Hanwha HCR-5 Manuel utilisateur

HCR-5

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.(https://www.hanwharobotics.com)

Table of Contents

PREFACE ................................................................................................................................................................... 3

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

CHAPTER 1 PRODUCT OVERVIEW .................................................................................................................... 15

1.1 COLLABORATIVE ROBOT SYSTEM......................................................................................................15

Easy setting...................................................................................................................................15

Flexible rearrangement .................................................................................................................15

Safe collaboration.........................................................................................................................16

1.2 SYSTEM COMPONENTS .....................................................................................................................17

1.3 BASIC SYSTEM CONFIGURATION .......................................................................................................18

1.4 OVERVIEW OF ROBOT ARMS.............................................................................................................19

1.5 OVERVIEW OF ROBOT CONTROLLER ................................................................................................21

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

Bottom..........................................................................................................................................22

1.6 OVERVIEW OF TEACHING PENDANT..................................................................................................23

Front.............................................................................................................................................23

Rear ..............................................................................................................................................24

1.7 AXIAL COORDINATES AND OPERATIONAL RANGE ............................................................................25

1.8 ROBOT'S WORKING RANGE ..............................................................................................................27

1.9 MAXIMUM LOAD CAPACITY FOR THE TOOL.......................................................................................28

CHAPTER 2 SAFETY .......................................................................................................................................... 29

2.1 SAFETY MARKS IN THE USER MANUAL..............................................................................................29

2.2 GENERAL SAFETY CAUTIONS ............................................................................................................30

2.3 INTENDED USE..................................................................................................................................31

2.4 POTENTIAL DANGERS .......................................................................................................................32

2.5 LIMITATION OF LIABILITY .................................................................................................................32

2.6 TRANSPORTATION ............................................................................................................................33

2.7 EMERGENCY STOP ............................................................................................................................34

Using emergency stop ...................................................................................................................34

Canceling emergency stop ............................................................................................................34

2.8 SAFETY FENCE ..................................................................................................................................35

2.9 LIMITS OF SPEED AND ROTATIONAL ANGLES ....................................................................................35

2.10 OPERATING ROBOTS WITHOUT DRIVING POWER ..............................................................................35

2.11 SAFETY CONTROLLER.......................................................................................................................35

Table of Contents

2.12 RISK ASSESSMENT .............................................................................................................................35

CHAPTER 3 INSTALLATION ............................................................................................................................... 37

3.1 INSTALLATION LOCATIONS ...............................................................................................................37

3.2 INSTALLATION TYPES........................................................................................................................38

3.3 FIXING ROBOTS ................................................................................................................................40

3.4 CONNECTING TOOLS TO ROBOTS.....................................................................................................41

3.5 CONNECTING CABLES.......................................................................................................................42

Connecting the teaching pendant to the robot controller.............................................................42

Connecting the robot arm to the robot controller........................................................................42

Connecting the power supply to the robot controller...................................................................43

3.6 FIXING THE CONTROLLER BOX ........................................................................................................44

3.7 OVERVIEW OF CONTROLLER I/O......................................................................................................45

3.8 COMMON SPEC FOR DIGITAL I/O .....................................................................................................45

3.9 CONFIGURING THE SAFETY INPUT .....................................................................................................48

Initial safety configuration ............................................................................................................49

Connecting the emergency stop button ........................................................................................50

Safety protection stop and restart.................................................................................................50

3.10 CONFIGURING THE GENERAL DIGITAL I/O .......................................................................................51

Load control with digital outputs.................................................................................................51

Digital input control using buttons...............................................................................................52

Communicating with other equipment or PLC ............................................................................52

3.11 CONFIGURING THE GENERAL ANALOG I/O ......................................................................................53

Analog output...............................................................................................................................54

Analog input.................................................................................................................................54

CHAPTER 4 GETTING STARTED ......................................................................................................................... 55

4.1 TURNING ON THE ROBOT CONTROLLER...........................................................................................55

4.2 TURNING ON THE TEACHING PENDANT............................................................................................56

CHAPTER 5 SOFTWARE OVERVIEW .................................................................................................................. 57

5.1 MENU OVERVIEW.............................................................................................................................57

Expanding menu...........................................................................................................................57

Robot Operation ..........................................................................................................................57

Programming ................................................................................................................................57

Monitoring ...................................................................................................................................58

Robot Setting................................................................................................................................58

Safety Setting ................................................................................................................................58

Device Setting ...............................................................................................................................58

Table of Contents

Management.................................................................................................................................58

SW Configuration.........................................................................................................................58

Message ........................................................................................................................................58

Manual Move...............................................................................................................................58

5.2 3D PREVIEW SCREEN ........................................................................................................................59

Screen display setting button ........................................................................................................59

Robot task control button............................................................................................................60

5.3 MANUAL MOVE SCREEN ..................................................................................................................61

5.4 VIRTUAL KEYPAD..............................................................................................................................63

Text keypad..................................................................................................................................63

Number keypad............................................................................................................................64

Expression keypad........................................................................................................................64

CHAPTER 6 REGISTERING ROBOTS AND USERS ................................................................................................ 66

6.1 MANAGING ROBOTS.........................................................................................................................66

Registering robots.........................................................................................................................67

Modifying the robot name............................................................................................................67

Registering Force Torque Sensor ..................................................................................................67

6.2 MANAGING USERS............................................................................................................................69

Adding users and setting authorities.............................................................................................69

Menu available to each authority.................................................................................................70

6.3 LOGIN/LOGOUT ...............................................................................................................................71

Logging in.....................................................................................................................................71

Logging out ..................................................................................................................................72

6.4 CHECKING STATUS............................................................................................................................72

Checking Robot Status................................................................................................................72

Checking errors............................................................................................................................72

Checking the software version....................................................................................................73

CHAPTER 7 SETTING ROBOTS ........................................................................................................................... 74

7.1 SETTING THE ROBOT INSTALLATION ANGLES....................................................................................74

7.2 SETTING TCP ...................................................................................................................................75

Creating a new TCP profile ..........................................................................................................76

Calculating the TCP position........................................................................................................78

Setting the TCP orientation ..........................................................................................................81

Changing the TCP profile name ...................................................................................................83

Editing the TCP profile.................................................................................................................83

Deleting the TCP profile ...............................................................................................................84

Table of Contents

7.3 SETTING INPUTS/OUTPUTS................................................................................................................85

Types of digital I/O ......................................................................................................................85

Editing the digital inputs settings..................................................................................................86

Editing the digital outputs settings................................................................................................86

Types of analog I/O .....................................................................................................................87

Editing the analog I/O setting.......................................................................................................88

7.4 COORDINATES..................................................................................................................................89

Registering points .........................................................................................................................89

Registering line coordinates ..........................................................................................................90

Registering plane coordinates .......................................................................................................90

7.5 SETTING GLOBAL VARIABLES ............................................................................................................91

7.6 I/O BIT OPERATION .........................................................................................................................92

Add/Delete ...................................................................................................................................92

I/O bit operation settings .............................................................................................................92

CHAPTER 8 SAFETY SETTINGS........................................................................................................................... 93

8.1 LIMITING ROBOT MOVEMENT..........................................................................................................93

Default settings .............................................................................................................................94

Manual setting method.................................................................................................................94

8.2 SETTING SAFETY BOUNDARIES ..........................................................................................................97

Adding safety boundary planes.....................................................................................................97

Viewing safety boundary planes ...................................................................................................98

Applying safety boundaries...........................................................................................................99

Changing the name of safety boundaries....................................................................................100

Deleting safety boundary settings ...............................................................................................100

8.3 SETTING TOOL BOUNDARIES...........................................................................................................102

Adding Tool Safety Boundary Surfaces ......................................................................................102

Setting Tool Safety Boundary Surfaces .......................................................................................103

Applying Tool Safety Boundary Surfaces ...................................................................................103

8.4 SETTING REDUNDANT I/O..............................................................................................................104

8.5 SETTING SAFEGUARD I/O................................................................................................................106

8.6 EXCEEDING SAFETY LIMIT OF JOINTS..............................................................................................107

CHAPTER 9 PROGRAMMING ...........................................................................................................................108

9.1 HOW TO USE COMMANDS ..............................................................................................................108

Selecting a flowchart...................................................................................................................108

Type of commands .....................................................................................................................109

Additional Commands................................................................................................................110

Table of Contents

Entering commands....................................................................................................................111

Check Icon Status.......................................................................................................................111

Changing command names ........................................................................................................111

Deleting commands ....................................................................................................................112

Searching Commands .................................................................................................................112

Skipping Commands...................................................................................................................112

Tree ............................................................................................................................................113

9.2 SETTING VARIABLES........................................................................................................................114

Adding variables .........................................................................................................................114

Modifying variables....................................................................................................................115

Deleting variables .......................................................................................................................115

Variable Monitoring...................................................................................................................115

9.3 EDITING PROGRAMS........................................................................................................................116

Overview of edit menu ...............................................................................................................116

Example of program editing .......................................................................................................117

Undo Function............................................................................................................................118

9.4 MANAGING A PROGRAM ................................................................................................................119

Saving a program........................................................................................................................119

Making a new program..............................................................................................................119

Loading a program.....................................................................................................................120

Deleting a program.....................................................................................................................120

Export as script ..........................................................................................................................121

Export Program File ...................................................................................................................121

9.5 USING TEMPLATES ..........................................................................................................................122

Saving as a template ...................................................................................................................122

Loading a template .....................................................................................................................123

Deleting a template .....................................................................................................................123

9.6 APPLYING PROGRAMS .....................................................................................................................124

9.7 MOVE COMMAND ..........................................................................................................................125

Selecting a movement method ....................................................................................................125

Radius of Linear .........................................................................................................................127

Don’t stop at this point ..............................................................................................................127

Blending......................................................................................................................................127

Advanced....................................................................................................................................129

Setting the coordinates for movement ........................................................................................129

Displaying as groups...................................................................................................................130

9.8 IF COMMAND.................................................................................................................................131

Table of Contents

9.9 LOOP COMMAND .........................................................................................................................132

9.10 SWITCH COMMAND .....................................................................................................................133

9.11 WAIT COMMAND..........................................................................................................................134

9.12 SET COMMAND .............................................................................................................................135

9.13 FOLDER ..........................................................................................................................................136

Change Programed Icons into Folder .........................................................................................136

Create New Folder .....................................................................................................................136

9.14 MESSAGE........................................................................................................................................137

Output format ............................................................................................................................137

Message operation......................................................................................................................137

Message format ..........................................................................................................................138

Select message.............................................................................................................................138

9.15 PATTERN COMMAND ..................................................................................................................139

Pattern types ...............................................................................................................................139

Setting the pattern coordinates ...................................................................................................140

Setting repeat counts...................................................................................................................140

Advanced commands for patterns ..............................................................................................141

Setting pattern points..................................................................................................................142

9.16 USING A SUB PROGRAM ..................................................................................................................143

Making a sub program...............................................................................................................143

Saving and loading a sub program .............................................................................................144

Entering a sub program ..............................................................................................................144

9.17 CONVEYOR ....................................................................................................................................146

Conveyor Setting .......................................................................................................................146

Conveyor Start Options.............................................................................................................147

Setting Conveyor Command.....................................................................................................147

9.18 VISION COMMAND.......................................................................................................................148

Setting basic options ...................................................................................................................148

Setting the movement speed........................................................................................................148

Setting the movement location....................................................................................................149

9.19 THREAD .........................................................................................................................................150

Thread Tab.................................................................................................................................150

Thread Creation .........................................................................................................................150

Event Tab ...................................................................................................................................151

9.20 SCRIPT ............................................................................................................................................152

Script Viewer ..............................................................................................................................152

9.21 PATH COMMAND ...........................................................................................................................153