Hanwha HCR-12 Manual de usuario

HCR-12

Collaborative Robot

User Manual

Nov 2018

Preface

Before installing the product, please read this manual fully and make sure you follow

the instructions in it.

The content of the manual is maintained latest as of the date when it is written. The

product information is subject to change without prior notice to users.

If you are uncertain about any requirements, recommendations or safety procedures

described in the manual, please, consult with Hanwha Precision Machinery Co.

Users are responsible for any damages caused by their misuse neglecting these

instructions below.

Note

Some of illustrations in the manual intends to help users in

understanding the system concepts and installation issues. The actual

product may differ from the manual.

Please keep this manual in a safe place for future reference.

Voltage: 100~240VAC, 50/60Hz (1kW) (It should be connected to the

neutral cable which is connected with grounding line with one phase of

the 3 phase cables.)

Status of load installation: Load is not exceeding the payload of Robot.

Please check the grounding line connection in plant and operating cell.

(It can be refer to section 3.3 to check the location of grounding line.)

- Any plants and cells with the inappropriate grounding line may have

the negative influence such as noise on the communication line between

robot and system.

- Especially, if robot is installed with the equipment requiring large

current such as heater, motor, separate additional grounding line is

required.

Copyrights

The copyrights and intellectual property rights of all the content and diagrams in the

manual belong to Hanwha Precision Machinery Co.

Thus, illegal use, duplication, distribution or dissemination of the manual without prior

written approval by Hanwha Precision Machinery Co. is strictly prohibited and such

an activity is an infringement of the intellectual property rights of Hanwha Precision

Machinery Co.

Users are responsible for any damages caused by their misuse or modification of the

patent rights for the equipment.

The information provided by the manual is deemed trustworthy by Hanwha Precision

Machinery Co. Hanwha Precision Machinery Co. is not responsible for any situations

arising due to inaccuracy or typo in the content of the manual.

The information provided in the manual is subject to change without prior notice and

for more details about revisions made in the manual, please visit the homepage of

Hanwha Precision Machinery Co.( http://www.hanwharobotics.com)

 
 
Table of Contents 
PREFACE .................................................................................................................................................................... I 
COPYRIGHTS............................................................................................................................................................. II 
CHAPTER 1 PRODUCT OVERVIEW ...................................................................................................................... 1 
1.1 COLLABORATIVE ROBOT SYSTEM........................................................................................................1
1.2 SYSTEM COMPONENTS .......................................................................................................................3
1.3 BASIC SYSTEM CONFIGURATION .........................................................................................................4
1.4 OVERVIEW OF ROBOT ARMS...............................................................................................................5
1.5 OVERVIEW OF ROBOT CONTROLLER ..................................................................................................7
Front...............................................................................................................................................7
Bottom............................................................................................................................................8
1.6 OVERVIEW OF TEACHING PENDANT....................................................................................................9
Front...............................................................................................................................................9
Rear ..............................................................................................................................................10 
1.7 AXIAL COORDINATES AND OPERATIONAL RANGE ............................................................................11 
1.8 ROBOT'S WORKING RANGE ..............................................................................................................13 
1.9 MAXIMUM LOAD CAPACITY FOR THE TOOL.......................................................................................14 
CHAPTER 2 SAFETY .......................................................................................................................................... 15 
2.1 SAFETY MARKS IN THE USER MANUAL..............................................................................................15 
2.2 GENERAL SAFETY CAUTIONS ............................................................................................................16 
2.3 INTENDED USE..................................................................................................................................17 
2.4 POTENTIAL DANGERS .......................................................................................................................18 
2.5 LIMITATION OF LIABILITY .................................................................................................................18 
2.6 TRANSPORTATION ............................................................................................................................19 
2.7 EMERGENCY STOP ............................................................................................................................20 
Using emergency stop ...................................................................................................................20 
Canceling emergency stop ............................................................................................................20 
2.8 SAFETY FENCE ..................................................................................................................................21 
2.9 LIMITS OF SPEED AND ROTATIONAL ANGLES ....................................................................................21 
2.10 OPERATING ROBOTS WITHOUT DRIVING POWER ..............................................................................21 
2.11 SAFETY CONTROLLER.......................................................................................................................21 
2.12 RISK ASSESSMENT .............................................................................................................................21 
CHAPTER 3 INSTALLATION ............................................................................................................................... 23 

 
 
3.1 INSTALLATION LOCATIONS ...............................................................................................................23 
3.2 INSTALLATION TYPES........................................................................................................................24 
3.3 FIXING ROBOTS ................................................................................................................................26 
3.4 CONNECTING TOOLS TO ROBOTS.....................................................................................................27 
3.5 CONNECTING CABLES.......................................................................................................................28 
Connecting the teaching pendant to the robot controller .............................................................28 
Connecting the robot arm to the robot controller ........................................................................28 
Connecting the power supply to the robot controller...................................................................29 
3.6 FIXING THE CONTROLLER BOX ........................................................................................................30 
3.7 OVERVIEW OF CONTROLLER I/O......................................................................................................30 
3.8 COMMON SPEC FOR DIGITAL I/O .....................................................................................................31 
3.9 CONFIGURING THE SAFETY INPUT.....................................................................................................34 
Initial safety configuration ............................................................................................................35 
Connecting the emergency stop button ........................................................................................36 
Sharing emergency stop circuits with other equipment ................................................................36 
3.10 CONFIGURING THE GENERAL DIGITAL I/O .......................................................................................37 
Load control with digital outputs.................................................................................................37 
Digital input control using buttons...............................................................................................37 
Communicating with other equipment or PLC ............................................................................38 
3.11 CONFIGURING THE GENERAL ANALOG I/O ......................................................................................38 
Analog output...............................................................................................................................39 
Analog input.................................................................................................................................40 
CHAPTER 4 GETTING STARTED ......................................................................................................................... 41 
4.1 TURNING ON THE ROBOT CONTROLLER...........................................................................................41 
4.2 TURNING ON THE TEACHING PENDANT............................................................................................42 
CHAPTER 5 SOFTWARE OVERVIEW .................................................................................................................. 43 
5.1 MENU OVERVIEW.............................................................................................................................43 
Expanding menu...........................................................................................................................43 
Robot Operation ..........................................................................................................................43 
Programming ................................................................................................................................43 
Monitoring ...................................................................................................................................44 
Report...........................................................................................................................................44 
Robot Setting................................................................................................................................44 
Safety Setting ................................................................................................................................44 
Device Setting ...............................................................................................................................44 
Management.................................................................................................................................44 

 
 
SW Configuration.........................................................................................................................44 
Message ........................................................................................................................................45 
Manual Move...............................................................................................................................45 
5.2 3D PREVIEW SCREEN ........................................................................................................................46 
Screen display setting button ........................................................................................................46 
Robot task control button ............................................................................................................47 
5.3 MANUAL MOVE SCREEN ..................................................................................................................48 
5.4 VIRTUAL KEYPAD..............................................................................................................................50 
Text keypad..................................................................................................................................50 
Number keypad............................................................................................................................51 
Expression keypad........................................................................................................................51 
CHAPTER 6 REGISTERING ROBOTS AND USERS ................................................................................................ 53 
6.1 MANAGING ROBOTS.........................................................................................................................53 
Registering robots.........................................................................................................................54 
Deleting robots .............................................................................................................................54 
Modifying the robot name............................................................................................................55 
6.2 MANAGING USERS............................................................................................................................55 
Adding users and setting authorities .............................................................................................56 
Menu available to each authority .................................................................................................57 
6.3 LOGIN/LOGOUT ...............................................................................................................................58 
Logging in.....................................................................................................................................58 
Logging out ..................................................................................................................................58 
6.4 SELECTING ROBOTS AND CHECKING STATUS ....................................................................................59 
Selecting robots.............................................................................................................................59 
Checking the robot status.............................................................................................................59 
Checking errors ............................................................................................................................59 
Checking the software version......................................................................................................60 
CHAPTER 7 SETTING ROBOTS........................................................................................................................... 61 
7.1 SETTING THE ROBOT INSTALLATION ANGLES....................................................................................61 
7.2 SETTING TCP ...................................................................................................................................63 
Creating a new TCP profile ..........................................................................................................63 
Calculating the TCP position........................................................................................................65 
Setting the TCP orientation ..........................................................................................................68 
Changing the TCP profile name ...................................................................................................70 
Editing the TCP profile.................................................................................................................70 
Deleting the TCP profile ...............................................................................................................70 

 
 
7.3 SETTING INPUTS/OUTPUTS ................................................................................................................71 
Types of digital I/O ......................................................................................................................71 
Editing the digital inputs/outputs settings ....................................................................................72 
Types of analog I/O .....................................................................................................................73 
Editing the analog I/O setting ......................................................................................................73 
7.4 COORDINATES..................................................................................................................................74 
Registering points .........................................................................................................................74 
Registering line coordinates ..........................................................................................................75 
Registering plane coordinates .......................................................................................................75 
7.5 CONFIGURING MODBUS TCP .........................................................................................................75 
Registering Devices .......................................................................................................................76 
Editing/copying the device settings...............................................................................................77 
Registering I/O .............................................................................................................................79 
Viewing the communication status...............................................................................................80 
Viewing and setting the I/O values...............................................................................................80 
Editing I/O settings.......................................................................................................................81 
Deleting I/O..................................................................................................................................81 
7.6 SETTING GLOBAL VARIABLES ............................................................................................................82 
7.7 I/O BIT OPERATION .........................................................................................................................83 
Add/Delete ...................................................................................................................................83 
I/O bit operation settings .............................................................................................................83 
CHAPTER 8 SAFETY SETTINGS........................................................................................................................... 85 
8.1 LIMITING ROBOT MOVEMENT..........................................................................................................85 
Default settings .............................................................................................................................86 
Manual setting method.................................................................................................................86 
8.2 SETTING SAFETY BOUNDARIES ..........................................................................................................87 
Adding safety boundary planes.....................................................................................................88 
Viewing safety boundary planes ...................................................................................................89 
Applying safety boundaries...........................................................................................................90 
Changing the name of safety boundaries......................................................................................91 
Deleting safety boundary settings .................................................................................................91 
8.3 SETTING TOOL BOUNDARIES.............................................................................................................93 
Adding Tool Safety Boundary Surfaces ........................................................................................93 
Setting Tool Safety Boundary Surfaces .........................................................................................94 
Applying Tool Safety Boundary Surfaces .....................................................................................94 
8.4 SETTING REDUNDANT I/O................................................................................................................95 

 
 
8.5 EXCEEDING SAFETY LIMIT OF JOINTS................................................................................................97 
CHAPTER 9 PROGRAMMING ............................................................................................................................ 98 
9.1 HOW TO USE COMMANDS................................................................................................................98 
Selecting a flowchart.....................................................................................................................98 
Type of commands .......................................................................................................................99 
Additional Commands................................................................................................................100 
Entering commands ....................................................................................................................101
Changing command names ........................................................................................................101 
Deleting commands ....................................................................................................................101 
Searching Commands .................................................................................................................102 
Skipping Commands...................................................................................................................102 
9.2 SETTING VARIABLES........................................................................................................................103 
Adding variables .........................................................................................................................103 
Modifying variables ....................................................................................................................104 
Deleting variables .......................................................................................................................104 
Variable Monitoring ...................................................................................................................104 
9.3 EDITING PROGRAMS........................................................................................................................105 
Overview of edit menu ...............................................................................................................105 
Example of program editing .......................................................................................................106 
Undo Function............................................................................................................................107 
9.4 MANAGING A PROGRAM ................................................................................................................108 
Saving a program........................................................................................................................108 
Making a new program ..............................................................................................................109 
Loading a program .....................................................................................................................109 
Deleting a program.....................................................................................................................109 
9.5 USING TEMPLATES ..........................................................................................................................110 
Saving as a template ...................................................................................................................110 
Loading a template .....................................................................................................................111 
Deleting a template .....................................................................................................................111 
9.6 APPLYING PROGRAMS .....................................................................................................................112 
9.7 MOVE COMMAND ..........................................................................................................................112 
Selecting a movement method ....................................................................................................112 
Radius of Linear .........................................................................................................................115 
Don’t stop at this point ..............................................................................................................116 
Setting the coordinates for movement ........................................................................................117 
Displaying as groups...................................................................................................................117 

 
 
9.8 IF COMMAND.................................................................................................................................119 
9.9 LOOP COMMAND .........................................................................................................................120 
9.10 SWITCH COMMAND .....................................................................................................................121 
9.11 WAIT COMMAND..........................................................................................................................122 
9.12 SET COMMAND .............................................................................................................................123 
9.13 MESSAGE ........................................................................................................................................124 
Output format ............................................................................................................................124 
Message operation ......................................................................................................................124 
Message format ..........................................................................................................................124 
9.14 PATTERN COMMAND ..................................................................................................................125 
Pattern types ...............................................................................................................................125 
Setting the pattern coordinates ...................................................................................................126 
Setting repeat counts...................................................................................................................126 
Advanced commands for patterns ..............................................................................................127 
Setting pattern points..................................................................................................................127 
9.15 USING A SUB PROGRAM ..................................................................................................................129 
Making a sub program ...............................................................................................................129 
Saving and loading a sub program .............................................................................................130 
Entering a sub program ..............................................................................................................130 
9.16 VISION COMMAND.......................................................................................................................132 
Setting basic options ...................................................................................................................132 
Setting the movement speed........................................................................................................132 
Setting the movement location....................................................................................................133 
9.17 THREAD .........................................................................................................................................134 
Thread Tab.................................................................................................................................134 
Thread Creation .........................................................................................................................135 
9.18 SCRIPT ............................................................................................................................................135 
Script Viewer ..............................................................................................................................135 
9.19 PATH COMMAND ...........................................................................................................................137 
Recording Paths..........................................................................................................................137 
CHAPTER 10 STARTING THE ROBOT ..................................................................................................................139 
Turning ON/OFF the robot .......................................................................................................140 
Checking and setting the robot operation data ..........................................................................140 
Operating the robot....................................................................................................................141 
CHAPTER 11 MONITORING ...............................................................................................................................142 
11.1 MONITORING THE ROBOT..............................................................................................................142 