Hanwha HCR-12 Manual de usuario

HCR-12

Collaborative Robot

User Manual

Aug. 2019

V 2.001

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 ................................................................................................................................................................... 3

COPYRIGHTS ............................................................................................................................................................. 4

CHAPTER 1 PRODUCT OVERVIEW .................................................................................................................... 13

1.1 COLLABORATIVE ROBOT SYSTEM......................................................................................................13

1.2 SYSTEM COMPONENTS .....................................................................................................................15

1.3 BASIC SYSTEM CONFIGURATION .......................................................................................................16

1.4 OVERVIEW OF ROBOT ARMS.............................................................................................................17

1.5 OVERVIEW OF ROBOT CONTROLLER ................................................................................................19

Front.............................................................................................................................................19

Bottom..........................................................................................................................................20

1.6 OVERVIEW OF TEACHING PENDANT..................................................................................................21

Front.............................................................................................................................................21

Rear ..............................................................................................................................................22

1.7 AXIAL COORDINATES AND OPERATIONAL RANGE ............................................................................23

1.8 ROBOT'S WORKING RANGE ..............................................................................................................25

1.9 MAXIMUM LOAD CAPACITY FOR THE TOOL.......................................................................................26

CHAPTER 2 SAFETY .......................................................................................................................................... 27

2.1 SAFETY MARKS IN THE USER MANUAL..............................................................................................27

2.2 GENERAL SAFETY CAUTIONS ............................................................................................................28

2.3 INTENDED USE..................................................................................................................................29

2.4 POTENTIAL DANGERS .......................................................................................................................30

2.5 LIMITATION OF LIABILITY .................................................................................................................30

2.6 TRANSPORTATION ............................................................................................................................31

2.7 EMERGENCY STOP ............................................................................................................................32

Using emergency stop ...................................................................................................................32

Canceling emergency stop ............................................................................................................32

2.8 SAFETY FENCE ..................................................................................................................................33

2.9 LIMITS OF SPEED AND ROTATIONAL ANGLES ....................................................................................33

2.10 OPERATING ROBOTS WITHOUT DRIVING POWER ..............................................................................33

2.11 SAFETY CONTROLLER.......................................................................................................................33

2.12 RISK ASSESSMENT .............................................................................................................................33

CHAPTER 3 INSTALLATION ............................................................................................................................... 35

Table of Contents

3.1 INSTALLATION LOCATIONS ...............................................................................................................35

3.2 INSTALLATION TYPES........................................................................................................................36

3.3 FIXING ROBOTS ................................................................................................................................38

3.4 CONNECTING TOOLS TO ROBOTS.....................................................................................................39

3.5 CONNECTING CABLES.......................................................................................................................40

Connecting the robot arm to the robot controller........................................................................40

Connecting the power supply to the robot controller...................................................................41

3.6 FIXING THE CONTROLLER BOX ........................................................................................................42

3.7 OVERVIEW OF CONTROLLER I/O......................................................................................................43

3.8 COMMON SPEC FOR DIGITAL I/O .....................................................................................................43

3.9 CONFIGURING THE SAFETY INPUT .....................................................................................................46

Initial safety configuration ............................................................................................................47

Connecting the emergency stop button ........................................................................................48

Safety protection stop and restart.................................................................................................48

3.10 CONFIGURING THE GENERAL DIGITAL I/O .......................................................................................49

Load control with digital outputs.................................................................................................49

Digital input control using buttons...............................................................................................50

Communicating with other equipment or PLC ............................................................................50

3.11 CONFIGURING THE GENERAL ANALOG I/O ......................................................................................51

Analog output...............................................................................................................................52

Analog input.................................................................................................................................52

CHAPTER 4 GETTING STARTED ......................................................................................................................... 53

4.1 TURNING ON THE ROBOT CONTROLLER...........................................................................................53

4.2 TURNING ON THE TEACHING PENDANT............................................................................................54

CHAPTER 5 SOFTWARE OVERVIEW .................................................................................................................. 55

5.1 MENU OVERVIEW.............................................................................................................................55

Expanding menu...........................................................................................................................55

Robot Operation ..........................................................................................................................55

Programming ................................................................................................................................55

Monitoring ...................................................................................................................................56

Robot Setting................................................................................................................................56

Safety Setting ................................................................................................................................56

Device Setting ...............................................................................................................................56

Management.................................................................................................................................56

SW Configuration.........................................................................................................................56

Message ........................................................................................................................................56

Table of Contents

Manual Move...............................................................................................................................56

5.2 3D PREVIEW SCREEN ........................................................................................................................57

Screen display setting button ........................................................................................................57

Robot task control button............................................................................................................58

5.3 MANUAL MOVE SCREEN ..................................................................................................................59

5.4 VIRTUAL KEYPAD..............................................................................................................................61

Text keypad..................................................................................................................................61

Number keypad............................................................................................................................62

Expression keypad........................................................................................................................62

CHAPTER 6 REGISTERING ROBOTS AND USERS ................................................................................................ 64

6.1 MANAGING ROBOTS.........................................................................................................................64

Registering robots.........................................................................................................................65

Deleting robots .............................................................................................................................65

Modifying the robot name............................................................................................................66

6.2 MANAGING USERS............................................................................................................................67

Adding users and setting authorities.............................................................................................67

Menu available to each authority.................................................................................................68

6.3 LOGIN/LOGOUT ...............................................................................................................................69

Logging in.....................................................................................................................................69

Logging out ..................................................................................................................................70

6.4 CHECKING STATUS............................................................................................................................70

Checking the robot status.............................................................................................................70

Checking errors ............................................................................................................................70

Checking the software version......................................................................................................71

CHAPTER 7 SETTING ROBOTS ........................................................................................................................... 72

7.1 SETTING THE ROBOT INSTALLATION ANGLES....................................................................................72

7.2 SETTING TCP ...................................................................................................................................73

Creating a new TCP profile ..........................................................................................................74

Calculating the TCP position........................................................................................................76

Setting the TCP orientation ..........................................................................................................79

Changing the TCP profile name ...................................................................................................81

Editing the TCP profile.................................................................................................................81

Deleting the TCP profile ...............................................................................................................82

7.3 SETTING INPUTS/OUTPUTS................................................................................................................83

Types of digital I/O ......................................................................................................................83

Editing the digital inputs/outputs settings ....................................................................................84

Table of Contents

Editing the digital outputs settings................................................................................................84

Types of analog I/O .....................................................................................................................85

Editing the analog I/O setting.......................................................................................................86

7.4 COORDINATES..................................................................................................................................87

Registering points .........................................................................................................................87

Registering line coordinates ..........................................................................................................88

Registering plane coordinates .......................................................................................................88

7.5 SETTING GLOBAL VARIABLES ............................................................................................................89

7.6 I/O BIT OPERATION .........................................................................................................................90

Add/Delete ...................................................................................................................................90

I/O bit operation settings .............................................................................................................90

CHAPTER 8 SAFETY SETTINGS........................................................................................................................... 91

8.1 LIMITING ROBOT MOVEMENT..........................................................................................................91

Default settings .............................................................................................................................92

Manual setting method.................................................................................................................92

8.2 SETTING SAFETY BOUNDARIES ..........................................................................................................94

Adding safety boundary planes.....................................................................................................94

Viewing safety boundary planes ...................................................................................................95

Applying safety boundaries...........................................................................................................96

Changing the name of safety boundaries......................................................................................97

Deleting safety boundary settings .................................................................................................97

8.3 SETTING TOOL BOUNDARIES.............................................................................................................99

Adding Tool Safety Boundary Surfaces ........................................................................................99

Setting Tool Safety Boundary Surfaces .......................................................................................100

Applying Tool Safety Boundary Surfaces ...................................................................................101

8.4 SETTING REDUNDANT I/O..............................................................................................................101

8.5 SETTING SAFEGUARD I/O................................................................................................................103

8.6 EXCEEDING SAFETY LIMIT OF JOINTS..............................................................................................104

CHAPTER 9 PROGRAMMING ...........................................................................................................................105

9.1 HOW TO USE COMMANDS ..............................................................................................................105

Selecting a flowchart...................................................................................................................105

Type of commands .....................................................................................................................106

Additional Commands................................................................................................................107

Entering commands....................................................................................................................108

Check Icon Status.......................................................................................................................108

Changing command names ........................................................................................................108

Table of Contents

Deleting commands ....................................................................................................................109

Searching Commands .................................................................................................................109

Skipping Commands...................................................................................................................109

Tree ............................................................................................................................................110

9.2 SETTING VARIABLES........................................................................................................................111

Adding variables .........................................................................................................................111

Modifying variables....................................................................................................................112

Deleting variables .......................................................................................................................112

Variable Monitoring...................................................................................................................112

9.3 EDITING PROGRAMS........................................................................................................................113

Overview of edit menu ...............................................................................................................113

Example of program editing .......................................................................................................114

Undo Function............................................................................................................................115

9.4 MANAGING A PROGRAM ................................................................................................................116

Saving a program........................................................................................................................116

Making a new program..............................................................................................................116

Loading a program.....................................................................................................................117

Deleting a program.....................................................................................................................117

Export as script ..........................................................................................................................118

Export Program File ...................................................................................................................118

9.5 USING TEMPLATES ..........................................................................................................................119

Saving as a template ...................................................................................................................119

Loading a template .....................................................................................................................120

Deleting a template .....................................................................................................................120

9.6 APPLYING PROGRAMS .....................................................................................................................121

9.7 MOVE COMMAND ..........................................................................................................................122

Selecting a movement method ....................................................................................................122

Radius of Linear .........................................................................................................................124

Don’t stop at this point ..............................................................................................................124

Blending......................................................................................................................................124

Advanced....................................................................................................................................126

Setting the coordinates for movement ........................................................................................126

Displaying as groups...................................................................................................................127

9.8 IF COMMAND.................................................................................................................................128

9.9 LOOP COMMAND .........................................................................................................................129

9.10 SWITCH COMMAND .....................................................................................................................130

9.11 WAIT COMMAND..........................................................................................................................131

Table of Contents

9.12 SET COMMAND .............................................................................................................................132

9.13 FOLDER ..........................................................................................................................................133

Change Programed Icons into Folder .........................................................................................133

Create New Folder .....................................................................................................................133

9.14 MESSAGE........................................................................................................................................134

Output format ............................................................................................................................134

Message operation......................................................................................................................134

Message format ..........................................................................................................................135

Select message.............................................................................................................................135

9.15 PATTERN COMMAND ..................................................................................................................136

Pattern types ...............................................................................................................................136

Setting the pattern coordinates ...................................................................................................137

Setting repeat counts...................................................................................................................138

Advanced commands for patterns ..............................................................................................138

Setting pattern points..................................................................................................................139

9.16 USING A SUB PROGRAM ..................................................................................................................140

Making a sub program...............................................................................................................140

Saving and loading a sub program .............................................................................................141

Entering a sub program ..............................................................................................................141

9.17 CONVEYOR ....................................................................................................................................143

Conveyor Setting ........................................................................................................................143

Conveyor Start Options..............................................................................................................144

Setting Conveyor Command.......................................................................................................144

9.18 VISION COMMAND.......................................................................................................................145

Setting basic options ...................................................................................................................145

Setting the movement speed........................................................................................................145

Setting the movement location....................................................................................................146

9.19 THREAD .........................................................................................................................................147

Thread Tab.................................................................................................................................147

Thread Creation .........................................................................................................................148

Event Tab ...................................................................................................................................148

9.20 SCRIPT ............................................................................................................................................149

Script Viewer ..............................................................................................................................149

9.21 PATH COMMAND ...........................................................................................................................150

Recording Paths..........................................................................................................................150

CHAPTER 10 STARTING THE ROBOT ..................................................................................................................152

Turning ON/OFF the robot .......................................................................................................153