Rainbow Robotics RB Series Manuale utente

RAINBOw

English

SERIES

USER

MANUAL

V 3.9.1

Update : 2021/09

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

INDEX

PREFACE..........................................................................................................................7

CHAPTER 1. INTRODUCTION ............................................................................................8

1.1 RAINBOW ROBOTICS’ COLLABORATIVE ROBOTS .................................................................8

1.2 SYSTEM CONFIGURATION ......................................................................................................9

1.3 ROBOT ARM ............................................................................................................................11

1.4 CONTROL BOX ........................................................................................................................18

1.5 TEACHING PENDANT TABLET PC (OPTIONAL) ...................................................................19

1.6 JOINT LIMIT ............................................................................................................................20

1.7 WORKSPACE...........................................................................................................................21

1.8 MAXIMUM LOAD CAPACITY..................................................................................................22

CHAPTER 2. SAFETY &PRECAUTIONS............................................................................ 23

2.1 SAFETY INDICATIONS............................................................................................................23

2.2 GENERAL SAFETY WARNING &PRECAUTIONS ...................................................................24

2.3 USAGE &FUNCTIONALITY.....................................................................................................27

2.4 POTENTIAL SAFETY ISSUES..................................................................................................28

2.5 LIABILITY LIMITATIONS.........................................................................................................29

2.6 SHIPPING &TRANSPORTATION ...........................................................................................30

2.7 EMERGENCY STOP.................................................................................................................31

2.8 USER SAFETY..........................................................................................................................32

2.9 SAFETY CONTROLLER ...........................................................................................................33

2.10 RISK ASSESSMENT ..............................................................................................................34

CHAPTER 3. SAFETY FUNCTIONS ................................................................................... 35

3.1 INTRODUCTION ......................................................................................................................35

3.2 STOP CATEGORY....................................................................................................................37

3.3 FUNCTIONAL SAFETY ............................................................................................................38

3.4 SAFETY DEVICE MOUNTING LOCATION...............................................................................41

3.5 EMERGENCY STOP SWITCH..................................................................................................43

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

3.6 OPERATION MODE .................................................................................................................44

3.7 OPERATING ENVIRONMENT .................................................................................................46

3.8 MAINTENANCE OF SAFETY FUNCTIONS .............................................................................47

3.9 APPLIED STANDARDS............................................................................................................49

CHAPTER 4. INSTALLATION ........................................................................................... 51

4.1 INSTALLATION PRECAUTION................................................................................................51

4.2 INSTALLATION LOCATION ....................................................................................................52

4.3 EXAMPLES OF INSTALLATION..............................................................................................53

4.4 MOUNTING THE ROBOT.........................................................................................................54

4.5 TOOL CONNECTION ...............................................................................................................55

4.6 CABLE CONNECTION .............................................................................................................60

4.7 ROBOT CONTROL BOX I/O OVERVIEW..................................................................................62

4.8 SAFETY INPUT CONFIGURATION..........................................................................................63

4.9 GENERAL PURPOSE DIGITAL I/O CONFIGURATION ............................................................65

4.10 GENERAL PURPOSE ANALOG I/O CONFIGURATION .........................................................67

CHAPTER 5. GET STARTED............................................................................................. 69

5.1 CONTROL BOX ON/OFF..........................................................................................................69

5.2 TEACHING PENDANT/PC ON/OFF........................................................................................70

CHAPTER 6. SOFTWARE OVERVIEW................................................................................ 71

6.1 UI STRUCTURE........................................................................................................................71

6.2 STARTUP SCREEN DISPLAY ..................................................................................................72

6.3 MAIN SCREEN DISPLAY .........................................................................................................73

6.4 MAKE .......................................................................................................................................75

6.5 PLAY ........................................................................................................................................76

6.6 SETUP......................................................................................................................................77

CHAPTER 7. PROGRAMMING GUIDE ............................................................................... 78

7.1 ICONS AND ACTION SCREEN ................................................................................................78

7.2 CREATE TEACHING ENVIRONMENT.....................................................................................93

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

7.3 TEACHING (PROGRAMMING)................................................................................................97

7.4 TEACHING ICONS AND DESCRIPTION................................................................................141

7.5 EDITNG THE PROGRAM .......................................................................................................309

7.6 PROGRAM MANAGEMENT ..................................................................................................313

7.7 OPERATION UTILITIES .........................................................................................................316

CHAPTER 8. ROBOT OPERATION .................................................................................. 336

8.1 ROBOT OPERATION..............................................................................................................336

8.2 ROBOT STATUS CHECK .......................................................................................................338

8.3 TROUBLESHOOTING WHILE OPERATING...........................................................................339

CHAPTER 9. SETUP ...................................................................................................... 343

9.1 SET-UP(COBOT)....................................................................................................................343

9.2 SET-UP(TOOL).......................................................................................................................344

9.3 SET-UP(SYSTEM)..................................................................................................................345

9.4 SET-UP(LOG).........................................................................................................................346

9.5 SET-UP(UTILITY)...................................................................................................................347

9.6 SET-UP(SERIAL)....................................................................................................................348

9.7 SET-UP(I/O 1)........................................................................................................................349

9.8 SET-UP(I/O 2)........................................................................................................................356

9.9 SET-UP(INBOX).....................................................................................................................358

9.10 SET-UP(INTERFACE ) .........................................................................................................359

9.11 SET-UP(COORDINATE).......................................................................................................360

9.12 SET-UP(DEVICES)...............................................................................................................361

9.13 SET-UP(TOOL LIST) ............................................................................................................362

9.14 SET-UP(PROGRAM TABLE)................................................................................................363

CHAPTER 10. MAINTENANCE....................................................................................... 365

10.1 CHECK LIST AND PERIOD ..................................................................................................365

10.2 ROBOT ARM MAINTENANCE.............................................................................................366

10.3 CONTROL BOX MAINTENANCE.........................................................................................367

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

APPENDIX A. SYSTEM SPECIFICATION....................................................................................368

APPENDIX B. FOOT PRINT SCHEMATIC ...................................................................................370

APPENDIX C. TOOL FLANGE SCHEMATIC................................................................................372

APPENDIX D. CONTROL BOX ELECTRICAL SCHEMATIC.........................................................374

APPENDIX D-1. CONTROL BOX DIGITAL INPUT .......................................................................375

APPENDIX D-2. CONTROL BOX DIGITAL OUTPUT....................................................................380

APPENDIX D-3. TOOL FLANGE DIGITAL INPUT ........................................................................382

APPENDIX D-4. TOOL FLANGE DIGITAL OUTPUT.....................................................................385

APPENDIX E. EXTERNAL SCRIPT CONTROL API......................................................................389

APPENDIX F. COORDINATE SYSTEM........................................................................................422

APPENDIX G. STOPPING TIME/DISTANCE...............................................................................423

APPENDIX H. NAMEPLATE........................................................................................................424

APPENDIX I. MODBUS TCP SERVER..........................................................................................426

APPENDIX J. SYSTEM UPDATE.................................................................................................432

APPENDIX K. ANDROID TABLET CONFIGURATION .................................................................436

APPENDIX L. BRAKE SYSTEM....................................................................................................439

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

PREFACE

Before installing this product, please read the user manual thoroughly. Please follow the

instructions in the manual describing the installation steps in detail. The contents of this

manual are based on the version of the manual when it was written, and the information

about the product may have changed without prior notice to the user. If you are unsure about

the requirements, recommendations or safety procedures described in this manual, please

contact Rainbow Robotics. Some illustrations in this manual are intended to help you

understand the concepts and installation of the system and may differ from actual products.

Rainbow Robotics Inc. owns the copyright and intellectual property rights on all

contents and designs of this manual. Therefore, the use, duplication, and re-distribution

of Rainbow Robotics Inc. properties and materials without prior written permission is

strictly prohibited and constitutes an infringement of Rainbow Robotics' intellectual

property rights.

User is solely liable for any misuse or alteration of the patent rights of this equipment.

The information contained in this manual is accurate and reliable.

The information provided in this manual is the property of Rainbow Robotics, Inc. and

may not be duplicated or reproduced in whole or in part without its consent. The

information contained herein is subject to change without notice, and the manual is an

original instruction. For more information on revising the manual, please visit the

website (www.rainbow-robotics.com).

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

CHAPTER 1. INTRODUCTION

1.1 RAINBOW ROBOTICS’ COLLABORATIVE ROBOTS

The RB product line from Rainbow Robotics is a series of collaborative robots. The RB series

is designed to be easily accessible and usable to anyone, such as laymen or enthusiasts.

The RB series is specialized to perform regular, continuous, and repetitive tasks in small and

dense human environments across various fields without any additional safety devices. The

RB series provide robotic solutions to increase productivity for your business.

Intuitive usability: It is easy to set up and operate an RB robot unit. Experts and non-

experts alike can use it effectively through the intuitive visual User Interface (UI)

configuration.

Convenience and safety: The RB series has external and self-collision detection

systems, which minimize accidents and injuries while providing a safe work

environment for the operator.

Space efficiency: An RB unit can be applied to all types of production lines

regardless of space. It may be used in many different environments due to versatile

configurations that allow it to be installed on a variety of surfaces.

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

1.2 SYSTEM CONFIGURATION

The system configuration of an RB unit is illustrated in the diagram below.

[ Stand-type control box system configuration ]

Robot Arm: The Robot Arm is an industrial collaborative robot that can be used for

repetitive routine tasks, carrying small objects, or assembling parts. It can be used

with various third-party robotic grippers as well as various types of tools.

Control Box: The Control Box controls the movement of the robot arm based on user

programs contained on the Teach pendant/tablet PC. Digital and analog

input/output ports are available for connecting various devices and tools.

Estop/Jog Interface (for stand-type control box): With the emergency stop switch, the

robot operation can be stopped. It comes with simple program flow control buttons

such as Play/Stop.

Teaching Pendant/Tablet PC (optional): The Teaching Pendant/Tablet PC is an

external device on which a user can create programs and operate the system. It is

used to setup, program, and teach certain postures to the robot arm.

RAINBOW ROBOTICS

RB SERIES _ USER MANUAL

The RB unit contains system components and accessories as described below.

Stand-type control box components

Robot Robot Arm 1 EA

System Components

Control Box 1 EA

Estop/Jog Interface 1 EA

Power cable 1 EA

Cable between Robot Arm-Control Box 1 EA

Optional: Tablet PC, Tablet cover, USB cable 1 EA

Other User Manual (Electronic Document) 1 EA

※Please use the 5-meter-long power cable, Estop/Jog interface cable and Robot Arm-

Control Box connection cable made by the manufacturer. For the user LAN shield

cables/IO cables/USB cables/external extension cable for the electric line passing models,

a length of less than 3 meters is recommended.

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