3.3.3.4.3. Check program registration card

3.3.3.4.3. Check program registration card

1. Robotic arm

2. Control box, teaching device, button box

3.3.4. Robot waste disposal

FR robots need to be disposed of according to the applicable national laws and regulations and national standards. For details, you can contact manufacturers.

3.4. Installation specifications

3.4.1. Robot arm installation

Important

The recommended robot installation base meets the following requirements to ensure a secure and stable installation of the robot:

(1)The robot mounting base needs to be strong enough and have sufficient load-bearing capacity, which should be able to bear 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 base should be flat to ensure close contact with the robot contact surface.

(3)The robot mounting base should have sufficient stiffness, be firmly fixed, and not resonate with the robot.

(4)When the robot and other components are moving simultaneously, the mounting base should be separated from other moving components and not fixed together to avoid vibration interference during the movement process.

(5)If the robot is installed on a mobile platform or external axis, the acceleration of the mobile platform or external axis should be as low as possible.

Warning

The following installation methods should be avoided:

(I)Avoid fixing the robot to other moving devices.

Figure 3.4-1 Avoid installing on other sports equipment

Make sure the robot arm is installed correctly and safely. Unstable installation will cause accidents.

Note

You can purchase accurate bases as attachments. Figure 3.4-2、3.4-5、3.4-8、3.4-11 show the position of the sales hole and the location of the screw.

3.4.1.1. Installation requirements for FR3/FR3-WMS/FR3-WML/FR3-C robot

When installing the robot on the mounting base, use four M6 bolts with a strength of not less than 8.8 to fix the robot on the mounting base. The bolts must be tightened with a torque of not less than 10Nm.Suggest using two on the mounting base φ 5mm pin hole matched with pins for robot positioning to improve robot installation accuracy and prevent robot movement due to collisions and other factors.When the robot has high operating accuracy requirements, please be sure to add pins to position the robot.

Figure 3.4-2 FR3/FR3-WMS/FR3-WML/FR3-C model collaborative robot installation size

Important

According to different application scenarios, we recommend several robot installation bases as follows

(I)For situations where the motion speed is not too fast, the running speed is not too large, the accuracy requirements are average, and it is not convenient to fix the robot on the ground, the recommended installation base for the robot is as follows.

Figure 3.4-3 FR3/FR3-WMS/FR3-WML/FR3-C model collaborative robot low requirement mounting base

(II)For situations where the motion speed is fast, the running speed is high, and the accuracy requirements are high, it is recommended to install the robot on the following base and fix it on a solid ground.

Figure 3.4-4 FR3/FR3-WMS/FR3-WML/FR3-C Model Collaborative Robot High Demand Mounting Base

3.4.1.2. Installation requirements for FR5 robot

When installing the robot on the mounting base, use four M8 bolts with a strength of not less than 8.8 to fix the robot on the mounting base. The bolts must be tightened with a torque of not less than 20Nm.Suggest using two on the mounting base φ 8mm pin hole matched with pins for robot positioning to improve robot installation accuracy and prevent robot movement due to collisions and other factors.When the robot has high operating accuracy requirements, please be sure to add pins to position the robot.

Figure 3.4-5 FR5 model collaborative robot installation size

Important

According to different application scenarios, we recommend several robot installation bases as follows

(I)For situations where the motion speed is not too fast, the running speed is not too large, the accuracy requirements are average, and it is not convenient to fix the robot on the ground, the recommended installation base for the robot is as follows.

Figure 3.4-6 FR5 Model Collaborative Robot High Demand Mounting Base

(II)For situations where the motion speed is fast, the running speed is high, and the accuracy requirements are high, it is recommended to install the robot on the following base and fix it on a solid ground.

Figure 3.4-7 FR5 model collaborative robot low requirement mounting base

3.4.1.3. Installation requirements for FR10&FR16 robot

When installing the robot on the mounting base, use four M8 bolts with a strength of not less than 8.8 to fix the robot on the mounting base. The bolts must be tightened with a torque of not less than 25Nm.Suggest using two on the mounting base φ 8mm pin hole matched with pins for robot positioning to improve robot installation accuracy and prevent robot movement due to collisions and other factors.When the robot has high operating accuracy requirements, please be sure to add pins to position the robot.

Figure 3.4-8 FR10&FR16 model collaborative robot installation size

Important

According to different application scenarios, we recommend several robot installation bases as follows

(I)For situations where the motion speed is not too fast, the running speed is not too large, the accuracy requirements are average, and it is not convenient to fix the robot on the ground, the recommended installation base for the robot is as follows.

Figure 3.4-9 FR10&FR16 model collaborative robot low requirement mounting base

(II)For situations where the motion speed is fast, the running speed is high, and the accuracy requirements are high, it is recommended to install the robot on the following base and fix it on a solid ground.

Figure 3.4-10 FR10&FR16 Model Collaborative Robot High Demand Mounting Base

3.4.1.4. Installation requirements for FR20&FR30&FR30L robot

When installing the robot on the mounting base, use six M10 bolts with a strength of not less than 8.8 to fix the robot on the mounting base. The bolts must be tightened with a torque of not less than 45Nm.Suggest using two on the mounting base φ 8mm pin hole matched with pins for robot positioning to improve robot installation accuracy and prevent robot movement due to collisions and other factors.When the robot has high operating accuracy requirements, please be sure to add pins to position the robot.

Figure 3.4-11 FR20&FR30&FR30L model collaborative robot installation size

Important

Because the FR20 and FR30 robots have a large weight and running inertia, it is recommended to be directly fixed on the ground. The recommended base is as follows.

Figure 3.4-12 FR20&FR30 model collaborative robot low requirement mounting base

3.4.2. Tool end installation

There are four M6 thread holes in the robot tool, which can be used to connect the tool to the robot. The M6 bolt must be tightened with 8nm torque, and its strength level is not less than 8.8. In order to accurately regain the tools, please use the nails in the reserved ø6 sales holes.

Figure 3.4-13 FR3/FR3-WMS/FR3-WML/FR3-C/FR5/FR10/FR16 model robot end flange drawing

Figure 3.4-14 FR20/FR30/FR30L model robot end flange drawing

Important

• Make sure the tools are installed correctly and safely.

• Ensure the safety architecture of the tools, and no parts of parts fall into danger.

• Installing M6 bolts with a length of more than 8mm on the robot flange may destroy tool flanges and cause damage that cannot be repaired, causing a tool to change tools.

3.4.3. Installation environment

When installing and using a collaborative robot, make sure to meet the following requirements:

• Environmental temperature 0-45 ℃

• Humidity 0% to 90% RH (no condensation)

• No mechanical impact and shock

• Altitude requires less than 2000M

• No corrosive gases, no liquid, no explosive gases, no oil pollution, no salt fog, no dust or metal powder, no radioactive material, no electromagnetic noise, non-flammable items

• Avoid the device from working under the unstable conditions of the current

• Users need to add an air switch before the robot power supply, and it is recommended to add an EMC filter

Note

If you want to hang or install the collaborative robot, please contact us.

3.4.4. Floor carrier capacity

Installing the robot on a strong surface, the surface should be sufficient to withstand the weight of the robotic arm at least 5 times, and the surface cannot be vibrated.

3.4.5. Load curves for all FR series models

3.4.5.1. Overview

The load curves in this section are based on the tests of each model under specific trajectories. The load curves of each model have two parts: “full performance” and “extended load capacity”, as follows:

1. The operating environment of “full performance” is: the friction compensation coefficient of each joint is 1; the collision level of each joint is 10; the web interface is set to 100% operating speed and 360deg/s2 acceleration; dynamics 2.0. In this environment, the “full performance” part of the load curve is suitable for most operating trajectories.

2. If the end load is in the “extended load capacity”, the “time optimal mode” must be turned on and the acceleration limit must be met, or the robot’s working range must be reduced.

3.4.5.2. Parameter Description

The rated payload of the robot depends on the center of gravity offset of the payload, where the center of gravity offset is defined as the distance between the center of the end flange and the center of gravity of the attached payload.

3.4.5.2.1. FR3 Model Collaborative Robot Load Curve

The maximum load that the FR3 collaborative robot can carry is 5kg, and the rated load is 3kg. The load curve is shown in Figure 1. The specific interpretation of the load curve is as follows:

1. FR3 can carry a load of 3kg or less at full performance, see the “blue envelope”;

2. When the load is 3kg to 5kg, it is the extended load capacity, see the “red envelope”, at this time the robot can operate in the following states:

Figure 3.4-15 FR3 Model Collaborative Robot Load Curve

3.4.5.2.2. FR3-WMS Model Collaborative Robot Load Curve

The maximum load that the FR3-WMS collaborative robot can carry is 5kg, and the rated load is 3kg. The load curve is shown in Figure 1. The specific interpretation of the load curve is as follows:

1. FR3-WMS can carry a load of 3kg or less at full performance, see the “blue envelope”;

2. When the load is 3kg to 5kg, it is the extended load capacity, see the “red envelope”, at this time the robot can operate in the following states:

Figure 3.4-16 FR3-WMS Model Collaborative Robot Load Curve

3.4.5.2.3. FR3-WML Model Collaborative Robot Load Curve

The maximum load that the FR3-WML collaborative robot can carry is 4kg, and the rated load is 3kg. The load curve is shown in Figure 1. The specific interpretation of the load curve is as follows:

1. FR3-WML can carry a load of 3kg or less at full performance, see the “blue envelope”;

2. When the load is 3kg to 4kg, it is the extended load capacity, see the “red envelope”, at this time the robot can operate in the following states:

Figure 3.4-17 FR3-WML Model Collaborative Robot Load Curve

3.4.5.2.4. FR3-C Model Collaborative Robot Load Curve

The maximum load that the FR3-C collaborative robot can carry is 5kg, and the rated load is 3kg. The load curve is shown in Figure 1. The specific interpretation of the load curve is as follows:

1. FR3-C can carry a load of 3kg or less at full performance, see the “blue envelope”;

2. When the load is 3kg to 5kg, it is the extended load capacity, see the “red envelope”, at this time the robot can operate in the following states:

Figure 3.4-18 FR3-C Model Collaborative Robot Load Curve

3.4.5.2.5. FR5 Model Collaborative Robot Load Curve

The maximum load that the FR5 collaborative robot can carry is 7kg, and the rated load is 5kg. The load curve is shown in the figure. The specific interpretation of the load curve is as follows:

1. FR5 can carry a load of 5kg or less at full performance, see the “blue envelope”;

2. When the load is 5kg to 7kg, it is the extended load capacity, see the “red envelope”, at this time the robot can operate in the following states:

① Turn on the “time optimal mode”, it is recommended to set the acceleration to less than 360deg/s²;

② Reduce the robot’s working range or reduce the running speed.

Figure 3.4-19 FR5 Model Collaborative Robot Load Curve

3.4.5.2.6. FR5-WML Model Collaborative Robot Payload Curve

The FR5-WML model collaborative robot has a maximum payload capacity of 7kg and a rated payload of 5kg. The payload curve is shown in the figure. The specific interpretation of the payload curve is as follows:

1. Within the “blue envelope”: Full performance - can run most trajectories with friction compensation coefficients all at 1, dynamics 2.0, 100% speed, 360 deg/s² acceleration (maintenance mode).

2. Within the “red envelope”: Extended payload capacity - can operate under the following conditions:

Figure 3.4-20 FR5-WML Model Collaborative Robot Payload Curve

3.4.5.2.7. FR10 Model Collaborative Robot Load Curve

The maximum load that the FR10 collaborative robot can carry is 14kg, and the rated load is 10kg. The load curve is shown in Figure 3. The specific interpretation of the load curve is as follows:

1. FR10 can carry a load of 10kg or less at full performance, see the “blue envelope”;

2. When the load is 10kg to 14kg, it is the extended load capacity, see the “red envelope”, at this time the robot can operate in the following states:

Figure 3.4-21 FR10 Model Collaborative Robot Load Curve

3.4.5.2.8. FR16 Model Collaborative Robot Load Curve

The maximum load that the FR16 collaborative robot can carry is 20kg, and the rated load is 16kg. The load curve is shown in the figure. The specific interpretation of the load curve is as follows:

1. FR16 can carry a load of 16kg or less at full performance, see the “blue envelope”;

2. When the load is 16kg to 20kg, it is the extended load capacity, see the “red envelope”, and the robot can operate in the following states:

① Turn on the “time optimal mode”, and it is recommended to set the acceleration to less than 180deg/s²;

② Reduce the robot’s working range or reduce the operating speed.

Figure 3.4-22 FR16 Model Collaborative Robot Load Curve

3.4.5.2.9. FR20 Model Collaborative Robot Load Curve

The maximum load that the FR20 collaborative robot can carry is 25kg, and the rated load is 20kg. The load curve is shown in the figure. The specific interpretation of the load curve is as follows:

1. FR20 can carry a load of 20kg or less at full performance, see the “blue envelope”;

2. When the load is 20kg to 25kg, it is the extended load capacity, see the “red envelope”, at this time the robot can operate in the following states:

Figure 3.4-23 FR20 Model Collaborative Robot Load Curve

3.4.5.2.10. FR30 Model Collaborative Robot Load Curve

The maximum load that the FR30 collaborative robot can carry is 35kg, and the rated load is 30kg. The load curve is shown in the figure.

1. FR30 can carry a load of 30kg or less at full performance, see the “blue envelope”;

2. When the load is 30kg to 35kg, it is the extended load capacity, see the “red envelope”, at this time the robot can operate in the following states:

① Turn on the “time optimal mode”, it is recommended to set the acceleration to less than 150deg/s²;

② Reduce the robot’s working range or reduce the operating speed.

Figure 3.4-24 FR30 Model Collaborative Robot Load Curve

3.5. Control connection

3.5.1. Controller interface

This series of robots can be equipped with three control boxes with different power inputs. For details on the control box power input, refer to the control box nameplate information. The robot needs to be electrically grounded.

Warning

Before wiring, please ensure that the power supply is turned off and hang a safety warning sign next to it.

The external wiring of this series of robotic arm control systems is connected using pluggable and quickly installable plugs. The wiring panel of the collaborative robot is shown in Figure 3.5-1.

• Make sure the power button on the control box is off (the button is turned to 0) and connect the power cord to the power socket.

• Connect the robot body overload cable to the control box overload interface.

• Insert the button box aviation plug into the control box teaching device interface.

• The heat dissipation ports on both sides of the control box should be spaced at least 15CM apart.

• At the front of the control box (user Table metal, switch power button, heavy load and teaching pendant wiring harness), the spacing distance should not be less than 25CM.

• The control box is 0.6-1.5m above the ground.

• Do not allow users to replace power cables on their own.

Figure 3.5-1 Robot wiring schematic diagram

3.5.2. Controller I/O panel

You can use the I/O in the control box to control various devices, including the stop button of pneumatic relay, PLC, and tight limit device. Figure 3.5-2 shows the electrical interface group of the control box. Figure 3.5-3 shows the electrical interface group that is easy to manufacture control box.

Figure 3.5-2 Control box electrical interface schematic diagram

Figure 3.5-3 Easy to manufacture control box electrical interface schematic diagram

3.5.3. RJ45 network interface group

The network interface group address in the control box is shown in figure below. Note that the graph corresponds to the sequence of the address order of the internal network port of the control box, and the default port of the robot is prohibited from insertion. The user’s network port can be used to communicate with the camera and other devices. The IP address is 192.168.57.2. The button box interface is default to the faculty control port, and the IP address is 192.168.58.2. Use the network cable connection button box interface and computer. The computer IP address is set to 192.168.58.10 or the same network segment as it. You can access the teaching pendant page. Easy to manufacture control boxes to access the pages of the oscillator through the network port of the connection button box.

Figure 3.5-4 Significant diagram of network interface group

3.5.4. End plate

You can use the end -panel’s I/O and 485 communication interfaces to control various devices, including pneumatic relay, PLC and emergency stop buttons. The PIN foot distribution and its PIN foot explanation is shown in figure below. The I/O connector model is M12 connector 8 cores.

Note

End board I/O and 485 interfaces are prohibited from hot plugging.

Figure 3.5-5 The schematic diagram of the end version of the electrical interface

3.5.5. Ground

1. The control box is located at the M4 combination screw in the upper left of the power switch, as shown in figure below.

Figure 3.5-6 Demonstration diagram of the control box

1. The body is located on the right side of the base of the base, as shown in figure below.

Figure 3.5-7 Dragon schematic diagram of the body

The protective wire used alone, the cross -sectional area should not be less than:

• 2.5mm² copper or 16mm² aluminum，if mechanical injury protection is provided (wire pipe, pipeline, etc.)

• 4mm² copper or 16mm² aluminum，if no mechanical damage protection is provided

3.5.6. The common specifications of all digital I/O

This section stipulates the electrical specifications of the following control box 24 volt digital input/output:

• Safety I/O

• Universal digital amount I/O

Robots must be installed in accordance with electrical specifications.

By configured the “Power Communication” interface, you can use the internal or external 24V power supply to power the digital I/O. The above two terminals (EX24V and EXON) in the interface are 24V and ground with external power supply, and the two terminals (24V and GND) below are 24V and land of internal power supply. The default configuration uses internal power, as shown in figure below.

Figure 3.5-8 Power communication schematic diagram 01

If the load power is large, you can connect the external power supply as shown in figure below.

Figure 3.5-9 Power communication schematic diagram 02

The electrical specifications of internal and external power are shown in table below Internal and external electrical specifications:

Table 2.5‑1 Internal and external power supply electrical specifications

The electrical specifications of digital I/O are shown in table below Digital I/O Electric Specifications:

Table 2.5‑2 Digital I/O Electric Specification

3.5.7. Safety I/O

This section describes the electrical specifications of security I/O, and must abide by the general electrical specifications in Section 3.5.6.

Safety devices and equipment must be installed in accordance with the safety description and risk assessment, see section 3.1. All security I/O is paired (redundant) and must be stored as two independent branches. Single failures should not cause loss of security function.

Safety I/O includes emergency stop and security stop. Urgent stop input is only used for emergency stop equipment, and safely stops input for various security -related protection equipment. Functional differences are shown in table below:

Table 2.5-3 Functional difference

Warning

• Do not connect the security signal to a PLC that does not have the correct and safe level. If this warning does not follow, it may cause serious damage or death because one of the security stop function may be covered. Security interface signals must be separated from normal I/O interface signals.

• All I/O is a redundant -related I/O built (two independent channels). Two channels must be kept separately so that a single failure will not cause security function.

• Before the robot is put into operation, it is necessary to verify the emergency stop safety function (the robot is powered on, press the emergency stop button, the robot is disconnected, the power is turned off, the rotating emergency stop button, the power is turned on, and the robot is re -power to enable it). Safety functions must be tested regularly.

• Robot installation should comply with these specifications. Otherwise, it may lead to severe damage or death, because the safety stop function may be over.

The following sections are given some examples of how to use security I/O.

Default safety configuration When the robot leaves the factory, it has the default configuration. It can be operated without any additional safety devices. Please refer to figure below.

Figure 3.5-10 Safety protection schematic diagram 01

Connect the emergency stop button In most applications, one or more additional emergency stop buttons need to be used. Please refer to figure below.

Figure 3.5-11 Safety protection schematic diagram 02

Connect the security stop button An example of a safe stop device is the door switch that the robot stops when the door is turned on. Please refer to figure below.

Figure 3.5-12 Safety protection schematic diagram 03

3.5.8. Universal digital amount I/O

This section describes the electrical specifications of the general digital I/O, and must abide by the general electrical specifications in Section 3.5.6.

The general digital amount I/O can be used to drive relays, solenoid valves and other devices or interact with other PLCs.

Digital quantity output control load

This example demonstrates how to connect the digital quantity output to control the load, Please refer to figure below.

Figure 3.5-13 Great digital quantity output schematic diagram 01

3.5.9. Digital input from the button

The following example demonstrates how to connect the simple button to the digital quantity input.

Figure 3.5-14 Great digital quantity output schematic diagram 02

3.5.10. Interact with other devices or PLC

The following example demonstrates how to interact with other devices or PLC digital input output.

Figure 3.5-15 Interactive diagram with other devices or PLC

3.5.11. Simulation I/O

Table 2.5-4 Simulation current voltage

The simulation I/O is used to set or measure the voltage (0-10V) or current (0-20mA) of other devices.

In order to achieve high precision, the following methods are recommended.

• The equipment and control box use the same ground (GND).

• Use shielding cables or twisted wires.

The following example demonstrates how to use analog I/O.

Use analog output

The following example is to demonstrate the use of analog output control conveyor belt.

Figure 3.5-16 Simulation output schematic diagram

Use analog input

The following example is to demonstrate the simulation input connection simulation sensor.

Figure 3.5-17 Simulation input schematic diagram

3.5.12. FR3MT&3C Optional Modules

3.5.12.1. Preface

The definition of collaborative robots complies with international ISO standards and national regulations to ensure operator safety. We do not recommend directly applying the robot body in scenarios where the operation target is the human body. However, if the robot user or developer has a specific need to involve human targets, they must conduct thorough evaluations and ensure personnel safety by configuring a reliable, fully tested, and certified safety protection system for the robot body.

3.5.12.1.1. Safety Notice

This manual serves only as a safety certification guide for customers. Maintenance operators must possess professional expertise. FaRo (法奥) assumes no responsibility for any incidents caused by non-professionals.

Important

If the robot (robot body, power module, or extension module) is damaged, altered, or modified due to human factors, FaRo refuses to bear any responsibility. FaRo is not liable for any damage caused to the robot or other equipment due to programming errors made by the customer.

3.5.12.1.2. Validity and Responsibility

The information in this manual does not cover the design, installation, or operation of a complete robot application, nor does it account for all peripheral devices that may affect the safety of the system. The design and installation of the complete system must comply with the safety requirements established by the standards and regulations of the country where the robot is installed.

FaRo’s integrators are responsible for ensuring compliance with relevant national laws and regulations, guaranteeing that the complete robot application poses no significant hazards. This includes but is not limited to:

• Conducting a risk assessment for the complete robot system

• Connecting additional mechanical and safety devices as defined in the risk assessment

• Establishing appropriate safety settings in the software

• Ensuring users do not modify any safety measures

• Verifying the correct design and installation of the entire robot system

• Providing clear usage instructions

• Marking the integrator’s logo and contact information on the robot

• Collecting all documentation, including this manual, in the technical file

3.5.12.1.3. Limited Liability

The safety information in this manual does not constitute a general safety guarantee for robots. Even if all safety instructions are followed, personnel injury or equipment damage may still occur.

3.5.12.1.4. Safety Warning Signs

The following safety warning signs are used on the product.

Important

Name: DANGER

Purpose: Indicates an imminent electrical hazard that could result in death or serious injury if not avoided.

Important

Name: ELECTRIC SHOCK HAZARD

Purpose: Indicates an imminent electric shock hazard that could result in death or serious injury if not avoided.

Important

Name: BURN HAZARD

Purpose: Indicates a hot surface that could cause injury if touched.

Important

Name: GROUNDING

Purpose: Indicates that the device must be properly grounded.

3.5.12.2. FR3MT&3C Base and Module Interface Definitions

3.5.12.2.1. Base Interface Definitions

The base of the robot has seven external buttons and interfaces, defined as follows:

Figure 3.5-18 Base Buttons and Interfaces

Note

The pin definitions for base interfaces are viewed from the installation reference plane.

1. Controller Power Button: Powers on automatically by default.

2. M8-A Type-4P-Female Socket Pin Definitions: User Ethernet port (IP: 192.168.57.2). Connector: M8-A Type-4P-Female (with M8-A Type-4P-Male plug). Complies with IEC 61076-2-101.

3. M12-L Type-5P-Male Socket Pin Definitions: Connector: M12-L Type-5P-Male (with M12-L Type-5P-Female plug). Complies with IEC 61076-2-101.

Note

① The base includes a 48V-to-24V power converter. ② The 48V-to-24V converter serves as a backup for the 24V input.

Figure 3.5-19 48V-to-24V Power Conversion Diagram

4. M12-A Type-12P-Female Socket Pin Definitions: Connector: M12-A Type-12P-Female (with M12-A Type-12P-Male plug). Complies with IEC 61076-2-101.

5. M8-A Type-4P-Female Socket Pin Definitions: Debug Ethernet port (IP: 192.168.58.2). Connector: M8-A Type-4P-Female (with M8-A Type-4P-Male plug). Complies with IEC 61076-2-101.

6. USB-A Port: USB 2.0 for internal debugging. 7. HDMI-A Port: HDMI display for internal debugging.

3.5.12.2.2. Power Module Interface Definitions

The power module uses a Meanwell NDR-480-48. Pin definitions:

3.5.12.2.3. Extension Module Interface Definitions

The extension module includes emergency stop and energy discharge functions. External terminals and internal topology:

3.5.12.3. FR3MT&3C Application Scenarios

Most scenarios only require the user cable kit. Specific use cases:

3.5.12.3.1. Basic Application

Only user cable kit required. Connection steps:

1. Connect the M12-L-5P-Female power cable to the base (48V/0V/PE to user power supply; insulate 24V/0V).

2. Connect M12-A-12P-Male and M8-A-4P-Male to base.

Figure 3.5-20 Only user cable kit required connection steps

3.5.12.3.2. Safety Extended

User cable kit + extension module. Connection steps:

1. Connect the 0.5M extension cable (48V/0V/PE) to user power and module.

2. Connect M12-L-5P-Female to base (all 5 wires to module).

3. Connect M12-A-12P-Male and M8-A-4P-Male to base.

Figure 3.5-21 User cable kit + extension module connection steps

3.5.12.3.3. Independent Power

User cable kit + power module + power cord. Connection steps:

1. Connect 1.5M power cord (L/N/PE) to NDR-480-48 input.

2. Connect M12-L-5P-Female to base (48V/0V/PE to power module; insulate 24V/0V).

3. Connect M12-A-12P-Male and M8-A-4P-Male to base.

Figure 3.5-22 User cable kit + power module + power cord connection steps

3.5.12.3.4. Full Function

User cable kit + power module + power cord + extension module. Connection steps:

1. Connect 1.5M power cord (L/N/PE) to NDR-480-48.

2. Connect 0.5M extension cable (48V/0V/PE) between power module and extension.

3. Connect M12-L-5P-Female to base (all 5 wires to module).

4. Connect M12-A-12P-Male and M8-A-4P-Male to base.

Figure 3.5-23 User cable kit + power module + power cord + extension module connection steps

3.5.12.4. Optional Parts List

User Cable Kit (5M):

User Cable Kit (1M):

Power Module:

Power Cord:

Extension Module:

3.6. Demonstrate and end LED

The robotic teaching pendant can use a computer or tablet to access and control the robot. The connection method can refer to Section 3.5.3 to explain. In addition, users can also use our FR-HMI osteter.

3.6.1. Introduction to the button box

3.6.1.1. 60 Button Box (POE) (BX01)

Figure 2.6-1 60 Button Box (POE) (BX01)

Emergency stop switch: When pressing the emergency stop switch, the robot enters the state of emergency stop.

Type-c:Connect the port of the web teaching pendant.

Button 1:Short press automatic/manual mode switch, long press and enter/exit the drag mode.

Button 2:Short press the record to show the teaching point, long press and enter/exit the state of no demonstrator.

Button 3:Start/stop running program.

3.6.1.2. 60 Button Box (POE) (BX02)-V1.0

Figure 2.6-2 60 Button Box (POE) (BX02)-V1.0

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 web 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.

Drag mode:Enter/exit drag mode.

3.6.1.3. 60 Button Box (POE) (BX02) - V2.0

Figure 3.6-3 60 Button Box (POE) (BX02) - V2.0

Emergency stop switch: When the emergency stop switch is pressed, the robot enters an emergency stop state.

Start/Stop: Start/Stop running the program.

Network port: Connect to a web teaching pendant.

IP reset: Reset the network port IP.

Record point: Record teaching points.

One click clear: Clear all recoverable errors.

Operation mode: Automatic/Manual mode switching.

Drag mode: Enter/exit drag mode.

3.6.2. FR-HMI Teach pendant introduction

Figure 2.6-3 FR-HMI teaching pendant front

Figure 2.6-4 FR-HMI teaching pendant back

Display:Touch operation and display interface of the teaching pendant.

Start key:Start the program.

Stop key:Stop the currently running program.

Joint button:The joint node of the robot.

Three -bit enable:Manual mode enable robots

Emergency stop switch:When pressing the emergency stop switch, the robot enters the state of emergency stop.

Mode key:Rotate the button to switch the automatic mode.

3.6.3. End LED definition

Table 3.6‑1 The end LED definition table