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

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4.3.9 Customer signal connector of the mechanical arm 2 (CS)...........41
Chapter 5 Product Installation............................................................................... 43
5.1 Installation requirements............................................................................ 43
5.2 Product confirmation .................................................................................. 45
5.3 Installation site and environment............................................................... 45
5.4 Installation of external parts ....................................................................... 46
5.4.1 Installation of camera (optional) ...................................................47
5.5 Handling of robot......................................................................................... 47
5.6 Base installation........................................................................................... 49
5.7 5.7 Removal of fastener ............................................................................... 50
5.8 Ground protection ....................................................................................... 51
5.9 Installation of robot cable ........................................................................... 52
5.9.1 Communication connection ..........................................................53
5.9.2 Connection of E-stop device ..........................................................54
5.9.3 Power connection ...........................................................................55
5.9.4 Check after installation...................................................................56
5.9.5 Check before power-on ..................................................................56
Chapter 6 Robot Operation .................................................................................... 58
6.1 Prerequisites................................................................................................. 58
6.2 Programming environment installation..................................................... 59
6.2.1 Installation steps.............................................................................59
6.3 Open macro language development interface.......................................... 61
6.4 Functions of macro language development interface .............................. 63
6.4.1 Interface...........................................................................................63

Table of Contents
Document Version V1.0.1 (11-14-2022) IX
6.4.2 Menu bar ..........................................................................................64
6.4.3 Introduction to user defined instruction editing area..................66
6.4.4 Establish IP communication...........................................................68
6.4.5 Query on description of macro language instructions ................72
6.4.6 Input instructions............................................................................73
6.4.7 Run instructions ..............................................................................74
6.4.8 Breakpoint debugging....................................................................75
6.4.9 Output..............................................................................................75
6.4.10 Clear output.....................................................................................76
6.4.11 Save output .....................................................................................76
6.5 Manual jog teach.......................................................................................... 77
6.6 Servo power-on............................................................................................ 80
6.7 Speed adjustment........................................................................................ 82
6.7.1 Adjustment of system speed..........................................................83
6.7.2 Adjustment of robot speed.............................................................84
6.7.3 Speed adjustment during motion .................................................85
6.8 Emergency stop and recovery..................................................................... 86
6.8.1 Emergency stop...............................................................................86
6.8.2 Recovery ..........................................................................................86
6.9 Robot power-off ........................................................................................... 87
Chapter 7 Technical Service................................................................................... 89

AH20 Robot User Manual
X Document Version V1.0.1 (11-14-2022)
List of Figures
Figure 2-1 AH20 Robot (AH20-0850-0204-2000) appearance..................................6
Figure 2-2 Model implication.....................................................................................7
Figure 3-1 Composition of AH20 Robot (AH20-0850-0204-2000)............................9
Figure 3-2 Main view of AH20 Robot .......................................................................11
Figure 3-3 Trajectories of each axis.........................................................................12
Figure 3-4 AH20-0850-0204-2000 / AH20-0850-0204-4000....................................13
Figure 3-5 AH20-1050-0204-2000 / AH20-1050-0204-4000....................................14
Figure 3-6 World coordinate system.......................................................................15
Figure 3-7 AH20-0850-0204-2000 dimensions (unit: mm).....................................16
Figure 3-8 AH20-0850-0204-2000 dimensions (unit: mm).....................................16
Figure 3-9 AH20-0850-0204-4000 dimensions (unit: mm).....................................17
Figure 3-10 AH20-0850-0204-4000 dimensions (unit: mm)...................................17
Figure 3-11 AH20-1050-0204-2000 dimensions (unit: mm)...................................18
Figure 3-12 AH20-1050-0204-2000 dimensions (unit: mm)...................................18
Figure 3-13 AH20-1050-0204-4000 dimensions (unit: mm)...................................19
Figure 3-14 AH20-1050-0204-4000 dimensions (unit: mm)...................................19
Figure 3-15 Product dimensions (Unit: mm)..........................................................20
Figure 3-16 End flange installation dimensions (unit: mm)..................................20
Figure 4-1 External connector panel.......................................................................24
Figure 4-2 Air hole ....................................................................................................25
Figure 4-3 CS connector...........................................................................................25
Figure 4-4 Schematic diagram of connector panel................................................26

List of Figures
Document Version V1.0.1 (11-14-2022) XI
Figure 4-5 Auxiliary encoder....................................................................................30
Figure 4-6 Wiring diagram of E-stop device............................................................33
Figure 4-7 Diagram of input circuit (left) and output circuit (right) .....................39
Figure 4-8 Wiring diagram of CS connector of F19W-core robot general cable...42
Figure 5-1 Reserved space at the back of the base................................................44
Figure 5-2 Installation diagram...............................................................................45
Figure 5-3 Installation position of external parts (unit: mm) ................................46
Figure 5-4 Camera installation diagram .................................................................47
Figure 5-5 Schematic diagram of packaging and transportation.........................48
Figure 5-6 Install bolts on the base.........................................................................50
Figure 5-7 Diagram of removing the fixed plate.....................................................51
Figure 5-8 Grounding diagram ................................................................................52
Figure 5-9 Schematic diagram of communication connection ............................53
Figure 5-10 Schematic diagram of E-stop device connection ..............................54
Figure 5-11 Connect the power...............................................................................55

AH20 Robot User Manual
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List of Tables
Table 1-1 Warning signs.............................................................................................4
Table 2-1 Model preview............................................................................................7
Table 3-1 Components of AH20 Robot ...................................................................11
Table 3-8 Technical parameters of AH20 Robot.....................................................21
Table 3-9 Environmental parameters .....................................................................22
Table 3-10 Robot electrical parameters..................................................................23
Table 4-1 Introduction of connector panel ............................................................25
Table 4-2 Introduction of connector panel ............................................................27
Table 4-3 Description of power indicator status....................................................28
Table 4-4 Description of system indicator status...................................................28
Table 4-5 Definition of power connector pins........................................................29
Table 4-6 Definition of auxiliary encoder pins .......................................................29
Table 4-7 Definition of MCP pins .............................................................................31
Table 4-8 Definition of RS-232 pins.........................................................................33
Table 4-9 Definition of RS-485 pins.........................................................................34
Table 4-10 Definition of Ethernet connector pins..................................................34
Table 4-11 Definition of I/O connector pins ...........................................................36
Table 4-12 Definition of base CS connector pins ...................................................39
Table 4-13 Definition of the mechanical arm 2 CS connector pins.......................41
Table 5-1 Tightening torque ....................................................................................49

Chapter 1 Safety Precautions
Document Version V1.0.1 (11-14-2022) 1
Chapter 1 Safety Precautions
This chapter describes the safety precautions for using AH20 Robot. Please
read this manual carefully before using the robot. Improper use of the robot may
cause injuries to operators and damage to the system, and even cause personal
deaths. Users shall strictly follow the safety precautions in this manual. QKM shall
not be responsible for any personal and equipment losses caused by illegal
operations.
Personnel who use AH20 Robot for system design, operation and
maintenance shall be trained by QKM or relevant institutions or shall have the
same professional skills. Personnel shall read this manual carefully before
conducting operation, maintenance, teaching, programming and system
development of AH20 Robot and use it in strict accordance with the safety
precautions in this manual.
1.1 General safety
The safety precautions in this manual only serve as a
supplement to safety specifications. Personnel using the
robot shall also comply with local safety regulations or
specifications.
Personnel who use this series of robots for system design and
manufacturing shall observe the following safety rules:
Use the robot and its component products in an environment that meets the
design specifications, otherwise, the robot may fail.
Please use the robot within the specified operation environment. If it is

AH20 Robot User Manual
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used beyond its specifications and load conditions, the service life of the
robot would be shortened, or the robot would even be damaged.
Users should ensure that the robot operates under safety conditions.
There should be no objects around the robot, which may cause damage
to it. As the robot may be scratched and bumped due to the motion of its
movable mechanical parts, users should carry out risk assessment of the
operation environment on site and set up special facilities for protection.
To prevent personnel from entering the motion area of the robot by
mistake, be sure to install a safety fence to stop personnel from entering
the dangerous area.
When the ambient temperature is close to 0℃, operate the robot at the
speed of 10% or less for more than 10 minutes to preheat it; perform
other operations after preheating the robot.
Detergents with strong corrosion are not suitable for cleaning the robot.
Anodized parts should not be cleaned by immersion.
Non-professionals shall not repair faulty products without permission.
Do not disassemble the electronic control cabinet arbitrarily. If the
product fails, please contact QKM Customer Service.
Personnel responsible for installation, operation and maintenance of
QKM robot must receive rigorous training to understand all safety
precautions and proper methods of operation and maintenance before
operating and maintaining the robot.
Users should carry out regular inspection and maintenance of the robot
according to the manual and related requirements and timely replace
damaged parts to ensure safe operation and service life of the robot.

Chapter 1 Safety Precautions
Document Version V1.0.1 (11-14-2022) 3
Before operating, maintaining and testing the robot, be sure to know the
exact location of the E-stop device of the robot in the workplace and
ensure that the E-stop button can be quickly pressed in case of an
emergency.
Do not plug or unplug the power and communication cables or press
the E-stop button at will during normal operation of the robot.
Users should follow the instructions marked on the robot to avoid
entering dangerous working areas where personal injury and robot
damage may be caused.
If users request for transport, please adopt the standard packaging
required by QKM.
1.2 Precautions for safe operation
Shut off the power when installing and
maintaining the robot to prevent accidents.
Do not enter the work area of the robot after it is
powered on to prevent danger.
Please observe the following safety rules when conducting installation,
teaching and programming of the robot:
Only qualified personnel through special training with correct
understanding of precautions for operation safety and mastery of use of
the robot can operate, maintain and repair the robot.
Do not randomly change the hardware and software configuration of the
robot, otherwise the robot may be damaged or users may be injured.

AH20 Robot User Manual
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The robot must be well grounded by connecting to the main ground wire
of the factory to prevent static damage; maintenance tools must adopt
special insulation tools.
Confirm that the entire robot system is in a safe environment before
performing daily inspection and regular maintenance of the robot.
Do not plug or unplug the power and communication cables during
normal operation of the robot.
Regularly carry out training for operators on operating rules, industrial
safety, safety instructions and environmental protection.
Users should carry out daily check and regular maintenance of the robot
according to the manual and related requirements and timely replace
damaged parts to ensure safe operation and service life of the robot.
If the robot and its components are scrapped and shall be discarded,
please handle the industrial waste properly in accordance with relevant
laws and regulations to protect the environment.
1.3 Safety signs
The main body of the robot is labeled with the following warning signs.
There are corresponding dangers and warnings near the location where the
signs are labeled, so take sufficient care when operating.
In order to operate and maintain the robot system safely, be sure to observe
the cautions and contents on the warning signs.
Table 1-1 Warning signs
No.
Labeling
Notes

Chapter 1 Safety Precautions
Document Version V1.0.1 (11-14-2022) 5
1
A triangle sign for
warning of high
voltage
2
Grounding sign
3
Do not disassemble
the robot to
prevent failures.
4
A sign for
protection from
residual voltage