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
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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
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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

Chapter 1 Safety and Precautions
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Chapter 1 Safety Precautions
Before starting maintenance on the robot, please read all the following precautions:
1.1 Safety Responsibility Notice
The maintenance of the robot system must be performed by safety-trained
personnel.
Safety-trained personnel are those who have received safety
training (on knowledge, operation, teaching, etc. of industrial
robots, knowledge related to inspection and other operations, and
related laws and regulations) prescribed by local laws and
regulations for workers engaged in services related to industrial
robots.
Do not use the robot illegally. QKM will not be liable for any losses due to illegal
use by users.
Common situations involving illegal use:
beyond specified operating range
unsafe use of electricity
non-use of additional protective devices
beyond specified environmental requirements
overload

excessive moment of inertia
Do not modify the robot without permission. QKM assumes no responsibility for
any personal injury or machine damage caused by unauthorized changes to
the robot.
QKM is committed to providing safe and reliable information, but does not
assume responsibility for it. Even if all operations are performed in accordance
with the safety instructions, there is no guarantee that the robot will not cause
any personal or property damage.

Chapter 1 Safety and Precautions
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1.2 Safety Precautions
1.2.1 Precautions for general safety
The robot may be damaged in the case of incomplete safety functions and
protective devices. Do not use the robot when safety functions are disabled or
protective devices are removed.
Make sure that there are no other persons within the work area of the robot
before operating the robot system.
Do not disassemble the parts that are not described in this manual or perform
maintenance in a different way from that described. Improper disassembly or
maintenance will disable the normal operation of the robot system and may
cause serious safety problems.
Be sure to make replacement after turning off the power of the robot and
unplugging the power plug. If the replacement is performed while the power is
on, electric shock or equipment failure may be caused.
Connect the cables properly. Do not place heavy objects on the cables, or
forcibly pull or clamp the cables. Failure to do so may result in cable damage,
disconnection or poor contact, abnormal system operation or electric shock to
personnel.
Do not plug or unplug the cables on the interface panel of the base while the
robot is powered on.
1.2.2 Precautions before operation
Setting up safe area
Understand the safe area before using the robot. Users need to pay full attention to the
safe area during use to avoid accidents caused by neglecting it.
Work area
The work area refers to the range of working area of the robot determined by
its motion trajectories and guaranteed by protective devices.
Protective area
The protective area must be larger than the work area, outside which protective
devices need to be placed for warning and safe use.
Common isolated protective device: safety fence; common safety reminders:
warning sign and slogan.
Hazardous area

Chapter 1 Safety and Precautions
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The dangerous area includes any position where the robot body and the robot
arms may stay in their motion trajectories, which can be protected by isolated
protective devices to avoid personal injury or property damage.
When the robot stops running, the robot arms will stop in the dangerous area.
Setting emergency stop device
The robot needs to be equipped with an emergency stop device before running. In case
of an abnormality in the robot, press the emergency stop button to ensure the safety of
personnel and avoid damage to the robot.
The emergency stop device needs to be properly set in a position in the industrial robot
convenient for operation. Immediately press the device in the event of a dangerous or
emergency situation.
After pressing the device, the robot will stop in the current state and enter the servo-off
state.
1.2.3 Precautions during operation
Before putting the robot into operation for the first time, be sure to inspect it to ensure
that the equipment and its devices are complete with perfect functions for safe operation and
fault identification.
Precautions when putting into operation for the first time or putting into operation again:
Ensure that all protective devices are properly installed and perfectly
functioning, and that signs are set up to direct relevant operations.
The robot has been correctly placed and secured in accordance with the
manual.
Make sure that the electrical wires and cables have been properly connected
and the robot is grounded.
When teaching the robot, check whether its work area is reasonable and
remove other objects from the work area.
Do not plug or unplug the power or communication wires and cables during
normal operation of the robot.
1.2.4 Precautions when a fault occurs
When the robot fails, be sure to operate it in accordance with normal steps to prevent
personnel injury and robot damage caused by incorrect operation.
Steps for operation when a fault occurs:

Chapter 1 Safety and Precautions
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Turn off the control system of the robot to prevent any unexpected restart
without permission.
Set up an obvious sign at the site where the fault occurs to indicate the fault.
Record the fault.
Resolve the fault and perform a function check.
1.2.5 Precautions during maintenance
Make sure there is no danger before entering the safety fence.
Make sure that the robot or peripheral equipment is in a safe state before
performing any maintenance.
Maintenance personnel must wear work clothes, safety helmet, etc. when
performing maintenance on the robot.
To replace any parts, please contact QKM; avoid damage to the robot or
personal injury caused by unexpected situations from operations of users upon
subjective judgment.
After replacing related parts, prevent foreign matter from adhering to or
entering the robot.
The parts (screws, etc.) removed shall be correctly installed in their original
positions. In case of redundant or insufficient parts, please confirm again and
install them correctly.
When restarting the robot after maintenance, ensure that there are no people
in the work area of the robot.
If the maintenance needs to be performed while the power is on, one group of
two workers is required. When one worker maintains the robot, the other
worker shall be able to quickly press the emergency stop switch when the robot
runs abnormally so as to prevent personal injury or equipment damage.
After changing the composition of the robot, be sure to check whether it meets
the necessary safety requirements and test all safety functions.
Testing of safety functions:
External emergency stop device (input and output
terminals)
Confirmation device (in test mode)
Personnel protective equipment
All other safety-related input and output terminals
used

Chapter 1 Safety and Precautions
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When starting a changed program, test it by reducing the system speed and
then gradually increasing the speed.
After repairing and maintaining the robot, test the robot to ensure that the robot
and its functions are complete.
1.2.6 Precautions for safe shutdown
Precautions when the robot stops running:
Decrease the speed of the robot before enabling the robot to be off servo. Turn
off the power after the robot is off servo.
Recover materials and supplies related to the equipment and ensure that the
equipment restores to the safe state for restart.
Set up protective devices to indicate the current state of the equipment and
prevent others from incorrectly operating it.
The robot restarts at a recommended interval of about 300s. Do not restart it
immediately after turning off the power to avoid damage to the robot.
Before the robot starts again, check whether the emergency stop button is
released to avoid the situation that the robot can not energize the servo.
1.3 Waste disposal
The discontinuation, storage and waste disposal of the robot and related parts must be
handled in accordance with relevant laws, regulations and standards
to protect the environment.

Chapter 2 Routine Maintenance and Exception Handling
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Chapter 2 Routine Maintenance and Exception Handling
Routine maintenance is a kind of preventive maintenance, which means that maintenance
personnel periodically carry out inspection and maintenance during normal operation of
equipment to ensure that the equipment is intact, tidy, clean, lubricated and safe meeting
production requirements, and hidden faults can be timely found and removed.
Personnel responsible for maintaining the equipment shall determine the maintenance
cycle according to the contents of this manual and the actual local conditions. They shall also
perform routine inspection and maintenance of the equipment, find faults and resolve them in
a timely manner.
2.1 Maintenance cycle
2.1.1 Regular check
To keep the robot in good working condition, prevent failures and ensure safety, perform
maintenance and checks on the following items. The cycle for routine inspection is based on
the normal working conditions. For the normal working environment, please refer to the
parameters of operating environment in "MS6MT Robot User Manual". The actual
maintenance cycle depends on the operating frequency of the robot.
Inspection before power-on
Maintenance
Part
Maintenance
Item (Content)
Maintenance Interval Maintenance Method
Routine
1
month
3
months
6
Months
Cleaning Adjustment Replacement
Main
exposed
fastening
screws and
the like on
the robot
body
Measure torque
with torque
wrench to check
whether they are
loose.
√√

Chapter 2 Routine Maintenance and Exception Handling
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Wires and
cables
Check whether
the connectors
of wires and
cables on the
interface panel
of the robot
body are loose,
and whether the
wires and cables
are twisted or
tangled.
√√
Encoder
battery
Check whether
the battery
voltage is lower
than 3.15V
√
√
Robot
surface
Check whether
there is dust on
it
√√
Work space
Check whether
there are
sundries in the
work space
√√
Clean the robot with routine disinfectant and cleaning liquid. Do not use
acidic cleaning liquid to perform routine maintenance on the robot.

Chapter 2 Routine Maintenance and Exception Handling
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Inspection after power-on
Maintenance
Part
Maintenance
Item
(Content)
Maintenance Interval Maintenance Method
Routine
1
month
3
months
6
Months
Cleaning Adjustment Replacement
E-stop
switch
Press the
emergency
stop button to
check
whether
emergency
stop is
enabled
√√√
Robot
motion
Check
whether there
is any
vibration or
abnormal
noise when
running each
axis of the
robot at low
speed
√√√
2.2 Handling of common exceptions
Exceptions may occur during the operation of MS6MT Robot. The common exceptions
are analyzed and handled as follows:
Table 2-1 Handling of common exceptions
Common exception Possible Cause Troubleshooting:
Robot is in emergency
stop state.
Failure in robot emergency
stop line.
Ensure that the emergency stop switch
is not pressed.
The maintenance time of the robot mainly depends on the
operating environment and frequency of the robot. The
following recommended maintenance items are set under
normal working conditions.
If the above exceptions cannot be resolved by
troubleshooting of mechanical failures, please contact QKM.

Chapter 2 Routine Maintenance and Exception Handling
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Check whether the emergency stop
switch is damaged.
Replace the emergency stop switch.
Unable to connect robot.
Failure in PC network
settings.
Change the IP of the PC connected to the
robot to be in the same network segment as
the robot's IP, and then connect it.
Multiple problems in PC
network card.
Disable all other network cards in the PC
except the network c
ard connected to the
robot.
Ethernet interface or
network cable is damaged.
Replace the Ethernet interface.
Replace with another network cable.
For the handling of more exceptions, please refer to "Error Code
Manual".

Chapter 3 Robot Debugging and Components Maintenance
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Chapter 3 Robot Debugging and Components Maintenance
The axis joints of MS6MT Robot are assembled in a modular
manner. If the internal components of the module are damaged, the
whole module needs to be replaced.
3.1 Rough calibration
The loss of zero of MS6MT Robot is actually the loss of zero of the encoder. If the zero is
lost, perform calibration to recover the zero. The zero of the robot can be roughly recovered
through rough calibration.
If the zero of MS6MT Robot is lost, ensure that the robot remains
in its original position and each axis rotates at an angle of less
than 360°, then perform a rough calibration of the robot zero to
prevent internal cables from damage due to excessive winding.
Confirmation of rotation angle of each axis:
Open the waterproof cover at the rear end of each axis, observe
the winding degree of cables, and turn the mechanical arm to
restore the cables to normal.
Loss of zero:
When the motion trajectories of the robot deviate from the actual planned paths or the
six-axis robot is in a straight state and the calibrated grooves of each axis are aligned
separately, the joint coordinate value is not the value of the origin. The above situation means
that the zero is lost.
Possible causes:
○
1Low battery voltage of the encoder.
○
2Failure in the connection between the encoder and the module.
○
3Failure in the module and encoder assembly.