Rainbow Robotics RB Series User manual

Ver: v3.2.1

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UPDATE:2021/02

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INDEX
Preface..................................................................................................................................................6
Chapter 1. Introduction ....................................................................................................................7
1.1 Rainbow Robotics’ Collaborative Robots...........................................................................................7
1.2 System Configuration .................................................................................................................8
1.3 Robot Arm .......................................................................................................................................11
1.4 Control Box .................................................................................................................................17
1.5 Teaching Pendant Tablet PC (Optional) .............................................................................20
1.6 Joint Limit ........................................................................................................................................22
1.7 Workspace.......................................................................................................................................23
1.8 Maximum Load Capacity .................................................................................................................24
Chapter 2. Safety & Precautions.................................................................................................25
2.1 Safety Indications ............................................................................................................................25
2.2 General Safety Warning & Precautions ...........................................................................................26
2.3 Usage & Functionality......................................................................................................................29
2.4 Potential Safety Issues.....................................................................................................................30
2.5 Liability Limitations..........................................................................................................................31
2.6 Shipping & Transportation...............................................................................................................32
2.7 Emergency Stop...............................................................................................................................33
2.8 User Safety ......................................................................................................................................35
2.9 Safety Controller..............................................................................................................................36
2.10 Risk Assessment ............................................................................................................................37
Chapter 3. Installation ....................................................................................................................38
3.1 Installation Precaution.....................................................................................................................38
3.2 Installation Location ........................................................................................................................39
3.3 Examples of Installation...................................................................................................................40
3.4 Mounting the Robot........................................................................................................................41
3.5 Tool Connection ..............................................................................................................................42
3.6 Cable Connection ............................................................................................................................46
3.7 Robot Control Box I/O Overview .....................................................................................................48
3.8 Safety Input Configuration ..............................................................................................................49
3.9 General Purpose Digital I/O Configuration......................................................................................51

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3.10 General Purpose Analog I/O Configuration ...................................................................................53
Chapter 4. Get Started ...................................................................................................................55
4.1 Control Box On/Off..........................................................................................................................55
4.2 Table Pendant/PC On/Off................................................................................................................57
Chapter 5. Software Overview.....................................................................................................58
5.1 UI Structure.................................................................................................................................58
5.2 Startup Screen Display.....................................................................................................................59
5.3 Main Screen Display ........................................................................................................................60
5.4 Make ..............................................................................................................................................61
5.5 Play ................................................................................................................................................62
5.6 Setup..............................................................................................................................................63
Chapter 6. Programming Guide....................................................................................................64
6.1 Icons and Action Screen ..................................................................................................................64
6.2 Create Teaching Environment...............................................................................................77
6.3 Teaching (Programming) .................................................................................................................81
6.4 Teaching Icons and Description.....................................................................................................123
6.5 Editing The Program......................................................................................................................248
6.6 Program Management ..................................................................................................................252
6.7 Operation Utilities .........................................................................................................................254
Chapter 7. Robot Operation ........................................................................................................267
7.1 Robot Operation............................................................................................................................267
7.2 Robot Status Check........................................................................................................................269
7.3 Troubleshooting while Operating..................................................................................................270
Chapter 8. Setup ............................................................................................................................274
8.1 Set-up(Cobot)............................................................................................................................274
8.2 Set-up(Tool) .............................................................................................................................275
8.3 Set-up(System)........................................................................................................................276
8.4 Set-up(Log)...............................................................................................................................277
8.5 Set-up(Utility) ..........................................................................................................................278

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8.6 Set-up(Serial)...........................................................................................................................279
8.7 Set-up(I/O 1) ............................................................................................................................280
8.8 Set-up(I/O 2) ............................................................................................................................287
8.9 Set-up(Inbox) ...........................................................................................................................289
8.10 Set-up(Interface 1)...............................................................................................................290
8.11 Set-up(Coordinate)...............................................................................................................291
8.12 Set-up(Devices).....................................................................................................................292
8.13 Set-up(Tool List) ..................................................................................................................293
Chapter 9. Maintenance ...............................................................................................................294
9.1 Check List and Period ....................................................................................................................294
9.2 Robot Arm Maintenance ...............................................................................................................295
9.3 Control Box Maintenance..............................................................................................................296
Appendix A. System Specification............................................................................................297
Appendix B. Foot Print Schematic............................................................................................299
Appendix C. Tool Flange Schematic ........................................................................................301
Appendix D. Control Box Electrical Schematic ....................................................................303
Appendix D-1. Control Box Digital Input...............................................................................306
Appendix D-2. Control Box Digital Output.............................................................................311
Appendix D-3. Tool Flange Digital Input...............................................................................313
Appendix D-4. Tool Flange Digital Output.............................................................................315
Appendix E. External Script Control API................................................................................318
Appendix F. Coordinate System................................................................................................348
Appendix G. Stopping Time/Distance ......................................................................................349
Appendix H. Nameplate ...............................................................................................................352
Appendix I. Modbus TCP server ...............................................................................................355
Appendix J. System Update ........................................................................................................360
Appendix K. Android Tablet Configuration............................................................................363

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PREFACE
Before installing this product, please read the user manual thoroughly. Please follow
the instructions in the manual according to the installation procedure. The contents
of this manual are based on the version of the manual when it was written, and the
information about the product may have been changed without notifying the user in
advance. If you are unsure about the requirements, recommendations or safety
procedures described in this manual, please contact Rainbow Robotics. Some
illustrations in this manual are intended to help you understand the concepts and
installation of the system and may differ from actual products.
Rainbow Robotics Inc. owns copyright and intellectual property rights on all contents and
designs of this manual. Therefore, the use, replication, and distribution of Rainbow Robotics
Inc. properties and materials without prior written permission is strictly prohibited and
corresponds to Rainbow Robotics' infringement of intellectual property rights.
User is solely responsible for any misuse or alteration of the patent rights of this equipment.
The information contained in this manual is reliable.
The information provided in this manual is the property of Rainbow Robotics Inc. and may
not be reproduced in whole or in part without of Rainbow Robotics Inc.’s consent. The
information contained in this manual is subject to change without notice.
For more information on revising the manual, please visit the website
(www.rainbow-robotics.com).
ⓒRainbow Robotics Inc. All rights reserved

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CHAPTER 1. INTRODUCTION
1.1 RAINBOW ROBOTICS’COLLABORATIVE ROBOTS
The RB product line from Rainbow Robotics is a series of collaborative robots. The
RB series is designed to be easily accessible and usable to anyone. The RB series is
specialized to perform regular, continuous, and repetitive tasks in small and dense
human environments across various fields without any additional safety devices. The
RB series is the robotic solution to increase productivity for your business.
Intuitive Usability: It is easy to set up and operate an RB robot. Experts and
non-experts alike can use it effectively through the intuitive graphical User
Interface (UI) configuration.
Convenience and safety: The RB series has External and self-collision
detection systems, which minimize accidents and injuries while providing a
safe working environment for the operator.
Space Efficiency: An RB can be applied to all types of production lines,
regardless of space. Users may use it in many different environments due to
versatile orientations that allow it to be installed on a variety of surfaces.

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1.2SYSTEM CONFIGURATION
The system configuration of an RB is illustrated in the figure below.
< Stand-type control box system configuration >
< Rack-type control box system configuration >
Robot Arm: The Robot Arm is an industrial collaborative robot that can be
used for the repetition of simple tasks, carrying small objects, or assembling
parts. It can be used with various third-party robotic grippers and as well as
various types of tools.
Control Box: The Control Box controls the movement of the robot arm
according to user programs contained on the Teaching Pendant/Tablet PC.
Digital and analog input/output ports are available for connecting various
devices and tools.
Estop/Jog Interface(For stand-type control box): With the emergency stop
switch, the robot operation can be stopped. It comes with simple program
flow control buttons such as Play/Stop.
Teaching Pendant/Tablet PC (optional): The Teaching Pendant/Tablet PC is
an external device on which a user can create programs and operate the
system. It is used to setup, program, and send commands to the robot arm.

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The RB contains system components and accessories as described below.
Stand-type control box components
<Robot Arm> <Control Box>
<Interface / Cables> <User Manual> <Tablet PC>
Robot
Robot Arm
1 EA
System Components
Control Box
1 EA
Estop/Jog Interface
1 EA
Power cable
1 EA
Cable between Robot Arm-Control Box
1 EA
Optional: Tablet PC, Tablet cover, USB cable
1 EA
Other
User Manual(Electronic Document)
1 EA
※Please use the 5 meter Power cable and RobotArm-ControlBox connection cable
provided by the manufacturer. For the user LAN shield cables/IO cables/USB cables,
less than 5 meter is recommended.
For the Estop/Jog interface cable and external extension cable for the electric line
passing models, less than 3 meter is recommended.

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Rack-type control box components
<Robot Arm> <Control Box>
<Cable> <User Manual> <Tablet PC>
Robot
Robot Arm
1 EA
System Components
Control Box
1 EA
Emergency switch & cable
1 EA
48V switch & cable
1 EA
Power cable
1 EA
Cable between Robot Arm-Control Box
1 EA
Optional: Tablet PC, Tablet cover, USB cable
1 EA
Other
User Manual(Electronic Document)
1 EA
※Please use the 5 meter cables provided by the manufacturers for the following:
Emergency stop switch cable, 48V switch connection cable, Robot arm - control box
connection cable. Cables less than 5 meters long are recommended for USB cable,
LAN shield cable, and I / O port connection.
For the Tablet PC cable and external extension cable for the electric line passing
models, less than 3 meter is recommended.

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1.3 ROBOT ARM
RB Series Joint Description
No.
Name
①
Base
②
Base Joint
③
Shoulder Joint
④
Elbow Joint
⑤
Wrist 1 Joint
⑥
Wrist 2 Joint
⑦
Wrist 3 Joint
⑧
Tool Flange

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RB Series Component Description
No.
Name
Description
①
Teaching Button
Button for direct-teaching
②
Tool Flange
Part for mounting tool or gripper
③
Tool I/O
I/O ports to control tool or gripper
④
Base
Part for mounting the robot arm
⑤
Connector
Connector for robot-arm cable

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Dimensions
[RB5-850] [RB5-850A1/A2/A3]
[RB3-1200] [RB3-1200A1/A2/A3]

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[RB10-1300] [RB10-1300A1/A2/A3]

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Configuration of the embedded Pneumatic-tubing/Electric-line in RB5-
850A#, RB10-1300A#, and RB3-1200A#.

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※RB5-850A#, RB10-1300A#, RB3-1200A# model's pneumatic lines and wire lines
are provided as shown in the following table, please refer to the picture above for
use.
Model Name
Pneumatic Lines
Wire Lines
RB3-1200A1
4ea(4∅Pneumatic Tube)
None
RB3-1200A2
5ea(4∅Pneumatic Tube)
12 Pin(AWG28, Teflon)
RB3-1200A3
None
12 Pin(AWG28, Teflon)
RB5-850A1
4ea(4∅Pneumatic Tube)
None
RB5-850A2
5ea(4∅Pneumatic Tube)
12 Pin(AWG28, Teflon)
RB5-850A3
None
12 Pin(AWG28, Teflon)
RB10-1300A1
1ea(8∅Pneumatic Tube)
12 Pin(AWG28, Teflon)
RB10-1300A2
5ea(4∅Pneumatic Tube)
12 Pin(AWG28, Teflon)
RB10-1300A3
None
12 Pin(AWG28, Teflon)
Warning
Warning:
1) In case of pneumatic / electric wire passing models, if passing air or power
over the defined standard, hardware may be damaged.

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1.4 CONTROL BOX
The front and lower/inner sections of the control box are illustrated in the figure
shown below.
Stand-type control box
<Bottom section> <Top section>
<Main connector/socket>

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No.
Name
①
AC Power Socket (AC POWER)
②
AC Power Switch (AC SWITCH)
③
Connector for Robot Arm cable (ROBOT)
④
Connector for TEACH PENDANT
(EMO/TEACH PENDANT)
⑤
LCD
⑥
Main Switch
⑦
USB/LAN connectors
⑧
I/O ports

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Rack-type control box
<Front section> <Back section>
No.
Name
①
Power switch
②
Reset switch
③
48V switch
④
USB ports
⑤
LCD
⑥
LAN (RJ45) port
⑦
AC Power socket
⑧
Connector for Robot Arm cable
⑨
Connector for Emergency Stop cable
⑩
I/O ports

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1.5 TEACHING PENDANT TABLET PC (OPTIONAL)
The teaching pendant/tablet PC is an optional accessory. It MUST be purchased
separately.
For rack-type control box
The teaching pendant/tablet PC is an optional accessory. It MUST be purchased
separately. It consists of an Android tablet PC, a protective case, and a neck strap.
The section below illustrates the tablet PC as well as further descriptions
No.
Name
Description
①
Tablet PC
Contains UI for robot teaching
②
Power button
Power on/off button for tablet PC
③
Swivel handle
Handle that can be locked by hand
④
Folding cradle
Stand that can be used upright depending on
the usage environment
⑤
Strap
Strap Line
⑥
Strap Hole
Hole for connecting strap