Rainbow Robotics RB Series User manual

RAINBOw
English
RB
SERIES
USER
MANUAL
V 3.9.1
Update : 2021/09

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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INDEX
PREFACE..........................................................................................................................7
CHAPTER 1. INTRODUCTION ............................................................................................8
1.1 RAINBOW ROBOTICS’ COLLABORATIVE ROBOTS .................................................................8
1.2 SYSTEM CONFIGURATION ......................................................................................................9
1.3 ROBOT ARM ............................................................................................................................11
1.4 CONTROL BOX ........................................................................................................................18
1.5 TEACHING PENDANT TABLET PC (OPTIONAL) ...................................................................19
1.6 JOINT LIMIT ............................................................................................................................20
1.7 WORKSPACE...........................................................................................................................21
1.8 MAXIMUM LOAD CAPACITY..................................................................................................22
CHAPTER 2. SAFETY &PRECAUTIONS............................................................................ 23
2.1 SAFETY INDICATIONS............................................................................................................23
2.2 GENERAL SAFETY WARNING &PRECAUTIONS ...................................................................24
2.3 USAGE &FUNCTIONALITY.....................................................................................................27
2.4 POTENTIAL SAFETY ISSUES..................................................................................................28
2.5 LIABILITY LIMITATIONS.........................................................................................................29
2.6 SHIPPING &TRANSPORTATION ...........................................................................................30
2.7 EMERGENCY STOP.................................................................................................................31
2.8 USER SAFETY..........................................................................................................................32
2.9 SAFETY CONTROLLER ...........................................................................................................33
2.10 RISK ASSESSMENT ..............................................................................................................34
CHAPTER 3. SAFETY FUNCTIONS ................................................................................... 35
3.1 INTRODUCTION ......................................................................................................................35
3.2 STOP CATEGORY....................................................................................................................37
3.3 FUNCTIONAL SAFETY ............................................................................................................38
3.4 SAFETY DEVICE MOUNTING LOCATION...............................................................................41
3.5 EMERGENCY STOP SWITCH..................................................................................................43

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3.6 OPERATION MODE .................................................................................................................44
3.7 OPERATING ENVIRONMENT .................................................................................................46
3.8 MAINTENANCE OF SAFETY FUNCTIONS .............................................................................47
3.9 APPLIED STANDARDS............................................................................................................49
CHAPTER 4. INSTALLATION ........................................................................................... 51
4.1 INSTALLATION PRECAUTION................................................................................................51
4.2 INSTALLATION LOCATION ....................................................................................................52
4.3 EXAMPLES OF INSTALLATION..............................................................................................53
4.4 MOUNTING THE ROBOT.........................................................................................................54
4.5 TOOL CONNECTION ...............................................................................................................55
4.6 CABLE CONNECTION .............................................................................................................60
4.7 ROBOT CONTROL BOX I/O OVERVIEW..................................................................................62
4.8 SAFETY INPUT CONFIGURATION..........................................................................................63
4.9 GENERAL PURPOSE DIGITAL I/O CONFIGURATION ............................................................65
4.10 GENERAL PURPOSE ANALOG I/O CONFIGURATION .........................................................67
CHAPTER 5. GET STARTED............................................................................................. 69
5.1 CONTROL BOX ON/OFF..........................................................................................................69
5.2 TEACHING PENDANT/PC ON/OFF........................................................................................70
CHAPTER 6. SOFTWARE OVERVIEW................................................................................ 71
6.1 UI STRUCTURE........................................................................................................................71
6.2 STARTUP SCREEN DISPLAY ..................................................................................................72
6.3 MAIN SCREEN DISPLAY .........................................................................................................73
6.4 MAKE .......................................................................................................................................75
6.5 PLAY ........................................................................................................................................76
6.6 SETUP......................................................................................................................................77
CHAPTER 7. PROGRAMMING GUIDE ............................................................................... 78
7.1 ICONS AND ACTION SCREEN ................................................................................................78
7.2 CREATE TEACHING ENVIRONMENT.....................................................................................93

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7.3 TEACHING (PROGRAMMING)................................................................................................97
7.4 TEACHING ICONS AND DESCRIPTION................................................................................141
7.5 EDITNG THE PROGRAM .......................................................................................................309
7.6 PROGRAM MANAGEMENT ..................................................................................................313
7.7 OPERATION UTILITIES .........................................................................................................316
CHAPTER 8. ROBOT OPERATION .................................................................................. 336
8.1 ROBOT OPERATION..............................................................................................................336
8.2 ROBOT STATUS CHECK .......................................................................................................338
8.3 TROUBLESHOOTING WHILE OPERATING...........................................................................339
CHAPTER 9. SETUP ...................................................................................................... 343
9.1 SET-UP(COBOT)....................................................................................................................343
9.2 SET-UP(TOOL).......................................................................................................................344
9.3 SET-UP(SYSTEM)..................................................................................................................345
9.4 SET-UP(LOG).........................................................................................................................346
9.5 SET-UP(UTILITY)...................................................................................................................347
9.6 SET-UP(SERIAL)....................................................................................................................348
9.7 SET-UP(I/O 1)........................................................................................................................349
9.8 SET-UP(I/O 2)........................................................................................................................356
9.9 SET-UP(INBOX).....................................................................................................................358
9.10 SET-UP(INTERFACE ) .........................................................................................................359
9.11 SET-UP(COORDINATE).......................................................................................................360
9.12 SET-UP(DEVICES)...............................................................................................................361
9.13 SET-UP(TOOL LIST) ............................................................................................................362
9.14 SET-UP(PROGRAM TABLE)................................................................................................363
CHAPTER 10. MAINTENANCE....................................................................................... 365
10.1 CHECK LIST AND PERIOD ..................................................................................................365
10.2 ROBOT ARM MAINTENANCE.............................................................................................366
10.3 CONTROL BOX MAINTENANCE.........................................................................................367

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APPENDIX A. SYSTEM SPECIFICATION....................................................................................368
APPENDIX B. FOOT PRINT SCHEMATIC ...................................................................................370
APPENDIX C. TOOL FLANGE SCHEMATIC................................................................................372
APPENDIX D. CONTROL BOX ELECTRICAL SCHEMATIC.........................................................374
APPENDIX D-1. CONTROL BOX DIGITAL INPUT .......................................................................375
APPENDIX D-2. CONTROL BOX DIGITAL OUTPUT....................................................................380
APPENDIX D-3. TOOL FLANGE DIGITAL INPUT ........................................................................382
APPENDIX D-4. TOOL FLANGE DIGITAL OUTPUT.....................................................................385
APPENDIX E. EXTERNAL SCRIPT CONTROL API......................................................................389
APPENDIX F. COORDINATE SYSTEM........................................................................................422
APPENDIX G. STOPPING TIME/DISTANCE...............................................................................423
APPENDIX H. NAMEPLATE........................................................................................................424
APPENDIX I. MODBUS TCP SERVER..........................................................................................426
APPENDIX J. SYSTEM UPDATE.................................................................................................432
APPENDIX K. ANDROID TABLET CONFIGURATION .................................................................436
APPENDIX L. BRAKE SYSTEM....................................................................................................439

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PREFACE
Before installing this product, please read the user manual thoroughly. Please follow the
instructions in the manual describing the installation steps in detail. 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 changed without prior notice to the user. 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 the copyright and intellectual property rights on all
contents and designs of this manual. Therefore, the use, duplication, and re-distribution
of Rainbow Robotics Inc. properties and materials without prior written permission is
strictly prohibited and constitutes an infringement of Rainbow Robotics' intellectual
property rights.
User is solely liable for any misuse or alteration of the patent rights of this equipment.
The information contained in this manual is accurate and reliable.
The information provided in this manual is the property of Rainbow Robotics, Inc. and
may not be duplicated or reproduced in whole or in part without its consent. The
information contained herein is subject to change without notice, and the manual is an
original instruction. 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, such as laymen or enthusiasts.
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 provide robotic solutions to increase productivity for your business.
Intuitive usability: It is easy to set up and operate an RB robot unit. Experts and non-
experts alike can use it effectively through the intuitive visual 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 work
environment for the operator.
Space efficiency: An RB unit can be applied to all types of production lines
regardless of space. It may be used in many different environments due to versatile
configurations that allow it to be installed on a variety of surfaces.

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1.2 SYSTEM CONFIGURATION
The system configuration of an RB unit is illustrated in the diagram below.
[ Stand-type control box system configuration ]
Robot Arm: The Robot Arm is an industrial collaborative robot that can be used for
repetitive routine tasks, carrying small objects, or assembling parts. It can be used
with various third-party robotic grippers as well as various types of tools.
Control Box: The Control Box controls the movement of the robot arm based on user
programs contained on the Teach 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 teach certain postures to the robot arm.

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The RB unit contains system components and accessories as described below.
Stand-type control box components
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-long power cable, Estop/Jog interface cable and Robot Arm-
Control Box connection cable made by the manufacturer. For the user LAN shield
cables/IO cables/USB cables/external extension cable for the electric line passing models,
a length of less than 3 meters is recommended.

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

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

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Dimensions
[ RB5-850E ] [ RB5-850EA1/A2 ]
[ RB3-1200E ] [ RB3-1200EA1/A2 ]

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Dimensions
[ RB10-1300E ] [ RB10-1300EA1/A2 ]

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Configuration of the embedded Pneumatic-tubing/Electric-line in RB5-850EA#, RB3-
1200EA#, and RB10-1300EA#.
[ Embedded pneumatic tubing connection ]
[ RB5-850EA1, RB3-1200EA1 ]

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[ RB5-850EA2, RB3-1200EA2, RB10-1300EA2 ]
[ RB10-1300EA1 ]
※RB5-850EA#, RB3-1200EA#, RB10-1300EA# model's pneumatic lines and electric lines are
provided as shown in the following table, please refer to the picture above for use.
Model Name Pneumatic Lines Wire Lines
RB5-850EA1 MAX 4EA(4∅Pneumatic Tube)* None
RB5-850EA2 MAX 5EA(4∅Pneumatic Tube)* 12 Pin(AWG28)
RB3-1200EA1 MAX 4EA(4∅Pneumatic Tube)* None
RB3-1200EA2 MAX 5EA(4∅Pneumatic Tube)* 12 Pin(AWG28)
RB10-1300EA1 1EA(8∅Pneumatic Tube) None
RB10-1300EA2 1EA(8∅Pneumatic Tube) 12 Pin(AWG28)
* The number of pneumatic lines needs to be adjusted after checking the driving range.

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Warning:
1) For 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 diagram below.
Stand-type control box
No. Name
①AC Power Socket (AC POWER)
②AC Power Switch (AC SWITCH)
③Connector for Robot Arm cable (ROBOT)
④
Connector for E-STOP/JOG
(E-STOP/JOG)
⑤LCD
⑥Main Switch
⑦USB/LAN connectors
⑧I/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 stand-type control box
※Purchasing the tablet PC is not required. The App to operate the RB series can be
downloaded from the Rainbow Robotics website.
※Tablet setup is required for use with RB products. See the Appendix.

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1.6 JOINT LIMIT
An RB robot unit consists of six joints. The axes of rotation and joint limits are illustrated in
the following section.
Joint Range
J 1 ±360 °
J 2 ±360 °
J 3 ±165 °
J 4 ±360 °
J 5 ±360 °
J 6 ±360 °