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Rainbow Robotics RB Series User Manual
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R
A
I
NB
O
w
Engli
sh
RB
SERIES
USER
MANUAL
V
3.9.1
Update : 20
21
/
09
2
Table of Contents
PREFACE
7
CHAPTER 1. INTRODUCTION
8
1.1 RAINBOW ROBOTICS’ COLLABORATIVE ROBOTS
8
1.2 SYSTEM CONFIGURATION
9
1.3 ROBOT ARM
11
1.4 CONTROL BOX
18
1.5 TEACHING PENDANT TABLET PC (OPTIONAL)
19
1.6 JOINT LIMIT
20
1.7 WORKSPACE
21
1.8 MAXIMUM LOAD CAPACITY
22
CHAPTER 2. SAFETY & PRECAUTIONS
23
2.1 SAFETY INDICATIONS
23
2.2 GENERAL SAFETY WARNING & PRECAUTIONS
24
2.3 USAGE & FUNCTIONALITY
27
2.4 POTENTIAL SAFETY ISSUES
28
2.5 LIABILITY LIMITATIONS
29
2.6 SHIPPING & TRANSPORTATION
30
2.7 EMERGENCY STOP
31
2.8 USER SAFETY
32
2.9 SAFETY CONTROLLER
33
2.10 RISK ASSESSMENT
34
CHAPTER 3. SAFETY FUNCTIONS
35
3.1 INTRODUCTION
35
3.2 STOP CATEGORY
37
3.3 FUNCTIONAL SAFETY
38
3.4 SAFETY DEVICE MOUNTING LOCATION
41
3.5 EMERGENCY STOP SWITCH
43
3.6 OPERATION MODE
44
3.7 OPERATING ENVIRONMENT
46
3.8 MAINTENANCE OF SAFETY FUNCTIONS
47
3.9 APPLIED STANDARDS
49
CHAPTER 4. INSTALLATION
51
4.1 INSTALLATION PRECAUTION
51
4.2 INSTALLATION LOCATION
52
4.3 EXAMPLES OF INSTALLATION
53
4.4 MOUNTING THE ROBOT
54
4.5 TOOL CONNECTION
55
4.6 CABLE CONNECTION
60
4.7 ROBOT CONTROL BOX I/O OVERVIEW
62
4.8 SAFETY INPUT CONFIGURATION
63
4.9 GENERAL PURPOSE DIGITAL I/O CONFIGURATION
65
4.10 GENERAL PURPOSE ANALOG I/O CONFIGURATION
67
CHAPTER 5. GET STARTED
69
5.1 CONTROL BOX ON/OFF
69
5.2 TEACHING PENDANT/PC ON/OFF
70
CHAPTER 6. SOFTWARE OVERVIEW
71
6.1 UI STRUCTURE
71
6.2 STARTUP SCREEN DISPLAY
72
6.3 MAIN SCREEN DISPLAY
73
6.4 MAKE
75
6.5 PLAY
76
6.6 SETUP
77
CHAPTER 7. PROGRAMMING GUIDE
78
7.1 ICONS AND ACTION SCREEN
78
7.2 CREATE TEACHING ENVIRONMENT
93
7.3 TEACHING (PROGRAMMING)
97
7.4 TEACHING ICONS AND DESCRIPTION
141
7.5 EDITNG THE PROGRAM
309
7.6 PROGRAM MANAGEMENT
313
7.7 OPERATION UTILITIES
316
CHAPTER 8. ROBOT OPERATION
336
8.1 ROBOT OPERATION
336
8.2 ROBOT STATUS CHECK
338
8.3 TROUBLESHOOTING WHILE OPERATING
339
CHAPTER 9. SETUP
343
9.1 SET-UP(COBOT)
343
9.2 SET-UP(TOOL)
344
9.3 SET-UP(SYSTEM)
345
9.4 SET-UP(LOG)
346
9.5 SET-UP(UTILITY)
347
9.6 SET-UP(SERIAL)
348
9.7 SET-UP(I/O 1)
349
9.8 SET-UP(I/O 2)
356
9.9 SET-UP(INBOX)
358
9.10 SET-UP(INTERFACE )
359
9.11 SET-UP(COORDINATE)
360
9.12 SET-UP(DEVICES)
361
9.13 SET-UP(TOOL LIST)
362
9.14 SET-UP(PROGRAM TABLE)
363
CHAPTER 10. MAINTENANCE
365
10.1 CHECK LIST AND PERIOD
365
10.2 ROBOT ARM MAINTENANCE
366
10.3 CONTROL BOX MAINTENANCE
367
APPENDIX A. SYSTEM SPECIFICATION
368
APPENDIX B. FOOT PRINT SCHEMATIC
370
APPENDIX C. TOOL FLANGE SCHEMATIC
372
APPENDIX D. CONTROL BOX ELECTRICAL SCHEMATIC
374
APPENDIX D-1. CONTROL BOX DIGITAL INPUT
375
APPENDIX D-2. CONTROL BOX DIGITAL OUTPUT
380
APPENDIX D-3. TOOL FLANGE DIGITAL INPUT
382
APPENDIX D-4. TOOL FLANGE DIGITAL OUTPUT
385
APPENDIX E. EXTERNAL SCRIPT CONTROL API
389
APPENDIX F. COORDINATE SYSTEM
422
APPENDIX G. STOPPING TIME/DISTANCE
423
APPENDIX H. NAMEPLATE
424
APPENDIX I. MODBUS TCP SERVER
426
APPENDIX J. SYSTEM UPDATE
432
APPENDIX K. ANDROID TABLET CONFIGURATION
436
APPENDIX L. BRAKE SYSTEM
439
4
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Rainbow Robotics RB Series Specifications
General
Model
RB Series
DOF (Degrees of Freedom)
6
Protection Class
IP54
Power Supply
220V AC
Operating Temperature
0°C - 45°C
Mounting
Floor, Wall, Ceiling