1.1. Install the robot arm
When the collaborative robot is installed on the mounting base, use a compliant number of bolts (strength not less than 8.8) to tighten and fix the robot on the mounting base; it is recommended to use two compliant pin holes and pins on the mounting base for robot positioning to improve the installation accuracy of the robot and prevent the robot from moving due to collisions. When the robot has high running precision requirements, be sure to add pins to position the robot.
Table 1.1-1 Robot mounting parts standard
Collaborative robot model | Bolt | Bolt torque | Pin Hole Specifications |
FR3 | 4 pieces of M6 | ≥10Nm | φ5mm |
FR3-WMS | 4 pieces of M6 | ≥10Nm | φ5mm |
FR3-WML | 4 pieces of M6 | ≥10Nm | φ5mm |
FR3-C | 4 pieces of M6 | ≥10Nm | φ5mm |
FR5 | 4 pieces of M8 | ≥20Nm | φ8mm |
FR10 | 4 pieces of M8 | ≥25Nm | φ8mm |
FR16 | 4 pieces of M8 | ≥25Nm | φ8mm |
FR20 | 6 pieces of M10 | ≥45Nm | φ8mm |
FR30 | 6 pieces of M10 | ≥45Nm | φ8mm |
FR30L | 6 pieces of M10 | ≥45Nm | φ8mm |
Important
It is recommended that the robot mounting base meet the following requirements to ensure that the robot is installed firmly and stably:
(1)The robot mount needs to be strong enough and have sufficient load-bearing capacity. It should be able to carry at least 5 times the weight of the robot and at least 10 times the 1-axis torque.(2)The surface of the robot mounting seat should be flat to ensure close contact with the contact surface of the robot;(3)The robot mounting base should be strong enough, fixed firmly, and will not resonate with the robot;(4)When the robot and other parts move at the same time, the mounting base should be isolated from other moving parts, and should not be fixed together to avoid vibration interference during the movement;(5)If the robot is installed on a mobile platform or an external axis, the acceleration of the mobile platform or external axis should be as low as possible;
1.2. Connect the control box
This series of robots can be configured with three control boxes with different power inputs. For details on the control box power input, see the control box nameplate information. The robot needs to be electrically grounded. The external wiring of the manipulator control system is connected using pluggable and quickly installed plugs.
30-60VDC
176-264VAC~50-60Hz
100-240VAC~50-60HZ
Note
The AC input control box has two versions: narrow voltage and wide voltage. The control box wiring terminals and appearance are consistent, and cannot be distinguished by appearance alone. Please confirm by the control box nameplate and power on after confirmation.
The wiring panel of the collaborative robot is shown in the following figure:
Figure 1.2-1 Control box wiring panel
The button box interface is the control port of the teach pendant by default, and the IP address is 192.168.58.2. Use a network cable to connect the button box interface and the computer. The computer IP address is set to 192.168.58.10 or the same network segment. Open the Google browser and enter 192.168.58.2 You can access the teach pendant page.
1.3. Know the button box and end LED
1.3.1. The button box
1.3.1.1. 60 Button Box (POE) (BX01)
Figure 1.3-1 60 Button Box (POE) (BX01)
1.3.1.2. 60 Button Box (POE) (BX02)-V1.0
Figure 1.3-2 60 Button Box (POE) (BX02)-V1.0
Table 1.3-1 Control box wiring panel button description
Name | Function |
Emergency stop switch | When pressing the emergency stop switch, the robot enters the state of emergency stop. |
Start/Stop | Start/stop running program. |
Ethernet | Connect to the teaching pendant. |
Turn off | No enabled. |
Record point | Record the teaching point. |
Teaching mode | Enter/exit with the teaching pendant state. |
Working mode | Automatic/manual mode switch. |
Dragging mode | Enter/exit drag mode. |
1.3.1.3. 60 Button Box (POE) (BX02)-V2.0
Figure 1.3-3 60 Button Box (POE) (BX02)-V2.0
Table 1.3-2 Control box wiring panel button description
Button name | Function |
Emergency stop switch | When the emergency stop switch is pressed, the robot enters the emergency stop state |
Start stop | Start/stop running the program |
Network port | Connect to web teach pendant |
IP reset | Reset network port IP |
Record point | Record teaching point |
One-click clear | Clear all recoverable errors |
Running mode | Automatic/manual mode switching |
Drag mode | Enter/exit drag mode |
1.3.2. The end LED
Table 1.3-4 The end LED definition table
Function | LED color |
When communication is not established | “Off”, “Red”, “Green” and “Blue” alternately |
Automatic mode | Blue long bright |
Manual mode | Green long bright |
Drag Mode | White cyan long bright |
Button box record point (only when using button box) | Purple blinks twice |
Start running (only when using the button box) | Cyan blue flashes twice |
Enter the state of unmatched button box (only when using the button box) | Blue flashes twice |
Stop operation (only when using the button box) | Red flashes twice |
Error reporting (only when using the button box) | Red long bright |
Zero calibration completed | White cyan flashes three times |
Enable | Yellow flashes twice |
1.4. Power on enable
Before powering on, please confirm that the emergency stop button of the button box is released, press the red switch button of the control box to power on, and the LED light at the end will be in a steady green state after enabling successfully.
1.5. Power Off
Important
When using this device, please make sure to stop all running programs, disable the status query function, and confirm that the operating status is “Stopped” before turning off the power. This operation is to protect the safety of the device and stored data and avoid data loss or system damage caused by sudden power outages.
Figure 1.5-1 Turn off the power button