F AI R

r INNOVATION

INTELLIGENT
COLLABORATIV E ROBOT
User Manual
I catalog

preface .......................................................................................................................... 1

What is in the box................................................................................................ 1

Important safety instructions.............................................................................. 1

How to use this manual ...................................................................................... 1

Relevant standards followed ............................................................................. 1

Chapter I Hardware Installation ..................................................................................... 3

1.1 Safety instructions............................................................................................ 3

1.1.1 brief introduction ................................................................................ 3

1.1.2 Personnel safety................................................................................ 3

1.1.3 security setting ................................................................................... 5

1.1.4 Hazard identification ......................................................................... 6

1.1.5 Nameplate information ..................................................................... 8

1.1.6 Effectiveness and responsibility .................................................... 11

1.1.7 Limited liability.................................................................................. 11

1.1.8 Warning signs in this manual......................................................... 12

1.1.9 Pre use evaluation .......................................................................... 12

1.1.10 Emergency stop ............................................................................ 14

1.1.11 Movement without electric drive.................................................. 18

1.2 Equipment transportation ............................................................................... 19

1.2.1 transport ............................................................................................ 19

1.2.2 carry................................................................................................... 20

1.2.3 deposit............................................................................................... 20

1.3 Maintenance and scrapping............................................................................ 21

1.3.1 Maintenance disposal ..................................................................... 21

1.3.2 Waste disposal................................................................................. 21

1.4 Introduction to Robot ..................................................................................... 22

II catalog

1.4.1 Basic parameters ............................................................................ 22

1.4.2 Range of motion .............................................................................. 24

1.4.3 Robot coordinate system ............................................................... 27

1.5 Installation specification ................................................................................ 28

1.5.1 Robot arm installation ..................................................................... 28

1.5.2 Tool end installation......................................................................... 31

1.5.3 Installation environment ................................................................. 33

1.5.4 Floor bearing capacity .................................................................... 33

1.5.5 Maximum payload ........................................................................... 34

1.6 Control connection ......................................................................................... 37

1.6.1 Controller interface .......................................................................... 37

1.6.2 Controller I/O panel ......................................................................... 39

1.6.3 RJ45 network interface group ....................................................... 40

1.6.4 End plate........................................................................................... 41

1.6.5 Grounding instructions.................................................................... 42

1.6.6 General specification for all digital I/Os ....................................... 44

1.6.7 Safety I/O .......................................................................................... 46

1.6.8 General digital I/O ........................................................................... 50

1.6.9 Digital input from button ................................................................. 50

1.6.10 Interaction with other equipment or PLC ................................... 51

1.6.11 Analog quantity I/O ........................................................................ 52

1.7 Teaching pendant and end LED ..................................................................... 54

1.7.1 Introduction to Button Box.............................................................. 54

1.7.2 Introduction to FR-HMI Teaching pendant .................................. 57

1.7.3 End LED definition .......................................................................... 59

Chapter II Quick Start Robot ....................................................................................... 60

2.1 Installation of robot arm and control box ...................................................... 60

2.2 Teaching pendant start control robot.............................................................. 61

III catalog

2.3 Button box controls robot movement ............................................................ 62

2.3.1 Not equipped with teaching pendant............................................ 62

2.3.2 With teaching pendant.................................................................... 65

2.4 Teaching pendant controls robot movement .................................................. 69

Chapter III Teaching pendant software analysis .......................................................... 70

3.1 Basic information ........................................................................................... 70

3.1.1 System Introduction ........................................................................ 70

3.1.2 execute.............................................................................................. 70

3.1.3 User login and authority management......................................... 70

3.2 Initial system interface ................................................................................... 74

3.2.1 Control area...................................................................................... 74

3.2.2 status bar .......................................................................................... 75

3.2.3 menu bar........................................................................................... 76

3.2.4 Operation area ................................................................................. 76

3.3 3D simulation robot ....................................................................................... 77

3.3.1 Virtual/physical robot switching ..................................................... 77

3.3.2 3D virtual track and model shadow .............................................. 77

3.3.3 3D visualization of robot coordinate system ............................... 78

3.3.4 Setup and display of robot installation mode...................................... 81

3.4 Robot settings................................................................................................. 83

3.4.1 Tool coordinates............................................................................... 83

3.4.2 External tool coordinates................................................................ 86

3.4.3 Workpiece coordinates ................................................................... 89

3.4.4 Extended axis coordinates............................................................. 91

3.4.5 Collision class .................................................................................. 98

3.4.6 Soft limit ............................................................................................ 99

3.4.7 End load.......................................................................................... 100

3.4.8 friction compensation .................................................................... 102

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3.4.9 Speed scaling ................................................................................ 103

3.4.10 Configure import and export ...................................................... 104

3.5 Control box I/O ............................................................................................ 105

3.5.1 I/O settings ..................................................................................... 105

3.5.2 I/O status display........................................................................... 106

3.5.3 I/O filtering ...................................................................................... 106

3.5.4 I/O configuration ............................................................................ 107

3.6 Robot operation............................................................................................ 112

3.6.1 Teaching point record ................................................................... 112

3.6.2 Joint ................................................................................................. 113

3.6.3 Base inching................................................................................... 115

3.6.4 Tool inching..................................................................................... 116

3.6.5 Wobj inching................................................................................... 117

3.6.6 Move ................................................................................................ 118

3.6.7 Easis Mobile ................................................................................... 119

3.6.8 TPD.................................................................................................. 120

3.7 Teaching simulation ..................................................................................... 124

3.7.1 brief introduction ............................................................................ 124

3.7.2 toolbar ............................................................................................. 125

3.7.3 Program command........................................................................ 126

3.7.4 Teaching management ................................................................. 179

3.8 status information......................................................................................... 180

3.8.1 system log ...................................................................................... 180

3.8.2 Status Query .................................................................................. 181

3.9 Auxiliary application.................................................................................... 183

3.9.1 Robot calibration............................................................................ 183

3.9.2 System upgrade ............................................................................ 185

3.9.3 Data backup ................................................................................... 188

V catalog

3.9.4 10s data record .............................................................................. 189

3.9.5 Teaching point configuration ........................................................ 190

3.9.6 Matrix shift ...................................................................................... 191

3.9.7 Job origin ........................................................................................ 193

3.9.8 Interference zone configuration .................................................. 194

3.9.9 End LED configuration.................................................................. 198

3.9.10 Peripheral agreement ................................................................. 199

3.9.11 Main program configuration ....................................................... 201

3.9.12 Drag Lock ..................................................................................... 202

3.9.13 Welding expert database ........................................................... 203

3.9.14 Safe speed setting ...................................................................... 210

3.10 System settings........................................................................................... 211

3.10.1 General settings .......................................................................... 211

3.10.2 Account settings .......................................................................... 213

3.10.3 about ............................................................................................. 214

Chapter IV Robot Peripherals .................................................................................... 215

4.1 Clamping jaw peripheral configuration ....................................................... 215

4.1.1 Teaching steps of gripper program ............................................. 215

4.1.2 Clamping program teaching ........................................................ 218

4.2 Configuration of spray gun peripherals ....................................................... 219

4.2.1 Configuration steps of spray gun peripherals ........................... 219

4.2.2 Painting program teaching ........................................................... 220

4.3 Configuration of welding machine peripherals............................................ 221

4.3.1 Configuration steps of welding machine peripherals ............... 221

4.3.2 Welding machine program teaching........................................... 223

4.4 Sensor peripheral configuration ................................................................... 224

4.4.1 Configuration steps of sensor peripherals................................. 224

4.4.2 Laser sensor tracking function .................................................... 228

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4.4.3 Laser sensor track reproduction function .................................. 230

4.5 Peripheral configuration of extension axis .................................................. 232

4.5.1 Configuration steps of peripheral equipment of extension axis

.................................................................................................................... 232

4.5.2 Extension axis matching laser tracking welding program

teaching .................................................................................................... 237

4.6 Conveyor tracking configuration ................................................................. 238

4.6.1 Conveyor tracking configuration steps....................................... 238

4.6.2 Teaching of conveyor tracking program..................................... 242

4.7 Attitude adaptive configuration.................................................................... 243

4.7.1 Attitude adaptive configuration steps ......................................... 243

4.7.2 Attitude adaptive fit extension axis and laser tracking welding

program teaching .................................................................................... 245

4.8 Force/torque sensor peripheral configuration .............................................. 246

4.8.1 Force/torque sensor configuration steps ................................... 246

4.8.2 Load identification of force/torque sensor ................................. 249

4.8.3 Force/torque sensor auxiliary drive ............................................ 250

4.8.4 Force/torque sensor collision detection ..................................... 251

4.8.5 Force/torque sensor force controlled movement...................... 252

4.8.6 Force/torque sensor screw insertion .......................................... 253

4.8.7 Force/torque sensor rotation insertion ....................................... 254

4.8.8 Linear insertion of force/torque sensor ...................................... 255

4.8.9 Force/torque sensor surface positioning ................................... 256

4.8.10 Center positioning of force/torque sensor ............................... 257

4.8.11 Spot force detection of force/torque sensor ............................ 259

4.9 Extended IO device peripheral configuration .............................................. 260

4.9.1 Extended IO device configuration steps .................................... 260

4.10 Stacking system configuration ................................................................... 262

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4.10.1 Stacking system configuration steps........................................ 262

appendix ..................................................................................................................... 265

Appendix 1: Motion controller errors and handling methods............................ 265

Appendix 2: Servo driver fault code table ......................................................... 276

Appendix 3: End plate 485 upgrade................................................................... 281

Appendix 4: Control Box 485 Upgrade ............................................................. 286

Appendix 5: List of Spare Parts and Vulnerable Parts ....................................... 287

term ............................................................................................................................ 288

1/298 preface

preface

What is in the box

Important safety instructions

How to use this manual

Relevant standards followed

Machinery Directive:

2006/42/EC:2006 Directive 2006/42/EC of the European

Parliament and of the Council of 17 May 2006
on machinery, and amending Directive
2/298 preface

95/16/EC(recast)

EMC Directive:

Directive 2004/108/EC of the European

Parliament and of the Council of 15 December
2004/108/EC:2004 2004 on the approximation of the laws of the
Member States relating to electromagnetic
compatibility and

repealing Directive 89/336/EEC

Safety of machinery:
EN ISO 13850:2008
Emergency stop - Principles for design

Safety of machinery:

EN ISO 13849-1:2008 Safety-related parts of control systems - Part 1:

General principles of design

Safety of machinery:

EN ISO 13849-2:2012 Safety-related parts of control systems - Part 2:

Validation

Safety of machinery:

EN ISO 12100:2010 General principles of design, risk assessment

and risk reduction

Industrial robots:

Safety
EN ISO 10218-1:2011
Note: Content equivalent to ANSI/RIA R.15.06-
2012, Part 1

Safety requirements for collaborative industrial

robot
ISO/TS 15066: 2016
Robots and robotic devices —Collaborative
robots
3/298 Safety instructions

Chapter I Hardware Installation

1.1 Safety instructions

1.1.1 brief introduction

The following warnings will be used in this manual. These warnings are
intended to ensure the safety of personnel and equipment. When reading this
manual, it is very important that you follow and implement all assembly
instructions and guidelines in other chapters of this manual.Special attention
should be paid to the text associated with warning signs.

be careful:
If the robot (robot body, control box, teaching box)
is damaged, changed or modified for human reasons,
Fair refuses to bear all responsibilities;Fair will
not be responsible for any damage to the robot or any
other equipment caused by errors in the program
written by the customer.

1.1.2 Personnel safety

When running the robot system, you must first ensure the safety of
operators. The general precautions are listed below. Please take appropriate
measures to ensure the safety of operators.

1. All operators who use the robot system shall receive training through the
training course sponsored by FairYiWei (Suzhou) Robot System Co., Ltd.Users
need to ensure that they fully grasp the safe and standardized operation
process and have the robot operation qualification.For training details, please
contact our company [email protected]

2. All operators using the robot system should not wear loose clothes or
jewelry.When operating the robot, make sure that the long hair is tied behind
your head.
4/298 Safety instructions

3. When the equipment is running, even if the robot seems to have stopped,
it may be that the robot is waiting for the start signal and is in a state of imminent
action.Even in such a state, the robot should also be regarded as in motion.

4. Lines shall be drawn on the floor to mark the action range of the robot,
so that the operator can understand the action range of the robot including
holding tools (manipulator, tools, etc.).

5. Ensure that safety measures (such as guardrails, ropes, or protective

screens) are established near the robot operation area to protect the operator
and surrounding people.Locks shall be set as required so that operators other
than those responsible for operation cannot contact the power supply of the
robot.

6. When using the operation panel and the teaching pendant, because
wearing gloves may lead to operational errors, be sure to operate after
removing gloves.

7. In emergency and abnormal situations such as people being trapped or

surrounded by robots, push or pull the robot arm with force (at least 700 N) to
force the joints to move.Manually moving the robot arm without electric drive is
limited to emergency situations and may damage joints.
5/298 Safety instructions

1.1.3 security setting

Under the menu bar of "Security Settings" in "Auxiliary Applications", click

"Security Stop Settings" to enter the security stop settings function interface.

Enable the safe stop mode. When

the robot reports an error or warns to stop,
the robot will automatically be enabled to
play the role of safety protection.

Fig 1.1-1 Safety Stop Settings

⚫ Speed reduction mode: when this mode is activated, the movement

speed of the manipulator in the joint space will be limited, and the value
in the corresponding text box is the limit value of the movement speed
of each joint. The setting range of joints 1,2,3 is 15~150 °/s, and that
of joints 4,5,6 is 15~180 °/s;The movement speed limit of the
manipulator in Cartesian space is the TCP speed limit, and the setting
range is 0~80mm/s.
6/298 Safety instructions

1.1.4 Hazard identification

The risk assessment shall consider all potential contacts between the
operator and the robot during normal use and foreseeable misoperation.The
neck, face and head of the operator shall not be exposed to avoid contact.The
use of robots without the use of peripheral safety protection devices requires a
risk assessment first to determine whether the relevant hazards will constitute
an unacceptable risk, such as

⚫ It may be dangerous to use sharp end actuators or tool connectors;

⚫ It may be dangerous to handle toxic or other harmful substances;

⚫ The operator's fingers may be trapped by the robot base or joints;

⚫ Danger of collision by robot;

⚫ The danger that the robot or the tool connected to the end is not fixed
in place;

⚫ The danger caused by the impact between the robot payload and a
solid surface.

The integrator must measure such hazards and their related risk levels
through risk assessment, and determine and implement corresponding
measures to reduce risks to an acceptable level.Please note that there may be
other significant hazards associated with specific robotic equipment.

By combining the inherent safety design measures applied by FR robots

with the safety specifications or risk assessments implemented by integrators
and end users, the risks associated with FR collaborative operations are
reduced to a reasonable and feasible level as far as possible.This document
can be used to communicate any remaining risks of the robot before installation
to the integrator and the end user.If the risk assessment of the integrator
determines that there are risks that may pose unacceptable risks to users in its
specific applications, the integrator must take appropriate risk reduction
measures to eliminate or minimize these risks until the risk is reduced to an
acceptable level.It is unsafe to use it before taking appropriate risk reduction
measures (if necessary).
7/298 Safety instructions

If the robot is installed non cooperatively (for example, when using

dangerous tools), the risk assessmen t may infer that the integrator needs to
connect additional safety equipment (for example, safety starting equipment)
when programming to ensure the safety of personnel and equipment.
8/298 Safety instructions

1.1.5 Nameplate information

FR3 cooperative robot

Fig. 1.1-2 FR3 Robot Nameplate Information

FR5 cooperative robot

Fig. 1.1-3 FR5 Robot Nameplate Information

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FR10 cooperative robot

Fig. 1.1-4 FR10 Robot Nameplate Information

FR16 cooperative robot

Fig. 1.1-5 FR16 Robot Nameplate Information

10/298 Safety instructions

FR20 cooperative robot

Fig 1.1-6 FR20 Robot Nameplate Information

11/298 Safety instructions

1.1.6 Effectiveness and responsibility

The information in this manual does not include the design, installation and
operation of a complete robot application, nor does it include all peripheral
equipment that may affect the safety of this complete system.The design and
installation of the complete system shall meet the safety requirements
established in the standards and specifications of the country where the robot
is installed.

The integrator of Fair is responsible for ensuring compliance with the laws
and regulations of relevant countries and ensuring that there is no major danger
in the complete robot application.This includes but is not limited to the following:

⚫ Make a risk assessment of the complete robot system

⚫ Connect other machinery and additional safety equipment defined in
the risk assessment
⚫ Establish appropriate security settings in the software
⚫ Ensure that users do not modify any security measures
⚫ Confirm that the design and installation of the entire robot system are
correct
⚫ Clear instructions
⚫ Mark the relevant logo and contact information of the integrator on the
robot
⚫ Collect all documents in technical documents, including this manual

1.1.7 Limited liability

Any safety information contained in this manual shall not be regarded as a

general robot safety guarantee. Even if all safety instructions are followed,
personal injury or equipment damage may still be caused.
12/298 Safety instructions

1.1.8 Warning signs in this manual

The following signs define the description of hazard class regulations

contained in this manual.The same warning signs are used on the product.

DANGER:
This refers to a dangerous power use situation that,
if not avoided, could lead to death or serious injury.

Electric shock hazard:

This refers to an electric shock that is about to cause
danger. If it is not avoided, it may lead to death or
serious injury from electric shock.

Burn hazard:
This refers to hot surfaces that may cause danger and
may cause personal injury if contacted.

1.1.9 Pre use evaluation

After using the robot for the first time or making any modifications, the
default speed of the robot is less than 250mm/s. Do not log in to the
administrator to modify the speed and enter the high -speed mode. After that,
the following tests must be carried out.Confirm that all safety inputs and outputs
are correct and connected correctly.Test whether all connected safety inputs
and outputs (including equipment shared by multiple machines or robots)
function normally.So you must:

⚫ Test whether the emergency stop button and input can stop the robot
and activate the brake.

⚫ Test whether the protection input can stop the movement of the robot.If
a protection reset is configured, check whether activation is required
before resuming motion.

⚫ To test whether the operation mode can be switched, see the icon in
the upper right corner of the user interface.
13/298 Safety instructions

⚫ Test whether the 3-gear actuating device must be pressed to start

action in manual mode, and the robot is under deceleration control (this
function is not supported before the robot software version V3.0).

⚫ Test whether the system emergency stop output can bring the whole
system to a safe state.
14/298 Safety instructions

1.1.10 Emergency stop

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

The following table shows the stopping distance and time for triggering
Class 0 shutdown.These measurements correspond to the following
configurations of the robot:

⚫ Extension: 100% (robot arm fully extended horizontally)

⚫ Speed: 100% (generally, the robot speed is set to 100% and moves at
the joint speed of 180 °/s)

⚫ Payload: Maximum Payload

Joint 1 and joint 6 test robots move horizontally, and the rotation axis is
perpendicular to the ground.The joint 2, joint 3, joint 4, joint 5 test robot follows
the vertical trajectory, the rotation axis is parallel to the ground, and stops when
the robot moves downward.

Table 1.1-1 Type 0 Stopping Distance (rad)

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6

FR3 0.47 0.60 0.56 0.29 0.10 0.06

FR5 0.51 0.63 0.60 0.33 0.16 0.10

FR10 0.64 0.70 0.69 0.42 0.25 0.13

FR16 0.60 0.67 0.65 0.39 0.22 0.12

FR20 0.69 0.75 0.80 0.48 0.31 0.22

15/298 Safety instructions

Table 1.1-2 Type 0 Stop Time (ms)

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6

FR3 400 470 450 280 120 90

FR5 420 500 480 310 150 120

FR10 460 540 510 330 170 140

FR16 440 530 490 320 160 130

FR20 540 600 700 400 260 170

After emergency stop, turn off the power, rotate the emergency stop button,
turn on the power to restart the robot.

At the same time, the stop time and stop distance for safe stop and soft
limit stop of the robot are shown in the table below.These measurements
correspond to the following configurations of the robot:

⚫ Extension: 100% (robot arm fully extended horizontally)

⚫ Speed: 100% (generally, the robot speed is set to 100% and moves at
the joint speed of 180 °/s)

⚫ Payload: Maximum Payload

Joint 1 and joint 6 test robots move horizontally, and the rotation axis is
perpendicular to the ground.The joint 2, joint 3, joint 4, joint 5 test robot follows
the vertical trajectory, the rotation axis is parallel to the ground, and stops when
the robot moves downward.
16/298 Safety instructions

Table 1.1-3 Safe Stop Distance (rad)

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6

FR3 0.49 0.63 0.58 0.32 0.12 0.09

FR5 0.54 0.65 0.63 0.35 0.19 0.12

FR10 0.66 0.73 0.71 0.45 0.27 0.16

FR16 0.63 0.69 0.68 0.41 0.25 0.14

FR20 0.71 0.78 0.82 0.51 0.33 0.25

Table 1.1-4 Safe Stop Time (ms)

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6

FR3 410 490 410 300 130 110

FR5 450 520 510 330 180 140

FR10 480 570 530 360 190 170

FR16 470 550 520 340 190 150

FR20 560 630 720 430 280 200

17/298 Safety instructions

Table 1.1-5 Stopping Distance of Soft Limit (rad)

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6

FR3 0.52 0.65 0.61 0.34 0.15 0.11

FR5 0.56 0.68 0.65 0.38 0.21 0.15

FR10 0.69 0.75 0.74 0.47 0.30 0.18

FR16 0.65 0.72 0.70 0.44 0.27 0.17

FR20 0.74 0.80 0.85 0.53 0.36 0.27

Table 1.1-6 Stop Time of Soft Limit (ms)

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6

FR3 430 500 430 310 150 120

FR5 460 540 520 350 190s 160

FR10 500 580 550 370 210 180

FR16 480 570 530 360 200 170

FR20 580 640 740 440 300 210

be careful:
◆ According to IEC 60204-1 and ISO 13850, the
emergency stop device is not a safety protection
device.They are supplementary protective measures
and are not intended to prevent injury.
18/298 Safety instructions

1.1.11 Movement without electric drive

If the robot joints must be moved but the robot cannot be powered or other
emergencies occur, please contact th e robot dealer. If necessary, force the
mobile robot to rescue the trapped people.
19/298 Equipment transportation

1.2 Equipment transportation

1.2.1 transport

The robot and control box have been calibrated as a complete set of
equipment.Do not separate them, as this will require recalibration.

The robot can only be transported in its original packaging.If you want to
transport the robot in the future, please store the packaging materials in a dry
place.

When the robot is moved from the package to the installation space, the
two arms of the robot are held at the same time.Hold the robot until all mounting
bolts of the robot base are fastened.
20/298 Equipment transportation

1.2.2 carry

According to different models, the total mass (including packaging) of the

cooperative robot ranges from 15kg to 80kg. When carrying or transferring the
cooperative robot manually, multiple people are required to assist in lifting. It is
not recommended to carry the robot by one person. It must be stable during
transportation to prevent the equipment from tipping or sliding.

be careful:
◆ If professional equipment is used for handling,
the cooperative robot must be transported or
handled by qualified professionals using cranes
or forklifts, otherwise it may cause personal
injury or other accidents.

◆ If manual handling is adopted, please pay

attention to personal safety during the handling;

◆ The cooperative robot contains precision parts.

During transportation or handling, severe
vibration or shaking should be avoided, or the
performance of the equipment may be reduced.

1.2.3 deposit

The cooperative robot shall be stored at - 25~60 without frost.

21/298 Maintenance and scrapping

1.3 Maintenance and scrapping

1.3.1 Maintenance disposal

Please test the emergency stop and protective stop every 1 month.Judge
whether the safety function is effective.

Please refer to the wiring section for emergency stop and protective stop wiring.

1.3.2 Waste disposal

FR robot needs to be disposed according to applicable national laws,

regulations and national standards. For details, please contact the
manufacturer.
22/298 Introduction to Robot

1.4 Introduction to Robot

1.4.1 Basic parameters

Table 1.4-1 Basic Parameters of Robot

load 3kg 5kg 10kg 16kg 20kg

Maximum
622mm 922mm 1400mm 1034mm 1868mm
operating range
freedom 6 rotational degrees of freedom
Repeated
0.02mm 0.02mm 0.05mm 0.03mm 0.1mm
positioning
accuracy
Joint range of 1 axis:+175, - 175; 1 axis:+175, - 175;

motion (soft 2 axis:+85, - 265; 2 axis:+85, - 265;

limit) 3 axes:+150, - 150; 3-axis:+160, - 160;

4-axis:+85, - 265; 4-axis:+85, - 265;

5 axis:+175, - 175; 5 axis:+175, - 175;

6 axis:+175, - 175; 6 axis:+175, - 175;

Joint range of 1 axis:+179, - 179; 1 axis:+179, - 179;

motion (hard 2 axis:+89, - 269; 2 axis:+89, - 269;

limit) 3-axis:+152, - 152; 3-axis:+162, - 162;

4-axis:+89, - 269; 4-axis:+89, - 269;

5 axis:+179, - 179; 5 axis:+179, - 179;

6 axis:+179, - 179; 6 axis:+179, - 179;

Maximum joint 180 180 1,2 joints 120 degrees/s, other

speed degrees/s degrees/s joints 180 degrees/s
Protection grade IP54
noise <65db
Installation Any direction
direction
I/O Power supply (24V, 1.5A), digital IO, analog IO, 485 communication
Service
0-45
temperature
Overall quality About 15kg About About 40kg About 40kg About 65kg
20.6kg
Equipment
-25~60 (no frost)
storage
23/298 Introduction to Robot

Mean time to
2h
repair
24/298 Introduction to Robot

1.4.2 Range of motion

Installation space of mechanical arm:

Installation of robot body requires 3m×3m×2m long×wide×High) space to

meet the movement of the robot under the maximum arm extension;If the user
increases the end load by himself, please ensure that the installation space has
a minimum clearance of 500mm.
Note: The height space is affected by the height of the installation base, where
2m refers to the distance higher than the installation datum plane;

Installation space of control cabinet:

1. The control box shall be placed at 0.6m-1.5m away from the ground for
easy operation to prevent electric shock due to flooding.

2. The cabinet must be away from heat sources.

3. One side of the heavy load line of the control box shall be free from
obstructions within 150mm, and the other side shall be free from obstructions
within 100mm for heat dissipation and easy access.

FR3 cooperative robot

Fig. 1.4-2 FR3 Robot Motion Range

25/298 Introduction to Robot

FR5 cooperative robot

Fig. 1.4-3 FR5 Robot Motion Range

FR10 cooperative robot

Fig. 1.4-4 FR10 Robot Motion Range

26/298 Introduction to Robot

FR16 cooperative robot

Fig. 1.4-5 FR16 Robot Motion Range

FR20 cooperative robot

Fig. 1.4-6 FR20 Robot Motion Range

27/298 Introduction to Robot

1.4.3 Robot coordinate system

Fig. 1.4-7 Robot Coordinate System

Fig. 1.4-8 Coordinate System of Robot End Flange

28/298 Installation specification

1.5 Installation specification

1.5.1 Robot arm installation

The robot arm is installed with 4 M8 bolts with strength no less than 8.8.The
bolts must be tightened with a torque of 20 Nm.

Use the two reserved Ø 8 pin holes to accurately reposition the robot
arm.Note: Precise bases can be purchased for use as accessories. Fig. 1.5-1
shows the pin hole locations and screw mounting locations.

The robot shall be installed on a solid, vibration free surface, which shall
be sufficient to withstand at least 10 times the full torsional force of the base
joint and at least 5 times the weight of the robot arm.If the robot is installed on
a linear axis or a mobile platform, the acceleration of the mobile mounting base
is very low.High acceleration will cause the robot to stop safely.

Installation dimensions of FR3 cooperative robot

Fig. 1.5-1 Installation Dimensions of FR3 Robot

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Installation dimensions of FR5 cooperative robot

Fig.1.5-2 Installation Dimensions of FR5 Robot

Installation dimensions of FR10 cooperative robot

Fig. 1.5-3 Installation Dimensions of FR10 Robot

30/298 Installation specification

Installation dimensions of FR16 cooperative robot

Fig. 1.5-4 Installation Dimensions of FR16 Robot

Installation dimensions of FR20 cooperative robot

Fig. 1.5-5 Installation Dimensions of FR20 Robot

be careful:
Make sure the robot arm is correctly and safely
installed in place.Unstable installation may cause
accidents.
31/298 Installation specification

1.5.2 Tool end installation

The robot tool flange has four M6 threaded holes for connecting the tool to
the robot.M6 bolts must be tightened with a torque of 8 N m, and their strength
grade shall not be lower than 8.8.In order to accurately reposition the tool,
please use pins in the reserved Ø 6 pin holes.

Chart 1.5-6 shows the drawings of robot tool flanges of FR3, FR5, FR10
and FR16 models.

Fig. 1.5-6 Dimensions of Robot End Flange

32/298 Installation specification

Fig. 1.5-7 shows the drawing of FR20 robot tool flange.

Fig. 1.5-7 Dimensions of FR20 Robot End Flange

be careful:
◆ Ensure that the tool is correctly and safely
installed in place.

◆ Ensure the safety framework of tools, and there

will be no danger caused by accidental falling of
parts.

◆ Installing M6 bolts longer than 8mm on the upper

flange of the robot may damage the tool flange
and cause irreparable damage, resulting in the
need to replace the tool flange.
33/298 Installation specification

1.5.3 Installation environment

When installing and using the cooperative robot, ensure that the following
requirements are met:

⚫ Ambient temperature 0-45

⚫ Humidity 20-80RH, no condensation
⚫ No mechanical shock and vibration
⚫ The altitude requirement is below 2000m
⚫ No corrosive gas, no liquid, no explosive gas, no oil stain, no salt mist,
no dust or metal powder, no radioactive materials, no electromagnetic
noise, and no flammable materials
⚫ Avoid equipment working under unstable current conditions
⚫ The user needs to add an air switch with a turning off capacity of no
less than 10A/250V in front of the robot power supply.

be careful:
Please contact us if you want to lift or install the
cooperative robot to the vertical surface.

1.5.4 Floor bearing capacity

The robot shall be installed on a solid surface, which shall be enough to

bear at least 5 times the weight of the robot arm, and the surface shall be free
of vibration.
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1.5.5 Maximum payload

The maximum allowable payload of the robot arm depends on the offset of
the center of gravity.When the distance between the load center of gravity
becomes far, the load borne by the robot will become smaller.

FR3 collaborative robot load curve

Fig. 1.5-8 Schematic Diagram of FR3 Load Offset

FR5 collaborative robot load curve

Table 1.5-9 Schematic Diagram of FR5 Load Offset

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FR10 collaborative robot load curve

Fig. 1.5-10 Schematic Diagram of FR10 Load Offset

FR16 collaborative robot load curve

Fig. 1.5-11 Schematic Diagram of FR16 Load Offset

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FR20 collaborative robot load curve

Fig. 1.5-12 Schematic Diagram of FR20 Load Offset

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1.6 Control connection

1.6.1 Controller interface

This series of robots use TN-S single-phase 220V AC power supply. The
equipment has its own 5m power cord. The three pin plug end is inserted into
the AC 220V socket provided on site, and the robot is electrically grounded.

⚫ Rated input voltage: 6A/220VAC

⚫ Rated output voltage: 48V/21A

⚫ Number of phases: single phase

⚫ Frequency: 50Hz

⚫ Output short circuit rating: 48V/22A

Warning:
Before wiring, make sure that the power supply is off,
and hang a safety warning sign beside it.

The external wires of the control system of this series of manipulators are
connected with pluggable plugs that can be quickly installed.The wiring panel
of the cooperative robot is shown in Fig. 1.6-1.

⚫ Ensure that the 220V power line is connected to the power socket (the
full load input voltage is 6A/220VAC~7A/210VAC) when the power
button of the control box is turned off (the button is turned to 0);

⚫ Connect the heavy load cable of the robot body to the heavy load
interface of the control box;

⚫ Plug the aviation plug of the button box into the interface of the
teaching pendant in the control box;

⚫ The distance between the cooling ports on both sides of the control
box shall not be less than 15CM;

⚫ At the front of the control box (user's sheet metal, switch power key,
38/298 Control connection

heavy load and teaching pendant harness), the spacing distance shall
not be less than 25CM;

⚫ The control box is 0.6-1.5m away from the ground;

⚫ Users are not allowed to replace power cables by themselves;

Fig. 1.6-1 Control Box Wiring Panel

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1.6.2 Controller I/O panel

You can use the I/O in the control box to control various equipment,
including pneumatic relay, PLC and stop button of tight limit device.Fig. 1.6-2
shows the electrical interface grou p of the control box, and Fig. 1.6-3 shows the
electrical interface group of the easy to manufacture control box.

Fig. 1.6-2 Schematic Diagram of Electrical Interface of Control Box

Fig. 1.6-3 Electrical Interface Diagram of Easy to Manufacture Control Box

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1.6.3 RJ45 network interface group

The address of the network interface group in th e control box is shown in

Fig. 1.6-3. Note that this figure corresponds to the order of the address of the
internal network interface of the control box, and the robot default port cannot
be plugged or unplugged.The user network port can be used to communicate
with camera and other devices, and the IP address is 192.168.57.2.The button
box interface defaults to the teaching pendant control port, with the IP address
of 192.168.58.2. Use a network cable to connect the button box interface with
the computer. The computer IP address is set to 192.168.58.10 or the same
network segment. Open Google Browser
and enter 192.168.58.2 to access the
teaching pendant page.The easy
manufacturing control box accesses the
teaching pendant page through the
network port connecting the button box.

Fig. 1.6-3 Schematic Diagram of

Network Interface Group
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1.6.4 End plate

You can use the I/O and 485

communication interfaces of the terminal
board to control various devices, including
pneumatic relays, PLC and emergency
stop buttons.Pin pin distribution and pin
pin description are shown in Fig. 1.6-4.I/O
connector model is M12 connector 8-core
female.

Fig. 1.6-4 Schematic Diagram of

Terminal Electrical Interface
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1.6.5 Grounding instructions

1. The grounding of the control box is located at the M4 combination screw

at the upper left of the power switch, as shown in Fig. 1.6-5.

Fig. 1.6-5 Grounding Diagram of Control Box

2. The body grounding is located at the right side of the base outgoing line,
as shown in Fig. 1.6-6.

Fig. 1.6-6 Grounding Diagram of Main Body

The sectional area of the separately used protective conductor shall not be
less than:
43/298 Control connection

2.5mm2 copper or 16mm2 aluminum, if mechanical damage protection

is provided (conduit, pipe, etc.)

4mm2 copper or 16mm2 aluminum, if no mechanical damage

protection is provided
44/298 Control connection

1.6.6 General specification for all digital I/Os

This section defines the electrical specifications for the following 24 volt
digital input/output control boxes:

⚫ Safety I/O

⚫ General digital I/O

The robot must be installed according to the electrical specifications.

By configuring the "power communication" interface, internal or external

24V power supply can be used to supply power for digital I/O.In this interface,
the upper two terminals (ex24V and exon)
are 24V and ground of external power
supply, and the lower two terminals (24V
and GND) are 24V and ground of internal
power supply.The default configuration is
to use the internal power supply, as shown
in Fig. 1.6-7.

Fig. 1.6-7 Schematic Diagram of

Power Communication 01

If the load power is large, the external

power supply can be connected as shown
in Fig. 1.6-8.

Fig. 1.6-8 Schematic Diagram of

Power Communication 02
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The electrical specifications of internal and external power supply are

shown in Table 1.6-1 Internal and External Electrical Specifications:
Table 1.6-1 Electrical specifications of internal and external power supply

minim Typic
Maxim Comp
termin al parameter um al
um any
value value
Internal 24V power
supply
[ex24V – exGND] Voltage 23 24 25 V
[ex24V – exGND] electric current 0 - 2 A
Internal 24V power
supply
[24V – GND] Voltage 23 24 25 V
[24V – GND] electric current 0 - 1.5 A

The electrical specifications of digital I/O are shown in Table 1.6-2:

Table 1.6-2 Electrical specifications of digital I/O

minimum Typical
terminal parameter Maximum Company
value value
Digital output
electric
[COx / DOx] 0 - 1 A
current
pressure
[COx / DOx] 0 - 0.5 V
drop
Leakage
[COx / DOx] 0 - 0.1 mA
current
[COx / DOx] function - NPN - Type
Digital input
[EIx/SIx/CIx/DIx] OFF -3 - 5 V
[EIx/SIx/CIx/DIx] ON 11 - 30 V
Current
[EIx/SIx/CIx/DIx] 2 - 15 mA
(11-30V)
[EIx/SIx/CIx/DIx] function - NPN - Type
46/298 Control connection

1.6.7 Safety I/O

This section describes the electrical specifications for safety I/O, and must
comply with section1.6.6General electrical specifications in section.

Safety devices and equipment must be installed in accordance with the

safety instructions and risk assessment, see para1.1 All safety I/Os are paired
(redundant) and must be saved as two independent branches.A single failure
shall not lead to loss of safety function.
47/298 Control connection

Safety I/O includes emergency stop and safety stop.The emergency stop
input is only used for emergency stop equipment, and the safety stop input is
used for various safety related protection equipment.The functional differences
are shown in Table 1.6-3:
Table 1.6-3 Functional Differences

Emergency stop Safe stop

Robot stops moving yes yes
Stop Category Category 0 Category 1
program execution stop it suspend
Robot power supply close open
restart Manual Automatic or manual
Frequency of use Infrequent often
Reinitialization
need unwanted
required

DANGER:
◆ Never connect safety signals to a PLC that does
not have the correct safety level.Failure to
observe this warning may result in serious injury
or death, as one of the safety stop functions may
be overridden.The safety interface signal must be
separated from the normal I/O interface signal.

◆ All safety related I/Os are redundant (two

independent channels).The two channels must be
kept separate so that a single failure does not
result in a loss of safety function.

◆ Before putting the robot into operation, the

emergency stop safety function must be verified
(the robot is powered on, press the emergency stop
button, the robot is powered off and stopped, the
power is turned off, the emergency stop button is
rotated, the power is turned on, and the robot is
powered on again).The safety function must be
tested regularly.

◆ The robot installation shall comply with these

specifications.Otherwise, serious injury or death
may be caused because the safety stop function
may be bypassed.
48/298 Control connection

The following sections give some examples of how to use safe I/O.

Default Security Configuration

The robot is delivered with default

configuration, and can be operated
without any additional safety equipment.
See Fig. 1.6-9.

Fig. 1.6-9 Safety Protection

Diagram 01

Connect the emergency stop button

In most applications, one or more

additional emergency stop buttons are
required.See Fig. 1.6-10.

Fig. 1.6-10 Safety Protection

Diagram 02
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Connect security stop button

An example of a safety stop device is

the door switch that stops the robot when
the door is open, as shown in Fig. 1.6-11.

Fig. 1.6-11 Safety Protection

Diagram 03
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1.6.8 General digital I/O

This section describes the electrical specifications of general digital I/O,

which must comply with the general electrical specifications in section 1.6.6.

Universal digital I/O can be used to drive relays, solenoid valves and other
equipment or interact with other PLCs.

Digital output control load

This example demonstrates how to

connect the digital output to control the
load, see Fig. 1.6-12.

Fig. 1.6-12 Schematic Diagram of

Universal Digital Output 01

1.6.9 Digital input from button

The following example shows how to

connect a simple button to a digital input.

Fig. 1.6-13 Schematic Diagram of

Universal Digital Input 02
51/298 Control connection

1.6.10 Interaction with other equipment or PLC

The following example demonstrates how to interact with other equipment

or PLC for digital input and output.

A B

Fig. 1.6-14 Schematic Diagram of Interaction with Other Equipment or

PLC
52/298 Control connection

1.6.11 Analog quantity I/O

Table 1.6-4 Analog Current and Voltage

minimu m Typical
termin al parameter Maximum Compan y
value value
Analog current input
[AIx - END] electric 0 - 20 mA
current
[AIx - END] impedance - 500 - ohm
[AIx - END] resolving - 12 - bit
power
Analog quantity
voltage input
[Alx - END] Voltage 0 - 10 V
[Alx - END] impedance - 510 - Kohm
resolving - 12 - bit
[Alx - END]
power
Analog current
output
electric 0 - 20 mA
[AOx - END]
current
[AOx - END] Voltage 0 - 10 V
[AOx - END] resolving - 12 - bit
power
Analog quantity
voltage output
[AOx - END] Voltage 0 - 10 V
[AOx - END] electric 0 - 20 mA
current
[AOx - END] impedance - 100 - ohm
[AOx - END] resolving - 12 - bit
power

Analog I/O is used to set or measure the voltage (0-10V) or current (0-
20mA) of other equipment.

In order to achieve high accuracy, the following methods are recommended.

⚫ The equipment and control box use the same ground (GND).

⚫ Use shielded cable or twisted pair.

53/298 Control connection

The following example demonstrates how to use analog I/O.

Use analog output

The following example demonstrates

the use of analog output to control the
conveyor belt.

Fig. 1.6-15 Schematic Diagram of

Analog Output

Use analog input

The following example demonstrates

the use of analog inputs to connect analog
sensors.

Fig. 1.6-16 Schematic Diagram of

Analog Input
54/298 Teaching pendant and end LED

1.7 Teaching pendant and end LED

The robot teaching device can use a computer or tablet to access and
control the robot. For the connection method, please refer to section 1.6.3. In
addition, users can also use our FR-HMI teaching device, which is an optional
part.

1.7.1 Introduction to Button Box

The first version of button box

Emergency Key 1 Key 2

Type-c Key 3

Fig. 1.7-1 The first version of button box

Emergency stop switch: when the emergency stop switch is pressed,

the robot enters the emergency stop state.

Type-c interface: the port to connect the web teaching pendant.

Key 1: Short press to switch between automatic mode and manual

55/298 Teaching pendant and end LED

mode, long press to enter/exit drag mode.

Key 2: Short press to record the teaching point, long press to

enter/exit the state without teaching device.

Key 3: Short press Start/Stop to run the program.

56/298 Teaching pendant and end LED

Version 2 button box

Emergency stop Start Stop Internet port Shutdown

Record point Teaching mode Operation mode Drag Mode

Fig. 1.7-2 Second version button box

Emergency stop switch: when the emergency stop switch is pressed,

the robot enters the emergency stop state.

Start stop: start/stop running the program.

Internet port: connect to the web teaching device.

Shutdown: not enabled temporarily.

Record point: record teaching point.

Teaching mode: enter/exit the state of matching teaching pendant.

Operation mode: automatic/manual mode switching.

Drag mode: enter/exit drag mode.

57/298 Teaching pendant and end LED

1.7.2 Introduction to FR-HMI Teaching pendant

display Start Stop F4 key

Fig. 1.7-3 FR-HMI teaching pendant front

58/298 Teaching pendant and end LED

Joint key Triple Emergenc mode

enable

Fig. 1.7-4 FR-HMI teaching pendant back

Display screen: touch operation and display interface of teaching

pendant.

Start key: start the program.

Stop key: stop the currently running program.

F4 key: enter the keyboard to call the key.

Joint key: robot joint inching.

Three position enabling: manual mode enabling robot

Emergency stop switch: when the emergency stop switch is pressed,

the robot enters the emergency stop state.

Mode key: rotate the button to switch between manual and automatic
mode.
59/298 Teaching pendant and end LED

1.7.3 End LED definition

Table 17-1End LED definition table

function LED color

When communication is not Alternating "off", "red",

established "green" and "blue"

Automatic mode Long bright blue

Manual mode Green light

Drag Mode White cyan is always bright

Button box record point (only when

Two purple flashes
using button box)

Enter the state of unmatched

button box (only when using the Twinkle blue
button box)

Start running (only when using the

Blinking blue twice
button box)

Stop operation (only when using

Red flashes twice
the button box)

Error reporting (only when using

Red long bright
the button box)

Zero calibration completed Three flashes of white and cyan

De enable Twice flashing yellow

60/298 Installation of robot arm and control box

Chapter II Quick Start Robot

2.1 Installation of robot arm and control box

According to the1.5and1.6Install and connect the robot arm and the control
box.

⚫ Unpack and take out the robot arm, and install the robot arm with 4 M8
bolts with strength no less than 8.8.Install the robot arm on a firm and
shockproof surface. If it is fixed with aluminum plate, the thickness of
aluminum plate shall not be less th an 16mm. If it is fixed with iron plate,
the thickness of iron plate shall not be less than 8mm;

⚫ Place the control box on its feet;

⚫ Connect the heavy load cable of the robot arm body to the heavy load
interface of the control box;

⚫ Plug the aviation plug of the button box into the interface of the
teaching pendant in the control box. If a touch screen teaching pendant
is equipped, a data cable with Type-c interfaces at both ends needs to
be used to respectively plug into the Type-c interfaces of the button
box and the teaching pendant;

⚫ Ensure that the 220V power line is connected to the power socket
when the power button of the control box is off (the button is turned to
0);

⚫ Plug in the power control box plug.

DANGER:
If the robot is not safely placed on a solid surface,
the robot may fall over and cause injury.
61/298 Teaching pendant start control robot

2.2 Teaching pendant start control robot

The control box connects the physical electrical input/output terminals of

the robot arm, teaching box and any peripheral equipment.The control box must
be opened to power on the robot arm.

⚫ Press the power button of the control box to start the control box;

⚫ After starting the robot, the robot is in the manual mode and is not
enabled. If you need to operate the robot in the manual mode, you
need to press the three position enable switch on the teaching pendant
OFF (release) ON OFF (press). When the switch is in the ON
state, drag or control the robot movement.

⚫ If it is not necessary to operate the robot in manual mode, the key

switch rotary button on the teaching pendant can be used to switch the
working mode of the robot: automatic, manual, user-defined;

⚫ When switching the manual status of the robot, check whether there
are abnormalities inside and outside the safety space, and operate the
machine carefully;

⚫ When switching the automatic state of the robot, check the safety
measures and restore to the normal state, and carefully operate the
machine;

⚫ When the teaching pendant cannot be opened normally, please check

whether the device connection is normal.
62/298 Button box controls robot movement

2.3 Button box controls robot movement

Refer to Chapter I1.7.3End LED definition to control the robot

2.3.1 Not equipped with teaching pendant

⚫ Step 1, turn on the power switch

of the robot control box, start the
robot, wait until the LED at the
end turns green, and then
operate the robot as shown in
Fig. 2.3-1.

Fig. 2.3-1 Schematic diagram of end

LED green

⚫ Step 2, long press the button box

"key 2" to enter the mode without
teaching pendant, and the end
LED flashes blue three times, as
shown in Fig. 2.3-2.

Fig. 2.3-2 Schematic diagram of end

LED cyan
63/298 Button box controls robot movement

⚫ Step 3, long press the button box "key 1" to switch the robot to the drag
mode. At this time, the end LED is white cyan, as shown in Fig. 2.3-3.
Move the robot to any position, long press the "key 1" to exit the drag
mode, short press the button box "key 2" to record P1 points, and the
end LED flashes purple three times, as shown in Fig. 2.3-4.

Fig. 2.3-3 Schematic diagram of white Fig. 2.3-4 Schematic diagram of end
cyan LED at the end LED purple

⚫ Step 4, mobile robot, press the

button box "key 2" briefly to
record P2 point, and the end LED
flashes purple three times, as
shown in Fig. 2.3-5.

Fig. 2.3-5 Schematic diagram of end

LED purple
64/298 Button box controls robot movement

⚫ Step 5, long press the button box "key 1" to exit the drag mode. At this
time, it is the manual mode, and the end LED is green, as shown in Fig.
2.3-6. Short press the "key 1" to switch the robot to the automatic mode,
and the end LED is blue, as shown in Fig. 2.3-7.

Fig. 2.3-6 Schematic diagram of end Fig. 2.3-7 Schematic diagram of end
LED green LED blue
⚫

⚫ Step 6, press the button box "key

3" briefly to run the program, and
the LED at the end flashes blue
twice, as shown in Fig. 2.3-8.

Fig. 2.3-8 Schematic diagram of end

LED yellow
65/298 Button box controls robot movement

⚫ Step 7, briefly press the button

box "key 3" to stop the program,
and the LED at the end flashes
red three times, as shown in Fig.
2.3-9.

Fig. 2.3-9 Schematic diagram of end

LED red

2.3.2 With teaching pendant

⚫ Step 1, start the robot, wait for the

end LED to stop flashing green,
as shown in Fig. 2.3-10, and then
operate the robot.

Fig. 2.3-10 Schematic diagram of

end LED green

⚫ Step 2, open the teaching pendant to enter the program editing

interface.

⚫ Step 3, select a blank template to create a new program file.

66/298 Button box controls robot movement

⚫ Step 4, briefly press button 1 of

the button box to switch the robot
to manual mode, and the LED at
the end is green, as shown in Fig.
2.3-11.

Fig. 2.3-11 Schematic diagram of

end LED green

⚫ Step 5, long press button 1 of the button box to switch the robot to the
dragging mode. At this time, the LED at the end is white cyan. Move
the robot to any position. Press
button 2 of the button box briefly
to record P1 points. The LED at
the end flashes purple three
times. Manually add the "PTP:
P1" command to the program
file.

Fig. 2.3-12 Record and add point P1

67/298 Button box controls robot movement

⚫ Step 6, mobile robot, press

button 2 of the button box briefly
to record P2 point, the LED at the
end flashes purple three times,
and manually add "PTP: P2"
command to the program.

Fig. 2.3-13Record and add point P2

⚫ Step 7, save the contents of the program file.

⚫ Step 8, long press button 1 of the button box to exit the drag mode. At
this time, it is manual mode, and the end LED is green, as shown in
Fig. 2.3-14. Short press button 1 of the button box to switch the robot
to automatic mode, and the end LED is blue, as shown in Fig. 2.3-15.

Fig. 2.3-15 Schematic diagram of Fig 2.3-14 Schematic diagram of end

end LED green LED blue
68/298 Button box controls robot movement

⚫ Step 9, press button 3 of the

button box briefly to run the
program, and the LED at the end
flashes blue twice, as shown in
Fig. 2.3-16.

Fig. 2.3-16 Schematic diagram of

end LED yellow
69/298 Teaching pendant controls robot movement

2.4 Teaching pendant controls robot movement

Click the "Teaching Simulation" button in the primary menu on the left side
of the teaching pendant, and click its submenu "Program Teaching" to enter the
program teaching interface, where the robot teaching program is mainly written
and modified.

After clicking the "New" icon button, the user names the file and selects a
template as the content of the new file. Click New to successfully create and
open the program file.

Fig. 2.4-1Schematic diagram of

teaching program operation

Warning:
Your head and torso cannot be within the reach of
the robot (work area).Please do not put your finger
where the robot can hold it.

be careful:
◆ Do not let the robot move into itself or other
objects, as this will cause damage to the robot.

◆ This is just a quick start guide to teach you how

to use FR robot easily.The premise of this guide
is that the environment is safe and the user is
careful.Please do not increase the speed or
acceleration above the default value.Always
conduct a risk assessment before putting the robot
into operation.
70/298 Basic information

Chapter III Teaching pendant software analysis

3.1 Basic information

3.1.1 System Introduction

The teaching pendant software is a supporting software developed for

robots and runs in the teaching pendant operating system. Its main functions
and technical features are as follows:

⚫ Be able to write teaching programs for robots;

⚫ Real time display of robot position coordinates, 3D simulation of solid

robots, and control of robot movement;

⚫ It can realize single axis inching and linkage operation of each axis of
the robot;

⚫ Be able to view the control IO status;

⚫ Users can modify passwords, view system information, etc.

3.1.2 execute

⚫ Power on the control box;

⚫ The teaching pendant opens the browser to access the target website
192.168.58.2;

⚫ Enter the user name and password and click Login to log in to the
system.

3.1.3 User login and authority management

⚫ Operator (initial user name: operator password: 123)

⚫ Programmer (initial user name: programmer password: 123)

⚫ Administrator (initial user name: admin password: 123)

User accounts are mainly divided into three levels. The operator can use a
few functions, the programmer has some function restrictions, and the
administrator has no function restrictions.The manual high -speed function, as
71/298 Basic information

an important safety protection function, can only be used by programmers and

administrators. The operator has no manual high -speed function, that is, the
operator controls the robot movement in the manual mode, and the maximum
speed that the robot can reach is 250 mm/s to play the role of protection. The
specific permissions are shown in the table below.
72/298 Basic information

Table 3.1-1Permission management

User permissions Permission class Permission function

Administrator/0 / unlimited
Except for account setting,
collision level, soft limit
setting, friction compensation
coefficient, robot installation
mode, zero point setting,
encoder type switching,
terminal LED setting, system
Programmer/1 / time, system language, custom
information configuration,
factory value recovery,
controller compatibility,
network configuration, system
upgrade and file import
functions, it can be
implemented.
Select a tool coordinate system
and apply
Select an external tool
coordinate system and apply
Select the workpiece coordinate
system and apply
Robot settings Select external axis coordinate
system and apply
Set robot load

Friction compensation switch

Set robot speed scaling

Gripper reset, active

Spray gun commissioning

Operator/2
Welding machine commissioning

Sensor commissioning
User peripheral
settings
Extended axis test

Belt test

Tracking attitude test

Force sensor reset, active

Teaching
Teaching file export
simulation
Robot operation Start teaching program
73/298 Basic information

Stop the teaching program

Suspend the teaching program

Resume the teaching program

Single step execution

Robot inching
Robot Joints application
operation
Teaching point record

Clear controller error

Change robot mode

Teaching Export of teaching point
management information
status Viewing and exporting system
information logs
Auxiliary
Data backup export
application
System settings Configure Export

The login interface is as follows Fig. As shown in.

Fig. 3.1-1Login interface

After successful login, the system will load the model and other data, and
then enter the initial page.
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3.2 Initial system interface

After successful login, the system enters the "initial interface", which shows
that the teaching pendant mainly includes eight areas, including Fair LOGO and
return to the initial page button, menu bar, menu bar zoom button, robot
operation area, control area, status area, 3D simulation robot, position and IO
information area.as Fig. As shown in.

Fig. 3.2-1Schematic diagram of system initial interface

3.2.1 Control area

Enable button: enable robot

Start button: upload and start running the teaching

program

Stop button: stop the current teaching program

Pause/resume button: pause and resume the current

teaching program
75/298 Initial system interface

3.2.2 status bar

Robot status: Stopped Running Pause Drag dragging

Toolcoord1: No. 1 tool coordinate system of current application

Running speed percentage: the speed when the robot runs in

the current mode
Normal status: the current robot operates normally

Error status: there is an error in the current robot

operation
Virtual solid robot: currently a solid robot

Virtual entity robot: currently virtual robot

Automatic mode: robot automatic operation mode

Teaching mode: robot teaching operation mode

Robot dragging status: the current robot can be dragged

Robot dragging status: the current robot cannot be dragged

Connection status: the robot is connected

Unconnected status: the robot is not connected

Account information: display user name, authority and login

user
76/298 Initial system interface

3.2.3 menu bar

Menu bar such asTable

Table 3.2-1Teaching pendant menu bar

class a second level

Robot settings
Initial settings
User peripheral configuration

Program teaching

Teaching simulation Graphical programming

Teaching management

system log
status information
Status Query

Robot body

Auxiliary application Welding expert database

Security Settings

System settings /

3.2.4 Operation area

For IO settings, refer to3.5.1 I/O settings

Joint, Base and other functions can be referred to3.6 Robot operation
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3.3 3D simulation robot

3.3.1 Virtual/physical robot switching

(This function is not enabled at present)

3.3.2 3D virtual track and model shadow

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.

Model shadow: in the open state, there is a shadow under the 3D model
robot, and when it is closed, no shadow is displayed.

Fig. 3.3-1Virtual track and model shadow

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3.3.3 3D visualization of robot coordinate system

Create various 3D virtual coordinate systems in the 3D virtual area of

WebAPP robot, take the display of the base coordinate system as an example,
as shown in the following figure.The X axis is red, the Y axis is green, and the
Z axis is blue.

Base coordinate system: the system robot 3D virtual area in the base
coordinate system WebAPP is displayed by default, and the fixed mark is at the
bottom center of the robot base.The 3D virtual base coordinate system can be
manually closed for display.

Fig. 3.3-2Base Coordinate Fig. 3.3-3Base Coordinate

System Display Close System Display On

Tool coordinate system: the tool coordinate system is displayed by

default.After the WebAPP starts and the user logs in successfully, obtain the
name and corresponding parameter data of the tool coordinate system currently
applied, and initialize the current tool coordinate system.

When other tool coordinate systems are applied in the process of use,
when the command of applying tool coordinate systems is successful, the
existing tool coordinate systems in the 3D virtual area of the robot will be
cleared first, and then the newly applied tool coordinate system parameter data
will be transferred to the 3D coordinate system generation API for tool
coordinate system generation. After the generation, the corresponding display
will be completed in the 3D virtual area of the robot.

3D virtual tool coordinate system can be displayed manually.

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Fig. 3.3-4Tool coordinate system display

Workpiece coordinate system: the workpiece coordinate system is

closed by default and can be displayed manually.The process is consistent with
the tool coordinate system.

Fig. 3.3-5Display of workpiece coordinate system

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External axis coordinate system: the external axis coordinate system is

off by default, and you can manually open the display.The process is consistent
with the tool coordinate system.

Fig. 3.3-6External axis coordinate system display

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3.3.4 Setup and display of robot installation mode

The robot is installed horizontally by default. When the robot installation

mode is changed, the actual installation mode of the robot needs to be set on
this page in time to ensure the normal operation of the robot.

The user clicks the "Fixed Installation" tab in the 3D virtual display area of
the robot, enters the robot fixed installation mode setting page, selects "Front
Installation", "Flip Installation" or "Side Installation", and clicks the "Application"
button to complete the robot installation mode setting.

Fig. 3.3-7 Fixed installation

Considering more flexible and rich robot deployment scenarios, we provide

free installation function. Users click the "360 °free installation" tab in the 3D
virtual display area of robots to enter the robot free installation mode setting
page.Manually adjust the angle of "base tilt" and "base rotation", and the 3D
model will display the installation effect accordingly.After modification, click the
"Apply" button to complete the robot installation mode setting.
82/298 3D simulation robot

Fig. 3.3-8 360 °free installation

83/298 Robot settings

3.4 Robot settings

3.4.1 Tool coordinates

Click "Tool coordinate" under the menu bar of "Robot setting" in

"Initial setting" to enter the tool coordinate interface.Tool coordinates can
be modified, emptied and applied.There are 15 numbers in the drop-down
list of tool coordinate system. After selecting the corresponding coordinate
system (the coordinate system name can be customized), the
corresponding coordinate value, tool
type and installation position (only
displayed under the sensor type tool) will
be displayed below. After selecting a
coordinate system, click the "Apply"
button, and the currently used tool
coordinate system will become the
selected coordinate, as shown in Fig.
3.4-1.

Fig. 3.4-1Set tool coordinates

84/298 Robot settings

Click "Modify" to reset the tool coordinate system of this number

according to the prompt.The tool
calibration method is 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 attitude is consistent
with the end attitude by default. The six
point method adds two points on the
basis of the four point method to
calibrate the attitude of the tool. Here we
take the six point method as an example
to explain.

Fig. 3.4-2Set tool coordinates

85/298 Robot settings

Select a fixed point in the robot space, move the tool to the fixed point in
three different poses, and set 1-3 points in turn.As shown in Fig. 3.4-3 at the
top left.Move the tool vertically to the fixed point set point 4, as shown in the
upper right of Fig. 3.4-3.Keep the posture unchanged, use the base coordinate
to move, move a distance in the horizontal direction, set point 5, an d this
direction is the X axis direction of the tool coordinate system.Return to the fixed
point, move vertically upward for a distance, set point 6, and this direction is the
Z axis direction of the tool coordinate
system.Click the calculation button to
calculate the tool pose, if necessary
To reset, click Cancel and press the
Modify button to reset
Steps for creating a tool coordinate
system.

Fig. 3.4-3Schematic diagram

of six point method

After finishing the last step, click "Finish" to return to the tool coordinate
interface, and click "Save" to store the tool coordinate system just established.
86/298 Robot settings

3.4.2 External tool coordinates

Click "External Tool Coordinate System" under the menu bar of "Robot
Settings" in "Initial Settings" to enter the interface of external tool coordinate
system.
The external tool coordinates can be modified, cleared and applied in the
external tool coordinate system setting interface.
There are 15 numbers in the drop-
down list of the external tool coordinate
system. Select the corresponding
coordinate system from etoolcoord0 to
etoolcoord14, and the corresponding
coordinate values will be displayed below.
Select a coordinate system and click the
"Apply" button, and the currently used tool
coordinate system will become the
selected coordinate, as shown in Fig. 3.4-
4.

Fig. 3.4-4External tool

coordinates
87/298 Robot settings

Click "Modify" to reset the tool

coordinate system of this number
according to the prompt, as shown in Fig.
3.4-5.

Fig. 3.4-5Schematic

diagram of six point method

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1. Determine external TCP by three-point method:

Setpoint 1: The TCP of the measured tool moves to the external TCP, and
click Setpoint 1;

Setpoint 2: Move a distance from point 1 along the X axis of the external
TCF coordinate system, and click Setpoint 2;

Setpoint 3: return to point 1, move a distance from point 1 along the Z axis
of the external TCF coordinate system, and click Setpoint 3;

Calculate: click Calculate to get the external TCF;

2. Six point method to determine the tool TCF:

Set points 1-4: select a fixed point in the robot space, move the tool from
four different angles to the selected point, and set 1-4 points in turn;

Setpoint 5: Return to a fixed point and move a distance along the X axis
of the tool TCF coordinate system, click Setpoint 5;

Setpoint 6: Return to a fixed point and move a distance along the Y axis
of the tool TCF coordinate system, click Setpoint 6;

Calculate: click Calculate to get the tool TCF;

If you need to reset, click the Cancel button to enter the new tool coordinate
system step again.

After finishing the last step, click "Fin ish" to return to the tool coordinate
interface, and click "Save" to store the tool coordinate system just established.
89/298 Robot settings

3.4.3 Workpiece coordinates

Click "workpiece coordinate" under the menu bar of "robot setting" in

"initial setting" to enter the workpiece coordinate interface.The workpiece
coordinates can be modified, cleared and applied.There are 15 numbers in
the drop-down list of workpiece coordinate system. Select the corresponding
coordinate system (wobjcoord0~wobjcoord14), and the corresponding
coordinate values will be displayed in the
"Coordinate System Coordinates" below.
Select a coordinate system and click the
"Apply" button, and the currently used
workpiece coordinate system will
become the selected coordinate, as
shown in Fig. 3.4-6.

Fig. 3.4-6 workpiece coordinates

90/298 Robot settings

The workpiece coordinate system is generally calibrated on the basis of

tools, 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 this 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, but the third point is different. The first method is used to
calibrate the Z direction of the workpiece coordinate system, and the second
method is used to calibrate a point on the XY+plane, which can be calibrated
according to the diagram.Click the
calculation button to calculate the
position and pose of the workpiece,
If it is necessary to reset, click Cancel
and press the Modify button to re create
the workpiece coordinate system.

Fig. 3.4-7Schematic diagram

of three-point method

After finishing the last step, click "Finish" to return to the workpiece
coordinate interface, and click "Save" to store the workpiece coordinate system
just established.
91/298 Robot settings

3.4.4 Extended axis coordinates

Click "Extended Axis Coordinate System" under the menu bar of "Robot
Settings" in "Initial Settings" to enter the interface of extended axis coordinate
system.The extended axis coordinates can be modified, cleared and applied in
the extended axis coordinate system setting interface.
There are five numbers in the drop-down list of the extended axis
coordinate system. Select the
corresponding coordinate system from
eaxis0 to eaxis4 and the corresponding
coordinate values will be displayed below.
Select a coordinate system and click the
"Apply" button. The currently used
extended axis coordinate system will
become the selected coordinate, as
shown in Fig. 3.4-8.

Fig. 3.4-8Extended axis

coordinates
92/298 Robot settings

Click "Modify" to reset the extended axis system of this number according
to the prompt, as shown in Fig. 3.4-9.Clear the extended axis coordinate system
to be calibrated before calibration, and apply the extended axis coordinate
system.First, let's look at the calibration method of linear guide, the first
extended axis scheme.Select the number of the extension axis and obtain the
drive information of the corresponding
extension axis. We can configure
parameters according to this
information.Set DH parameters after
configuration, and the linear guide
scheme defaults to 0.Set the relative
extension axis position of the robot, and
the linear guide is on the extension axis.If
it is not calibrated, click Save. At this time,
the extension axis can only move
asynchronously.

Fig. 3.4-9Linear guide configuration

93/298 Robot settings

If it is necessary to move synchronously with the robot, click calibration to

enter the calibration interface. At the zero point of the extension axis, click Easis
in the operation area to enable the extension axis. Align the center of the robot
end (the end point of the tool under the coordinate system of the application
tool) with two different poses to fix a point on the extension axis, and set point
1 and point 2 respectively.Remove the enable and move the extension axis for
a distance. After enabling, align the center point of the robot end with the
previous fixed point, set point 3.Remove the enable and move the extension
axis to the zero point to enable the
extension axis.Move the center point at
the end of the robot to a point vertically
upward of the fixed point, set point 4,
calculate the coordinate system and
save it.

Fig. 3.4-10Linear guide calibration

94/298 Robot settings

Next, let's look at the calibration method of the positioner, the second
extended axis scheme.The positioner
consists of two extension axes. Select
the number of the extension axis and
obtain the information to obtain the
driver information of the corresponding
extension axis. We can configure
parameters according to this
information.After configuration, set DH
parameters, measure the DH
parameters of the positioner according
to the figure, and input them into the
input box.Set the relative extension axis
position of the robot, and the positioner
is outside the extension axis.If it is not
calibrated, click Save. At this time, the
extension axis can only move
asynchronously.

Fig. 3.4-11 Positioner configuration

95/298 Robot settings

If it is necessary to move synchronously with the robot, click calibration to

enter the calibration interface. At the zero point of the extension axis, click the
Easis enable extension axis in the operation area, establish a coordinate
system on the positioner, select a point, and input the Cartesian pose of the
point under the coordinate system. For example, select a point in the positive
direction of Y, and measure that Y is
100mm, then input the value shown in
the figure, and click the reference point
to set the reference point.The center of
the end of the robot (the end point of the
tool under the coordinate system of the
application tool) shall be aligned with the
reference point for the next four
calibration points.

Fig. 3.4-12Reference point

configuration of positioner

Align the center of the robot end (the end point of the tool under the
application tool coordinate system) with the reference point, set point 1, click
Easis in the operation area to jog two axes a short distance, align the center of
the robot end with the reference point,
set point 2, continue to jog two axes,
align the center of the robot end with the
reference point, set point 3, and finally
continue to jog two axes, align the center
of the robot end with the reference point,
set point 4,Click Calculate to get the
coordinate system result, click Save to
apply.

Fig. 3.4-13Calibration of positioner

96/298 Robot settings

Next, let's look at the calibration

method of the third extended axis scheme
- single axis positioner.The positioner
consists of a rotating extension axis.
Select the number of the extension axis,
and obtain the information to obtain the
driver information of the corresponding
extension axis. We can configure
parameters according to this
information.DH parameter is set to 0.Set
the relative extension axis position of the
robot, and the positioner is outside the
extension axis.If it is not calibrated, click
Save. At this time, the extension axis can
only move asynchronously.

Fig. 3.4-14 Single axis positioner

configuration
97/298 Robot settings

If it is necessary to move synchronously with the robot, click calibration to

enter the calibration interface. At the zero point of the extension axis, click the
Easis enable extension axis in the operation area, establish the coordinate
system on the positioner, select a point, enter the Cartesian pose of the point
under the coordinate system, and click "reference point" to set the reference
point.The center of the end of the robot (the end point of the tool under the
coordinate system of the application tool) shall be aligned with the reference
point for the next four calibration points.Align the center of the end of the robot
(the end point of the tool under the
application tool coordinate system) with
the reference point, set point 1, click
Easis in the operation area to jog the
rotation axis for a short distance, align the
center of the end of the robot with the
reference point, set 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 to get the
coordinate system result, click Save to
apply.

Fig. 3.4-15Calibration of

single axis positioner

98/298 Robot settings

3.4.5 Collision class

Click "Collision Level" under the menu bar of "Robot Settings" in "Initial
Settings" to enter the interface of collision level.

The collision level is divided into one to ten levels. Level one to three
detection is relatively sensitive, and the robot needs to run at the recommended
speed.At the same time, you can select a
custom percentage setting. 100%
corresponds to the tenth level.The
collision strategy can set the handling
mode of the robot after collision, which is
divided into error stop and continue
movement. Users can set it according to
the specific use needs.See Fig. 3.4-16.

Fig. 3.4-16Schematic diagram of

collision level
99/298 Robot settings

3.4.6 Soft limit

Click "Soft Limit" under the menu bar of "Robot Setting" in "Initial Setting"
to enter the soft limit interface.

There may be other equipment in the robot's travel, and the limit angle can
be used to soft limit the robot, so that the robot movement does not exceed a
certain coordinate value, and prevent robot collision.Triggering the soft limit
robot to stop is automatically triggered by the robot without stopping distance.

Administrators can use default values or enter angle values.Input the angle
value to limit the positive and negative angles of the robot joints. When the input
value exceedsTable 1.3-1The robot joint
soft limit angle listed in section will adjust
the limit angle to the maximum value that
can be set.When the robot reports
exceeding the instruction limit, it needs to
enter the drag mode and drag the robot
joint to within the limit angle.The interface
is shown in Fig. 3.4-17.

Fig. 3.4-17Schematic diagram

of robot limit
100/298 Robot settings

3.4.7 End load

Click "End Load" under the menu bar of "Robot Setting" in "Initial Setting"
to enter the end load interface.

The user can set corresponding

parameters according to the parameters
of the tool used. The load weight is 0~5kg,
and the range of centroid coordinates is
0~1000, as shown in Fig. 3.4-18.

Fig. 3.4-18Schematic diagram

of load setting

When the user is uncertain about the quality or centroid of the tool, the tool
data can be measured through the load identification function.

Make sure that the load is installed

before carrying out the
measurement.Click the "Tool Data
Measurement" button to enter the load
motion test interface.

Fig. 3.4-19Load identification

joint setting
101/298 Robot settings

Click "Load identification start" to test,

and stop the movement in case of
emergency.

Fig. 3.4-20Load identification start

After the movement, click the "Get

Identification Results" button to get the
calculated tool data and display it on the
page. If it needs to be applied to the load
data, click Apply

Fig. 3.4-21Load identification results

102/298 Robot settings

3.4.8 friction compensation

Click "Friction Compensation" under the menu bar of "Robot Settings" in

"Initial Settings" to enter the friction compensation setting interface.

Friction compensation coefficient: the use scenario for friction

compensation is only in drag mode. The friction compensation coefficient can
be set to 0~1. The higher the value, the
greater the force compensated during
drag.The friction compensation
coefficient is set separately for each shaft
according to the different installation
methods.

Friction compensation switch: the

user can turn on or off the friction
compensation according to the actual
robot and usage habits.

Fig. 3.4-22Friction compensation

settings
103/298 Robot settings

3.4.9 Speed scaling

Click "Speed scaling setting" under the menu bar of "Robot setting" in
"Initial setting" to enter the speed scaling setting interface.

This function is to set the speed of the robot under manual/automatic

operation. If the current mode is automatic operation, the set speed is the
automatic operation speed of the robot. If the current mode is manual operation,
the set speed is the manual operation speed of the robot.The set value is the
percentage of the robot's standard speed.
If 100 is set, it is 100% of the standard
speed (please read the table for standard
speed1.3-1Robot parameters).

After the speed is set successfully,

the corresponding speed status bar will
be changed to the set value, and the
speed value setting range is 0~100.

Fig. 3.4-23Speed zoom settings

104/298 Robot settings

3.4.10 Configure import and export

Click "Configuration Import and Export" under the menu bar of "Robot
Settings" in "Initial Settings" to enter the configuration import and export
interface.

Import robot configuration file: the user imports the robot configuration
file named user.config, which contains various parameters in the robot setting
function.Click the "Select File" button, select the modified configuration file
whose content meets the specification, and click the "Import" button. When the
prompt of import completion appears, the parameters in the file are successfully
set.

Export robot configuration file: click the "Export" button to export the
robot configuration file user.config to local.

Import controller database: the

user import file name is
fr_controller_Controller database file of
data.db.Click the "Select File" button,
select the modified database file whose
content meets the specification, and click
the "Import" button. When the prompt of
import completion appears, the
parameters in the file are successfully set.

Controller database: click the

"Export" button to export the robot
controller database file to local.

Fig. 3.4-24Configure import and export

105/298 Control box I/O

3.5 Control box I/O

3.5.1 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 Fig. 3.5-1. The interface can realize
manual control of digital output, analog output (0-10v), digital output and analog
output (0-10v) of end tools in the robot control box:

⚫ For DO operation, select the port number. If the DO is low level, the
operation button on the right displays ON.
Click the button to set the DO as high
level.

⚫ For AO operation, select the port

number, and 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.

Fig. 3.5-1 I/O setting interface

106/298 Control box I/O

3.5.2 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; if it is low,
the point will be displayed in white;The
display value of analog input and analog
output is 0-100100, which means 10v.

Fig. 3.5-2Status display interface

3.5.3 I/O filtering

Click "Robot Setting" in "Initial

Setting" on the left menu bar, and click "IO
Filtering" submenu to enter the IO filtering
time setting interface. The filtering time
setting interface includes: control box DI
filtering time, end plate DI filtering time,
control box AI0 filtering time, control box
AI1 filtering time, and end plate AI0
filtering time, as shown in Fig. 3.5-3.Users
can set corresponding parameters
according to their own needs, and click
the corresponding setting button.

Fig. 3.5-3 I/O filter interface

107/298 Control box I/O

3.5.4 I/O configuration

Click "Robot Settings" in "Initial Settings" in the left menu bar, and click "DI
Configuration" and "DO Configuration" submenus respectively to enter the DI
and DO configuration interfaces.The control box CI0-CI7 and CO0-CO7 can be
configured, and the terminal DI0 and DI1 can be configured.In production, when
the cooperative robot needs to connect peripherals or stops suddenly due to
fault or other factors, it needs to output DO signal to realize audible and visual
alarm prompt, and input configurable functions such asTable As shown in.
Table 3.5-1Control box input configurable function

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

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

108/298 Control box I/O

16 Start rewind

17 Startup confirmation

18 Laser detection signal X

19 Laser detection signal Y

109/298 Control box I/O

The output configurable functions are shown in Table 3.5-2 and Table 3.5-
3.
Table 3.5-2Configurable function of control box output

Function No Function name

0 nothing

1 report errors

2 motion

3 Spraying start and stop

4 Spray 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

110/298 Control box I/O

Table 3.5-3Configurable function of terminal input

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

8 stop it

9 Pause/Resume

10 Start/Stop

The default configuration of the control box: CO0 is 1-robot error reporting,
CO1 is 2-robot in motion.
111/298 Control box I/O

Fig. 3.5-4 Control box DI configuration Fig. 3.5-5Control box DO configuration

Default configuration of end DI: DI0

drag teaching, DI1 teaching point record.

Fig. 3.5-6End DI configuration

After the configuration is completed, you can view the corresponding

output DO status on the I/O page of the control box in the corresponding
status.(Note: configured DI and DO cannot appear on the teaching
programming page)
112/298 Robot operation

3.6 Robot operation

3.6.1 Teaching point record

The manual teaching control area is mainly used to set the examination
coordinate system in the teaching mode, display the angles and coordinate
values of each axis of the robot in real time, and name and save the teaching
points.

When saving the teaching point, the

coordinate system of the teaching point is
the coordinate system applied by the
current robot.The speed and acceleration
of the teaching point can be set above the
operation area. The set value is the
percentage of the robot's standard speed.
If 100 is set, it is 100% of the standard
speed (please read the standard
speedTable 1.4-1Robot parameters).

Sensor teaching point, select the

calibrated sensor type tool, enter the point
name, click Add, and the saved point
position is the position of the point
recognized by the sensor.

Fig. 3.6-1Schematic diagram

of manual operation

be careful:
When you use it for the first time, please set a speed
value as low as 30 to be familiar with the robot
movement to avoid accidents.
113/298 Robot operation

3.6.2 Joint

Under the joint operation, the six slider bars in the middle represent the
angles of the corresponding axes respectively. The joint movement is divided
into single axis inching and multi axis linkage

Single axis inching: the user can control the robot movement by
operating the left and right round buttons, as shown in Fig. 3.6-2.Rotate a joint
of the robot in manual mode and joint coordinate system.When the robot stops
beyond the range of motion (soft limit), it can be manually operated by single
axis inching to move the robot out of the limit position.Single axis inching is
faster and more convenient than other operation modes in rough positioning
and large movement.

Set the "Long press motion threshold" (when the button is pressed for a
long time, the maximum distance the robot runs, the value range is 0~300)
parameter, long press the round button to control the robot operation, if the
button is released during the robot operation, the robot will immediately stop
moving, if the button is kept pressed, the robot will run and long press the value
set by the motion threshold to stop moving.
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Fig. 3.6-3 Joint Single Axis Jog Fig. 3.6-2 Joint Multi axis Linkage
Diagram Diagram

Multi axis linkage: the user can operate the middle six sliders to adjust
the corresponding target position of the robot, as shown in Fig. 3.6-3. The target
position can be determined by observing the 3D virtual robot. If the adjusted
position does not meet his expectations, click the "Restore" button to return the
3D virtual robot to its original position.After the user determines the target
position, he can click the "Apply" button, and the solid robot will move
accordingly.
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3.6.3 Base inching

In the base coordinate system, the

robot can be controlled by operating the
round buttons on the left and right sides
to move in a straight line on the X, Y, Z
axis or rotate around RX, RY, RZ. The six
slider bars in the middle represent the
position and range of motion on the
corresponding coordinate axis, as shown
in Fig. 3.6-4.The function of Base inching
is similar to that of single axis inching in
Joint motion.

Fig. 3.6-4 Schematic diagram of base

inching

be careful:
The button can be released at any time to stop the
robot.If necessary, press the emergency stop button
to stop the robot.
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3.6.4 Tool inching

Select the tool coordinate system,

you can operate the round buttons on the
left and right sides to control the robot,
move in a straight line on the X, Y, Z axis
or rotate around RX, RY, RZ, and the six
slider bars in the middle represent the
position and range of motion on the
corresponding coordinate axis, as shown
in Fig. 3.6-5.The function of tool inching is
similar to that of single axis inching in joint
motion.

Fig. 3.6-5 Schematic diagram of tool

inching
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3.6.5 Wobj inching

Select the workpiece inching, you

can operate the left and right round
buttons to control the robot. Under the
workpiece coordinate system, the robot
moves along the X, Y, Z axes in a straight
line or rotates around RX, RY, RZ. The six
slider bars in the middle represent the
position and range of motion on the
corresponding coordinate axis, as shown
in Fig. 3.6-6.The function of Wobj inching
is similar to that of single axis inching in
Joint motion.

Fig. 3.6-6 Schematic diagram of Wobj

inching
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3.6.6 Move

If you select Move, you can directly

input Cartesian coordinate values. Click
"Calculate joint position", and the joint
position will be displayed as the result of
calculation. After confirming that there is
no danger, you can click "Move to this
point" to control the robot to move to the
input Cartesian position and pose.

Fig. 3.6-7 Move Schematic Diagram

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3.6.7 Easis Mobile

Select Easis to move. This function is

the inching function of the extension axis.
You need to use this inching function to
control the extension axis on the premise
of configuring the extension axis. For
details, see "Chapter 4 Machine -
Operator Peripherals - Extension Axis
Peripheral Configuration".

Fig. 3.6-8 Schematic diagram of Easis

movement
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3.6.8 TPD

The operation steps of TPD function are as follows:

Step 1 Record the initial position:

enter the left operation area of the 3D
model and record the current position of
the robot.Set the name of the point in the
edit box and click the "Save" button. If the
point is saved successfully, you will be
prompted with "Saved successfully";

Step 2 Configure the track

recording parameters: click TPD to
enter the "TPD" function item to configure
the track recording parameters, set the
name, pose type and sampling period of
the track file, and configure DI and DO. In
the process of recording the TPD track,
you can trigger DI to record the
corresponding DO that needs to be
output, as shown in Fig. 3.6-9;

Fig. 3.6-9 TPD track record

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Step 3 Check the robot mode: check whether the robot mode is in the
manual mode. If not, switch to the manual mode. In the manual mode, you can
switch to the supporting teaching mode by two ways, one is long pressing the
end button, the other is the interface drag mode switch button. In the TPD
record, it is recommended to switch the robot from the interface to the
supporting teaching mode.As shown in Fig. 3.6-10;

Fig. 3.6-10Robot mode

Step 4 Start recording: click the "Start recording" button to start track
recording, and drag the robot for action teaching.In addition, there is a "TPD
record start/stop" function configuration item in the terminal DI configuration. By
configuring this function, the user can trigger the "start recording" track function
through an external signal. It should be noted that to start recording tracks
through an external signal, first configure the TPD track information on the page.

Step 5 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 quit the dragging teaching mode.When the
teaching pendant receives the "Stop track recording successfully", it means that
the track recording is successful.Synchronizing step 4, after the "TPD record
start/stop" function is configured, the recording can be stopped by an external
signal.
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Step 6 Teaching programming: click New, select a blank template, click

to enter the PTP function programming item, select the initial location point just
saved, click the "Add" button, and after the application is completed, a PTP
command 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 ratio, click the "Add" button, and after the
application is completed, a MoveTPD command will be displayed in the
program file, as shown in Figure 3.6-11;

Fig. 3.6-11 TPD programming

Step 7 Track reappearance: After the teaching program is edited, 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 starts to reappear the
teaching action.

Step8 Track editing: The TPD track editing area can visually display and
edit tracks to achieve TPD track pre analysis and simplification.Select the
corresponding track to obtain the points, then the track points recorded by the
user will be displayed in the three-dimensional space of the robot. Next, the
user can drag the "Start" and "End" scroll bars to simulate and reproduce and
clip the start and end points of the track.

TPD file deletion and exception handling:

Track 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 prompt indicating that the deletion is successful.
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Exception handling:

◆ The number of command points exceeds the limit: a track can

record up to 20000 points. When the number exceeds 20000 points,
the controller will no longer record the number of points exceeded,
and will send an alarm prompt of "command points exceed the limit"
to the teaching pendant. At this time, click to stop recording;

◆ Too large TPD command interval: if the teaching pendant reports

an error and 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 and the
TPD command interval is too large, delete the current track and
record a new track again;

◆ In case of other abnormalities during TPD operation, the robot

operation shall be stopped immediately through the teaching
pendant or emergency stop button to check the causes.

be careful:
During the operation of TPD function, the corresponding
prompts on the teaching pendant shall be strictly followed.
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3.7 Teaching simulation

3.7.1 brief 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 enable
the robot to execute the command independently, and the second icon is to edit
the content of the node.

Fig. 3.7-1Program Tree Interface

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3.7.2 toolbar

Use the toolbar at the bottom of the program tree to modify the program
tree.

Open: Open the user program file

New: Select a template to create a new program file

Import: import a file into the user program folder

Export: export the user program file to the local

location.

Save: save file edits

Save As: Rename and save the file to the user program
or template program folder.
Copy: Copy a node and allow it to be used for other
operations (for example, paste it to another
location in the program tree).
Paste: Allows you to paste a previously cut or copied
node.
Cut: Cut a node and allow it to be used for other
operations (for example, paste it to another
location in the program tree).
Delete: Deletes a node from the program tree.

Move Up: moves the node up.

Move Down: move the node down.

Switch editing mode: program tree mode and lua editing

mode switch each other.
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3.7.3 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 operations for
adding program commands to the file. One is to open the relevant command
and click the application button to add the command to the program. The other
is to click the "Add" button first. At this time, the command is not saved to the
program file,You need to click "Apply" again to save the command to the file.The
second method mostly occurs when multiple commands of the same type are
issued. We add the function of adding key and displaying the added command
content to this type of command. Click the add key to add a command, and the
added command displays all the added commands. Click "Apply" to save the
added commands to the open file on the right.
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PTP command: click the "PTP" icon to enter the PTP command editing
interface

You can select the point you want to reach, 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 select the offset based on the
base coordinate system and the tool coordinate, and pop up the x, y, z, rx, ry,
rz offset settings. The PTP specific path is the optimal path automatically
planned by the motion controller. Click "Add"The command can be saved after
"Apply".

Fig. 3.7-2 PTP command interface

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Lin command: click "Lin" icon to enter Lin command editing

interface

The function of this command is similar to that of the "PTP" command, but
the path of the point where the command arrives is a straight line.

Fig. 3.7-3 Lin command interface

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Arc command: click the "Arc" icon to enter the Arc command editing
interface

The "Arc" command is an arc motion, including two points. The first point
is the middle transition point of the arc, and the second point is the end point.
Both the transition point and the end point can set whether to offset. You can
choose to offset based on the base coordinate system and tool coordinates,
and pop up the x, y, z, rx, ry, and rz offset settings. The end point can set a
smooth transition radius to achieve continuous motion effects.

Fig. 3.7-4 Arc command interface

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Circle command: click the "Circle" icon to enter the circle command
editing interface

The "Circle" command is a whole circle movement, including two points.

The first point is the middle transition point 1 of the whole circle, and the second
point is the middle transition point 2 of the whole circle. The transition point 2
can set whether to offset. The offset is effective at both transition point 1 and
transition point 2.

Fig. 3.7-5 Circle command interface

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Spiral command: click the "Spiral" icon to enter the Spiral command
editing interface

The "Spiral" command is a spiral movement, which contains three points.

The three points form a circle. On the third point setting page, there are several
parameter settings, including the number of spiral turns, attitude correction
angle, radius increment and axis direction increment. The number of spiral turns
is the number of motion cycles of the spiral. The attitude correction angle
corrects the attitude at the end of the spiral and the attitude of the first point of
the spiral,The radius increment is the increment of the radius of each circle, and
the increment of the rotation axis direction is the increment of the spiral axis
direction.Sets whether to offset, which is effective for the trajectory of the entire
helix.

Fig. 3.7-6 Spiral command interface

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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 spiral movement, which

requires only one point plus the configuration of parameters to achieve spiral
movement.The robot takes the current position as the starting point, and the
user sets the debugging speed, whether to offset, the number of spiral coils,
the spiral inclination, the initial radius, the radius increment, the axis direction
increment and the rotation direction. The number of spiral coils is the number
of motion coils of the spiral line, and the spiral inclination is the angle between
the Z axis of the tool and the horizontal direction,The attitude correction angle
corrects the attitude at the end of the spiral and the attitude at the first point of
the spiral. The initial radius is the size of the radius of the first circle, the radius
increment is the increment of the radius of each circle, and the rotation axis
direction increment is the increment of the spiral axis direction, and the rotation
direction is clockwise and counterclockwise.

Fig. 3.7-7 N-Spiral command interface

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Spline command: click the "Spline" icon to enter the Spline command
editing interface

This command is divided into three parts: the start of the spline group, the
end of the spline segment and the end of the spline group. The start of the
spline group is the start sign of the spline movement. The spline segment
contains SPL, SLIN and SCIRC segments. Click the corresponding icon to
enter the command adding interface. The en d of the spline group is the end
sign of the spline movement.

Fig. 3.7-8 Spline command interface

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N-Spline command: click the "N-Spline" icon to enter the N-Spline

command editing interface

This instruction is a Spline instruction algorithm optimization instruction,

which will replace the existing Spline instruction later. This instruction is divided
into three parts: multi-point track start, multi-point track segment and multi-point
track end. The multi-point track start is the start sign of multi-point track
movement, and the multi-point track segment is to set each track point. Click
the icon to enter the point adding interface. The multi-point track end is the end
sign of multi-point track movement,Control mode and debugging speed can be
set here. Control mode is divided into given control point and given path point.

Fig. 3.7-9 N-Spline command interface

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IO command: click the "IO" icon to enter the IO command editing

interface

The "IO" instruction is divided into two parts: setting IO

(SetDO/SPLCSetDO) and obtaining IO (GetDI/SPLCGetDI).

"SetDO/SPLCSetDO" This command can set the specified output DO

status, including 16 channels of control box digital output and 2 channels of tool
digital output. The status option "False" is closed, "True" is on, whether to block
the option "Blocking" means to set the DO status after the movement stops,
and the option "Non blocking" means to set the DO status during the last
movement.In the smooth track option, selecting Break means to set the DO
state after the smooth transition radius ends, and selecting Serial means to set
the DO state during the smooth transition radius movement.Wh en the
instruction is added to the worker thread, you need to select Yes to apply the
thread, or No to use the instruction elsewhere.Click Add and Apply.

Fig. 3.7-10 SetDO command interface

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In the "GetDI/SPLCGetDI" command, select the value of the port number

you want to obtain. Select the "Blocking" option to obtain the DI status after the
motion stops. Select the "Non Blocking" option to obtain the DI status during
the last motion.When the instruction is added to the worker thread, you need to
select Yes to apply the thread, or No to use the instruction elsewhere.Click Add
and Apply after selection.

Fig. 3.7-11 GetDI command interface

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AI command: click the "AI" icon to enter the AI command editing

interface

In this instruction, there are two functions: setting analog output

(SetAO/SPLCSetAO) and acquiring analog input (GetAI/SPLCGetAI).

"SetAO/SPLCSetAO" selects the analog output to be set, inputs the value

to be set, the range is 0-10, whether to block the option "Blocking" means to
set the AO state after the motion stops, and "Non blocking" means to set the
AO state during the last motion.When the instruction is added to the worker
thread, you need to select Yes to apply the thread, or No to use the instruction
elsewhere.Click Add and Apply.

Fig. 3.7-12 SetAO command interface

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"GetAI/SPLCGetAI" selects the analog input to be acquired. Choosing

"Blocking" means acquiring AI status after the motion stops. Choosing "Non
Blocking" means acquiring AI status during the last motion.When the instruction
is added to the worker thread, you need to select Yes to apply the thread, or No
to use the instruction elsewhere.Click Add and Apply.

Fig. 3.7-13 GetAI command interface

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TPD command: click the "TPD" button to enter the TPD command
editing interface

In this command, the user needs to have a recorded track first.

About track recording: save the starting point of the next track before
preparing to record the track.When the robot is in drag mode, enter the file
name, select the cycle (assuming the value is x, that is, a point is recorded
every x milliseconds, and it is recommended to record a point every 4
milliseconds), and click to start recording. The user can drag the robot to carry
out the specified movement as required. After the recording is completed, click
to stop recording, and then the previous robot's motion track can be
saved.When a movement cannot be fully recorded, the system will prompt that
the number of record points exceeds the limit, and the user needs to record the
movement in several times.
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When programming, first use the PTP command to reach the start point of
the corresponding track, then select the track in the TPD track reproduction
command, select whether it is smooth, set the debugging speed, click "Add"
and "Application" in order to insert the program.The trajectory loading command
is mainly used to read the trajectory file in advance and extract the trajectory
command, which is better applied to the conveyor belt tracking scene.

(Note: For detailed operation of TPD, see the TPD function operation
instruction module.)

Fig. 3.7-14 TPD command interface

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ToolList command: click the "ToolList" icon to enter the ToolList

command editing interface

Select the tool coordinate system name, click "Apply" to add the command
to the program, and when the program runs the statement, the tool coordinate
system of the robot will be set.

Fig. 3.7-15 ToolList command interface

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Mode command: click the "Mode" icon to enter the mode command
editing interface

This command can switch the robot to manual mode, 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.

Fig. 3.7-16 Mode command interface

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Var command: click the "Var" icon to enter the Var command editing
interface

This instruction is a variable system instruction, which is divided into two

parts: Lua variable definition, variable query and Sys variable renaming,
obtaining value and setting value. Lua variable definition can declare a variable
and assign an initial value, which can be used together with while, if else and
other instructions. Lua variable query instruction can query the value of the
entered variable name in real time and display it in the status bar.The number
of Sys variables is fixed. You can rename them, obtain variable values, and set
variable values. The value saved by the variable is not reset with the system
shutdown.

Fig. 3.7-17 Var command interface

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While command: click the "While" icon to enter the While command
editing interface

Enter the waiting conditions in the input box behind While, and the action
instructions during the cycle in the input box behind Do, and then click
Save.(For the convenience of operation, you can input the do content at will
and edit other instructions in the program instead)

Fig. 3.7-18 While command interface

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If. else command: click the "if. else" button to enter the if.
else command editing interface

Enter the statement in the right input box, and click "Add" and "Apply" after
editing.(This instruction needs some programming foundation, please contact
us for help)

Fig. 3.7-19 If. else command interface

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Goto command: click the "Goto" button to enter the Goto command
editing interface

Goto instruction is a jump instruction. Enter a statement in the input box on

the right, and click "Add" and "Apply" after editing.(This instruction needs some
programming foundation, please contact us for help)

Fig. 3.7-20 Goto command interface

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Wait command: click the "Wait" icon to enter the Wait command
editing interface

This instruction is a delay instruction, which is divided into "WaitMs",

"WaitDI" and "WaitAI".

The unit of "WaitTime" instruction delay waiting time is milliseconds. Enter

the number of milliseconds to wait, and click "Add" and "Apply".

Fig. 3.7-21 WaitTime command interface

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The "WaitDI" command, that is, single DI wait, selects the IO port number,
wait status, maximum wait time and wait timeout processing method to wait,
and then click "Add" and "Apply".

Fig. 3.7-22 WaitDI command interface

The "WaitMultiDI" instruction, that is, multi DI waiting, first selects the
conditions for multi DI to hold, then checks the DI port and status to wait, finally
sets the maximum waiting time and the waiting timeout processing method, and
then clicks "Add" and "Apply".

Fig. 3.7-23 WaitMultiDI command interface

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"WaitAI" command, select the analog quantity to wait, value, maximum

waiting time and waiting timeout processing method, and click "Add" and
"Apply".

Fig. 3.7-24 WaitAI command interface

Pause command: click the "Pause" icon to enter the Pause command
editing interface

This instruction is a pause instruction. Insert this instruction in the program.

When the program executes to this instruction, the robot will be in a paused
state. If you want to continue running, click the "Pause/Resume" button in the
control area.

Fig. 3.7-25 Pause command interface

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Dofile command: click the "Dofile" icon to enter the Dofile command
editing interface

The Dofile instruction calls the internal program of the controller. When
using the Dofile instruction, the called subprogram needs to be saved. If the
main program is not changed, it can not be saved again.The Dofile instruction
supports two-level calls. Two parameter settings should 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 cannot appear in the same program.

Fig. 3.7-26 Dofile command interface

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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
number of swing welding with configured parameters, click "Start swing
welding" and "Stop swing welding" and apply to add relevant commands to the
program.

Fig. 3.7-27 Weave command interface

Click "Configuration and Test" to configure the parameters of swing welding.

After the configuration is completed, the swing welding track can be tested by
pressing the Start and Stop test buttons.

Fig. 3.7-28 Weave configuration and test instruction interface

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Segment command: click the "Segment" icon to enter the segment

command editing interface

This instruction is a special instruction for welding. It is mainly used in the

cyclic intermittent welding scene of one section of welding and one section of
no welding.Between the starting point and the end point, use this command to
select the starting point and the end point, set the debugging speed, set the DO
port for arc starting, the execution length, and the non execution length.
According to the actual application scenario, set the function mode, swing
selection, and rounding rules to achieve the segment welding function.

Fig. 3.7-29 Segment command interface

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Adjust command: click the "Adjust" icon to enter the adjust command
editing interface

This command is used to adaptively adjust the welding gun posture for
welding tracking. After recording the three corresponding posture points, add
an adaptive posture adjustment comman d according to the actual movement
direction of the robot.See the robot peripheral chapter for details.

Fig. 3.7-30 Adjust command interface

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Gripper command: click the "Gripper" icon to enter the Gripper

command editing interface

This command is divided into gripper movement control command and

gripper activation/reset command. In the gripper control command, the number
of gripper that has been configured and activated is displayed. The user can
edit it through the edit box or slide the slider bar to the required value to
complete the setting of gripper opening/closing, opening/closing speed and
opening/closing torque. The value is a percentage. Whether to block the
function option,When blocking is selected, the gripper movement needs to wait
until the last movement command is executed. When non blocking is selected,
the gripper movement is parallel to the last movement command.Click the "Add"
and "Apply" buttons to save the set values to the teaching file.Clamping jaw
reset/activation command displays the configured clamping jaw number, and
reset/activation command can be added to the program.

Fig. 3.7-31 Gripper command interface

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Spray command: click the "Spray" icon to enter the Spray command
editing interface

This instruction is related to spraying, which controls the spray gun "start
spraying", "stop spraying", "start cleaning" an d "stop light gun".When editing
the program command, it is necessary to confirm that the spray gun peripherals
have been configured. See the robot peripherals section for details.

Fig. 3.7-32 Spray command interface

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EAxis command: click the "EAxis" icon to enter the EAxis command
editing interface

This command is aimed at the scene where the external axis is used, and
can be used in combination with the PTP command to decompose the
movement of a point in space in the X axis direction to the external axis
movement.Select the external axis number, select the motion mode to
synchronize, select the point to be reached, click "Add" and "Apply" to save this
command

Fig. 3.7-33 EAxis command interface

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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's peripherals. See the robot peripherals
chapter for details.

Fig. 3.7-34 Weld command interface

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Laser command: click the "Laser" icon to enter the laser command
editing interface

This command includes three parts: laser command, tracking command

and location search command. Before adding this command, please confirm
whether the laser tracking sensor in the outdoor device has been successfully
configured.See the robot peripheral chapter for details.

Fig. 3.7-35 Laser command interface

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Conveyor command: click the " Conveyor " icon to enter the edit
interface of the Carry command

This command includes four commands: position real-time detection, IO

real-time detection, tracking on and tracking off.See the robot peripheral
chapter for details.

Fig. 3.7-36 Conveyor command interface

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F/T command: click the "F/T" icon to enter the F/T command editing
interface

This command contains FT_Guard, FT_Control, FT_Spiral, FT_Rot,

FT_Lin, FT_FindSurface, FT_CalCenter (center positioning) seven commands,
see the robot peripheral chapter for details.

Fig. 3.7-37 F/T command interface

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3D command: click the "3D" icon to enter the 3D command editing

interface

This command generates instructions for 3D visual program instances.

Users can refer to the generated program and communicate with other visual
devices, including camera calibration and camera capture.

Fig. 3.7-38 3D command interface

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Pallet command: click the "Pallet" icon to enter the Pallet command
editing interface

This instruction is the instruction generated by the stacking program, which

is consistent with the matrix movement function in Section 3.9.6. Refer to that
section for details.

Fig. 3.7-39 Pallet command interface

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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
open command and close command to the program, and the motion command
between the start and close will offset based on the base coordinate (or
workpiece coordinate).

Fig. 3.7-40 Offset command interface

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W-Search command: click the "W-Search" icon to enter the W-Search

command editing interface

This command is a welding wire location search command, including three

commands: location search start, location search end, and offset calculation.
This command is generally used in welding scenes, and needs to be used in
combination with robot IO and motion commands.

Fig. 3.7-41 W-Search command interface

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In the process of programming, it is usually to set the start command of

position finding first, and then add two LIN commands to determine the direction
of position finding. After the successful position finding, the calculated offset is
obtained, and the offset is put into the actual welding movement command
through the overall offset command, as shown below.

Fig. 3.7-42 W-Search example (1D)

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Vir IO command: click the "Vir IO" icon to enter the Vir IO command
editing interface

This instruction is a virtual IO control instruction, which can set analog

external DI and AI status and obtain analog DI and AI status.

Fig. 3.7-43 Vir IO command interface

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Thread command: click the "Thread" icon to enter the Thread command
editing interface

The Thread command is a worker thread function. Users can define a

worker thread to run simultaneously with the main thread. The worker thread
mainly interacts with external devices, supports socket communication, robot
DI status acquisition, robot DO status setting, robot status information
acquisition, and data interaction with the main thread,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 is:

Fig. 3.7-44 Thread Program Example

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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 con trol or based on the current
pose offset.

Fig. 3.7-45 ServoCart command interface

Example of absolute pose control program:

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In this example, x, y, z, rx, ry, rz (Cartesian position) is the current position

of the robot obtained. In addition, the user can control the robot movement by
reading the trajectory data file, socket communication and sending the
trajectory data.

Example of control program based on current pose offset (base coordinate

offset):
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Modbus command: click the "Mobus" 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 (master and slave communication) through relevant commands,
and read and write the coil, discrete quantity and register.

Example of modbus master station reading coil:

Example of modbus master station writing coil:

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Example of Modbus slave reading and writing coil:

Please contact us for more operation functions of ModbusTCP.

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Function command: click the "Function" icon to enter the function

command editing interface

This instruction is to call the function interface function, provide the robot
interface function to the customer for selection, and prompt the customer for
the parameters required by the function, so that the customer can write script
instructions. More functions are being added in succession.

Fig. 3.7-46 Function command interface

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Collision command: click the "Collision" icon to enter the

Collision command editing interface

This instruction sets the collision level. Through this instruction, the
collision level of each axis can be adjusted in real time during program
operation, and the application scenarios can be deployed more flexibly.

Fig. 3.7-47 Collision command interface

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Xmlrpc command: click the "Xmlroc" icon to enter the Xmlrpc command
editing interface

XML-RPC is a remote procedure call method that uses xml to transfer data
between programs through sockets.In this way, the robot controller can call the
function function (with parameters) at the remote program/service and obtain
the returned structural data.The robot controller is responsible for handling all
the details of writing XML-RPC client messages and handling the conversion
between data types and XML.

Fig. 3.7-48 Xmlrpc Instruction Interface

1) The controller connects to the remote user-defined port as a client;

2) The controller calls remote function functions as a client;
3) Support calling different remote function functions;
4) Support the input of string array parameters and the return of
character array results. The number of array elements can be customized;
Support the input of double array parameters and the return of double
array results. The number of array elements can be customized;

serverUrl The server url, for

example:“http://192.168.58.29:50000/RPC2"
methodName Call function name, "example. add"
tableType 1-double array, 2-string array
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param Call function parameters

error 0 - No error, 1 - Error

result If the parameter is passed in as a double array, the result is a
double array,
If the parameter is passed in as a string array, the result is a string
array
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Acc command: click the "Acc" icon to enter the Acc command editing
interface

Acc command is the function that the robot acceleration 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
robot action beat time can be adjusted.

Fig. 3.7-49 Acc command interface

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Torque command: click the "Torque" icon to enter the Torque command
editing interface

This command is a force compliance control command, through which the

robot can adjust its trajectory to reduce the force when the force is greater than
a certain value during force con trol training;When the force is less than a certain
value, return to the original track and continue to move along the original track.

Fig. 3.7-50 Torque command interface

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Aux IO command: click the "Aux IO" icon to enter the Aux IO command
editing interface

Aux IO is an instruction function for the robot and PLC to communicate and
control the external expansion of IO. It requires the robot and PLC to establish
UDP communication. On the basis of the original 16 channel I/O, 128 channel
I/O can be expanded. The instruction usage is similar to the general IO usage
mentioned above.It is technically difficult to use this function. Please contact us
for consultation before using this function.

Fig. 3.7-51 Aux IO command interface

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3.7.4 Teaching management

Click "Teaching Management" to display all saved teaching point

information. In this interface, you can import and export teaching point files.
Select a teaching point and click the "Delete" button to delete the point
information. The values of teaching point x, y, z, rx, ry, rz and v can be modified.
Enter the modified value, check the check box on the left, and click the above
to modify the teaching point information.In addition, users can search teaching
points by name.

Fig. 3.7-52Teaching management interface

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3.8 status information

3.8.1 system log

Click the "System Log" button in the "Status Information" of the left menu
bar to enter the log display interface.Some important operation records of the
teaching pendant are recorded in the log, such as the increase or decrease of
the login person, teaching point, etc. Click to enter, and the log record of the
current day will be displayed by default. If you want to query the previous record,
select the target date in the "date selection", and the log record of the current
day will be displayed in real time below. See the system settings for details of
the number of log records.When there is too much user log information, users
can search for relevant log information according to the type.

Fig. 3.8-1System log interface

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3.8.2 Status Query

Click the "Status Query" menu in the "Status Information" of the left menu
bar to enter the status query interface, as shown in Fig. 。

Fig. 3.8-2Status Query

Operating steps for status query:

Step 1: Click the "Chart" button to pop up the chart setting pop-up box, as
shown in

Fig. As shown in Fig. 3, select a chart

as the query type to display the query,
select the parameters to be queried and
the chart into which the parameters are
placed in the chart settings, and click the
"Move Right" button to configure the
parameters to the chart.Click "Set" to
issue the chart setting
instruction.Currently, only one table can
contain up to four parameters to be queried and at most one chart can be set;

Fig. 3.8-3Chart Settings

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Step 2: The trigger function does not need to be set temporarily. Click the
"Query" button to query the data.
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3.9 Auxiliary application

3.9.1 Robot calibration

Under the menu bar of "robot body" in "auxiliary application", click“Robot

calibration ", enter the robot calibration interface, this function is mainly used to
calibrate the robot's zero position.Click
the "Disable" button, drag each axis of the
robot, move the robot to the zero point
position on the machine, click the "Zero
point setting" button, and set the robot
zero point.

Fig. 3.9-1Schematic diagram

of robot calibration
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Zero setting: the robot will preset an initial pose when leaving the factory,
and the angle of each joint in this pose is 0.The corresponding robot posture
when each joint of the robot moves to a specific position when the zero point is
set.The zero point is the reference of the robot coordinate system. Without the
zero point, the robot cannot judge its own position. Therefore, in order to obtain
the highest absolute positioning accuracy, it is necessary to calibrate the zero
point of the robot.

In general, the robot needs to be zero calibrated under the following

circumstances:

⚫ After replacing the mechanical system parts of the robot;

⚫ After severe collision with workpiece or environment;

⚫ When the operations such as establishing coordinate system differ

greatly from the actual position;

⚫ After the whole system is reinstalled;

⚫ After the encoder battery is replaced;

⚫ After long-distance transportation and handling robot.

be careful:
The zero point will be set when the robot leaves the
factory. If you need to set the zero point again,
please contact us for technical support.
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3.9.2 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 includes software upgrade, drive upgrade and system shutdown.

Software upgrade: under software upgrade, click "Upload File", select the
software.tar.gz upgrade package in the USB flash drive, click to upload the
upgrade package, and "Uploading. Upload Percentage" will be displayed next
to the upgrade button.When the stage file download is completed, the interface
displays "Upload completed, upgrading in progress", performs file MD5 and
version number detection, decrypts and decompresses the upgraded file after
passing, and prompts "Upgrade
succeeded, please restart the control
box!". If it detects, decompresses or other
errors occur, "Upgrade failed" is displayed
next to the upgrade button.

Fig. 3.9-2System upgrade

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Firmware upgrade: after the robot

enters the BOOT mode, upload the
upgrade package, select the slave station
to be upgraded (control box slave station,
body drive slave station 1~6, and end slave
station), perform the upgrade operation,
and display the upgrade status.

Fig. 3.9-3Firmware update

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Slave configuration file upgrade:

after the robot is enabled, upload the
upgrade file, select the slave station to be
upgraded (control box slave station, body
drive slave station 1~6, end slave station),
perform the upgrade operation, and
display the upgrade status.

Fig. 3.9-4Slave configuration

file upgrade

System shutdown: function reservation.

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3.9.3 Data backup

Under the menu bar of "robot body" in "auxiliary application", click "Data
backup" enters the data backup interface, as shown in 3.9-5.

The backup package data includes

tool coordinate system data, system
configuration file, teaching point data,
user program, template program and user
configuration file. When the user needs to
move the robot related data to another
robot for use, this function can be quickly
realized.

Fig. 3.9-5Data backup interface

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3.9.4 10s data record

Click "10s data record" under the menu bar of "robot body" in "auxiliary
application" to enter the 10s data record 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. The optional parameter record
user can select the parameter data to record by himself. The number of
parameters can be up to 15.After
selecting the parameter list, select the
record parameter, and click the "Move
Right" button to configure the parameter
to the parameter list.Click "Start
Recording" to start recording data, click
"Stop Recording" to stop recording data,
and click "Download Data" to download
data for the last 10 seconds.

Fig. 3.9-6 10s data record

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3.9.5 Teaching point configuration

Under the menu bar of "Robot Body" in "Auxiliary Application", click

"Teaching Point Configuration" to enter the function interface of teaching point
configuration.

Before using the button box or other IO signal recording teaching point
function, the user first configures the teaching point name prefix, number upper
limit and teaching method. The name prefix supports two modes: user-defined
prefix and using the current program name as the prefix.For example, the user-
defined name prefix "P", the upper limit of
the number "3", the teaching method
"robot teaching", and the current end (tool)
points of the recording robot are P1, P2,
and P3 in sequence. Recording again will
cover the previous recorded points.

Fig. 3.9-7 Teaching point

configuration
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3.9.6 Matrix shift

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 row
row layer and layer height values. It is
suitable for common stacking
applications.The first step is to select the
robot motion mode, "PTP" or "Line", the
second step is to set the robot motion path,
"head to tail walking" or "bow walking", the
third step is to set the stacking mode,
"stacking" or "unloading".

Fig. 3.9-8 Matrix shift

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Step 4: Teach three points according

to the path. The first point is the starting
point of the first row. The arm posture
during the whole movement process is
determined by this point. The second
point is the end point of the first row, and
the third point is the end point of the last
row.Step 5: set the number of rows and
columns, step 6: set the number of layers
and the height of each layer, and finally,
name the matrix motion program file. A
matrix motion program is generated
successfully.

Fig. 3.9-9 Matrix shift

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3.9.7 Job origin

Under the menu bar of "robot body" in "auxiliary application", click "job
origin" to enter the job origin configuration function interface.

This page displays the name and joint position information of the operation
origin. The operation origin is named as pHome. Click "Set" to take the current
robot pose as the operation origin. Click "Move to this point" to move the robot
to the operation origin.In addition, the
configurable option of moving to the job
origin is added in DI configuration, and
the configurable option of reaching the job
origin is added in DO configuration.

Fig. 3.9-10 Job origin

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3.9.8 Interference zone configuration

Under the menu bar of "robot body" in "auxiliary application", click

"interference zone configuration" to enter the interference zone configuration
function interface.

First, we need to configure the

interference mode and the operation of
entering the interference zone. The
interference mode is divided into "axis
interference" and "cube interference".
When it is enabled, the activation flag will
be displayed.First, configure "Continue
Motion" or "Stop" when entering the
interference zone.

Fig. 3.9-11 Interference

zone configuration

Next, set the drag configuration for

entering the interference zone. The user
can set the strategy for entering the
interference zone in the drag mode
according to the requirements. There is
no restriction on drag, impedance
callback and switching back to manual
mode

Fig. 3.9-12 Interference Zone

Drag Configuration
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To select axis interference, you need

to configure the parameters of axis
interference. The detection methods are
divided into "command position" and
"feedback position". The interference
area mode is divided into "interference
within the range" and "interference
outside the range". Next, you can set the
range of each joint and whether each joint
range is enabled. You can enter
values,You can also record the position of
the current robot through the "Robot
Teaching" button, and then click Apply.

Fig. 3.9-13 Axis Interference

Configuration
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To select cube interference, you need to configure the parameters of cube

interference. The detection methods are
divided into "command position" and
"feedback position". The interference
area mode is divided into "interference
within the range" and "interference
outside the range". The reference
coordinate system is divided into "base
coordinate" and "workpiece coordinate".
Select settings according to the actual
use.Next, set the range. 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 by inputting or robot
teaching.Finally, click Apply.

Fig. 3.9-14 Cube Interference

Configuration
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Next, let's look at the second method

"center point+side length", that is, the
center position point of the cube and the
side length of the cube form the
interference zone. We can record the
position by inputting or robot
teaching.Finally, click Apply.

Fig. 3.9-15 Cube Interference

Configuration
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3.9.9 End 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.

ConfigurableThe 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.

Fig. 3.9-16End LED configuration

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3.9.10 Peripheral agreement

Under the menu bar of "Robot Body" in "Auxiliary Application", click

"Peripheral Protocol" to enter the peripheral protocol configuration function
interface.

This is the configuration page of

external protocols. Users can configure
protocols according to the currently used
peripherals.

Fig. 3.9-17Peripheral 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;The address of
the holding register is 0x2000, the number of registers is 50, and the total data
content is 100 bytes.

1) ModbusRegRead (fun_code, reg_add, reg_num): read register;

fun_Code: function code, 0x03 holding register, 0x04 input register

reg_Add: register address

reg_Num: number of registers

2) ModbusRegWrite (fun_code, reg_add, reg_num, reg_value): write

register;

fun_code Function code, 0x06 single register, 0x10 multiple registers

reg_Add: register address

reg_Num: number of registers

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reg_Value: byte array

3) ModbusRegGetData (reg_num): obtain register data;

reg_Num: number of registers

Return value description:

reg_Value: array variable

Screenshot of program example:

Fig. 3.9-18 Modbus rtu communication lua program example

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3.9.11 Main program configuration

Under the menu bar of "robot body" in "auxiliary application", click "main
program configuration" to enter into the main program configuration function
interface.

The configuration main program can

communicate withThe DI configuration
main program is started and used
together. The configured main program
needs to be trial run first to ensure safety.
After the corresponding DI is configured
as the signal function of starting the main
program in the robot settings, the user
can control the DI signal to run the main
program.

Fig. 3.9-19Main program

configuration
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3.9.12 Drag Lock

Under the menu bar of "robot body" in "auxiliary application", click "drag
locking" to enter the drag teaching locking configuration function interface.

The function of locking degrees of freedom is added for dragging teaching.

When the dragging teaching function switch is set to enable status, the
parameters of each degree of freedom will take effect when the user drags the
robot.For example, when the parameters
are set to X: 10, Y: 0, Z: 10, RX: 10, RY:
10, RZ: 10, dragging the robot in the drag
mode can limit the robot to move only in
the Y direction. If it is necessary to keep
the robot's posture unchanged during
dragging and move only in the X, Y, Z
directions, you can set X, Y, Z to 0, RX,
RY, RZ to 10.

Fig. 3.9-20Drag teaching

lock configuration
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3.9.13 Welding expert database

Click the menu bar of "Welding Expert Database" in "Auxiliary Application"

to enter the function interface of welding expert database.The welding expert
database 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 completion of various basic robot
settings, we can quickly generate welding teaching programs through several
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 extension

axis. If you use the extension axis, you
need to configure the relevant coordinate
system of the extension axis and enable
the extension axis.

Fig. 3.9-21 Extended axis

configuration
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Step 2: Calibrate the starting point,

starting point safety point, ending point
and ending point safety point.If the
extended axis is selected in the first step,
the extended axis movement function will
be loaded to coordinate with the
calibration of relevant points.

Fig. 3.9-22 Calibrate relevant points

Step 3, select whether to need laser.

If yes, you need to edit the parameters of
the laser locating command.

Fig. 3.9-23 Laser location

finding configuration
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Step 4, select whether swing welding

is required. If swing welding is required,
edit the parameters related to swing
welding.

Fig. 3.9-24 Swing welding

configuration

Step 5, name the program and

automatically open the program in the
program teaching interface.

Fig. 3.9-25 Save program

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Click "circular arc welding" under "weldment shape" to enter the circular
arc welding guidance interface.On the basis of the completion of various basic
robot settings, we can quickly generate the welding teaching program through
two simple steps.It mainly includes the following two steps.

Step 1: Calibrate the starting point,

starting point safety point, arc transition
point, end point and end point safety
point.

Fig. 3.9-26 Calibration point

Step 2, name the program and

automatically open the program in the
program teaching interface.

Fig. 3.9-27 Save program

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Click "Multi layer and multi pass welding" under "Weldment shape" to enter
the multi layer and multi pass welding guidance interface.On the basis of the
completion of various basic robot settings, we can quickly generate the 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 prompt, namely, welding
point, X+point, Z+point and safety point.

Fig. 3.9-28 Set the first

group of points
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Step 2: Set the second set of points.

You can set the type of path points. It
supports straight line and arc paths,
including welding points, X+points and
Z+points.

Fig. 3.9-29 Set the second

group of points

Step 3: After all the assembly points are set, click "Finish" to enter the

function page of each weld bead offset setting, and set the offset of the required

weld bead in turn, as shown in the following figure.

Fig. 3.9-30 Weld bead offset setting

Step 4: After all the required weld bead parameters are set, click "Finish"
209/298 Auxiliary application

to jump to the program generation page, and enter the file name to generate

the multi-layer and multi pass welding program. After that, the user can open

the program in program teaching for debugging. The interface is shown in the

following figure.

Fig. 3.9-31 Save program

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3.9.14 Safe speed setting

Under the menu bar of "Security Settings" in "Auxiliary Applications", click

"Safe Speed Settings" to enter the safe speed setting function interface.

Enable the safe speed and set the speed limit value. When the user
debugs the robot in the manual mode or
drags the robot in the drag mode and the
speed exceeds the set threshold value,
the robot will stop and warn the user to
play the role of safety protection

Fig. 3.9-32Safe speed setting

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3.10 System settings

3.10.1 General settings

Click "System Setting" in the left menu bar, and click "General Setting" in
the secondary menu bar to enter the general setting interface.The general
setting can update the robot system time according to the current computer
time, so as to record the log content accurately.

The network settings can set the controller IP, subnet mask, default
gateway, DNS server, and teaching pendant IP (this IP is valid when using our
FR-HMI teaching pendant, and you need to configure the teaching pendant
enabling status to enable when using the FR-HMI teaching pendant) to facilitate
the use of scenarios by customers.

Customers can choose Chinese, English, French or Japanese as the

language of the teaching pendant according to their needs.In addition, the
language can be customized by users. Users can translate the exported
Chinese language files, import the translated langu age files, and then select to
use the imported language files.

The user can set the number of log reservations and import and export the
system configuration file. The maximum number of log reservations is 30. The
system configuration file records the set value.

Restoring factory settings after system recovery can clear user data and
restore the robot to factory configuration.
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The slave station log generation and controller log export function is to
download some important status or error reporting record files of the controller,
which is convenient for troubleshooting robot problems.

Fig. 3.10-1Schematic diagram of

general settings
213/298 System settings

3.10.2 Account settings

Click Account Setting in the secondary menu bar to enter the account
setting interface.The account management function is only available to
administrators.The default administrator account cannot be deleted, and the
administrator's user name and permissions cannot be modified.

⚫ Modify user name, password and user permissions: select the

selection box of the data line to be modified (that is, the white selection
box at the beginning of the line), select the data to be modified, and
modify it. After modification, click "Save and log out". The system will
enter the login interface and log in with the modified user name and
password.

⚫ New user: click the "Add" button, and a new line will appear at the
bottom of the account management pop-up box. Select the selection
box at the beginning of the line, click the "Modify" button, enter the new
user information, select the user permissions, and click "Save and Log
Out". The system will re-enter the login interface and log in as a new
user.

⚫ Delete user: select the selection box of the line you want to delete,
click Delete, and then click Save and Log Out.

Fig. 3.10-2Schematic diagram of account

setting
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3.10.3 about

Click About in 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, the hardware version and firmware
version.

Fig. 3.10-3About Schematics

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Chapter IV Robot Peripherals

4.1 Clamping jaw peripheral configuration

4.1.1 Teaching steps of gripper program

Step 1: Select the "End Peripheral Configuration" button in the user

peripheral configuration interface, and select the "Clamping Jaw Device" as the
device type. The configuration information of the clamping jaw is divided into
the clamping jaw manufacturer, clamping jaw type, software version and
mounting position. The user can configure the corresponding clamping jaw
information according to the specific
production requirements.If the user needs
to change the configuration, first select
the corresponding gripper number, click
the "Clear" button to clear the
corresponding button, and re configure
according to the demand;

Fig. 4.1-1Jaw configuration

be careful:
Before clicking Clear Configuration, the
corresponding gripper should be inactive.
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Step 2: After the jaw configuration is

completed, the user can view the
corresponding jaw information in the jaw
information table at the bottom of the
page. If a configuration error is found,
click the "Clear" button to reconfigure the
jaw;

Fig. 4.1-2Jaw configuration

information
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Step 3: Select the configured gripper 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 gripper information table to
determine whether the activation is successful;

be careful:
When the gripper is activated, the gripper shall be
free of clamping objects

Step4: Select the "Gripper" command in the program teaching command

interface.In the jaw command interface,
the user can select the number of jaw to
be controlled (the jaw that has been
configured and activated), and set the
corresponding opening/closing status,
opening/closing speed, opening/closing
torque, and the maximum time that the
jaw action has been waiting for.Click Add
Application after setting.In addition, the
gripper activation and reset commands
can be added to deactivate/reset the
gripper when running the program.

Fig. 4.1-3Jaw command editing

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4.1.2 Clamping 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

219/298 Configuration of spray gun peripherals

4.2 Configuration of spray gun peripherals

4.2.1 Configuration steps of spray gun peripherals

Step 1: Select the "Spray Gun Configuration" button in the user's

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 is DO10 for spraying start and stop, and
DO11 for spraying gun cleaning).Users can also customize the configuration of
DO in the IO Configuration interface according to their own needs;

be careful:
Before using the spraying function, it is necessary
to establish the corresponding tool coordinate

Step 2: After the configuration is

completed, click the four buttons "Start
spraying", "Stop spraying", "Start
cleaning" and "Stop cleaning" to debug
the spray gun;

Fig. 4.2-1Spray gun configuration

220/298 Configuration of spray gun peripherals

Step3: Select the "spray" command

in the program teaching command
interface.According to the specific
program teaching needs, add four
commands "start spraying", "stop
spraying", "start gun cleaning" and "stop
gun cleaning" in the corresponding
places.

Fig. 4.2-2Spray gun command editing

4.2.2 Painting 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

221/298 Configuration of welding machine peripherals

4.3 Configuration of welding machine peripherals

4.3.1 Configuration steps of welding machine peripherals

Step 1: Select the "welding machine configuration" button in the user's

peripheral configuration interface, and the user can quickly configure the DI and
DO required by the welding machine by configuring the IO button of the welding
machine (the default configuration is DI12 arcing success signal, DO9 air
supply signal, DO10 arcing signal, DO11 inching wire feed, DO12 reverse wire
feed, DO13 JOB select 1, DO14 JOB select 2, DO15 JOB select 3).Users can
also customize the configuration in the IO Configuration interface according to
their own needs;

be careful:
Before using the welder function, it is necessary to
establish the corresponding tool coordinate system,
and apply the established tool coordinate system
during program teaching.The welder function is
usually used in conjunction with a laser tracking
sensor.
222/298 Configuration of welding machine peripherals

Step 2: After the configuration is

completed, select the number, set the
waiting time, click the six buttons of "arc
stopping", "arc starting", "air supply", "air
off", "forward wire feed" and "reverse wire
feed" to debug the welding machine;

Fig. 4.3-1Welding machine

configuration
223/298 Configuration of welding machine peripherals

Step3: Select the "Weld" command

in the program teaching command
interface.According to the specific
program teaching requirements, add and
apply "arc starting" and "arc stopping"
commands in the corresponding places.

Fig. 4.3-2Welding machine

instruction editing

4.3.2 Welding machine program teaching

S/N Instruction format notes

1 Lin(template1,100,-1,0,0) #Start arc starting point

2 ARCStart(0,1000) #Start arcing

3 Lin(template2,100,-1,0,0) #Stop arc starting point

4 ARCEnd(0,1000) #Stop arcing

224/298 Sensor peripheral configuration

4.4 Sensor peripheral configuration

4.4.1 Configuration steps of sensor peripherals

Step 1: Select the "Sensor Configuration" button in the user's peripheral

configuration interface. This section takes the robot end as an example. The
user first sets the maximum difference value. It is recommended that the
maximum difference value of sensor
scanning deviation points be set to 4 by
default. Data processing selects the
original data or YZ data according to the
actual use scene.The controller IP is
192.168.57.2 by default, and the sensor
IP can be configured to the same network
segment. The port is 5020, and the
recommended sampling period is 25. The
communication protocol is currently
adapted to Ruiniu communication
protocol, and the corresponding protocol
can be loaded.After loading, the sensor
can be tested by pressing the "Open
Sensor" and "Close Sensor" keys.

Fig. 4.4-1IP configuration of laser

tracking sensor

be careful:
Before using the sensor function, it is necessary to
establish the corresponding tool coordinate system,
and apply the established tool coordinate system
during program teaching.The welder function is
usually used with the sensor.
225/298 Sensor peripheral configuration

Step 2: Calibrate the 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 1,2,3
respectively.Move the center point of the
sensor vertically above the selected point
and record Point 4.Move the sensor
center point from the 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 it vertically
upward, 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 position and attitude of the sensor
tool, and click Apply to complete it.

Fig. 4.4-2Reference point

configuration - six point method

226/298 Sensor peripheral configuration

Eight point method: in the tool coordinate system setting function, we

calibrate the sensor type tool and use the eight point method to configure the
sensor coordinate systemSelect the eight point method, move the laser line of
the sensor to make it coincide with the calibration line on the calibration board,
try to keep the sensor close to the calibration line and recognize the calibration
point, record point 1, move about - y/+y 20mm, adjust the robot to make the
laser recognize the calibration point, record point 2, move about - x/+x 20mm,
adjust the robot to make the laser recognize the calibration point, record point
3, move about - y/+y 20mm,Adjust the robot to make the laser recognize the
calibration point, record point 4, move
about - rx 5mm, and adjust the robot to
make the laser recognize the calibration
point, record point 5.Move - ry about
5mm, adjust the robot to make the laser
recognize the calibration point, record
point 6, move - rz about 5mm, adjust the
robot to make the sensor recognize the
calibration point, record point 7, move -
rz about 5mm, adjust the robot to make
the laser recognize the calibration point,
record point 8.Click Calculate to get the
position and attitude of the sensor, and
click Apply to complete it.

Fig. 4.4-3Reference point

configuration - eight point method

227/298 Sensor peripheral configuration

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
sensorCoordinate systemFirst,
determine a fixed point, align the end of
the tool with this point, record point 1,
and then adjust the robot attitude so that
the laser can recognize the recorded
fixed points, record points 2 to 5
respectively, and pay attention to the
attitude change needs to be as large as
possible.Click Calculate to get the
position and attitude of the sensor, and
click Apply to complete it.

Fig. 4.4-4Reference point

configuration - five point method

228/298 Sensor peripheral configuration

4.4.2 Laser sensor tracking function

select the
"Laser" command in 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
following program examples.

Fig. 4.4-5 Laser tracking

command editing
229/298 Sensor peripheral configuration

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

230/298 Sensor peripheral configuration

4.4.3 Laser sensor track reproduction function

select the
"LT Rec" command in the program
teaching command interface.This
command is mainly used to obtain the
starting point and ending point of the laser
identification path and to reproduce the
track. According to the specific program
teaching needs, add the command at the
corresponding place. Refer to the
following program example.

Fig. 4.4-6 Track reproduction

instruction editing
231/298 Sensor peripheral configuration

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=GetWeldTrackingRecordStartPos(0,30) #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
232/298 Peripheral configuration of extension axis

4.5 Peripheral configuration of extension axis

4.5.1 Configuration steps of peripheral equipment of extension axis

Step 1: Select the "Extended Axis"

button in the user peripheral configuration
interface to enter the extended axis
interface, select the number 1 of the
extended axis, and click the "Parameter
Configuration" button to enter the right
interface.Set the shaft type, shaft
direction, running speed, acceleration,
positive direction limit, reverse direction
limit, lead, encoder resolution, starting
point offset, manufacturer, model and
mode, and click Configure to complete
the configuration.

Fig. 4.5-1Extended axis

parameter configuration

be careful:
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 together with
the welding machine function and the laser tracking
sensor function.
233/298 Peripheral configuration of extension axis

Step 2: Click the "Zero Setting" button to enter the zero setting pop-up
window, as shown in the picture on the
right.Set the homing mode, homing
speed, zero clamping speed and axis
direction, click the "Set" button, and the
extended axis will start homing. The
homing status will be displayed in the
space below the axis direction. When the
prompt "homing completed" appears, it
indicates that the extended axis zero
point is set successfully.

Fig. 4.5-2Extension axis

zero point setting

234/298 Peripheral configuration of extension axis

Step 3: Select the extension axis

number with configured parameters, click
"Servo Enable", set the operating speed,
acceleration and maximum distance of
single operation, and test the extension
axis with forward rotation and reverse
rotation.

Fig. 4.5-3Extended axis test

235/298 Peripheral configuration of extension axis

Step 4: The extension axis is usually used together with the laser sensor.
At this time, the laser sensor is usually installed externally. The sensor
reference point configuration needs to be calibrated using the three-point
method instead of the six point method previously used.Align the tool center
with the middle point at the bottom of the right cross section (the side close to
the camera), set point 1, align the tool
center point with the middle point at the
bottom of the left cross section, set point
2, move the tool center point to the middle
point of the upper edge of the right cross
section of the sensor, set point 3,
calculate and save, and click Apply to
complete the three-point calibration.

Fig. 4.5-4Sensor three-point

calibration
236/298 Peripheral configuration of extension axis

Step5: Select the "EAxis" command

in the program teaching command
interface.Add instructions in
corresponding places according to specific
program teaching requirements.

Fig. 4.5-5Extended axis

command editing
237/298 Peripheral configuration of extension axis

4.5.2 Extension axis matching laser tracking welding program

teaching

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

238/298 Conveyor tracking configuration

4.6 Conveyor tracking configuration

4.6.1 Conveyor tracking configuration steps

Step 1: Select the "Conveyor Tracking" button in the user peripheral

configuration interface to enter the
conveyor tracking configuration interface,
click the "Configure Conveyor IO" button
to quickly configure the IO required for the
conveyor function, and then configure the
corresponding parameters according to
the actual use of the function. Here,
taking the no visual tracking capture
function as an example, it is necessary to
configure the conveyor encoder channel,
resolution, lead,Select No for visual
matching, and click Configure.

Fig. 4.6-1Conveyor configuration

239/298 Conveyor tracking configuration

Step 1: Select the "Conveyor Tracking" button in the user peripheral

configuration interface to enter the
conveyor tracking configuration interface,
click the "Configure Conveyor IO" button
to quickly configure the IO required for the
conveyor function, and then configure the
corresponding parameters according to
the actual use of the function. Here,
taking the no visual tracking capture
function as an example, it is necessary to
configure the conveyor encoder channel,
resolution, lead,Select No for visual
matching, and click Configure.

Fig. 4.6-2Conveyor configuration

Step 2: Next, set the grab point

compensation value, which is the
compensation distance in X, Y, Z
directions, and can be set according to
the actual situation during debugging.

Fig. 4.6-3Conveyor Grab Point

Compensation Configuration
240/298 Conveyor tracking configuration

Step 3: Start the conveyor belt,

move the calibrated object to the defined
point A position, and stop the conveyor
belt.Move the robot, align the calibration
rod tip at the end of the robot with the
calibrated object tip, click the start point A
button, pop up the dialog box, display the
current encoder value and robot pose,
and click calibration to complete the
calibration of start point A.

Fig. 4.6-4Start point A configuration

Step 4: Click 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 grabs. Each time when
tracking, it will track and capture the
height and attitude area of th e reference
point. It can not be at the same height as
the AB point. Click calibration to complete
the reference point calibration.

Fig. 4.6-5Reference point configuration

241/298 Conveyor tracking configuration

Step5: Start the conveyor belt,

move the calibrated object to the defined
B point position, and stop the conveyor
belt.Move the robot, align the calibration
rod tip at the end of the robot with the
calibrated object tip, click the endpoint B
button, and a dialog box will pop up,
displaying the current encoder value and
robot posture. Click calibration to
complete endpoint B calibration.

Fig. 4.6-6End point B configuration

242/298 Conveyor tracking configuration

4.6.2 Teaching of conveyor tracking program

S/N Instruction format notes

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) #The robot returns to the starting

point again and waits for the next
capture

14 end #End
243/298 Attitude adaptive configuration

4.7 Attitude adaptive configuration

4.7.1 Attitude adaptive configuration steps

Step 1: Select the "Tracking Attitude

Configuration" button in the user
peripheral configuration interface to enter
the attitude adjustment configuration
interface, select the plate type and the
actual working direction of the robot,
adjust the robot attitude, set attitude point
A, attitude point B and attitude point C
respectively, usually A is the plane
attitude point, B is the rising edge attitude
point, and C is the falling edge attitude
point.

Fig. 4.7-1Attitude adjustment

configuration

be careful:
A attitude and B attitude, the smaller the attitude
change between A attitude and C attitude, the
better.Attitude adaptive function is an auxiliary
application function, which is usually used with seam
tracking.
244/298 Attitude adaptive configuration

Step 2: Select the "Adjust"

command in the program teaching
command interface.Add instructions in
corresponding places according to
specific program teaching requirements.

Fig. 4.7-2Attitude adjustment

command editing
245/298 Attitude adaptive configuration

4.7.2 Attitude adaptive fit extension axis and laser tracking welding
program teaching

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 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

246/298 Force/torque sensor peripheral configuration

4.8 Force/torque sensor peripheral configuration

4.8.1 Force/torque sensor configuration steps

Step 1: Select the "End Peripheral Configuration" button in the user's

peripheral configuration interface, and select the "Force Sensor Device" as the
device type. The force sensor configuration information is divided into
manufacturer, type, software version and mounting location. The user can
configure the corresponding force sensor
information according to the specific
production requirements.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 re
configure as required;

Fig. 4.8-1Force/torque

sensor configuration

be careful:
Before clicking Clear Configuration, the
corresponding sensor should be inactive.
247/298 Force/torque sensor peripheral configuration

Step 2: After the force sensor

configuration is completed, the user can
view the corresponding force sensor
information in the information table at the
bottom of the page. If the configuration
error is found, click the "Clear" button to
reconfigure.

Fig. 4.8-2Force/torque sensor

configuration information
248/298 Force/torque sensor peripheral configuration

Step 3: Select the configured force sensor number, click the "Reset" button,
and then click the "Activate" button after the pop-up command is sent
successfully. You can check the activation status in the force sensor information
table to determine whether the activation is successful;In addition, the force
sensor will have an initial value, and the user can select "zero correction" and
"zero removal" according to the use demand.The zero point correction of the
force sensor needs to ensure that the force sensor is horizontal and vertical
downward, and the robot is not configured with a load.

Step 4: After the force sensor is configured, the sensor type tool coordinate
system needs to be configured. The sensor tool coordinate system value can
be directly input and applied according to the distance between the sensor and
the end tool center.
249/298 Force/torque sensor peripheral configuration

4.8.2 Load identification of force/torque sensor

Specific attitude identification: clear the end load data, configure the
force sensor, establish the sensor coordinate system, adjust the robot end
attitude to vertical downward, and install the end load after "zero point
correction".First, select the corresponding sensor tool coordinate system,
adjust the robot to make the sensor and tool vertically downward, record the
data, and calculate the mass.Then, adjust
three different poses of the robot, record
three groups of data respectively,
calculate the center of mass, and click
Apply after confirmation.

Dynamic identification: after clearing

the end load data and configuring the
force sensor, establish the sensor
coordinate system, adjust the robot end
attitude to vertical downward, and install
the end load after "zero point
correction".Click "Identification On", drag
the robot to move, and then click
"Identification Off" to automatically apply
the load results to the robot.

Fig. 4.8-3 Load identification of

force/torque sensor
250/298 Force/torque sensor peripheral configuration

4.8.3 Force/torque sensor auxiliary drive

After the sensor is configured, it can

be used together with the sensor to better
assist the dragging robot.The first use can
be configured according to the data in the
picture on the right. After the application
is completed, the robot can be controlled
to move in a fixed posture by dragging the
end force sensor directly without entering
the drag mode.

Fig. 4.8-4 Force/torque

sensor drag lock

251/298 Force/torque sensor peripheral configuration

4.8.4 Force/torque sensor collision detection

Instruction description: "FT_

Guard" instruction is collision detection
instruction.Select the corresponding
sensor coordinate system, check the
effective torque direction detection, set
the current value, maximum collision
threshold and minimum collision
threshold. The normal range of collision
detection conditions is (curren t value -
minimum threshold, current
value+maximum threshold), and add the
"ON" and "OFF" commands to the
program.

Fig. 4.8-5 FT_Guard

command editing

S/N Instruction format notes

1 FT_Guard(1,1,1,1,1,0,0,0,5,0,0,0,0,0,1 #Force/moment collision

0,0,0,0,0,0,5,0,0,0,0,0) detection on

2 PTP(template1,100,-1,0) #Motion command

3 FT_Guard(0,1,1,1,1,0,0,0,5,0,0,0,0,0,1 #Force/moment collision

0,0,0,0,0,0,5,0,0,0,0,0) detection off
252/298 Force/torque sensor peripheral configuration

4.8.5 Force/torque sensor force controlled movement

Instruction description: "FT_Control" command is a force control motion

command, which can make the robot
move near the set force, and is often used
in polishing scenes.Select the
corresponding sensor coordinate system,
tick the effective torque direction
detection, set the detection threshold, PID
proportional coefficient in each direction
(generally set p as 0.001), set the
maximum adjustment distance
(corresponding to X, Y, Z) and the
maximum adjustment angle
(corresponding to RX, RY, RZ), and add
the "ON" and "OFF" commands to the
program.

Fig. 4.8-6 FT_Control

command editing

S/N Instruction format notes

1 FT_Control(1,11,1,0,1,0,0,0,10,0,5,0,0, #Force/torque motion

0,0.001,0,0,0,0,0,0,0,0,10,5) 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, #Force/torque motion

0,0.001,0,0,0,0,0,0,0,10,5) control off
253/298 Force/torque sensor peripheral configuration

4.8.6 Force/torque sensor screw insertion

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

Fig. 4.8-7 FT_Spiral Command Editing

S/N Instruction format notes

1 FT_Control(1,10,0,0,1,0,0,0,0,0,5,0,0, #Force/torque motion

0,0.0005,0,0,0,0,0,0,10,0) 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, #Force/torque motion

0,0.0005,0,0,0,0,0,0,10,0) control off
254/298 Force/torque sensor peripheral configuration

4.8.7 Force/torque sensor rotation insertion

Instruction description: The "FT_Rot" instruction is a rotary exploration

insertion, which is generally used to
undertake the spiral insertion action, and
is used for the shaft hole assembly of the
key shaft.Before running the action, it is
necessary to move the end of the robot to
the hole position found by spiral
exploration or the fully aligned teaching
hole position. According to the current
scene, set the parameters of the
command and add them to the program.
After running, the robot will slowly rotate
to explore.

Fig. 4.8-8 FT_Rot

command editing

S/N Instruction format notes

1 FT_Control(1,10,0,0,1,0,0,0,0,0,5,0,0, #Force/torque motion

0,0.0005,0,0,0,0,0,0,10,0) 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, #Force/torque motion

0,0.0005,0,0,0,0,0,0,10,0) control off
255/298 Force/torque sensor peripheral configuration

4.8.8 Linear insertion of force/torque sensor

Instruction description: "FT_Lin" instruction is a rotation exploration

insertion, which is generally used to undertake the spiral insertion action or
rotation insertion action, and is used for
the shaft hole assembly of the key
shaft.Before running the action, it is
necessary to move the end of the robot to
the hole position found by the spiral line
exploration, rotate the position where the
insertion action ends or the fully aligned
teaching hole position, set the parameters
of the command according to the current
scene, add them to the program, and after
running, the robot will move in a straight
line in the set direction.

Fig. 4.8-9 FT_Lin command editing

S/N Instruction format notes

1 FT_Control(1,10,0,0,1,0,0,0,0,0,5,0,0, #Force/torque motion

0,0.0005,0,0,0,0,0,0,10,0) 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, #Force/torque motion

0,0.0005,0,0,0,0,0,0,10,0) control off
256/298 Force/torque sensor peripheral configuration

4.8.9 Force/torque sensor surface positioning

Instruction description: The "FT_FindSurface" instruction is for surface

positioning, which is generally used to
find the object surface.According to the
current scene, set the corresponding
coordinate system, movement direction,
movement axis, exploration linear speed,
exploration linear acceleration, maximum
exploration distance, action termination
force threshold and other parameters,
add them to the program, run the
program, the action starts to execute, and
the robot end starts to move slowly to the
direction of the surface.

Fig. 4.8-10 FT_FindSurface

command editing

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

257/298 Force/torque sensor peripheral configuration

4.8.10 Center positioning of force/torque sensor

Instruction description: "FT_CalCenter" instruction is for center

positioning, which 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, respectively find plane A and plane B, add them to the
program, run the program, and the action starts to execute. The robot slowly
moves to the direction of surface A, and
after positioning to plane A,The robot
slowly moves to the direction of surface B,
and after positioning to surface B, the
center plane position can be calculated.

Fig.4.8-11 FT_CalCenter

Command Editing

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,- #Force/torque motion

10,0,0,0,0.00001,0,0,0,0,0,0,100,0) control ON

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,- #Force/torque motion

10,0,0,0,0.00001,0,0,0,0,0,0,100,0) control off
258/298 Force/torque sensor peripheral configuration

6 PTP (1,30, - 1,0) -- initial position #Initial position

7 FT_Control(1,10,0,0,1,0,0,0,0,0,- #Force/torque motion

10,0,0,0,0.00001,0,0,0,0,0,0,100,0) control ON

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,- #Force/torque motion

10,0,0,0,0.00001,0,0,0,0,0,0,100,0) control off

10 pos = {} #Define array pos

11 pos = FT_CalCenterEnd() #Acquire Cartesian pose of

positioning center

12 MoveCart(pos,GetActualTCPNum(), #Move to the center of

GetActualWObjNum(),30,10,100,- positioning
1,0)
259/298 Force/torque sensor peripheral configuration

4.8.11 Spot force detection of force/torque sensor

Instruction description: "FT_Click" instruction is point by force detection,

which is used to detect a point by force and is usually used together with surface
positioning action.After setting the
parameters, add them to the program, run
the program, and the end starts to move
towards the target along the Z direction of
the tool coordinate system. When the
force in the positive Z direction reaches
the point force value, the point force
detection is completed.

Fig. 4.8-12 FT_Click command

editing

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

260/298 Extended IO device peripheral configuration

4.9 Extended IO device peripheral configuration

4.9.1 Extended IO device configuration steps

Step 1: Select the "End Peripheral Configuration" button in the user

peripheral configuration interface, and select "Extended IO Device" for the
device type. The extended IO device configuration information is divided into
manufacturer, type, software version and mount location. The user can
configure the corresponding device information according to the specific
production requirements.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 re
configure as required;

Fig. 4.9-1Extended IO device

configuration

be careful:
Before clicking Clear Configuration, the
corresponding device should be inactive.
261/298 Extended IO device peripheral configuration

Step 2: 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 this
function configuration page. The user can
customize the functions of each key on
the end handle, including (new program,
hold program, PTP, Lin, ARC, swing
welding start, swing welding end, IO port).

Fig. 4.9-2Extended IO device

function configuration
262/298 Stacking system configuration

4.10 Stacking system configuration

4.10.1 Stacking system configuration steps

Step 1: Select the "Stacking System

Configuration" button in the user's
peripheral configuration interface. For the
first use, you need to create a formula
first. Click "Formula Creation", enter the
name of the formula, click "Creation", and
then click "Start Configuration" to enter
the stacking configuration page.

Fig. 4.10-1Stacking formula

configuration
263/298 Stacking system configuration

Step 2: Click "Configuration" in the workpiece configuration bar to enter

the workpiece configuration pop-up
window, set the "length", "width", "height"
of the workpiece and the workpiece
grabbing point, and click "Confirm
Configuration" to complete the workpiece
information setting.

Fig. 4.10-2Stacking workpiece

configuration

Step 3: Click "Configuration" 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.

Fig. 4.10-3Stacking tray

configuration
264/298 Stacking system configuration

Step4: Click "Configuration" in the mode configuration bar to enter the

mode configuration pop-up window and set the workpiece interval. The right
box is the simulated workpiece placement
mode, which can be added individually or
in batches.Then set the number of
stacking layers and the mode of each
layer, and click "Confirm Configuration" to
complete the mode information setting.

Fig. 4.10-4Stacking mode

configuration

Step4: Click "Generate program" to open the "Stacking monitoring page",

where you can display and view "Generate information", "Alarm information"
and "Stacking program".

Fig. 4.10-5Stacking system monitoring

265/298 Appendix 1: Motion controller errors and handling methods

appendix

Appendix 1: Motion controller errors and handling methods

Post
Error Error name (teaching
Handling method processing
classification pendant display)
operation

Joint command point

error

Straight line target point

error

Arc middle point error

Arc target point error

The arc command point 1. Check whether the

spacing is too small command point is
wrong; Check and
Error in middle point 1
confirm. After
of whole circle/spiral 2. Check whether the
modifying the
Command line (including tool tool is consistent with
program, click
point error discrepancy) the recording of
the START
Error in the middle point instruction points;
button again to
2 of the whole 3. Record the execute the
circle/helix (including instruction points again new program;
tool discrepancy) and modify the teaching

Error in middle point 3 program;

of whole circle/spiral
line (including tool
discrepancy)

The command point

spacing of the whole
circle/helix is too small

TPD command point

266/298 Appendix 1: Motion controller errors and handling methods

error

The TPD command tool

does not match the
current tool

1. Check whether the

starting point of TPD
track is recorded, and
whether there is a
TPD The deviation
motion command
between the current
(PTP/LIN) moving to
instruction and the
the starting point of
starting point of the next
TPD track before the
instruction is too large
TPD command in the
teaching program;

2. Modify the teaching

program;

1. Record the
Internal/external tool instruction points again
switching error and modify the teaching
program;

1. The movement
Reverse
process command
PTP joint command inching to make
exceeds the soft limit,
overrun the robot leave
and the program needs
the soft limit
to be modified;
area or switch
1. The movement to the dragging
process command mode to drag
TPD joint command
exceeds the soft limit, the robot out of
overrun
and the program needs the soft limit
to be modified; area;

LIN ARC issued joint 1. The movement After modifying

command overrun process command the program,
267/298 Appendix 1: Motion controller errors and handling methods

exceeds the soft limit, click the START

and the program needs button again to
to be modified; execute the
new program;

Reverse
inching to make
the robot leave
the soft limit
1. The movement
JOG joint command area or switch
process command
overrun to the dragging
exceeds the soft limit;
mode to drag
the robot out of
the soft limit
area;

Command overspeed in
Cartesian space

Torque command Contact after-

1. The instruction has
overrun in joint space sales
problems;
personnel;
Command speed in joint
space of axis 1-axis 6
exceeds the limit

1. Modify the teaching

The joint configuration
program. When the
of the next command
movement stops, the
changes (there are
next program of the
singular positions in the
current line is modified
next command)
to PTP command;

The joint configuration 1. In the automatic

of the current command mode, modify the
has changed (there is a teaching program.
singular pose in the When the movement
current command) stops, the current
268/298 Appendix 1: Motion controller errors and handling methods

program is modified to
PTP command;

2. In the manual mode,

switch the joint
coordinates after power
on again and then jog;

Instruction error, only

LIN and ARC
instructions are allowed
between ARCSTART
and ARCEND
1. Check the instruction
Instruction error, only
and modify the teaching
LIN instruction is
program;
allowed between
WEAVESTART and
WEAVEEND

1. Check the swing

Swing welding welding parameters and
parameter error modify the teaching
program;

1. Use the laser sensor

Laser sensor command supporting software to
deviation is too large check whether the laser
sensor data has jumps;

1. Use the laser sensor

The laser sensor
supporting software to
command is interrupted,
check whether the laser
and the seam tracking
sensor data is
ends in advance
interrupted;

External axis command Contact after-

1. The instruction has
speed overrun sales
problems;
personnel;
Excessive deviation
269/298 Appendix 1: Motion controller errors and handling methods

between external axis

command and feedback

Belt tracking - excessive 1. Recalibrate the

attitude change position and attitude
between starting point points of the conveyor
and reference point belt;

Constant force control -

1. Adjust the constant
(X, Y, Z, RX, RY, RZ)
force control PID value
direction exceeds the
and modify the teaching
maximum adjustment
program;
distance

1. If the drive fails,

check the drive failure
Power on
Drive failure 1-6 axis driver fault table and check the
again;
cause of the drive
failure;

Switch to the
dragging mode
1-6 axis out of soft limit 1. The movement and drag the
Out of soft limit
fault exceeds the soft limit; robot away
from the soft
limit area;

Check the
cause of
collision, and
click the
RESUME
1. Collision during
Collision fault 1-6 axle collision fault button on the
movement;
teaching
programming
interface when
it is necessary
to start
270/298 Appendix 1: Motion controller errors and handling met hods

movement
again;

1. The version of the Contact after-

Wrong version of zbt
zbt.config configuration sales
configuration file
file is incorrect; personnel;

Power on
again, and
1. Error loading the
The zbt configuration contact after-
zbt.config configuration
file failed to load sales personnel
file;
if the error is
still reported;

1. The version of the

Contact after-
User profile version user.config
sales
error configuration file is
personnel;
incorrect;

Power on
again, and
file error 1. Error loading the
User profile loading contact after-
user.config
failed sales personnel
configuration file;
if the error is
still reported;

1. The exaxis.config Contact after-

Incorrect version of
configuration file sales
exaxis configuration file
version is incorrect; personnel;

Power on
again, and
1. Error loading
Failed to load exaxis contact after-
exaxis.config
configuration file sales personnel
configuration file;
if the error is
still reported;

The robot model is Contact after-

inconsistent and needs sales
271/298 Appendix 1: Motion controller errors and handling methods

to be reset personnel;

1. Check whether the

IO command channel in
Channel error
the program is set
incorrectly; Check and
confirm. After
1. Check whether the
modifying the
IO command value in
Value error program, click
the program is set
the START
incorrectly;
button again to
WaitDI wait timeout execute the

WaitAI waiting timeout new program;

1. Check whether there

WaitToolDI wait timeout is effective input signal;

WaitToolAI wait timeout

The function of
the current
IO error 1. The function of the channel has
current channel has been
been configured, which configured and
Channel configured cannot be used in cannot be used
function error teaching and in teaching
programming. It needs programming,
to be replaced with so it needs to
another channel; be replaced
with another
channel;

1. Check the successful

Arc striking timeout
arcing signal;

Arc extinguishing 1. Check the successful

timeout arc extinguishing signal;

1. Adjust the locating

Location finding timeout
parameters and modify
272/298 Appendix 1: Motion controller errors and handling methods

the teaching program;

IO detection timeout of
1. Check IO trigger
conveyor belt,
signal;
resettable

Successful arc striking 1. Check the DI

DI not configured configuration;

1. Waiting for the signal

Jaw movement timeout
of gripper movement
error
completion timeout;

485 timeout

Command format error

Movement delay, must

be activated before
movement
Contact after-
When moving, the
Jaw error sales
active bit must be active
personnel;
Temperature too high

Voltage too low

Automatically releasing

internal fault

Activation failed

Overcurrent

Automatic release end

Changes in shoulder
joint configuration

warning Changes in elbow joint Not yet implemented;

configuration

Wrist joint configuration

273/298 Appendix 1: Motion controller errors and handling methods

changes

1. Initialization of RX,
After moving
RY and RZ fails, and
RPY initialization failed the robot,
the mobile robot makes
power on again;
RY not equal to ± 90 °;

After 1 min, switch to

the general teaching
mode warning

Wrong number
Wrong number of active
of active slave
slave stations
stations

Drop line from station

Slave status is
inconsistent with the set Power on
1. If the slave station
value again, if not
has an error, check
solved, contact
Slave is not configured whether the EtherCAT
after-sales
Slave error cable is normal;
Slave configuration personnel;
error

Slave initialization error

Slave mailbox
communication
initialization error

Safety door
Safety door triggered
warning

Motion LIN command attitude

Not yet implemented;
Warning changes too much

Interference Enter the interference

zone warning zone

Parameter Tool number overrun 1. Export the backup Contact after-

error error package; sales personnel
274/298 Appendix 1: Motion controller errors and handling methods

Positioning completion
threshold error

Crash level error

Load weight error

Load centroid (X, Y, Z)

error

DI filter time error

AxleDI filter time error

AI filtering time error

AxleAI filtering time

error

DI high and low level

range error

DO high and low level

range error

Workpiece number
overrun error

External axis number

overrun error

Conveyor tracking -
encoder channel error

Conveyor tracking -
workpiece axis number
error

The attitude change of

the first group of data is
Eight point
too large 1. Recalibrate;
method
Data error, calculation
failed
275/298 Appendix 1: Motion controller errors and handling methods

Recording point signal

Button box
status Start running
feedback
Stop operation

Inch the
external shaft in
External axis
External axis 1-4 axis 1. The movement reverse
out of soft limit
out of soft limit fault exceeds the soft limit; direction to
fault
leave the soft
limit area;

1. Check whether the

teaching pendant
(raspberry pie) needs to
be enabled. If not, enter
the Web page, system
settings - general

Teaching Communication settings - teaching

pendant between Webapp and pendant settings, and

(raspberry pie) teaching pendant turn off the teaching

communication (Raspberry Pie) failed pendant to enable;

2. Check whether the

teaching pendant
(raspberry pie) is
connected to the
controller network cable
normally;

1. Enter the Web page,

assist the application -
The origin has changed
Origin error robot body - operation
and needs to be reset
origin, and reset the
operation origin;
276/298 Appendix 2: Servo driver fault code table

Appendix 2: Servo driver fault code table

Fault
Fault name processing method
code

1. Check whether the joint load or resistance

Software overcurrent becomes larger or abnormal

1
fault 2. If the fault is still not eliminated, repair or replace
the drive board

2 Overvoltage fault Reduce the speed or acceleration of the robot

1. Check whether the 48V power supply voltage

output of the control box is abnormal

2. Check the drive plate and joint housing for short

3 Under voltage fault
circuit

3. If the fault is still not eliminated, repair or replace

the drive board

4 Overheating fault Reduce the load or speed of the robot

5 Overload fault Reduce the load or speed of the robot

1. Check whether the magnetic braiding assembly

and the motor shaft fixing jackscrew are loose

6 Overspeed fault 2. Re perform encoder zero calibration

3. If the fault is still not eliminated, repair or replace

the magnetic editor assembly

Parameter abnormal
7 Repair or replace the drive plate
fault

1. Check whether the magnetic braiding assembly

and the motor shaft fixing jackscrew are loose

8 Runaway fault 2. Re perform encoder zero calibration

3. If the fault is still not eliminated, repair or replace

the magnetic editor assembly
277/298 Appendix 2: Servo driver fault code table

1. Check whether the joint load or resistance

becomes larger or abnormal
9 Position error fault
2. If the fault is still not eliminated, repair or replace
the drive board

1. Check whether the hard limit is loose

10 Position overflow fault
2. Re perform robot zero calibration

Hardware overcurrent
11 Repair or replace the drive plate
fault

12 Drive inhibit fault not enabled

1. Check whether the brake electromagnet is

engaged

13 Motor locked rotor fault 2. Check whether the hard limit is hit

3. If the fault is still not eliminated, repair or replace

the drive board

14 Power supply failure not enabled

15 STO fault not enabled

Phase current AD zero

16 Repair or replace the drive plate
setting fault

17 EEPROM fault Repair or replace the drive plate

1. Check whether the hall harness is inserted firmly

and whether there is short circuit or open circuit
18 Hall fault
2. If the fault is still not eliminated, repair or replace
the joint

19 encoder failed Repair or replace the magnetic braid assembly

1. Re perform encoder zero calibration

Encoder zero setting
20 2. If the fault is still not eliminated, repair or replace
fault
the magnetic editor assembly

21 Encoder Z-phase signal not enabled

278/298 Appendix 2: Servo driver fault code table

loss fault

22 Encoder count fault not enabled

Encoder multi turn data

23 not enabled
overflow fault

24 External clock fault Repair or replace the drive plate

UVW phase sequence

25 not enabled
fault

26 FPGA fault not enabled

27 Zero return fault not enabled

1. Check whether the magnetic braiding assembly

and the motor shaft fixing jackscrew are loose
28 Magnetic encoder fault
2. If the fault is still not eliminated, repair or replace
the magnetic editor assembly

1. Check whether the power line of the motor is

firmly inserted, and whether there is short circuit or
Motor power line
29 open circuit
disconnection fault
2. If the fault is still not eliminated, repair or replace
the drive board

1. Check whether the network cable is firmly

plugged, and whether there is short circuit or open

30 EtherCAT fault circuit

2. If the fault is still not eliminated, repair or replace

the drive board

1. Check whether the network cable is firmly

plugged, and whether there is short circuit or open
EtherCAT_SM_DOG
31 circuit
fault
2. If the fault is still not eliminated, repair or replace
the drive board

32 EtherCAT_FATALSYNC 1. Check whether the network cable is firmly

279/298 Appendix 2: Servo driver fault code table

failure plugged, and whether there is short circuit or open

circuit

2. If the fault is still not eliminated, repair or replace

the drive board

1. Check whether the network cable is firmly

plugged, and whether there is short circuit or open

33 EtherCAT_SYNC fault circuit

2. If the fault is still not eliminated, repair or replace

the drive board

1. Check whether the network cable is firmly

plugged, and whether there is short circuit or open

34 EtherCAT_RFT failure circuit

2. If the fault is still not eliminated, repair or replace

the drive board

1. Re configure the drive axis address

Drive shaft address
35 2. If the fault is still not eliminated, repair or replace
fault
the drive board

1 Re perform robot zero calibration

2 First use JLINK to erase FLASH, then

Robot zero calibration
36 download the program again and zero
fault
3. If the fault is still not eliminated, repair or replace
the drive board

1. Check whether the encoder harness is inserted

firmly and whether there is short circuit or open
Encoder
37 circuit
communication failure
2. If the fault is still not eliminated, repair or replace
the magnetic editor assembly

Magnetic encoder 1 Re zero the magnetic braiding assembly

40 module failure - zero 2 If the fault is still not eliminated, repair or

calibration failure replace the magnetic editor assembly
280/298 Appendix 2: Servo driver fault code table

1 Check whether the magnetic braiding assembly

Magnetic encoder
and the motor shaft fixing jackscrew are loose
41 module fault - multi turn
2 If the fault is still not eliminated, repair or
fault
replace the magnetic editor assembly

Magnetic encoder 1 Check whether the multi turn small magnetic

module failure - multi braiding chip is abnormal

42
turn small magnetic 2 If the fault is still not eliminated, repair or
encoder failure replace the magnetic editor assembly

Magnetic encoder 1 Check whether the multi turn magnetic braiding

module failure - multi chip is abnormal

43
turn large magnetic 2 If the fault is still not eliminated, repair or
encoder failure replace the magnetic editor assembly

Magnetic braiding 1 Check whether the single turn magnetic

module fault - single braiding chip is abnormal

44
turn magnetic braiding 2 If the fault is still not eliminated, repair or
fault replace the magnetic editor assembly

1 Check whether the optical coding disc is

Magnetic encoder
polluted or not stuck
45 module failure - optical
2 If the fault is still not eliminated, repair or
encoder failure
replace the magnetic editor assembly
281/298 Appendix 3: End plate 485 upgrade

Appendix 3: End plate 485 upgrade

During field use, it is possible to update the firmware to meet the new

requirements. A new upgrade file (XX_XX_MAIN. bin) will be provided to

upgrade the terminal board through the 485 interface (USB to 485 module is
required).The upgrade steps are as follows:

Step 1: 485 wiring. There is a 5Pin communication aviation connector at

the end of the robot. The pin pin distribution and pin pin description of the

aviation connector are shown in Fig. 1.Connect the 485 - A and 485 - B at the

end of the robot with A and B of th e USB to 485 tool using twisted pair cables.

Fig. 1 Pin Pin Distribution of Aviation

Connector
282/298 Appendix 3: End plate 485 upgrade

Step 2, hardware connection, connect the USB end of the USB to 485 tool

to the PC, and in the PC device manager, if the USB&485 tool is identified, the
following interface will appear.

Fig. 2 USB&485 Port Identification Description

283/298 Appendix 3: End plate 485 upgrade

Step 2: Upgrade the tool. After the wirin g is completed, open the "Fair

Serial Port Debugging Assistant", click the "Terminal Board" button, and select

the above identified serial port in the "Serial Port Parameter Setting" function.

The baud rate is 115200, the data bit is 8, the check bit is none, and the stop

bit is 1. Then open the serial port. After

success, the prompt "Serial port opened

successfully" will appear.

Fig. 3 Serial Port Parameter Settings

Step 3: Firmware upgrade, select

"End plate" and click "Firmware upgrade",
as shown in the fig.:

Fig. 4 End Plate Firmware Upgrade

⚫ First, click "Flash Erase". After the erasure is successful, you will be
prompted in the receiving data area that the erasure is successful.

⚫ Open the file (the file to be upgraded), select the path to store it, as
shown below. After the selection, the file name to be upgraded will
appear in the file name display box.
284/298 Appendix 3: End plate 485 upgrade

Fig. 5 Select Upgrade File

⚫ Click "Send File", and when the progress bar displays 100%, it means
that the upgrade file has been sent.
285/298 Appendix 3: End plate 485 upgrade

Step 4: Upgrade verification. The system is restarted and powered on. In

the "Maintenance Information" column, select "Query terminal board firmware

version information", and the firmware version information will be displayed in

the "Receive Data Area". If it is consistent with the upgraded file version
information, the upgrade is successful, otherwise the upgrade fails

Fig. 6 Querying Firmware Version

Information
286/298 Appendix 4: Control Box 485 Upgrade

Appendix 4: Control Box 485 Upgrade

There is a "power communication" interface on the robot control box board,

and USB&485 tools A and B are respectively connected to the "485-A" and

"485-B" of its interface.

The upgrade process is the same as

that of the terminal board, and the
software can be selected accordingly,
which will not be repeated here.

Fig. 1 Power Communication Interface

287/298 Appendix 5: List of Spare Parts and Vulnerable Parts

Appendix 5: List of Spare Parts and Vulnerable Parts

spare parts number number

M8 * 30 screw 4.0.08.2006185 4

Straight pin A type 8 * 20 4.5.00.2013076 2

Fuse 5x20 6A 1
288/298 term

term
Stop Category:

Class 0 shutdown: when the power supply of the robot is cut off, the robot

stops working immediately.This is an uncontrollable stop. Since each joint will

brake at the fastest speed, the robot may deviate from the path set by the

program.This protective stop can be used wh en the safety assessment limit is

exceeded, or when an error occurs in the safety assessment part of the control

system.For more information, refer to ENISO13850:2008 or IEC60204-1:2006.

Class 1 shutdown: when the robot is powered to stop, the robot will stop.

When the robot stops, the power will be cut off.This is a controllable stop, and

the robot will follow the programmed path.Cut off the power supply after one

second or once the robot stops stably.For more information, refer to

ENISO13850:2008 or IEC60204-1:2006.

Class 2 shutdown: controllable stop when the robot is powered on.The

robot stops all movements within one second.The operation of the safety

assessment control system can make the robot stay at the stop position.For

more information, refer to IEC60204-1:2006.

Diagnostic coverage rate (DC): used to measure the effectiveness of the

diagnosis implemented to achieve the assessed performance level.For more

information, see ENISO13849-1:2008.

Integrator: The integrator is the mechanism that designs th e final

installation of the robot.The integrator is responsible for the final risk

assessment and must ensure that the final installation complies with local laws

and regulations.

Mean time to dangerous failure (MTTFd): The mean time to dangerous

289/298 term

failure (MTTFd) refers to the value calculated and detected to reach the

assessed performance level.For more information, see ENISO13849-1:2008.

Risk assessment: risk assessment is the whole process of identifying all

risks and reducing them to an appropriate level.The risk assessment shall be

recorded and archived.For details, please refer to ISO12100.

Performance Level: Performance Level (PL) is a separate level, which is

used to describe the ability of each safety related part of the control system to

perform safety functions under predictable conditions.PLd is the second highest

reliability category, which means that the security function is quite

trustworthy.For more information, refer to EN ISO13849-1:2008.

Connecting flange: the structure used to connect external tools, generally

called flange.

Robot end: the center point of the last axis or connecting flange of the
robot.

Tool center point (TCP): The tool center point is the characteristic point of
the robot tool, which is the control point of the robot system. It defaults to the
center of the last moving axis or connecting flange when leaving the factory.The
tool center point of each tool contains transformations and rotations set relative
to the center of the tool output flange.The position coordinates X, Y, Z determine
the position of the tool center point, and RX, RY, RZ determine the direction of
the tool center.When the values are all zero, the center of the tool coincides
with the center of the connecting flange.

Tool position and attitude point (TCF): reflect the attitude of the tool
coordinate system relative to the end link coordinate system on the basis of the
tool center point TCP.

Base coordinate system: the origin of the base coordinate system is

generally defined at the center point between the first axis of the robot and the
mounting surface. The x-axis is forward, and the y-axis is determined according
to the right-hand rule in the axial direction.
290/298 term

World coordinate system: a fixed coordinate system established in a

work unit or workstation.When there is only one robot, the coordinate system
can be considered to coincide with the base coordinate system;When there are
multiple robots or external devices, the world coordinate system can provide a
unique reference system for these devices. On the premise of satisfying the
coordinate system for convenient calibration of other devices, its specific
position can be arbitrarily specified.

Joint coordinate system: the joint coordinate system is the coordinate

system in the robot joint. Under the joint coordinate system, each axis of the
robot can achieve independent forward or reverse movement within the limit
range.It is applicable to the robot that needs to move in a large range and does
not require the TCP posture of the robot.The single axis inching of the robot in
manual mode is carried out in the joint coordinate system.

Tool coordinate system: the coordinate system used to define the

position of the tool center point and the tool attitude. If not defined, the tool
coordinate system defaults to the center of the connecting flange.After installing
the tool, TCP will change and become the center of the end of the tool.

External tool coordinate system: the coordinate system used to define

the position and pose of tools fixed outside the robot.

Extension axis: remove the axis on the robot body, and add additional
axis for work. The extension axis mainly includes slide rail, turntable and
external servo equipment.

Manual mode: in this mode, all movements of the robot are manually
controlled by the user, and external safety facilities such as safety gratings and
safety doors do not work, so as to facilitate close debugging.

Automatic mode: This mode is generally used for the robot to run the
teaching program. At this time, the external safety facilities are enabled.

Repetitive positioning accuracy: the consistency of the position and

attitude measured by the robot in the same condition and the same method for
n times.

Teaching pendant: a hand-held unit that programs or moves the robot

and is connected to the control system.