AUBO AUBO-i10, CB4 User Manual

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USER MANUAL

AUBO-i10 & CB4

Please read this manual carefully before using the product.

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User Manual

AUBO-i10 & CB4 Translate Version 4.5

Published by AUBO (Beijing) Robotics Technology Co, Ltd.

This manual is applicable to AUBORPE V 4.5. For details, please refer to the version information section of this manual. Please check the actual product version information carefully before use to

ensure consistency.

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The user manual will be checked and revised periodically, and the updated content will appear on the latest version.

The information in this manual is subject to change without notice and should not be regarded as a commitment by AUBO (Beijing) Robotics Technology Co., Ltd.

AUBO (Beijing) Robotics Technology Co., Ltd. assumes no responsibility for any errors or omissions in this document. AUBO (Beijing) Robotics Technology Co., Ltd. assumes no responsibility for incidental or consequential damages arising from use of this manual and products described herein.

Please read this manual before install or use.

Please keep this manual to read and as reference any time.

The pictures in this manual are for reference only, please refer to the actual product received.

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CATALOG

CATALOG ................................................................................................................................ I

PREFACE ............................................................................................................................. VII

COMPONENTS OF AUBO-I10 ROBOT ........................................................................ VIII

MORE INFORMATION ................................................................................................... VIII

1. SAFETY ............................................................................................................................. 9

Introduction ................................................................................................................... 9

Warning Symbols in this Manual .................................................................................. 9

Safety Precautions ....................................................................................................... 10

General .............................................................................................................. 10

Terms and Conditions ....................................................................................... 10

Operator safety .................................................................................................. 14

Responsibility and standard ........................................................................................ 15

Hazard Identification .................................................................................................. 17

Intended use ................................................................................................................ 18

Emergency situations .................................................................................................. 19

Emergency stop device ..................................................................................... 19

Recovering from the emergency condition ....................................................... 20

Emergency move for joint ................................................................................ 20

Excessive force protection ................................................................................ 20

2. TRANSPORTATION AND PRECAUTIONS .............................................................. 21

3. MAINTENANCE, REPAIR AND DISPOSAL ............................................................. 23

Maintenance and repair ............................................................................................... 23

Disposal....................................................................................................................... 24

4. WARRANTIES ................................................................................................................ 25

Product Warranty ........................................................................................................ 25

Disclaimer ................................................................................................................... 25

5. ROBOT HARDWARE COMPOSITION ..................................................................... 27

6. ROBOT INSTALLATION ............................................................................................. 29

Brief installation steps................................................................................................. 29

Important safety instructions....................................................................................... 29

Workspace of the Robot .............................................................................................. 30

Mechanical dimensions of manipulator ............................................................ 30

Effective working range .................................................................................... 31

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Hardware Installation .................................................................................................. 32

The Manipulator Base ....................................................................................... 32

Manipulator Installation .................................................................................... 33

End-effector Installation ............................................................................................. 35

Mechanical structure size of end-effector flange .............................................. 35

Cable connection ......................................................................................................... 36

7. THE I SERIES STANDARD CONTROL BOX ........................................................... 41

Introduction ................................................................................................................. 41

Electrical warnings and cautions ................................................................................ 42

Control box panel introduction ................................................................................... 42

Control box front panel ..................................................................................... 43

Control box side panel ...................................................................................... 44

Control box back panel ..................................................................................... 47

Selection of working mode ......................................................................................... 48

Manual mode .................................................................................................... 49

Linkage mode.................................................................................................... 49

8. INTERNAL ELECTRICAL INTERFACE .................................................................. 53

Introduction ................................................................................................................. 53

Electrical warnings and cautions ................................................................................ 53

Control box communication interface ........................................................................ 54

Control box I/O power supply .................................................................................... 55

Internal power supply ....................................................................................... 55

External power supply ...................................................................................... 55

Safety I/O .................................................................................................................... 56

Introduction ....................................................................................................... 56

Safety Tips ........................................................................................................ 56

Safety I / O function definition ......................................................................... 56

Default Safety Configuration ............................................................................ 57

External Emergency Stop Input ........................................................................ 58

Safeguard stop Input ......................................................................................... 59

Reduce Mode Input ........................................................................................... 61

Safeguard stop Resert Input .............................................................................. 62

Enabling Device Input ...................................................................................... 63

Operational Mode Input .................................................................................. 64

Hand Guiding Enable Input ............................................................................ 64

System Stop Input ........................................................................................... 65

Robot Emergency Stop Output ....................................................................... 66

Robot Moving Output ..................................................................................... 67

Robot Not Stopping Output ............................................................................ 68

Reduced Mode Output .................................................................................... 69

Not Reduced Mode Output ............................................................................. 70

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8.5.18 System Error Output ....................................................................................... 71

Internal I/O .................................................................................................................. 72

General I/O.................................................................................................................. 73

General purpose digital I/O interface ................................................................ 73

Example ................................................................................................................................ 74

Analog I/O interface .......................................................................................... 76

Example ................................................................................................................................ 77

Clear alarm signal interface .............................................................................. 78

Remote switch control I/O interface ........................................................................... 78

Remote power on .............................................................................................. 79

Remote power off ............................................................................................. 79

Linkage Control I/O Interface ..................................................................................... 79

Robot Tool I/O Interface ........................................................................................... 81

9. GETTING STARTED ..................................................................................................... 84

Basic function introduction ......................................................................................... 84

Installing the robot system .......................................................................................... 85

Power on the manipulator ........................................................................................... 85

Preparation ........................................................................................................ 85

Power on System............................................................................................... 86

Power off the manipulator .......................................................................................... 87

Start system quick ....................................................................................................... 87

10. TEACH PENDANT ..................................................................................................... 88

Instruction ................................................................................................................. 88

Teach Pendant Operation Interface ........................................................................... 88

User login ........................................................................................................ 88

Initial Interface ................................................................................................ 89

Robot Movement Control ............................................................................... 90

Robot Teaching User Interface .............................................................................................. 90

1 Currently logged in user ..................................................................................................... 91

2 Logout button ..................................................................................................................... 91

3 Software shut down button ................................................................................................ 91

4 Menu .................................................................................................................................. 91

5 Robot 3D display window.................................................................................................. 92

6 Simulation/real control switch button ................................................................................ 93

7 Step Mode Control ............................................................................................................. 93

8 Position control .................................................................................................................. 93

9 Coordinate system .............................................................................................................. 94

9 User-defined coordinate system ......................................................................................... 95

10 Robot real-time status parameter display ......................................................................... 95

11 Target selection ................................................................................................................ 95

12 Orientation Control .......................................................................................................... 96

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13 Joint axis control .............................................................................................................. 97

14 Zero Pose, Init Pose ......................................................................................................... 97

15 Motion speed control ....................................................................................................... 98

16 Date and time display ....................................................................................................... 98

17 Speed control ................................................................................................................... 98

Robot I/O settings and status display ........................................................................ 98

Controller I/O Tab ........................................................................................... 99

User I/O Tab .................................................................................................. 100

Tool I/O Tab .................................................................................................. 100

Robot Setting Tab.................................................................................................... 102

InitPose ......................................................................................................... 102

Tool Calibration ............................................................................................ 103

Tool Kinematics Calibraton ................................................................................................ 104

Tool Dynamics Calibration ................................................................................................. 106

Tool Calibrate ...................................................................................................................... 107

Coordinate Calibration .................................................................................. 108

Robot Safety Settings .............................................................................................. 112

System Setting tab................................................................................................... 113

Language Tab ................................................................................................ 113

Date& Time tab. ............................................................................................ 114

Network Tab .................................................................................................. 115

Password Tab ................................................................................................ 115

Lock Screen .................................................................................................. 116

Update Tab .................................................................................................... 117

Factory Reset ...................................................................................................................... 117

Update Software/Firmware ................................................................................................. 118

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

Extensions ............................................................................................................... 119

System Info Tab ...................................................................................................... 122

11. ONLINE PROGRAMMING .................................................................................... 124

Instruction ............................................................................................................... 124

Function Module Description ................................................................................. 126

Text Box Editor ............................................................................................. 126

Project Tab .............................................................................................................. 126

New Project ................................................................................................... 126

Load Project .................................................................................................. 128

Save Project ................................................................................................... 129

Default Project .............................................................................................. 130

Automove tab ................................................................................................ 131

Procedure ...................................................................................................... 132

Procedure (process) ................................................................................................. 133

Calling Subproject Commands（Procedure） ............................................. 133

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Move Condition.................................................................................................... 135

Type of Move ................................................................................................ 136

Move Joint .......................................................................................................................... 136

Move Line ........................................................................................................................... 137

Move Track ......................................................................................................................... 138

Waypoint ....................................................................................................... 140

Basic Command & Condition Tabs ......................................................................... 141

Loop .............................................................................................................. 142

Break ............................................................................................................. 142

Continue ........................................................................................................ 142

If…else .......................................................................................................... 143

Switch...Case...Default .................................................................................. 144

Set .................................................................................................................. 145

Wait ............................................................................................................... 146

Line Comment ............................................................................................... 146

Block Comment ............................................................................................ 147

Goto ............................................................................................................. 147

Message ....................................................................................................... 148

Empty .......................................................................................................... 149

Advanced Command & Condition Tabs ................................................................. 149

Thread ........................................................................................................... 149

Script ............................................................................................................. 149

Offline Record ............................................................................................... 150

Record Track ........................................................................................................... 151

Variable Tab ............................................................................................................. 153

Timer ..................................................................................................................... 154

Inserch Timer .............................................................................................. 154

Timer Status Display ................................................................................... 155

Simulation model .................................................................................................. 155

Scripts file configuration ....................................................................................... 156

APPENDIX ............................................................................................................................... I

A GLOSSARY .......................................................................................................................... I

B CERTIFICATION ............................................................................................................... II

C STOPPING TIME & STOPPING DISTANCE .............................................................. IV

D GUIDELINE ........................................................................................................................ V

E TECHNICAL SPECIFICATION .................................................................................... VI

F PAYLOAD ......................................................................................................................... VII

G ALARM INFORMATION & DESCRIPTION OF GENERAL PROBLEM ........... VIII

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Preface

Thank you for purchasing this lightweight modular industrial robot with 6 degrees of freedom, AUBO-i10, which is researched and developed by AUBO (Beijing) Robotics Technology Co., Ltd.

AUBO-i10

AUBO series robot adopts the fully modular design and uses system towards developers. Users can develop their own robot control system based on the application interaface provide by the AUBO platform. Meanwhile, AUBO robot is equipped with a dedicated programmable operation interface, which allows the user to observe robot’s operating status in real time, carry out manyrobot control settings, and perform offline simulation. This can improve the efficiency of practical application greatly.

AUBO-i10, the second generation of intelligent lightweight 6 DOF modular collaborative robot, whose payload is 10kg, is one of AUBO series modular collaborative robots.

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Components of AUBO-i10 Robot

The components of the AUBO-i10 robot are listed as below.

Name

Quantity

Manipulator AUBO-i10

Teach Pendant

Control Box

Teach Pendant cable

Manipulator cable

Power cable

Manipulator base(optional)

Product outline structure is shown in picture above.

More Information

If you need more information, please visit our official website at: www.aubo-robotics.com

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1. SAFETY

Introduction

This chapter introduces the principles and norms that should be followed when operating a robot or robot systems. Integrators and users must read the relevant description in this manual carefully and fully understand and strictly adhere to thewarning symbols in the contents. Because of the complexity and highly risks of the robot system, operators need to be fully aware of the operation risks and follow the requirements and specifications in this manual. Both the integrators and users should have adequate safety awareness and follow the Industrial robots’ safety regulations, ISO

10218.

Warning Symbols in this Manual

The table below defines the captions specifying the danger levels used throughout this manual. These warnings, which are relevant to safety, must be observed.

This indicates an imminently hazardous electrical situation which, if not avoided, could result in death or serious injury.

This indicates a potentially hazardous hot surface which, if touched, could result in injury.

This indicates an imminently hazardous situation which, if not avoided, could result in injury or major damage to the equipment.

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This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.

This indicates a potentially situation which, if not avoided, could result in injury or major damage to the equipment. Marked with this symbol, depending on the circumstances, sometimes may have significant consequences.

This indicates a situation which, if not avoided, could result in injury or major damage to the equipment. Marked with this symbol, depending on the circumstances, sometimes may have significant consequences.

Safety Precautions

General

This manual includes safety precautions for protecting the user and preventing damage to the machine. Users need to learn all the relevant descriptions and fully understand the safety precautions. In this manual, we try to describe all the various situation as much as possible. However, we cannot describe all the matters, which must not be done or which cannot be done, because there are so many possibilities.

Terms and Conditions

The following basic information needs to be understood and followed when using the robot or robot system for the first time. Also, other safety-related information will be introduced in other parts of this manual. However, it may not cover everything. In practical applications, it is necessary to analyze specific issues.

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1. Make sure to install the robot and all electrical equipment according to the

manual requirements and specifications.

2. Make sure to conduct a preliminary test and have inspection forrobots and its

protection systems before using the robot or putting it into productionfor the first time.

3. Make sure to check the system and equipment for completion, operational

safety, and any damage that can be detected before starting the system and equipment for the first time. The test needs to confirm whether it accords with valid safety production rules and regulations in country or region. All safety functions must be tested.

4. Make sure that all safety parameters and user programs are correct, and all

safety functions are working normally. A qualified robotics operator is needed to check each safety function. Only pass the thorough, careful safety test and reach the safe level, we can power on the robot.

1. Installation and commissioning needs to be performed by professionals in

accordance with the installation standards.

2. When the robot is installed, a comprehensive risk assessment is necessary, and

the test results need to be recorded in a report.

3. Set and modify the safety parameters by a qualified person. Use password or

isolation measures to prevent unauthorized people from setting and modifying safety parameters. After a safety parameter is modified, the related safety functions need to be analyzed.

4. When the robot is in an accident or abnormal operation, the emergency stop

switch needs to be pressed down to stop the movement.

5. AUBO-i10 joint module has brakes inside, it will remain manipulator’s pose

when power outage occurred. Don’t power on and power off frequently. It is recommended that the time interval of each switch should be more than 10s.

6. AUBO-i10 has collision detecting function. When the external force of the

manipulator is beyond the users’ safety range, the manipulator will automatically stop to prevent the robot or operator from damage or injury. This function is a particularly for the safety of cooperative work, but robot system must be in the normal operating range and use the AUBO series control box. If the user develops the controller personally, the robot will not have the functions above, and all the dangerous consequences are undertaken by its owner.

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1. Make sure that the robot's joints and tools are installed properly and safely.

2. Make sure that there is enough space for the manipulator to move freely.

3. Don’t use robot if the robot is damaged.

4. Do not connect any safety equipment to normal I/O. Use safety-related

interfaces only.

5. Make sure to use the correct installation settings (e.g. the robot's mounting

angle, TCP weight, TCP offset, security configuration). Save and load the installations file along with the program.

6. Tools and barriers should not have sharp edges or pinch points. Make sure that

all people keep their heads and faces outside the reach of the robot.

7. Be aware of robot’s movement when using the teach pendant.

8. Any strike would release a large amount of kinetic energy, which is much

higher than the case of high speed and high payload.

9. The different mechanical linking may increase the risk or lead to new dangers.

Make sure to perform a comprehensive risk assessment for entire installation. Always choose the highest-level performance when different safety and emergency shutdown performance level is needed. Make sure to read and understand all the devices’ manual used for installation.

10. Do not modify the robot. Changes to the robot may cause unpredictable

danger to the integrator. The robots authorize restructuring need in accordance with the latest version of all relevant service manuals. If the robot is changed or altered in any way, AUBO (Beijing) Robotics Technology Co., Ltd disclaims all liability.

11. User needs to check the insulation and protection measures before

transportation.

12. Transporting robots must follow the transport requirements. Handing

carefully and avoid t bumps.

1. The robot and control box generate heat during operation. Do not handle or

touch the robot while rthe robot is working or just stop working.

2. To cool the robot down, power off the robot and wait for one hour.

3. Never stick fingers behind the internal cover of the control box.

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1. When the robot is combined with or working with machines capable of

damaging the robot, then it is highly recommended to test all the functions of the robot and the robot program separately. It is recommended to test the robot program using temporary waypoints outside the workspace of other machines.

2. AUBO (Beijing) Robotics Technology Co., Ltd cannot be held responsible for

any damages caused to the robot or to other equipment due to programming errors or malfunctioning of the robot.

3. Don't expose the robot to a permanent magnetic field. Very strong magnetic

fields can damage the robot.

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Operator safety

In the operation of the robot system, we must ensure the safety of the operators first. The general precautions are listed in the table below. Please take appropriate measures to ensure the safety of operators.

1. Each operator who uses the robotic system should be trained through a

training course hosted by AUBO (Beijing) Robotics Technology Co., Ltd. Users need to make sure to fully grasp the safe and standardized operating procedures with the robot operating qualifications. Please inquire for training details, mail [email protected]

2. Do not wear loose clothing or jewelry when working with the robot. Make

sure long hair is tied back when working with the robot.

3. When the device is running, even if the robot seems to stop, it is possible

that robot is waiting for the signal and in the upcoming action status. Even in such state, it should be considered as the robot is in action.

4. A line should be drew to mark the range of motion of the robot to let the

operator knows the robot’s, including the holding tools, (like mechanical hand or tools) operating range.

5. Make sure to set security-building measures (for example, rails, ropes, or

protective screen) near the robot operating area to protect the operator and surrounding crowd. The lock should be set as needed so that those who are not operators cannot access the robot power supply.

6. When using the operation panel or the teach pendant, make sure to take off

the gloves in case of operational errors.

7. Pushing or pulling the robot arm (at least 700N), force the joint to move in

the emergency or abnormal condition (like a person is caught in or surrounded by a robot). Manually move the robot arm without electric drive only for emergency, and it may damage the joints.

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Responsibility and standard

AUBO-i10 can be combined with other equipments to form a complete machine, and itself is not complete. The information in this manual does not cover how to design, install and operate a complete robot, nor does it cover all peripheral equipments that can influence the safety of the complete system. The safety of installing a complete robot is determined by how it integrated.

Integrators must follow the standards and regulations and laws of the country where the robot is installed to perform a risk assessment for its system design and installation. Risk assessment is one of the most important things that integrators must done. Guidance on the risk assessment process may be found in the following standards.

• ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and

risk reduction.

• ISO 10218-2:2011 Robots and robotic devices - Safety requirements - Part 2: Industrial robot

systems and integration.

• RIA TR R15.306-2014 Technical Report for Industrial Robots and Robot Systems - Safety

Requirements, Task-based Risk Assessment Methodology.

• ANSI B11.0-2010 Safety of Machinery; General Requirements & Risk Assessment. AUBO robot integrators need to fulfill but not limited to the following responsibilities:

• Comprehensive risk assessment of complete robot system;

• Make sure the whole system design and installation is correct;

• Provide training to users and personnel;

• Create operational specifications for a complete system, specify instructions for process;

• Establish appropriate safety measures;

• Use appropriate methods to eliminate or minimize all hazards to acceptable level in the final

installation;

• Convey the residual risk to the users;

• Mark the logo and contact information of the integrators on the robot;

• Archive technical file

Guidance on how to find and read applicable standards and laws is provided on: www.aubo-

robotics.com

All safety information contained in this manual are not considered as a guarantee for AUBO (Beijing) Robotics Technology Co., Ltd. Even if all the safety instructions are observed, the personnel injury or equipment damage caused by the operator is still likely to occur.

AUBO (Beijing) Robotics Technology Co., Ltd is committed to continuously improve the reliability and performance of the product. Therefore, we reserve the right to upgrade products without notice.

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AUBO (Beijing) Robotics Technology Co., Ltd seeks to ensure the accuracy and reliability of the contents in this manual but is not responsible for any errors or omissions.

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Hazard Identification

Risk assessment should consider all potential contacts and foreseeable misuse between robot and operator. Operator's neck, face and head should not be exposed in case of collision. Without using peripheral safety devices, the robot needs to perform a risk assessment first to determine whether the risk is unacceptable, such as:

• The risk of using a sharp end-effector or tool connector;

• The risk of processing toxic or other hazardous substances;

• Fingers being caught by robot base or joint;

• The risk of being hit by manipulator;

• The danger due to incompletely fix of manipulator or connected tool;

• Danger due to impactbetween a heavy payload and a soild surface.

Integrators must measure these dangers and its associated risk level through a risk assessment. Identify and implement appropriate measures to reducer the risk to acceptable level. However, Integrators should be aware that specific robotic equipment may have other dangers.

Combine the inherent safety design which applied by AUBO robot with the safety specifications or risk assessment performed by integrators and users, risks that are associated with AUBO-i10 collaborative operation should be lower to reasonable and practicable level. Any residual risks before installing will be conveyed to integrators and users through this manual. If integrator's risk assessment shows that there may have unacceptable risks in specific applications, integrators must take appropriate risk reduction measures to eliminate or minimize these risks to acceptable level. It is not safe to use before taking appropriate risk reduction measures (If necessary).

If perform noncooperative installation (for example, when using dangerous tools), risk assessment may infer that integrators need to connect additional security devices (such as a boot device) when it is programming to ensure the safety of personnel and equipment.

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Intended use

AUBO robot is industrial only and intended for operating or fixing tools or device or for processing or transferring components or products. AUBO robot can only be used under specified conditions. For details about the operating environment and conditions, see appendix.

AUBO robot has a special level of safety for cooperative operation. It can perform collaborative operation, which means it can be used without setting peripheral safety device. However, it can only be used under non-hazardous circumstance which has passed the risk assessment. On the premise that not using any security device and sensing device, there will be no unacceptable risk when personnel or other objects in workplace (like tool, equipment, surfaces etc.) has expected or unexpected contact with AUBO robot or its end-effector.

Robot controllers and robots can only be used in general industrial equipment. Any use or application deviating from the intended use is deemed to be impermissible misuse. This includes, but is not limited to:

• Use in potentially flammable and explosive environments;

• Use to move or carry people or other animals;

• For devices such as medical devices that inbolbe human life

• Use to have a major impact on social and public;

• Use under vibration environment like vehicle or ship;

• Use as a climbing tool;

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Emergency situations

Emergency stop device

Pressing the emergency stop button to immediately stop all robot’s motion. Emergency stop shall not be used as a risk reduction measure, but as a secondary protective device. If multiple emergency stop buttons are connected, it should be recorded in the risk assessment of the robot application. Emergency stop buttons should comply with IEC 60947-5-5.

Emergency stop button can be found on the teach pendant and the control box of AUBO-i10. The button must be pressed when a dangerous situation or emergency occurs. As shown in Figure1.1, control box is equipped with an external port for emergency stop button. Integrators and users can use according to the actual situation.

Figure 1-1 Emergency stop button

If the equipment or tools which connect to the end cause potential danger, it must integrate to the emergency stop circuit in system. It may result in death, serious injury or substantial property damage if failure to observe this warning notices

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Recovering from the emergency condition

All the button type emergency stop device has a "lock" function. This "lock" must be opened to end the emergency stop state.

Rotating emergency stop button can open the "lock".

Recovery from an emergency stop state is a simple but very important step. This step can only operate after making sure that the robot system is completely excluded from danger.

Emergency move for joint

In rare cases, it may be required to move one or more robot joints when the robot's power failure or in an emergency, which can force the robot to move by follow method:

Forced back-driving: Force a joint to move by pulling hard (at least 700 N) on the robot arm.

Excessive force protection

Manipulator has excessive force protection. When manipulator is power-on and in stationary state, if impact force hit by operators or other objects mistakenly exceeds the safety threshold, manipulator will follow the direction of impact force to move passively. This function can reduce the damage when operators or other objects collide with manipulator.

This function can reduce the collision damage and required to perform risk assessment if other use is needed.

Forced to move the robot arm manually is limited to emergency situations and it may damage the joints.

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2. TRANSPORTATION AND PRECAUTIONS

When hoisting robot, the moving parts should be located properly to avoid unexpected movement which can cause damage during hoisting and transportation. When packaging and transporting, it should follow packaging standards and mark with the required signs outside the package.

When transporting, the robot must remain in its transport position stably. The control box should be lifted using handle.

When moving robot from packaging to installation position, hold the robot in place until all mounting bolts are safely tightened at the base of the robot.

Power up the robot after fixing it. Using hand-guiding to adjust robot orientation to a suitable location.

Save the original packaging after transportation. Store the packaging material in a dry place for future repackaging and moving the robot.

Users can move the manipulator to the installation position by using the packagePos project in the 【Online Programming】-> 【Project】-> 【Open Project】on the AUBOPE Programming Environment. For details, please refer to 【Open Project】.(image demonstration)

1. Make sure not to overload the robot’s back or other body parts when the

equipment is lifted.

2. All regional and national guidelines should be followed. AUBO (Beijing)

Robotics Technology Co., Ltd is not responsible for any damage caused during the transportation of equipment.

3. Make sure to follow the instruction when installing a robot.

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3. MAINTENANCE, REPAIR AND DISPOSAL

Maintenance and repair

Maintenance and repair work must strictly follow all safety instructions in this manual.

Maintenance, calibration and repair work must be performed in accordance with the latest versions of Service Manuals, which can be found on the support website www.aubo-robotics.com

All dealers in AUBO (Beijing) Robotics Technology Co., Ltd. should have the access to this website.

Maintenance must be performed by authorized integrators or AUBO (Beijing) Robotics Technology Co., Ltd. All parts returned to AUBO (Beijing) Robotics Technology Co., Ltd. will be returned according to the service manual.

Make sure to reach the safety level of maintenance and repair, follow all regional and national guidelines and test whether all safety functions work normally.

The purpose of maintenance and repair is to r to make sure that system runs normally or help it return to normal condition when system error occurs, including faults diagnosis and actual maintenance.

Operating manipulator or control box must follow safety procedures and warnings as below:

1. Remove the main input cable from the bottom of the control box to ensure

that it is completely power off. Take necessary precautions to prevent other people from recharging the system during the repair period. After the power is turned off, the system must be re-examined to ensure that is powered off.

2. Please check the ground connection before turning the system back on.

3. Observe ESD (Electro-Static discharge) regulations when parts of the

manipulator or control box are disassembled.

4. Avoid disassembling the power supplies inside the control box. High

voltages can be present inside these power supplies for several hours after the control box has been switched off.

5. Prevent water and dust entering the manipulator or control box.

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1. Replace the defective components by new components with the same article

number or equivalent components approved by AUBO (Beijing) Robotics Technology Co., Ltd.

2. Reactivate any deactivated safety measures immediately after the work is

completed.

3. Record all maintenance operations and save in technical documentation.

4. There is no self-serviceable part in control box. If maintaining or repairing

service is required, please contact your dealer or AUBO (Beijing) Robotics Technology Co., Ltd.

Disposal

AUBO robot must be disposed in accordance with the applicable national laws, regulations and, standards.

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4. WARRANTIES

Product Warranty

AUBO robots have the finite warranty period for 12 months.

In the case of new devices and their components exhibiting defects resulting from manufacturing and/or material faults within 12 months of entry into service (maximum of 15 months from shipment), AUBO (Beijing) Robotics Technology Co., Ltd. should provide the necessary reserve components to replace or repair the related components.

AUBO (Beijing) Robotics Technology Co., Ltd. has the ownership of the devices or components which have been replaced or returned to AUBO (Beijing) Robotics Technology Co., Ltd.

If the products are no longer under warranty, AUBO (Beijing) Robotics Technology Co., Ltd. reserves the right to charge customers for replacing or repairing the products.

If there are any defects appear in the device outside the warranty period, AUBO (Beijing) Robotics Technology Co., Ltd. is not responsible for any damage or loss caused by the equipment, such as loss of production or damage to other production equipment.

Disclaimer

1. This Warranty will be invalid if the equipment defect is caused by improper handling or failure to follow

the relevant information described in the user manual.

2. Failures caused by the following conditions are not covered by this warranty:

3. Does not meet the requirements of industrial standards or not following the user manual to install,

connect wires and connect to other control devices.

4. Using products beyond the specifications or standards of the manual.

5. Using products beyond the appointed purposes

6. Storage method and working environment are beyond the appointed range (e.g. pollution, salt injury

and moisture condensation).

7. Products’ damages caused by improper transportation.

8. Damage caused by accident or crash.

9. Not installing the original assembled components and accessories.

10. The damage caused by the third-party which is not AUBO (Beijing) Robotics Technology Co., Ltd. or

the designated integrator while reconstructing, adjusting or repairing the original components.

11. Any nature disasters including fires, earthquakes, tsunamis, lightning, high winds and flooding.

12. Any malfunction not relates to AUBO (Beijing) Robotics Technology Co., Ltd.’s responsibility apart

from the circumstances mentioned above.

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Warranty will not be provided in following circumstances:

1. Unable to identify the production date or the warranty start date.

2. Changing the software or the internal data.

3. The malfunction cannot reappear or be identified by AUBO (Beijing) Robotics Technology Co., Ltd.

4. Using the products as radioactive equipment, biological test equipment or any other dangerous

environment ascertained by AUBO (Beijing) Robotics Technology Co., Ltd.

According to the product warranty, AUBO (Beijing) Robotics Technology Co., Ltd. only provides warranty to the flaws and defects in the products and components which are sold to dealers.

AUBO (Beijing) Robotics Technology Co., Ltd. is not responsible for the relevant warranty responsibility to any other express or implied warranty or responsibility, including but not limited to the implied warranty to the merchantability or the specific use. In addition, AUBO (Beijing) Robotics Technology Co., Ltd. is not responsible for any indirect damage and consequences caused by the relevant products.

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5. ROBOT HARDWARE COMPOSITION

Figure 5-1 AUBO-i10 robot

As shown in figure 5.1, The AUBO-i10 robot system consist of a manipulator, a control box(which can choose a variety of models), a manipulator base and a teach pendant. The manipulator imitates human which has six joints and each joint represents a degree of freedom. As shown in figure5.2, manipulator’s joint includes a robot base (A), a shoulder (B), an elbow (C), a wrist1(D) ,a wrist2(E) and a wrist3(F). The manipulator base is used for the robot body and the base connection. End-effector is used to connect manipulator and tool. Aluminium pipe is used to connect shoulder and elbow or elbow and wrist. Through the AUBOPE user interface or hand-guiding, users can control the rotation of every joint and move endeffector to any poses.

Manipulator

Manipulator base

Control box Teach pendant

Flange

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Figure 5-2 -1 Manipualtor Joints

Control box is the main control part of AUBO-i10 robot. Please read chapter 8 for any modules inside control box.

AUBO-i10 provides multiple I/O interfaces, there are 4-channel digital I/O and 2-channel analog inputs on end-effector flange. Control box communicates with manipulator by CAN-Bus.

The teach pendant provides a visual interface. Users can test, program, and simulate the manipulator through the teach pendant with a small amount of programming skills.

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6. ROBOT INSTALLATION

Brief installation steps

The installation of AUBO robots includes:

1. Define a robot workspace;

2. Install the robot manipulator on base;

3. Install end-effector

Important safety instructions

Installation Conditions：

•No corrosive gases or liquids •No oil mist

•No salt •No dust or metal powders

•No mechanical shock, vibration •No electromagnetic noise

•No radioactive materials •Low humidity

•No flammable materials

•Ambient temperature:0°C ~ 45°C

•Avoid direct sunlight (avoid using outdoor)

Floor carrying capacity：

Install manipulator on a hard surface which can undertake at least 10 times heavier than overturning moment of robot base and at least 5 times the weight of the manipulator. Moreover, the surface cannot be shaken. Please read appendix for more precise data of carrying capacity.

Safety assessment is needed after every installation. Please strictly follow the instructions in chapter 1(Safety).

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Install additional equipment:

If any additional modules, like cable, which are not provided by AUBO (Beijing) Robotics Technology Co., Ltd., are integrated in industrial robot, users have the responsibility to ensure these modules won’t affect safety function.

1. Safety assessment must be performed each time the robot is installed, and

the instructions in Section 1 (Safety) are strictly observed.

2. The control box should be placed horizontally on the ground. A 50 mm

gap should be reserved on each side of the control box to ensure smooth air circulation

3. The teach pendant can be hung from the control box. Make sure you don't

step on the cable.

1. Make sure that the control box, teach pendant, and cable are not exposed

to liquids. A wet control box can cause casualties.

2. The control box and teach pendant should not be exposed to dust or

moisture in an IP54 class. Pay close attention to the environment where conductive dust is present.

Workspace of the Robot

Mechanical dimensions of manipulator

The mechanical dimensions of the manipulator are shown in figure 6.1. The robot working range should be firstly considered during installation in case of bumping into people or equipments around.

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Figure 6-1 AUBO-i10 mechanical dimensions, unit: mm

Effective working range

The workspace of the manipulator, as shownin Figure 6.2, is a sphere of radius 1350mm except the cylindrical space directly above and directly below the robot base. When choosing the installation position, be sure to consider the cylindrical space directly above and directly below the robot base must to avoid moving the tool into this cylindrical space as much as possible. In practical application, the range of rotationa of joint 1 to joint 6 is -175°~ +175°.

The robot must work within an effective workspace.

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Figure 6-2 AUBO-i10 workspace illustration

Hardware Installation

The Manipulator Base

AUBO robot manipulator base is shown in figure 6.3.

The base has 4 anchor bolts for easy fixing. When the user needs to fix the robot, rotate the plum wheel to adjust the height of the anchor bolt, and tighten the nut to fix the robot. It is recommended to use a live wrench to rotate the nut.

Base and robot contact surface

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Figure 6-3 Diagram of manipulator base structure

The mechanical dimensions of the manipulator base structure are shown in Figure 6.4

Figure 6-4 Mechanical dimensions of the manipulator base structure (left: plan view; right: front view)

Manipulator Installation

The robot has a function of self-adaption for Installation pose. It can be installed in base, hoisting, mount on wall or any specific installation method, as shown below:

Figure 6-5 Diagram of different installation poses

Using four M8 bolts to fix manipulator on the base. It’s recommend using two -6mm holes to install pins to improve the installation accuracy. Mechanical dimensions is shown in Figure 6.6.

Nut

Plum blossom wheel

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Figure 6-6 : Mounting whole size of the manipulator base.

If installation method is changed (such as choosing hoisting, wall-mounted etc.), after running the AUBOPE and click the “ON” ->” OFF”, then the teach pendant will pop up following window:

Figure 6-7 Pop window of changing installation position

Under this circumstance, please choose the correct option on the AUBOPE, otherwise, it may have unpredictable movement in hand-guiding mode.

Make sure manipulator is installed correctly and safely

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If the robot is submerged in water over an extended time, it might be damaged. The robot should not be installed in water or in a wet environment unless it has IP67 protection class.

Tipping hazard. If the robot is not safely placed on a soild surface, the robot can fall over and cause injury.

End-effector Installation

Mechanical structure size of end-effector flange

End-effector flange has four M6 threaded holes and a Ф6 positioning hole to fix the fixture on the end easily, as shown in figure 6.8.

Figure 6-8 Mechanical dimensions of end-effector flange, unit: mm.

1. Make sure the tool is properly and safely bolted in place.

2. Make sure that the tool is constructed such that it cannot create a hazardous situation by

dropping a part unexpectedly.

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Cable connection

There are 3 sockets on the bottom of the control box. There is a socket on the bottom of the robot body. There is a socket on the lower right side of the teach pendant. Insert the corresponding cable into the socket before use.

Table 3 Cable Connection Diagram

Classification

Photo

Teach pendant cable Manipulator cable

Control box power cable

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Socket at the bottom of the control box that is connected to the cable

Teach pendant cable connected to the teach pendant

Manipulator cable connected to the manipulator

Table 4 Cable Connection Method

Number

Classification

Description

Connection method

Teach pendant cable connected to control box

One end of the teach pendant cable connected to the control box is a curved circular aviation plug.

First unscrew the dust cap on the control box interface from the socket, and then insert the elbow round aviation plug into the control box. Pay attention to the direction of insertion and tighten the locking ring after inserting it.

manipulator cable connected to the control box

The end of the robot cable connected to the control box is a curved circular aviation plug.

External power

The end of the external

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cable connected to the control box

power cable cable that connects to the control box is a curved round aviation plug.

Teach pendant cable connected to the teach pendant

One end of the teach pendant cable connected to the teach pendant is a straight tube aviation plug.

First unscrew the dust cap on the teach pendant interface from the teach pendant and insert the straight air plug into the teach pendant. Pay attention to the direction of insertion and tighten the locking ring after inserting it.

Robot cable is connected to the robot body

One end of the robot body cable connected to the robot body is a straight pipe aviation plug.

First unscrew the dust cap on the robot body interface from the socket; align the pins of the plug and the socket with the socket respectively. The judgment mark is whether the gap on the socket and the protrusion on the plug are aligned, and then insert the plug. In the socket; rotate the fastening nut on the plug clockwise (in the direction of the plug toward the socket) until you hear a 'click', indicating that the connection is successful.

Pay attention to the following when connecting cables

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1. Make sure the robot is grounded (electrical ground) in the correct

way. The grounding connector should have at least the rated current of the highest current in the system.

2. Make sure that all cables are properly connected before the

control box is energized. Always use the original power cord correctly.

3. Never disconnect the robot cable while the robot arm is open.

4. Do not extend or modify the original cable.

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7. THE I SERIES STANDARD CONTROL BOX

Introduction

Control box is the control center of AUBO robot, which contains a control board, a safety control board, a switching power supply and a safety protection device. The control box is powered by 100V-240V AC. Its 2 internal switching power supplies convert 100V-240V AC into 12V, 24V and 48V DC which supply power for the load inside control box and the robot. Therefore, the connection between the robot and the teach pendant or the control box must be checked securely before use.

Control box is designed with hardware protection and software protection to ensure the security in the greatest degree when people use. Using multiple circuit breakers inside the control box plays a reliable role in short-circuit and overload protection on the hardware. With the emergency stop button in both the control box and the teach pendant, users can cut off robot’s power in the shortest time to protect personnel and equipment.

Figure 7-1 I Series Standard control box

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Electrical warnings and cautions

The following warnings and cautions must be observed when a robot and control box application is designed and installed. The warnings and cautions also apply for service work.

Never connect safety signals to a PLC which does not fulfill the requirements of a correct safety level. Failure to follow this warning could result in serious injury or death due to the failure of the safety stop function

1. Make sure that all non-waterproof equipment remains dry. If water comes inside the

product, turn off all the power switches and then contact your supplier.

2. Use original cables supplied with the robot only. Do not use the robot for

applications where the cables will be subjected to bent. Contact your supplier if longer or flexible cables are needed.

3. All mentioned GND connections are only for powering and transimitting signals.

For Protective Earth (PE) use the screw connections marked with the earth symbols inside the control box. The grounding conductor shall have at least the current rating of the highest current in the system.

4. Be careful when installing the interface cables to the robot’s I/O.

As shown in the figure below, the red frame area is AC 100-240V and DC 48V hazardous area. Do not touch the fastening screws and other metal parts directly by hand. Do not remove the wiring by power.

Control box panel introduction

The front panel, side panel and back panel of the control box are related to switches, buttons, indicators and electrical interfaces.

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Control box front panel

The front panel structure of the control box is shown below.

Figure 7-2 Schematic diagram of the front panel of the control box

Table 5 Front panel switch, button and indicator function description

Name

Function

POWER SWITCH

The main power switch, 1 is the power-on state, and 0 is the power-off state.

EMERGENCY

The robot emergency stop button, the robot is powered off after pressing.

STANDBY

When the indicator light is on, it indicates that the control panel interface board program is initialized. You can press the teach pendant power button to power on the robot.

POWER

The indicator light is on to indicate that the external power is on.

EMERGENCY STOP

The indicator light indicates that the robot is in an emergency stop state.

MODE MANUAL/LINKAGE

Robot manual mode and linkage mode selection. When the button is pressed, the robot enters the linkage mode.

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MANIPULATOR ON

When pressed, the robot power is turned on, and the indicator light indicates that the robot is powered on.

TEACH PENDANT

The teach pendant enable status display. In manual mode, the indicator light is always on. In the linkage mode, the indicator light is off to indicate that the teach pendant is not available.

Control box side panel

The USB interface is provided on the right side of the control box. Users can open the control box side door by rotating the key to use this interface.

Figure 7-3 USB communication interface on the side of the control box

USB interfacce

Shield protection

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Figure 7-4 Control box side panel parts marking a

Figure 7-5 Control box side panel parts marking b

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Figure 7-6 Control box side panel parts marking c

Number

Name

filter

breaker

Power on handle

Status indicator module (can be displayed after

removing the 3 power-on handle)

Leakage protector (displayed after removing the

3 power-on handle)

Safety Relays

Teachee enable switch

AC contactor

Ground terminal

Sub-terminal

48V DC power supply

Motherboard (displayed after removing the

shield cover)

VGA differential board (displayed after

removing the shield cover)

Main control interface board (can be displayed

after removing the shield protection cover)

User IO board

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IO expansion board

24V/12V DC power supply

Control box back panel

The Ethernet interface and USB interface are provided on the rear side of the control box. Two USB ports are provided on the motherboard on the side of the control box. See the following figure.

Figure 7-7 Communication interface on the back of the control box

Table 6 Description of the control panel back panel interface

Number

Interface

Function

Ethernet interface

Can be used for remote access and control.

Modbus RTU interface

Can be connected to a Modbus device

USB interface

Can be used to update software, import and export

project files.

Electrical interface

outside the control box

Provide external I/O interface

Teacher cable interface

Connect the teach pendant cable

Robot body cable

interface

Connect the robot body cable

Power interface

Connect the power cord

USER I/O

Ethernet interface

USB interface

Modbus RTU

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Figure 7-8 Schematic diagram of the external electrical interface of the control box

It is forbidden to plug and unplug the USB device while the robot is running.

Selection of working mode

The robot system has two working modes, manual and linkage, which are selected by button switches. When changing the working mode of the robot system, it is necessary to select the specified working mode after power off, and then re-inspire the teaching device and the robot body.

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Manual mode

In the manual mode, the signal that is externally fed into the arm through the interlock mode IO cannot control the arm. This mode is generally suitable for working conditions with only one robot arm.

➢ Power on: Turn on the main control switch of the control box and wait until the standby indicator

lights up. Press the teach pendant start button for about 1 second and the robot powers up.

➢ Force control button: When the robot is in the teaching mode, press and hold the teach pendant force

control button to the middle gear position, drag the robot to the target position, and release the button.

➢ Emergency stop: Press the emergency stop button on the teach pendant or control box to power off the

robot. Rotate the emergency stop button, follow the instruction of the teach pendant interface to operate the teach pendant, and the arm is powered back on.

➢ Shutdown: Normal exit: Press the software close button in the upper right corner of the teach pendant

to exit the program; forcibly shut down: long press the start button in the upper left corner of the teach pendant for about 3s, the blue light is off, the teach pendant and the robot are powered off.

Linkage mode

In the linkage mode, the robot arm can communicate with one or more external devices (mechanical arms, etc.) through the linkage mode IO port. This mode is generally suitable for coordinated motion between multiple robot arms.

Table 7 User linkage mode IO function and status description in linkage mode

Input

Interface board IO function and status

LI00

Program start signal input interface in linkage mode

LI01

In the linkage mode, the program stops the signal input interface.

LI02

In the linkage mode, the program pauses the signal input interface.

LI03

In the linkage mode, the program returns to the initial position signal

input interface.

LI04

Remote power-on signal input interface (can also be remotely controlled

in non-linked mode)

LI05

Remote shutdown signal input interface (can also be remotely controlled

in non-linked mode)

Output

Interface board IO function and status

LO00

Program operation signal output interface in linkage mode

LO01

Program linkage signal output interface in linkage mode

LO02

In the linkage mode, the program pauses the signal output interface.

LO03

In the linkage mode, the program returns to the initial position signal

output interface.

The case below demonstrates how to use external device to manuplate the robot under linkage mode. Users can refer the process described below:

For the first-time use, the user needs to configure the default boot program in the teach pedant manually. Instructions are below:

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After the teach pendant is started, select the project file in the online programming -> project -> default project and select the automatic loading of the default project and click OK to set the default project.

Make sure the power to the control box is disconnected.

Follow the demonstration below, connect the external devices with IO interface on the back of the control box. Users can use the external singals to manipulate the robot.

Figure 7-9 linkage mode wire connection showcase

Press the button “MODE MANUAL/LINKAGE” on the front panel of the control box. Power the control box. Configure the external devices singals. Then the user can follow the process below to use linkage mode.

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Figure 7-10 linkage mode use showcase

Under linkage mode, if the teach pendant is not needed, after setup the default program successfully, the user can switch off the teach pendant enable in the control box. After “TEACH PENDANT ENABLE” is out, it is ok to remove the wire from the teach pendant.

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8. INTERNAL ELECTRICAL INTERFACE

Introduction

The AUBO robot I series standard control box provides a variety of electrical interfaces to connect the external equipments and tools. Users can easily use these interfaces.

The electrical interface of the control box is divided into: safety I/O and general I/O. The AUBO interface board has 16 general digital input interfaces, 16 general digital output interfaces, 4 pairs of analog voltage input interfaces, 2 pairs of analog voltage output interfaces and 2 pairs of analog current output interface. The electrical error is about ±1%.

IO Specification

All AUBO robot IOs are set to NPN mode, which means low voltage level effective. When an User IO is set to “Effective” or “High” on the teach pendant, the actual voltage level at the IO output is low.

Note Open circuit protection is set in each IO. Therefore, whenever an IO is not connected in a closed circuit, its output voltage is going to remain at high even if the IO is set to “Effective” by script or by teach pendant.

For digital IO outputs, the method to check the IO status is to measure the resistance between DO and 0V. When the DO is set to “Effective” or “High”, the resistance goes to approximately 0Ω, otherwise the resistance is about 12KΩ.

Electrical warnings and cautions

The following warnings and cautions must be observed when a robot and control box application is designed and installed. The warnings and cautions also apply for service work.

1. Make sure that all non-waterproof equipment remains dry. If water comes inside the

product, turn off all the power switches and then contact your supplier.

2. Use original cables supplied with the robot only. Do not use the robot for

applications where the cables will be subjected to bent. Contact your supplier if longer or flexible cables are needed.

3. All mentioned GND connections are only for powering and transimitting signals.

For Protective Earth (PE) use the screw connections marked with the earth symbols inside the control box. The grounding conductor shall have at least the current rating

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of the highest current in the system.

4. Be careful when installing the interface cables to the robot’s I/O.

1. Interference signals higher than the level specified in the IEC standard will cause the

abnormal behavior of the robot. Extremely high signal levels or excessive exposure can damage the robot permanently. EMC problems usually occur in welding processes and are normally prompted by an error messages in the log. AUBO (Beijing) Robotics Technology Co., Ltd is not responsible for the loss caused by the EMC problem.

2. I/O cables going from the control box to other machinery and factory equipment

may not be longer than 30m, unless extended tests are performed.

Control box communication interface

The AUBO Robotic I Series standard control box provides a variety of electrical interfaces for connecting external devices that are easily accessible to the user.

Remove the back cover of the back panel of the control box. The panel provides Ethernet interface, Modbus RTU interface, USB interface and some electrical interfaces. (Refer to 7.3.3 Control box back panel)

Ethernet interface

The Ethernet interface can be used for remote access and control. Users can refer to 10.6.3 Network Settings to connect external control devices.

Modbus device interface

The Modbus device interface is located on the back panel of the control box (see 7.3.3 Control Panel Back Panel). Modbus devices can be connected via the USB interface and the Modbus RTU interface.

The Modbus RTU interface pin description is shown below:

Figure 8-1 Modbus pin description

USB interface

The USB interface is located on the back panel and side panel of the control box (see 7.3 Control box

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panel) for device connection, software upgrade and project file export (see 10.6.6 update for usage).

Control box I/O power supply

Internal power supply

The control panel panel IO defaults to the internal power supply mode, as shown in the following figure:

Figure 8-2 Internal power supply schematic

External power supply

If the user needs to use external power supply, please use the following wiring method.

Figure 8-3 external power supply schematic

When the electrical interface of the control box is wired, the control box must be powered off.

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Safety I/O

Introduction

The safety I/O designed as dual channel (redundant design) to ensure the safety function shall not lost in any case of single failure. The safety devices and equipments must be implemented in accordance with the safety instruction and finished the comprehensive risk assessment before use. The safety I/O is located on the orange terminal block on the back panel of the control box and needs to be retained in two branches.

Safety Tips

1. Never connect safety signals to unsafety PLC which is not in correct safety level

2. Be sure to separate the safety I/O signal with normal I/O signal

3. Ensure to check the safety function before using the robot, and the safety function

must be tested regularly.

Safety I / O function definition

The safety I/O are orange color in the external panel of the control box. The safety functions are defined as following:

Input

SI00

SI10

External Emergency Stop

SI04

SI14

Enabling Device

SI01

SI11

Safeguard Stop

SI05

SI15

Operational Mode

SI02

SI12

Reduced Mode Input

SI06

SI16

Hand Guiding Enable

SI03

SI13

Safeguard Stop Reset

SI07

SI17

System Stop Input

Output

SO00

SO10

Robot Emergenccy Stop

SO04

SO14

Not Reduced Mode

SO01

SO11

Robot Moving

SO05

SO15

System Error

SO02

SO12

Robot Not Stopping

SO06

SO16

BACKUP (Unavailable for User)

SO03

SO13

Reduced Mode

SO07

SO17

BACKUP (Unavailable for User)

Safety related electrical inputs

Safety-related electrical outputs

Safety Input Functions

Worst Case

Detection time

Power off time

Response time

External Emergency Stop

100ms

1200ms

1300ms

Safeguard Stop

100ms

——

1200ms

Reduced Mode Input

100ms

——

1200ms

Safeguard Stop Reset

100ms

——

1200ms

Enabling Device

100ms

——

1200ms

Operational Mode

100ms

——

1200ms

Teach Pendant Emergency Stop

100ms

1200ms

1300ms

System Stop Input

100ms

——

1200ms

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Default Safety Configuration

The robot is shipped with a default configuration as below. In this case, the robot can be operated without any additional safety equipments

Figure 8-4 Default safety configuration

Safety Output

Worst case

responding time

Safety Output

Worst case

responding time

Robot Emergenccy Stop

1000ms

REDUCED MODE

1000ms

Robot Moving

1000ms

NOT REDUCED MODE

1000ms

Robot Not Stopping

1000ms

SYSTEM ERROR

1000ms

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External Emergency Stop Input

In the case that there is required to use one or more external emergency stop buttons, users can connect those devices as below.

Figure 8-5 External emergency stop input

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Safeguard stop Input

Users can connect external safety devices (such as safety light curtains, safety laser scanners, etc.) through this interface, then control the manipulator to enter the safeguard stop state and stop the movement of the manipulator.

When configuring the auto-reset safeguard stop, the user can refer to the following example, using the safety light curtain to connect to the safeguard stop input interface. See below.

Figure 8-6 Safeguard stop input (Internal Power Supply)

After the operator enters the safety zone, the robot stops moving and maintains category 2 stop. After the operator leaves the safety zone, the robot starts automatically from the waypoint where it stopped. During this process, there is no need to use protective reset input.

In this mode, the response time of the system is 1200ms. If the user operates too frequently, the system may report an error.

In this configuration, user should select the protective reset as auto-reset via AUBOPE.

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When configuring the safeguard stop with reset button, the user can refer to the following example, using the safety light curtain to connect to the safeguard stop input interface. See below.

Figure 8-7 Safeguard stop input (Internal Power Supply)

After the operator enters the safety zone, the robot stops moving and maintains category 2 stop. When the operator leaves the safety zone, it needs to be reset from the outside of the safety zone by pressing reset button, and then click on the AUBOPE to run. The robot continues to run from the stop point. During this process, a protective reset input is required.

In this mode, the response time of the system is 1200ms. If the user operates too frequently, the system may report an error.

In this configuration, user should select the protective reset as manual reset via AUBOPE.

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Reduce Mode Input

The user can use this interface to control the manipulator enters the reduced mode. In this mode, the motion parameters (joint speed, TCP speed) of the manipulator are limited to the user-defined reduced mode range.

The user can refer to the following example, using a safety mat to connect to the reduced mode input interface. See the next figure.

Figure 8-8 Reduceed mode input connection

When the operator enters the safety zone, the robot enters the reduction mode, and the motion parameters (joint speed, TCP speed) of the manipulator are limited to the user-defined reduced mode range. After the operator leaves the safety zone, the manipulator exits the reduced mode and enters the normal mode, and the robot moves normally.

In this mode, the response time of the system is 1200ms. If the user operates too frequently, the system may report an error.

When using this type of configuration, the user needs to configure the reduced mode motion parameters through the AUBOPE.

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Safeguard stop Resert Input

When configure the safeguard stop with reset device, users can use this interface to connect external reset devices (reset buttons, etc.). Refer to the following example, connect the safety light curtain to the safeguard stop input terminal and use the safety reset button to connect to the safeguard stop reset input terminal. See the next figure.

Figure 8-9 Safeguard stop Resert Input connection (Internal power supply)

After the operator enters the safety zone, the robot stops moving and maintains at category 2 stop. When the operator leaves the safety zone, it is necessary to reset the manipulator from the outside of the safety zone and reset the button. The robot continues to run from the stop point. In this process, user needs to use the safeguard stop reset input.

When using this type of configuration, the user needs to configure the protective reset as manual reset through the AUBOPE.

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Enabling Device Input

Users can use this interface to connect external safety devices (such as three-position enabling switch, etc.), in order to verify the project. The user can refer to the following example, using the three-position enabling switch to connect the enabling device input interface. See the next figure.

Figure 8-10 Enabling device input connection

In the verify mode, the robot starts to move when the three-position enable switch is in the enable position (intermediate position); when the user releases or presses the three-position enable switch, the three-position switch is in the non-enabled position, and the manipulator stops moving.

When using such a configuration, the user is required to ensure that the robot is in verfication mode. Users can configure the operating mode through AUBOPE to verification mode, or also through the operation mode input configure the robot to verfication mode

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Operational Mode Input

Users can use this interface to connect an external safety device (mode selector switch, etc.) and select the robot working mode. The user can refer to the following example, using the safety selector switch to connect to the operation mode input interface. See the next figure.

Figure 8-11 operation mode input connection

When the user switches the selector switch to the A position, the robot enters the normal mode, and the user can use the robot normally. When the user switches the selector switch to the B position, the robot enters the verification mode. In this mode, only when the enabling device input is valid, the manipulator executes the verficatipon project and operates normally. When the enabling device input is invalid, the robot stops immediately.

Hand Guiding Enable Input

User can use this interface to receive external hand guiding enable singal input, then the robot enters hand guiding mode. The user can refer to the following example,using the hand guiding function without the force control button in the teach pendant.

Figure 8-12 hand guiding enable input

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System Stop Input

Users can use this interface to receive external stop signal input and control the robot to enter a category 1 stop. This input can be used in multi-machines collaboration mode, by setting a common emergency stop line and sharing emergency stop with other machines. The operator can use the emergency stop button of one machine to control the entire line of the machines into an emergency stop state. The user can refer to the following example, the two robots share the emergency stop function. In this system, the emergency stop output connected to the system stop input terminal. See the next figure.

Figure 8-13 system stop input connection

When one of them enters the emergency stop state, the other will immediately enter the emergency stop state to achieve the function of two machines share emergency stop

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Robot Emergency Stop Output

The user can use this interface when the robot enters the emergency stop state. It will output an emergency stop signal. The user can refer to the following example to connect the external alarm light to the system emergency stop output interface. See the next figure.

Figure 8-14 robot emergency stop output connection

In this configuration, when the robot enters the emergency stop state, it outputs a system emergency stop signal and the external alarm light.

This function is widely used and, in any case, requires a complete risk assessment by users or Integrators.

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Robot Moving Output

Through this interface, the user can outputs the robot moving signal to the outside when the robot moves normally. The user can refer to the following example to connect the external indicator to the robot moving output interface. See the figure below.

Figure 8-15 Figure robot moving output connection

In this configuration, when the robot moves normally, device outputs the robot moving signal to the outside and the external robot moving status indicator lights.

This function is widely used and, in any case, requires a complete risk assessment by users or Integrators.

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Robot Not Stopping Output

T through this interface, when the robot receives the stop signal and decelerates the moving, the robot has not yet completely stopped. It outputs a robot not stopping signal. The user can refer to the following example to connect the external indicator to the robot not stopping output interface. See the figure below.

Figure 8-16 robot not stopping output connection

In this configuration, when the robot receives the stop signal and decelerates the moving, robot has not yet completely stopped, it outputs a robot not stopping signal and the external robot not stopping status indicator lights.

This function is widely used and, in any case, requires a complete risk assessment by users or Integrators.

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Reduced Mode Output

The user can use this interface to output a reduced mode signal to the external environment when the robot enters the reduced mode. The user can refer to the following example to connect the external indicator to the reduced mode output interface. See the figure below.

Figure 8-17 reduced mode output connection

In this configuration, when the robot enters the reduced mode, it outputs a reduced mode signal and the external reduction mode indicator lights

This function is widely used and, in any case, requires a complete risk assessment by users or Integrators.

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Not Reduced Mode Output

The user can use this interface to output a not reduced mode signal to the external when the robot enters the not reduced mode. The user can refer to the following example to connect the external indicator to the not reduced mode output interface. See the figure below.

Figure 8-18 not reduced mode output connection

In this configuration, when the robot enters the not reduced mode, it outputs a not reduced mode signal and the external not reduction mode indicator lights

This function is widely used and, in any case, requires a complete risk assessment by users or Integrators.

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8.5.18 System Error Output

The user can use this interface, and when the robot system has an error, it outputs a system error signal to the outside. The user can refer to the following example to connect the external indicator to the system error output interface. See the figure below.

Figure 8-19 System error output connection

In this configuration, when the robot system error alarms, it outputs a system error signal and the external system error indicator light.

This function is widely used and, in any case, requires a complete risk assessment by users or Integrators.

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8.5.19 Non-stop continuous Output

This interface outputs a continuous signal until an emergency stop occurs. The user can use this interface to stop the two robot arms from each other.

Internal I/O

The internal IO of the control box is an internal function interface, which provides the I/O status display of the internal interface board of the controller. This part of the interface is not open to the user. The user can view the internal I/O status through the teach pendant interface (see10.3.1Controller I/O Tab). The internal IO status of the control box is described in the following table:

Input

Function

CI00

Linkage/Manual

CI01

Host/Slave

CI02

Power Contactor for Manipulator

CI03

Control Box Emergency Stop

CI10

Manipulator On

CI11

Manipulator Off

CI12

Power Contactor for Manipulator

CI13

Control Box Emergency Stop

Output

Function

CO00

Stand By

CO01

Emergency Stop

CO02

Linkage/Manual

CO03

AUBOPE Running

CO10

Back Up

CO11

Emergency Stop

CO12

Back Up

CO13

Back Up

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General I/O

The AUBO interface board has 16 digital input interfaces, 16 digital output interfaces, 4 pairs of analog differential input interfaces, 2 pairs of analog voltage output interfaces and 2 pairs of analog current output interfaces which electrical errors are about ±1%.

The following table lists the function’s definitions of the various I/O. Users must follow the requirements in the table. In addition, users should note that buttons and switches on control panel occupy part of the I/O.

IO Specification

When connecting external devices, all external devices should be connected to the ground with the control box.

General purpose digital I/O interface

The general purpose digital I/O interface is located on the back panel interface board of the control box.

16 users on the control box can use the general purpose digital input terminal (the "DI terminal" to represent the digital input terminal), they all work in the NPN mode, that is, the DI terminal and the ground conduction can trigger the action, and the DI terminal is disconnected from the ground. Does not trigger an action.

The DI terminal can read the action signals of the switch button, sensor, PLC or other AUBO robot.

The 16 users on the control box can use the general digital output (hereinafter referred to as the "DO end" to indicate the digital output), which all work in the form of NPN. The working process of the DO terminal can be expressed as shown in the following figure. When a logic "1" is given, the DO terminal and GND are turned on; when a logic "0" is given, the DO terminal is disconnected from the GND.

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Figure 8-20 DO connect GND

The DO end can be directly connected to the load or communicate with a PLC or other robot. The user can control the above digital IO through the teach pendant AUBORPE software.

Input DI00

DI01

DI02

DI03

DI04

DI05

DI06

DI07

DI10

DI11

DI12

DI13

DI14

DI15

DI16

DI17

Output DO00

DO01

DO02

DO03

DO04

DO05

DO06

DO07

DO10

DO11

DO12

DO13

DO14

DO15

DO16

DO17

Electrical parameter specification

DI Input form

P-lesend No-voltage contact input NPN open collector transistor

Input method

Input signal current

Electrical specifications

5mA/DC24V

DO Output form

Transistor (P-lesend type)

Electrical specifications

300mA/DC24V

Electrical parameters

Parameter term

minimum value

Maximum value

Single DI input voltage

0 V

24 V

Example

Some common wiring examples are listed below.

DI end connection button switch

As shown in the figure below, the DI terminal can be connected to ground (G) through a normally open

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button. When the button is pressed, the DI terminal and GND are turned on to trigger the action. When the button is not pressed, the DI terminal is disconnected from GND, and no action is triggered. This is the simplest wiring example.

Figure 8-21 DI end connection button switch schematic

DI end connection two-end sensor

As shown in the figure below, there is a sensor connected between the DI terminal and GND. If the voltage difference between the OUT terminal and the GND terminal is small when the sensor is working, the action can be triggered. When the sensor is not working, the loop is disconnected and the action is not triggered.

Figure 8-22 DI connect to two-terminal sensor

DO termination load

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Figure 8-23 DO connect to load

Analog I/O interface

The analog I/O interface is located on the interface board on the back of the control box. There are 4 pairs of analog voltage input interfaces, indicated by VI. There are 2 analog voltage outputs and 2 analog current outputs, which are represented by VO and CO respectively. As shown below.

Figure 8-24 Analog I/O interface diagram

General purpose analog input and output available to users

Input

VI0

Analog voltage input

VI2

Analog voltage input

VI1

Analog voltage input

VI3

Analog voltage input

Output

VO0

Analog voltage output

CO0

Analog current output

VO1

Analog voltage output

CO1

Analog current output

General purpose analog input and output interface electrical parameter specifications available to

users

Type

voltage

current

Input

0~+10V

Output

0~+10V

0~20mA

Accuracy

±1%

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Electrical parameters at the VI end

Parameter term

Minimum value

Maximum value

Units

Input voltage

+10 V Input resistance

100K

VI sampling resolution

BITS

VI sampling accuracy

BITS

VO end electrical parameters

Parameter term

minimum value

Maximum value

Single VO terminal input voltage

+10 V

Single CO terminal input current

0mA

20 mA

Example

Analog voltage output wiring method

For the analog voltage output, refer to the wiring method shown in the figure below.

Figure 8-25 Analog output drive differential device

Analog voltage input wiring method

External sensor wiring:

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Figure 8-26 connect to sensor

Analog current output wiring method5

The analog current output can be wired as shown in the figure below.

Figure 8-27Analog current output connect to current source

Clear alarm signal interface

F6 on the back panel of the control box is the clear alarm signal interface. This signal is active low.

Remote switch control I/O interface

The remote power on/off control I/O interface is located on the back panel interface board of the control box, as shown in the figure below.

Figure 8-28 Remote I/O interface control I/O interface

Using the remote power on/off control I/O interface allows you to control the teach pendant and robot body to be turned on or off without the use of a teach pendant.

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Table 1 Remote Switch Control I/O Interface

Input

Functional description

LI04

Remote boot signal input interface

LI05

Remote shutdown signal input interface

Remote power on

This example shows how to connect the remote boot interface, ie the teach pendant and the robot are powered up after the switch is closed.

Figure 8-28 schematic diagram of remote boot wiring

Remote power off

This example shows how to connect the remote shutdown interface, ie the teach pendant and the robot are powered off after the switch is closed.

Figure 8-29 Remote shutdown wiring diagram

Linkage Control I/O Interface

The linkage control I/O interface is located on the interface board on the back of the control box and is represented by LI/LO, as shown in the figure below.

Figure 8-30 Schematic diagram of linkage control I/O interface

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The linkage control interface can be used to control the movement state of the robot body from the teach pendant. For details on the usage, see7.4.2Linkage mode.

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Robot Tool I/O Interface

There is a 8-pins mini connector on end-effector, which electrical error is about±10%, to provide power and control signals to specific tools (Holder for example) used in the end. Wiring as shown below.

Figure 8-29 connecting cables

Analog terminal electrical parameters

The eight wires inside the Lumberg RKMV 8-354 industrial cable have different colors. The different colors designate different functions, see table below:

Color

Signal

White

GND

Brown

12/24V

Gray

DI/O 0

Blue

DI/O 1

Green

DI/O 2

Yellow

DI/O 3

Red

AI 0

Pink

AI 1

Table 22 Electrical parameters of the analog end

Parameter item

Min

Max

Voltage input analog AI 0

+10 V

Voltage input analog AI 1

+10 V

Power supply electrical parameters

In the IO tab of the graphical user interface, set the internal power supply to 0V, 12V, 24V. The electrical specifications are as follows.

Table 23 Electrical parameters in different modes of power supply

Parameter

Min

Typ

Max

Unit

Supply voltage in 24V mode

Supply voltage in 12V mode

11.5

12.5

Supply current in two modes

0.8

1.0

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Tool digital output

The digital output is implemented in the form of NPN. After the digital output is activated, the corresponding connector will be driven to GND. After the digital output is disabled, the corresponding connector will be open. The electrical specifications are as follows:

Table 24 Tool Digital Output Electrical Parameters

Parameter

Min

Typ

Max

Unit

Voltage at open circuit

Same supply voltage

Voltage when inputting 1A

current

0.35

0.4

0.85

Input Current

0.35

0.4

0.5 A Current through GND

0.35

0.4

0.5

Tool digital input

The digital input is implemented as an NPN with a weak pull-down resistor as shown in the following figure:

Parameter

Min

Typ

Max

Unit

Input voltage

-0.5

Vout+2

Logic low voltage

1.5 2 V

Logic high voltage

Vout-4

Vout

Vout+2 V Input resistance

4.3 - k.

Tool IO

Parameter

Min

Typ

Max

Unit

Input voltage in voltage mode

0 - 10

Input resistance resolution in

the 0V to 10V voltage range

0.0024

When connecting thetool and the holder, ensure that there is no danger when interrupting the power supply, such as dropping the workpiece from the tool.

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9. GETTING STARTED

Basic function introduction

The robot body is an execution part of the robot system, wherein the base is for mounting the robot body, the shoulder and the elbow perform a large amplitude action, the wrist 1 and the wrist 2 perform a finer motion, and the wrist 3 can be connected with the end tool.

The control box is the control part of the robot system, which can control the movement position, posture and trajectory of the robot in the work space, and the electrical input and output terminals of the connected equipment.

The teach pendant is the display and operation part of the robot system. It has a human-computer interaction interface for menu operation, programming and online operation. The user can directly operate and control the robot body to perform related tasks through the AUBORPE software displayed on the teach pendant interface. .

Take out the AUBO robot from the packing box and install it on the base. Please read the specific installation instructions in chapter 6: Installation.

1. Control box should be placed horizontally on the ground. A gap of 50mm on each

side is needed for sufficient air circulation

2. The teach pendant can be hung on the control box. Make sure that no one can step on

the cable.

1. Make sure that the control box, teach pendant, and cables are not incontact with

liquids. A wet control box cancause casualtie.

2. The control box and the teach pendant should not be exposed to dusty or wet

environments that exceed IP20 rating. Pay close attention to the environment that contains conductive dust.

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Installing the robot system

Install the robot body and control box (see Chapter6 ROBOT INSTALLATION, for specific installation instructions and warning information) before using AUBORPE. Refer to the following procedure to install the robot system.

1. Unpacking the robot body, control box, teach pendant, and related cables;

2. Mount the robot body to a strong, shock-resistant surface;

3. Put the control box in the proper position;

4. Hang the teach pendant at the hook on the side of the control box;

5. Connect the cable to the corresponding robot body, control box and teach pendant. (Please refer to 6.6

Cable connection for specific connection instructions and warning information.

6. It is determined that the safety information in Chapter 6 ROBOT INSTALLATION has been observed

and the warning information has been circumvented;

7. Plug in the power plug of the control box;

Power on the manipulator

Preparation

➢ Check the connection of the manipulator and the control box. ➢ Check the connection of the teach pendant and the control box. ➢ Check the connection of the power cable and the control box. ➢ Check whether the power switch of the control box is shutdown when robot is unpowered. ➢ Check whether the emergency stop button on the control box and the teach pendant is pop-up. ➢ Check whether the mode switch key is in right position. ➢ Ensure the robot never hit any personnel or equipment.

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Power on System

Power on I series control box

Connect the cable connector to the AC power outlet, then switch the power from OFF to ON to light the power indicator.

Figure 9-1 Power switch

Power on the teach pendant and the manipulator

➢ Turn the key switch to the manual mode (manipulator has two working modes: manual mode and

linkage mode. Please read chapter 8.4.4 for more instructions).

➢ Wait for STANDBY lights steady and enters the standby state. ➢ Press start up button on the upper left of the teach pendant for about 1s when the blue light appears.

Robot and the teach pendant power-on at same time and the screen of teach pendant lights up.

➢ The startup button and the state of LED indicator are shown in follow figure.

Figure 9-2 the start button and LED indicator

Power switch

Power indicator

The start button and LED

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Power off the manipulator

Power off order: First, power off the robot and the teach pendant, then power off the control box.

a) Power off the manipulator and the teach pendant.

⚫ Normal exit: click the shutdown button on the upper right of the screen . ⚫ Mandatory shutdown: press and hold the startup button on the upper left of the teach pendant for

about 5s to turn off the blue light, then the teach pendant and the manipulator will power off.

b) Power off the control box.

Turn the power switch of the control box to OFF position.

1. Unplugging the power cord directly from the wall outlet to show down the system may result in damage to the robotic file system, which may result in robot malfunction.

2. Ensure to unplug the power cord after power off the whole robot system!

Start system quick

Before starting the robot system, please make sure that the robot body and control box are installed correctly.

➢ Rotate the control cabinet power switch to the ON state, wait for the power indicator and standby

indicator to light up;

➢ Press the switch button on the teach pendant to start AUBORPE, and the text will be displayed on the

interface;

➢ A pop-up window appears on the touch screen to indicate that the system enters the initialization

interface;

➢ Set the collision level, select and determine the tool; ➢ Please stand outside the reach of the robot body (work space); ➢ Click the start button to release the robot brake system. At this time, the robot body vibrates and

clicks, indicating that the robot system has been started and enters the state to be programmed.

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10. TEACH PENDANT

Instruction

The teach pendant is an important component of AUBO-i10 robot. Users can acquire information of the robot through the teach pendant, User also can control the manipulator to move and perform simple programming through the teach pendant.

Figure 10-1 Overview of the teach pendant

Number

Name

Function

switch

Used to enable or disable the teach pendant software.

LCD touch screen

Display of robot operation and status information.

emergency button

The emergency stop button on the teach pendant can be used to stop the robot. If you need to return to the

normal mode, you need to rotate the button in the

direction shown on the button.

Force control switch

It is a three-position enable switch that can realize the

three-position action of avoiding dangerous OFF

(opening) ⇒ ON ⇒ OFF (pressing). When the switch

is in the ON state, the robot can be dragged to teach.

Teach pendant cable

socket

Interface for cable connection to the control box.

Teach Pendant Operation Interface

User login

After the Teach Pendant software is turned on, enter the user disclaimer interface (you can tick the option

Teach pendant connector cable socket

Force control button

Emergency stop button

Power button

LCD touch screen

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to no longer prompt, and then run the AUBORPE software will no longer appear in this interface), after clicking through, the user login window will pop up.

Figure 10-2 login interface

Users need to select an account and enter a password before they can log in. Form 25 User Name Classification

User

Password

Permission limit

Admin (administrator)

The initial password is 1, the

user can modify

Maximum authority,

unlimited

Operator

The initial password is 1, the

user can modify

Safty Settings (10.5) and

update (10.6.6) are not

available

Default (default user,

cannot choose actively)

The default password is 1, the

user cannot modify

Safty Settings (10.5) and

update (10.6.6) are not

available

➢ Username does not support customization ➢ After checking the automatic login, the software will automatically enter the selected user

interface after it is turned on again.

➢ To cancel automatic login or switch user login, you need to click the logout icon in the

upper right corner of the interface.

➢ After determining the logout operation, if there is a running project, it will stop running and

switch to the user login interface.

➢ In the linkage mode, you are advised to select the login user and check the automatic login

option. If it is not checked, the default user is entered.

Initial Interface

After starting the AUBOPE, The following window will pop up:

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Figure 10-3 Initial Interface

User can select the specified tool flange center as the tool name. Click save-> start up button, then enter the teaching interface

Robot Movement Control

Robot Teaching User Interface

The Robot Teaching panel is used for the robot teaching operation. User can move the robot by clicking icon on the panel and get feedback information of movements from the panel. This section mainly focuses on the Robot Teaching panel.

Figure 10-4 Robot Teaching interface

The Robot Teaching user interface consists of 17 components:

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Number

Name

Currently logged in user

Logout button

Software close button

Menu bar options

3D simulation model

Work mode option

Step mode setting

Position control

Coordinate system selection

Robot arm position and orientation

parameter display

Target selection

Attitude control

Joint control

Zero pose and initial pose button

Speed display

Date and time display

speed control

1 Currently logged in user

The section of the software header bar displays the name of the currently logged in user. You can use the logout button to switch the logged in user. For details, see10.2.1User login.

2 Logout button

Log out of the currently logged in user account by clicking this button.

3 Software shut down button

Click to shut down the software.

4 Menu

Figure 10-5 User interface menu

Press on the menu would select the menu item. The selected menu renders a light text on a dark background.

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5 Robot 3D display window

Figure 10-6 Robot 3D display window

➢ Robot 3D display window verifies the user-written project without the real robot. ➢ The buttons on the upper left corner are used to observe 3D model. From left to right: rotating

counterclockwise along Z axis, rotating clockwise along Z axis zoom in, and zoom out.

➢ The function of the icons as follow:

：Base plane: click to hide the base reference plane in the simulation interface

：Actual waypoint model: click to hide ：User coordinate; click to hide ：Target waypoint model: click to hide

：Zoom out button

：Zoom in button ：Pan up button ：Pan down button ：Pan left button ：Pan right button ：Turn clockwise ：Turn counterclockwise ：Reset button

The simulation modet can also be used to validate control programs before applying on the real robot.

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6 Simulation/real control switch button

Figure 10-7 Robot mode selection.

➢ When "Real Robot" is selected, the teach pendant will control the robot manipulator in real time. ➢ When "Simulation Robot" is selected, the 3D manipulator model operates but the real robot won’t

move. To finish a program, users can test whether the procedure is right, firstly, by simulation to improve the safety of the robot's procedure.

7 Step Mode Control

Figure 10-8 Step mode control.

To improve the control accuracy and flexibility, it is necessary to increase the step mode control to allow the controlled variable change precisely in a stepwise manner.

➢ Use step control mode by activating step mode. ➢ Click the button on both sides of input box to adjust the robot’s step length. ➢ Position step indicates the step length of the end position movement, unit: mm, range:0.2-10.00mm ➢ Orientation step indicates the step length of the end pose movement, unit: deg, range:0.1-10.00deg ➢ Joint Step indicates the step length of the joint movement angle, unit: deg, range:0.1-10.00deg ➢ Step mode control is valid to control the end position/orientation and joints only.

8 Position control

The end of manipulator is based on the base coordinate system, the end coordinate system or the userdefined coordinate system to control robot movements. The end of manipulator can teach under different coordinate systems.

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Figure 10-9 Position control（base）

Figure 10-10 Position control（end）

9 Coordinate system

The user can control the motion state of the robot based on the base coordinate system, the end coordinate system, and the user-defined coordinate system.

base

Select the base coordinate system (base) to control the robot on the teach pendant interface, and the robot will move according to the coordinate system as shown below.

Figure 10-1 base

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end

Select the end coordinate system (end) on the teach pendant interface to control the robot. The robot will move according to the coordinate system as shown below.

Figure 10-2 end

9 User-defined coordinate system

The user-defined coordinate system requires the user to set the coordinate system details according to the actual situation. For details, please refer to the 10.4.3 coordinate system calibration section. After the setting is completed, the coordinate system name can be selected through the drop-down menu of the teach pendant interface.

10 Robot real-time status parameter display

Figure 10-11 Pose and position information.

The X, Y, Z coordinates indicates the coordinate of tool flange center (Selected tool coordinate system, base coordinate system, end coordinate system and user-defined coordinate system). The W, X, Y, Z are represented to end pose quaternions.

End pose is represented by quaternions, which can also be transformed as other representations (for example, Euler angles).

11 Target selection

The Target Selection drop-down menu provides the option to display the pose position for the flange center of gravity (default) or the specified tool end function. Users can add drop-down menu tool options via the

10.4.2 Tools Calibration section.

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Figure 10-3 Target selection

12 Orientation Control

Figure 10-12 Orientation Control (base)

Figure 10-13 Orientation Control (end)