Hanwha HCR-3 Manuale utente

HCR-3

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

1.2SYSTEM 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 ....................................................................................34

2.10 OPERATING ROBOTS WITHOUT DRIVING POWER ..............................................................................34

2.11 SAFETY CONTROLLER.......................................................................................................................34

2.12 RISK ASSESSMENT .............................................................................................................................34

CHAPTER 3 INSTALLATION ........................................................................................................................... 36

3.1 INSTALLATION LOCATIONS ...............................................................................................................36

3.2 INSTALLATION TYPES........................................................................................................................37

Table of Contents

3.3 FIXING ROBOTS ................................................................................................................................39

3.4 CONNECTING TOOLS TO ROBOTS.....................................................................................................40

3.5 CONNECTING CABLES.......................................................................................................................41

Connecting the teaching pendant to the robot controller .............................................................41

Connecting the robot arm to the robot controller........................................................................41

Connecting the power supply to the robot controller...................................................................42

3.6 FIXING THE CONTROLLER BOX ........................................................................................................43

3.7 OVERVIEW OF CONTROLLER I/O......................................................................................................44

3.8 COMMON SPEC FOR DIGITAL I/O .....................................................................................................44

3.9 CONFIGURING THE SAFETY INPUT .....................................................................................................47

Initial safety configuration ............................................................................................................48

Connecting the emergency stop button ........................................................................................49

Safety protection stop and restart.................................................................................................49

3.10 CONFIGURING THE GENERAL DIGITAL I/O .......................................................................................50

Load control with digital outputs.................................................................................................50

Digital input control using buttons...............................................................................................51

Communicating with other equipment or PLC ............................................................................51

3.11 CONFIGURING THE GENERAL ANALOG I/O ......................................................................................52

Analog output...............................................................................................................................53

Analog input.................................................................................................................................53

CHAPTER 4 GETTING STARTED ..................................................................................................................... 54

4.1 TURNING ON THE ROBOT CONTROLLER...........................................................................................54

4.2 TURNING ON THE TEACHING PENDANT............................................................................................55

CHAPTER 5 SOFTWARE OVERVIEW .............................................................................................................. 56

5.1 MENU OVERVIEW.............................................................................................................................56

Expanding menu...........................................................................................................................56

Robot Operation ..........................................................................................................................56

Programming ................................................................................................................................56

Monitoring ...................................................................................................................................57

Robot Setting................................................................................................................................57

Safety Setting ................................................................................................................................57

Device Setting ...............................................................................................................................57

Management.................................................................................................................................57

SW Configuration.........................................................................................................................57

Message ........................................................................................................................................57

Manual Move...............................................................................................................................57

5.2 3D PREVIEW SCREEN ........................................................................................................................58

Table of Contents

Screen display setting button ........................................................................................................58

Robot task control button............................................................................................................59

5.3 MANUAL MOVE SCREEN ..................................................................................................................60

5.4 VIRTUAL KEYPAD..............................................................................................................................62

Text keypad..................................................................................................................................62

Number keypad............................................................................................................................63

Expression keypad........................................................................................................................63

CHAPTER 6 REGISTERING ROBOTS AND USERS ............................................................................................ 65

6.1 MANAGING ROBOTS.........................................................................................................................65

Registering robots.........................................................................................................................66

Deleting robots .............................................................................................................................66

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

6.2 MANAGING USERS............................................................................................................................68

Adding users and setting authorities .............................................................................................68

Menu available to each authority .................................................................................................69

6.3 LOGIN/LOGOUT ...............................................................................................................................70

Logging in.....................................................................................................................................70

Logging out ..................................................................................................................................71

6.4 CHECKING STATUS............................................................................................................................71

Checking robot status...................................................................................................................71

Checking errors............................................................................................................................71

Checking the software version....................................................................................................72

CHAPTER 7 SETTING ROBOTS....................................................................................................................... 73

7.1 SETTING THE ROBOT INSTALLATION ANGLES....................................................................................73

7.2 SETTING TCP ...................................................................................................................................74

Creating a new TCP profile ..........................................................................................................75

Calculating the TCP position........................................................................................................77

Setting the TCP orientation ..........................................................................................................80

Changing the TCP profile name ...................................................................................................82

Editing the TCP profile.................................................................................................................82

Deleting the TCP profile ...............................................................................................................83

7.3 SETTING INPUTS/OUTPUTS................................................................................................................84

Types of digital I/O ......................................................................................................................84

Editing the digital inputs settings..................................................................................................85

Editing the digital outputs settings................................................................................................85

Types of analog I/O .....................................................................................................................86

Editing the analog I/O setting.......................................................................................................87

Table of Contents

7.4COORDINATES..................................................................................................................................88

Registering points .........................................................................................................................88

Registering line coordinates ..........................................................................................................89

Registering plane coordinates .......................................................................................................89

7.5 SETTING GLOBAL VARIABLES ............................................................................................................90

7.6 I/O BIT OPERATION .........................................................................................................................91

Add/Delete ...................................................................................................................................91

I/O bit operation settings .............................................................................................................91

CHAPTER 8 SAFETY SETTINGS ...................................................................................................................... 92

8.1 LIMITING ROBOT MOVEMENT..........................................................................................................92

Default settings .............................................................................................................................93

Manual setting method.................................................................................................................93

8.2 SETTING SAFETY BOUNDARIES ..........................................................................................................95

Adding safety boundary planes.....................................................................................................95

Viewing safety boundary planes ...................................................................................................96

Applying safety boundaries...........................................................................................................97

Changing the name of safety boundaries......................................................................................98

Deleting safety boundary settings .................................................................................................98

8.3 SETTING TOOL BOUNDARIES...........................................................................................................100

Adding Tool Safety Boundary Surfaces ......................................................................................100

Setting Tool Safety Boundary Surfaces .......................................................................................101

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

8.4 SETTING REDUNDANT I/O..............................................................................................................102

8.5 SETTING SAFEGUARD I/O................................................................................................................104

8.6 EXCEEDING SAFETY LIMIT OF JOINTS..............................................................................................105

CHAPTER 9 PROGRAMMING.......................................................................................................................106

9.1 HOW TO USE COMMANDS ..............................................................................................................106

Selecting a flowchart...................................................................................................................106

Type of commands .....................................................................................................................107

Additional Commands................................................................................................................108

Entering commands....................................................................................................................109

Check Icon Status.......................................................................................................................109

Changing command names ........................................................................................................109

Deleting commands ....................................................................................................................110

Searching Commands .................................................................................................................110

Skipping Commands...................................................................................................................110

Tree ............................................................................................................................................111

9.2 SETTING VARIABLES........................................................................................................................112

Table of Contents

Adding variables .........................................................................................................................112

Modifying variables....................................................................................................................113

Deleting variables .......................................................................................................................113

Variable Monitoring...................................................................................................................113

9.3 EDITING PROGRAMS........................................................................................................................114

Overview of edit menu ...............................................................................................................114

Example of program editing .......................................................................................................115

Undo Function............................................................................................................................116

9.4 MANAGING A PROGRAM ................................................................................................................117

Saving a program........................................................................................................................117

Making a new program..............................................................................................................117

Loading a program.....................................................................................................................118

Deleting a program.....................................................................................................................118

Export as script ..........................................................................................................................119

Export Program File ...................................................................................................................119

9.5 USING TEMPLATES ..........................................................................................................................120

Saving as a template ...................................................................................................................120

Loading a template .....................................................................................................................121

Deleting a template .....................................................................................................................121

9.6 APPLYING PROGRAMS .....................................................................................................................122

9.7 MOVE COMMAND ..........................................................................................................................123

Selecting a movement method ....................................................................................................123

Radius of Linear .........................................................................................................................125

Don’t stop at this point ..............................................................................................................125

Blending......................................................................................................................................125

Advanced....................................................................................................................................127

Setting the coordinates for movement ........................................................................................127

Displaying as groups...................................................................................................................128

9.8 IF COMMAND.................................................................................................................................129

9.9 LOOP COMMAND .........................................................................................................................130

9.10 SWITCH COMMAND .....................................................................................................................131

9.11 WAIT COMMAND..........................................................................................................................132

9.12 SET COMMAND .............................................................................................................................133

9.13 FOLDER ..........................................................................................................................................134

Change Programed Icons into Folder .........................................................................................134

Create New Folder .....................................................................................................................134

9.14 MESSAGE........................................................................................................................................135

Output format ............................................................................................................................135

Table of Contents

Message operation......................................................................................................................135

Message format ..........................................................................................................................136

Select message.............................................................................................................................136

9.15 PATTERN COMMAND ..................................................................................................................137

Pattern types ...............................................................................................................................137

Setting the pattern coordinates ...................................................................................................138

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

Advanced commands for patterns ..............................................................................................139

Setting pattern points..................................................................................................................140

9.16 USING A SUB PROGRAM ..................................................................................................................141

Making a sub program...............................................................................................................141

Saving and loading a sub program .............................................................................................142

Entering a sub program ..............................................................................................................142

9.17 CONVEYOR ....................................................................................................................................144

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

Conveyor Start Options.............................................................................................................145

Setting Conveyor Command.....................................................................................................145

9.18 VISION COMMAND .......................................................................................................................146

Setting basic options ...................................................................................................................146

Setting the movement speed........................................................................................................146

Setting the movement location....................................................................................................147

9.19 THREAD .........................................................................................................................................148

Thread Tab.................................................................................................................................148

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

Event Tab ...................................................................................................................................149

9.20 SCRIPT ............................................................................................................................................150

Script Viewer ..............................................................................................................................150

9.21 PATH COMMAND ...........................................................................................................................151

Recording Paths..........................................................................................................................151

CHAPTER 10 STARTING THE ROBOT ..............................................................................................................153

Turning ON/OFF the robot .......................................................................................................154

Monitoring .................................................................................................................................154

Checking and setting the robot operation data ..........................................................................155

Operating the robot....................................................................................................................155

Locking Screen ...........................................................................................................................157

CHAPTER 11 MONITORING ...........................................................................................................................158

11.1 MONITORING THE ROBOT..............................................................................................................158

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