Hanwha HCR-3 - User Manual

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HCR-3

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 Angles34
- Operating Robots Without Driving Power34
- Safety Controller34
- Risk Assessment34
Chapter 3 Installation36
- Installation Locations36
- Installation Types37
- Fixing Robots39
- Connecting Tools to Robots40
- Connecting Cables41
- Fixing the Controller Box43
- Overview of Controller I/O44
- Common Spec for Digital I/O44
- Configuring the Safety Input47
- Configuring the General Digital I/O50
- Configuring the General Analog I/O52
  - Analog Output53
  - Analog Input53
Chapter 4 Getting Started54
- Turning on the Robot Controller54
- Turning on the Teaching Pendant55
Chapter 5 Software Overview56
- Menu Overview56
- 3D Preview Screen58
  - Screen Display Setting Button58
  - Robot Task Control Button59
- Manual Move Screen60
- Virtual Keypad62
Chapter 6 Registering Robots and Users65
- Managing Robots65
- Managing Users68
  - Adding Users and Setting Authorities68
  - Menu Available to each Authority69
- Login/Logout70
  - Logging in70
  - Logging out71
- Checking Status71
Chapter 7 Setting Robots73
- Setting the Robot Installation Angles73
- Setting Tcp74
- Setting Inputs/Outputs84
- Coordinates88
- Setting Global Variables90
- I/O Bit Operation91
  - Add/Delete91
  - I/O Bit Operation Settings91
Chapter 8 Safety Settings92
- Limiting Robot Movement92
  - Default Settings93
  - Manual Setting Method93
- Setting Safety Boundaries95
- Setting Tool Boundaries100
- Setting Redundant I/O102
- Setting Safeguard I/O104
- Exceeding Safety Limit of Joints105
Chapter 9 Programming106
- How to Use Commands106
  - Selecting a Flowchart106
  - Type of Commands107
  - Additional Commands108
  - Entering Commands109
  - Check Icon Status109
  - Changing Command Names109
  - Deleting Commands110
  - Searching Commands110
  - Skipping Commands110
  - Tree111
- Setting Variables112
  - Adding Variables112
  - Modifying Variables113
  - Deleting Variables113
  - Variable Monitoring113
- Editing Programs114
  - Overview of Edit Menu114
  - Example of Program Editing115
  - Undo Function116
- Anaging Arogram117
  - Saving a Program117
  - Making a New Program117
  - Loading a Program118
  - Deleting a Program118
  - Export as Script119
  - Export Program File119
- Using Templates120
  - Saving as a Template120
  - Loading a Template121
  - Deleting a Template121
- Applying Programs122
- Move Command123
  - Selecting a Movement Method123
  - Radius of Linear125
  - Don't Stop at this Point125
  - Blending125
  - Advanced127
  - Setting the Coordinates for Movement127
  - Displaying as Groups128
- If Command129
- Loop Command130
- Switch Command131
- Wait Command132
- Set Command133
- Folder134
  - Change Programed Icons into Folder134
  - Create New Folder134
- Message135
  - Output Format135
  - Message Operation135
  - Message Format136
  - Select Message136
- Pattern Command137
  - Pattern Types137
  - Setting the Pattern Coordinates138
  - Setting Repeat Counts138
  - Advanced Commands for Patterns139
  - Setting Pattern Points140
- Using a Sub Program141
  - Making a Sub Program141
  - Saving and Loading a Sub Program142
  - Entering a Sub Program142
- Conveyor144
  - Conveyor Setting144
  - Conveyor Start Options145
  - Setting Conveyor Command145
- Vision Command146
  - Setting Basic Options146
  - Setting the Movement Speed146
  - Setting the Movement Location147
- Thread148
  - Thread Tab148
  - Thread Creation148
  - Event Tab149
- Script150
  - Script Viewer150
- Path Command151
  - Recording Paths151
Chapter 10 Starting the Robot153
- Turning ON/OFF the Robot154
- Monitoring154
- Checking and Setting the Robot Operation Data155
- Operating the Robot155
- Locking Screen157
Chapter 11 Monitoring158
- Monitoring the Robot158
  - Monitoring the Robot Positions158
  - Checking the Robot Status159
- Monitoring Inputs/Outputs159
  - Monitoring Controller Inputs/Outputs160
  - Monitoring Tool Inputs/Outputs161
- Utilization162
Chapter 12 Device Setting163
- Configuring Modbus Tcp163
- Using a Vision System170
- Adding and Setting Vision Equipment171
  - Adding a Vision Equipment171
  - Setting a Vision Equipment171
- Setting Vision Workspace173
  - Adding Vision Workspace173
  - Understanding Rotation Offsets174
Chapter 13 Environment Setting176
- General Setting176
- Network Setting177
Chapter 14 Turning off the System178
- Shutting down the Operation Software178
- Turning off Controllers178
Chapter 15 Maintenance179
- Inspection Items and Periods179
- Checking the Robot Arm180
  - Inspection Period180
  - Checking and Cleaning the Robot Arm180
- Checking the Controller180
  - Checking and Cleaning the Controller180
  - Cleaning and Replacing the Filter181
- Viewing and Managing Logs182
  - Deleting Logs182
  - Exporting Logs182
- Managing the Robot System Configuration183
- Software Update187
  - Cautions During Update187
  - Updating Software187
Appendix Awarranty189
- Warranty189
- Warranty Period189
- Limitation of Liability189
Appendix Bcertification190
- Safety190
- MD(Machinery Directive)191
- Lvd(Low Voltage Directive)192
- Emc193
Appendix Cdimensions for Installation194
Appendix Dtool Flange Cross Section195
Appendix Eport Pin Map196
Appendix Fsystem Specifications197
Appendix Gstopping Time and Distance198

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Hanwha HCR-3 Specifications

General

Brand	Hanwha
Model	HCR-3
Category	Robotics
Language	English

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