................................................................176
6.8.7 Force/Torque Transducer Rotary Insertion ....................................................................................... 177
6.8.8 Force/Torque Transducer Straight Insertion ..................................................................................... 178
6.8.9 Force/Torque Sensor Surface Orientation .........................................................................................178
6.8.10 Force/Torque Transducer Centering ............................................................................................... 179
6.8.11 Force/Torque Sensor Tap Force Detection ......................................................................................180
6.9 Extended IO device peripheral configuration .............................................................................................. 180
6.10 Palletizing system configuration ................................................................................................................181
6.11 Polishing equipment configuration ............................................................................................................ 184

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-------Shenzhen ERA Automation Co.,Ltd------- ---User Manual of Cobot---

Chapter 1 Foreword
First of all, thank you very much for buying our company's ERA-M series collaborative robot products. Our
products have been carefully designed and tested many times to ensure that they can meet your needs in all aspects.
Please read this product user manual carefully to ensure that you can use our products correctly and get the
best experience. If you encounter any problems during use, please refer to the fault exclusion part in the manual, or
contact our after-salesperson. We thank you very much for your support and trust, and look forward to providing
you with better services and products.

1.1 What is installed in the box

When you order a ERA-M series collaborative robot, you will receive a box. Contains:
. One collaborative robot
. One button box
. One control box (including one control box cable)

1.2 Important security description

Robots are a device involving personal safety, so a safety assessment must be performed after each installation
of the robot. You must follow all the security descriptions in Chapter 1.

1.3 How to use this manual

This manual contains the guidance information of robot installation programming. Manual includes:
. Hardware installation part Machinery installation and electrical installation of robots
. Analysis of the teach or software Robot teaching and programming
This manual is aimed at robot integrator, and integrator should receive basic mechanical and electrical training
and be familiar with primary programming concepts.

1.4 Follow the relevant standards

Standard Definition
2006/42/EC:2006 Machinery Directive: Directive 2006/42/EC of the European Parliament and of the
Council of 17 May 2006 on machinery, and amending Directive 95/16/EC(recast)
2004/108/EC:2004 EMC Directive: Directive 2004/108/EC of the European Parliament and of the Council of
15 December 2004 on the approximation of the laws of the Member States relating to
electromagnetic compatibility and repealing Directive 89/336/EEC
EN ISO 13850:2008 Safety of machinery: Emergency stop - Principles for design
EN ISO 13850:2008 Safety of machinery: Emergency stop - Principles for design
EN ISO 3849-2:2012 Safety of machinery: Safety-related parts of control systems - Part 2: Validation
EN ISO 12100:2010 Safety of machinery: General principles of design, risk assessment and risk reduction
EN ISO 0218-1:2011 Industrial robots: Safety Note: Content equivalent to ANSI/RIA R.15.06-2012, Part 1
ISO/TS 15066:2016 Safety requirements for collaborative industrial robot Robots and robotic devices
—Collaborative robots

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-------Shenzhen ERA Automation Co.,Ltd------- ---User Manual of Cobot---

Chapter 2 Robot brief introduction

2.1 Basic parameters
Table 1.1-1 Basic parameters of robotics

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2.2 Range of Motion

Robotic arm installation space:
The installation of the robot body requires a space of 3m×3m×2m (length×width×height) to meet the motion under
the maximum wingspan of the robot; if the user increases the end load by itself, make sure that there is a minimum
500mm gap in the installation space.
Note: The height space is affected by the height of the installation base, where 2m refers to the distance above the
installation reference plane
Control cabinet installation space:
1.The control box should be placed in easy operation to prevent water flooding, 0.6m-1.5m from the ground.
2.The cabinet must be far away from the heat source.
3.On one side of the control box's heavy load line, there should be no obstruction within 150mm, and the remaining
side shall be not covered within 100mm, which is convenient for heat dissipation and extraction.

Figure 1.1-1 ERA-M3 model collaboration robot movement range

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Figure 1.1-2 ERA-M5 model collaboration robot movement range

Figure 1.1-3 ERA-M10 model collaboration robot movement range

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Figure 1.1-4 ERA-M16 model collaboration robot movement range

Figure 1.1-5 ERA-M20 model collaboration robot movement range

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2.3 Robot Coordinate System

Figure 1.1-6 Robot DH parameter coordinate system

Figure 1.1-7 French -end frame coordinate system

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2.4 Robot Denavit–Hartenberg parameters

Denavit–Hartenberg parameters are used to calculate kinematics and dynamics of ERA-M series collaborative
robots.

Figure 1.1-8 ERA-M series collaborative robots Denavit–Hartenberg parameters

The Denavit–Hartenberg parameters of ERA-M series collaborative robots are shown as below.
Table 1.1-2 ERA-M3 model collaboration robot Denavit–Hartenberg parameter
Kinematics Theta[rad] a[m] d[m] Alpha[rad] Dynamics Mass[kg] Center of mass[kg]
Joint1 0 0 140 /2 Link1 2.24 [-0.05, -15.92, 2.26]
Joint2 0 -280 0 0 Link2 4.94 [139.49, 0, 99.54]
Joint3 0 -240 0 0 Link3 2.29 [58.99, 0.08, 12.99]
Joint4 0 0 102 /2 Link4 1.56 [0.05, -2.23, 14.67]
Joint5 0 0 102 -/2 Link5 1.56 [-0.05, 2.33, 14.67]
Joint6 0 0 100 0 Link6 0.36 [-0.55, -1.11, -20.05]

Table 1.1-3 ERA-M5 model collaboration robot Denavit–Hartenberg parameter

Kinematics Theta[rad] a[m] d[m] Alpha[rad] Dynamics Mass[kg] Center of mass[kg]
Joint1 0 0 152 /2 Link1 4.64 [-0.19, -18.28, 2.26]
Joint2 0 -425 0 0 Link2 10.08 [212.47, 0, 121.2]
Joint3 0 -395 0 0 Link3 2.71 [122.62, 0.17, 12.59]
Joint4 0 0 102 /2 Link4 1.56 [0.05, -2.23, 14.68]
Joint5 0 0 102 -/2 Link5 1.56 [-0.05, 2.33, 14.68]
Joint6 0 0 100 0 Link6 0.36 [0.93, 0.81, -20.05]

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Table 1.1-4 ERA-M10 model collaboration robot Denavit–Hartenberg parameter

Kinematics Theta[rad] a[m] d[m] Alpha[rad] Dynamics Mass[kg] Center of mass[kg]
Joint1 0 0 180 /2 Link1 11.97 [-0.10, -26.12, 4.04]
Joint2 0 -700 0 0 Link2 19.59 [480.27, 0.01, 164.68]
Joint3 0 -586 0 0 Link3 3.7 [211.22, 0.11, 54.21]
Joint4 0 0 159 /2 Link4 1.69 [0.12, -3, 12.18]
Joint5 0 0 114 -/2 Link5 1.69 [-0.12, 3, 12.18]
Joint6 0 0 106 0 Link6 0.35 [1.24, 0.85, -20.34]

Table 1.1-5 ERA-M16 model collaboration robot Denavit–Hartenberg parameter

Kinematics Theta[rad] a[m] d[m] Alpha[rad] Dynamics Mass[kg] Center of mass[kg]
Joint1 0 0 180 /2 Link1 11.97 [-0.10, -26.12, 4.04]
Joint2 0 -520 0 0 Link2 18.18 [364.4, 0.01, 163.09]
Joint3 0 -400 0 0 Link3 3.22 [135.03, 0.12, 55.58]
Joint4 0 0 159 /2 Link4 1.69 [0.12, -3, 12.18]
Joint5 0 0 114 -/2 Link5 1.69 [-0.12, 3, 12.18]
Joint6 0 0 106 0 Link6 0.35 [1.24, 0.85, -20.34]

Table 1.1-6 ERA-M20model collaboration robot Denavit–Hartenberg parameter

Kinematics Theta[rad] a[m] d[m] Alpha[rad] Dynamics Mass[kg] Center of mass[kg]
Joint1 0 0 215 /2 Link1 20.79 [-0.19, -36.57, 5.68]
Joint2 0 -1000 0 0 Link2 42.84 [605.25, 0.06, 202.94]
Joint3 0 -716 0 0 Link3 9.88 [262.84, 0.22, 43.08]
Joint4 0 0 166 /2 Link4 4.64 [0.23, -2.28, 18.42]
Joint5 0 0 138 -/2 Link5 4.64 [-0.23, 2.28, 18.42]
Joint6 0 0 120 0 Link6 0.6 [-2.11, -1.96, -20.38]

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Chapter 3 Installation
3.1 Instructions for security
3.1.1 Brief introduction
This manual will use the following warnings. The role of these warnings is to ensure the safety of personal and
equipment. When you read this manual, you must comply with and execute all the assembly instructions and
guidelines in other chapters in this manual. This is very important. Pay special attention to text related to warning
signs.
Important:
. If the robot (robot body, control box, oscilloscope, or button box) is damaged, changed or modified due to
anthropological causes, ERA Automation refuses to bear all responsibilities
. ERA Automation is not responsible for any damage caused by the robot or any other device due to errors written
by customers or any other device.

3.1.2 Personnel safety

When running the robot system, we must first ensure the safety of the operators. The general precautions are listed
below. Please take corresponding measures to ensure the safety of the operator.
1. All operators who use the robot system should be trained through training courses. Users need to ensure that they
fully grasp the safe and standardized operating processes and have the qualifications for robotic operations. For
training details, please check with our company, the mailbox is [email protected]
2. All operators who use the robot system, please do not wear loose clothes or jewelry. Make sure the long hair
beam is behind the head when operating the robot.
3. During the operation of the device, even if the robot seems to have stopped, it maybe because the robot is
waiting to start the signal and is in a state of motion. Even in such a state, the robot should be regarded as in action.
4. The lines should be drawn on the floor to mark the scope of the robot, so that the operator understands the action
range of the robot includes holding tools (robotics, tools, etc.).
5. Ensure safety measures (such as guardrails, ropes, or protective screens) near the robotic operation area to
protect operators and surrounding people. Locks should be set up as needed, so that those who are responsible for
operations cannot reach the power supply of the robot.
6. When using the operating panel and oscilloscope, because you may have an operational error in wearing gloves,
you must work after taking off the gloves.
7. Under the emergency and abnormalities of people being pinched or wrapped inside by a robot, pushing or
pulling the robot arm by force (at least 700 N) to force joint movements. With a power-free driver, the arm of the
manual mobile robot is limited to emergency and may damage the joint.

3.1.3 Security settings

Under the "Safety Settings" menu bar in "Auxiliary Application", click "Safety stop mode" to enter the safe stop
setting function interface.
Enable the security stop mode. When the robot is reported or warned, the robot will automatically enable and play
a role in safe protection.

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Figure 2.1-1 Safety stop setting

• Speed reduction:After this mode is activated, the speed of the robotic arm in the joint space will be limited. The
value in the corresponding text box is the limit value of the speed of the joints of each joint, the setting range of 1, 2,
and 3 joints is 15 ~ 150°/s, 4, 5, and 6 joints is 15 ~ 180°/s; the motion speed limit of the robotic arm in the
Descartes space is the TCP speed limit value, and the set range is 0 ~ 80mm/s.

3.1.4 Danger recognition

Risk assessment should consider all potential contact between operators and robots during normal use and
foreseeable misunderstandings. The operator's neck, face, and head should not be exposed to avoid touch. Using
robots without using peripheral safety protection devices requires the first risk assessment to determine whether the
relevant hazards will constitute an unacceptable risk, such as
• There may be danger of using a sharp end actuator or tool connector;
• There may be danger of treatment of toxicity or other harmful substances;
• The operator's finger has the danger of being clamped by a robot base or joint;
• The danger of collision by robots;
• The danger of robots or tools connected to the end not being fixed in place;
• The risk of the impact between the effective load and the strong surface of the robot.
Integrates must measure such dangers and related risk levels through risk assessment, and determine and implement
corresponding measures to reduce the risk to acceptable levels. Please note that there may be other major dangers
in specific robots.
By combining the inherent security design measures used by ERA robots with the safety specifications or risk
assessment
implemented by integrated and end users, the risks related to ERA collaborative robot operations will be reduced to
a reasonable an d feasible level. Through this document, any remaining risk of the robot can be conveyed to the
integrated and end users before installation. If the risk assessment of the integrator determines that the existence of
a specific application that may have unacceptable risks that may constitute unacceptable risks, integrator must
appropriate risk reduction measures must be taken to eliminate or minimize these dangers until the risk is reduced
to acceptable levels. It is not safe to use before taking appropriate risk reduction measures (if necessary).
If the robot is installed in non-synergistic installation (for example, when using a hazardous tool), risk assessment
may infer the integrated provider to connect additional safety equipment (such as safety startup equipment) to
ensure personnel and equipment safety when programming.

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3.1.5 Nameplate information(Example:ERA-M10)

Nameplate on Robot Body(ERA-M10)

Nameplate on Electric Cabinet(ERA-M10)

3.1.6 Effectiveness and responsibility

The information in this manual does not include a complete robot application in design, installation and operation,
nor does it contain all peripheral equipment that may affect the security of this complete system. The design and
installation of this complete system must meet the safety requirements established in the standards and
specifications of the country's installation.
The integrated integrator of ERA Automation is responsible for ensuring that it follows the laws and regulations of
relevant countries, and there is no major danger in the complete robotic application. This includes but not limited
to the following:
. Do a risk assessment of the complete robot system
. Connect other machinery and additional safety equipment defined by risk assessment and definition
. Establish appropriate security settings in software

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. Make sure that users will not modify any security measures
. Confirm that the design and installation of the entire robot system is accurate
. Clear instructions for use
. Mark the relevant signs and contact information of integrator on the robot
. Collect all the documents in the technical file, including this manual

3.1.7 Limited responsibility

Any security information contained in this manual shall not be regarded as a general robot safety guarantee. Even
if you comply with all security descriptions, it may still cause personnel damage or equipment damage.

3.1.8 The warning signs in this manual

The following flag defines the explanation of the danger level provisions contained in this manual. The product
also uses the same warning signs.
Important:

Danger: This refers to the power consumption that is about to cause danger. If it is not avoided, it can
lead to death or severe damage.
Important:

Electric shock danger: This refers to the upcoming electric shock situation that is about to cause danger.
Important:

Dangerous burns: This refers to the hot surface that may cause danger. If you do not avoid contact, it
can cause personnel to hurt.

3.1.9 Pre-use evaluation

After using a robot or any modification for the first time, the robot's default speed is less than 250mm/s. Do not log
in to the administrator to modify the speed to enter the high-speed mode. After that, the following test must be
performed. It is confirmed that all security input and output are correct and the connection is correct. Test whether
all connected security input and output (including multiple machines or robots shared equipment) are normal. So
you must:
. Test whether the emergency stop button and input can stop the robot and start the brake.
. Test whether the protection input can stop the robot movement. If the protection reset is configured, check if you
need activation before recovery.
. The test operation mode can switch the operation mode, see the icon in the upper right corner of the user
interface.
• Test whether the 3rd gear actuation device must be pressed to activate in manual mode, and the robot is under
deceleration control (the robot software version V3.0 does not support this function).
• Test whether the system emergency stop output can bring the entire system to a safe state.

3.1.10 Emergency stop

The emergency stop button is type 0 stop. Press the emergency stop button to stop all the movements of the robot

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immediately.
The following table shows the stop distance and stop time of the type 0 stop. These measurement results correspond
to the following configuration of the robot:
• Extension: 100%(the robotic arm is fully expanded)
• Speed: 100%(Robot general speed is set to 100%, moved at a joint speed of 180 °/s)
• Effective load: Maximum effective load
Joint 1, joint 6 testing robot levels, the rotating shaft is perpendicular to the ground. Joint 2, joint 3, joint 4, joint 5
testing robots follow the vertical trajectory, the rotating shaft is parallel to the ground, and stops when the robot
moves down.
Table 1.1-10 Category 0 stop distance(rad)
MODEL JOINT1 JOINT2 JOINT3 JOINT4 JOINT5 JOINT6
ERA-M3 0.47 0.60 0.56 0.29 0.10 0.06
ERA-M5 0.51 0.63 0.60 0.33 0.16 0.10
ERA-M10 0.64 0.70 0.69 0.42 0.25 0.13
ERA-M16 0.60 0.67 0.65 0.39 0.22 0.12
ERA-M20 0.69 0.75 0.80 0.48 0.31 0.22
Table 2.1-2 Category 0 stop time (ms)
MODEL JOINT1 JOINT2 JOINT3 JOINT4 JOINT5 JOINT6
ERA-M3 400 470 450 280 120 90
ERA-M5 420 500 480 310 150 120
ERA-M10 460 540 510 330 170 140
ERA-M16 440 530 490 320 160 130
ERA-M20 540 600 700 400 260 170
After the emergency stop, turn off the power, rotate the emergency stop button, and turn on the power to restart the
robot.
At the same time, the stop time and stop distance of the robot safety stop and soft limit stop are shown in the table
below. These measurement results correspond to the following configuration of the robot:
• Extension: 100%(the robotic arm is fully expanded)
• Speed: 100%(Robot general speed is set to 100%, moved at a joint speed of 180 °/s)
• Effective load: Maximum effective load
Joint 1, joint 6 testing robot levels, the rotating shaft is perpendicular to the ground. Joint 2, joint 3, joint 4, joint 5
testing robots follow the vertical trajectory, the rotating shaft is parallel to the ground, and stops when the robot
moves down.
Table 2.1-3 Safety stop distance(rad)
MODEL JOINT1 JOINT2 JOINT3 JOINT4 JOINT5 JOINT6
ERA-M3 0.49 0.63 0.58 0.32 0.12 0.09
ERA-M5 0.54 0.65 0.63 0.35 0.19 0.12
ERA-M10 0.66 0.73 0.71 0.45 0.27 0.14
ERA-M16 0.63 0.69 0.68 0.41 0.25 0.14
ERA-M20 0.71 0.78 0.82 0.51 0.33 0.25
Table 2.1-4 Safety stop time(ms)
MODEL JOINT1 JOINT2 JOINT3 JOINT4 JOINT5 JOINT6
ERA-M3 410 490 410 300 130 110
ERA-M5 450 520 510 330 180 140

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ERA-M10 480 570 530 360 190 170

ERA-M16 470 550 520 340 190 150
ERA-M20 560 630 720 430 280 200
Table 2.1-5 Soft limit stop distance(rad)
MODEL JOINT1 JOINT2 JOINT3 JOINT4 JOINT5 JOINT6
ERA-M3 0.52 0.65 0.61 0.34 0.15 0.11
ERA-M5 0.56 0.68 0.65 0.38 0.21 0.15
ERA-M10 0.69 0.75 0.74 0.47 0.30 0.18
ERA-M16 0.65 0.72 0.70 0.44 0.27 0.17
ERA-M20 0.74 0.80 0.85 0.53 0.36 0.27
Table 2.1-6 Soft limit stop time(ms)
MODEL JOINT1 JOINT2 JOINT3 JOINT4 JOINT5 JOINT6
ERA-M3 430 500 430 310 150 120
ERA-M5 460 540 520 350 190 160
ERA-M10 500 580 550 370 210 180
ERA-M16 480 570 530 360 200 170
ERA-M20 580 640 740 440 300 210
Important: According to IEC 60204-1 and ISO 13850, emergency stop device is not a safe protection device. They
are supplementary protection measures and do not need to prevent damage.

3.1.11 Power-free movement

If you must move the robot joint but cannot power the robot or other emergencies, please contact the robot dealer.
If necessary, you can use violent means to force mobile robots to rescue the trapped persons.

3.2 Equipment transportation

3.2.1 Transportation
Robot and control boxes have been calibrated as complete equipment. Do not separate them, that would require
recalibration.
You can only transport the robot in the original packaging. If you want to move the robot in the future, save the
packaging material in a dry place.
When the robot moves from the packaging to the installation space, the two arms of the robot are held at the same
time. Hold the robot until all the installation bolts of the robot seat are tight.

3.2.2 Carry
According to different models, the total quality (including packaging) is 15kg-80 kg depending on the model.
When manpower transports or transfers the collaborative robot, multiple people need to help lift it, don't
recommend single- person handling, it must be stable during transportation. Avoid equipment tilt or slipping.
Warning:
• If you use professional equipment for handling, be sure to use a crane or forklift to transport or carry the
collaborative robot by using a crane or forklift, otherwise it may cause personnel damage or other accidents;
• If you use manual handling, please pay attention to the personal safety on the way to handle;
• The collaborative robot contains precision components, which should avoid severe vibration or shaking during
transportation or transportation, otherwise it may reduce the performance of the equipment.

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3.2.3 Storage
The collaborative robot should be stored in -25 ~ 60 ° C, and there is no frost-free environment.

3.3 Maintenance and scrap treatment

3.3.1 Maintenance disposal
Please check the emergency stop and protection stop for 1 month. Determine whether the security function is
effective. Please refer to the wiring chapter for emergency stop and protective stop wiring.

3.3.2 Robot waste disposal

ERA robots need to be disposed of according to the applicable national laws and regulations and national standards.
For details, you can contact manufacturers.

3.4 Installation specifications

3.4.1 Robot arm installation
Important: The recommended robot installation base meets the following requirements to ensure a secure and stable
installation of the robot:
(1)The robot mounting base needs to be strong enough and have sufficient load-bearing capacity, which should be
able to bear at least 5 times the weight of the robot and at least 10 times the 1-axis torque.
(2)The surface of the robot mounting base should be flat to ensure close contact with the robot contact surface.
(3)The robot mounting base should have sufficient stiffness, be firmly fixed, and not resonate with the robot.
(4)When the robot and other components are moving simultaneously, the mounting base should be separated from
other moving components and not fixed together to avoid vibration interference during the movement process.
(5)If the robot is installed on a mobile platform or external axis, the acceleration of the mobile platform or external
axis should be as low as possible.
Warning: The following installation methods should be avoided:
(I)Avoid fixing the robot to other moving devices.

Figure 2.4-1 Avoid installing on other sports equipment

Make sure the robot arm is installed correctly and safely. Unstable installation will cause accidents.
Note: You can purchase accurate bases as attachments. Figure 2.4-21.5-51.5-81.5-11 show the position of the sales
hole and the location of the screw.

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3.4.1.1 Installation requirements for ERA-M3 robot

When installing the robot on the mounting base, use four M6 bolts with a strength of not less than 8.8 to fix the
robot on the mounting base. The bolts must be tightened with a torque of not less than 10Nm.Suggest using two on
the mounting base 5mm pin hole matched with pins for robot positioning to improve robot installation accuracy and
prevent robot movement due to collisions and other factors.When the robot has high operating accuracy
requirements, please be sure to add pins to position the robot.

Figure 2.4-2 ERA-M3 collaborative robot installation size

Important: According to different application scenarios, we recommend several robot installation bases as follows
(I)For situations where the motion speed is not too fast, the running speed is not too large, the accuracy
requirements are average, and it is not convenient to fix the robot on the ground, the recommended installation base
for the robot is as follows.

Figure 2.4-3 ERA-M3 collaborative robot low requirement mounting base

(II)For situations where the motion speed is fast, the running speed is high, and the accuracy requirements are high,
it is recommended to install the robot on the following base and fix it on a solid ground.

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Figure 2.4-4 ERA-M3 Collaborative Robot High Demand Mounting Base

3.4.1.2 Installation requirements for ERA-M5 robot

When installing the robot on the mounting base, use four M8 bolts with a strength of not less than 8.8 to fix the
robot on the mounting base. The bolts must be tightened with a torque of not less than 20Nm.Suggest using two on
the mounting base 8mm pin hole matched with pins for robot positioning to improve robot installation accuracy
and prevent robot movement due to collisions and other factors.When the robot has high operating accuracy
requirements, please be sure to add pins to position the robot.

Figure 2.4-5 ERA-M5 collaborative robot installation size

Important: According to different application scenarios, we recommend several robot installation bases as follows
(I)For situations where the motion speed is not too fast, the running speed is not too large, the accuracy
requirements are average, and it is not convenient to fix the robot on the ground, the recommended installation base

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for the robot is as follows.

Figure 2.4-6 ERA-M5 Collaborative Robot High Demand Mounting Base

(II)For situations where the motion speed is fast, the running speed is high, and the accuracy requirements are high,
it is recommended to install the robot on the following base and fix it on a solid ground.

Figure 2.4-7 ERA-M5 collaborative robot low requirement mounting base

3.4.1.3 Installation requirements for ERA-M10&ERA-M16 robot

When installing the robot on the mounting base, use four M8 bolts with a strength of not less than 8.8 to fix the
robot on the mounting base. The bolts must be tightened with a torque of not less than 25Nm.Suggest using two on
the mounting base 8mm pin hole matched with pins for robot positioning to improve robot installation accuracy
and prevent robot movement due to collisions and other factors.When the robot has high operating accuracy
requirements, please be sure to add pins to position the robot.

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Figure 2.4-8 ERA-M10&ERA-M16 collaborative robot installation size

Important: According to different application scenarios, we recommend several robot installation bases as follows
(I)For situations where the motion speed is not too fast, the running speed is not too large, the accuracy
requirements are average, and it is not convenient to fix the robot on the ground, the recommended installation base
for the robot is as follows.

Figure 2.4-9 ERA-M10&ERA-M16 collaborative robot low requirement mounting base

(II)For situations where the motion speed is fast, the running speed is high, and the accuracy requirements are high,
it is recommended to install the robot on the following base and fix it on a solid ground.

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Figure 2.4-10 ERA-M10&ERA-M16Model Collaborative Robot High Demand Mounting Base

3.4.1.4 Installation requirements for ERA-M20 robot

When installing the robot on the mounting base, use six M10 bolts with a strength of not less than 8.8 to fix the
robot on the mounting base. The bolts must be tightened with a torque of not less than 45Nm.Suggest using two on
the mounting base 8mm pin hole matched with pins for robot positioning to improve robot installation accuracy
and prevent robot movement due to collisions and other factors.When the robot has high operating accuracy
requirements, please be sure to add pins to position the robot.

Figure 2.4-11 ERA-M20 collaborative robot installation size

Important: Due to the large self weight and running inertia of the ERA-M20 robot, it is recommended to directly fix
it on the ground for use. The recommended base is as follows.

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Figure 2.4-12 ERA-M20 collaborative robot low requirement mounting base

3.4.2 Tool end installation

There are four M6 thread holes in the robot tool, which can be used to connect the tool to the robot. The M6 bolt
must be tightened with 8nm torque, and its strength level is not less than 8.8. In order to accurately regain the tools,
please use the nails in the reserved ø6 sales holes.

Figure 2.4-13 ERA-M3/ERA-M5/ERA-M10/ERA-M16 robot end flange drawing

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Figure 2.4-14 ERA-M20 robot end flange drawing

Important:
. Make sure the tools are installed correctly and safely.
. Ensure the safety architecture of the tools, and no parts of parts fall into danger.
. Installing M6 bolts with a length of more than 8mm on the robot flange may destroy tool flanges and cause
damage that cannot be repaired, causing a tool to change tools.

3.4.3 Installation environment

When installing and using a collaborative robot, make sure to meet the following requirements:
• Environmental temperature 0-45 ℃
• Humidity 20-80RH is not exposed
• No mechanical impact and shock
• Altitude requires less than 2000M
• No corrosive gases, no liquid, no explosive gases, no oil pollution, no salt fog, no dust or metal powder, no
radioactive material, no electromagnetic noise, non-flammable items
• Avoid the device from working under the unstable conditions of the current
• Users need to increase the air switch with a capability of not less than 10A/250V in front of the robot power.
Note: If you want to hang or install the collaborative robot, please contact us.

3.4.4 Floor carrier capacity

Installing the robot on a strong surface, the surface should be sufficient to withstand the weight of the robotic arm
at least 5 times, and the surface cannot be vibrated.

3.4.5 Maximum valid load

The maximum allowable valid load of the robotic arm depends on the center of gravity. When the center of gravity
of the load becomes farther, the load that the robot will suffer will become smaller.

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Figure 2.4-15 ERA-M3 collaborative robot load curve

Figure 2.4-16 ERA-M5 collaborative robot load curve

Figure 2.4-17 ERA-M10 collaborative robot load curve

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Figure 2.4-18 ERA-M16 collaborative robot load curve

Figure 2.4-19 ERA-M20 collaborative robot load curve

3.5 Control connection

3.5.1 Controller interface
This series of robots adopts TN-S single-phase 220VAC power supply, and the equipment comes with a 5-meter
power cord. The three pin plug end is inserted into the on-site AC 220V socket, and the robot is electrically
grounded
• Rating input voltage: 6A/220VAC
• Rated output voltage: 48V/21A
• Number of phase: single phase
• Frequency: 50Hz
• Output short-circuit rating: 48V/22A
Warning: Before wiring, please ensure that power supply is turned off and hang a safety warning sign next to it.
The external wiring of this series of robotic arm control systems is connected using pluggable and quickly
installable plugs. The wiring panel of the collaborative robot is shown in Figure 2.5-1.

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. Ensure that the 220V power cord is connected to the power socket with the control box power button turned off
(button turned to 0) (full load input voltage is 6A/220VAC~7A/210VAC)
. Connect the robot body overload cable to the control box overload interface
. Insert the button box aviation plug into the control box teaching device interface
. The heat dissipation ports on both sides of the control box should be spaced at least 15CM apart
. At the front of the control box (user Table metal, switch power button, heavy load and teaching pendant wiring
harness), the spacing distance should not be less than 25CM
. The control box is 0.6-1.5m above the ground
. Do not allow users to replace power cables on their own
You could check Figure 1.2-1 Robot wiring schematic diagram

3.5.2 Controller I/O panel

You can use the I/O in the control box to control various devices, including the stop button of pneumatic relay, PLC,
and tight limit device. Figure 2.5-2 shows the electrical interface group of the control box. Figure 2.5-3 shows the
electrical interface group that is easy to manufacture control box.

Figure 2.5-2 Control box electrical interface schematic diagram

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Figure 2.5-3 Easy to manufacture control box electrical interface schematic diagram

3.5.3 RJ45 network interface group

The network interface group address in the control box is shown in Figure 2.5-3. Note that the graph corresponds
to the sequence of the address order of the internal network port of the control box, and the default port of the robot
is prohibited from insertion. The user's network port can be used to communicate with the camera and other
devices. The IP address is 192.168.57.2. The button box interface is default to the faculty control port, and the IP
address is 192.168.58.2. Use the network cable connection button box interface and computer. The computer IP
address is set to 192.168.58.10 or the same network segment as it. You can access the oscilloscope page. Easy to
manufacture control boxes to access the pages of the oscillator through the network port of the connection button
box.

Figure 2.5-4 Significant diagram of network interface group

3.5.4 End plate

You can use the end -panel's I/O and 485 communication interfaces to control various devices, including pneumatic
relay, PLC and emergency stop buttons. The PIN foot distribution and its PIN foot explanation is shown in Figure
2.5-4. The I/O connector model is M12 connector 8 cores.

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Figure 2.5-5 The schematic diagram of the end version of the electrical interface

3.5.5 Ground
1. The control box is located at the M4 combination screw in the upper left of the power switch, as shown in
Figure 2.5-6.

Figure 2.5-6 Demonstration diagram of the control box

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2. The body is located on the right side of the base of the base, as shown in Figure 2.5-7.

Figure 2.5-7 Dragon schematic diagram of the body

The protective wire used alone, the cross -sectional area should not be less than:
. 2.5mm2 copper or 16mm2 aluminum if mechanical injury protection is provided (wire pipe, pipeline, etc.) .
4mm2 copper or 16mm2 aluminum if no mechanical damage protection is provided

3.5.6 The common specifications of all digital I/O

This section stipulates the electrical specifications of the following control box 24 volt digital input/output:
. Safety I/O
. Universal digital amount I/O
Robots must be installed in accordance with electrical specifications.
By configured the "Power Communication" interface, you can use the internal or external 24V power supply to
power the digital I/O. The above two terminals (EX24V and EXON) in the interface are 24V and ground with
external power supply, and the two terminals (24V and GND) below are 24V and land of internal power supply.
The default configuration uses internal power, as shown in Figure 2.5-7.

Figure 2.5-8 Power communication schematic diagram 01

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If the load power is large, you can connect the external power supply as shown in Figure 2.5-8.

Figure 2.5-9 Power communication schematic diagram 02

The electrical specifications of internal and external power are shown in Table 2.5-1 Internal and external electrical
specifications:
Table 2.5-1 Internal and external power supply electrical specifications
Terminal Parameter Min Typical Max Unit
Internal 24V Power Supply
[ex24V -exGND] Voltage 23 24 25 V
[ex24V -exGND] Current 0 - 2 A
Internal 24V Power Supply
[ex24V -GND] Voltage 23 24 25 V
[ex24V -GND] Current 0 - 1.5 A
The electrical specifications of digital I/O are shown in Table 2.5-2 Digital I/O Electric Specifications:
Table 2.5-2 Digital I/O Electric Specification
Terminal Parameter Min Typical Max Unit
Digital output
[COx/DOx] Current 0 - 1 A
[COx/DOx] Pressure Drop 0 - 0.5 V
[COx/DOx] Leakage Current 0 - 0.1 mA
[COx/DOx] function - NPN - Type
Digital output
[EIx/SIx/CIx/DIx] OFF -3 - 5 V
[EIx/SIx/CIx/DIx] ON 11 - 30 V
[EIx/SIx/CIx/DIx] Current(11~30) 2 - 15 mA
[EIx/SIx/CIx/DIx] function - NPN - Type

3.5.7 Safety I/O

This section describes the electrical specifications of security I/O, and must abide by the general electrical
specifications in Section 1.6.6.
Safety devices and equipment must be installed in accordance with the safety description and risk assessment, see
section 1.1. All security I/O is paired (redundant) and must be stored as two independent branches. Single failures
should not cause loss of security function.
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Safety I/O includes emergency stop and security stop. Urgent stop input is only used for emergency stop
equipment, and safely stops input for various security -related protection equipment. Functional differences are
shown in Table 2.5-3:
Table 2.5-3 Functional difference
Emergency Stop Safe Stop
Robot stops moving Yes Yes
Stop Category Category 0 Category 1
Program execution Stop Pause
Robot Power Supply Close Open
Restart Manual Automatic or manual
Frequency of Use Infrequent Often
Reinitialization Required Need Needless
Warning: Do not connect the security signal to a PLC that does not have the correct and safe level. If this warning
does not follow, it may cause serious damage or death because one of the security stop function may be covered.
Security interface signals must be separated from normal I/O interface signals.
. All I/O is a redundant -related I/O built (two independent channels). Two channels must be kept separately so
that a single failure will not cause security function.
. Before the robot is put into operation, it is necessary to verify the emergency stop safety function (the robot is
powered on, press the emergency stop button, the robot is disconnected, the power is turned off, the rotating
emergency stop button, the power is turned on, and the robot is re -power to enable it). Safety functions must be
tested regularly.
. Robot installation should comply with these specifications. Otherwise, it may lead to severe damage or death,
because the safety stop function may be over.
The following sections are given some examples of how to use security I/O.
Default safety configuration When the robot leaves the factory, it has the default configuration. It can be
operated without any additional safety devices. Please refer to Figure 2.5-9.

Figure 2.5-10 Safety protection schematic diagram 01

Connect the emergency stop button In most applications, one or more additional emergency stop buttons need to
be used. See Figure 2.5-10.

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Figure 2.5-11 Safety protection schematic diagram 02

Connect the security stop button An example of a safe stop device is the door switch that the robot stops when
the door is turned on. See Figure 2.5-11.

Figure 2.5-12 Safety protection schematic diagram 03

3.5.8 Universal digital amount I/O

This section describes the electrical specifications of the general digital I/O, and must abide by the general
electrical specifications in Section 1.6.6.
The general digital amount I/O can be used to drive relays, solenoid valves and other devices or interact with other
PLC.
Digital quantity output control load
This example demonstrates how to connect the digital quantity output to control the load, see Figure 2.5-12.

Figure 2.5-13 Great digital quantity output schematic diagram 01

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3.5.9 Digital input from the button

The following example demonstrates how to connect the simple button to the digital quantity input.

Figure 2.5-14 Great digital quantity output schematic diagram 02

3.5.10 Interact with other devices or PLC

The following example demonstrates how to interact with other devices or PLC digital input output.

Figure 2.5-15 Interactive diagram with other devices or PLC

3.5.11 Simulation I/O

Table 2.5-4 Simulation current voltage
Terminal Parameter Min Typical Max Unit
Analog Current Input
[AIx/END] Current 0 - 20 mA
[AIx/END] Impedance - 500 - ohm
[AIx/END] Resolution - 12 - bit
Digital output
[AIx/END] Voltage 0 - 10 V
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[AIx/END] Impedance - 500 - ohm

[AIx/END] Resolution - 12 - bit
Analog Current Output
[AOx/END] Voltage
[AOx/END] Current
[AOx/END] Resolution - 12 - bit
Analog Voltage Output
[AOx/END] Voltage 0 - 10 V
[AOx/END] Current 0 - 20 mA
[AOx/END] Impedance - 100 - ohm
[AOx/END] Resolution - 12 - bit
The simulation I/O is used to set or measure the voltage (0-10V) or current (0-20mA) of other devices.
In order to achieve high precision, the following methods are recommended.
. The equipment and control box use the same ground (GND).
. Use shielding cables or twisted wires.
The following example demonstrates how to use analog I/O.
Use analog output
The following example is to demonstrate the use of analog output control conveyor belt.

Figure 2.5-16 Simulation output schematic diagram

Use analog input
The following example is to demonstrate the simulation input connection simulation sensor.

Figure 2.5-17 Simulation input schematic diagram

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3.6 Demonstrate and end LED

The robotic oscilloscope can use a computer or tablet to access and control the robot. The connection method can
refer to Section 1.6.3 to explain. In addition, users can also use our ERA-HMI teach pendant.

3.6.1 Introduction to the button box

The first version of the button box

Figure 2.6-1 The first version of the button box

Emergency stop switch: When pressing the emergency stop switch, the robot enters the state of emergency stop.
Type-c:Connect the port of the web oscilloscope.
Key 1:Short press automatic/manual mode switch, long press and enter/exit the drag mode.
Key 2:Short press the record to show the teaching point, long press and enter/exit the state of no demonstrator.
Key 3:Start/stop running program.
The second version of the button box

Figure 2.6-2 The second version of the button box

Emergency stop switch:When pressing the emergency stop switch, the robot enters the state of emergency stop.

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Start/Stop:Start/stop running program.

Ethernet:Connect to the web oscilloscope.
Turn off:No enabled.
Record point:Record the teaching point.
Teaching mode:Enter/exit with the teaching pendant state.
Working mode:Automatic/manual mode switch.
Drag mode:Enter/exit drag mode.

3.6.2 ERA-HMI Teach pendant introduction

Figure 2.6-3 ERA-HMI teaching pendant front

Figure 2.6-4 ERA-HMI teaching pendant back

Display:Touch operation and display interface of the teaching pendant.
Start key:Start the program.
Stop key:Stop the currently running program.

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F4 button:Enter the keyboard to call the keys.

Joint button:The joint node of the robot.
Three -bit enable:Manual mode enable robots
Emergency stop switch:When pressing the emergency stop switch, the robot enters the state of emergency stop.
Mode key:Rotate the button to switch the automatic mode.

3.6.3 End LED definition

Table 2.6-1 The end LED definition table
Function LED color
When communication is not established "Off", "Red", "Green" and "Blue" alternately
Automatic mode Blue long bright
Manual mode Green long bright
Drag Mode White cyan long bright
Button box record point (only when using button box) Purple blinks twice
Start running (only when using the button box) Cyan blue flashes twice
Enter the state of unmatched button box (only when Blue flashes twice
using the button box)
Stop operation (only when using the button box) Red flashes twice
Error reporting (only when using the button box) Red long bright
Zero calibration completed White cyan flashes three times
Enable Yellow flashes twice

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Chapter 4 Quick start

4.1 Install the robot arm and control box
Install the robot arm and control box according to 1.3.3 and 1.3.6 in the hardware installation of Chapter 2.
. Take out the robotic arm and use 4 M8 bolts with a strength of not less than 8.8 levels to install the robot arm.
Install the robot arm on a strong and shock -proof surface. If it is fixed with aluminum plate, the thickness of the
aluminum plate is not less than 16mm. If the iron plate is fixed, the thickness of the iron plate is not less than 8mm;
. Place the control box on its feet;
. Connect the robot arm ontology to the heavy load interface of the control box;
. Plug the button box aviation plug into the control box teach pendant interface. If you are equipped with a
touch-screen version of the teach pendant, you also need to use the data cable of both ends as the Type-C interface,
insert the Type C interface of the button box and the instructor, respectively.
. Make sure that the control box power button is closed (the button is hit to 0) to receive the 220V power cord to
the power socket;
. Plug in the power control box plug.
Warning: If the robot is placed on a strong surface, the robot may dump and cause damage.

4.2 Demonstrate startup control robot

The control box is connected to the robot arm, the teaching box, and the physical electrical input/output terminal of
any peripheral equipment. You must open the control box to power the robot's arm.
. Press the power button of the control box to open the control box;
. After starting the robot, at this time the robot is manual mode and has not enabled. If the robot needs to be
operated in the manual mode, you need to press the three bits on the oscilloscope to switch off (let go) OFF (press)
as the switch as a switch Drag or control the robot movement when you are on your state.
. If you do not need to operate the robot in the manual mode, you can use the key switch to switch the robot
working mode on the key to switch the button: automatic, manual, custom;
. When switching the robot's manual state, check whether there is abnormal abnormality inside and outside the
safety space and to operate the machine's operation carefully;
. When switching the robot's automatic state, check the safety measures and return to the normal state and operate
the machine operation carefully;
. When the oscilloscope cannot be opened normally, please check whether the device connection is normal.

4.3 Button box control robot movement

Refer to the 2.7.3 of the hardware installation of Chapter 2. The end LED definition of the end to control the robot

4.3.1 Not paired with teaching pendant

Step1: Turn on the power switch of the robot control box, start the robot, wait for the end LED to display green for
a long time before operating the robot, as shown in Figure 3.3-1.

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Figure 3.3-1 Green Schematic Diagram of End LED

Step2: Long press the button box "button 2" to enter the mode without teaching pendant, and the end LED flashes
blue three times, as shown in Figure 3.3-2.

Figure 3.3-2 end LED blue blue schematic diagram

Step3: Long press button "button 1" Switch the robot to the drag mode. At this time, the end LED is white and blue,
as shown in Figure 3.3-3. To any position of the mobile robot, long press the "button 1" to exit the drag mode, the
short-press button box "button 2" records P1 point, the end LED purple flashes three times, as shown in Figure
3.3-4.
Step4: Mobile robot, short press button box "button 2" record P2 point, the end LED purple flashes three times, as
shown in Figure 3.3-4.

Figure 3.3-3 end LED white green schematic diagram

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Figure 3.3-4 end LED purple schematic diagram

Step5: The long press button "button 1" exit the drag mode. At this time, it is a manual mode. The end LED is
green, as shown in Figure 3.3-5. Short press "Key 1" to switch the robot to the automatic mode. At this time, the
end LED is blue, as shown in Figure 3.3-6.
Step6: Short press button "button 3" runs the program, the end LED blue flashes twice, as shown in Figure 3.3-6.

Figure 3.3-5 end LED green schematic diagram

Figure 3.3-6 end LED blue schematic diagram

Step7: Short press the button box "button 3" to stop running the program, and the red LED at the end flashes three
times, as shown in Figure 3.3-7.

Figure 3.3-7 end LED red schematic diagram

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4.3.2 Matching the Teach Pendant

Step1: Start the robot and wait for the end LED green to stop flashing before operating the robot.
Step2: Open the oscilloscope and enter the program editing interface.
Step3: Select the blank template to create a new program file.
Step4: Short -press button box button 1 Switch the robot to the manual mode. At this time, the end LED is green.
Step5: Long press the button box button 1 to switch the robot to the drag mode. At this time, the end LED is white
and green, the mobile robot to any position, the short press button box button 2 records P1, the end LED purple
flashes three times, manually add "PTP: P1 "The instructions to the program file.

Figure 3.3-8 record and add some P1

Step6: Mobile robot, short -press button box button 2 records P2 point, end LED purple flashes three times, and
manually add the "PTP: P2" instruction to the program.

Figure 3.3-9 record and add some P2

Step7: Save the program file content.
Step8: Long press the button box button 1 to exit the drag mode. At this time, it is a manual mode. The end LED is
green. The short press button box button 1 switch the robot to the automatic mode. At this time, End LED is blue.
Step9: Short pressing button box button 3 Run the program, the end LED blue flashes twice.

4.4 Teach Pendant control robot movement

Click the "Promotional Simulation" button in the first -level menu on the left side of the Teach Pendant, and click
the sub -menu "Program Demonstration" to enter the program demonstration interface. The interface mainly
implements the writing and modification of the robot teaching program.
After clicking the "New" icon button, the user names the file and selects a template as the content of the new file.
Click the newly created to create a successful and open the program file.

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Figure 3.4-1 Demonstration of teaching program running schematic diagram

Warning: Your head and trunk cannot be located in the range (work area) that the robot can reach. Please do not
put your fingers in the place where the robot can grasp.
Important:
. Don't let the robot move to yourself or other objects, because it will cause damage to the robot.
. This is just a quick start guide to teach you how to easily use ERA collaborative robots.
The premise of this guide
is that the environment is safe and harmless, and users are cautious. Do not increase the speed or acceleration to
the default value. Before the robot enters the operation, risk assessment is always carried out.

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Chapter 5 Teaching pendant software

5.1 Basic information
5.1.1 Introduction
The teaching pendant software is the supporting software developed for the robot and runs on the teaching pendant
operating system. Its main functions and technical characteristics are as follows:
. Ability to write teaching programs for robots;
. It can display the coordinates of the robot's position in real time, simulate the physical robot in three dimensions,
and control the movement of the robot;
. It can realize single-axis inching and linkage operation of each axis of the robot;
. Able to view control IO status;
. Users can modify passwords, view system information, etc.

5.1.2 Start software

1. Power on the control box;
2. The teach pendant opens a browser to access the target website 192.168.58.2;
3. Enter the user name and password and click Login to log in to the system.

5.1.3 User login and permission update

Table 4.1-1 Initial user
Job Number Initial Username Password Function Code
111 admin 123 1
222 MEenginer 222 2
333 PEenginer 333 3
444 programmer 444 4
555 operator 555 5
666 monitor 666 6
Users (refer to 4.10.2.1 User Management for user management) are divided into six levels by default,
administrators have no function restrictions, operators and monitors can use a small number of functions, ME
engineers, PE&PQE engineers and technicians & team leaders have some function restrictions, management There
are no functional restrictions for administrators. For specific default function code permissions, refer to 4.10.2.2
Authority management. The login interface is shown in Figure 4.1-1 login interface.

Figure 4.1-1 Login Interface

After the login is successful, the system will load the model and other data, and enter the initial page after loading.

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5.2 System initial interface

After the login is successful, the system enters the "initial interface". The initial interface shows that the teach
pendant mainly includes the ERA Automation LOGO and the button to return to the initial page, the menu bar, the
menu
bar zoom button, the robot operation area, the control area, the status area, the 3D simulation robot and Pose and IO
information area, a total of eight areas. As shown in Figure 4.2-1 system initial interface schematic diagram.

Figure 4.2-1 Schematic diagram of the initial interface of the system

5.2.1 Control area

Note Note

Name Enable button Name Start button

Effect Enable the robot Effect Upload and start running the teaching program
Note Note

Name Stop button Name Pause/Resume button

Effect Stop the current teaching program running Effect Pause and resume the current teaching program
Important: The pause instruction is at the end of the program and cannot be judged.

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5.2.2 Status Bar

Note Note

Name robot status Name Tool coordinate system number

Effect Stopped/Running/Pause/Drag status Effect Display the tool coordinate system number of
the current application
Note Note

Name Running speed percentage Name Running normally

Effect The speed of the robot when it is running in Effect The current robot is running normally
the current mode
Note Note

Name Error state Name automatic mode

Effect There is an error in the current robot Effect Robot automatic operation mode. When the
operation global speed adjustment in manual mode and
automatic mode is turned on and the speed is
specified, the global speed will be automatically
adjusted to the specified speed
Note Note

Name Teach mode Name Drag state

Effect Robot teaching operation mode,set the Effect Robot can drag currently
global speed adjustment of manual mode
and automatic mode and specify the speed.
Note Note

Name Drag state Name Connection status

Effect Robot cannot drag currently Effect Robot communication is not setup
Note Note

Name Not connected status Name Account information

Effect Robot communication is not setup Effect Display username and permissions and logout
user

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5.2.3 Menu Bar

The menu bar is as shown in Table 4.2-1 Teaching Pendant Menu Columns
Table 4.2-1 Teach pendant menu column
Class a Second level
Initial settings Robot Setting
User peripheral configuration
Teaching simulation Program teaching
Graphical programming
Teaching management
Status information System log
Status Query
Auxiliary application Robot body
Welding expert database
Security settings
System settings /

5.2.4 Operating area

IO settings can refer to 4.5.1 I/O settings in 4.5 Control Box I/O.
Joint, Base and other functions can refer to 4.6 Robot operation.

5.3 3D simulation robot

5.3.1 3D virtual trajectory and import tool model
Trajectory drawing When running the teaching program, turn on the trajectory drawing function, and the 3D
model of the robot will describe the trajectory of the robot movement.
Import tool model Click the "Import" button, and the tool model can be displayed on the end of the robot after the
tool model is imported. Currently, the tool model file formats supported are STL and DAE.

Figure 4.3-1 Virtual trajectory drawing and tool model import

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5.3.2 3D visualization display of robot coordinate system

Create various 3D virtual coordinate systems in the 3D virtual area of the WebAPP robot, taking the display of the
base coordinate system as an example, as shown in the figure below. Among them, the X axis is red, the Y axis is
green, and the Z axis is blue.
Base coordinate system In the base coordinate system WebAPP, the system robot is displayed in the three-
dimensional virtual area by default, and the fixed mark is at the bottom center of the robot base. The 3D virtual
base coordinate system can be displayed manually.

Figure 4.3-2 Base coordinate system display off and on

Tool coordinate system The display of the tool coordinate system is enabled by default and can be manually
disabled. After the WebAPP starts and the user logs in successfully, obtain the tool coordinate system name and
corresponding parameter data of the current application, and initialize the current tool coordinate system.
When applying other tool coordinate systems during use, after the application tool coordinate system command
succeeds, first clear the existing tool coordinate system in the robot's 3D virtual area, and then transfer the newly
applied tool coordinate system parameter data into the 3D coordinate system The API is generated to generate the
tool coordinate system, and after the generation is completed, it is displayed in the three-dimensional virtual area of
the robot.

Figure 4.3-3 Tool coordinate system display

Workpiece coordinate system The workpiece coordinate system is closed by default, and it can be displayed

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manually. The process is consistent with the tool coordinate system.

Figure 4.3-4 Workpiece coordinate system display

External Axis Coordinate System The external axis coordinate system is turned off by default, and it can be
manually turned on and displayed. The process is consistent with the tool coordinate system.

Figure 4.3-5 External axis coordinate system display

5.3.3 Robot installation method setting and display

The default installation mode of the robot is horizontal installation. When the installation mode of the robot is
changed, the actual installation mode of the robot must be set on this page in time to ensure the normal operation of
the robot.
The user clicks the "Fixed Installation" tab in the robot's 3D virtual display area to enter the robot's fixed
installation mode setting page, select "Front Mount", "Flip Mount" or "Side Mount", and click the "Apply" button
to complete the robot installation mode setting .

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Figure 4.3-6 Fixed installation

Considering more flexible and rich robot deployment scenarios, we provide a free installation function. Users click
the "360-degree free installation" tab in the robot's 3D virtual display area to enter the robot free installation mode
setting page. Manually adjust the "base tilt" and "base rotation" angles, and the 3D model will show the
installation effect accordingly. After modification, click the "Apply" button to complete the robot installation
method setting.

Figure 4.3-7 360 degree free installation

Important: After the installation of the robot is completed, the installation method of the robot must be set
correctly, otherwise it will affect the use of the robot's dragging function and collision detection function.

5.4 Robot settings

5.4.1 Tool coordinates
Under the menu bar of "Robot Settings" in "Initial Settings", click "Tool Coordinates" to enter the tool coordinates
interface. Tool coordinates can realize the modification, clearing and application of tool coordinates. There are
15 numbers in the drop-down list of the tool coordinate system. After selecting the corresponding coordinate
system (the name of the coordinate system can be customized), the corresponding coordinate value, tool type and

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installation position will be displayed below (displayed only under the sensor type tool), select Click the "Apply"
button after a certain coordinate system, and the currently used tool coordinate system will change to the selected
coordinates, as shown in Figure4.4-1.

Figure 4.4-1 Set tool coordinates

Click "Modify" to reset the tool coordinate system of the number according to the prompt. Tool calibration
methods are divided into four-point method and six-point method. The four-point method only calibrates the tool
TCP, that is, the position of the center point of the tool. Its posture defaults to be consistent with the end posture.
The six-point method adds two points to the four-point method. , used to calibrate the attitude of the tool, here we
take the six-point method as an example to explain.

Figure 4.4-2 Set tool coordinates

Select a fixed point in the robot space, move the tool to the fixed point in three different postures, and set 1-3 points
in sequence. As shown in the upper left of Figure 4.4-3. Move the tool vertically to the fixed point setting point
4, as shown in the upper right of Figure 4.4-3. Keep the posture unchanged, use the base coordinates to move,
move a certain distance in the horizontal direction, and set point 5, which is the positive direction of the X-axis of
the set tool coordinate system. Return to the fixed point, move vertically for a certain distance, and set point 6.
This direction is the positive direction of the Z-axis of the tool coordinate system, and the positive direction of the
Y-axis of the tool coordinate system is determined by the right-hand rule. Click the Calculate button to calculate
the tool pose. If you need to reset it, click Cancel and press the Modify button to re-create the tool coordinate
system.

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Figure 4.4-3 Schematic diagram of the six-point method

After completing the last step, click "Finish" to return to the tool coordinate interface, and click "Save" to store the
tool coordinate system just created.
Important:
1. After the tool is installed at the end, the tool coordinate system must be calibrated and applied, otherwise the
position and attitude of the tool center point will not meet the expected values when the robot executes the motion
command.
2. The tool coordinate system generally uses toolcoord1~toolcoord14, and toolcoord0 is used to indicate that the
position center of the tool TCP is at the center of the end flange. When calibrating the tool coordinate system, it is
first necessary to apply the tool coordinate system to toolcoord0, and then select other tool coordinate systems for
calibration and application.

5.4.2 External tool coordinates

Under the menu bar of "Robot Settings" in "Initial Settings", click "External Tool Coordinate System" to enter the
external tool coordinate system interface.
The modification, clearing and application of external tool coordinates can be realized in the external tool
coordinate system setting interface.
There are 15 numbers in the drop-down list of the external tool coordinate system, from etoolcoord0~etoolcoord14,
after selecting the corresponding coordinate system, the corresponding coordinate value will be displayed below,
after selecting a coordinate system, click the "Apply" button, the currently used tool coordinate system Change to
the selected coordinates, as shown in Figure 4.4-4.

Figure 4.4-4

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Click "Modify" to reset the tool coordinate system of the number according to the prompt, as shown in Figure
4.4-5.

Figure 4.4-5 Schematic diagram of the six-point method

1. Three-point method to determine the external TCP
1. Set point 1 The TCP of the measured tool is moved to the external TCP, click the Set point 1 button;
2. Set point 2 Move a certain distance from point 1 along the X axis of the external TCF coordinate system, and
click the button to set point 2;
3. Set point 3 Go back to point 1, move from point 1 along the Z axis of the external TCF coordinate system for a
certain distance, and click the button to set point 3;
4. Calculate Click the calculate button to get the external TCF;
2.Six-point method to determine the tool TCF
1. Set points 1-4 Select a fixed point in the robot space, move the tool to the selected point from four different
angles, and set points 1-4 in sequence;
2. Set point 5 Go back to the fixed point and move a certain distance along the X axis of the tool TCF coordinate
system, and click the Set Point 5 button;
3. Set point 6 Go back to the fixed point and move a certain distance along the Y axis of the tool TCF coordinate
system, and click the set point 6 button;
4. Calculate Click the calculate button to get the tool TCF;
If you need to reset, click the Cancel button to go back to the step of creating a new tool coordinate system.
After completing the last step, click "Finish" to return to the tool coordinate interface, and click "Save" to store the
tool coordinate system just created.
Important:
1. The use of external tools must be calibrated and applied to the external tool coordinate system, otherwise the
position and attitude of the tool center point when the robot executes motion commands will not meet the expected
values.
2. The external tool coordinate system generally uses etoolcoord1~etoolcoord14, and the application of etoolcoord0
means that the center position of the external tool TCP is at the center of the end flange. When calibrating the tool
coordinate system, the tool coordinate system must first be applied to etoolcoord0, and then other tool coordinate
systems should be selected calibration.

5.4.3 Workpiece coordinates

Under the menu bar of "Robot Settings" in "Initial Settings", click "Workpiece Coordinates" to enter the workpiece
coordinates interface. Workpiece coordinates can realize the modification, clearing and application of workpiece
co- ordinates. There are 15 numbers in the drop-down list of the workpiece coordinate system, select the

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corresponding coordinate system (wobjcoord0~ wobjcoord14), and then the corresponding coordinate value will be
displayed in the "Coordinate System Coordinates" below. After selecting a certain coordinate system, click the
"Apply" button, and the currently used workpiece coordinate system will change to the selected coordinates, as
shown in Figure3.4-6 shown.

Figure 4.4-6 Set workpiece coordinates

The workpiece coordinate system is generally calibrated based on the tool, and the workpiece coordinate system
needs to be established on the basis of the established tool coordinate system. Click "Modify" to reset the
workpiece coordinate system of the number according to the prompt. Fix the workpiece and select the calibration
method "origin-X-axis-Z- axis" or "origin-X-axis-XY+plane". The selection of the first two points of the two
calibration methods is the same, and the third point is different. One method is to calibrate the Z direction of the
workpiece coordinate system, and the second method is to calibrate a point on the XY+ plane, just calibrate
according to the diagram. Click the Calculate button to calculate the workpiece pose. If you need to reset it,
click Cancel and press the Modify button to re-create the workpiece coordinate system.

Figure 4.4-7 Schematic diagram of the three-point method

After completing the last step, click "Finish" to return to the workpiece coordinate interface, and click "Save" to
store the workpiece coordinate system just created.
Important:
1. The workpiece coordinate system is calibrated based on the tool, and the workpiece coordinate system needs to
be established on the basis of the established tool coordinate system.
2. The workpiece coordinate system generally uses wobjcoord1~wobjcoord14, and wobjcoord0 is used to indicate
that the origin of the workpiece coordinate system is at the origin of the base coordinates. When calibrating the
workpiece coordinate system, it is first necessary to apply the workpiece coordinate system to wobjcoord0, and
then select other workpiece coordinate systems for calibration and application.

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5.4.4 Extended Axis Coordinates

Under the menu bar of "Robot Settings" in "Initial Settings", click "Extended Axis Coordinate System" to enter the
extended axis coordinate system interface. In the extended axis coordinate system setting interface, the
modification, clearing and application of the extended axis coordinates can be realized.
There are 5 numbers in the drop-down list of the extended axis coordinate system, from eaxis0~eaxis4, after
selecting the corresponding coordinate system, the corresponding coordinate value will be displayed below, after
selecting a coordinate system, click the "Apply" button, the currently used extended axis coordinates The system
becomes the selected coordinates, as shown in Figure 4.4-8.

Figure 4.4-8 Extended Axis Coordinates

Click "Modify" to reset the extended axis coordinate system of the number according to the prompt, as shown in
Figure 4.4-9. Before calibration, clear the extended axis coordinate system that needs to be calibrated, and apply
this extended axis coordinate system. Let's first look at the first expansion axis scheme - the calibration method of
the linear guide. Select the number of the extension axis, get information to get the driver information of the
corresponding extension axis, and we can configure parameters based on this information. Set the DH parameters
after configuration, and the linear guide rail scheme defaults to 0. Set the position of the robot relative to the
expansion axis, and the linear guide is on the expansion axis. If you don't want to calibrate,just click Save. At this
time, the expansion axis can only move asynchronously.

Figure 4.4-9 Linear guide configuration

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If you need to move synchronously with the robot, click Calibrate to enter the calibration interface. At the zero
point of the extended axis, click the E-axis in the operation area to enable the extended axis, and align the end
center of the robot (using the tool end point in the application tool coordinate system) with two different postures.
Fix a point on the quasi-expansion axis, set point 1 and point 2 respectively. Remove the enable, and move the
extension axis for a certain distance. After enabling, also align the center point of the end of the robot with the
previous fixed point, and set point 3. Remove the enable, move the expansion axis to the zero point, and enable the
expansion axis. Move the center point of the end of the robot to the fixed point and vertically upward space, set
point 4, calculate the coordinate system and save it.

Figure 4.4-10 Linear guide calibration

Next, let's look at the second expansion axis scheme - the calibration method of the positioner. The positioner is
composed of two extension axes. Select the number of the extension axis and get the information to get the driver
information of the corresponding extension axis. We can configure parameters according to this information.
After configuration, set the DH parameters, measure the DH parameters of the positioner according to the diagram,
and input them into the input box. Set the position of the robot relative to the extension axis, and the positioner is
outside the extension axis. If you don't want to calibrate, just click Save. At this time, the expansion axis can only
move asynchronously.

Figure 4.4-11 Positioner configuration

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If you need to move synchronously with the robot, click Calibrate to enter the calibration interface. At the zero
point of the extended axis, click the E-axis in the operation area to enable the extended axis, establish a coordinate
system on the positioner, select a point, and input the value of the point under the coordinate system. Carl pose, for
example, select a point in the positive direction of Y, and measure Y to be 100mm, then input the value as shown in
the figure, click the reference point, and the reference point can be set. The following four calibration points need to
align the center of the end of the robot (the end point of the tool in the application tool coordinate system) with this
reference point.

Figure 4.4-12 Positioner reference point configuration

Align the center of the end of the robot (using the endpoint of the tool in the application tool coordinate system) to
the reference point, set point 1, click the Eaxis in the operation area to jog the two axes for a short distance, align
the center of the end of the robot to the reference point, and set Point 2, continue to jog the two axes, the center of
the robot end is aligned with the reference point, set point 3, and finally continue to jog the two axes, align the
center of the robot end with the reference point, set point 4, click Calculate, and get the coordinates Click the save
button to apply the result.

Figure 4.4-13 Positioner calibration

Next, let's look at the third extended axis solution - the calibration method of the single-axis positioner. The
positioner is composed of a rotating extension shaft. Select the number of the extension shaft and get the
information to get the driver information of the corresponding extension shaft. We can configure parameters
according to this information. The DH parameter is set to 0. Set the position of the robot relative to the extension
axis, and the positioner is outside the extension axis. If you don't want to calibrate, just click Save. At this time,
the expansion axis can only move asynchronously.

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Figure 4.4-14 Single axis positioner configuration

If you need to move synchronously with the robot, click Calibrate to enter the calibration interface. At the zero
point of the extended axis, click the Eaxis in the operation area to enable the extended axis, establish a coordinate
system on the positioner, select a point, and input the value of the point under the coordinate system. Carl pose,
click "Reference Point" to set the reference point. The following four calibration points need to align the center of
the end of the robot (the end point of the tool in the application tool coordinate system) with this reference point.
Align the center of the end of the robot (using the end point of the tool in the application tool coordinate system) to
the reference point, set point 1, click the Eaxis in the operation area to jog the rotation axis for a short distance,
align the center of the end of the robot to the reference point, and set the point 2. Continue to jog the rotation axis,
align the center of the end of the robot with the reference point, set point 3, and finally continue to jog the rotation
axis, align the center of the end of the robot with the reference point, set point 4, click Calculate, and get the result
of the coordinate system, Click Save to apply.

Figure 4.4-15 Single axis positioner calibration

Important:
1. The extended axis coordinate system is calibrated on the basis of the tool, and the extended axis coordinate

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system needs to be established on the basis of the established tool coordinate system.
2. The extended axis system generally uses exaxis1~exaxis4, and exaxis0 is used to represent the non-extended
axis coordinate system. When calibrating the extended axis coordinate system, the extended axis coordinate
system must first be applied to exaxis0, and then other extended axis coordinate systems should be selected for
calibration and application.

5.4.5 Collision level

Under the menu bar of "Robot Settings" in "Initial Settings", click "Collision Level" to enter the collision level
interface.
The collision level is divided into one to ten levels, and the detection of one to three levels is more sensitive, and
the robot needs to run at the recommended speed. At the same time, you can choose to customize the percentage
setting, and 100% corresponds to the tenth level. The collision strategy can set the processing method of the robot
after the collision, which is divided into error stop and continuous movement, and the user can set it according to
the specific use requirements. Such as Figure 4.4-16.

Figure 4.4-16 Schematic diagram of collision level

5.4.6 Soft limit

Under the menu bar of "Robot Settings" in "Initial Settings", click "Soft Limits" to enter the soft limit interface.
There may be other equipment in the robot's stroke, and the limit angle can softly limit the robot so that the robot's
movement does not exceed a certain coordinate value and prevent the robot from colliding. Triggering the soft limit
to stop the robot is automatically triggered by the robot, and there is no stopping distance.
Administrators can use the default values or enter angle values. Input the angle value to limit the positive and
negative angles of the robot joints respectively. When the input value exceeds the soft limit angle of the robot
joints listed in Table 1.1-1 Robot Basic Parameters value, the limit angle will be adjusted to the maximum value
that can be set. When the robot reports that the command exceeds the limit, it needs to enter the drag mode and
drag the robot joints to within the limit angle. The interface is shown in 3.4-17.

Figure 4.4-17 Schematic diagram of robot limit

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5.4.7 End load

Under the menu bar of "Robot Settings" in "Initial Settings", click "End Load" to enter the end load interface.
The user can set the corresponding parameters according to the parameters of the tool used. The load weight is
0~5kg, and the range of the center of mass coordinates is 0~1000, as shown in 3.4-18.

Figure 4.4-18 Schematic diagram of load setting

Important: After the load is installed at the end of the robot, the weight of the end load and the coordinates of the
center of mass must be set correctly, otherwise it will affect the drag function of the robot and the use of the
collision detection function.
If the user is uncertain about the tool quality or center of mass, the tool data can be determined through the load
identification function.
Make sure the load is installed before making measurements. Click the "Tool Data Measurement" button to enter
the load motion test interface.

Figure 4.4-19 Load Identification Joint Setup

Click "Load Identification Start" to test. In case of emergency, please stop the movement in time.

Figure 4.4-20 load identification start

After the exercise is over, click the "Get Identification Result" button to obtain the calculated tool data and display
it on the page. If you want to apply it to the load data, click Apply

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Figure 4.4-21 Load Identification Results

5.4.8 Friction compensation

Under the menu bar of "Robot Settings" in "Initial Settings", click "Friction Compensation" to enter the friction
compensation setting interface.
Friction compensation coefficient The usage scenario for friction compensation is only in the dragging mode.
The friction compensation coefficient can be set from 0 to 1. The higher the value, the greater the compensation
force when dragging. The friction compensation coefficient needs to be set separately for each axis according to the
different installation methods.
Friction compensation switch Users can turn on or off friction compensation according to the actual robot and
usage habits.

Figure 4.4-22 Friction Compensation Settings

Important: The friction compensation function of the robot needs to be used with caution. According to the actual
situation, a reasonable compensation coefficient should be set. Generally the recommended median value is about
0.5.

5.4.9 Speed scaling

Under the menu bar of "Robot Settings" in "Initial Settings", click "Speed Scaling Settings" to enter the speed
scaling setting interface.
This function is to set the running speed of the robot under manual/automatic mode. If the current running mode
is automatic, the set speed is the automatic running speed of the robot. If the current running mode is manual, the
set speed is the manual running speed of the robot. The setting value is the percentage of the standard speed of the
robot. If it is set to 100, it means 100% of the standard speed (for standard speed, please refer to Table 1.1-1 Robot
Basic Parameters).

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Figure 4.4-23 Velocity scaling settings

After the speed is set successfully, the corresponding speed status bar will change to the set value, and the range of
speed value setting is 0~100.

5.5 Control box I/O

5.5.1 I/O settings
Click the "IO" button in the operation area on the left side of the 3D model to enter the IO setting interface, as
shown in Figure 4.5-1. In this interface, the digital output, analog output (0-10v) and end tool digital output in the
robot control box can be realized. Output, analog output (0-10v) for manual control:

Figure 4.5-1 I/O setting interface

. DO operation: select the port number, if the DO is low level, the right operation button will display ON, click
the button to set the DO to high level.
. AO operation: Select the port number, enter a value (0-100) in the input box on the right, the value is a
percentage, setting 100 means setting the AO port to 10v.

5.5.2 I/O status display

The status display area on the right side of the 3D model will display the current IO status. In digital input and
digital output, if the port level is high, the point will be displayed in green, and if it is low, it will be displayed in
white; analog input and analog output The display value is 0-100, and 100 means 10v.

Figure 4.5-2 Status display interface

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5.5.3 I/O filtering

Click "Robot Settings" in "Initial Settings" in the left menu bar, and click the "IO Filter" submenu to enter the IO
filter time setting interface. The filter time setting interface includes: control box DI filter time, end board DI
filter time, control box AI0 Filtering time, AI1 filtering time of the control box, AI0 filtering time of the end board,
as shown in Figure3.5-3. Users can set the corresponding parameters according to their needs, just click the
corresponding setting button.

Figure 4.5-3 Filter interface

Important: The I/O filter time range is [0~200], the unit is ms.

5.5.4 I/O configuration

Click "Robot Settings" in "Initial Settings" on the left menu bar, and click the "DI Configuration" and "DO
Configuration" submenu respectively to enter the DI and DO configuration interface. Among them, the control box
CI0-CI7 and CO0-CO7 are configurable, and the terminal DI0 and DI1 are configurable. In production, when the
collaborative robot needs to connect peripherals or stops suddenly due to failure or other factors, it needs to output
DO signal to realize sound and light alarm prompt. The input configurable functions are shown in Table 4.5-1
Control Box Input Configurable Functions.
Table 4.5-1 Control box input configurable functions
Function No Function Name
0 Nothing
1 Arcing success signal
2 Welding machine preparation signal
3 Belt detection
4 suspend
5 recovery
6 start-up
7 stop it
8 Pause/Resume
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9 Start/Stop
10 Pedal drag switch
11 Move to job origin
12 Manual automatic switching
13 Welding wire position finding succeeded
14 Motion interruption
15 Start main program
16 Start rewind
17 Start up confirmation
18 Laser detection signal X
19 Laser detection signal Y
The output configurable functions are shown in Table 4.5-2 and Table 4.5-3.
Table 4.5-2 Control box output configurable function
Function No Function Name
0 Nothing
1 report errors
2 motion
3 Spraying start and stop
4 Spraying gun cleaning
5 Arcing
6 aspiration
7 Forward wire feeding
8 Reverse wire feeding
9 JOB input port 1
10 JOB input port 2
11 JOB input port 3
12 Start and stop of conveyor belt
13 suspend
14 Reaching the job origin
15 Enter the interference zone
16 Start stop control of welding wire positioning
17 Robot startup completed
18 Program start and stop
19 Automatic manual mode
Table 4.5-3 Terminal input configurable function
Function No Function Name
0 Nothing
1 Drag Mode
2 Teaching point record
3 Manual automatic switching
4 TPD track recording start/stop
5 suspend
6 recovery
7 start-up

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8 stop it
9 Pause/Resume
10 Start/Stop
Among them, the default configuration of the control box: CO0 is 1-the robot is reporting an error, and CO1 is
2-the robot is in motion.

Figure 4.5-4 Control box DI and DO configuration

The default configuration of terminal DI: DI0 drag teaching, DI1 teaching point recording.

Figure 4.5-5 Terminal DI configuration

After the configuration is complete, you can view the corresponding output DO status on the I/O page of the
control box under the corresponding status. (Note: configured DI and DO cannot appear on the teaching
programming page)
Important: Configured DI and DO are forbidden to be used in teaching programming.

5.5.5 I/O alias configuration

Click on "Robot Settings" in the "Initial Settings" menu bar on the left, click on the "I/OAlias Configuration"
submenu to enter the configuration interface, and configure the given meaning names of the control box and end IO

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signals according to the actual usage scenario. After successful configuration, the modules related to IO signal
content will display corresponding aliases, as follows:

Figure 4.5-6 I/O alias configuration

Robot operation: IO signal selection boxes for IO and TPD control boxes (CtrlBox) and end (End);

Figure 4.5-7 Robot operation IO

Figure 4.5-8 TPD

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Robot status: IO signal status of Robot's control box (CtrlBox) and end (End);

Figure 4.5-9 Robot status IO

Teaching simulation - program teaching: Add program commands such as "Wait", "Digital IO", and "Analog IO",
and select program command line by clicking the "Edit" icon. The IO selection box in the pop-up box will pop up;

Figure 4.5-10 Program Teach Add IO

Figure 4.5-11 Program Teaching Editor IO

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Teaching simulation - graphical programming: IO drop down selection for 'Logic' and 'Control' modules;

Figure 4.5-12 Graphical programming IO

Auxiliary Application - Robot Body: IO key selection box in 'Smart Tool';

Figure 4.5-13 smart Tool IO

5.6 Robot operation

5.6.1 Teaching point record
The manual teaching control area is mainly to set the test coordinate system in the teaching mode, and display the
angle and coordinate values of each axis of the robot in real time, and can name and save the teaching points.
When saving a teaching point, the coordinate system of the teaching point is the coordinate system of the current
robot application. The speed and acceleration of the teaching point can be set above the operation area. The set
value is the percentage of the standard speed of the robot. If it is set to 100, it means 100% of the standard
speed (please refer to Table 1.1-1 Robot Basic Parameters
For the sensor teaching point, select the calibrated sensor type tool, enter the point name, click Add, and the saved
point position is the position recognized by the sensor.

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Figure 4.6-1 Schematic diagram of manual operation area

Important: When using it for the first time, please set a small speed value like 30 to familiarize yourself with the
movement of the robot to avoid accidents

5.6.2 Joint Jog

Under Joint operation, the 6 slider bars in the middle represent the angles of the corresponding axes respectively,
and the joint movement is divided into single-axis inching and multi-axis linkage
single axis jog The user can control the movement of the robot by operating the left and right circular buttons, as
shown in Figure3.6-2. In the manual mode and the joint coordinate system, perform a rotation operation on a joint
of the robot. When the robot stops beyond the range of motion (soft limit), you can use single-axis jogging for
manual operation to move the robot out of the overrun position. Single-axis jogging is faster and more convenient
than other operation modes for rough positioning and large-scale movement.
Set the "long press movement threshold" (the maximum distance the robot can run when the button is long pressed,
and the input value range is 0~300) parameters, long press the round button to control the robot running, if the
button is released during the robot running, the robot will stop immediately Movement, if you keep pressing the
button without releasing it, the robot will run and stop moving after long pressing the value set by the movement
threshold.
Multi-axis linkage The user can operate the six sliders in the middle to adjust the corresponding target position of
the robot, as shown in Figure3.6-3. The target position can be determined by observing the 3D virtual robot. If the
adjusted position does not meet your expectations, click the "Restore" button. Make the 3D virtual robot return to
the initial position. After the user determines the target position, he can click the "Apply" button, and the physical
robot will perform corresponding movements.

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Figure 4.6-2 Schematic diagram of single-axis jogging and multi-axis linkage

Important: In multi-axis linkage, the setting value of the fifth joint j5 cannot be less than 0.01 degrees. If the
expected value is less than 0.01 degrees, you can first set it to 0.011 degrees, and then fine-tune the fifth joint j5
through single-axis jogging.

5.6.3 Base Jog

In the base coordinate system, you can operate the circular buttons on the left and right sides to control the robot,
move in a straight line on the X, Y, and Z axes or rotate around RX, RY, and RZ, and the six slider bars in the
middle are respectively represented on the corresponding coordinate axes The position and range of motion, as
shown in Figure3.6-3. The function of Base jogging is similar to that of single-axis jogging in Joint motion.

Figure 4.6-3 Base jog diagram

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Important: The button can be released at any time to stop the robot. If necessary, press the emergency stop
button to stop the robot.

5.6.4 Tool Jog

Select the tool coordinate system, you can operate the circular buttons on the left and right sides to control the robot,
move in a straight line on the X, Y, and Z axes or rotate around RX, RY, and RZ, and the six slider bars in the
middle represent the positions on the corresponding coordinate axes. Position and range of motion, as shown in
Figure3.6-4. The function of Tool jogging is similar to that of single-axis jogging in Joint motion.

Figure 4.6-4 Tool Jogging Schematic Diagram

5.6.5 Wobj jog

Select workpiece jogging,you can operate the circular buttons on the left and right to control the robot. In the
workpiece coordinate system, move along the X, Y, Z axis in a straight line or rotate around RX, RY, RZ. The six
slider bars in the middle are respectively Indicates the position and motion range on the corresponding coordinate
axis, as shown in Figure3.6-5. The function of Wobj jogging is similar to that of single-axis jogging in Joint motion.

Figure 4.6-5 Wobj jogging diagram

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5.6.6 Move
Select Move, you can directly input the Cartesian coordinate value, click "Calculate joint position", the joint
position is displayed as the calculated result, confirm that there is no danger, you can click "Move to this point" to
control the robot to move to the input Cartesian pose.

Figure 4.6-6 Move mobile diagram

Important: When a given pose cannot be reached, first check whether the Cartesian space pose exceeds the
working range of the robot, and then check whether there is a singular pose in the process from the current pose to
the target pose, if there is a singular position, adjust the current pose or process insert a new pose in order to avoid
singular poses.

5.6.7 Eaxis move

Select Eaxis to move, this function is the jog function of the extension axis, it needs to be configured to configure
the extension axis, use this jog function to control the extension axis, see "Chapter 4 Machine-Robot
Peripherals-Extended Axis Peripherals" for details configuration" .

Figure 4.6-7 Eaxis Mobile Diagram

5.6.8 TPD (Teach-in programming)

The operation steps of teach programming (TPD) function are as follows:
. Step1 record initial position Enter the operation area on the left side of the 3D model and record the current
position of the robot. Set the name of the point in the edit box, click the "Save" button, if the save is successful, it

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will prompt "Save point successful";

. Step2 Configure track recording parameters Click TPD to enter the "TPD" function item to configure
trajectory recording parameters, set the name of the trajectory file, pose type and sampling period, configure DI and
DO, and record the corresponding output by triggering DI during the process of recording the TPD trajectory DO,
as Figure4.6-8;

Figure 4.6-8 TPD track record

. Step3 Check robot mode Check whether the robot mode is in manual mode. If not, switch to manual mode. In
manual mode, there are two ways to switch to drag teaching mode, one is long press the end button, and the other is
interface dragging mode It is recommended to switch the robot from the interface to the drag teaching mode in the
TPD record. As shown in Figure 4.6-9;

Figure 4.6-9 robot mode

Important: When switching to the drag mode from the interface, first confirm whether the end tool load and the
center of mass are set correctly, and whether the friction compensation coefficient is set reasonably, then press and
hold the end button to confirm whether the drag is normal, and then switch to the drag mode from the interface
after confirming that it is correct.
. Step4 start recording Click the "Start Recording" button to start track recording, and drag the robot to teach
actions. In addition, there is a "TPD recording start/stop" function configuration item in the terminal DI
configuration. By configuring this function, the user can trigger the "start recording" trace function through an
external signal. It should be noted that to start recording a trace through an external signal, first Configure the TPD
track information on the page first.
. Step5 stop recording After the action teaching is completed, click the "Stop Recording" button to stop the track
recording, and then drag the teaching switch button to make the robot exit the drag teaching mode. When the
teach pendant receives "stop track recording successful", it means the track recording is successful. Same as step 4,
after configuring the "TPD recording start/stop" function, you can trigger recording to stop by an external signal.
. Step6 teach programming Click New, select a blank template, click to enter the PTP function programming
item, select the initial position point just saved, click the "Add" button, after the application is completed, a PTP

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instruction will be displayed in the program file; then click to enter the TPD function programming item, Select the
track just recorded, set whether it is smooth and the speed scaling, click the "Add" button, after the application is
completed, a MoveTPD instruction will be displayed in the program file, as shown in Figure3.6-10;

Figure 4.6-10 TPD programming

. Step7 Trajectory recurrence After editing the teaching program, switch to the automatic operation mode, click
the "start running" icon on the top of the interface to start running the program, and the robot will start to reproduce
the teaching action.
. Step8 track edit The TPD track editing area can visually display and edit the track to achieve pre-analysis and
streamlining of the TPD track. Select the corresponding track acquisition point, then the track points recorded by
the user will be displayed in the three-dimensional space of the robot, and then the user can drag the "Start" and
"End" scroll bars to simulate and reproduce and edit the start and end points of the track.
TPD file deletion and exception handling
. Trajectory file deletion Click to enter the TPD function item, select the track file to be deleted, and click the
"Delete Track" button. If the deletion is successful, you will receive a successful deletion prompt.
. Exception handling
– Command points exceeded A track can record up to 20,000 points. When the number exceeds 20,000 points,
the controller will no longer record the exceeded points, and will send a warning to the teach pendant that the
number of command points exceeds the limit. At this time, you need to click to stop recording;
– TPD instruction interval is too large If the teaching pendant reports an error that the TPD command interval
is too large, check whether the robot has returned to the initial position before recording. If the robot returns to the
initial position and still reports an error that the TPD command interval is too large, delete the current track and
record a new one;
– If other abnormal conditions occur during TPD operation, the robot operation should be stopped immediately
through the teach pendant or the emergency stop button to check the cause.
Important: During the operation of the TPD function, you should strictly follow the corresponding prompts on the
teach pendant.

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5.7 Teaching simulation

5.7.1 Introduction
Click the command on the left to add a program node to the program tree.When the program is running, the
currently executing program node is highlighted in gray.In manual mode, click the first icon on the right side of the
node to make the robot execute the instruction alone, and the second icon is to edit the content of the node.

Figure 4.7-1 Program tree interface

Click "" to switch modes, and the teaching program text can be changed to the editing state, and the editing area
can be expanded and collapsed in the editing state.

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Figure 4.7-2 Teaching program editing status

Click the "Popup/Hide the content on the right side of the current program" button to expand or hide the local
teaching points and the backup content of the current program. After the content on the right is expanded, click
the icons of "Partial teaching point" and "Current program backup" to display the corresponding content.

Figure 4.7-3 Contents on the right side of the current program

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5.7.2 Tool bar

Modify the program tree using the toolbar at the bottom of the program tree.
Note Note

Name Open Name New build

Effect Open user program file Effect Select a template to create a new program file
Note Note

Name Import Name Export

Effect Import the file into the user program folder Effect Export user program files to a local point.
Note Note

Name Save Name Save as

Effect Save file edits Effect Rename the file and store it in the user program
or template program folder.
Note Note

Name Copy Name Paste

Effect Duplicates a node and allows it to be used Effect Allows you to paste previously cut or copied
for other operations (eg: paste it elsewhere nodes.
in the program tree).
Note Note

Name Cut Name Delete

Effect Cuts a node and allows it to be used for Effect Deletes a node from the program tree.
other operations (eg: paste it elsewhere in
the program tree).
Note Note

Name Move up Name Move down

Effect Move the node up. Effect Move the node down.
Note

Name Toggle edit mode

Effect The program tree mode and lua editing mode switch each other.

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5.7.3 Program command

The left side is mainly for adding program commands. Click the icon above each keyword to enter the detailed
interface. There are two main operations for adding program commands to the file. One way is to open the relevant
command and click the Apply button to add the command to the program. , another way is to click the "Add"
button first, at this time the command is not saved in the program file, and you need to click "Apply" again to save
the command in the file. The second method often occurs when multiple commands of the same type are issued. We
add an add button and display the content of the added command to this type of command. Click the Add button to
add a command, and the added command displays all the added commands,click "Apply" to save the added
command to the opened file on the right.

5.7.4 Logic Command Interface

Figure 4.7-4 Logic Command Interface

5.7.4.1 While command

Click the "While" icon to enter the While command editing interface
Enter the waiting condition in the input box behind While, input the action command during the loop in the input
box behind do, and click Save. (For the convenience of operation, you can enter do content arbitrarily, and edit
other instructions in the program to insert instead)

Figure 4.7-4-1 While command interface

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5.7.4.2 if. . . else command

Click the "if. . . else" button to enter the if. . . else command editing interface
Enter the statement in the input box on the right, and click "Add" and "Apply" after editing. (This instruction
requires a certain programming foundation, if you need help, please contact us)

Figure 4.7-4-2 if. . . else command interface

5.7.4.3 Goto command

Click the "Goto" button to enter the Goto command editing interface
The Goto instruction is a jump instruction, enter the statement in the input box on the right, and click "Add" and
"Apply" after editing. (This instruction requires a certain programming foundation, if any doubts, please contact us)

Figure 4.7-4-2 Goto command interface

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5.7.4.4 Wait command

Click the "Wait" icon to enter the Wait command editing interface
This instruction is a delay instruction, which is divided into three parts: "WaitMs", "WaitDI" and "WaitAI" .
"WaitTime" command delay waiting time unit is milliseconds, input the number of milliseconds to wait, click
"Add", "Apply" .

Figure 4.7-4-42 WaitTime command interface

"WaitDI" command, that is, single DI waiting, select the IO port number to be waited for, wait state, wait maximum
time and wait timeout processing method, and click "Add" and "Apply" .

Figure 4.7-4-5 WaitDI command interface

"WaitMultiDI" command, that is, multi-DI waiting, first select the multi-DI establishment conditions, then check
the DI port and status that need to wait, and finally set the maximum waiting time and waiting timeout processing
method, click "Add" and "Apply" .

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Figure 4.7-4-6 WaitMultiDI command interface

"WaitAI" command, select the analog quantity to be waited for, the value, the maximum waiting time and the
waiting timeout processing method, and click "Add" and "Apply" .

Figure 4.7-4-7 WaitAI command interface

5.7.4.5 Pause command

Click the "Pause" icon to enter the Pause command editing interface
This instruction is a pause instruction. Insert this instruction into the program. When the program executes this
instruction, the robot will be in a pause state. If you want to continue running, click the "Pause/Resume" button in
the control area.

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Figure 4.7-4-8 Pause command interface

5.7.4.6 Dofile command

Click the "Dofile" icon to enter the Dofile command editing interface
The Dofile command calls the internal program of the controller. When using the Dofile command, the called
subroutine needs to be saved, and the main program does not need to be saved again if it has not changed. The
Dofile command supports two-level calls, and two parameter settings need to be paid attention to. One is the level
of the call, and the other is the ID number of the call. In principle, the same ID number cannot appear in the same
program.

Figure 4.7-4-9 Dofile command interface

5.7.4.7 Var command

Click the "Var" icon to enter the Var command editing interface
This command is a variable system command, which is divided into two parts: Lua variable definition, variable
query and Sys variable renaming, getting value, and setting value. Lua variable definition can declare a variable

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and assign an initial value, and cooperate with while, if-else and other commands Use the Lua variable query
command to query the value of the input variable name in real time and display it in the status bar. The number of
Sys variables is fixed, and you can rename them, get variable values, and set variable values. The values stored in
this variable will not be cleared when the system is turned off.

Figure 4.7-4-10 Var command interface

5.7.5 Motion command interface

Figure 4.7-5 Motion command interface

5.7.5.1 PTP command

Click the "PTP" icon to enter the PTP command editing interface.
You can choose the point to be reached, and the smooth transition time setting can realize that the movement from
this point to the next point is continuous. Whether to set the offset, you can choose to offset based on the base
coordinate system and based on the tool coordinates, and pop up x, y, z, rx, ry, rz offset settings, PTP specific path
is the optimal path automatically planned by the motion controller, click "Add" and "Apply" to save this command.

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Figure 4.7-5-1 PTP command interface

5.7.5.2 Lin command

Click the "Lin" icon to enter the Lin command editing interface.
The function of this command is similar to the "PTP" command, but the path of the point reached by this command
is a straight line.

Figure 4.7-5-2 Lin command interface

5.7.5.3 Arc command

Click the "Arc" icon to enter the Arc command editing interface.
The "Arc" command is arc movement, which includes two points. The first point is the transition point in the
middle of the arc, and the second point is the end point. Both the transition point and the end point can be set to
offset, and you can choose to base coordinate system offset Shift and offset based on tool coordinates, and pop up x,

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y, z, rx, ry, rz offset settings, and the end point can set a smooth transition radius to achieve continuous motion
effect.

Figure 4.7-5-3.7-6 Arc command interface

5.7.5.4 Circle command

Click the "Circle" icon to enter the Circle command editing interface.
The "Circle" command is a full circle movement, including two points. The first point is the middle transition point
1 of the full circle, and the second point is the middle transition point 2 of the full circle. The transition point 2 can
be set to be offset. Effective at transition point 1 and transition point 2.

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Figure 4.7-5-4 Circle command interface

5.7.5.5 Spiral command

Click the "Spiral" icon to enter the Spiral command editing interface
The "Spiral" command is a spiral motion, which includes three points, which form a circle. On the third point
setting page, there are several parameters including the number of spiral turns, attitude correction angle, radius
increment and rotation axis direction increment. Setting, the number of helix circles is the number of motion circles
of the helix, the attitude correction angle is the attitude at the end of the helix and the attitude of the first point of
the helix, the radius increment is the increment of the radius of each circle, and the direction of the rotation axis is
increased. The amount is the increment in the direction of the screw axis. set up Whether to offset, the offset takes
effect on the trajectory of the entire helix.

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Figure 4.7-5-5 Spiral command interface

5.7.5.6 N-Spiral command

Click the "N-Spiral" icon to enter the N-Spiral command editing interface
The "N-Spiral" command is an optimized version of the spiral motion. This command only needs one point plus
the configuration of various parameters to realize the spiral motion. The robot takes the current position as the
starting point, and the user sets the debugging speed, whether to offset, the number of spiral turns, the spiral
inclination, the initial radius, the radius increment, the rotation axis direction increment and the rotation direction.
The number of spiral turns is the helix. The number of motion circles, the helix inclination is the angle between the
Z axis of the tool and the horizontal direction, the attitude correction angle is the attitude at the end of the helix and
the attitude of the first point of the helix, the initial radius is the radius of the first circle, and the radius increment
That is, the increment of the radius of each circle, the increment in the direction of the rotation axis is the increment
in the direction of the screw axis, and the direction of rotation is clockwise and counterclockwise.

Figure 4.7-5-6 N-Spiral command interface

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5.7.5.7 Spline command

Click the "Spline" icon to enter the Spline command editing interface
The command is divided into three parts: the start of the spline group, the spline segment and the end of the spline
group. The start of the spline group is the start mark of the spline movement. The spline segment includes SPL,
SLIN and SCIRC segments. Click the corresponding icon to enter the command Add interface, the end of spline
group is the end sign of spline movement.

Figure 4.7-5-7 Spline command interface

5.7.5.8 N-Spline command

Click the "N-Spline" icon to enter the N-Spline command editing interface
This instruction is an optimization instruction for the Spline instruction algorithm, and will replace the existing
Spline instruction in the future. This instruction is divided into three parts: the start of the multi-point trajectory, the
segment of the multi-point trajectory and the end of the multi-point trajectory. The start mark, the multi-point
track segment is to set each track point, click the icon to enter the point adding interface, the end of the multi-point
track is the end mark of the multi-point track movement, here you can set the control mode and debugging speed,
the control mode is divided into For the given control point and the given waypoint.

Figure 4.7-5-8 N-Spline command interface

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5.7.5.9 Weave command

Click the "Weave" icon to enter the Weave command editing interface
The "Weave" command consists of two parts. In the first part, select the weaving number with configured
parameters, click "Start Weaving" and "Stop Weaving" and apply to add related commands to the program.

Figure 4.7-5-9 Weave command interface

Click "Configuration and Test" to configure the parameters of the weaving welding. After the configuration is
completed, the weaving welding track can be tested by starting the weaving test and stopping the weaving test.

Figure 4.7-5-10 Weave configuration and testing command interface

5.7.5.10 TPD command

Click the "TPD" button to enter the TPD command editing interface
In this command, the user first needs to have a recorded track.
About track recording: Before preparing to record the track, first save the starting point of the track. When the robot
is in the dragging mode, input the file name, select the period (assuming the value is x, that is, record a point every
x milliseconds, it is recommended to record a point every 4 milliseconds), the point starts recording, and the user
can drag the robot to specify Movement, after the recording is completed, click to stop recording, and the previous

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movement track of the robot can be saved. When a movement cannot be fully recorded, A reminder that the number
of recording points exceeds the limit is displayed, and the user needs to record the exercise in several times.
When programming, first use the PTP instruction to reach the starting point of the corresponding trajectory, then
select the trajectory in the TPD trajectory reproduction instruction, select whether it is smooth, set the debugging
speed, and click "Add" and "Apply" in sequence to insert the program. The trajectory loading command is mainly
used to pre-read the trajectory file and extract it into a trajectory command, which is better applied to the conveyor
belt tracking scene.
Note: For detailed operation of TPD, please refer to teaching programming function operation instruction module.

Figure 4.7-5-11 TPD command interface

5.7.5.11 Offset command

Click the "Offset" icon to enter the Offset command editing interface
This command is an overall offset command. Input each offset, add the opening command and closing command to
the program, and the motion command between the start and close will be offset based on the base coordinates (or
workpiece coordinates).

3.7-5-12 Offset command interface

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5.7.5.12 ServoCart command

Click the "ServoC" icon to enter the ServoCart command editing interface
ServoCart servo control (Cartesian space motion) command, which can control the robot motion through absolute
pose control or based on the current pose offset.

Figure 4.7-5-13 ServoCart command interface

Absolute pose control program example

In this example, x, y, z, rx, ry, rz (Cartesian position) are the current position of the robot. In addition, the user can
control the movement of the robot by reading the trajectory data file and sending the trajectory data through socket
communication.
Example of control program based on current pose offset (base coordinate offset):

5.7.5.13 Trajectory command

Click the "Trajectory" icon to enter the Trajectory command editing interface

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Figure 4.7-5-14 Trajectory command interface

5.7.5.14 TrajectoryJ command

Click the "TrajectoryJ" icon to enter the TrajectoryJ command editing interface
1.Trajectory file import function: select a local computer file to import to the robot control system
2.Track preloading: select the imported track file and load it by command
3.Trajectory movement: Send the robot movement through the combination command of the preloaded trajectory
file and the selected debugging speed
4.Print the track point number: print the track point number during the robot running track, so as to check the
progress of the current movement

Figure 4.7-5-15 TrajectoryJ command interface

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5.7.5.15 DMP command

Click the "DMP" icon to enter the DMP command editing interface.
DMP is a trajectory imitation learning method that requires prior planning of reference trajectories. In the
command editing interface , select the teaching point as the new starting point, click "Add" and "Apply" to save the
command. The DMP specific path is a new trajectory that mimics the reference trajectory with a new starting point.

Figure 4.7-5-16 DMP command interface

5.7.5.16 WPTrsf command

Click the "WPTrsf" icon to enter the WPTrsf command editing interface.
Select the workpiece coordinate system to be automatically converted, and click "Add" and "Apply" to save the
instruction. This instruction realizes automatic conversion of points in the workpiece coordinate system when
executing internal PTP and LIN instructions. Use the example area to show and prompt the correct combination of
instructions. After adding specific instructions, you can adjust the combination according to the actual scene.

Figure 4.7-5-17 WPTrsf command interface

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5.7.6 Control command interface

Figure 4.7-6 Control command interface

5.7.6.1 IO command
Click the "IO" icon to enter the IO command editing interface
The "IO" command is divided into two parts: setting IO (SetDO/SPLCSetDO) and getting IO (GetDI/SPLCGetDI).
"SetDO/SPLCSetDO" This command can set the specified output DO state, including 16 digital outputs of the
control box and 2 digital outputs of the tool. The state option "False" is closed, "True" is open, and whether to block
the option selects "blocked". "Indicates that the DO state is set after the movement stops, and selecting the
"non-blocking" option means that the DO state is set during the last movement. Selecting "Break" for the smooth
trajectory option means setting the DO state after the smooth transition radius ends, and selecting "Serious" means
setting the DO state during the smooth transition radius movement. When this instruction is added in the auxiliary
thread, whether the application thread needs to select yes, and other places use this instruction to select no. Click
"Add", "Apply" buttons.

Figure 4.7-6-1 SetDO command interface

In the "GetDI/SPLCGetDI" command, select the value of the port number you want to get, whether to block or not,

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select "block" to get the DI status after the movement stops, and select the "non-blocking" option to get the DI state
during the last movement. When this instruction is added in the auxiliary thread, whether application thread needs
to select yes, and other places use this instruction to select no. After selection, click "Add" and "Apply" buttons.

Figure 4.7-6-2 GetDI command interface

5.7.6.2 AI command
Click the "AI" icon to enter the AI command editing interface
In this instruction, it is divided into two functions: setting analog output (SetAO/SPLCSetAO) and obtaining analog
input (GetAI/SPLCGetAI).
"SetAO/SPLCSetAO" select the analog output that needs to be set, input the value that needs to be set, the range is
0-10, whether to block or not select "block" means to set the AO state after the movement stops, select "non-block"
means to set the AO state after the last movement Set the AO state in the process. When this instruction is added in
the auxiliary thread, whether the application thread needs to select yes, and other places use this instruction to
select no. Click "Add", "Apply" buttons.

Figure 4.7-6-3 SetAO command interface

"GetAI/SPLCGetAI" selects the analog input that needs to be obtained, whether to block or not selects "blocked" to
obtain the AI state after the movement stops, and selects the "non-blocked" option to obtain the AI state during the

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last movement. When this instruction is added in the auxiliary thread, whether the application thread needs to select
yes, and other places use this instruction to select no. Click "Add", "Apply" .

Figure 4.7-6-4 GetAI command interface

5.7.6.3 Vir-IO command

Click the "Vir-IO" icon to enter the Vir-IO command editing interface
This command is a virtual IO control command, which can realize the setting of the simulated external DI and AI
status, and obtain the simulated DI and AI status.

Figure 4.7-6-5 Vir-IO command interface

5.7.6.4 Aux-IO command

Click the "Aux-IO" icon to enter the Aux-IO command editing interface
Aux-IO is the instruction function for the robot to communicate with the PLC to control the external expansion IO.

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It is necessary for the robot to establish UDP communication with the PLC. On the basis of the original 16-channel
input and output, 128-channel input and output can be expanded. The usage of this command is the same as that
mentioned above. IO usage is similar. There are certain technical difficulties in using this function, please contact
us for consultation beforehand.

Figure 4.7-6-6 Aux-IO command interface

5.7.6.5 MoveDO command

Click the "MoveDO" icon to enter the MoveDO command editing interface
This command realizes the function of outputting DO signal continuously according to the set interval during the
linear motion.

Figure 4.7-6-7 MoveDO interface

5.7.6.6 ToolList command

Click the "ToolList" icon to enter the ToolList command editing interface
Select the tool coordinate system name and click "Apply" to add this command to the program. When the
program runs this statement, the tool coordinate system of the robot will be set.

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Figure 4.7-6-8 ToolList command interface

5.7.6.7 Mode command

Click the "Mode" icon to enter the Mode command editing interface
This command can switch the robot to manual mode, and is usually added at the end of a program so that the user
can automatically switch the robot to manual mode and drag the robot after the program runs.

Figure 4.7-6-9 Mode command interface

5.7.6.8 Collision command

Click the "Collision" icon to enter the Collision command editing interface
This command is used to set the collision level. Through this command, the collision level of each axis can be
adjusted in real time during program operation, and the application scenario can be deployed more flexibly.

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Figure 4.7-6-10 Collision command interface

5.7.6.9 Acc command

Click the "Acc" icon to enter the Accelerate command editing interface
The Acc command is to realize the function that the acceleration of the robot can be set separately. By adjusting
the acceleration scaling factor of the motion command, the acceleration and deceleration time can be increased or
decreased, and the beat time of the robot action can be adjusted.

Figure 4.7-6-11 Acc command interface

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5.7.7 Peripheral Command Interface

Figure 4.7-7 Peripheral Command Interface

5.7.7.1 Gripper command

Click the "Gripper" icon to enter the Gripper command editing interface
In this command, it is divided into the gripper motion control command and the gripper activation/reset command.
In the gripper control command, the number of the gripper that has been configured and activated is displayed. The
user can edit through the edit box, or slide the slider to The required value is used to complete the setting of jaw
opening and closing, opening and closing speed and opening and closing torque. Blocking means that the gripper
moves in parallel with the previous movement command. Click the "Add" and "Apply" buttons to save the set
value to the teaching file. The gripper reset/activation command displays the number of the grippers that have
been configured, and the reset/activation command can be added to the program.

Figure 4.7-7-1 Gripper command interface

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5.7.7.2 Spray command

Click the "Spray" icon to enter the Spray command editing interface
This command is a spraying-related command, which controls the spray gun to "start spraying", "stop spraying",
"start cleaning the gun" and "stop the light gun". When editing the program command, it is necessary to confirm
that the peripherals of the spray gun have been configured. For details, see the chapter on peripherals of the robot.

Figure 4.7-7-2 Spray command interface

5.7.7.3 EAxis command

Click the "EAxis" icon to enter the EAxis command editing interface, Select the combination mode: controller +
servo drive (485) / controller + PLC (UDP).
Select controller + PLC(UDP),this command is used in combination with the PTP command for scenarios using
external axes, and can decompose the movement of a point in space in the X-axis direction to the movement of
external axes. Select the external axis number, select synchronous motion mode, select the point to be reached, and
click "Add" and "Apply" to save the command.

Figure 4.7-7-3 EAxis command interface

Select controller + servo drive(485),This command can configure the extended axis parameters. Set different

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parameters according to different control modes. The zero point of the configured expansion axis can be set.

Figure 4.7-7-4 Servo command interface

5.7.7.4 Convey command

Click the "Convey" icon to enter the Convey command editing interface
This command includes four commands: position real-time detection, IO real-time detection, tracking on and
tracking off. See Robot Peripherals chapter for details.

Figure 4.7-7-5 Conveyor command interface

5.7.7.5 Polish command

Click the "Polishing" icon to enter the Polish command editing interface
This command can set the rotation speed, contact force, extension distance and control mode of the grinding
equipment.

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Figure 4.7-7-6 Polish command interface

5.7.8 Welding command interface

Figure 4.7-8 Welding command interface

5.7.8.1 Weld command

Click the "Weld" icon to enter the Weld command editing interface
This command is mainly used for welding machine peripherals. Before adding this command, please confirm
whether the welding machine configuration is completed in the user peripherals. For details, see the chapter on
robot peripherals.

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Figure 4.7-8-1 Weld command interface

5.7.8.2 Segment command

Click the "Segment" icon to enter the Segment command editing interface
This instruction is a special instruction for welding, mainly used in the intermittent welding scene where one
section is welded and one section is not welded. Between the start point and the end point, use this command to
select the start point and endpoint, set the debugging speed, set the DO port for arc start, the execution length, the
non-execution length, set the function mode according to the actual application scene, swing selection and rounding
rules. Realize segment welding function.

Figure 4.7-8-2 Segment command interface

5.7.8.3 Laser command

Click the "Laser" icon to enter the Laser command editing interface
This command includes three parts: laser command, tracking command and positioning command. Before adding
this command, please confirm whether the laser tracking sensor in the user peripheral has been configured

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successfully. See Robot Peripherals chapter for details.

Figure 4.7-8-3 Laser command interface

5.7.8.4 LT-Rec command

Click the "LT-Rec" icon to enter the LT-Rec command editing interface
This command realizes the function of taking out the starting point and end point of laser tracking recording, so that
the robot can automatically move to the starting point position, which is suitable for the occasion where the
movement starts from the outside of the workpiece and laser tracking recording is performed. At the same time, the
host computer can obtain the information of the starting point and end point in the recorded data. for follow-up
exercise.
Realize the adjustable function of laser tracking and reproduction speed, so that the robot can record at a very fast
speed, and then reproduce according to the normal welding speed, which can improve the working efficiency.

Figure 4.7-8-4 LT-Rec command interface

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5.7.8.5 W-Search command

Click the "W-Search" icon to enter the W-Search command editing interface
This command is a welding wire positioning command, including three commands of start of positioning, end of
positioning and calculation of offset. This command is generally used in welding scenes and requires the
combination of welding machine and robot IO and motion commands.

Figure 4.7-8-5 W-Search command interface

In writing a program, usually first set the start command of the search, and then add two LIN instructions to
determine the direction of the search. After the search is successful, obtain the calculated offset, and pass the
offset through the overall offset command. To take effect into the real welding motion command, the program
example is as follows.

Figure 4.7-8-6 W-Search example(1D)

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5.7.8.6 Weld-Trc command

Click the "Weld-Trc" icon to enter the Weld-Trc command editing interface
This command realizes the robot seam tracking and uses the deviation detection of the welding seam to compensate
the trajectory, and the arc sensor can be used to detect the seam deviation.

Figure 4.7-8-7 Weld-Trc command interface

5.7.8.7 Adjust command

Click the "Adjust" icon to enter the Adjust command editing interface
This command adaptively adjusts the posture of the welding torch for the scene of welding tracking. After
recording the three corresponding posture points, add the posture adaptive adjustment command according to the
actual direction of the robot's movement. See Robot Peripherals chapter for details.

Figure 4.7-8-8 Adjust command interface

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5.7.9 Force control command interface

Figure 4.7-9 Force control command interface

5.7.9.1 F/T command

Click the "F/T" icon to enter the F/T command editing interface
The instruction includes FT_Guard (collision detection), FT_Control (constant force control), FT_Spiral (spiral in-
sertion), FT_Rot (rotation insertion), FT_Lin (linear insertion), FT_FindSurface (surface positioning),
FT_CalCenter (center positioning) seven instructions, detailed See Robot Peripherals chapter.

Figure 4.7-9-1 F/T command interface

5.7.9.2 Torque command

Click the "Torque" icon to enter the Torque command editing interface

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This command is a torque recording command, which realizes the real-time torque recording collision detection
function. Click the "Torque Record Start" button to continuously record the collision situation during the operation
of the motion command, and the recorded real-time torque is used as the theoretical value of the collision detection
judgment to reduce the probability of false alarms. When the set threshold range is exceeded, the collision
detection duration is recorded. Click the "Torque Recording Stop" button to stop recording. Click "Torque
Record Reset" to return the status to the default state.

Figure 4.7-9-2 Torque command interface

5.7.10 Visual command interface

Figure 4.7-10 Visual command interface

5.7.10.1 3D command
Click the "3D" icon to enter the 3D command editing interface
This command generates commands for 3D vision program examples. Users can refer to the generated programs

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and communicate with other vision devices, including two program case references of camera calibration and
camera capture.

Figure 4.7-10-1 3D command interface

5.7.11 Palletizing command interface

Figure 4.7-11 Palletizing command interface

5.7.11.1 Pallet command

Click the "Pallet" icon to enter the Pallet command editing interface
This instruction generates instructions for the palletizing program, which is consistent with the matrix movement
function in Section 3.9.6. For details, refer to that chapter.

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Figure 4.7-11-1 Pallet command interface

5.7.12 Communication command interface

Figure 4.7-12 Communication command interface

5.7.12.1 Modbus command

Click the "Modbus" icon to enter the Modbus command editing interface
The command function is a bus function based on the ModbusTCP protocol. The user can control the robot to
communicate with the ModbusTCP client or server (the master station communicates with the slave station)
through relevant instructions, and perform read and write operations on coils, discrete quantities, and registers.
Example of modbus master reading coil

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Example of modbus master write coil

Modbus slave read and write coil example

For more operating functions of ModbusTCP, please contact us for consultation.

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5.7.12.2 Xmlrpc command

Click the "Xmlroc" icon to enter the Xmlrpc command editing interface
XML-RPC is a remote procedure call method for transferring data between programs using xml over sockets. In
this way, the robot controller can call the function (with parameters) in the remote program/service and obtain the
returned structured data. The Robot Controller handles all the details of writing XML-RPC client messages and
handling conversions between data types and XML.

Figure 4.7-12-1 Xmlrpc command interface

Important:
1) The controller acts as a client to connect to the remote custom port;
2) The controller acts as a client to call the remote function;
3) Support calling different remote functions;
4) Support string array parameter input and character array result return, the number of array elements can be
customized;
Support double-type array parameter input and double-type array result return, the number of array elements can be
customized;

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5.7.13 Auxiliary command interface

Figure 4.7-13 Auxiliary command interface

5.7.13.1 Thread command

Click the "Thread" icon to enter the Thread command editing interface
The Thread command is an auxiliary thread function. Users can define an auxiliary thread to run simultaneously
with the main thread. The auxiliary thread mainly performs data interaction with external devices, supports socket
communication, obtains robot DI status, robot DO status settings, and obtains robot status information. Thread data
interaction, the data obtained by the main thread through the auxiliary thread is used to control the judgment of the
robot's motion logic, the screenshot of the user program example:

Figure 4.7-13-1 Thread program example

5.7.13.2 Function command

Click the "Function" icon to enter the Function command editing interface

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This command is to call the function interface function, provide the robot interface function to the customer to
choose, and remind the customer of the parameters required by the function, which is convenient for the customer
to write script commands, and more functions are being added one after another.

Figure 4.7-13-2 Function command interface

5.7.14 Teaching program encryption

The teaching procedure is divided into a state of encryption and non-encryption. The encryption level is divided
into first-level encryption and secondary encryption. Among them, the level of first-level encryption is the highest,
and the secondary is second. All teaching programs are displayed and set in the form of program encryption
information in "System Settings - Custom Information". Encryption level descriptions are provided to the right of
the table.

Figure 4.7-55 Demonstration of teaching procedures

When the program is a first-level encryption state, after opening the program: the corresponding "export",
"preservation", "existing as", "copy", "cut", "delete", "delete", "delete", "delete", "delete" The buttons such as

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"upward", "downward" and "editing mode switching" will be grayed. Click the icon to be invalid and it will
prompt that the current program is in an encrypted state. The program "renamed" icon will hide. Add instruction
bars and program editing areas are invisible and prompts to be locked in first-level encryption.

Figure 4.7-56 Program first-level encryption interface

When the program is second-level encryption, after opening the program on the "Program Demonstration" page:
the corresponding "savings", "copy", "shear", "paste", "delete", "upper", "upper" in the operating bar The buttons
such as the "Move" will turn ashes. Click the icon to be invalid and it will prompt that the current program is
encrypted. The program "renamed" icon will hide. The adding instruction bar is not visible and prompts to be
locked in a secondary encryption. The program editing area can browse the reading program normally.

Figure 4.7-57 Program second-level encryption interface

Both first -level encryption and second -level encryption can use the "export" function. Verification operations
will be performed when importing. If the program of the same name is an encrypted file, the import operation
will be interrupted and indicated that the coverage of the encryption program cannot be introduced.

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Figure 4.7-58 Program import

5.7.15 Local teaching point

The local teaching point is bound to the current teaching program. When adding a program command, it can only
be applied to the current teaching program and cannot be used in other teaching programs.
Add: Click the "Add Local Teaching Point" icon on the far right of the program file name to add local teaching
points. (For detailed records of local teaching points, please refer to the teaching point records in robot operation)

Figure 4.7-59 Add local teaching points

Delete: Click the serial number column of the table to select the local teaching point to be deleted, and then click
the "Delete" icon in the upper right corner of the title of the local teaching point to delete the local teaching point.

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Figure 4.7-60 Delete local teaching point

Run: Click the "Start Running" icon in the data operation bar of the local teaching point table to perform a
single-point operation of the local teaching point and move the robot to the position of this point.

Figure 4.7-61 Run local teaching point

Details: Click the "Details" icon in the data operation bar of the local teaching point table to view the details of the
local teaching point.

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Figure 4.7-62 Local teaching point details

5.7.16 Current program backup

After the user modifies the teaching program and clicks save, the "backup" function of the current program is
triggered (the backup time is 1 year), and the initial content of the current program is saved and displayed on the
right side, which is convenient for the user to compare the modified content. Users can view the corresponding
program backup content by selecting a date, and click the "Delete" icon in the upper right corner to delete the
current program backup content. The content of the current program backup can only be viewed, not modified.

Figure 4.7-63 Current program backup

5.7.17 Graphical programming

Since the teaching pendant is generally not connected with peripherals such as a keyboard and mouse, when
accessing the robot WebAPP on the teaching pendant side, the user can edit the robot teaching program through the
graphical programming function. Functional standardization functions are implemented using the Blockly library,

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which can be integrated in the WebAPP system, and custom code blocks can be implemented as needed, and after
the drag-and-drop programming is completed, it is converted into a LUA program and issued and run through the
existing instruction protocol.
Through the use of graphic programming, it can be simple, easy to understand, easy to operate, and the language
can be operated in Chinese.

Figure 4.7-64 Graphical programming interface

The page is divided into three areas: "operation bar", "toolbox toolbar" and "workspace code editing area". The
overall layout design is as follows

Figure 4.7-65 Graphical programming page layout overall design

Operation bar The "Load" button is responsible for reloading the workspace, the function of the "Save" button is to
save the code block as the corresponding teaching program after editing, and the "Clear button" is responsible for
quickly clearing the code editing area;
Toolbox A code block containing all instructions and logic codes can be dragged to the workspace to create a code
block and edited; the Toolbox toolbar will be further classified according to the instruction type. Logical
instructions: if-else,while, print, etc.; basic motion instructions: PTP, LIN, ARC, etc.; instruction classification

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based on application scenarios: gluing, welding, conveyor belt, etc. You can easily find the required code block
during use.
Workspace Graphical code blocks can be edited and displayed in the code editing area.

5.7.17.1 Motion Graphical Programming Commands

Motion graphic programming commands include PTPLinARCand other motion commands.

Figure 4.7-66 Motion Graphical Programming

5.7.17.2 Control graphical programming commands

Control graphical programming commands include WaitIO and other commands.

Figure 4.7-67 Control graphical programming commands

5.7.17.3 Advanced graphical programming commands

Advanced graphical programming commands include dofilethreadfold command and other advanced commands.

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Figure 4.7-68 Advanced graphical programming commands

5.7.17.4 Example of using graphical programming commands

After selecting the graphical programming type, click the graphic code block you want to use, you can drag and
drop and stitch in the workspace.
For example, if you select PTP and Lin motion instructions and control commands Waitms for stitching, you can
also nest a folding advanced instruction on the outer layer and enter the comment name, which can realize the code
block folding operation. Click the drop-down box to select the command parameter type, and the input box can
fill in the command parameter data. Examples of graphical programming commands are as follows:

Figure 4.7-69 Example of using graphical programming commands

After the graphical programming instruction splicing and parameter filling is completed, fill in the name of the
workspace, and click the "Save" icon to save the program. Select the "Workspace" that has been written, click
Start Run, and you can execute this program.

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5.7.17.5 Modularization of graphical programming code blocks

In order to improve the readability of graphical programming codes, the modularization function of graphical
programming code blocks is added, that is, advanced instructions: folding instruction code blocks

Figure 4.7-70 Fold instruction code block

. 1.Write a code block instruction, add a folding instruction code block in the outer layer, and write the remarks of
the instruction in the input box.

Figure 4.7-71 Folding instruction rendering

. 2.Right-click "Collapse Block" in the right-click operation bar, this section of instruction code block is folded,
the code block is folded into one line and displayed, and the program can be executed correctly when folded.

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Figure 4.7-72 Effect picture after folding

3.Roll the mouse to realize the page zoom function, the specific effect is as follows:

Figure 4.7-73 Fold page zoom function effect diagram

5.7.18 Teaching management

Click "Teaching Management" to display all saved teaching point information. In this interface, you can import
and export teaching point files. After selecting a teaching point, click the "Delete" button to delete the point
information. The values of teaching points x, y, z, rx, ry, rz and v can be modified. Enter the modified value, check
the blue box on the left, and click the upper modification to modify the teaching point information. In addition,
users can search for teaching points by name.

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Figure 4.7-74 Teaching management interface

Details: Click the "Details" button to view the details of the teaching point.

Figure 4.7-75 Teach point details

Run: Click the "Start Run" button to perform a single-point operation of the local teaching point, and move the
robot to the position of this point.

Figure 4.7-76 Run teach point

Important: Modified values of the teaching points x, y, z, rx, ry, rz should not exceed the working range of robot.

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5.8 Status information

5.8.1 System log
Click the "System Log" button in the "Status Information" on the left menu bar to enter the log display interface.
The log records some important operation records of the teach pendant, such as the log-in person, the increase and
decrease of the teaching point, etc. After clicking to enter, the log records of the current day are displayed by
default. If you want to query the previous records, select the target in the "Date Selection" Date, the log record of
the current day will be displayed in real time below, and the number of log records can be set in the system settings
for details. When there is too much user log information, the user can Find relevant log information according to
the type.

Figure 4.8-1 System log interface

5.8.2 Status query

Click the "Status Query" menu in the left menu bar "Status Information" to enter the status query interface, as
shown in Figure 4.8-2 Status Query.

Figure 4.8-2 Status query

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Status query operation steps:

Step1: Click the "Figure" button to pop up the Figure setting pop-up box, as shown in Figure3.8-3Figure setting,
select Figure display query for the query type, select the parameters to be queried and the Figure in which the
parameters are placed in the Figure setting, and click the "Move Right" button The parameters can be configured in
the Figure. Click "Settings" to issue the setting Figure command. At present, only one table can contain up to four
parameters to be checked and one Figure can be set at most;

Figure 4.8-3 Figure settings

Step2: The trigger function does not need to be set temporarily, and the data can be queried by clicking the "Query"
button.

5.9 Auxiliary application

5.9.1 Robot packaging
Under the menu bar of "Robot Body" in "Auxiliary Applications", click the "Robot Packaging" button to enter the
robot's one-click packaging interface.
Important: Before operating the packaging function, please confirm the surrounding environment and status of the
robot to prevent collisions.
If it is shipped from the factory, go to System Settings - General Settings and restore the factory settings before
leaving the factory.
Step1: Move the robot to zero point before moving to the packing point
Step2: Click the "Move to Zero" button to confirm that the robot's mechanical zero point is correct and that the
gaps in the orange circles in the figure are aligned with each joint.
Step3Click the "Move to Packing Point" button, and the robot will move to the packaging point according to the
angles of each axis of the packaging process.

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Figure 4.9-1 Robot one-click packaging

5.9.2 System Upgrade

Under the menu bar of "Robot Body" in "Auxiliary Application",click the "System Upgrade" button to enter the
system upgrade interface. System upgrade is divided into software upgrade, driver upgrade and system shutdown.
Software upgrade Click "Upload File" under Software Upgrade, select the software.tar.gz upgrade package in the U
disk, click Upload Upgrade Package, and "Uploading. . . Upload Percentage" is displayed next to the upgrade
button. After the download of the background file is completed, the interface displays "uploading completed,
upgrading in progress", check the MD5 and version number of the file, after passing, decrypt and decompress the
upgrade file, and prompt "Upgrade is successful, please restart the control box!", if detected , unzip or other errors
occur, and "upgrade failed" is displayed next to the upgrade button.

Figure 4.9-2 System Upgrade

Important: The name of the software upgrade package is determined software.tar.gz. If the name of the upgrade

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package is inconsistent with it, the upgrade will fail. Just change it to the determined name of the upgrade package.
Firmware upgrade After the robot enters the BOOT mode, upload the upgrade compressed package, select the
slaves that need to be upgraded (control box slaves, main body drive slaves 1~6, and end slaves), perform the
upgrade operation, and display the upgrade status.

Figure 4.9-3 Firmware upgrade

Slave configuration file upgrade After the robot is disabled, upload the upgrade file, select the slaves that need to be
upgraded (control box slaves, main body drive slaves 1~6, and end slaves), perform the upgrade operation, and
display the upgrade status.

Figure 4.9-4 Slave configuration file upgrade

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5.9.3 Data backup

Under the menu bar of "Robot Body" in "Auxiliary Application", click "Data Backup" to enter the data backup
interface, as shown in 3.9-5.
The backup package data includes tool coordinate system data, system configuration files, teaching point data, user
programs, template programs and user configuration files. When the user needs to move the relevant data of this
robot to another robot, he can use this The function is realized quickly.

Figure 4.9-5 Data backup interface

5.9.4 10s data record

Under the menu bar of "Robot Body" in "Auxiliary Application", click "10s Data Recording" to enter the 10s data
recording function interface.
First, select the record type, which is divided into default parameter record and optional parameter record. The
default parameter record is the data automatically set and recorded by the system, and the optional parameter record
user can choose the parameter data to be recorded. The maximum number of parameters is 15. After selecting
the parameter list, select the record parameter and click the "Move Right" button to configure the parameter into the
parameter list. Click "Start Recording" to start recording data, click "Stop Recording" to stop recording data, and
click "Download Data" to download the data of the last 10 seconds.

Figure 4.9-6 10s data record

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5.9.5 Teach point configuration

Under the menu bar of "Robot Body" in "Auxiliary Application", click "Teaching Point Configuration" to enter the
teaching point configuration interface.
Before using the button box or other IO signals to record the teaching point function, the user first configures the
teaching point name prefix, the upper limit of the number and the teaching method. The name prefix supports two
modes: custom prefix and current program name as the prefix. For example, customize the name prefix "P",
number upper limit "3", teaching method "robot teaching", record the current end (tool) points of the robot in
sequence: P1, P2, P3, and record again will overwrite the previous record points.

Figure 4.9-7 Teach point configuration

5.9.6 Matrix move

Under the menu bar of "Robot Body" in "Auxiliary Application", click "Matrix Movement" to enter the matrix
movement configuration function interface.
This function controls the regular movement of the manipulator by setting the three-point coordinates and the
values of the row and column layer and layer height, which is suitable for common palletizing applications. The
first step is to select the robot movement mode, "PTP" or "Line", the second step is to set the robot movement path,
"head- to-tail walking method" or "bow walking method", the third step is to set the stacking method, "stack
stacking" or "unstacking" .

Figure 4.9-8 Matrix move

The fourth step is to teach three points according to the path. The first point is the starting point of the first row,

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and the arm posture is determined by this point during the whole movement process. The second point is the end
point of the first row, and the third point is the endpoint of the last row. The fifth step is to set the number of rows
and columns. The sixth step is to set the number of layers and the height of each layer. The last step is to name the
matrix motion program file, and a matrix movement program is generated successfully.

Figure 4.9-9 Matrix move

5.9.7 Work origin

Under the menu bar of "Robot Body" in "Auxiliary Application", click "Working Origin" to enter the working
origin configuration function interface.
This page displays the name and joint position information of the work origin. The work origin is named pHome.
Click "Set" to use the current robot pose as the work origin. Click "Move to this point" to move the robot to the
work origin. In addition, the configurable option of moving to the origin of the work is added in the DI
configuration, and the configurable option of reaching the origin of the work is added in the DO configuration.

Figure 4.9-10 Work origin

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5.9.8 Interference zone configuration

Under the menu bar of "Robot Body" in "Auxiliary Application", click "Interference Area Configuration" to enter
the interference area configuration function interface.
First of all, we need to configure the interference mode and the operation of entering the interference area. The
interference mode is divided into "axis interference" and "cube interference". When enabled, the activation sign
will be displayed. First, enter the interference zone motion configuration "continue motion" or "stop" .

Figure 4.9-11 Interference zone configuration

Next, set the configuration of dragging into the interference area. Users can set the strategy after entering the
interference area in drag mode according to their needs, without restricting dragging, impedance callback and
switching back to manual mode.

Figure 4.9-12 Interference area drag configuration

To select axis interference, you need to configure the parameters of axis interference. The detection method is
divided into two types: "command position" and "feedback position". The interference area mode is divided
into two types: "interference within the range" and "interference outside the range". Next Set the range of each joint
and whether each joint range is enabled, you can enter the value, or you can record the current position of the robot
through the "Robot Teaching" button, and finally click Apply.

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Figure 4.9-13 Axis interference configuration

To choose cube interference, you need to configure the parameters of cube interference. The detection method is
divided into two types: "command position" and "feedback position". The interference area mode is divided into
"interference within range" and "interference outside range". The system is divided into "base coordinates" and
"workpiece coordinates", which can be selected and set according to actual use. Next, set the range setting. The
range setting is divided into two methods. First, look at the first method "two-point method", which is composed of
two diagonal vertices of the cube. We can record the position through input or robot teaching. Finally click Apply.

Figure 4.9-14 Cube Interferometric Configuration

Next, look at the second method "center point + side length", that is, the center point of the cube and the side length

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of the cube form an interference area, and we can record the position through input or robot teaching. Finally click
Apply.

Figure 4.9-15 Cube Interferometric Configuration

5.9.9 Terminal LED configuration

Under the menu bar of "Robot Body" in "Auxiliary Application", click "End LED Configuration" to enter the end
LED color configuration function interface.
The configurable LED colors are green, blue and white cyan. Users can configure the LED colors of automatic
mode, manual mode and drag mode according to their needs. Different modes cannot be configured with the same
color.

Figure 4.9-16 Terminal LED configuration

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5.9.10 Peripheral protocol

Under the menu bar of "Robot Body" in "Auxiliary Application", click "Peripheral Protocol" to enter the peripheral
protocol configuration function interface.
This page is the configuration page for the peripheral protocol, and the user can configure the protocol according to
the currently used peripheral.

Figure 4.9-17 Peripheral Protocol Configuration

Add a lua interface for reading and writing registers based on Modbus-rtu communication in the program teaching,
input register address 0x1000, the number of registers is 50, a total of 100 bytes of data content; hold the register
address 0x2000, the number of registers is 50, a total of 100 bytes data content.

Program sample screenshot:

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Figure 4.9-18 Modbus-rtu communication lua program example

5.9.11 Main program configuration

Under the menu bar of "Robot Body" in "Auxiliary Application", click "Main Program Configuration" to enter the
main program configuration function interface.
The configuration of the main program can be used in conjunction with the DI configuration of the main program
startup. The configured main program needs to be trial run first to ensure safety. After configuring the
corresponding DI in the robot settings to start the main program signal function, the user can control the DI signal
to run the main program. .

Figure 4.9-19 Main program configuration

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5.9.12 Drag lock

Under the menu bar of "Robot Body" in "Auxiliary Application", click "Drag Lock" to enter the drag teaching lock
configuration function interface.
For drag teaching, the function of locking degrees of freedom is added. When the drag teaching function switch is
set to the enabled state, the parameters of each degree of freedom will take effect when the user drags the robot.
For example, when the parameter is set to X:10, Y:0, Z:10,RX:10, RY:10, RZ:10, dragging the robot in the drag
mode can restrict the robot to move only in the Y direction, if necessary Keep the posture of the robot unchanged
while dragging, and only move in X, Y, and Z directions. You can set X, Y, and Z to 0, and RX, RY, and RZ to 10.

Figure 4.9-20 Drag teach lock configuration

5.9.13 Welding Expert Library

Click the menu bar of "Welding Expert Library" in "Auxiliary Application" to enter the function interface of
welding expert library. The welding expert library is divided into four parts: weldment shape, part design, fixture
structure and configuration.
Click "Direct Welding" under "Weldment Shape" to enter the direct welding guidance interface. On the basis of the
configuration of the basic settings of the robot, we can quickly generate a welding teaching program through a few
simple steps. It mainly includes the following five steps. Due to the mutual exclusion between functions, the
actual steps to generate a welding teaching program are less than five steps.
Step 1, whether to use the extended axis, if the extended axis is used, the related coordinate system of the extended
axis needs to be configured and the extended axis should be enabled.

Figure 4.9-21 Extended axis configuration

Step 2: Calibrate the starting point, the starting point safety point, the end point, and the ending point safety point.
If the extended axis is selected in the first step, the extended axis movement function will be loaded to cooperate

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with the calibration of relevant points.

Figure 4.9-22 Calibration related points

Step 3, choose whether laser is needed, if yes, edit the parameters of the laser positioning command.

Figure 4.9-23 Laser positioning configuration

Step 4: Select whether weaving welding is required, and if weaving welding is required, you need to edit the
relevant parameters of weaving welding.

Figure 4.9-24 Weaving configuration

Step 5, name the program, and automatically open the program in the program teaching interface.

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Figure 4.9-25 Save program

Click "Arc Welding" under "Weldment Shape" to enter the arc welding guidance interface. On the basis of the
con- figuration of the basic settings of the robot, we can quickly generate a welding teaching program through two
simple steps. It mainly includes the following two steps.
Step 1: Calibrate the starting point, the starting point safety point, the arc transition point, the end point and the end
point safety point.

Figure 4.9-26 Calibration point

Step 2: Name the program and automatically open the program in the program teaching interface.

Figure 4.9-27 Save program

Click "Multi-layer multi-pass welding" under "Weldment shape" to enter the multi-layer multi-pass welding
guidance interface. After completing the configuration of various robot basic settings, we can quickly generate a

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welding teaching program through four simple steps. It mainly includes the following five steps.
Step 1. Set the first group of points according to the prompts, namely welding point, X+ point, Z+ point and
safety point.

Figure 4.9-28 First set of point settings

Step 2, the second group of point settings, you can set the type of path point, support straight line and arc path,
including welding point, X+ point and Z+ point.

Figure 4.9-29 Second set of point settings

Step 3: After setting all the group points, click "Finish" to enter the function page of each weld bead offset setting
function, and set the offset of the required weld bead in turn. The interface is shown in the figure below.

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Figure 4.9-30 Weld Bead Offset Setting

Step 4: After all the required weld bead parameters are set, click "Finish" to jump to the program generation page,
enter the file name, and the multi-layer multi-pass welding program can be generated, and then the user can open it
in the program teaching The program is debugged, and the interface is shown in the figure below.

Figure 4.9-31 Save program

5.9.14 Safe speed setting

Under "DI Configuration" in "Robot Settings", click the different DI drop-down boxes to configure the reduction
mode (level 1, level 2, level 3).
The joint speed and terminal TCP speed can be configured in the first-level and second-level reduction modes, and
the third-level reduction mode is to stop without configuring the speed.

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Figure 4.9-32 Safe speed setting

5.9.15 Security Wall Configuration

Under the menu bar of "Security Settings" in "Auxiliary Application", click "Security Wall Configuration" to enter
the security wall configuration function interface.
. Security Wall Configuration Click the enable button to enable the corresponding security wall. When the
security wall is not configured with a security range, an error will be prompted. Click the drop-down box, select
the security wall you want to set, and automatically bring out the security distance (you can not set it, the default
value is 0), and then click the "Setting" button to set it successfully.

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Figure 4.9-33 Security Wall Configuration

. Security Wall Reference Point Configuration After selecting a security wall, four reference points can be set.
The first three points are plane reference points, which are used to confirm the plane of the safety wall set. The
fourth point is the safety range reference point, which is used to confirm the safety range of the set safety wall.
Important: If the reference point is set successfully, the green light will be on. Otherwise, the yellow light is on.
It turns green until the reference point is set successfully. When the four reference points are all set successfully,
the safety range can be calculated, and the safety range parameter point status will return to the default after the
calculation is successful.

Figure 4.9-34 Safe range reference point setting

. Apply effects: The successfully configured security wall is enabled. Drag the robot, if the TCP at the end of the
robot is within the set safety range, the system is normal. If it is outside the set safety range, an error will be
prompted.

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Figure 4.9-35 The effect picture after the security range is set successfully

5.9.16 Security daemon

Under the menu bar of "Security Settings" in "Auxiliary Apps", click "Security Background Program" to enter the
security background program function interface.
The user clicks the "function enabled" button to open or close the setting of the security daemon. Select
"Unexpected Situation" and "Background Program", and click the "Settings" button to configure the parameters of
the unexpected situation handling logic.
Enable the security background program and set the unexpected scene and background program. When the user
starts to run the program and the unexpected situation matches the set unexpected situation, the robot will execute
the corresponding background program to play a role of security protection.

Figure 4.9-36 Security daemon

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5.10 System settings

5.10.1 General settings
Click "System Settings" on the left menu bar, and click "General Settings" on the secondary menu bar to enter the
general settings interface. The general setting can update the robot system time according to the current computer
time, so that the time of recording the log content is accurate.
Network settings can set controller IP, subnet mask, default gateway, DNS server and teach pendant IP (this IP is
valid when using our ERA-HMI teach pendant, and needs to be used when using ERA-HMI teach pendant
Configure the teaching pendant to be enabled), which is convenient for customers to use the scene.
Customers can choose the teaching pendant language as Chinese, English, French or Japanese according to their
needs. In addition, the language can be customized by the user. The user can translate the exported Chinese
language file, import the translated language file, and then choose to use the imported language file.
Users can set the number of retained logs and import and export the system configuration file. The maximum
number of retained logs is 30, and the system configuration file records the set value.
Restore factory settings under system recovery can clear user data and restore the robot to factory settings.
The slave station log generation and controller log export functions are to download some important status or error
record files of the controller, which is convenient for troubleshooting robot problems.

Figure 4.10-1 Schematic diagram of network settings

. Set ethernet Enter the IP of the network card that needs to communicate, subnet mask (linked with IP,
automatically filled), default gateway, and DNS server. The factory default IP of network card 0 network port:
192.168.57.2, the factory default IP of network card 1 network port: 192.168.58.2.
. Teach pendant enabled Controls whether the teach pendant is enabled. By default, the teach pendant is turned off,
and the device cannot be operated using the teach pendant. Click the slide switch button to enable the teach pendant
to operate the device.
. Access IP Select the network card associated with WebAPP and WebRecovery. When the teach pendant is en-
abled, WebAPP selects network card 1 by default, and network card 0 is not optional.
. Set network Click the "Set Network" button, prompting that the configuration is in progress. After the configu-
ration is complete, the device needs to be restarted.

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5.10.2 Account settings account settings

Click Account Settings on the secondary menu bar to enter the Account Settings interface. Account management
functions are only available to administrators. The function is divided into the following three modules:

5.10.2.1 User Management

User management page, used to save user information, you can add user ID, function, etc. The user can log in by
entering the existing user name and password in the user list.

Figure 4.10-2 User Management

. Add users Click the "Add" button, enter the job number, name, password and select the function.
Important: The job number can be up to 10-digit integer, and the job number and password are uniquely checked,
and the password is displayed in Braille. After the user is added successfully, you can enter the name and password
to log in again.

Figure 4.10-3 Add users

. Edit users When there is a user list, click the "Edit" button on the right, the job number and name cannot be

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modified, but the password and function can be modified, and the password also needs to be uniquely verified.

Figure 4.10-4 Edit users

. Delete users The deletion methods are divided into single deletion and batch deletion.
1.Click the single "Delete" button on the right side of the list, and it will prompt "Please click the delete button
again to confirm deletion", and click the list again to delete successfully.
2.Click the check box on the left, select the users to be deleted, and then click the batch "Delete" button at the top
of the list twice to delete.
Important: The initial user 111 and the current login user cannot be deleted.

Figure 4.10-5 Delete users

5.10.2.2 Authority management

Important: Default function data (function code 1-6) cannot be deleted, and the function code cannot be modified,
but the function name and function description can be modified and the authority of the function can be set.

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Figure 4.10-6 Authority management

There are six functions by default, administrators have no function restrictions, operators and monitors can use a
small number of functions, ME engineers, PE&PQE engineers and technicians & team leaders have some function
restrictions, administrators have no function restrictions, the specific default permissions are shown in the
following table:
Important: Default permissions can be modified

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Table 4.10-1 Permission details

. Add function: Click the "Add" button, enter the function code, function name and function description, click the

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"Save" button, and return to the list page after success. Among them, the function code can only be an integer
greater than 0 and cannot be the same as the existing function code, and all input items are required.

Figure 4.10-7 Add function

. Edit function name and description: Click the "Edit" icon in the table operation bar to modify the function
name and function description of the current function. After the modification is completed, click the "Save"
button below to confirm the modification.

Figure 4.10-8 Edit function name and description

. Set function permissions: Click the "Settings" icon in the table operation bar to set the permissions of the
current function. After setting, click the "Save" button below to confirm the settings.

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Figure 4.10-9 Set function permissions

. Delete function: Click the "Delete" icon in the table operation bar, firstly, it will check whether the current
function is used by a user, if no user uses it, the current function can be deleted, otherwise it cannot be deleted.

Figure 4.10-10 Delete function

5.10.2.3 Import/Export

Figure 4.10-11 Account settings import/export

. Import: Click the "Import" button to import user management and rights management data in batches.
. Export: Click the "Export" button to export the data of user management and rights management in batches.

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5.10.3 About
Click About on the secondary menu bar to enter the About interface. This page shows the model and serial number
of the robot, the web version and control box version used by the robot, hardware version and firmware version.

Figure 4.10-12 About Schematics

5.10.4 Custom information

Click the custom information of the secondary menu bar to enter the custom information interface. Custom
information functions can only be used by administrators. This page can upload user information packages, custom
robot models, and setting teaching program encryption status.

Figure 4.10-13 Custom information schematic diagram

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5.10.4.1 Parameter range configuration

Parameter range configuration, only the administrator can adjust the parameter range, and the parameters of other
authorized members can only be set within the parameter range set by the administrator.
There are two ways to set parameters: slider dragging and manual input.
Important: Maximum value of parameter range must be greater than the minimum value. 3 seconds after parameter
range is successfully configured, it will automatically jump to the login page, and you need to log in again.

Figure 4.10-14 Schematic diagram of parameter range configuration

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Chapter 6 Peripheral
6.1 Gripper Peripheral Configuration
6.1.1 Gripper program teaching steps
Step1Select the "End Peripheral Configuration" button in the user peripheral configuration interface, and select
"Grip- per Device" for the device type. The configuration information of the gripper is divided into gripper
manufacturer, gripper type, software version and mounting location. Specific production requirements to configure
the corresponding jaw information. If the user needs to change the configuration, first select the corresponding
gripper number, click the "Clear" button to clear the corresponding button, and reconfigure according to the needs;

Figure 5.1-1 Gripper Jaw Configuration

Important: The corresponding gripper should be inactive before clicking Clear Configuration.
Step2: After the gripper configuration is completed, the user can view the corresponding gripper information in the
gripper information table at the bottom of the page. If configuration errors are found, click the "Reset" button to
reconfigure the grippers;

Figure 5.1-2 Gripper configuration information

Step3Select the configured gripper and click the "Reset" button. After the page pops up and the command is
successfully sent, click the "Activate" button to check the activation status in the gripper information table to
determine whether the activation is successful;
Important: When the gripper is activated, the gripper must not have a gripping object
Step4Select the "Gripper" command in the program teaching command interface. In the gripper command interface,
the user can select the number of the gripper to be controlled (the gripper that has been configured and
activated),and set the corresponding opening and closing state, opening and closing speed, and the maximum
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opening and closing torque that have been waiting for the gripper to move. time. After completing the settings,
click Add Application. Additionally, gripper activation and reset commands can be added to deactivate/reset the
gripper while running a program.

Figure 5.1-3 Gripper Command Edit

6.1.2 Gripper program teaching

S/N Instruction format notes
1 PTP(template2,100,-1,0) #Waiting for Pinch point
2 PTP(template1,100,-1,0) #Pinch point
3 MoveGripper(1,255,255,0,1000,0) #Clamping jaws closed
4 PTP(template2,100, -1,0) /
5 PTP(template3,100, -1,0) #Waiting for placement point
6 PTP(template3,100, -1,0) #Placement point
7 MoveGripper(1,0,255,0,1000,0) #Clamping jaws open

6.2 Spray gun peripheral configuration

6.2.1 Spray gun peripheral configuration steps
Step1: Select the "Spray Gun Configuration" button in the user peripheral configuration interface, and the user can
quickly configure the DO required for spraying through the one-key configuration button of the spraying function
(the default configuration DO10 is spraying start and stop, and DO11 is spraying cleaning gun). Users can also
customize DO according to their own needs in the "IO Configuration" interface;
Important: Before using the spraying function, it is necessary to establish the corresponding tool coordinate
system first, and apply the established tool coordinate system during program teaching.
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Step2: After the configuration is complete, click the four buttons "Start Spraying", "Stop Spraying", "Start
Cleaning the Gun" and "Stop Cleaning the Gun" to debug the spray gun;

Figure 5.2-1 Gun Configuration

Step3:Select the "spray" command on the program teaching command interface. According to the specific
program teaching requirements, add and apply four commands "start spraying", "stop spraying", "start cleaning the
gun" and "stop cleaning the gun" in the corresponding places.

Figure 5.2-2 Spray Gun Command Editing

6.2.2 Spray program teaching

S/N Instruction format notes
1 Lin(template1,100,-1,0,0) #Start spraying point
2 SprayStart() #Start painting
3 Lin(template2,100,-1,0,0) #Spray path
4 Lin(template3,100,-1,0,0) #Stop spraying point
5 SprayStop() #Stop spraying
6 Lin(template4,100,-1,0,0) #Gun cleaning point
7 PowerCleanStart() #Start to clean the gun
8 WaitTime(5000) #Cleaning time ms
9 PowerCleanStop() #Stop gun cleaning

6.3 Peripheral configuration of welding machine

6.3.1 Peripheral configuration of welding machine
Step1:In the user peripherals configuration interface, select the "welding machine configuration" button, and users
can configure the IO buttons of the welding machine by selecting the IO type and "Controller I/O" to quickly
configure the DI and DO required by the welding machine (the default configuration is DI12 for arc start success
signal, DO9 for gas supply signal, and DO10 for gas supply signal). Arc signal, DO11 jog wire feeding, DO12
reverse wire feeding, DO13 JOB selection 1, DO14 JOB selection 2, DO15 JOB selection 3). Users can also
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customize the configuration in the "IO Configuration" interface according to their own needs; or select "Extended
I/O", configure the "Welder preparation" and "Arc start success" of the extended DI, and the "Welder starting arc",
"Gas detection", "Forward" and "Reverse" of the DO Send wire;

Figure 5.3-1 I/O configuration(Controller I/O)

Figure 5.3-2 I/O configuration(Extended I/O)

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Important: Before using the welding machine function, it is necessary to establish the corresponding tool
coordinate system first, and apply the established tool coordinate system during program teaching. The welder
function is often used in conjunction with a laser tracking sensor.
Step2:After the configuration is complete, select the number, set the waiting time, and click the six buttons of "arc
end", "arc start", "gas", "gas off", "forward wire feed" and "reverse wire feed" to proceed welding machine
debugging;

Figure 5.3-3 Welding machine configuration

Step3:Select the "Weld" command on the program teaching command interface. According to the specific
program teaching requirements, add and apply the "End arc", "Arc", "Gas OFF", "Gas ON", "Stop forward",
"Forward", "Stop reverse" and "Reverse" instructions in the corresponding places.

Figure 5.3-4 Welding Machine Command Editing

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6.3.2 Welding program teaching

S/N Instruction format notes

1 ARCEND(0,0,10000) End arc
2 ARCStart(0,0,10000) Arc
3 SetAspirated(0,0) Gas OFF
4 SetAspirated(0,1) Gas ON
5 SetForwardWireFeed(0,0) Stop forward
6 SetForwardWireFeed(0,1) Forward
7 SetReverseWireFeed(0,0) Stop reverse
8 SetReverseWireFeed(0,1) Reverse

6.3.3 Arc interruption parameter configuration

Arc interruption parameter configuration can obtain and set arc interruption detection enable and confirmation
duration.
Welding interruption and resumption parameter configuration can obtain and set the welding interruption and
reconnection enable, the weld bead overlap distance, the speed of returning to the arc starting point from the current
position, and the operating mode.

Figure 5.3-5 Arc interruption parameter configuration

When a welding interruption occurs, a warning prompts that the current welding has been interrupted, and "exit
interruption" and "interruption recovery" operations can be performed.

6.4 Sensor Peripheral Configuration

6.4.1 Sensor Peripheral Configuration Steps
Step1:Select the "Sensor Configuration" button in the user peripheral configuration interface. This section takes

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the end of the robot as an example. The user first sets the maximum difference. The maximum difference of the
sensor scanning deviation points is recommended to be set to 4 by default. Data processing is based on actual use.
The scene selects raw data or YZ data. The controller IP defaults to 192.168.57.2, the sensor IP can be configured
on the same network segment, the port is 5020, and the sampling period is recommended to be 25. The
communication protocol is currently adapted to the Ruiniu communication protocol, just load the corresponding
protocol. After the loading is complete, the sensor can be tested by pressing the "Sensor On" and "Sensor Off"
buttons.

Figure 5.4-1 Laser tracking sensor IP configuration

Important:
1. Before using the sensor function, it is necessary to establish the corresponding tool coordinate system first, and
apply the established tool coordinate system during program teaching. The welder function is usually used with
sensors.
2. The maximum difference of the sensor is the maximum deviation between the laser scanning weld position at
the previous moment and the current moment, the range is [0~10], the unit is mm, and the recommended value is 4.
Step2: Calibration sensor reference point.
In the tool coordinate system setting function, we calibrate the sensor type tool and use the six-point method to
configure the sensor coordinate system. Select a fixed point in the robot workspace, move the sensor center point to
the selected point from three different angles, and set points 1, 2, and 3 respectively. Move the sensor center point
vertically directly above the selected point and record point 4. Move the sensor center point from a fixed point to
a point in the X-axis direction of the sensor coordinate system, and set point 5. Return to the fixed point, move
vertically upwards, and move the sensor center point from the fixed point to a point in the Z-axis direction of the
sensor coordinate system, and set it as point 6. Click Calculate to get the pose of the sensor tool, and click Apply to
complete.

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Figure 5.4-2 Reference Point Configuration - Six Point Method

Eight point method In the tool coordinate system setting function, we calibrate the sensor type tool, use the
eight-point method to configure the sensor coordinate system, select the eight-point method, move the sensor laser
line to coincide with the calibration line on the calibration board, and keep the sensor and the calibration line as
close as possible Closer distance and the calibration point is recognized, record point 1, move about 20mm in the
-y/+y direction, adjust the robot so that the laser recognizes the calibration point, record point 2, move about 20mm
in the -x/+x direction, and adjust the robot so that the laser Recognize the calibration point, record point 3, move
about 20mm in the -y/+y direction, adjust the robot so that the laser recognizes the calibration point, record point 4,
move about 5mm in the -rx direction, adjust the robot so that the laser recognizes the calibration point, and record
the point 5. Move about 5mm in the -ry direction, adjust the robot so that the laser recognizes the calibration point,
record point 6, move about 5mm in the -rz direction, adjust the robot so that the sensor recognizes the calibration
point, record point 7, move about 5mm in the -rz direction, and adjust the robot so that Laser recognition to the
calibration point, record point 8. Click Calculate to get the sensor pose, click Apply to complete.

Figure 5.4-3 Reference Point Configuration - Eight Points Method

Five point method In the tool coordinate system setting function, we calibrate the sensor type tool and use the five-
point method to configure the sensor coordinate system. First, determine a fixed point, align the end of the tool

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with this point, record point 1, and then adjust the posture of the robot so that the laser recognizes Record fixed
points, respectively record points 2 to 5, and note that the attitude change needs to be as large as possible. Click
Calculate to get the sensor pose, click Apply to complete.

Figure 5.4-4 Reference Point Configuration - Five Points Method

6.4.2 Laser sensor tracking function

Command description: Select the "Laser" command on the program teaching command interface. It integrates
laser- related instructions. According to the specific program teaching requirements, add instructions in the
corresponding places. Refer to the program example below.

Figure 5.4-5 Laser Tracking Command Editing

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program example
S/N Instruction format notes
1 LTLaserOn(2) #Turn on the sensor
2 PTP(template1,100,-1,0) #Sensor starting point
3 LTSearchStart(1,20,100,10000,2) #Start searching
4 LTSearchStop() #Stop searching
5 Lin(seamPos,20,-1,0,0,0) #Start of weld
6 LTTrackOn(2) #Laser tracking
7 ARCStart(0,10000) #Arc striking of welder
8 Lin(SeamEnd11,10-1,0,0) #End of weld
9 ARCEnd(0,10000) #Arc extinguishing of welder
10 LTTrackOff() #Sensor tracking off
11 LTLaserOff() #Turn off the sensor

6.4.3 Laser sensor trajectory reproduction function

Command description: Select the "LT-Rec" command on the program teaching command interface. This instruction
is mainly used for obtaining the starting point and end point of the laser recognition path and reappearing the
trajectory. According to the specific program teaching requirements, add instructions in the corresponding places.
Refer to the program example below.

Figure 5.4-6 Editing of track reappearance command

Program example:
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S/N Instruction format notes

1 PTP(template1,100,-1,0) #Move to starting point
2 LaserSensorRecord(2,0,30) #Sensor start recording
3 Lin(template2,100,-1,0,0) #Move to the end
4 LaserSensorRecord(0,0,30) #Stop recording
5 pos={} #Initialize array
6 pos=GetWeldTrackingRecor #Start point for obtaining laser record
7 If type(pos) == "table" then #Judge data type
8 LaserPTP(#pos,pos) #Move to the starting point of the laser track
9 end /
10 LaserSensorRecord(3,0,30) #Set Recurrence Track
11 MoveLTR() #Start reproducing track
12 LaserSensorRecord(0,0,30) #End

6.5 Extended Axis Peripheral Configuration

Select the "Extended Axis" button in the user peripheral configuration interface to enter the extended axis interface,
and select the combination method to configure the corresponding extended axis peripherals. Combination
methods are divided into: Controller + PLC (UDP) and Controller + Servo drive (485).

6.5.1 Configuration steps of Controller + PLCUDP

Step1:First configure expansion axis UDP communication. Set IP address, port number and communication cycle.

Figure 5.5-1 Extended axis communication configuration

Step2: Select the extended axis number 1, and click the "Parameter Configuration" button to enter the right
interface. Set the axis type, axis direction, running speed, acceleration, forward limit, reverse limit, lead, encoder
resolution, starting point offset, manufacturer, model and mode, and click Configure to complete the configuration.

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Figure 5.5-2 Extended axis parameter configuration

Important: Before using the extended axis function, it is necessary to establish the corresponding extended axis
coordinate system, and apply the established tool coordinate system during program teaching. The extended axis
function is mainly used in conjunction with the welder function and the laser tracking sensor function.
Step3:Click the "Zero Setting" button to enter the zero setting pop-up window, as shown in the picture on the right.
Set the zero return method, zero search speed, zero hoop speed and axis direction, click the "Setting" button, the
extended axis will start to return to zero, the zero return status will be displayed in the blank space below the axis
direction, when "zero return completed" appears ,indicates that the zero point of extension axis is set successfully.

Figure 5.5-3 Extended axis zero point setting

Step4:Select the number of the extended axis whose parameters have been configured, click "Servo Enable", set
the running speed, acceleration and the maximum distance of a single run, and test the extended axis for forward
rotation and reverse rotation.

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Figure 5.5-4 Extended Axis Test

Step5The extension axis is usually used in conjunction with the laser sensor. At this time, the laser sensor is
usually installed externally. The sensor reference point configuration needs to be calibrated by the three-point
method instead of the six-point method used before. Align the center of the tool with the middle point of the bottom
of the right cross- section (the side close to the camera), set point 1, align the center of the tool with the middle
point of the bottom of the other cross-section, which is the middle point of the left cross-section, set point 2, and set
the center of the tool with Move the point to the middle point of the upper edge of the cross-section on the right
side of the sensor, set point 3, calculate and save, and click Apply to complete the three-point calibration.

Figure 5.5-5 Three-point sensor calibration

Step6Select the "EAxis" command on the program teaching command interface. According to the specific
program teaching requirements, add instructions in the corresponding places.

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Figure 5.5-6 Extended axis command editing

6.5.2 Controller + Servo drive (485)

Step1: First configure the parameters of the servo drive. Set the servo drive serial number, servo drive
manufacturer, servo drive model, servo drive software version, encoder resolution and mechanical transmission
ratio. Click the "Clear" button to clear the configuration of the current servo drive number. After successful
configuration, obtain the servo drive configuration list data.

Figure 5.5-7 Configure servo drive parameters

Step2: Before debugging the servo drive, be sure to set the servo drive number first, and then set the control mode
after the setting is successful. Set the homing method, homing speed and zero hoop speed. When selecting

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"Position Mode", set "Target Position" and "Running Speed"; select "Speed Mode" to set "Target Speed" .
Important: Before setting the control mode, if the servo is enabled, please disable it first, otherwise the setting
will not take effect.

Figure 5.5-8 Servo drive debugging

Step3: Select the "Extended Axis" command on the program teaching command interface. According to the
specific program teaching needs, add instructions in the corresponding places.

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Figure 5.5-9 Extended Axis Instruction Edit

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6.5.3 Extended axis with laser tracking welding teaching program

S/N Instruction format notes
1 EXT_AXIS_PTP(1,1,laserstart) #External axis movement laser sensor starting point
2 PTP(laserstart,10,-1,0) #Starting point of robot motion laser sensor
3 LTSearchStart(3,20,10,10000) #Start searching
4 LTSearchStop() #Stop searching
5 EXT_AXIS_PTP(1,1,seamPos) #Start point of external axis movement weld
6 Lin(seamPos,20,-1,0,0,0) #Start point of robot moving weld
7 LTTrackOn() #Laser tracking
8 ARCStart(0,10000) #Arc striking of welder
9 EXT_AXIS_PTP(1,1,laserend) #End point of external axis movement weld
10 Lin( laserend,10,-1,0,0) #End point of robot moving weld
11 ARCEnd(0,10000) #Arc extinguishing of welder
12 LTTrackOff #Laser tracking off

6.6 Conveyor Tracking Configuration

6.6.1 Conveyor Tracking Configuration Steps
Step1Select the "Conveyor Belt Tracking" button in the user peripheral configuration interface to enter the
conveyor belt tracking configuration interface, click the "Configure Conveyor Belt IO" button to quickly configure
the IO required for the conveyor belt function, and then configure the corresponding parameters according to the
actual use of the function. Here, there is no visual Take the tracking and grabbing function as an example, you need
to configure the conveyor belt encoder channel,resolution, lead, visual matching, select No, and click Configure.

Figure 5.6-1 Conveyor configuration

Step2Next, set the grab point compensation value, which is the compensation distance in the three directions of X,
Y, and Z, which can be set according to the actual situation during the debugging process.

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Figure 5.6-2 Conveyor Grab Point Compensation Configuration

Step3Turn on the conveyor belt, move the calibrated object to the defined point A, and stop the conveyor belt.
Move the robot, align the sharp point of the calibration rod at the end of the robot with the sharp point of the object
to be calibrated, click the start point A button, a dialog box will popup, displaying the current encoder value and
robot pose, and click Calibrate to complete the start point A calibration.

Figure 5.6-3 Starting Point A Configuration

Step4Click the reference point button to enter the reference point calibration. When recording the reference point,
record the height and attitude of the robot when it is grasping. Every time it tracks, it will track and grasp with the
height and attitude area of the recorded reference point. It can be different from the AB point. Click Calibrate
to complete the reference point calibration.

Figure 5.6-4 Reference point configuration

Step5:Turn on the conveyor belt, move the calibrated object to the defined point B, and stop the conveyor belt.

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Move the robot, align the sharp point of the calibration rod at the end of the robot with the sharp point of the object
to be calibrated, click the end point B button, a dialog box will pop up, displaying the current encoder value and
robot pose, click the calibration to complete the end point B calibration.

Figure 5.6-5 Terminal B configuration

6.6.2 Conveyor belt tracking teaching program

S/ Instruction format notes
N
1 PTP(conveyorstart,30,-1,0) #Robot grabbing starting point
2 While(1) do #Loop Grab
3 ConveyorIODetect(10000) #IO real-time detection of objects
4 ConveyorGetTrackData(1) #Object position acquisition
5 ConveyorTrackStart(1) #Conveyor tracking start
6 Lin(cvrCatchPoint,10,- 1,0,0) #Robot reaches the grab point
7 MoveGripper(1,255,255,0,10000) #Gripper claw grabs objects
8 Lin(cvrRaisePoint,10,- 1,0,0) #Robot lifting
9 ConveyorTrackEnd() #End of belt tracking
10 PTP(conveyorraise,30,- 1,0) #Robot arrives at holding point
11 PTP(conveyorend,30,-1,0) #Robot reaches the placement point
12 MoveGripper(1,0,255,0,10000) #Gripper release
13 PTP(conveyorstart,50,-1,0) #robot returns to starting point again and waits for the next capture
14 end #End

6.7 Attitude Adaptive Configuration

6.7.1 Attitude adaptive configuration steps
Step1: Select the "Tracking attitude configuration" button in the user peripherals configuration interface to enter
the attitude adjustment configuration interface, select the plate type and the actual working direction of the robot,
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adjust the robot attitude, and set the attitude point A, attitude point B and attitude point C respectively, usually A is
the attitude point of the plane, B is the attitude point of rising edge, and C is the attitude point of the falling edge.

Figure 5.7-1 Attitude Adjustment Configuration

Important: The attitude change between A posture and B posture, A posture and C posture is as small as possible
under the condition that the application requirements are met. The posture adaptive function is an auxiliary
application function, usually used in conjunction with seam tracking.
Step2: Select the "Adjust" command on the program teaching command interface. According to the specific
program teaching requirements, add instructions in the corresponding places.

Figure 5.7-2 Attitude Adjustment Command Edit

6.7.2 Laser Tracking Welding Program

S/N Instruction format notes
1 EXT_AXIS_PTP(1,1,laserstar) External axis movement laser sensor starting point
2 PTP(laserstart,10,-1,0) #Starting point of robot motion laser sensor
3 LTSearchStart(3,20,10,10000) #Start searching
4 LTSearchStop() #Stop searching

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5 EXT_AXIS_PTP(1,1,seamPos) #Start point of external axis movement weld

6 Lin(seamPos,20,-1,0,0,0) #Start point of robot moving weld
7 LTTrackOn() #Laser tracking
8 ARCStart(0,10000) #Arc striking of welder
9 PostureAdjustOn(0,PosA,PosC,PosB,1000) #Attitude adaptive adjustment on
10 EXT_AXIS_PTP(1,1,laserend) #End point of external axis movement weld
11 Lin( laserend,10,-1,0,0) #End point of robot moving weld
12 ARCEnd(0,10000) #Arc extinguishing of welder
13 PostureAdjustOff(0) #Attitude adaptive adjustment off
14 LTTrackOff #Laser tracking off

6.8 Force/Torque Sensor Peripheral Configuration

6.8.1 Force/Torque Sensor Configuration Steps
Step1: Select the "End Peripheral Configuration" button in the user peripheral configuration interface, and select
"Force Sensor Device" for the device type. The force sensor configuration information is divided into manufacturer,
type, software version and mounting location. Configure the corresponding force sensor information. If the user
needs to change the configuration, he can first select the corresponding number, click the "Clear" button to clear the
corresponding information, and reconfigure according to the needs;

Figure 5.8-1 Force/Torque Sensor Configuration

Important: The corresponding sensor should be inactive before clicking Clear Configuration.
Step2: After the configuration of the force sensor is completed, the user can view the corresponding force sensor
in- formation in the information table at the bottom of the page. If a configuration error is found, the user can
click the "Reset" button to reconfigure.

Figure 5.8-2 Force/Torque Sensor Configuration Information

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Step3Select the configured force sensor number and click the "Reset" button. After the page pops up and the
command is sent successfully, click the "Activate" button to check the activation status in the force sensor
information table to determine whether the activation is successful; in addition, the force sensor will There is an
initial value, and the user can select "zero point correction" and "zero point removal" according to the usage
requirements. The force sensor zero point correction needs to ensure that the force sensor is horizontal and vertical,
and the robot is not equipped with a load.
Step4After the configuration of the force sensor is completed, the sensor type tool coordinate system needs to be
configured, and the value of the sensor tool coordinate system can be directly input and applied according to the
distance between the sensor and the center of the end tool.

6.8.2 Force/Torque Sensor Load Identification

Specific attitude recognition: clear the end load data, configure the force sensor, establish the sensor coordinate
system, adjust the end attitude of the robot to be vertically downward, perform "zero point correction" and install
end load. First select corresponding sensor tool coordinate system, adjust the robot so that the sensor and tool are
vertically downward, record data, and calculate the quality. Next, adjust the three different postures of cobot, record
three sets of data respectively, calculate the center of mass, and click Apply after confirming that it is correct.
Dynamic identification After clearing the end load data and configuring the force sensor, establish the sensor
coordinate system, adjust the end posture of the robot to be vertically downward, perform "zero point correction"
and install the end load. Click "Identification On", drag the robot to move, and then click "Identification Off", the
load result can be automatically applied to the robot.

Figure 5.8-4 Force/Torque Sensor Load Identification

6.8.3 Force/Torque Sensor Assisted Drag

After the sensor is configured, it can be used with the sensor to better assist the dragging robot. When using it for
the first time, you can configure it according to the data in the picture on the right. After the application is
completed, you don't need to enter the drag mode at this time, and you can directly drag the end force sensor to
control the robot to move in a fixed posture.

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Figure 5.8-4 Force/Torque Sensor Drag Lock

Important: The adjustment coefficient is the softness coefficient, and the range is [0~3]. The larger the value, the
more detailed the softness effect. It is recommended to set a reasonable coefficient according to the actual situation,
and the generally recommended value is 1.

6.8.4 Force/Torque Sensor Collision Detection

Command description: "FT_Guard" command is a collision detection command. Select the corresponding sensor
coordinate system, check the effective torque direction detection, set the current value, the maximum collision
threshold and the minimum collision threshold. The normal range of the collision detection condition is (current
value-minimum threshold,current value+maximum threshold), set "Open"&"Close" commands on program.

Figure 5.8-5 FT_Guard Command Edit

Program example:
S/N Instruction format notes
1 FT_Guard(1,1,1,1,1,0,0,0,5,0,0,0,0,0,10,0,0,0,0,0,5,0,0,0,0,0) #Force/moment collision detection on
2 PTP(template1,100,-1,0) #Motion command
3 FT_Guard(0,1,1,1,1,0,0,0,5,0,0,0,0,0,10,0,0,0,0,0,5,0,0,0,0,0) #Force/moment collision detection off

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6.8.5 Force/Torque Sensor Force Control Motion

Instruction description: The "FT_Control" instruction is a force control motion instruction, which can make the
robot move near the set force, and is often used in grinding scenes. Select the corresponding sensor coordinate
system, check the effective torque direction detection, set the detection threshold, and the PID proportional
coefficient in each direction (generally set p to 0.001), set the maximum adjustment distance (corresponding to X, Y,
Z) and maximum adjustment angle (corresponding to RX, RY, RZ), add the "open" and "close" instructions to the
program.

Figure 5.8-6 FT_Control Command Edit

Program example:
S/N Instruction format notes
1 FT_Control(1,11,1,0,1,0,0,0,10,0,5,0,0,0,0.0001,0,0,0,0,0,0,0,0,10,5) #Force/torque motion control ON
2 Lin(template3,100,-1,0,0) #Motion command
3 FT_Control(0,11,1,0,1,0,0,0,10,0,5,0,0,0,0.0001,0,0,0,0,0,0,0,0,10,5) #Force/torque motion control off

6.8.6 Force/Torque Transducer Screw Insertion

Instruction description: The "FT_Spiral" instruction is a spiral line exploration and insertion, which is generally
used for the shaft hole assembly action of a cylindrical shaft. Before running the action, you need to drag the end
of the robot to the approximate position of the hole. According to the current scene, set the parameters of the
command and add it to the program. After running, the robot will explore in a spiral motion.

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Figure 5.8-7 FT_Spiral Command Edit

Program example:
S/N Instruction format notes
1 FT_Control(1,10,0,0,1,0,0,0,0,0,5,0,0,0,0.0005,0,0,0,0,0,0,10,0) #Force/torque motion control ON
2 FT_SpiralSearch(0,0.7,0,60000,5) #Spiral insertion
3 FT_Control(0,10,0,0,1,0,0,0,0,0,5,0,0,0,0.0005,0,0,0,0,0,0,10,0) #Force/torque motion control OFF

6.8.7 Force/Torque Transducer Rotary Insertion

Instruction description: The "FT_Rot" instruction is a rotation exploration insertion, which is generally used to
under- take the helical insertion action, and is used for the shaft hole assembly of the key shaft. Before running
the action, you need to move the end of the robot to the hole found by the helical exploration or the fully aligned
teaching hole. According to the current scene, set the parameters of the command and add it to the program. After
running, the robot will slowly Spin to explore.

Figure 5.8-8 FT_Rot Command Edit

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Program example:
S/N Instruction format notes
1 FT_Control(1,10,0,0,1,0,0,0,0,0,5,0,0,0,0.0005,0,0,0,0,0,0,10,0) #Force/torque motion control ON
2 FT_RotInsertion(0,3,0,5,1,0,1) #Rotate Insert
3 FT_Control(0,10,0,0,1,0,0,0,0,0,5,0,0,0,0.0005,0,0,0,0,0,0,10,0) #Force/torque motion control OFF

6.8.8 Force/Torque Transducer Straight Insertion

Instruction description: "FT_Lin" instruction is rotation exploration insertion, generally used to undertake helical
insertion action or rotation insertion action, and is used for shaft hole assembly of key shaft. Before running the
action, you need to move the end of the robot to the hole found by the helical exploration, rotate the end of the
insertion action or the fully aligned teaching hole, set the parameters of the command according to the current scene,
add it to the program, and run After that, the robot will move in a straight line in the set direction.

Figure 5.8-9 FT_Lin Command Edit

Program example:
S/N Instruction format notes
1 FT_Control(1,10,0,0,1,0,0,0,0,0,5,0,0,0,0.0005,0,0,0,0,0,0,10,0) #Force/torque motion control ON
2 FT_LinInsertion(0,50,1,0,100,1) #Line insertion
3 FT_Control(0,10,0,0,1,0,0,0,0,0,5,0,0,0,0.0005,0,0,0,0,0,0,10,0) #Force/torque motion control OFF

6.8.9 Force/Torque Sensor Surface Orientation

Instruction description: The "FT_FindSurface" instruction is for surface positioning, and is generally used to find
the surface of an object. According to the current scene, set the corresponding coordinate system, moving direction,
moving axis, exploring linear speed, exploring linear acceleration, maximum exploring distance, action termination
force threshold and other parameters, add them to the program, run the program, the action starts to execute, and
the end of the robot starts to slow down Move in the direction of the surface.

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Figure 5.8-10 FT_FindSurface Command Edit

Program example:
S/N Instruction format notes
1 PTP(1,30,-1,0) #Initial position
2 FT_FindSurface(0,1,3,1,0,100,5) #Plane positioning

6.8.10 Force/Torque Transducer Centering

Instruction description: The "FT_CalCenter" instruction is for center positioning, and is generally used to find the
middle plane surface of two surfaces. According to the current scene, set the corresponding coordinate system,
moving direction, moving axis, exploring linear speed, exploring linear acceleration, maximum exploring distance,
action termination force threshold and other parameters, find the A plane and B plane respectively, add them to the
program, and run the program. The action starts to execute, and the robot slowly moves towards the direction of
surface A. After positioning on surface A, the robot slowly moves towards the direction of surface B. After
positioning on surface B, the position of the center plane can be calculated.

Figure 5.8-11 FT_CalCenter Command Edit

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Program example:
S/N Instruction format notes
1 PTP(1,30,-1,0) #Initial position
2 FT_CalCenterStart() #Surface positioning start
3 FT_Control(1,10,0,0,1,0,0,0,0,0,10,0,0,0,0.00001,0,0,0,0,0, #Force/torque motion control ON
0,100,0)
4 FT_FindSurface(1,2,2,10,0,200,5) #Positioning plane A
5 FT_Control(0,10,0,0,1,0,0,0,0,0,10,0,0,0,0.00001,0,0,0,0,0, #Force/torque motion control off
0,100,0)
6 PTP (1,30, - 1,0) #Initial position
7 FT_Control(1,10,0,0,1,0,0,0,0,0,10,0,0,0,0.00001,0,0,0,0,0, #Force/torque motion control ON
0,100,0)
8 FT_FindSurface(1,1,2,20,0,200,5) #Positioning plane B
9 FT_Control(0,10,0,0,1,0,0,0,0,0,10,0,0,0,0.00001,0,0,0,0,0, #Force/torque motion control off
0,100,0)
10 pos = {} #Acquire Cartesian pose of positioning center
11 pos = FT_CalCenterEnd() #Acquire Cartesian pose of positioning center
12 MoveCart(pos,GetActualTCPNum(),GetActualWObjNum( #Move to the center of positioning
),30,10,100,1,0)

6.8.11 Force/Torque Sensor Tap Force Detection

Instruction description: "FT_Click" command is click force detection, which is used to detect a click force, and is
usually used in conjunction with the surface positioning action. After setting parameters, add it to the program, run
the program, and the end starts to move toward the target along the Z direction of the tool coordinate system. When
the force in the positive Z direction reaches the value of the click force, the click force detection is completed.

Figure 5.8-12 FT_Click Command Edit

Program example:
S/N Instruction format notes
1 PTP(1,30,-1,0) #Initial position
2 FT_Click(0,5,5,0,100,0) #Spot force detection

6.9 Extended IO device peripheral configuration

Step1: Select the "End Peripheral Configuration" button in the user peripheral configuration interface, and select
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"Ex- tended IO Device" for the device type. The configuration information of the extended IO device is divided
into manufacturer, type, software version and mounting location. Users can select according to specific production
needs. To configure the corresponding device information. If the user needs to change the configuration, he can first
select the corresponding number, click the "Clear" button to clear the corresponding information, and reconfigure
according to the needs;

Figure 5.9-1 Extended IO device configuration

Important: The corresponding device should be inactive before clicking Clear Configuration.
Step2: After the configuration of the extended IO device is completed, the user can click the "Smart Tool" function
menu in the auxiliary application to enter the function configuration page, and the user can customize the functions
of each button on the end handle, including (new program, hold program, PTP , Lin, ARC, start of weaving, end of
weaving, IO port).

Figure 5.9-2 Extended IO device function configuration

6.10 Palletizing system configuration

Step1:Select the "Palletizing System Configuration" button in the user peripheral configuration interface. For the
first time use, you need to create a recipe first. Click "Create Recipe", enter the name of the recipe, click "Create",
and click "Start Configuration" after the creation is successful. Enter the palletizing configuration page.

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Figure 5.10-1 Palletizing recipe configuration

Step2: Click "Configure" in the workpiece configuration bar to enter the workpiece configuration pop-up window,
set the "length", "width", "height" of the workpiece and the grabbing point of the workpiece, click "confirm
configuration" to complete the workpiece information setting.

Figure 5.10-2 Palletizing workpiece configuration

Step3:Click "Configure" in the tray configuration bar to enter the tray configuration pop-up window, set the tray
"front", "side" and "height", then set the station and station transition point, click "confirm configuration" to
complete the tray information setting.

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Figure 5.10-3 Palletizing pallet configuration

Step4: Click "Configure" in the size configuration column of the palletizing equipment to enter the size
configuration pop-up window. Set the devices "X", "Y", "Z", and "Angle", and click "Confirm Configuration" to
complete the size configuration information setting of the palletizing equipment.
Important: X, Y and Z are the absolute values of the upper right corner or upper left corner of the tray relative to the
robot's coordinate system. Angle is the rotation angle of the robot during installation, and it is recommended to set
it to 0 during installation.

Figure 5.10-4 Size configuration of palletizing equipment

Step5:Click "Configure" in the mode configuration bar to enter the mode configuration pop-up window, set the
work- piece interval, and the right frame is the simulation workpiece placement method, which can be added
individually or in batches. Then set the number of palletizing layers and the mode of each layer, click "confirm
configuration" to complete the mode information setting.

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Figure 5.10-5 Palletizing mode configuration

Step6: Click "Generate Program" to open the "Palletizing Monitoring Page", where you can display and view the
"Generation Information", "Alarm Information" and "Palletizing Program" .

Figure 5.10-6 Palletizing system monitoring

6.11 Polishing equipment configuration

Step1:Enter the Polishing equipment configuration page, configure the communication information, you need to
configure the IP address, port, sampling period and communication protocol. After the configuration is successful,
it will be automatically displayed next time.
Step2:After completing communication configuration,communication can be established by loading/ unloading the
grinding equipment.
Step3:Device functions.Operations such as device enable,error clearing, & force sensor zeroing can be performed.
Step4:Parameter configuration. The rotation speed, contact force, reach distance and control mode of the polishing
equipment can be set. After successful setting, the corresponding data and status can be displayed in the "Polish"

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status feedback column on the right.

Figure 4.11-1 Polishing equipment configuration page

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