OKM AH6 User manual

User Manual
AH6 Robot
AH6-0500-0204-2000
AH6-0500-0204-3000
AH6-0600-0204-2000
AH6-0600-0204-3000
AH6-0700-0204-2000
AH6-0700-0204-3000
QKM Technology (Dongguan) Co., Ltd.
Version:
V1.2.0
Date:
01/06/2023

Preface
Document Version V1.2.0 (01/06/2023) I
Preface
Thank you for purchasing the robot produced by QKM!
This manual describes the matters needing attention for properly use of AH6
Robot.
Read this manual carefully before using AH6 Robot.
Keep this manual properly for future reference.
Overview
This manual provides detailed information on product features, main
components, installation guide, system debugging and technical
specifications of AH6 Robot so that users can fully understand and properly
use the robot.
Readers
This manual applies to:
Customer Engineer
Technical Support Engineer
Application Engineer
Installation and Debugging Engineer
Signs and their meanings
The signs in this document clearly indicate any dangers, warnings, attentions
and notes that may occur while users perform the operations described in

AH6 Robot User Manual
II Document Version V1.2.0 (01/06/2023)
this manual; be sure to pay attention to the following signs when they appear
in this manual.
The signs in this manual are described in the table below:
Sign
Description
It indicates that a dangerous situation would occur and
cause deaths or serious injuries if it is not avoided.
It indicates that a potentially dangerous situation would
occur and cause personal injuries or equipment damage if
it is not avoided.
It indicates that an unpredictable situation would occur
and cause equipment damage, performance degradation,
data loss, etc. if it is not avoided.
It indicates the description of key information and tips of
operation skills.

Preface
Document Version V1.2.0 (01/06/2023) III
Copyright ©2023 QKM Technology (Dongguan) Co., Ltd.
All Rights Reserved.
QKM Technology (Dongguan) Co., Ltd. (hereinafter referred to as QKM Technology)
owns the patents, copyrights and other intellectual property rights of this product
and its software. Without the written authorization of this company, any unit or
individual shall not extract or copy the contents of this document, and shall not
directly or indirectly reproduce, manufacture, process and use this product and
related parts.
Trademark
is the trademark of QKM Technology (Dongguan) Co., Ltd. QKM
Technology has the ownership of this trademark.
Disclaimer
Quotient Kinematics Machine has no obligation or responsibility to bear any
incidental or corresponding loss caused by this. QKM Technology does not
assume any direct, indirect, special, incidental or consequential loss or liability
due to improper use of this product.
The contents of this document are subject to change any time due to product
upgrade or other reasons. The company reserves the right to change the product
or specifications in this manual without prior notice. To know the latest
information of this product, please visit the company's website for downloading.

AH6 Robot User Manual
IV Document Version V1.2.0 (01/06/2023)
QKM Technology(Dongguan)Co.,Ltd
Tower A, Building 17, Headquarters 1, No.4 Xinzhu Road, Songshan Lake
High-tech Industrial Development Zone, Dongguan , Guangdong,China
Tel: [phone]
Fax: [phone]-8053
Zip code: 523808
Email: [e-mail]
Website: www.qkmtech.com

Version History
Document Version V1.2.0 (01/06/2023) V
Version History
The version history contains the information on each update of the
document, and the latest version of the document includes the updates in all
previous versions of the document.
Version
Issue Date
Revision Content
V1.0.0
04/17/2020
The first version.
V1.1.0
8/26/2020
1. Delete the foreword and back cover address
of East China branch;
2. Delete Section 5.7 Removal of fixed plate
instructions;
3. Section 4.3.6 corresponding signal code of
IO interface pin is added;
4. Modify section 3.7 relative humidity of
robot operating environment;
5. Modify Chapter 6 robot operation and arm
interface function description;

AH6 Robot User Manual
VI Document Version V1.2.0 (01/06/2023)
5.1 Add reference instructions for robot
instructions and access channels for
arm installation package;
5.2 Section 6.4.3 functions and operation
instructions of user-defined instruction
editing area are added;
5.3 Instruction input case description,
output failure warning and jog
operation mode switching description
are added；
5.4 Modify the tool function description of
servo power on interface, macro
language development interface and
jog teaching interface；
5.5 Modify the robot shutdown mode in
section 6.9.
V1.1.1
10/26/2020
1. Add the warning instructions of foreign
matters falling into the spline screw shaft in
the second mechanical arm in section
3.1.4；

Version History
Document Version V1.2.0 (01/06/2023) VII
2. Electrical chapter 4.3.2 is added. The plug of
robot auxiliary encoder is provided with 5V
voltage and does not need to be introduced
externally.
V1.1.2
04/20/2021
1. The installation dimension of end flange in
Figure 3-17 is modified;
2. Chapter 4.3.6 adds notes on the use of 24V
DC output power supply of I / O interface
with do, and notes that 24V DC output
power supply cannot be connected to
external equipment；
3. A detailed description of I / O free allocation
is added in chapter 4.3.8.
V1.1.3
07/29/2021
1. Add packaging instructions in Section 1.1;
2. Add inspection instructions when the robot
is powered on for the first time in Chapter
5.4.
V1.1.4
12/02/2022
1. Modify Table 4-8 MCP interface picture;
2. Modify Figure 4-6 Wiring diagram of
emergency stop device

AH6 Robot User Manual
VIII Document Version V1.2.0 (01/06/2023)
V1.2.0
01/06/2023
Modify Chapter 6 Robot Operation：
1. Modify Section 6.1,add an overview of the
QRL language.
2. Modify the pictures of the ARM installation
process in Section 6.2.
3. Modify the interface picture and operation
steps of the new version of ARM in Section
6.3.
4. Modify Section 6.4 Macro Command
Debugger Function Introduction and
Operation Procedures.
5. Added Section 6.5 QRL Mode Description and
Operation Content.
6. Modify the manual teaching interface picture
and operation steps in Section 6.6.
7. Modify Section 6.7 Servo power-up pictures
and content.
8. Modify the picture and content of the robot
speed adjustment control in Section 6.8.

Version History
Document Version V1.2.0 (01/06/2023) IX
Added 6.10 Robot power-off method 1 and
method 2 operation steps, and added method
3.

AH6 Robot User Manual
XDocument Version V1.2.0 (01/06/2023)
Contents
Preface ...........................................................................................................I
Version History..............................................................................................V
Contents........................................................................................................X
List of Figures............................................................................................ XVI
List of Table .............................................................................................. XXII
Chapter 1 Safety Precautions .....................................................................1
Precautions for general safety...............................................1
1.2 Precautions for safe operation ..........................................................4
1.3 Safety signs ........................................................................................5
Product Overview ......................................................................7
2.1 Introduction.......................................................................................7
2.2 Model implication..............................................................................9
2.3 Product Features.............................................................................. 11
Components and Functional Description ...............................12
3.1 Introduction to main body ..............................................................12

Contents
Document Version V1.2.0 (01/06/2023) XI
Upper control cabinet ......................................................... 12
Base...................................................................................... 13
Mechanical arm 1................................................................. 13
Mechanical arm 2................................................................. 13
Cable .................................................................................... 14
3.2 Trajectory......................................................................................... 14
3.3 Work space....................................................................................... 15
Vertical Work Space............................................................. 15
Horizontal Work Space ........................................................ 19
3.4 Robot coordinate system ................................................................ 20
3.5 Specification and dimension .......................................................... 21
Overall dimension................................................................ 21
Base dimensions.................................................................. 25
Terminal flange dimensions................................................ 26
3.6 Technical parameters...................................................................... 27
3.7 Environmental parameters ............................................................. 28
3.8 Electrical parameters....................................................................... 30

AH6 Robot User Manual
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Introduction to Electrical Interfaces........................................31
4.1 External electrical interface .............................................................31
Mechanical arm 2 interface panel........................................31
Upper control cabinet interface panel ................................33
Base interface panel.............................................................34
4.2 Indicator description .......................................................................35
Main power indicator...........................................................35
System indicator (Mechanical arm 2) ..................................36
4.3 Definition of interface pins ..............................................................36
Power interface (POWER).....................................................36
Auxiliary encoder .................................................................37
MCP interface (MCP/E-stop) .................................................39
Communication interface (RS-232) .....................................41
Ethernet interface (Ethernet)...............................................41
Digital input/output interface (I/O)......................................42
Customer signal interface of upper control cabinet (CS) ....48
Customer signal interface of mechanical arm 2 (CS) ..........50

Contents
Document Version V1.2.0 (01/06/2023) XIII
Product Installation ................................................................. 53
5.1 Installation requirements................................................................ 53
5.2 Product confirmation ...................................................................... 55
5.3 Installation site and environment................................................... 55
5.4 Installation of external parts ........................................................... 56
Installation of camera (optional)......................................... 57
5.5 Handling of robot ............................................................................ 58
5.6 Base installation .............................................................................. 60
5.7 Ground protection........................................................................... 61
5.8 Installation of robot cable ............................................................... 61
Communication connection................................................ 62
Connection of emergency stop device................................ 63
Power connection................................................................ 64
Check after installation........................................................ 66
Check before power-on ....................................................... 66
5.9 Robot movement and storage......................................................... 67
Robot Operation ...................................................................... 69

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6.1 Prerequisites....................................................................................70
6.2 Programming environment installation..........................................71
Installation steps..................................................................72
6.3 Open Macro Command Debugger...................................................74
6.4 Functions of macro command debugger........................................77
Macro Command Debugger interface .................................77
Menu bar ..............................................................................77
Introduction to user defined instruction editing area.........79
Establish IP communication................................................81
Query on description of macro language instructions .......87
Input instructions.................................................................88
Run instructions...................................................................91
Breakpoint debugging .........................................................92
Output..................................................................................93
Clear output .......................................................................94
Save output........................................................................95
6.5 QRL mode ........................................................................................96

Contents
Document Version V1.2.0 (01/06/2023) XV
Switch to QRL mode ............................................................ 96
Creating QRL project files.................................................... 96
Introduction to "main.ql".................................................... 98
Introduction to "data.qlv" ................................................. 100
Saving and downloading program locally ........................ 106
6.6 Manual jog teach ........................................................................... 108
6.7 Servo power-on ..............................................................................111
6.8 Speed adjustment ..........................................................................114
Adjustment of system speed ..............................................115
Adjustment of robot speed.................................................116
Speed adjustment during motion......................................118
6.9 Emergency stop and recovery........................................................119
Emergency stop ..................................................................119
Recovery .............................................................................119
6.10 Robot power-off........................................................................... 121
Technical Service ................................................................... 123

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List of Figures
Figure 2-1 AH6 Robot (AH6-0500-0204-2000) appearance..................................8
Figure 2-2 Model implication.................................................................................9
Figure 3-1 Composition of AH6 Robot (AH6-0500-0204-2000)..........................12
Figure 3-2 Trajectories of each axis.....................................................................14
Figure 3-3 Vertical work space of AH6 Robot with an arm length of 500 mm..15
Figure 3-4 Vertical work space of AH6 Robot with an arm length of 600 mm..16
Figure 3-5 Vertical work space of AH6 Robot with an arm length of 700 mm..17
Figure 3-6 AH6-0500-0204-2000/AH6-0500-0204-3000......................................19
Figure 3-7 AH6-0600-0204-2000/AH6-0600-0204-3000......................................19
Figure 3-8 AH6-0700-0204-2000/AH6-0700-0204-3000......................................20
Figure 3-9 World coordinate system...................................................................21
Figure 3-10 Dimensions of AH6 Robot with an arm length of 500 (Unit: mm).22
Figure 3-11 Dimensions of AH6 Robot with an arm length of 500 (Unit: mm).23
Figure 3-12 Dimensions of AH6 Robot with an arm length of 600 (Unit: mm).23
Figure 3-13 Dimensions of AH6 Robot with an arm length of 600 (Unit: mm).24

List of Figures
Document Version V1.2.0 (01/06/2023) XVII
Figure 3-14 Dimensions of AH6 Robot with an arm length of 700 (Unit: mm) 24
Figure 3-15 Dimensions of AH6 Robot with an arm length of 700 (Unit: mm) 25
Figure 3-16 Product dimensions (Unit: mm) .....................................................25
Figure 3-17 Installation dimensions of terminal flange (Unit: mm).................26
Figure 4-1 External interface panel.....................................................................31
Figure 4-2 Schematic diagram of interface panel .............................................32
Figure 4-3 Schematic diagram of interface panel .............................................33
Figure 4-4 Schematic diagram of interface panel .............................................35
Figure 4-5 Auxiliary encoder ...............................................................................39
Figure 4-6 Wiring diagram of emergency stop device.......................................41
Figure 4-7 Diagram of input circuit (left) and output circuit (right) .................47
Figure 4-8 Wiring diagram of CS interface of F19W-core robot general cable.51
Figure 5-1 Installation diagram...........................................................................55
Figure 5-2 external parts mounting position（unit：mm）............................56
Figure 5-3 Schematic diagram of camera installation ......................................57
Figure 5-4 Schematic diagram of packaging and transportation ....................59
Figure 5-5 Cut the cable ties................................................................................59

AH6 Robot User Manual
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Figure 5-6 Installation of bolts in the base .........................................................60
Figure 5-7 Schematic diagram of ground connection.......................................61
Figure 5-8 Schematic diagram of communication connection ........................63
Figure 5-9 Schematic diagram of emergency stop device connection ............64
Figure 5-10 Connection of power cable to socket and robot............................65
Figure 6-1 Installation package...........................................................................72
Figure 6-2 Start installation .................................................................................73
Figure 6-3 Choose installation path....................................................................73
Figure 6-4 Successful installation .......................................................................74
Figure 6-5 ARM interface......................................................................................75
Figure 6-6 ARM interface......................................................................................76
Figure 6-7 Macro Command Debugger...............................................................76
Figure 6-8 Macro Command Debugger...............................................................77
Figure 6-9 Menu bar of macro command debugger (ARM) ...............................77
Figure 6-10 Customize the editing interface(ARM) ............................................80
Figure 6-11 call the command shortcut interface(ARM)....................................81
Figure 6-12 connection interface ........................................................................82