The RealMan RM65-B is a 6-DoF collaborative robot arm designed for various industrial applications. It features a built-in controller and supports multiple communication interfaces, including WIFI, Ethernet, Bluetooth, USB, and RS485, allowing for flexible integration into different environments. The robot arm is made of aluminum alloy, ensuring durability and a relatively light weight of 7.2kg (15.9lbs).
Function Description:
The RM65-B robot arm is a module-based joint design, with a central controller at its base. It allows users to build their own robot control system by accessing the APIs of the collaborative RM65-B. The product also provides programmable operating software through which users can monitor the real-time status of RM65-B, adjust settings, and simulate offline. The robot arm is designed to be lightweight and collaborative, making it suitable for tasks requiring human-robot interaction.
Important Technical Specifications:
- DoF (Degrees of Freedom): 6
- Payload: 5kg (11lbs)
- Weight: 7.2kg (15.9lbs)
- Repeatability: ±0.05mm (±0.002in)
- Reach: 610mm (24in)
- Voltage: DC 24V (range: DC24V~27V)
- Material: Aluminum Alloy
- Controller: Built-in
- Communication: WIFI/Ethernet/Bluetooth/USB/RS485
- Teaching & Development: Tablet+API
- IP Rating: IP 54
- I/O Power: 5V/12V
- Digital I/O Ports: Input×3, Output×4
- Analog I/O Ports: Input×4 (0-10V), Output×4 (0-10V)
- Joint Speed: 180°/s
- Joint Movement Range:
- Joint1: ±180°
- Joint2: ±130°
- Joint3: ±135°
- Joint4: ±180°
- Joint5: ±180°
- Joint6: ±360°
Usage Features:
The RM65-B is designed for ease of use with a tablet-based teaching software.
- Robot System Overview: The robot system consists of the robot body, controller (integrated in the body base), and a tablet/pad with teaching software. The robot body has six rotating joints, each representing one degree of freedom.
- Electrical Interface: The controller is integrated at the bottom part of the robot arm. It receives DC 24 volts (up to 20A) and provides power supply to the robot arm. The 2-core aviation plug connects to the controller panel, with brown as positive and blue as negative.
- Controller I/O: A 26-pin connector on the robot arm controller panel provides various I/Os.
- Digital Input: 3 ports, configurable from 0 to 12 volts.
- Digital Output: 4 ports, configurable from 0 to 12 volts.
- Analog Input: 4 channels, 0-10V range, 12-bit resolution.
- Analog Output: 4 channels, 0-10V range, 1mA output current, 12-bit resolution.
- Tool End Interface Board: The tool end of the robot arm can output 5V, 12V, or 24V power. It includes two buttons on the flange shell for teaching by dragging and trajectory reproduction. The tool end interface provides:
- Power output (configurable from 5V/12V/24V, switch on and off is controllable)
- Digital output (2, reference level consistent with power output)
- Digital input (2, reference level consistent with power output)
- Analog input (1, range of 0-10V)
- Analog output (1, range of 0-10V)
- RS485 (1, communicate with peripherals via RS485)
- Teaching by dragging (1, long-hold press, then the robot arm begins the teaching by dragging mode)
- Trajectory repetition button (1, short-term press, then the robot arm repeats the trajectory recorded by dragging)
- Button in blue (1, the trajectory recorded by dragging)
- Robot Installation:
- Determine the robot workspace.
- Install the robot body on the base.
- Install the end tool.
- The robot base must be in close contact with the base surface, capable of withstanding torsional forces of at least 3500Nm. The base surface must not vibrate. The robot is mounted on a moving platform, the acceleration of the moving platform should be very low.
- The user base surface should have large heat dissipation, such as all-aluminum material. The operating environment should be 35°C, and the user material should have good heat dissipation.
- Ensure the robot arm is properly and safely installed.
- If the robot is submerged in water for a certain period, it may be damaged. Robots should not be installed in water or wet conditions unless they are declared to have IP67 protection rating.
- Tipping hazard: the robot is not securely positioned on a solid surface, the robot may tip over and cause damage.
- Power On/Off:
- Connect the power cable to the power socket.
- Check that the controller power switch is in the closed status.
- Ensure the robot does not bump into nearby people or equipment.
- Make sure the power cable is connected to a 24V DC power supply.
- Press the power button. The power indicator light turns blue, and wait for about 25s. The controller buzzer sounds, and the initialization of the controller system of the robot arm is completed.
- To power off, press the power button to make it in the pop-up off status, then turn off DC 24V power supply for the robot arm.
- Online Programming: The optional teaching tablet or pad contains the RM65-B teaching software. This human-computer interaction interface allows users to operate the robot body and controller, execute and create robot programs, and read robot information.
- Project Management: Users can create, load, save, edit, and delete projects.
- Programmable Point Settings:
- Automatic Setting: Select control method (MOVEJ, MOVEL, MOVEC), input a name for the point, move the robot to the target position, and record the current point.
- Manual Setting: Check the "Manual Setting" box, input the name, set the time (for Wait points), and fill in the joint angles or pose values.
- Editing Existing Points: Select the point, click "Edit", change the name or control method, or check "Automatically Edit" and select a new target point.
- Deleting Points: Select the point and click the "Delete" button.
- Trajectory Control:
- Move to Current: Select a point and long-hold the button to move the robot arm to the target point through joint space.
- Move Straightly to Current: Select a point and long-hold the button to move the robot arm to the target point in a straight line.
- Trajectory Loop: Check the box for "Trajectory Loop" to run the program in a loop. Select "Infinite Loop" or specify the "Number of loops".
- Start/Pause/Stop Trajectory Tracking: Click "Start" to run the program, "Pause" to pause, "Continue" to resume, and "Stop" to stop.
- Step-by-Step Trajectory Tracking: Perform single step movement.
- Teaching by Dragging: The robot arm supports teaching by dragging. It has four modes: current loop, position only, pose only, and pose-position combination of four ways (the latter three modes need six-axis force sensor).
- Configuration:
- System Configuration: Configures communication of the robot controller.
- WIFI AP mode: The controller acts as a WIFI AP. The network name is RM65-B, password 12345678, communication port 8080, communication mode server.
- WIFI STA mode: The controller connects to a specified router. IP is automatically assigned by the router.
- Ethernet Mode: Direct connection via Ethernet port 2. Default IP address: 192.168.1.18, port 8080.
- Robot Arm Configuration: Configures joints and TCP parameters.
- Joint Configuration: Set maximum speed, acceleration, minimum and maximum angles for each joint. Enable/disable joints.
- Setting Origin: Select a joint, click "Disenable", rotate the joint to the mechanical origin, click "Set", then "Enable".
- TCP Speed Limit: Configure linear velocity, linear acceleration, angular velocity, and angular acceleration at the end of the robot arm.
- Collision Protection Rating: Sets the collision level (0-9). Higher level means higher sensitivity.
- Tool End Coordinate System Calibration: Calibrate the tool end coordinate system using a six-point method.
- Operation Coordinate System Calibration: Calibrate the operation coordinate system using a three-point method.
- Setting Initial Pose: Set the current angles of the six joints as the initial pose.
- System Information: Displays controller and joint status, system logs, input voltage, output current, temperature, pose, and error codes.
Maintenance Features:
- General Maintenance: All safety instructions in the manual must be followed.
- Calibration: After changing the control system and robot joint, it is necessary to re-calibrate the robot and tool end origin on site. Users also need to check the hyperparameter settings. If there is a hyperparameter backup, users can import the backup hyperparameters, otherwise, they need to reset the hyperparameters.
- Repairs: Repairs must be conducted by authorized integrators or RealMan (Beijing) Intelligent Technology Co., Ltd. The parts shall be returned to us, as RealMan (Beijing) Intelligent Technology Co., Ltd., in accordance with the regulations of the manual.
- Safety Level: Ensure the required safety level for maintenance and repair. Comply with national or regional safety regulations. Test whether all safety features can work properly.
- Purpose of Maintenance: Ensure the proper operation of the system or to help bring it back to a normal status in the event of a system failure.
- Fault Diagnosis: Maintenance includes fault diagnosis and undergoing maintenance.
- Safety Procedures:
- Move away the power source from the controller ports to ensure it is completely powered off.
- When disassembling the robot arm or control box, comply with ESD (electrostatic discharge) regulations.
- Avoid water or dust entering the robot arm or controller.
- Cautions:
- Replace the faulty part with a new part that has the same serial number or is from RealMan (Beijing) Intelligent Technology Co., Ltd.
- Reactivate all disabled safety features as soon as maintenance is accomplished.
- Keep maintenance records in the technical documents related to the whole robot system.
- The controller has no parts that users can repair by themselves. Please contact your supplier or us, as RealMan (Beijing) Intelligent Technology Co., Ltd., to maintain or repair the controller.
- Disposal: RM65-B Robots must be handled in accordance with applicable national laws, regulations and standards.
- Maintenance: The safety features of the robot must be tested at least once a year to ensure it constantly works properly.
- Product Quality Assurance: RM65-B robot includes a 12-month limited warranty. If the new device and its components are found to be defective due to faulty manufacturing or material defects within 12 months (or no more than 15 months including transportation time) after commissioning, RealMan (Beijing) Intelligent Technology Co., Ltd., shall provide necessary spare parts to replace or repair the relevant parts.
- System Update: The system of the robot controller can be upgraded through a USB flash drive.
- Turn off the power supply of the robot arm.
- Copy the .bin upgrade file provided by the manufacturer to the bin directory of the USB flash drive.
- Plug the USB flash drive into the USB port of the controller.
- Turn on the power of the robot to start the upgrade. The buzzer will ring during the upgrade.
- After the buzzer sounds long, turn off the power of the robot and pull out the USB flash drive.
- Turn on the power, and the robot can work normally.
- Note: The controller bin file will be updated within 30s. The robot arm end interface board and joints will be updated in 70s, so please be patient. Do not power off during the update!
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