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RealMan RML63 Manual

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RealMan RML63 Robot Manual V1.1
RealMan Intelligent Technology (Beijing) Co., Ltd.

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Summary of Contents for RealMan RML63

  • Page 1 RealMan RML63 Robot Manual V1.1 RealMan Intelligent Technology (Beijing) Co., Ltd.
  • Page 2 Version History Version Date Comment V1.0 2022-5-30 Init V1.1 2022-6-9 Corret errors 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 3: Table Of Contents

    7.1 Before Power On ..........................29 7.2 Power On..............................30 7.3 Power Off...............................30 8. Robot Online Programming ..........................31 8.1 Introduction ............................31 8.2 Robot Teaching .............................32 8.2.1 Full-screen Button ........................34 8.2.2 Power Button ..........................34 8.2.3 Robot Emergency Stop Button .................... 34 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 4 8.4.2 Robot Configuration .......................87 8.5 System Information ...........................108 8.6 Extension ............................. 108 8.6.1 Tool I/O Configuration ......................109 8.6.2 Drag Teaching........................110 8.6.3 Lift Control ..........................111 9. Online Programming Demo ........................112 10. System Update via USB Flash Drive .....................117 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 5 11. Technical Specifications ..........................119 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 6: Foreword

    RML63-6F (integrated 6-axis force). The manual can refer to this document. RML63 adopts modular joint design. It integrates the controller at its base therefore no extra control cabinet needed. Users can build their own robot control system by accessing the APIs of our collaborative RML63.

  • Page 7: Safety

    A situation that is about to cause danger and, if not avoided, can lead to casualty to persons or damage to device. A warning on a hazardous electrical condition that, if not avoided, may result in casualty to persons or damage to device. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 8: Safety Precautions

    3. Before starting the robot for the first time, you must check that the hardware, software, and appearance of the robot is complete. Also, you should be aware of whether it complies with the effective 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 9 Please do not touch the robot when the robot is operating or just stopped. 2. Turn off the power and wait for one hour before the robot cools down. 3. Do not put your finger into the hot part of the controller. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 10 If the robot is manipulated or altered in any way, we, as RealMan Intelligent Technology (Beijing) Co., Ltd., do not take full responsibility. 11. Users need to check insulation and protection measures before transporting the robot.

  • Page 11: Responsibility And Regulation

    1.4 Responsibility and Regulation RML63 robots itself is not complete to accomplish certain tasks but can be combined with other peripheral equipment to achieve that. Therefore, the information contained in this manual does not indicate the design, installation, and operation of a complete robot, nor does it include all the possibilities that may affect the safety of the peripheral equipment of such a complete system.

  • Page 12: Hazard Identification

    Systems-Safety Requirements, Task-Based Risk Assessment Methods.  ANSI B11.0-2010 Machinery Safety; General Requirements and Risk Assessment. The integrator of the RML63 robot is required to perform but is not limited to the following responsibilities:  A comprehensive risk assessment of a complete robotic system.

  • Page 13: Handling And Precautions

    Be aware that there may be other significant hazards associated with certain robotic devices. By combining the inherent safety design measures applied by the RML63 robot with the safety specifications or risk assessments implemented by the integrator and user, the risks associated with collaborative robot operation are minimized to a reasonable and feasible level.

  • Page 14: Maintenance, Repair And Disposal

    If there is a hyperparameter backup, you can import the backup hyperparameters, otherwise, you need to reset the hyperparameters. Repairs must be conducted by the authorized integrators or us as RealMan Intelligent Technology (Beijing) Co., Ltd. The parts shall be returned to us, as RealMan Intelligent Technology (Beijing) Co., Ltd., in accordance with the regulations of the...
  • Page 15 3. Keep maintenance records in the technical documents related to the whole robot system. 4. The controller has no parts that users can repair by themselves. Please contact your supplier or us, as RealMan Intelligent Technology (Beijing) Co., Ltd., to maintain or repair the controller. Disposal: RML63 Robots must be disposed in accordance with applicable national laws, regulations and standards.

  • Page 16: Quality Assurance

    Intelligent Technology (Beijing) Co., Ltd. shall remain with us as RealMan Intelligent Technology (Beijing) Co., Ltd. If the product is no longer under warranty, we, as RealMan Intelligent Technology (Beijing) Co., Ltd., reserves the right to charge the customer for the replacement or repair.
  • Page 17 RealMan Intelligent Technology (Beijing) Co., Ltd., judge to be dangerous. 14. Failures other than the mentioned above is not caused by the duties of RealMan Intelligent Technology (Beijing) Co., Ltd. Under the Product Quality Assurance Agreement, we, as RealMan Intelligent Technology (Beijing) Co., Ltd., are responsible for the defects of the products and...

  • Page 18: Robot Hardware System

    5.1.1 Robot System Overview Fig. 5-1 The overview of the robot system. As shown in Fig. 5-1, RML63 cooperative robot system is mainly composed of robot body or the robot arm, controller (integrated in the body base) and tablet/pad with teach pendant software (optional).

  • Page 19: Electrical Interface

    The positive and negative power cables must not be reversed, otherwise the robot will be damaged! (The factory standard power cord, brown is positive, blue is negative) In addition, the power supply range of the robot is DC20V~DC27V, exceeding this range may also damage the robot. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 20: Controller I/O

    RS485、I/O etc. interface of the controller WIFI/Bluetooth antenna wireless communication USB 1 update software, import and export files USB 2 control the robot Ethernet 1 connect to ethernet devices Ethernet 2 connect to teaching devices and remote access 5.2 Controller I/O 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 21 CAN_L CAN bus Optional yellow black 485_L 485 bus green black DOUT1 Digital output 0~12 volts red black DOUT2 channels purple black DOUT3 yellow green DOUT4 yellow white AOUT1 Analog input 0~10 volts channels green white AOUT2 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 22: Digital Input

    5.2.1 Digital Input The controller interface has 3 ports of digital input. The user needs to connect the external input digital power channel (OUT_PWR_DIN+) and the external digital ground channel (DGND) to provide the power reference for the digital input. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 23: Digital Output

    -0.5 12.5 detection range resolution 5.2.4 Analog Output The controller has 4 analog output channels or ports. Its voltage range is 0~10V. Its electrical characteristics are shown in the table below. Analog output Typical Unit output voltage 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 24: The Tool End Interface Board

    ≤ 2 power output; support 12V/24V the reference level is consistent with the digital input ≤ 2 power output; support 12V/24V communicate with the peripherals via RS485 RS485 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 25: Digital I/O Input

    The factory default pin 3 and 4 are the digital input channel (DI1 and DI2), and the power output of the pin 6 is 0V, which is programmable. 5.3.1 Digital I/O Input There are two digital input channels, and their electrical characteristics are shown in the table below. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 26: Digital I/O Output

    5.3.4 Communication Interface The robot has one RS485 communication port at each of the 26-core aviation plug of the controller, and the 6-core aviation plug of the end interface board (only for the 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 27: Robot Installation

    "Robot JSON Protocol Description" for detailed instructions). 6. Robot Installation 6.1 Introduction The brief installation steps of RML63 robot are as follows: (1) Determine the robot workspace, (2) Install the robot body on the base, (3) Install the end tool.

  • Page 28: Robot Workspace

    Section 1 (Safety). 6.3 Robot Workspace Fig. 6-1 shows the dimensions of RML63-B robot. The installation must consider the range of the robot movement, to avoid contact with the surrounding personnel and equipment.

  • Page 29: Robot Installation

    2. It is recommended that the user use base surface with large heat dissipation, such as all-aluminum material. When the operating environment exceeds 35°C, it is strongly recommended that the user use material with large heat dissipation. Ensure that the robot arm is properly and safely installed in place. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 30: The End Tool Installation

    7. Robot Power-On and Power-Off 7.1 Before Power On Unpack and install the RML63 robot to the base. Please refer to Chapter 6 Robot Installation for the detailed installation instructions. 1. Ensure that the robot and cable do not contact the liquid.

  • Page 31: Power On

     Press the power button. After the power indicate light turns blue, and wait for about 25s. When the controller buzzer sound stops, the initialization of the controller system of the robot is completed. Power button Fig. 7-2 Robot power button. 7.3 Power Off 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 32: Robot Online Programming

    Fig. 8-2 Software installation package. (1) Copy the RML63 directory to any disk directory on your computer (the storage directory must contain English only). (2) Send the file “RM_ROBOT.exe” at the RM-65 folder to the desktop shortcut.

  • Page 33: Robot Teaching

    8.2 Robot Teaching The teaching panel is used for robot teaching operation. Users can move the robot joints by clicking on the icon on the panel. This panel also demonstrates the information of the robotic movement to the user. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 34 3D simulation model move in base coordinate system 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 35: Full-Screen Button

    Fig. 8-7 The robot power button. 8.2.3 Robot Emergency Stop Button When this button is pressed, the robot stops immediately and the trajectory is unrecoverable. Fig. 8-8 The robot emergency stop button. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 36: Communication Status Display

    The user can teach the robot end in different coordinate systems. denotes moving to negative x-axis direction, denotes moving to positive x-axis direction. Long hold the button, the robot moves, after releasing it, the robot stops moving. Likewise, same thing with the rest of the buttons. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 37: Pose Control

    8.2.8 Joint Control The robot has 6 DoF. Each joint from bottom to top is named as joint 1 to joint 6, which corresponds to the six joints of the robot. Users only need to use the joint 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 38: Operation Mode Selection

    To finalize a robot program, the simulation mode can be selected first, and then the program can be run simulatively to verify whether the program is feasible, improve the safety of the robot application and determine whether the planning trajectory is reachable. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 39: Operation Coordinate System Selection

    (see Section 8.4.2.3 for the method of setting robot operation coordinate system). After the setting is completed, the operation coordinate system can be switched, as shown in Figure 8-16. Fig. 8-15 The Base coordinate system of the robot. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 40: Tool Coordinate System Selection

    (see Section 8.4.2.2 for the method of setting the robot tool coordinate system), the tool coordinate system can be switched after the setting is completed, as shown in Fig. 8-18. Fig. 8-17 The coordinate system of the flange center at the robot end. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 41: Simulation Model

    (or touching the tablet interface) according to the needs. Fig. 8-19 The 3D simulation model. 8.2.13 Move in Base Coordinate System Select “Move in Base Coordinate System”, the robot will move in base coordinate system. Fig. 8-20 Move in base coordinate system. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 42: Move In Tool End Coordinate System

    Select “Draw Trajectory”, the real-time movement of the robot will be displayed in the model simulation section. Fig. 8-22 Draw trajectory demo. 8.2.16 Clear Trajectory Select “Clear Trajectory”, the robot movement trajectory will be cleared in the model simulation section. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 43: Step Mode Setting

     “Joint”: Indicates the step to control the motion angle of each joint, in degrees, at the joint control panel.  Step control is only effective for robot end and joint control. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 44: Robot Position And Posture Information Display

    Users can also freely set the initial position and pose of the robot according to the descriptions in the section of the initial pose calibration (Section 8.4.2.4) through the teach pendant software. Release the button to stop the movement. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 45: Online Programming

    8.3 Online Programming Users can program the RML63 robot via the “online programming” interface to implement the complex robot movement. Fig. 8-27 The online programming panel. Table 7 Online programming panel Name create new project button select project button save project button...

  • Page 46: New Project Button

    “Open”, and the file will be displayed in the text box on the right side. The project file suffix is .txt. For example, select a file named “test.txt” in this demo. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 47: Save Project

    This area displays the edited program and the recorded motion points in the form of a tree map. When the program runs, it will be executed from the first line. Click the button before a command to show or hide the commands under the node. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 48: Add Trajectory Point

    Fig. 8-33 Position options for adding a trajectory point. These options indicate that the next command will be added to the previous or next line of the cursor position in the program. The reference command position is displayed with a blue cursor. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 49: Basic Commands

    MOVEL: While ensuring reaching the final position, the trajectory between the two points is linear. MOVEC: Used to execute an arc or circular trajectory, only two waypoints (intermediate point and end point) can be added. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 50 1, the circular trajectory is executed), respectively. MOVEJ " " MOVEJ_P are both joint motion but have different waypoint parameters. The " " " " parameters of MOVEJ are the joints’ angles while the parameters of MOVEJ_P the tool-end position and posture. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 51 Waypoint5 is MOVEL, as shown in the following figure. Fig. 8-40 MOVEL command demo. Demo 3： Add a MOVEC trajectory in the program, where the motion of Waypoint7 and Waypoint8 is MOVEC, as shown in the following figure. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 52 Waypoint name: The user can set the waypoint name, the default name is composed of  the Waypoint number, e.g., Waypoint1. Speed: The waypoint speed is customizable. The actual operation speed is the product  of the speed slider and the speed of the waypoint. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 53 Click the waypoint to set the point shown in the following figure: Fig. 8-44 Waypoint demo. <Wait> The Wait command is used to wait for time or signal input. The options for Wait command include no waiting, waiting time, waiting for digital input, and waiting for analog input. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 54 AIN3, AIN4 and tool-end analog input interfaces T_AIN1. The analog input reference can be 0~10V. Demo: Add Wait command between Waypoint1 and Waypoint2, shown as follows. Fig. 8-46 Wait command demo. The figure below shows that the waiting time is set as 2s. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 55  Analog output interface includes controller-end analog input interfaces AON1, AON2, AON3, AON4 and tool-end analog input interfaces T_AON1. The analog output interface can be 0~10V. Demo: Add a Set command between Waypoint2 and Waypoint3, shown as follows. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 56 Fig. 8-51 IF command settings. Digital input judgment: Check if the digital signal input meets the predefined  生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 57 Demo: Add an IF command between Waypoint4 and Waypoint5 as shown below. Fig. 8-52 IF command demo. The line 8 is the IF command to check if the digital input is low voltage or high voltage. Fig. 8-53 IF command demo. <Loop> 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 58 Infinite loop: Repeat the program infinitely.  Demo: Add a Loop command between Waypoint6 and Waypoint7 as the figure shows below. Fig. 8-55 Loop command demo. The line 12 is the Loop command that runs the program two times. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 59 Fig. 8-56 Loop command completion demo. <Popup Prompt> The Popup Prompt command is used to indicate information to the user, and the pop-up content must be English. Fig. 8-57 Popup prompt command setting. Demo: Add a Popup Prompt command after Waypoint7 shown below. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 60 It shows in the figure below the completion of the popup prompt command setting. Fig. 8-59 Popup prompt command demo. The line 16 is a popup prompt command that when the trajectory moves to this point it will popup prompt window. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 61 After the popup prompt is confirmed, the program continues. The following figure shows after the project is completed. Fig. 8-61 Popup prompt command demo. <Halt> The Halt command is used to stop a running program. Demo: Add a Halt command between Waypoint6 and Waypoint7 as shown below. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 62 The File command is used to import a saved program file, including a project file and a trajectory-by-dragging file. Import a project file: Double-click the "File" command, it will pop up the project file selection dialog box, then select the project file, and click the "Open" button to import the project file. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 63 Then select the project file, click the "Open" button to import the trajectory file into the project. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 64 Demo: Add a File command between Waypoint4 and Waypoint5 as shown below. Fig. 8-66 File command demo. The line 8 is the File command that it will execute the trajectory file. The following figure shows after the project is completed 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 65: Advanced Commands

    <Force> The Force Control or Force command is only for robots that have a torque sensor at the end of the robot, i.e., RML63-ZF/RML63-6F/RM75-ZF/RM75-6F. The hyperparameters include sensor options, coordinate system options, hybrid force-position control direction, force values, and hybrid force-position control mode on and off.
  • Page 66 Cartesian coordinate system. That is, it must not contain MOVEJ command. 2. RML63-B robot does not support force control command, if you add force control command, there will show a data error prompt at the corresponding line.
  • Page 67 Fig. 8-70 RML63-B robot error prompt. Demo：Add a force control trajectory, e.g., the linear movement between Waypoint4 and Waypoint5 as shown below. Fig. 8-71 Force control demo. The line 8 is to start the force control mode with its settings as below.
  • Page 68 Fig. 8-73 Turn off the force control. <Comment> The Comment command is used to explain the functionality of a program. Comment content must be English. Fig. 8-74 Comment command example. Demo：Add a Comment command between Waypoint5 and Waypoint6, shown as follows. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 69 Gripping action: It supports release and close.  Demo：Add a Gripper command after Waypoint6 shown as follows. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 70 420, respectively. Fig. 8-78 Gripper release example. Fig. 8-79 Gripper close example. < Hand > The Dexterous Hand or Hand command is used to control the five-fingered dexterous hand movement. It supports blocking mode setting, gesture setting, and action 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 71 Action sequence number setting ： The predefined gesture sequence number of the  dexterous hand that can be set to 1-40, and each sequence number represents 1 gesture action. Demo：Add a Hand command after Waypoint7 shown as follows. Fig. 8-81 Hand command demo. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 72 Speed：To set the speed of the lift in 0-100.  Demo ： Add a Lift command between Waypoint7 and Waypoint8 shown as follows. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 73: Edit

    The move should happen between the same level commands in the program tree map. 8.3.8.2 Copy Click button, you can copy the command and location information for the 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 74: Start Button

    When the online program project is completed, click the trajectory start point in the left display bar. Note that the middle point of MOVEC cannot be used as the start point. The background color of the selected point will change to blue, and then click 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 75 (the button becomes a button after being clicked). During the trajectory being running, the background color of the current movement command line changes to yellow. Fig. 8-86 Start running the online program. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 76: Pause Button

    Note: During the operation of the program, in order to avoid accidents caused by misoperation, the function buttons of the interface are locked. After pressing , buttons can be used normally. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 77: Single Step Button

    (with the pause function to complete the trajectory reproduction). In the single step mode, the program is executed one by one. Only after a single command is completed, click button again to execute the next trajectory command. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 78: Joints Move There

    First, click on the target waypoint in the left display bar (the target point background color will turn blue). Then, press and hold the button, the robot will move to the target waypoint through joint space planning, and release the button to stop the movement. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 79: Move Straight There

    MOVEL. After selecting the target waypoint, press and hold button, then the robot end will move along a straight line toward the target waypoint. The movement will stop when releasing the button or the planning is wrong. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 80: Robot Simulation Preview

    Fig. 8-93 Simulated robot preview. 8.3.15.1 Draw Trajectory Turn on the "Draw Trajectory" function, and the robot trajectory will be displayed in real time in the robot simulation preview area. Fig. 8-94 Draw trajectory demo. 8.3.15.2 Clear trajectory 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 81: Configuration

    Draw Trajectory feature is automatically disabled. Fig. 8-95 Clear trajectory demo. 8.4 Configuration 8.4.1 System Configuration The system configuration interface mainly configures the communication of the robot controller Fig. 8-96 The system configuration interface. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 82 When to connect the robot in WIFI AP mode, the computer connects to the robot WIFI (in the demo, WIFI name is RM75-019), and sets the computer WLAN local IP and the robot IP in the same network segment. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 83 8080, and the communication mode is server. Fig. 8-99 WIFI STA mode setting. Click button, if the robot controller emits a "DiDi" sound, then the mode switching is complete. The PC should connect to the same router as the robot. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 84 IP assigned by the router with a port number of 8080. Fig. 8-101 Local network configuration. For example, the IP address of the robot assigned by the router is 192.168.1.142. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 85 IP needs to be configured in the same network segment. The configuration is shown below. (1) Open “Open Network and Sharing Center” at the lower right of the computer. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 86 Open network and sharing center in Windows. Fig. 8-103 (2) If the robot is connected by an Ethernet cable, click “Local Connection”. Fig. 8-104 Local connection. (3) Click the “Properties” button in the dialog box that pops up. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 87 (4) In the pop-up dialog box, select “Internet Protocol Version 4” first and then click the “Properties” button. Fig. 8-106 Select the Internet protocol version. (5) Configure the network IP address according to the following figure. Click “OK” button to complete the local network setting after the configuration. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 88: Robot Configuration

    Fig. 8-108 Connect to the robot. 8.4.2 Robot Configuration The robot configuration interface includes safety configuration, tool calibration, working/operation coordinate system calibration, initial pose setting, installation information, force sensor configuration, force sensor data map, version information, and IO setting. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 89 The safety configuration interface mainly configures the joints of the robot, TCP parameters of the robot end and collision prevention, as shown in the figure below. Fig. 8-110 The safety configuration. 1. Joint Configuration Select joints 1-6 in the left drop down box, corresponding to the six joints from 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 90 Enable: the “Enable” button and the “Disenable” button send the enable and disenable commands to the specified joint, respectively. Example: Enable joint 1 (Likewise, other joints can be enabled.) 1. Select joint 1 from the leftmost option. 2. Click the “Enable” button on the right. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 91 In the origin position, the status of the robot is shown in the figure below. Fig. 8-113 The origin pose of the robot. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 92 Example of setting origin: Note that not all versions of RM robotics support this functionality. Please confirm with RealMan Intelligent Technology Co., Ltd., before proceeding. Set the origin of joint 1 (and the origins of other joints can be set likewise).
  • Page 93 After the network connection between the teach pendant software and the robot controller is established, this feature will automatically update the TCP parameters, and the user can manually modify the parameters and send them as well. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 94 "tool calibration" (refer to section 8.4.2.2 for the tool calibration process). Fig. 8-119 End payload parameter setting. 8.4.2.2 Calibration of the Tool-End Coordinate System Tool-end or tool coordinate system calibration is shown in the figure below. Region 1 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 95 (this reference requires that the end is sharp and placed vertically within the robot reachable range). After the 6 points have been calibrated, click “Add Tool” to automatically calculate the current tool information according to the 6 points. After the calculation is 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 96 4. Payload at the End After the tool calibration, we need to enter the weight and center of gravity position of the end tool to make the tool parameters at the end of the robot more durable. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 97 Region 1 displays the names of all the current operation coordinate system and Its positions and poses relative to the Base coordinate system. Region 2 automatically calibrates the current operation coordinate system. Region 3 manually sets the information of the operation coordinate system. Fig. 8-122 Tool end coordinate system calibration demo. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 98 8.4.2.4 Setting Initial Pose The initial pose of the robot can be set to facilitate the user to control the robot to 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 99 Device model options include RM75-B, RM75-ZF, and RM75-6F. The installation orientation can be set by adjusting the X and Y axis angles. When the settings are complete, click the "OK" button to save. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 100 Note that during operation, the robot should avoid a hard collision between the sensor and external equipment which may cause damage. The force sensor configuration interface includes six-axis force center of gravity calculation and one- axis force center of gravity calculation sensor calibration. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 101 Fig. 8-126 Six-axis force sensor automatic calibration. Click button during automatic calibration, the calibration status confirmation prompt will pop up, as shown in the following figure. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 102 Fig. 8-129 Manual calibration of the six-axis force sensor. The robot automatically calculates the center of gravity of the six-axis force. After the calibration of the gravity of the six-axis force is successful, the "center of gravity of 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 103 Fig. 8-131 Automatic calibration of one-axis force sensor. Click button during automatic calibration, the calibration status confirmation prompt will pop up, as shown in the following figure. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 104 Fig. 8-133 Completion of the one-axis force sensor calibration. In the manual calibration, check the manual setting marquee, set 2 points through the robot teach pendant software interface, and after the 2 points are recorded (as shown in the figure below), click the button 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 105 8.4.2.7 Data Map of the Force Sensor Robot with force sensor can record the one-axis force data or six- axis force data in real time as shown in the following figure which is six-axis force data. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 106 Chinese-English switch. Fig. 8-137 Version information example. 8.4.2.9 I/O Setting The I/O setting can set the controller I/O and tool I/O, as shown in the following figure. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 107 1. Controller I/O Setting： The I/O configuration interface in the teach pendant software can display the status of the controller I/O and configure the controller I/O, as shown in the following figure. Fig. 8-139 Controller I/O setting demo. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 108 I/O and configure the I/O as shown in the following figure. Fig. 8-140 Tool I/O setting demo. Digital input/output: This part shows the status of the digital I/O. The gray circle represents the low level, the green circle represents the high level, and the user sets 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 109: System Information

    System Error: displays the alarm status when the robot is running abnormally. Fig. 8-141 The system information. 8.6 Extension The configuration of the end tools and the settings for drag teaching in the extended interface of the teach pendant software are shown in the following figure. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 110: Tool I/O Configuration

    0V, 5V, 12V and 24V. Peripheral equipment: By far, the tool end by default adds gripper and dexterous hand, and other devices can be added later. The gripper controls the release and close of the 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 111: Drag Teaching

    After the track recording is complete, press the blue button at the robot end to reproduce the trajectory. Fig. 8-144 Saving the trajectory recorded by drag teaching. Drag teaching has four ways, that is, current loop, move position only, move posture only, and position-posture combined. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 112: Lift Control

    8.6.3 Lift Control The lift control can be configured in the accessory interface of the teach pendant software as shown in the following figure. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 113: Online Programming Demo

    The height can be raised or lowered, and a target height can be set so as to bring the lift to the target height by clicking the motion button. This is shown in the following figure. Fig. 8-147 Lift control setting. 9. Online Programming Demo 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 114 4. In the tree diagram on the left side of the interface, a “MOVEJ” command and a waypoint are automatically added. 5. Double-click the "MOVEJ" command line, it pops up the parameter setting window, and click the “OK” button to save it after setting. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 115 Figure 9-2 MOVEJ command parameter setting. 6. Double-click the “Waypoint1” command line to set the waypoint parameters. Figure 9-3 Waypoint command parameter setting. 7. Click the button, it pops up the robot teaching interface to set the waypoint pose. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 116 , and it pops up the Waypoint parameter setting window. Fig. 9-5 Add the 2 waypoint, i.e., Waypoint2. 9. After setting the location, click the button to add a second waypoint. The system will automatically name it "Waypoint2". 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 117 3. Press the “Single Step” button to perform single step movement. 4. Press the “Stop” button to stop the movement. To prevent accidents, manually click the “Stop” button after the trajectory tracking finished, so that the functions of the buttons can resume. 生活美好，臂不可少 http://www.realman-robotics.com...

  • Page 118: System Update Via Usb Flash Drive

    USB flash drive. (If there is no bin folder, create it yourself in the root directory and copy the .bin files to the folder.) (3) Plug the USB flash drive into the USB port of the controller, as shown below. 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 119 (6) Turn on the power, and the robot with updated software system can work normally. Note: The controller bin file(s) will be updated within 30s. But the robot arm end interface board and joints will be updated in 70s, so please be patient. Please do not power off during the update! 生活美好，臂不可少 http://www.realman-robotics.com...
  • Page 120 Built-in Communication WIFI/Ethernet/Bluetooth/USB/RS485 Teach&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 Joint1~2: 180°/s, Joint3~6：225°/s Joint1,2,4,5: ±180°, Joint3: +165°~ -150°, Joint Movement Range Joint6: ±360°. 生活美好，臂不可少 http://www.realman-robotics.com...

This manual is also suitable for:

Rm65

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