ADTECH Robotic Drive System ADT-RC400...Products must be reliable earthling, grounding resistance...

Information of manual

I

ADTECH Robotic Drive System

ADT-RC400

User Manual

(Flex Pendant)

II

Information of manual

This manual is edited By ADTECH (SHENZHEN) TECHNOLOGY CO., LTD.

The editors of this manual:

The version of this manual: V1.1.2

Copy Right

All parts of this manual, property right owned by Adtech (Shenzhen) Technology

Co.,LTD (hereinafter referred to as) to all, without permission, no unit or individual is not any

imitation, copying, copying or translation. Position this guide without warranty of any kind,

expressed or implied. As mentioned by this manual or its product information, arising out of,

directly or indirectly, information flow, loss of interest or career ending, and its employees

will not take any responsibility. In addition, the products and information mentioned in this

manual are for reference only, subject to updates without notice.

All rights reserved, do not reproducing.

ADTECH (SHENZHEN) TECHNOLOGY CO., LTD

Range of manual This is the first manual of QC400 drive robotic control system concluding full

description, drive control for the initial users, to help users select reasonable motor type;

followed this specification for drive control electrical wiring between the machine and the

robot in detail.

Precautions

※Transport and storage

Product package iteration of no more than six

It is not available in the product box on the climb, stand or place heavy objects

Cannot use drag the cables attached to the product or handling products

No collision, scratching the Panel and display screen

Product box should avoid wet, dry and the rain

※Opening inspection

After opening the packaging please confirm whether you purchased the product

Check whether the products in transit damage

Control list identifies whether the part is complete, there is no damage

Product model, lack accessory or transport damage, please contact with me

※Wiring

To participate in connections and inspection personnel must have the appropriate

skills for professionals

Products must be reliable earthling, grounding resistance should be less than 4 ohms;

you cannot use the neutral (zero line) instead of ground

Wiring must be properly and firmly, so as not to lead to product failure or

unexpected consequences

And surge absorption diode must be connected in accordance with the regulations

are connected with, otherwise you will damage

Plug plugs or open the front of the chassis, you must cut off the power supply

※Maintenance

Must cut off the power before repair or replacement of components

Should check the fault when a short circuit or overload occurs, troubleshooting

before they can restart

Cannot pass off frequently, if required to re-apply after a power failure, separated by

II

at least 1 minute

※Others

Do not open the Cabinet without permission,

Long when not in use, please cut off the power.

To pay special attention not to let dust, iron powder into the controllers.

Output relay if the use of solid state relays shall be freewheeling diode in parallel in

the relay coil. Check if the power supply meets the requirements, put an end to the

controller is burnt out.

Life of the controller temperature has much to do with the environment, if the

processing temperature is too high, please install the cooling fan. Controller working

ambient temperature range between 0 ℃-60 ℃.

To avoid high temperatures, humidity, dust or corrosive gas environments.

Shake strongly to add buffer rubber Rails.

※Maintenance

Under normal conditions of use (environment conditions: average 30 ℃, load 80%, running

12 hours a day), please press the following items for routine checks and regular checks.

Daily Check Daily

Recognition of environmental temperature,

humidity, dust and foreign bodies

● There are no abnormal vibrations,

sound

● Ventilation holes without being

clogged with yarn and other

Period Check 1 year ● Substantial part is loose or not

● Terminal block damage

Since the robot system is more complex, dangerous. The manual records and

security-related precautions, please strictly observe transactions as recorded.

III

Safety Precautions and mark

Mark Mark meaning

Danger

Use wrongly, it will lead to a dangerous situation,

causing serious injury or death

note

Use wrongly, It will lead to a dangerous situation that

may cause personal injury or damage to equipment

which caused material damage.

Ban Absolutely unenforceable

!

Forcibly Must be implemented

Danger

Please do not use this system in the flammable and explosive environment.

Likely to cause injuries or fire.

Please follow the instructions drawings or wiring.

Prone to electrical shock and damage the

motor.

In an energized state, do not arbitrarily pull the plug, in the operating state; do not touch

the robot operation site.

Easy electric shock, causing personal injury.

Energized state, not for wiring, maintenance and other operations, be sure to power at

least 5 minutes before proceeding.

Easy electric shock.

IV

Please be sure to take a reliable grounding between the drive and the robot body.

When the fault occurs easily lead to electric

shock, fire incident, easy to trigger errors.

Non professional personnel, please do not open the drive and control one machine shell,

please do not use hand to touch the drive and control of internal components

Easy electric shock

In the case of power, do not touch the power plug of the integrated machine.

Easy electric shock.

Please do not damage, the weight of cable or cable suspended load

Easy electric shock

The energized state, do not plug the drive terminal machine control on

Easy electric shock and short circuit

Running state, do not pull out the terminal on the one machine

Easy electric shock and short circuit

Attention

Please pay attention to the drive and control of the motor and the heat of the peripheral

equipment.

Easy to burn.

When a fault occurs, the power supply is cut off, the cause is identified and removed, and

the low speed running equipment should be removed.

V

If there are adverse factors, easy to cause

false action.

When using the controller and the robot body, it cannot exceed the scope of its

specification.

Easily cause damage to the product.

When the robot is moved, it needs to be fixed with the attached fixed tool.

To prevent the lifting arm, due to accidents.

The installation, operation, maintenance and inspection before, be sure to read the

instructions carefully, according to the operating instructions in step.

Easy electric shock, fire

Power supply voltage, power capacity must be specified by the company's specifications.

Improper use of equipment failure, easy to

cause a fire.

Please correct use of the correct control of each other to drive one machine and robot.

Prone to failure

Should be regularly on the implementation of the robotics drive system maintenance and

inspection operations.

Neglect of maintenance and inspection is an

important cause of equipment failure and

accidents.

Please do not put heavy objects on the product.

Easily cause damage

VI

Please correct the wiring in the instruction manual.

The wrong wiring way is easy to cause the

robot or the drive control one machine

damage or cause a fire.

When an exception occurs, please stop.

Easy electric shock, personal injury, fire

Need to repair, please contact our company, please do not disassemble.

Easy cause trouble.

Do not impact

Easy cause trouble

VII

Ban

In the course of the robot's movement, no person is allowed to stand in the robot action

area.

There will be a major injury accident.

Equipment to prevent the movement of the robot in the workplace.

When the device is abnormal, it is easy to

cause damage.

The emergency stop switch on the handheld display device is prohibited.

Robots in an accident or is not running

properly, you need an emergency stop

switch, stop operation of the equipment.

There is no correct operation of the prohibition on the instruction manual.

Incorrect operation will bring about the

incorrect operation of the equipment.

Other personnel outside the operating personnel to close to the equipment

Touching the dangerous area can cause the

injury or the major accident.

When an accident, to cut off the power supply, clear reasons.

When there are bad reasons, the robot may

have a wrong action, causing adverse

consequences.

Users are prohibited to carry out parts of the exchange and transformation.

Will reduce the system performance and

may malfunction

VIII

Please do not remove the cleaning.

Easy to cause fire, easy to get electric shock.

Please don't make the product stored in the leaks, water, and other harmful gases in the

environment.

Prone to failure

Forced!

Please keep the sun out of the sun.

!

Easy cause trouble

Please use the specified range.

!

Easily cause burn, failure

Equipment protection cover must be shut off during operation.

!

Open the protective cover will have electric

shock, the disabled.

Operator to go through the full training.

!

Incorrect operation will cause the device to

malfunction, resulting in disability or major

disaster.

If the robot is not in accordance with the specified direction of action, press the emergency

stop, stop the equipment operation.

!

Accidents and failures.

IX

Power cord must be used with the specified wire.

!

Prone to fire and failure.

Safety regulations

● Before starting the run, we need to know all the tasks of robot in accordance with the

program to be executed;

● Robots run in automatic mode, personnel are not allowed to enter any of its

movement reach areas;

● When the need for programming, testing and maintenance work, the robot shall be

placed under manual mode;

● When debugging personnel enter the robot work area, he shall carry a teach pendant,

to prevent others from malfunction;

● When the robot does not work for a long time, the fixture should not place items; it

shall be empty machine;

● After a power outage, the main power on the robot should shut down timely, and

remove the clamp on the work piece.

User Manual of SCARA Robotic Drive System

10

Contents

Information of manual ........................................................................................................... II

Key .......................................................................................................................................... 12

1 Key .................................................................................................................................. 12

1.1 Key Interface ............................................................................................................ 12

1.1.1 Partial Explanations of Keys ............................................................................ 12

Run .......................................................................................................................................... 16

2 Run .................................................................................................................................. 16

2.1 Run Interface ............................................................................................................ 16

2.1.1 Position Interface .............................................................................................. 16

2.1.2 Trajectory Interface .......................................................................................... 17

Parameters ............................................................................................................................... 19

3 Parameters ....................................................................................................................... 19

3.1 Parameters Management .......................................................................................... 19

3.1.1 General Parameters ........................................................................................... 19

3.1.2 Axis Parameters ................................................................................................ 21

3.1.3 Management Paramerers .................................................................................. 23

The interface of management parametrs is shown below:............................................... 23

3.1.4 Parameters of Robotic Body ............................................................................. 24

3.1.5 Configuration of Terminal ................................................................................ 25

3.1.6 Setting of Arch Parameters ............................................................................... 26

Coordinate System ...................................................................... Error! Bookmark not defined.

4 Coordinate System........................................................................................................... 29

4.1 Interface of Coordinate System ................................................................................ 29

4.1.1 User Coordinate System ................................................................................... 29

4.1.2 Tool Coordinate System ................................................................................... 29

4.1.3 User Coordinate Teach ..................................................................................... 30

4.1.4 Tool Coordinate Teach ..................................................................................... 31


11

Edit .......................................................................................................................................... 33

5 Edit .................................................................................................................................. 33

5.1 Edit Interface ............................................................................................................ 33

5.1.1 Program Interface ............................................................................................. 34

5.1.2 Teaching Interface ............................................................................................ 36

5.1.3 Data Interface ................................................................................................... 38

5.1.4 File Interface ..................................................................................................... 39

5.1.5 AR Edit ............................................................................................................. 40

Diagnosis ................................................................................................................................. 41

6 Diagnosis ......................................................................................................................... 41

6.1 Diagnostic Interface ................................................................................................. 41

6.1.1 Alert .................................................................................................................. 41

6.1.2 Input .................................................................................................................. 42

6.1.3 Output ............................................................................................................... 42

6.1.4 System Information .......................................................................................... 43

6.1.5 Calibration ........................................................................................................ 44

6.1.6 Function Test .................................................................................................... 45


12

Key

1 Key

The EPB-06 FlexPendant of ADTCH robotic drive system adopts key and

touching combined control mode. There are three manual switches, which are key

switch, emergency switch, three-gear switch on back of FlexPendant and

53-membrane switch. It makes the operation more convenient and fast for user using

reasonable layout.

1.1 Key Interface

1.1.1 Partial Explanations of Keys

1.1.1.1 Manuals switches on EPB-06 FlexPendant

Keys Explanations

[A/Lock/M]

Key switch: it includes A (Auto), Lock and M (Manual)

three modes. Only in “Lock” mode, PC can control the

system.

[STOP]

Emergency stop: it may occur a collision between the

robot and the peripheral device, with this emergency, press

this key to close motor’s enable and extinguish the “Mot”

light.


13

[MOT]

Manually enable: it is a three-gear switch. The

first-gear switch is normally open; the second-gear switch is

manual enable (you need to press this gear to enable, and

loose this gear to close enable); the third-gear switch is

emergency alarm (press “Reset” to clear alarms).

1.1.1.2 Keys’ explanations on EPB-06 Flex Pendant

Keys’ thumbnails of Flex Pendant are shown below:

Keys Explanations

[Fast keys]

It is used when select each menu

of the submenu on the Flex Pendant’s

screen. As shown in right figure, if

you want to select “Prog”, please

press “F1”.

[Shift]: Composite function key. It

can be combined with other keys as

shortcut keys.

[Reset]: Reset function key. It is

used to clear system’s alarms and

running states.

[Speed]: speed rate, it is used to

quickly adjust speed under manual


14

mode. “Low”, “Middle” and “High”

are corresponding to 30%, 70% and

120% of speed rate, respectively.

[Mot]: servo enables function.

LED light is always flashing——No

enable, which means that the robot is

going to be enabled.

LED light is always bright——at the

state of enable.

LED light is always dim ——No

enable. In this case, it is impossible to

enable manually, you need to press

“Mot” to be enabled state.

[Step]: it is used to step movement

under manual and auto motion.

[Pause]: it is used to pause to

process. By pressing again “Start” to

continue processing.

[Start]: it is used for the program

under auto motion.

[Keys of axis’ operation]

These keys are used for operating

the movement of each axis.

In four-axis SCARA robot:

X- /X+ Corresponding to upper arm

Y- /Y+ Corresponding to lower arm

Z-/Z+ Corresponding to vertical arm

C- /C+ Corresponding to rotating arm

[Direction keys]:

Press [ / / /

] keys to select items for

functions. When combine “Shift” with

these keys, you can quickly change to

next page.

[Enter/Yes]: Confirmation/Yes, which

are used for selection.

[Esc/No]: Cancel/No, which is also

used for selection?


15

[R1-R5]: these keys can be defined

for spare use in system.

[File]: quickly open contents of file

management.

[Coordinate System]: it is used to

switch between joint coordinate

system and Cartesian coordinate

system.

[Step]: it is used to teach position

with high accuracy under manual

mode.

[Number keys]: press these keys to

enter the corresponding numbers.

[←]: it is backspace, which is used

to delete characters one by one. If you

firstly select parameters when editing

commands, then reversely displays the

current value. In this case, you will

delete all the parameters if you press

this key.

[ + ] 、[ - ]、 [←]: You can enter

+/-/Del keys quickly if you press one

of them and “Shift” together.


16

Run

2 Run

After opening the robotic drive system, the displaying main interface of RPB06

FlexPendant is the run interface, which displays several kinds of information of

current system, for example, current run mode, coordinate system, coordinate position

of each axis, real-time speed of each axis, name of program file, program name,

system time and run state. User can know the current processing information directly

and quickly through this interface.

2.1 Run Interface

2.1.1 Position Interface

The run position interface is shown in below figure:

Three modes are “JOG”, “Lock” and “AUTO” is switched with key of RPB06

FlexPendant.

“JOG”: user can conduct any operations, including data modify, parameters

modify and program edit in this mode.

“Lock”: user only can view all the system information, but cannot control


17

axis to move.

“AUTO”: user can select files to be processed, but have no right to change

program and parameters.

“Joint”: in this place, there are three options can be selected, which are “Joint”,

“Decare”, “Tool” and “User coordinate system”. Coordinate system in this

interface is currently being used coordinate system.

“Pos”: there are four options contained in this place.

“Abs pos”: real-time positions of X, Y, Z and C axis of current coordinate

system are with respect to the origin.

“Knuckle position”: real-time positions of J1, J2, J3 and J4 of current

coordinate system.

“Machine pos”: real-time machine positions of J1, J2, J3 and J4 of current

coordinate system.

“Actual pos”: real-time positions of feedback from each motor’s encoder,

which are referred to the origin. Unit is 1 pulse.

“Speed”: the speed of current each axis with manual or auto, unit is r/min.

“Rate”: Manual rate or auto rate, which is the percentage with respect to the speed,

set in parameters. For example, the auto speed of J2 set in parameters is 200

and current auto rate is 50%, so the actual auto speed of J2 is 200*50% = 100.

The actual processing speed is equal to current program speed multiply this

rate when robot runs in auto mode.

2.1.2 Trajectory Interface

The trajectory interface of run mainly simulates running program. During

processing, user can see motion trajectory of end directly through this interface.

Interface of running trajectory is shown in following figure:


18

“Close”: to exit current trajectory interface. It only exit current interface, not end

tracking during trajectory tracking.

“Cls”: clear current interface’s trajectory.

“Tracking”: trajectory tracking starts from current position.

“Middle”: display current trajectory on middle of screen or press up and down keys

on Flex Pendant to move the displayed position of trajectory.

“Stop Tracking”: stop trajectory tracking immediately.

“Plane”: display the trajectory on plane through this button.

“Coord”: select trajectory of current coordinate system.


19

Parameters

3 Parameters

Six types of parameters are included, which are general parameters, axis

parameters, management parameters, robot body parameters, terminal configuration

and parameters of the arch.

3.1 Parameters Management

3.1.1 General Parameters

001, Line Velocity: the velocity of linear and arc motions.

002, Line Acceleration: acceleration of linear and arc motions.

003, Line Acceleration mode: acceleration curves of linear and arc motions.

004, Limiting Filter Tines: detection times of soft limit reach the set times, then the

system will give alarms.

005, selection of communication: configuring network and mode of serial

communication.

006, the Baud rate system: configuring baud rate of COM2, which is also modified


20

in program?

007, controller ID: Configuring the station address of controller in the modbus

communication.

008, circular interpolation feed: precision of arc split.

009, code preprocessing processing mode: select whether has a velocity

preprocessing of joint movement between linear and arc motion.

010, IP address: IP address of Network system.

011, subnet mask: subnet masks address of system.

012, default gateway: default gateway of system.

013, MAC address: MAC address of the system.

014, feed ratio variation: adjust the variation of speed ratio with automatic mode.

015 run the CNC file: the setting system only run CNC files.

016, off-line simulation model: the motor of system can not be enabled with off-line

mode.

017, braking delay: time delay of brake after motor enabled.

018, Belt PE: one pulse of conveyor encoder corresponds to the actual length (unit is

Millimeter).

019, conveyor belt crawl range 1: the start position of robot catching objects’ region,

which is referred to visual calibration position.

020, 018, conveyor belt crawl range 2: the end position of robot catching objects’

region, which is referred to visual calibrating position.

021, Camera photographed distance: the distance of the system IO triggering


21

camera to take pictures.

3.1.2 Axis Parameters

001, Jn axis forward soft limit: where n is1 4 .

Jn axis negative soft limit: where n is1 4 .

002, Jn axis PTP processing speed (°/s): the maximal motion speed of each PTP axis

(1 4 ).

003, Jn axis PTP acceleration (°/s^2): the maximal acceleration of each PTP axis

(1 4 ).

004, Jn axis manual speed (°/s): the speed of manual axis (1 4 ).

005, Jn axis manual acceleration (°/s^2): the maximal acceleration of manual axis

(1 4 ).

006, X, Y, Z axis manual speed (mm/s): manual linear velocity.


22

007, X, Y, Z manual acceleration (mm/s^2): manual linear acceleration.

008, Jn axis pulse logic direction: motor’s rotary direction.

009, Jn axis Encoder bits: encoder bits of each axis motor, where n are from 1 to 6.


23

3.1.3 Management Parameters

The interface of management parameters is shown below:

001, Select SupMode: change current management mode among administrator,

operator and common user.

002, AlterSuperuserPasswor: manage administrator’s password.

003, Alter User Password: alter operator’s password.

004，Initialize: Initialize all general parameters to factory defaults.

005, Initialize IO Config: initialize all terminal parameters to factory defaults.

006, all para reset<●>: initialize all terminal parameters to factory defaults.

007, para backup: backup all the parameters to SYSCONF.BAK file.

008, para recover: recovery parameters in SYSCONF.BAK file to system.

009 generate cryptogram: this function is not yet open.

010, clear add up work num: clear cumulative times of CNC files processed by

system.

011, clear current work num: clear current times of CNC files processed by system.

012, maximum work num: the maximal times of processing CNC files.

013, sys language bag: there are simplified Chinese, traditional Chinese and English

language bag.

014, startup picture display: the time of logo being displayed.

015, sys display axis setting: this function is only open for programmers.

016, sys debug information En: this function is only open for programmers.

017, Screen Safeguard En: set whether to enable screensavers.


24

018, Modbus Master/Slave set: set master and slave mode of modbus protocol.

3.1.4 Parameters of Robotic Body

This interface is used to set the parameters of each part of robot body. These

parameters will directly affect calculation accuracy.

The interface of robotic parameters is set in following figure:

001, J1 to J2 arm length: horizontal length (unit is millimeter) between center of

joint 1 reducer and center of joint 2 reducer, whose direction is along the base to the

end of robot.

002, J2 to J3 arm length: horizontal length (unit is millimeter) between center of

joint 2 reducer and center of joint 3reducer, whose direction is along the base to the

end of robot.

003, J3 rotate: the length (mm/pulse) of screw walking when linkage screw of joint 3

rotates a circle.

004, J3 and J4 composite: if J3 and J4 are composited axis, then enter “ON”, or

enter “OFF”.

005, J1 axis drive ratio: the ration of a certain angle of joint 1 motor rotating and

actual angle of drive end.





25


008 J4 axis drive ratio: the ration of a certain angle of joint 4 motor rotating and


3.1.5 Configuration of Terminal

Configure the effective voltage of input port and external enable/suspension

integrated function.

001, external enables Input port number: configure the input port of start with auto

mode.

002, external suspension Input port number: configure the input port of suspension

with auto mode.

003, external emergency stop Input port number: configure the input port of

emergency stop with auto mode.

004, external stop Input port number: configure the input port of stop with auto

mode.

005, external reset Input port number: configure the input port of reset with auto

mode.

006, alarm Output port number: configure the output port of alarm with auto

mode.

007, running Output port number: configure the output port of running state with


26

auto mode.

008 stop Output port number: configure the output port of stop with auto mode.

009, system work Output port number: configure the output port of servo enabled

state.

010, servo state light Output port number: configure the output port of servo

enabled state.

011 J1 brake Output port number: configure the output port of joint 1 brake.

012 J2 brake Output port number: configure the output port of joint 2 brakes.



015, the origin indicating the output port: configure the output port of light of the

origin.

016, external enable input port number: configure the input port of motor enable.

017, the input detection effective level 00~31: configure the effective voltage of

input ports (00~31).

018, the input detection effective level 31~63: configure the effective voltage of

input ports (31~63).

019 reset the IO configuration 00~31: configure the state of output port (00~31)

when reset the system.

020 reset the IO configuration 32~63: configure the state of output port (32~63)

when reset the system.

3.1.6 Setting of Arch Parameters

Configure the parameters of motion mode with arch moving. Its interface is

shown below:


27

001, C0 arch start Z height (mm): set the start height of Z-axis with C0 arch motion.

C0 arch end Z height (mm): set the end height of Z-axis with C0 arch motion.

C0 arch limit Z position (mm): set the limited height of Z-axis with C0 arch

motion.




motion.

003, C2arch start Z height (mm): set the start height of Z-axis with C2arch motion.



motion.


C3 arch end Z height (mm): set the end height of Z-axis with C3arch motion.


motion.


28


29

Coordinate System

4 Coordinate System

It includes user coordinate system, tool coordinate system and coordinate teach.

4.1 Interface of Coordinate System

4.1.1 User Coordinate System

The use of user coordinate system greatly improves the convenience of system’s

operation when position teaching and calculation are not referred to the base as the

zero. There are six user coordinates in the system, in which user 0 is default and users

(1 to 5) can be set manually or directly generated by the three-point method teaching.

4.1.2 Tool Coordinate System

Motion trajectory is referred to tool end, not flange’s center. The use of tool

coordinate makes teaching and programming more flexible. There are six tool

coordinates in the system, in which tool 0 is default and users (1 to 5) can be set

manually or directly generated by the two-point method teaching.


30

Motion trajectory is referred to tool end, not flange’s center. The use of tool

coordinate makes teaching and programming more flexible. There are six tool

coordinates in the system, in which tool 0 is default and users (1 to 5) can be set

manually or directly generated by the two-point method teaching.

4.1.3 User Coordinate Teach

1. Select “User coordinate system” org point, and then manually adjust the tool

end to coincide with the origin of the new user coordinate under Cartesian

coordinate system, next click “Teach” to assign the current position to org

point.


31

2. Select “User coordinate system” xx point, and then move the work-piece with

a longer distance to an appropriate position along the X direction under

Cartesian coordinate system, next click “Teach” to assign the current position

to xx point. Notice: do not move C axis during movement, or the

calculation is wrong.

3. Select “User coordinate system” yy point, and then move the work-piece with

a longer distance to an appropriate position along the Y direction under

Cartesian coordinate system, next click “Teach” to assign the current position

to yy point.

Notice: do not move C axis during movement, or the calculation is wrong.

4. Click “Count” after teaching org, xx and yy points to generate user coordinate

1 (by default, if you change the number of user coordinate, you can select

user 1 to 5, then click “Count” to regenerate.) Then you can view parameters

(X, Y, Z, U, V, W) of the generated user coordinate.

4.1.4 Tool Coordinate Teach

1. Two-points teaching method. Firstly, click “Tool-teach” to select P1 point;

then manually adjust the tool end of robot to coincide with reference point; at


32

last, click “ Teach” to assign the current position to P1 point.

2. Select P2 point in “Tool-teach” , then manually rotate x axis with an angle

(greater than o60 ) in order that the tool end coincides with reference point,

and then click “ Teach” to assign current position to P2 point.

3. Click “ Count” after teaching P1 and P2 points to generate tool coordinate 1

(by default, if you want to change tool number, you can choose tool 1 to 5,

then click “ Count” to regenerate a new tool).


33

Edit

5 Edit

5.1 Edit Interface

All the program operations of RC400 robotic drive system are basically

completed in this edit interface, mainly include “Prog”, “Teach”, “Data” , “File” and

“AR Edit” five parts. Simple explanations are listed in below table:

Main

menu

Sub-menu Main contents

Edit

“Prog” New, open and save files; insert, delete and modify

commands.

“Teach” Teach point data, track goals and return back to the

origin.

“Data” Delete, save and modify the taught point data.

“File” Copy and paste data from each disk, and download

files.

“AR Edit” Modify AR, CNC or NC files.

Edit interface is shown below:


34

5.1.1 Program Interface

Click “Prog” in main edit menu, which includes six parts: insert command,

modify command, delete command, new program, open program and save program.

All these edit operations are used for processing files.

Program interface of edit is shown as follows:

“Close”: back to program interface of edit.

“Ins line”: insert several kinds of commands; the inserted command is next line of

current one by default. Command is executed from current one.

PTP: each axis moves from one point to another point in the space, and the

speed is PTP moving speed.

Line: robotic end moves from one point to next point with line trajectory,

and speed is the feed speed.

Arc: its format is MOVE C, P[n], V = 100%, where C is arc command and

P[n] is arbitrary point on the arc. Pay attention: three points decides a arc,

which are start point, arbitrary point and end point. Except for the start point,

the other two points are needed to use arc command, so arc commands

appears in pairs and end with the end of the arc.


35

IO line: monitor IO command during line motion. Once detect input signal,

the line movement will end.

Waiting: waiting for internal input signal, its format is DI [M, 0], where M is

input signal and 0 is close (1 is open).

Control output: waiting for internal output signal, its format is DO [N,0],

where N is output signal and 0 is low voltage (1 is high voltage)

Delay: its format is DELAY [P], where P is delay time (unit is millisecond).

Arch: its format is JUMP [P[n], C0], where P[n] is the start point of the arch

and C0 is a group number. In parameter setting, four group number of arch

are included, where C0 is the first group and C1, C2, C3 respectively

correspond to the second, third, fourth group. The specific instructions are

explained in parameters setting of arch.

Line CP: it has the similar movement with line. Add smooth transition

between one line and another line, which makes movement smoother.

PTP CP: it also has the similar movement with PTP. Add smooth transition

between one point and another point, which makes movement smoother.

Using commands introduces above, a program example is listed in below table:

Commands Explanations

MOVE P, P[1],

V=100%

Moves to point P(1) from current position with PTP

mode(100% speed)

MOVE L, P[2],

V=100%

Moves to point P(1) from current position with line

mode(100% speed)

MOVE C, P[3],

V=100%

Moves to point P(1) from current position with arc

mode(100% speed)

MOVE C, P[4],

V=100%

P(4) is the end point of the arc.

DELAY 400 Have a delay with 400ms

DO（2）= 1 Open the signal of OUT2 port

JUMP P P(6), C0 Moves to P(6) from P(4) with arch mode, where CO

represents arch parameters of the first group.


36

DO（2）= 0 Close OUT2 signal.

DI（1）= 1 Wait for the input signal of INPUT1, then motion is over.

New: build a new processing file, whose name is made up of arbitrary numbers and

suffix is JOB.

Open: open the processing files, whose name’s suffix is JOB, CNC and NC.

Save: save the program commands of current file. User should save file immediately

once the file has been modified.

Delete all: delete all the program commands of current file. User must click “Save”

after deleting to ensure that entire programs are modified successfully.

Del line: delete the program commands of current files selected by cursor. User must

click “Save” after deleting to ensure that entire programs are modified successfully.

5.1.2 Teaching Interface

This interface is mainly used for teaching operation, which includes teaching

point data, tracking targets and returning to the origin. For RC400 robotic drive

system, 257 points (from 0 t0 256) can be taught in each PTS file to be used in

program.

5.1.2.1 Teaching Mode

“Joint”: there are four joints with RC400 and each joint move separately. Each

joint is called upper arm, lower arm, vertical axis and rotary axis, respectively.

“Decare”: X, Y, Z and C execute interpolation operation under Cartesian

coordinate system.

5.1.2.2 Teaching Velocity

The teaching velocity is manual speed, which is taught by up/down key.

Teaching range is 10%~100%, and each adjustment is 10%. Or this velocity can be

adjusted with rate, and low speed, middle speed and high speed are corresponding to

30%, 70% and 100%, respectively.

Interface of program teach:


37

Set goals: they are the current taught points, and “undefinition” points are not taught

points. User can move cursor using / keys on FlexPendant or press “shift

+ ” and “Shift + ” to change to next page.

****.PTS: current data of points file.

Coordinate system: it can switch among Cartesian coordinate system, joint

coordinate system, user coordinate system and tool coordinate system.

Hand coordinate system: it includes left-hand and right-hand coordinate system.

And displayed hand coordinate system is the current one.

Coordinate: it has user Coordinate and tool coordinate, each of which has five groups

(the user coordinate 1-- User Coordinate 5, tool coordinate 1-- tool coordinate 5). The

user coordinates 0 and tool coordinate 0 are default in system. You can choose one of

them as you want. And teaching point and processing file are carried out in the current

coordinate system.

Step distance: press the “Step” key on FlexPendant to choose the corresponding step

distance, which includes 0.001mm, 0.01mm, 0.1mm and 1mm. Or you can select

to enter customized length, and then robot can move this length

with one step.

Home: return to the origin of each joint, that is also the origin of the robot. Firstly

enable manually, and then click “Home”. At this moment, robot moves with manual

speed of current rate, and each axis returns to the origin according the order J4J3J1


38

J2.

Record: it is used to record teaching points. Manually enable, and then select the

target point to be set and move each joint to reach the target position. Then click

"Record" to record the position of the current target as target point.

Follow: move to the set target point. Manually enable, and then select the target point

to be set and then click on "Tracking". At this moment, robot moves with manual

speed of current rate. Robot firstly lifts the J3 axis, then moves axis J1 and J2 axis to

the target point, and then moves axis J3 and J4 axis to the target. Tracking is end after

four axis are stop.

5.1.3 Data Interface

In this interface, user can delete and modify points of processing files, and build

a new PTS file of point data and open/save these files. Interface of data points is

listed in following figure:

Delete: it is used to delete the current command selected by cursor.

Delete all: delete all the commands in the current point files with PTS suffix.

New: build a new point file with PTS suffix.

Open: open a point file with PTS suffix.

Save: save the current point data.

Recover: it is used to recover to point data saved before.


39

5.1.3.1 Modification of Point Data

Point values of X/Y/Z/C are referred to user 0 coordinate system by default,

which are absolute position of robot. “No.” is set g points. User can modify the values

of X/Y/Z/C under manual mode, in order to obtain a better effect. You must click

“Save” after modification.

5.1.4 File Interface

This interface mainly used for copying and pasting among each file. User can

operate data transmission among local disks, external U disks and PC in robotic drive

system.

File Interface is shown below:

Devices: click “Devices”, the system switches among all disks.

Copy: copy the file and folder selected by cursor.

Paste: paste the copied file or folder to the current directory.

Cut: cut the file or folder selected by cursor.

To PC: connect it to PC using printer line. At this point, the controller in the form of

a removable disk is connected to the PC.


40

5.1.5 AR Edit

In the “AR Edit: menu, user not only can view the current file commands of CNC,

NC and AR, but also have right to modify a several commands.

The below figure is the interface of AR edit:

Soft keyboard selection: you can close/open the soft keyboard by pressing “Mot”

button under manual mode.

Delete: it is corresponding to “Del” key on FlexPendant, which can delete the current

data pointed by curser.

Save: it is corresponding to “Reset” key on FlexPendant. After completing

modification, click “Reset” to save files.

Wrap: it is corresponding to “Enter” key on FlexPendant, which means to change

another line to edit.


41

Diagnosis

6 Diagnosis

The Diagnostic interface of robotic drive system covers system’s alarm

information, input/output diagnosis, key detections, system information robot

calibration and clearing encoder functions. These functions are usually used during

debugging. we can say that we use the most in the commissioning phase. It is good for

you debugging robot and excluding errors if you familiar with this operating interface.

6.1 Diagnostic Interface

6.1.1 Alert

In submenu “Alert” of main diagnostic interface, we can view historic alarm

contents of system. System errors will be automatically added in list of alarm

information, such as, emergency switch being opened, servo alarms, servo

power-offgdfv, soft limits and so on. It not only can help us exclude current errors, but

also allows us to deeply analyze the running condition of the robot.

Alarm interface is listed in below figure:


42

6.1.2 Input

User can detect whether external input signal is effective through the submenu

“Input” of diagnostic interface. RC400 robotic drive system receives external input

signals (low voltage is the effective signal among these signals.) .If you use proximity

switch, DC 24V NPN proximity switch is advised.

Input analog light of FlexPendant’s input interface will turn red from green (as

shown in “Manual I37” , which is the input signal of system when the key switch of

FlexPendant is in auto mode) when input signal is effective.

Input interface in shown below:

6.1.3 Output

In the submenu “Output” of diagnostic interface, user can manually open the

output signal of robotic drive system. Specific steps are listed as:

“AUTO” mode moves cursor of Flex Pendant to output port Click “Enter”

key on the Flex Pendantopen the corresponding output port Click “Enter” key


43

again to close the corresponding output port.

The output port’s signal of RC400 robotic drive system is low voltage, the output

state is as follows:

Relay outputs of 6-ways: it can directly drive brakes and electromagnetic valves

with low power load.

Opto-isolated outputs of 21-ways: it is common output. It is needed to add a relay

adapter when its load is inductive.

The output analog light of FlexPendant’s output interface turns to red from green

when output signal is open, as the “OUT00” is shown in below figure of output

interface:

6.1.4 System Information

In submenu “Sys inf” of diagnostic interface, user can view all the hardware’s

and software’s information of RC400 robotic drive system. The system information is

shown in below figure:


44

6.1.5 Calibration

In submenu “Dem” of diagnostic interface, user can calibrate the robot body,

which includes upper arm calibration, lower arm calibration, origin calibration,

visual calibration and clear encoder. Calibration is basically divided into following

parts:

Function Types Explanations

Calibration

Calibrate the lengths of upper and

lower arms; calibrate the origin and

clear encoder

The accuracy of trajectory

is higher with calibrating

robot manually.

Calibrate vision Its accuracy is higher than

calibration by hand.

Clear encoder

Set current position as the

origin. Accuracy of

Trajectory is bad, so it is

not suitable for trajectory.

Calibrating interface is shown below:


45

Calibration notes:

1) Strictly follow the calibration steps, if operation with errors, advise starting from

the beginning.

2) Manually measure the distance more accurately, because the measured date is

directly affect the calibrating accuracy.

3) Manual enable must be always keeping until all joints of robot return to the zero

point when calibrate the origin at eighth step. Then loosen the enable, and click

“Reset encoder” to clear the current having been calibrated position. After this

step, calibration of the origin is over.

6.1.6 Function Test

In submenu “Module” of diagnostic interface, user can test keys to check

whether the key of FlexPendant is good. Key tests operate in order, then click “Del”

three times to exit “Key test” interface.

Definitions of background color of screen keys in test interface of Flex Pendant

are as follows:

Green: it is corresponding to keys on Flex Pendant.

Pink: button to be tested, which means that the corresponding key on the Flex

Pendant is going to be tested.

Red: the color of screen key is turn to red from pink when this key is

effective.

The interface of function test is shown in following figure:


46

ADTECH Robotic Drive System ADT-RC400...Products must be reliable earthling, grounding resistance...

Documents

Transcript of ADTECH Robotic Drive System ADT-RC400...Products must be reliable earthling, grounding resistance...