Hanwha HCR-5 User Manual

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HCR-5

Collaborative Robot

User Manual

Aug. 2019

V 2.001

Table of Contents

Preface3
Copyrights4
- Table of Contents5
Chapter 1 Product Overview15
- Collaborative Robot System15
- System Components17
- Basic System Configuration18
- Overview of Robot Arms19
- Overview of Robot Controller21
  - Front21
  - Bottom22
- Overview of Teaching Pendant23
  - Front23
  - Rear24
- Axial Coordinates and Operational Range25
- Robot's Working Range27
- Maximum Load Capacity for the Tool28
Chapter 2 Safety29
- Safety Marks in the User Manual29
- General Safety Cautions30
- Intended Use31
- Potential Dangers32
- Limitation of Liability32
- Transportation33
- Emergency Stop34
  - Using Emergency Stop34
  - Canceling Emergency Stop34
- Safety Fence35
- Limits of Speed and Rotational Angles35
- Operating Robots Without Driving Power35
- Safety Controller35
- Risk Assessment35
Chapter 3 Installation37
- Installation Locations37
- Installation Types38
- Fixing Robots40
- Connecting Tools to Robots41
- Connecting Cables42
- Fixing the Controller Box44
- Overview of Controller I/O45
- Common Spec for Digital I/O45
- Configuring the Safety Input48
- Configuring the General Digital I/O51
- Configuring the General Analog I/O53
  - Analog Output54
  - Analog Input54
Chapter 4 Getting Started55
- Turning on the Robot Controller55
- Turning on the Teaching Pendant56
Chapter 5 Software Overview57
- Menu Overview57
- 3D Preview Screen59
  - Screen Display Setting Button59
  - Robot Task Control Button60
- Manual Move Screen61
- Virtual Keypad63
Chapter 6 Registering Robots and Users66
- Managing Robots66
- Managing Users69
  - Adding Users and Setting Authorities69
  - Menu Available to each Authority70
- Login/Logout71
  - Logging in71
  - Logging out72
- Checking Status72
Chapter 7 Setting Robots74
- Setting the Robot Installation Angles74
- Setting Tcp75
- Setting Inputs/Outputs85
- Coordinates89
- Setting Global Variables91
- I/O Bit Operation92
  - Add/Delete92
  - I/O Bit Operation Settings92
Chapter 8 Safety Settings93
- Limiting Robot Movement93
  - Default Settings94
  - Manual Setting Method94
- Setting Safety Boundaries97
- Setting Tool Boundaries102
- Setting Redundant I/O104
- Setting Safeguard I/O106
- Exceeding Safety Limit of Joints107
Chapter 9 Programming108
- How to Use Commands108
  - Selecting a Flowchart108
  - Type of Commands109
  - Additional Commands110
  - Entering Commands111
  - Check Icon Status111
  - Changing Command Names111
  - Deleting Commands112
  - Searching Commands112
  - Skipping Commands112
  - Tree113
- Setting Variables114
  - Adding Variables114
  - Modifying Variables115
  - Deleting Variables115
  - Variable Monitoring115
- Editing Programs116
  - Overview of Edit Menu116
  - Example of Program Editing117
  - Undo Function118
- Anaging Arogram119
  - Saving a Program119
  - Making a New Program119
  - Loading a Program120
  - Deleting a Program120
  - Export as Script121
  - Export Program File121
- Using Templates122
  - Saving as a Template122
  - Loading a Template123
  - Deleting a Template123
- Applying Programs124
- Move Command125
  - Selecting a Movement Method125
  - Radius of Linear127
  - Don't Stop at this Point127
  - Blending127
  - Advanced129
  - Setting the Coordinates for Movement129
  - Displaying as Groups130
- If Command131
- Loop Command132
- Switch Command133
- Wait Command134
- Set Command135
- Folder136
  - Change Programed Icons into Folder136
  - Create New Folder136
- Message137
  - Output Format137
  - Message Operation137
  - Message Format138
  - Select Message138
- Pattern Command139
  - Pattern Types139
  - Setting the Pattern Coordinates140
  - Setting Repeat Counts140
  - Advanced Commands for Patterns141
  - Setting Pattern Points142
- Using a Sub Program143
  - Making a Sub Program143
  - Saving and Loading a Sub Program144
  - Entering a Sub Program144
- Conveyor146
  - Conveyor Setting146
  - Conveyor Start Options147
  - Setting Conveyor Command147
- Vision Command148
  - Setting Basic Options148
  - Setting the Movement Speed148
  - Setting the Movement Location149
- Thread150
  - Thread Tab150
  - Thread Creation150
  - Event Tab151
- Script152
  - Script Viewer152
- Path Command153
  - Recording Paths153
Chapter 10 Starting the Robot155
- Turning ON/OFF the Robot156
- Monitoring156
- Checking and Setting the Robot Operation Data157
- Operating the Robot157
- Locking Screen159
Chapter 11 Monitoring160
- Monitoring the Robot160
  - Monitoring the Robot Positions160
  - Checking the Robot Status161
- Monitoring Inputs/Outputs161
  - Monitoring Controller Inputs/Outputs162
  - Monitoring Tool Inputs/Outputs163
- Utilization164
Chapter 12 Device Settings165
- Configuring Modbus Tcp165
- Using a Vision System172
- Adding and Setting Vision Equipment173
  - Adding a Vision Equipment173
  - Setting a Vision Equipment173
- Setting Vision Workspace175
  - Adding Vision Workspace175
  - Understanding Rotation Offsets176
Chapter 13 Environment Setting178
- General Setting178
- Network Setting179
Chapter 14 Turning off the System180
- Shutting down the Operation Software180
- Turning off Controllers180
Chapter 15 Maintenance181
- Inspection Items and Periods181
- Checking the Robot Arm182
  - Inspection Period182
  - Checking and Cleaning the Robot Arm182
- Checking the Controller182
  - Checking and Cleaning the Controller182
  - Cleaning and Replacing the Filter183
- Viewing and Managing Logs184
  - Deleting Logs184
  - Exporting Logs184
- Managing the Robot System Configuration185
- Software Update189
  - Cautions During Update189
  - Updating Software189
Appendix Awarranty191
- Warranty191
- Warranty Period191
- Limitation of Liability191
Appendix Bcertification192
- Safety192
- MD(Machinery Directive)194
- Lvd(Low Voltage Directive)195
- EMC (Electro Magnetic Compatibility)196
- Cleanroom-Body197
- Cleanroom-Controller198
Appendix Cdimensions for Installation199
Appendix Dtool Flange Cross Section200
Appendix Eport Pin Map201
Appendix Fsystem Specifications202
Appendix Gstopping Time and Distance203

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Hanwha HCR-5 Specifications

General

Brand	Hanwha
Model	HCR-5
Category	Robotics
Language	English

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