OKM Hermes User manual

User Manual
Hermes Robot
HM3-0800-0652-0000
HM8-0500-0652-0000
QKM Technology (Dongguan) Co., Ltd.
Version:
V3.0
Date:
01/11/2023

Preface
Document Version V3.0 (01-11-2023) I
Preface
Thank you for purchasing the robot produced by QKM!
This manual describes the matters needing attention for properly use of
Hermes Robot.
Read this manual carefully before using Hermes Robot.
Please keep this manual properly for future reference
General
This manual provides detailed information on product features, main
components, installation guide, system debugging and technical specifications
of Hermes Robot so that users can fully understand and properly use the robot.
Target reader
This manual applies to:
Customer engineer
Technical support engineer
Application engineer
Installation and Debugging Engineer
Definition of Signs
The signs in this document clearly indicate any dangers, warnings, cautions and
notes that may occur while users perform the operations described in this

Hermes Robot User Manual
II Document Version V3.0(01-11-2023)
manual. Pay attention to the following signs when they appear in the
document.
The signs appearing in this manual are shown in the following table:
Figures
Description
It indicates an imminently hazardous situation, which if
not avoided, will result in death or serious injury.
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 gives the description on key information and operation
tips.

Revision history
Document Version V3.0 (01-11-2023) III
Copyright© 2023 QKM Technology (Dongguan) Co., Ltd.
All Rights Reserved.
QKM Technology (Dongguan) Co., Ltd. (hereinafter referred to as QKM) owns the
patents, copyrights and other intellectual property rights of this product and its
software. Without the written authorization of QKM, 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 its related parts.
Trademark statement
is the trademark of QKM Technology Co., Ltd., and QKM possesses the
ownership of the trademark.
Disclaimer
QKM takes no responsibility for direct, indirect, special, incidental or corresponding
losses or liabilities resulted from improper use of this Manual or the product.
This document are subject to change any time due to product upgrade or other
reasons. QKM reserves the right to change the product, specifications and other
documents in this manual without prior notice. To know about the latest
information of this product, please visit QKM's website for downloading.

Hermes Robot User Manual
IV Document Version V3.0(01-11-2023)
QKM Technology (Dongguan) Co., Ltd. (Head Office)
Block A, Building 17, No.1 Head Office, No.4 Xinzhu Road, Songshanhu High-tech
Industrial Development Zone, Dongguan City
Tel.: [phone]
Fax: [phone]-8053
Post code: 523808
Email: [email protected]
Website: www.qkmtech.com

Revision history
Document Version V3.0 (01-11-2023) V
Revision history
The version history records the description of each document version update.
The most recent version of the document contains the updated contents of all
previous document versions.
Document
version
Issued on
Revised content
V1.0
01/14/2022
The first version
V2.0
07/08/2022
Modified Chapter 3, subsection 3.3.1
Horizontal Workspace
And add a description of the hard limit
V2.1
07/29/2022
In subsection 6.7.2, add a description of the
robot motion speed.
V2.2
11/14/2022
Modified the front pinout picture of the 9-pin
header of the communication interface
(RS-232) in section 4.3.4
Modified the picture description of the front
pinout of the 9-core hole holder of the
communication interface (RS-485) in Chapter
4.3.5

Hermes Robot User Manual
VI Document Version V3.0(01-11-2023)
V2.3
11/24/2022
Modify Table 4-6 MCP Definition of MCP pins；
Modify Figure 4-4 Wiring diagram of E-stop
device.
V3.0
01/11/2023
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

Revision history
Document Version V3.0 (01-11-2023) VII
speed adjustment control in Section 6.8.
9. Added 6.10 Robot power-off method 1 and
method 2 operation steps, and added
method 3.

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Contents
Preface...................................................................................................................I
Revision history ....................................................................................................V
Contents ............................................................................................................VIII
List of Figures ................................................................................................... XIV
List of tables ..................................................................................................... XIX
Chapter 1 Safety Precautions.........................................................................1
1.1 Precautions for general safety .............................................................1
1.2 Precautions for safe operation ............................................................4
1.3 Safety signs...........................................................................................5
Chapter 2 Product Overview...........................................................................1
2.1 Introduction .........................................................................................1
2.2 Product Features..................................................................................2
2.3 Model implication ................................................................................2
Chapter 3 Components and Functional Description .....................................4
3.1 Introduction to main body...................................................................4

Contents
Document Version V3.0 (01-11-2023) IX
3.1.1 Base..........................................................................................5
3.1.2 Mechanical arm 2.....................................................................5
3.1.3 Cable ........................................................................................5
3.2 Trajectory .............................................................................................6
3.3 Work space ...........................................................................................8
3.3.1 Horizontal Work Space ............................................................8
3.4 Robot coordinate system................................................................... 11
3.5 Specification and dimension .............................................................12
3.5.1 Overall dimension..................................................................12
3.5.2 Base dimensions....................................................................14
3.6 Technical parameters ........................................................................16
3.7 Environmental parameters................................................................16
3.8 Electrical parameters.........................................................................18
Chapter 4 Introduction to Electrical Interfaces............................................19
4.1 External electrical interface ...............................................................19
4.1.1 Base interface panel ..............................................................20
4.2Indicator description..........................................................................21

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4.2.1 Main power indicator.............................................................22
4.2.2 System indicator (Mechanical arm 1)....................................22
4.3 Definition of interface pins.................................................................22
4.3.1 Power interface (POWER) ......................................................23
4.3.2 Auxiliary encoder ...................................................................24
4.3.3 MCP interface (MCP/E-stop) ..................................................26
4.3.4 Communication interface (RS-232).......................................28
4.3.5 Communication interface (RS-485).......................................30
4.3.6 Ethernet interface (LAN/RTN1/RTN2)....................................30
4.3.7 Digital input/output interface (I/O) .......................................32
Chapter 5 Product Installation .....................................................................38
5.1 Installation requirements ..................................................................38
5.2 Product confirmation.........................................................................41
5.3 Installation site and environment .....................................................41
5.4 Installation of external parts..............................................................42
5.4.1 Installation of camera (optional)...........................................42
5.5 Handling of robot ...............................................................................43

Contents
Document Version V3.0 (01-11-2023) XI
5.6 Base installation.................................................................................45
5.7 Installation of robot cable..................................................................46
5.8 Ground protection .............................................................................46
5.8.1 Communication connection..................................................47
5.8.2 Connection of emergency stop device..................................48
5.8.3 Power connection..................................................................49
5.8.4 Check after installation .........................................................50
5.8.5 Check before power-on .........................................................51
5.9 Installation of end fixture...................................................................52
5.10Robot movement and storage ...........................................................53
Chapter 6 Robot Operation ..........................................................................54
6.1 Prerequisites ......................................................................................55
6.2 Programming environment installation............................................56
6.2.1 Installation steps ...................................................................57
6.3 Open Macro Command Debugger .....................................................60
6.4 Functions of macro command debugger ..........................................62
6.4.1 Macro Command Debugger interface ...................................62

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6.4.2 Menu bar ................................................................................62
6.4.3 Introduction to user defined instruction editing area ..........64
6.4.4 Establish IP communication..................................................66
6.4.4.1 Successful IP connection ................................................ 69
6.4.4.2 IP connection failure ....................................................... 70
6.4.5 Query on description of macro language instructions .........73
6.4.6 Input instructions ..................................................................73
6.4.7 Run instructions.....................................................................76
6.4.8 Breakpoint debugging...........................................................77
6.4.9 Output....................................................................................78
6.4.10 Clear output...........................................................................79
6.4.11 Save output............................................................................80
6.5 QRL mode...........................................................................................81
6.5.1 Switch to QRL mode ..............................................................81
6.5.2 Creating QRL project files......................................................81
6.5.3 Introduction to "main.ql" ......................................................84
6.5.4 Introduction to "data.qlv" .....................................................85
6.5.5 Saving and downloading program locally ............................92

Contents
Document Version V3.0 (01-11-2023) XIII
6.6 Manual jog teaching...........................................................................94
6.7 Servo power-on..................................................................................97
6.8 Speed adjustment............................................................................100
6.8.1 Adjustment of system speed ...............................................100
6.8.2 Adjustment of robot speed..................................................101
6.8.3 Speed adjustment during motion.......................................104
6.9 Emergency stop and recovery .........................................................105
6.9.1 Emergency stop ...................................................................105
6.9.2 Recovery ..............................................................................106
6.10Robot power-off ...............................................................................107
Chapter 7 Technical service........................................................................ 110

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List of Figures
Figure 2-1 Appearance of HM3 Robot....................................................................1
Figure 2-2 Model implication .................................................................................2
Figure 3-1 Overall structure of Hermes Robot.......................................................4
Figure 3-2 Main view of HM3 Robot .......................................................................6
Figure 3-3 Trajectories of each axis .......................................................................7
Figure 3-4 HM3-0800-0652-0000 (no hard limit)....................................................8
Figure 3-5 HM3-0800-0652-0000 (with hard limit) .................................................9
Figure 3-6 HM8-0500-0652-0000(no hard limit))..................................................10
Figure 3-7 HM8-0500-0652-0000(with hard limit))............................................... 11
Figure 3-8 World coordinate system....................................................................12
Figure 3-9 Dimensions of HM3 Robot with an arm length of 800 (Unit: mm) .....13
Figure 3-10 Dimensions of HM3 Robot with an arm length of 800 (Unit: mm) ...13
Figure 3-11 Dimensions of HM8 Robot with an arm length of 500 (Unit: mm) ...14
Figure 3-12 Dimensions of HM8 Robot with an arm length of 500 (Unit: mm) ...14
Figure 3-13 Dimensions of HM3 Robot with an arm length of 800 (Unit: mm) ...15

List of Figures
Document Version V3.0 (01-11-2023) XV
Figure 3-14 Dimensions of HM8 Robot with an arm length of 500 (Unit: mm) ...15
Figure 4-1 External interface panel......................................................................19
Figure 4-2 Schematic diagram of interface panel ...............................................20
Figure 4-3 Auxiliary encoder ................................................................................25
Figure 4-4 Wiring diagram of E-stop device.........................................................28
Figure 4-5 Diagram of input circuit (left) and output circuit (right) ....................36
Figure 5-1 Reserved space at the back of the base .............................................40
Figure 5-2 Installation diagram............................................................................41
Figure 5-3 Installation position of external parts (unit: mm) ..............................42
Figure 5-4 Camera installation diagram..............................................................43
Figure 5-5 Schematic diagram of packaging and transportation.......................44
Figure 5-6 Install bolts on the base......................................................................45
Figure 5-7 Grounding diagram.............................................................................47
Figure 5-8 Schematic diagram of communication connection ..........................48
Figure 5-9 Schematic diagram of emergency stop device connection...............49
Figure 5-10 Connect the power............................................................................50
Figure 5-11 Flange installation dimensions (unit: mm) ......................................52

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Figure 6-1 Installation package ...........................................................................57
Figure 6-2 Start installation .................................................................................58
Figure 6-3 Choose installation path.....................................................................58
Figure 6-4 Successful installation ........................................................................59
Figure 6-5 ARM interface ......................................................................................60
Figure 6-6 ARM interface ......................................................................................61
Figure 6-7 Macro Command Debugger................................................................61
Figure 6-8 Macro Command Debugger................................................................62
Figure 6-9 Menu bar of macro command debugger (ARM) .................................62
Figure 6-10 Customize the editing interface(ARM)..............................................65
Figure 6-11 call the command shortcut interface(ARM) .....................................66
Figure 6-12 connection interface.........................................................................67
Figure 6-13 scanning interface.............................................................................68
Figure 6-14 IP connection ....................................................................................69
Figure 6-15 Successful connection ......................................................................70
Figure 6-16 Connection failure ............................................................................70
Figure 6-17 Macro manual ...................................................................................73

List of Figures
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Figure 6-18 Input instructions..............................................................................74
Figure 6-19 Input instructions..............................................................................75
Figure 6-20 Input instructions..............................................................................76
Figure 6-21 Run instructions................................................................................77
Figure 6-22 Add a breakpoint...............................................................................78
Figure 6-23 Output ...............................................................................................79
Figure 6-24 Clear output ......................................................................................80
Figure 6-25 Save output.......................................................................................80
Figure 6-26 Switch to QRL mode..........................................................................81
Figure 6-27 New Solution.....................................................................................82
Figure 6-28 Enter a solution name.......................................................................83
Figure 6-29 "New Solution" file interface ............................................................84
Figure 6-30 "main.ql " interface...........................................................................84
Figure 6-31 Run the solution................................................................................85
Figure 6-32 "data.qlv" interface...........................................................................86
Figure 6-33 New Location ....................................................................................88
Figure 6-34 New LocationJ ..................................................................................88

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Figure 6-35 New Profile........................................................................................89
Figure 6-36 New Location Array...........................................................................89
Figure 6-37 "Location Array" information interface............................................90
Figure 6-38 New LocationJ Array.........................................................................90
Figure 6-39 "LocationJ Array" information interface ..........................................91
Figure 6-40 New Profile Array...............................................................................91
Figure 6-41 "Profile Array" information interface................................................92
Figure 6-42 "data.qlv" program content .............................................................92
Figure 6-43 Save to "PC Location".......................................................................93
Figure 6-44 "Download History Paths" interface.................................................93
Figure 6-45 "PC Location" file interface...............................................................94
Figure 6-46 Jog teach...........................................................................................95
Figure 6-47 Teach interface .................................................................................95
Figure 6-48 Power-on button interface ...............................................................99
Figure 6-49 Adjustment of system speed ..........................................................101
Figure 6-50 Speed adjustment...........................................................................102
Figure 6-51 Teach interface in power-on state..................................................108