Hanwha HCR-12 User Manual

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HCR-12

Collaborative Robot

User Manual

Aug. 2019

V 2.001

Table of Contents

Preface3
Copyrights4
- Table of Contents5
Chapter 1 Product Overview13
- Collaborative Robot System13
- System Components15
- Basic System Configuration16
- Overview of Robot Arms17
- Overview of Robot Controller19
  - Front19
  - Bottom20
- Overview of Teaching Pendant21
  - Front21
  - Rear22
- Axial Coordinates and Operational Range23
- Robot's Working Range25
- Maximum Load Capacity for the Tool26
Chapter 2 Safety27
- Safety Marks in the User Manual27
- General Safety Cautions28
- Intended Use29
- Potential Dangers30
- Limitation of Liability30
- Transportation31
- Emergency Stop32
  - Using Emergency Stop32
  - Canceling Emergency Stop32
- Safety Fence33
- Limits of Speed and Rotational Angles33
- Operating Robots Without Driving Power33
- Safety Controller33
- Risk Assessment33
Chapter 3 Installation35
- Installation Locations35
- Installation Types36
- Fixing Robots38
- Connecting Tools to Robots39
- Connecting Cables40
  - Connecting the Robot Arm to the Robot Controller40
  - Connecting the Power Supply to the Robot Controller41
- Fixing the Controller Box42
- Overview of Controller I/O43
- Common Spec for Digital I/O43
- Configuring the Safety Input46
- Configuring the General Digital I/O49
- Configuring the General Analog I/O51
  - Analog Output52
  - Analog Input52
Chapter 4 Getting Started53
- Turning on the Robot Controller53
- Turning on the Teaching Pendant54
Chapter 5 Software Overview55
- Menu Overview55
- 3D Preview Screen57
  - Screen Display Setting Button57
  - Robot Task Control Button58
- Manual Move Screen59
- Virtual Keypad61
Chapter 6 Registering Robots and Users64
- Managing Robots64
- Managing Users67
  - Adding Users and Setting Authorities67
  - Menu Available to each Authority68
- Login/Logout69
  - Logging in69
  - Logging out70
- Checking Status70
Chapter 7 Setting Robots72
- Setting the Robot Installation Angles72
- Setting Tcp73
- Setting Inputs/Outputs83
- Coordinates87
- Setting Global Variables89
- I/O Bit Operation90
  - Add/Delete90
  - I/O Bit Operation Settings90
Chapter 8 Safety Settings91
- Limiting Robot Movement91
  - Default Settings92
  - Manual Setting Method92
- Setting Safety Boundaries94
- Setting Tool Boundaries99
- Setting Redundant I/O101
- Setting Safeguard I/O103
- Exceeding Safety Limit of Joints104
Chapter 9 Programming105
- How to Use Commands105
  - Selecting a Flowchart105
  - Type of Commands106
  - Additional Commands107
  - Entering Commands108
  - Check Icon Status108
  - Changing Command Names108
  - Deleting Commands109
  - Searching Commands109
  - Skipping Commands109
  - Tree110
- Setting Variables111
  - Adding Variables111
  - Modifying Variables112
  - Deleting Variables112
  - Variable Monitoring112
- Editing Programs113
  - Overview of Edit Menu113
  - Example of Program Editing114
  - Undo Function115
- Anaging Arogram116
  - Saving a Program116
  - Making a New Program116
  - Loading a Program117
  - Deleting a Program117
  - Export as Script118
  - Export Program File118
- Using Templates119
  - Saving as a Template119
  - Loading a Template120
  - Deleting a Template120
- Applying Programs121
- Move Command122
  - Selecting a Movement Method122
  - Radius of Linear124
  - Don't Stop at this Point124
  - Blending124
  - Advanced126
  - Setting the Coordinates for Movement126
  - Displaying as Groups127
- If Command128
- Loop Command129
- Switch Command130
- Wait Command131
- Set Command132
- Folder133
  - Change Programed Icons into Folder133
  - Create New Folder133
- Message134
  - Output Format134
  - Message Operation134
  - Message Format135
  - Select Message135
- Pattern Command136
  - Pattern Types136
  - Setting the Pattern Coordinates137
  - Setting Repeat Counts138
  - Advanced Commands for Patterns138
  - Setting Pattern Points139
- Using a Sub Program140
  - Making a Sub Program140
  - Saving and Loading a Sub Program141
  - Entering a Sub Program141
- Conveyor143
  - Conveyor Setting143
  - Conveyor Start Options144
  - Setting Conveyor Command144
- Vision Command145
  - Setting Basic Options145
  - Setting the Movement Speed145
  - Setting the Movement Location146
- Thread147
  - Thread Tab147
  - Thread Creation148
  - Event Tab148
- Script149
  - Script Viewer149
- Path Command150
  - Recording Paths150
Chapter 10 Starting the Robot152
- Turning ON/OFF the Robot153
- Monitoring153
- Checking and Setting the Robot Operation Data154
- Operating the Robot155
- Locking Screen156
Chapter 11 Monitoring157
- Monitoring the Robot157
  - Monitoring the Robot Positions157
  - Checking the Robot Status158
- Monitoring Inputs/Outputs158
  - Monitoring Controller Inputs/Outputs159
  - Monitoring Tool Inputs/Outputs160
- Unilization161
Chapter 12 Device Setting162
- Configuring Modbus Tcp162
- Using a Vision System169
- Adding and Setting Vision Equipment170
  - Adding a Vision Equipment170
  - Setting a Vision Equipment170
- Setting Vision Workspace172
  - Adding Vision Workspace172
  - Understanding Rotation Offsets173
Chapter 13 Environment Setting175
- General Setting175
- Network Setting176
Chapter 14 Turning off the System177
- Shutting down the Operation Software177
- Turning off Controllers177
Chapter 15 Maintenance178
- Inspection Items and Periods178
- Checking the Robot Arm179
  - Inspection Period179
  - Checking and Cleaning the Robot Arm179
- Checking the Controller179
  - Checking and Cleaning the Controller179
  - Cleaning and Replacing the Filter180
- Viewing and Managing Logs181
  - Deleting Logs181
  - Exporting Logs181
- Managing the Robot System Configuration182
- Software Update186
  - Cautions During Update186
  - Updating the Operation Software186
Appendix Awarranty188
- Warranty188
- Warranty Period188
- Limitation of Liability188
Appendix Bcertification189
- Safety189
- MD(Machinery Directive)190
- EMC (Electro Magnetic Compatibility)191
Appendix Cdimensions for Installation192
Appendix Dtool Flange Cross Section193
Appendix Eport Pin Map194
Appendix Fsystem Specifications195
Appendix Gstopping Time and Distance197
Appendix Herror Codes199

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Hanwha HCR-12 Specifications

General

Brand	Hanwha
Model	HCR-12
Category	Robotics
Language	English

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