QKM MS6MT User manual

Maintenance Manual
MS6MT Robot
MS6MT-0900-3546
Document version V1.1.0
Issued on March 07, 2022
QKM Technology (Dongguan) Co., Ltd.

Preface
Document Version V1.1.0 (03-07-2022) I
Preface
Thank you for purchasing the robot produced by QKM!
This manual describes the instructions to maintain the robot.
Refer to the contents of this manual for maintenance.
Please keep this manual properly for future reference
General
This manual provides detailed information on the routine maintenance and safety inspection
of MS6MT Robot, as well as the maintenance of related parts and components, so that users
can better use MS6MT Robot. This manual can serve as a reference for system integrators to
design user workstation systems by using our MS6MT Robot, and can also be used to guide
system installation, debugging and maintenance.
Target reader
This manual applies to:
Electrical Engineer Maintenance Engineer
Mechanical Engineer Technical Support Engineer
Signs & 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; be sure to pay
attention to the following signs when they appear in this document.
The signs in this manual are described in the table below:
Signs Description
It indicates that a dangerous situation would occur and cause
serious personal injuries or deaths 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 gives the description on key information and operation tips.

Revision history
Document Version V1.1.0 (03-07-2022) II
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 Co., Ltd., and QKM
possesses the ownership of the 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 any time due to product upgrade or
other reasons. QKM reserves the right to change the products or specifications in this manual
without prior notice. To know about the latest information of this product, please visit QKM's
website for downloading.
Address: 2/F, Block A, Building 17, No.1 Head Office, No.4 Xinzhu Road, Songshan Lake
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 V1.1.0 (03-07-2022) III
Revision history
The version history contains the accumulated 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 Time Change Content
V1.0.0 March 07, 2022
The first version of the document was
released.

Contents
Document Version V1.1.0 (03-07-2022) IV
Contents
Preface.................................................................................................................................I
Revision history..................................................................................................................III
Contents............................................................................................................................ IV
List of Figures ................................................................................................................... VI
List of tables.................................................................................................................... VIII
Chapter 1 Safety Precautions ..........................................................................................1
1.1 Safety Responsibility Notice....................................................................................1
1.2 Safety Precautions..................................................................................................2
1.2.1 Precautions for general safety .........................................................................2
1.2.2 Precautions before operation...........................................................................2
1.2.3 Precautions during operation ...........................................................................3
1.2.4 Precautions when a fault occurs ......................................................................3
1.2.5 Precautions during maintenance .....................................................................4
1.2.6 Precautions for safe shutdown.........................................................................5
1.3 Waste disposal........................................................................................................5
Chapter 2 Routine Maintenance and Exception Handling................................................6
2.1 Maintenance cycle ..................................................................................................6
2.1.1 Regular check..................................................................................................6
2.2 Handling of common exceptions .............................................................................8
Chapter 3 Robot Debugging and Components Maintenance.........................................10
3.1 Rough calibration ..................................................................................................10
3.2 Removal and maintenance of cables ....................................................................15
3.2.1 Removal and maintenance of end interface cables .......................................15
3.2.2 Removal and maintenance of base interface cables .....................................17

Contents
Document Version V1.1.0 (03-07-2022) V
3.2.3 Removal and maintenance of module interface cables .................................18
3.2.4 Removal and maintenance of ground wires...................................................19
3.3 Replacement and maintenance of modules..........................................................20
3.3.1 Replacement of Axis J6 module.....................................................................21
3.3.2 Replacement of Axis J5 module.....................................................................23
3.3.3 Replacement of Axis J4 module.....................................................................25
3.3.4 Replacement of Axis J3 module.....................................................................28
3.3.5 Replacement of Axis J2 module.....................................................................31
3.3.6 Replacement of Axis J1 module.....................................................................34
3.4 Replacement and maintenance of encoder battery...............................................37
3.5 Replacement and maintenance of controller.........................................................38
3.6 Replacement and maintenance of 48V relay module............................................39
3.7 Replacement and maintenance of discharge resistor ...........................................39
Chapter 4 Technical service ...........................................................................................41
4.1 Consulting and services........................................................................................41

List of Figures
Document Version V1.1.0 (03-07-2022) VI
List of Figures
Figure 3-1 Use of calibration block................................................................................... 12
Figure 3-2 Obtain the encoder values ............................................................................. 13
Figure 3-3 Enter the configuration folder of the robot...................................................... 13
Figure 3-4 Replacement of encoder values..................................................................... 14
Figure 3-5 Distribution of end pass-through cables......................................................... 15
Figure 3-6 Cable fixed sheet metal ................................................................................. 16
Figure 3-7 Distribution of interfaces on the module......................................................... 18
Figure 3-8 Module cabling diagram................................................................................. 19
Figure 3-9 Ground terminal fastening screws.................................................................. 20
Figure 3-10 Ground wire connection diagram of Axes J2 ~ J4........................................ 20
Figure 3-11 Remove the fastening screws from end flange ............................................ 21
Figure 3-12 Remove the screws from the Axis J6 module .............................................. 22
Figure 3-13 Axis J6 module installation diagram ............................................................. 22
Figure 3-14 Axis J6 flange inner ring............................................................................... 23
Figure 3-15 Remove the screws from the Axis J5 shell................................................... 23
Figure 3-16 Remove the Axis J5 flange .......................................................................... 24
Figure 3-17 Remove the screws from the Axis J5 module .............................................. 24
Figure 3-18 Axis J5 module installation diagram ............................................................. 25
Figure 3-19 Axis J5 flange inner ring............................................................................... 25
Figure 3-20 Remove the screws from the Axes J4 and J5 shell...................................... 26
Figure 3-21 Remove the Axis J4 flange .......................................................................... 27
Figure 3-22 Remove the screws from the Axis J4 module .............................................. 27
Figure 3-23 Axis J4 module installation diagram ............................................................. 28
Figure 3-24 Axis J4 flange inner ring............................................................................... 28
Figure 3-25 Unscrew the waterproof end cover .............................................................. 29

List of Figures
Document Version V1.1.0 (03-07-2022) VII
Figure 3-26 Remove the screws from the Axis J3 shell................................................... 30
Figure 3-27 Remove the screws from the Axis J3 module .............................................. 30
Figure 3-28 Axis J3 module installation diagram ............................................................. 31
Figure 3-29 Axis J3 module............................................................................................. 31
Figure 3-30 Remove the screws from the Axes J1~J2 shell............................................ 32
Figure 3-31 Remove the Axis J2 flange .......................................................................... 33
Figure 3-32 Remove the fastening screws from the Axis J2 module............................... 33
Figure 3-33 Axis J2 module installation diagram ............................................................. 34
Figure 3-34 Axis J2 flange inner ring............................................................................... 34
Figure 3-35 Remove the screws from the base plate...................................................... 35
Figure 3-36 Remove the fastening screws from the base ............................................... 35
Figure 3-37 Remove the fastening screws from the Axis J1 module............................... 36
Figure 3-38 Axis J1 module installation diagram ............................................................. 36
Figure 3-39 Base flange inner ring .................................................................................. 37
Figure 3-40 Fixed sheet metal......................................................................................... 38

List of Figures
Document Version V1.1.0 (03-07-2022) VIII
List of tables
Table 2-1 Handling of common exceptions........................................................................ 8