QKM AP3X User manual

is the trademark of QKM Technology (Dongguan) Co., Ltd. QKM has been granted ownership of this trademark.

User Manual
AP3X Robot
AP3X-1130-1653
AP3X-1130-1654
AP3X-1600-1653
AP3X-1600-1654
QKM Technology (Dongguan) Co., Ltd.
Document Version: V1.1.0
Issue Date: 01/11/2023

Preface
Document Version V1.1.0(01/11/2023) I
Preface
Thank you for purchasing the robot produced by QKM!
This manual describes the matters needing attention for proper use of the robot.
Read this manual carefully before using the 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 AP3X Robot so
that users can fully understand and properly use the robot.
Readers
This manual applies to:
System Engineer
Application Engineer
Installation Testing Engineer
Technical Support 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 this manual.

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Pay attention to the following signs when they appear in the document.
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 injury or robot damage if it is not avoided.
It indicates that an unpredictable situation would occur and cause
robot 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 V1.1.0(01/11/2023) 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 Technology (Dongguan) Co., Ltd. QKM has
been granted ownership of this trademark.
Disclaimer
QKM does not assume any direct, indirect, special, incidental or consequential loss or
liability due to improper use of this manual or this product.
The contents of this document are subject to change at any time due to product
upgrade or otherwise. QKM reserves the right to change the products or specifications
in this manual without prior notice. To know the latest information on the products
of QKM, please visit QKM's website and download it.

AP3X Robot User Manual
IV Document Version V1.1.0 (01/11/2023)
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, Guangdong Province
Tel: [phone]
Fax: [phone]-8053
Postcode: 523808
Email: [e-mail]
Website: www.qkmtech.com

Version History
Document Version V1.1.0(01/11/2023) 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
12/23/2021
The first version of the document was
released.
V1.0.1
06/01/2022
In subsection 7.7.2, add a description of
the robot motion speed.
V1.0.2
11/25/2022
Modify Table 4-7 MCP interface picture
Modify Figure 4-6 MCP wiring
V1.1.0
01/11/2023
Modify Chapter 7 Robot Operation：
1. Modify Section 7.1,add an overview of
the QRL language.
2. Modify the pictures of the ARM
installation process in Section 7.2.

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3. Modify the interface picture and
operation steps of the new version of
ARM in Section 7.3.
4. Modify Section 7.4 Macro Command
Debugger Function Introduction and
Operation Procedures.
5. Added Section 7.5 QRL Mode
Description and Operation Content.
6. Modify the manual teaching interface
picture and operation steps in Section
7.6.
7. Modify Section 7.7 Servo power-up
pictures and content.
8. Modify the picture and content of the
robot speed adjustment control in
Section 7.8.
9. Added 7.10 Robot power-off method 1
and method 2 operation steps, and
added method 3.

Contents
Document Version V1.1.0(01/11/2023) VII
Contents
Preface.....................................................................................................................I
Version History .......................................................................................................V
Contents ...............................................................................................................VII
List of Figures ......................................................................................................XIII
List of Tables....................................................................................................... XIX
Chapter 1 Safety Precautions............................................................................1
1.1 PRECAUTIONS FOR GENERAL SAFETY ......................................................................1
1.2 PRECAUTIONS FOR SAFE USE ................................................................................3
1.3 MODEL IMPLICATION ...........................................................................................5
Chapter 2 Product Overview .............................................................................7
2.1 OVERALL INTRODUCTION .....................................................................................7
2.2 DIMENSION PARAMETERS .....................................................................................8
2.3 WORK SPACE ...................................................................................................10
2.4 ROBOT COORDINATE SYSTEM ..............................................................................12
2.5 PRODUCT FEATURES:........................................................................................13
Chapter 3 Main components...........................................................................14
3.1 BASE .............................................................................................................14

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3.2 MASTER ARM ...................................................................................................15
3.3 SLAVE ARM......................................................................................................16
3.4 MOVING PLATFORM...........................................................................................16
3.5 ROTATING SHAFT..............................................................................................18
3.6 DEFLECTOR.....................................................................................................19
3.7 TOP COVER FAN................................................................................................20
Chapter 4 Electrical Functions ........................................................................21
4.1 PANEL DESCRIPTION .........................................................................................21
4.2 INDICATOR DESCRIPTION....................................................................................23
4.3 DEFINITION OF PINS..........................................................................................25
4.3.1 Power interface ....................................................................................25
4.3.2 Definition of communication interfaces ..............................................25
4.3.3 Digital Input / Output interface(I/O) ....................................................26
4.3.4 Auxiliary encoder communication interface .......................................30
4.3.5 RS-232 communication interface.........................................................32
4.3.6 RS-485 communication interface.........................................................32
4.3.7 MCP communication interface.............................................................34
4.3.8 Ethernet interface (Ethernet) ...............................................................35
Chapter 5 Robot Installation ...........................................................................37

Contents
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5.1 UNPACKING INSPECTION....................................................................................37
5.1.1 Handling ...............................................................................................37
5.1.2 Unpacking inspection ..........................................................................38
5.2 RACK INSTALLATION..........................................................................................42
5.2.1 Rack introduction.................................................................................42
5.2.2 Installation instructions .......................................................................44
5.2.3 Rack installation...................................................................................45
5.3 BASE INSTALLATION ..........................................................................................46
5.3.1 Installation surface...............................................................................46
5.3.2 Downward installation (preferred) ......................................................47
5.3.3 Upward installation..............................................................................51
5.4 INSTALLATION OF SLAVE ARM ..............................................................................53
5.5 INSTALLATION OF ROTATING SHAFT (FOR 4-AXIS ROBOT)..........................................55
5.6 INSTALLATION OF MOVING PLATFORM ...................................................................58
5.7 DEFLECTOR INSTALLATION .................................................................................60
Chapter 6 System Installation .........................................................................62
6.1 SYSTEM CABLING DIAGRAM .................................................................................62
6.2 CONNECTION TO EMERGENCY STOP DEVICE ...........................................................62
6.3 INSTALLATION OF TOP FAN CABLE ........................................................................63

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6.4 ROBOT BODY GROUNDING..................................................................................64
6.5 POWER CONNECTION ........................................................................................65
6.6 ETHERNET CONNECTION....................................................................................66
6.7 LAYOUT OF PNEUMATIC PIPE ...............................................................................68
Chapter 7 Robot Operation .............................................................................70
7.1 PREREQUISITES ...............................................................................................71
7.2 PROGRAMMING ENVIRONMENT INSTALLATION ........................................................72
7.2.1 Installation steps ..................................................................................73
7.3 OPEN MACRO COMMAND DEBUGGER...................................................................75
7.4 FUNCTIONS OF MACRO COMMAND DEBUGGER ........................................................78
7.4.1 Macro Command Debugger interface..................................................78
7.4.2 Menu bar...............................................................................................78
7.4.3 Introduction to user defined instruction editing area.........................80
7.4.4 Establish IP communication ................................................................82
7.4.5 Query on description of macro language instructions........................89
7.4.6 Input instructions.................................................................................89
7.4.7 Run instructions ...................................................................................92
7.4.8 Breakpoint debugging .........................................................................93
7.4.9 Output ..................................................................................................94

Contents
Document Version V1.1.0(01/11/2023) XI
7.4.10 Clear output .......................................................................................95
7.4.11 Save output ........................................................................................96
7.5 QRL MODE .....................................................................................................97
7.5.1 Switch to QRL mode.............................................................................97
7.5.2 Creating QRL project files.....................................................................97
7.5.3 Introduction to "main.ql".....................................................................99
7.5.4 Introduction to "data.qlv" ..................................................................101
7.5.5 Saving and downloading program locally.........................................107
7.6 MANUAL JOG TEACHING...................................................................................109
7.7 SERVO POWER-ON .......................................................................................... 112
7.8 SPEED ADJUSTMENT ....................................................................................... 115
7.8.1 Adjustment of system speed.............................................................. 116
7.8.2 Adjustment of robot speed ................................................................ 117
7.8.3 Speed adjustment during motion...................................................... 119
7.9 EMERGENCY STOP AND RECOVERY......................................................................121
7.9.1 Emergency stop..................................................................................121
7.9.2 Recovery.............................................................................................121
7.10 ROBOT POWER-OFF ......................................................................................122
Chapter 8 Specifications ...............................................................................125

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8.1 ROBOT PARAMETERS .......................................................................................125
8.2 ENVIRONMENTAL PARAMETERSDS ......................................................................128
Appendix A Dimensions of moving platform installation surface .....................131
Appendix B Robot base size...............................................................................132

List of Figures
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List of Figures
Figure 1-1 Model implication .................................................................................5
Figure 2-1 Overall structure of AP3X Robot............................................................8
Figure 2-2 Robot overall dimensions .....................................................................9
Figure 2-3 Front view of robot work space ..........................................................10
Figure 2-4 Top view of robot work space ............................................................. 11
Figure 2-5 World coordinate system ....................................................................12
Figure 2-6 Output axis 1 and its mark number ....................................................13
Figure 3-1 Schematic diagram of AP3X Robot base.............................................15
Figure 3-2 Schematic diagram of master arm .....................................................16
Figure 3-3 Schematic diagram of slave arm ........................................................16
Figure 3-4 Schematic diagram of moving platform.............................................18
Figure 3-5 Structure diagram of rotating shaft ....................................................19
Figure 3-6 Schematic diagram of deflector .........................................................20
Figure 3-7 Schematic diagram of top cover fan...................................................20
Figure 4-1 Interface panel 1..................................................................................21
Figure 4-2 Interface panel 2..................................................................................22
Figure 4-3 Interface panel 3..................................................................................23

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Figure 4-4 Indicators and button on the panel....................................................23
Figure 4-5 Definition of I/O interface pins............................................................30
Figure 4-6 MCP wiring ..........................................................................................35
Figure 5-1 Schematic diagram of packing case...................................................37
Figure 5-2 Components in the case .....................................................................39
Figure 5-3 Fan installation location .....................................................................40
Figure 5-4 Schematic diagram of fan installation................................................40
Figure 5-5 Schematic diagram of fixing robot body in the case..........................41
Figure 5-6 Schematic diagram of taking out the base.........................................41
Figure 5-7 Schematic diagram of AP3X Robot rack 1 for reference.....................43
Figure 5-8 Schematic diagram of AP3X Robot rack 2 for reference.....................44
Figure 5-9 Schematic diagram of fixation to foundation with expansion bolts..46
Figure 5-10 Schematic diagram of bolt components ..........................................47
Figure 5-11 Base installation 1.............................................................................48
Figure 5-12 Base hoisting diagram 1....................................................................49
Figure 5-13 Schematic diagram of downward installation .................................50
Figure 5-14 Base hoisting diagram 2....................................................................50
Figure 5-15 Schematic diagram of inscribed circle diameter of installation plate
.......................................................................................................................51

List of Figures
Document Version V1.1.0(01/11/2023) XV
Figure 5-16 Schematic diagram of upward installation ......................................52
Figure 5-17 Winding of lifting belts during upward installation..........................53
Figure 5-18 Power connection .............................................................................54
Figure 5-19 Adjustment of master arm position..................................................54
Figure 5-20 Installation of slave arm....................................................................55
Figure 5-21 Rotating shaft....................................................................................55
Figure 5-22 Removal of protection cover.............................................................56
Figure 5-23 Installation of rotating shaft..............................................................57
Figure 5-24 Locking of rotating shaft ...................................................................57
Figure 5-25 Installation of 3-axis robots moving platform ..................................59
Figure 5-26 Installation of 4-axis robots moving platform ..................................60
Figure 5-27 Deflector installation.........................................................................61
Figure 6-1 System cabling diagram......................................................................62
Figure 6-2 Wiring diagram of emergency stop device .........................................63
Figure 6-3 Installation of top fan cable ................................................................64
Figure 6-4 Grounding sign....................................................................................65
Figure 6-5 Schematic diagram of power connection ..........................................66
Figure 6-6 Schematic diagram of connection to PC ............................................67
Figure 6-7 Schematic diagram of installation surface .........................................68

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Figure 6-8 Layout of air pipes and installation surface of pneumatic components
.......................................................................................................................69
Figure 7-1 Installation package............................................................................73
Figure 7-2 Start installation..................................................................................74
Figure 7-3 Choose installation path .....................................................................74
Figure 7-4 Successful installation ........................................................................75
Figure 7-5 ARM interface ......................................................................................76
Figure 7-6 ARM interface ......................................................................................77
Figure 7-7 Macro Command Debugger................................................................77
Figure 7-8 Macro Command Debugger................................................................78
Figure 7-9 Menu bar of macro command debugger (ARM)..................................78
Figure 7-10 Customize the editing interface(ARM) ..............................................81
Figure 7-11 call the command shortcut interface(ARM)......................................82
Figure 7-12 connection interface .........................................................................83
Figure 7-13 scanning interface.............................................................................84
Figure 7-14 IP connection ....................................................................................85
Figure 7-15 Successful connection ......................................................................86
Figure 7-16 Connection failure.............................................................................86
Figure 7-17 Macro manual ...................................................................................89

List of Figures
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Figure 7-18 Input instructions..............................................................................90
Figure 7-19 Input instructions..............................................................................91
Figure 7-20 Input instructions..............................................................................92
Figure 7-21 Run instructions ................................................................................93
Figure 7-22 Add a breakpoint...............................................................................94
Figure 7-23 Output ...............................................................................................95
Figure 7-24 Clear output ......................................................................................96
Figure 7-25 Save output.......................................................................................96
Figure 7-26 Switch to QRL mode..........................................................................97
Figure 7-27 New Solution.....................................................................................98
Figure 7-28 Enter a solution name.......................................................................99
Figure 7-29 "New Solution" file interface ............................................................99
Figure 7-30 "main.ql " interface .........................................................................100
Figure 7-31 Run the solution..............................................................................100
Figure 7-32 "data.qlv" interface .........................................................................101
Figure 7-33 New Location ..................................................................................103
Figure 7-34 New LocationJ.................................................................................103
Figure 7-35 New Profile ......................................................................................104
Figure 7-36 New Location Array .........................................................................104

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Figure 7-37 "Location Array" information interface ..........................................105
Figure 7-38 New LocationJ Array .......................................................................105
Figure 7-39 "LocationJ Array" information interface.........................................106
Figure 7-40 New Profile Array.............................................................................106
Figure 7-41 "Profile Array" information interface..............................................107
Figure 7-42 "data.qlv" program content............................................................107
Figure 7-43 Save to "PC Location" .....................................................................108
Figure 7-44 "Download History Paths" interface ...............................................109
Figure 7-45 "PC Location" file interface.............................................................109
Figure 7-46 Jog teach......................................................................................... 110
Figure 7-47 Teach interface................................................................................ 110
Figure 7-48 Power-on button interface.............................................................. 115
Figure 7-49 Adjustment of system speed........................................................... 116
Figure 7-50 Speed adjustment........................................................................... 118
Figure 7-51 Interface of teaching in powered-on state......................................123
Figure 8-1 Measurement trajectories of standard cycle ....................................128