QKM AH20 User manual

User Manual
AH20-0850-0204-2000
AH20-0850-0204-4000
AH20-1050-0204-2000
AH20-1050-0204-4000
QKM Technology (Dongguan) Co., Ltd.
Document version
V1.0.1
Issued on
November 14, 2022

Preface
Document Version V1.0.1 (11-14-2022) I
Preface
Thank you for purchasing the robot produced by QKM!
This manual describes the matters needing attention for properly use of AH20
Robot.
Read this manual carefully before using AH20 Robot.
Please 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
AH20 Robot so that users can fully understand and properly use the robot.
Target readers
This manual is for the reference of:
Customer Engineer
Technical Support Engineer
Application Engineer
Installation and Debugging Engineer
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 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:

AH20 Series Robot User Manual
II Document Version V1.0.1 (11-14-2022)
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.

Preface
Document Version V1.0.1 (11-14-2022) III
Copyright© 2022 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 related parts.
Trademark statement
is the trademark of QKM, 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 the improper use of this Manual or the product.
The contents of 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.

AH20 Series Robot User Manual
IV Document Version V1.0.1 (11-14-2022)
QKM Technology (Dongguan) Co., Ltd. (Headquarters)
Tower A, Building 17, Headquarters 1, No. 4 Xinzhu Road, Songshan Lake High-tech
Industrial Development Zone, Dongguan City
Tel.: [phone]
Fax: [phone]-8053
Post code: 523808
Email: [e-mail]
Website: www.qkmtech.com

Version History
Document Version V1.0.1 (11-14-2022) V
Version 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
V1.0.0
June 7, 2022
The first version
V1.0.1
November, 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

AH20 Robot User Manual
VI Document Version V1.0.1 (11-14-2022)
Table of Contents
Preface................................................................................................................................. I
Version History...................................................................................................................V
Table of Contents..............................................................................................................VI
List of Figures..................................................................................................................... X
List of Tables ....................................................................................................................XII
Chapter 1 Safety Precautions................................................................................... 1
1.1 General safety................................................................................................. 1
1.2 Precautions for safe operation...................................................................... 3
1.3 Safety signs..................................................................................................... 4
Chapter 2 Product Overview.................................................................................... 6
2.1 Introduction.................................................................................................... 6
2.2 Model implication .......................................................................................... 7
2.3 Product features............................................................................................. 8
Chapter 3 Components and Functional Description ............................................. 9
3.1 Introduction to main body ............................................................................ 9
3.1.1 Base....................................................................................................9
3.1.2 Mechanical arm 1............................................................................10
3.1.3 Mechanical arm 2............................................................................10
3.1.4 Cable ................................................................................................10
3.2 Trajectory...................................................................................................... 12
3.3 Horizontal work space................................................................................. 13

Table of Contents
Document Version V1.0.1 (11-14-2022) VII
3.4 Robot coordinate system............................................................................. 15
3.5 Specification and dimension ...................................................................... 15
3.5.1 Overall dimension...........................................................................15
3.5.2 Base dimensions .............................................................................20
3.5.3 Terminal flange dimensions...........................................................20
3.6 Technical parameters .................................................................................. 21
3.7 Environmental parameters ......................................................................... 22
3.8 Electrical parameters................................................................................... 23
Chapter 4 Introduction to Electrical Connectors.................................................. 24
4.1 External electrical connector....................................................................... 24
4.1.1 Connector panel of the mechanical arm 2....................................24
4.1.2 Base connector panel .....................................................................26
4.2 Indicator description ................................................................................... 28
4.2.1 Main power indicator......................................................................28
4.2.2 System indicator (Mechanical arm 2) ............................................28
4.3 Definition of connector pins........................................................................ 29
4.3.1 Power connector (POWER) .............................................................29
4.3.2 Auxiliary encoder ............................................................................29
4.3.3 MCP connector (MCP/E-stop) .........................................................31
4.3.4 Communication connector (RS-232) .............................................33
4.3.5 Communication connector (RS-485) .............................................34
4.3.6 Ethernet connector (LAN/RTN1/RTN2)..........................................34
4.3.7 Digital input/output connector (I/O) .............................................36
4.3.8 Base customer signal connector (CS) ............................................39