GS GS602-A User manual
GS602-A Robot Arm Manual
GS Automatic Co., Ltd
2022.01
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GS Automatic Arm Manual
For sales and technical support, please contact GS Automatic Co., Ltd.
E-mail ：sales@gsautomatic.com
Statement
Respected users:
Thank you for purchasing and using GS Automatic products. For your safety
and benefit, please read the user manual and all the random information before
using the product. If you do not operate and use the product in accordance with the
user' s use manual, resulting in any personal injury, property or other loss,
GS Automatic Co., Ltd. will not be liable.
Manual on User Use of this Product (hereinafter referred to as "Manual ")
The copyright belongs to GS Automatic Co., Ltd;
The trademarks and names mentioned in the manual belong to their respective
rights holders;
The contents of the manual are inconsistent with the actual product, and the
actual product shall prevail.
If you have any unclear or objection to the contents or terms of the manual,
please submit a written objection to GS Automatic ( Co. , Ltd within seven days
after the purchase of the machine, otherwise you are deemed to have agreed,
understood and accepted the full contents of this manual.
If you have any problems, please call +86 13602561056.
GS Automatic ( co., ltd reserves the right to explain and modify the user's manual.
the revision, update and explanation of the manual will be published on the GS
Automatic website (http://www.gsautomatic.com/), please note.
Thank you!
GS Automatic Co., Ltd
Address : 1 Industrial Zone, Xixiang Garrison Community, Baoan District,
ShenZhen, GuangDong, China
Tel :+86 13602561056
E- mail: s a l e s @ g s a u t o m a t i c . c o m
Official website: www.gsautomatic. com
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GS Automatic Arm Manual
A comprehensive description of the use of GS Automatic 602
arm is given in this specification. Be sure to operate the arm on
the basis of careful reading and full understanding.
The drawings and photos in the instructions are
representative examples and may differ from the products
purchased.
•Specifications are sometimes modified appropriately for
reasons such as product improvements, specification changes
and easier use of the specifications themselves. the revised
instruction manual will update the version number below the
cover and issue in a revised version.
Please contact our sales department to order the
instructions for breakage and loss.
Customer unauthorized product transformation, not within the
scope
of our warranty, the company is not responsible.
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GS Automatic R o b o t i c Arm Manual
I. Safety precautions.......................................................................................................................................... 5
1 . symbols and their meanings...............................................................................................................5
2. hazardous matters................................................................................................................................. 6
3. Notes........................................................................................................................................................7
4. use of the environment.........................................................................................................................7
5. safety operating procedures...............................................................................................................8
6. routine maintenance and storage...................................................................................................... 9
II. Install USB TO RS232 driver..................................................................................................................... 10
III. Zero calibration...........................................................................................................................................1 4
IV. GS AutomaticV2.0 instructions...............................................................................................................15
V. I/O and Encoder Hardware Interface Definition....................................................................................22
1. master port definition......................................................................................................................... 23
2. master wiring diagram:...................................................................................................................... 24
Circuit diagram of relay wiring in 3. control box.............................................................................. 24
4. control box relay wiring diagram..................................................................................................... 26
VI. 602 parameters...........................................................................................................................................27
1. Dimensional Parameters....................................................................................................................2 7
VII. Case cases.................................................................................................................................................2 8
VIII. Functional mode and programming.................................................................................................... 2 9
1 . Documents Classification................................................................................................................. 29
2. programming rules..............................................................................................................................30
3. instruction list:..................................................................................................................................... 31
4. Memory Use......................................................................................................................................... 33
5. modules................................................................................................................................................. 35
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GS Automatic Arm Manual
I. Safety precautions
thank you for purchasing our GS Automatic robot manipulator. For your
safety and prevent damage to the manipulator, please read and master this
manual and other ancillary materials before using the GS Automatic manipulator,
and start using it after you are familiar with all equipment knowledge, safety
knowledge and precautions, and pay special attention to the following safety signs.
1. symbols and their meanings
Misoperation is dangerous and may result
in
Misoperation is dangerous and may
result in moderate injury, minor injury or
damage to objects.
Compliance in manuals and documents
Matters expressly prohibited in manuals
Even matters belonging to the category of " attention" will have serious
consequences because of different circumstances, so any "attention" matters
are extremely important, please strictly abide by.
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2. hazardous matters
(1) In case of emergency, press the emergency stop button immediately, if the
brake arm can not be timely, it may cause personal injury or equipment damage
accident.
Stop button
(2) When the servo power supply is switched on after the emergency stop is
lifted, the emergency stop key should be started after the accident causing the
emergency stop.
Release from emergency
(3) When moving within the range of the manipulator, observe the following:
1) consider the strain scheme when the manipulator suddenly moves to its
position.
2) make sure to set up a shelter, just in case.
The mechanical arm action caused by misoperation may cause
personal injury
accident.
(4 ) Make sure that no one is within the range of the action of the manipulator and
that the operator is operating in a safe position when:
1)GS Automatic the arm is connected to the power supply.
2) use G code to operate the manipulator.
3) trial run time.
4) show again.
(5) Please do not move and maintain the arm while the arm is in operation. If you
want to move and maintain, please turn off the power of the arm before doing
this operation.
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Accidental entry into the manipulator action range or contact
with the
manipulator may cause personal injury. If you find an exception, press the
stop button immediately. Emergency stop key is located on the right side of the
front of the GS 6 0 2- A manipulator electrical control box.
3. Notes
( 1 ) The following shall be checked in front of the GS Automatic arm and, if any,
repaired or other necessary measures shall be taken in a timely manner.
1) electrical cables are properly connected;
2) electrical cable skin damage;
3) the emergency stop switch is in the state of release;
4) arm movement is abnormal, abnormal noise.
(2) The owner and operator of the GS Automatic arm must be responsible for their
own safety. Ano robot reminds users to wear safety protection equipment and
comply with safety regulations when using manipulator products.
(3) Do not modify the mechanical arm
Do not rebuild the mechanical arm, due to unauthorized product
transformation caused by accidents or failures, not within the scope of our
warranty, the company is not responsible.
(4) Do not approach the running arm
Do not approach the running arm to prevent accidental injury or damage to the
arm.
(5) Please specify those responsible for oversight
In order to prevent manual adjustment errors or accidents caused by
inadequate safety confirmation, when more than two people operate, please specify
the supervisor.
( 6 ) Use the GS Automatic arm on the basis of an understanding of the " warning
sign" of the instruction manual for the use of the arm.
4. use of the environment
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(1) Do not place the mechanical arms in harsh conditions. Soil, scrap, high
temperature will damage internal devices.
(2) After using the mechanical arm, the power cord plug shall be unplugged and
the mechanical arm shall be placed at a dry and normal temperature. High
temperature and harsh environment damage the internal devices of the
manipulator.
(3) GS Automatic arm may not be used in:
1) close to flammable substances
2) an explosion
4) water or other liquid
5) the presence of corrosive, flammable gases
Environment 6) temperatures above 40 degrees
Celsius
7) other harsh environment
5. safety operating procedures
(1) Control the movement of the manipulator
1) the movement of the manipulator should be adjusted at a lower rate in front
of the operating manipulator to increase the effective control of the manipulator.
2) consider the movement trend of the manipulator before pressing the power
key.
3 ) should consider the trajectory of the manipulator in advance and confirm
that the line is not interfered.
4) the area around the arm must be clean, free of oil, water and impurities.
(2) Production and operation
Before 1) boot, you must know all the tasks the manipulator will perform
according to the program.
2 ) shall know the position and status of all switches, sensors and control
signals that will affect the movement of the manipulator.
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3) must know the position of the emergency stop buttons on the manipulator
control device, ready to press these buttons in case of emergency.
4) never think that the robot arm has been completed without moving its
program. Because the arm is probably waiting for the input signal to move on.
6. routine maintenance and storage
GS Automatic the arm is safe to use and can adapt to the environment to the
maximum extent. Please follow the instructions. Please be sure to follow the
precautions in this manual.
(1) Never force the shaft of the mechanical arm, or it may cause personal
injury and equipment damage.
(2) Avoid temperatures below or above 20 degrees Celsius;
(3) Avoid long-term placement in direct sunlight;
(4) Avoid dirt and dusty environments;
(5) Stay away from strong vibration environments;
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GS Automatic Arm Manual
II. Install USB TO RS232 driver
First, connect the computer to the controller through the data line, as shown in the figure:
Open Ano factory data package, open USB TO RS2 3 2 folder, according to the use of
computer systems to selectively install, here take the Win7/Win7 system as an example, as
shown in the figure:
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GS Automatic Arm Manual
4. reset read (click pause, exit, file, reset read in turn)
5.
The value of joint printing J1=0.0024 J2J1=-0.0021 J3J1=-96.0922 J4J1=6.7543 J5J1=2.0276 0.0052
compensation reset file
G09ENC OFFSET1=-0.0024
G09ENC OFFSET2=0.0021
G09ENC OFFSET3=96.0922
G09ENC OFFSET4=-67543
G09ENC OFFSET5=-2.0276
G09ENC OFFSET6=-0.00525. Delete initial password : keep 1101 and download the reset file.
IV. GS AutomaticV2.0 instructions
When the computer opens the GS Automatic2.0 software for the first time and the serial port
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GS Automatic Arm Manual
is connected, a prompt window pops up to automatically create a folder in the root directory of the GS
Automatic2 .0 ' s current software disk
Selection determination
Then select OK, and then restart the software.
When the serial port is connected, the port number will be displayed automatically. If the serial port is not
connected, the port number will appear blank
If the serial port is not connected, the serial port connection needs to be detected
2 Open the software interface
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GS Automatic Arm Manual
The stepper motor finds the origin sensor and resets it. Before operation, the parameter
file of the controller is required.
The servo motor reads the absolute encoder position. Before operation, the parameter
file of the controller is required, and the zero return file is configured correctly。
4 Enter teaching mode, click pause (30H), exit (10H), teaching (14H)
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GS Automatic Arm Manual
Click Pause, the receivi ng area receives the current position of the robot (joint position or
rectangular coordinate position) . When you click the joint to print, press Pause again, the joint
angle is printed, and the joint debugging controls (J1 +, J1-, J2 +, J2-, J3 + , J3-, J4 +, J4-, J5
+, J5-, J6 +, J6-,) The brackets in the control are 1234567890- = on the keyboard after selecting
the keyboard.
When you click rectangular printing, press Refresh to print the rectangular coordinate
position and posture, you can operate the joint debugging controls (x +, x-, y +, y-, z +, z-, a
+, a-, b +, b-, c +, c-,) Control brackets are corresponding to the selected keyboard after
ticking
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