Elephant Robotics Panda Series, Panda 3, Panda 5 User Manual
Shenzhen Elephant Robotics Technology Co., Ltd.
Elephant Robotics User Manual
Panda Series Robot
Version 1.0
Language: English
Compiled in 2019/01
© Copyright 2017-2019 Shenzhen Elephant Robotics Technology Co., Ltd.
All rights reserved.
Shenzhen Elephant Robotics Technology Co., Ltd.
Copyright Declaration
No unit or individual may extract, compile, translate or reproduce any
contents of this manual (eg: technical documentation, software, etc.), nor
disseminate in any form (including materials and publications) without the
written permission of Shenzhen Elephant Robotics Technology Co., Ltd.
(hereinafter referred to as “Elephant Robotics”).
In addition, the product information and related resources mentioned in
this manual are for reference only and the contents are subject to change
without notice.
Except as expressly stated in this manual, nothing in this manual should be
construed as any warranty or guarantee by the Elephant Robotics of personal
loss, damage to property, or fitness for a particular purpose.
All rights reserved!
Shenzhen Elephant Robotics Technology Co., Ltd.
Content
Overview to the manual...........................................................................................................................1
About the manual...................................................................................................................................1
Reading objects of the manual...............................................................................................................1
How to use............................................................................................................................................1
Main contents of the manual
Before the official reading of the manual
1 Security.................................................................................................................................................3
1.1 Introduction......................................................................................................................................3
1.2 Safety alert symbol description....................................................................................................... 3
1.3 Hazard identification....................................................................................................................... 4
1.4 Safety Precautions
1.5 Label, nameplate introduction
1.5.1 Nameplate.......................................................................................................................7
1.5.2 Label...............................................................................................................................7
1.6 Avoid misuse................................................................................................................................... 8
1.7 Emergency stop
1.7.1 Emergency button...........................................................................................................8
1.7.2 Collision checking..........................................................................................................9
1.8 Urgent handling...............................................................................................................................9
2 About product
2.1 Overview to the robot system
2.2 Robot
2.3 Scope of work
2.4 Active load
2.5 Technical Parameter Table
3 Environment and installation..............................................................................................................16
3.1 Transportation and storage............................................................................................................16
3.2 Open box examination...................................................................................................................16
3.3 Working environment and conditions
3.4 Installation
3.5 Electrical connections
3.6 System startup debugging..............................................................................................................22
3.7 IO Board........................................................................................................................................23
4 Calibration
5 Maintenance
5.1 On the safety of maintenance........................................................................................................ 32
5.2 Maintenance plan...........................................................................................................................33
5.3 Who to contact...............................................................................................................................33
6 Repair................................................................................................................................................. 34
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2.2.1 Characteristics of the robot.......................................................................................... 12
2.2.2 Model............................................................................................................................12
2.2.3 Robot joint introduction............................................................................................... 13
3.4.1 Installation requirements..............................................................................................17
3.4.2 Installation....................................................................................................................17
3.5.1 Cable connection
3.7.1 IO board introduction...................................................................................................23
3.7.2 IO port principle and application..................................................................................28
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Those who install/debug/maintain the Panda series robot must be trained in
Elephant Robotics and have the mechanical and electronic knowledge required for
the above work.
Overview to the manual
About the manual
Welcome to use Panda series robot and thank you for your purchase.
This manual describes the precautions for proper installation and use of the
Panda series robot.
Please read this manual and other related manuals carefully before
installing this robot system. After reading, please keep it in a safe place so that
you can access it at any time.
Reading objects of the manual
This manual is targeted to:
installer.
Debugger.
Maintenance staff.
How to use
This manual should be used when doing the following works:
Installation work: Move the robot to the working position and fix it to
the base according to the installation instructions.
Debugging: Debugging the robot to work status.
Maintenance work: regular maintenance robot system to ensure its
normal functioning. When the robot malfunctions due to environmental
influences or improper operation of the user, or a certain component of
the robot system exceeds the normal service life, the robot needs to be
repaired.
Main contents of the manual
Precautions for safe use of the robot.
Mechanical, electrical installation and commissioning of the robot.
Maintenance and repair of the robot.
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Before the official reading of the manual
Before officially read the manual, users need to know something about it:
1，About the robot system
The robot system includes a collaborative robot body, a controller (Core
control system), and a teach pendant (Panda OS operating system). It can work
safely with workers and independently complete the processes of loading,
unloading, testing, testing and packaging in industrial manufacturing.
2，About product warranty
During the warranty period of the delivered product, the company will only
repair the failures that occur when the robot is normally used. However, in the
following cases, the customer will be charged for repairs (even during the
warranty period):
1) Damage or malfunction caused by incorrect use and improper use of the
manual.
2) Failure caused by unauthorized removal by the customer.
3) Damage caused by improper adjustment or unauthorized repair.
4) Damage caused by natural disasters such as earthquakes and floods.
Therefore, please operate the robot in strict accordance with the
instructions in this manual and related manuals.
3，About help
For any questions or suggestions on the contents of the manual, you can
query on the official website of the Elephant Robotics to submit the relevant
information: https://www.elephantrobotics.cn.
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Danger: A dangerous situation that is likely to result in death or serious
injury if not avoided.
1 Security
1.1 Introduction
1，Introduction to this chapter
This chapter details general safety information for people who perform
installation, maintenance, and repair work on Panda series robot. Please read
and understand the contents and precautions of this chapter before handling,
installation and use.
As described in GB 11291.1-2011, whether it is a robot manufacturer,
system integrator, or individual user, it is necessary to carry out hazard
identification and risk assessment before using the robot. It is required to
conduct a hazard analysis to identify any hazards that may arise; and for hazards
identified in hazard identification, a risk assessment should be performed to
maximize personal safety and property safety.
This chapter provides a basic guide to safe use by introducing different
safety alert symbols and precautions.
2，Interpretation of related terms
1) Collaborative operation
A specially designed robot that works directly with people in a defined
workspace.
2) Collaborative workspace
In the safety protection space of the robot work unit, the robot and the
person can complete the task at the same time in the production activity.
1.2 Safety alert symbol description
As shown in Table 1-1, this section describes the safety alert symbols used
in this manual. You can find the corresponding symbols described in this
chapter in other chapters, please note the meaning of these symbols and their
meanings.
Table1- 1 Safety Warning Symbol Table
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WARNING: Conditions that may cause a hazard that, if not avoided,
could result in personal injury or serious damage to the equipment.
Be careful of electric shock: It may cause dangerous use of electricity. If it
is not avoided, it may cause personal injury or serious damage to
equipment.
Prohibited: Things that are not allowed to do.
Caution: Important things to be noted.
1
Personal injury or robot damage caused by incorrect operation during robot handling.
2
Personal injury or robot damage caused because the robot is not fixed as required, for
example, the screw is not screwed or tightened, and the base is not enough to stably
support the robot for high-speed movement, causing the robot to tip down.
3
Failure to perform proper safety function configuration of the robot, or installation of
safety protection tools, etc., may cause the safety function of the robot to fail.
1.3 Hazard identification
The safety of the collaborative robot is based on the premise of proper
configuration and use of the robot, and even if all safety instructions are
observed, the injury or damage caused by the operator may still occur.
Therefore, it is very important to understand the safety hazards of robot use,
which is beneficial to prevent problems before they occur.
Tables 1-2~4 below are common safety hazards that may exist in the
context of using robots:
Table1- 2 Dangerous safety hazards
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1
Play around the robot, you may be hit by a running robot, or be tripped by an obstacle
such as a cable to cause personal injury.
2
Unauthorized personnel change the security configuration parameters, causing the
safety function to fail or danger.
3
Scratches and punctures caused by sharp surfaces such as other devices in the work
environment or robot end effector.
4
The robot is a precision machine and pedaling may cause damage to the robot.
5
If the clamp is not in place or before the power supply of the robot is turned off or the
gas source is turned off (it is not determined whether the end effector firmly holds the
object without falling off due to loss of power). If the clamped object is not removed,
it may cause danger, such as people being injured by crashing.
6
There is a risk of accidental movement of the robot. Under no circumstances should
you stand under any axis of the robot!
7
The robot is a precision machine. If it is not placed smoothly during handling, it may
cause vibration and may cause damage to the internal components of the robot.
1
Using a non-original cable may pose an unknown hazard.
2
Contact with liquids by electrical equipment may result in a risk of electric leakage.
3
There may be an electric shock hazard when the electrical connection is incorrect.
4
Be sure to handle replacement work after turning off the power to the controller and
related equipment and unplugging the power cord. If the work is performed while the
power is on, it may cause electric shock or malfunction.
Table1- 3 Warning level security risks
Table1- 4 Potential safety hazards that may result in electric shock
1.4 Safety Precautions
In general, compared with ordinary machinery, robots have the
characteristics of larger working range and faster speed, so they are
accompanied by the dangers that ordinary machinery does not have. When
installing, using, and maintaining the robot, please pay attention to the
following items shown in Table 1-5 and Table 1-6 (the followings are some of
the common precautions listed):
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1
It is forbidden to modify the robot or use non-original accessories.
2
Untrained non-professionals are prohibited from entering the robot work area at will,
pressing any button or doing other operations at will.
3
The relevant personnel shall not maintain, repair or use the robot after being affected
by drinking, taking drugs or stimulating drugs.
1
Anyone responsible for installing and maintaining the robot must read and follow
these safety instructions.
2
Ensure that safety measures and robot safety configuration parameters are defined as
required in the risk assessment to protect programmers, operators, and bystanders.
3
Production operators should not loosen long hair (long hair must be picked up) and
wear a work cap, not wearing jewelry.
4
Operators operating in conjunction with the robot must be familiar with and
understand the content and exact location of the various warning signs and warning
symbols on the equipment and ensure that all warning signs and warning symbols are
complete and clear, and that all safety devices are secured before opening and starting
the equipment. And make sure the relevant accessories are normal and no one is in a
dangerous location where the equipment is activated. When the robot runs
abnormally, it should be stopped immediately and the situation must be reported it in
time.
5
The operator must clarify the scope of operation, commissioning, maintenance and
repair. The operator is not allowed to change the operating procedures and trials at
will, and other personnel are not allowed to enter the collaborative operation space
and danger zone.
6
When repairing work, operators must hang the warning sign to enter the collaborative
operation space.
7
When the operator enters the safety zone of the equipment protected by the safety
guard door, it shall be absolutely guaranteed that the safety guard door will always
open when working in the area, and the door must be in an unlocked position.
8
When the operator is in production, it should be ensured that each starting device is
normal and cannot be started at will.
9
When the maintenance and operation personnel perform maintenance on the
Table1- 5 Safety precautions on acts that need to be banned
Table1- 6 General safety precautions
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equipment, the main power switch must be turned off to perform maintenance work.
10
No items should be stacked in the robot working area, and no debris should be placed
in the control box.
11
After the operation is completed, the safety protection door should be closed
immediately, and the various switches of gas and electricity should be closed
according to the procedure, and the work site should be cleaned up.
12
Do not shake the robot and hang heavy objects on the robot.
13
No dangerous behaviors or games around the robot.
14
After installing the robot, make sure the robot is fixed on a stable surface for
subsequent operations.
15
Make sure that the robot does not collide with itself or other objects during running.
16
If the robot is damaged, do not continue to use it.
17
Please use the robot within the robot's parameter range and service life, otherwise it
will cause serious safety problems.
18
After the emergency stop state is canceled, and before the servo power is turned on, it
is necessary to remove the obstacles and faults that cause the emergency stop, and
then turn on the servo power.
19
Please pay attention to the rotating shaft of the robot to prevent the cable and the air
tube from being entangled. Keep a distance from the shaft to prevent hair or clothing
from getting entangled.
1.5 Label, nameplate introduction
1.5.1 Nameplate
There are two types of nameplates used in the robot system. The robot
body and power box have different nameplates. The nameplate records some
basic information about the product. It should be noted that the production
number on the nameplate is unique. That is to say, each product has a unique ID,
which is an important basis for distinguishing each product, and is also
important information to be provided when applying for maintenance.
1.5.2 Label
Robots are high-precision equipment, and they are more dangerous than
ordinary machines when they are unfamiliar or not in accordance with the
manual. As shown in Figure 1-1, the labels are attached to the power box to
remind the operator to read the relevant operating manual before use.
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Figure 1- 1 Reading manual before the operation
The power box provides power to the entire robot system and must be
operated correctly to prevent electric shock. As shown in Figure 1-2, A powerproof warning label is attached to the power box to remind the operator that
there is a potential danger of electric shock to the power box, and it is required
to be used correctly to prevent electric shock.
Figure 1- 2 Label to caution preventing electric shock
1.6 Avoid misuse
Please do not use the Panda series robot for the following purposes.
Medical and life-critical applications.
In environment that may cause an explosion.
Used directly without risk assessment.
Insufficient use of safety function levels.
Inconsistent use of robot performance parameters.
1.7 Emergency stop
This section describes two types of emergency stop for robots:
If you feel abnormal during the robot's motion, immediately press the
emergency stop switch.
When the force generated by the collision of the robot with the person
or object is greater than the threshold, the robot detects the force
generated by the collision, thereby stopping or moving to a certain
position (collision return).
1.7.1 Emergency button
When the emergency stop button on the teach pendant is pressed, the drive
will be stopped, the brake will start, the motor power will be turned off, and the
electromagnetic brake will stop the robot's inertial motion, the robot will stop all
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motion, the program running in Panda OS It will also be stopped.
However, during normal operation, do not press the emergency stop switch
at will. If the emergency stop switch is pressed during the operation, the robot
movement trajectory before stopping will be different from the trajectory during
normal operation and may hit a peripheral device or the like.
When the vehicle is in an emergency stop state (normal), if the robot
system is to be placed in an emergency stop state, press the emergency stop
switch when the robot does not operate.
Before using the emergency stop switch, you need to know the followings:
The emergency stop (E-STOP) switch can only be used to stop the
robot in an emergency.
To stop the robot running the program in a non-emergency situation,
use the Pause or STOP command. The Pause and STOP commands
will not turn off the motor. Therefore, the brake will not work.
If user need to control the emergency stop of the robot and other
equipment at the same time, you can use the external E-STOP double
loop circuit (user need to short it when not in use).
1.7.2 Collision checking
During the operation of the robot, it is possible to touch people or objects.
It can be protected by setting a protection threshold. The specific operation
mode is as follows: When the force generated by the collision of the robot with
the person or the object is greater than the threshold, the robot detects the force
generated by the collision, thereby stopping or moving to a certain position
(collision return).
Please note that when the protection threshold is set too high, a large force
is required to stop the robot, which will reduce the sensitivity of the collision
detection to a certain extent. When the protection threshold is set too low, the
robot may stop when it is holding the load due to the excessive torque generated
by its own motion. Please set the threshold of protection under guidance.
In addition, you can set the protection threshold for each movement and
each movement of the robot, and set the two protection threshold directions
including the X-Y plane (horizontal direction) and the Z plane (vertical
direction).
1.8 Urgent handling
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