RealMan RM65-B User manual

RealMan (Beijing) Intelligent Technology Co., Ltd.
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RealMan RM65-B Robot Manual V1.8
RealMan (Beijing) Intelligent Technology Co., Ltd.

RealMan (Beijing) Intelligent Technology Co., Ltd.
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Version History
Version
Date
Comment
V1.0
2020-05-02
Init
V1.1
2020-05-24
Amend
V1.2
2020-06-15
Add intro of graphic online
coding
V1.3
2020-07-21
Add intro of bottom
electrical board
V1.4
2020-08-20
Revise intro of aviation plug
order on the electrical board
of the robot arm end
V1.5
2020-10-15
Fix known errors
V1.6
2021-05-21
Fix known errors
V1.7
2021-08-10
Modify product ID
V1.8
2021-09-27
Fix known errors

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Contents
Foreword................................................................................................................................................................6
Product Components .........................................................................................................................................6
1 Safety ...................................................................................................................................................................6
1.1 Introduction..........................................................................................................................................6
1.2 Safety Warning Signs.........................................................................................................................7
1.3 Safety Precautions ..............................................................................................................................8
1.4 Responsibility and Regulation..................................................................................................... 11
1.5 Hazard Identification ..................................................................................................................... 12
2. Transportation and Precautions............................................................................................................. 13
3. Maintenance, Repair and Disposal........................................................................................................ 14
4. Quality Assurance ....................................................................................................................................... 15
4.1 Product Quality Assurance........................................................................................................... 15
4.2 Disclaimer........................................................................................................................................... 16
5. Robot Hardware System........................................................................................................................... 17
5.1.1 Robot system overview...................................................................................................... 17
5.1.2 Electrical Interface ............................................................................................................. 19
5.2 Controller I/O.................................................................................................................................... 20
5.2.1 Digital Input.......................................................................................................................... 22
5.2.2 Digital Output ...................................................................................................................... 22
5.2.3 Analog Input ......................................................................................................................... 22
5.2.4 Analog Output...................................................................................................................... 23
5.3 The Tool End Interface Board..................................................................................................... 23
5.3.1 Digital I/O Input.................................................................................................................. 25
5.3.2 Digital I/O Output............................................................................................................... 25
5.3.3 Analog I/O Input ................................................................................................................. 26
5.3.4 Analog I/O Output .............................................................................................................. 26
5.3.5 Power Output ....................................................................................................................... 26
5.3.6 Communication Interface ................................................................................................ 26
6. Robot Installation........................................................................................................................................ 26
6.1 Introduction....................................................................................................................................... 26
6.2 Important Safety Instruction....................................................................................................... 27
6.3 Robot Workspace............................................................................................................................. 27
6.4 Robot Installation ............................................................................................................................ 28
6.5 The End Tool Installation.............................................................................................................. 29
7. Robot Power-On and Power-Off............................................................................................................ 30
7.1 Before Power On.............................................................................................................................. 30
7.2 Power On ............................................................................................................................................ 31
7.3 Power Off............................................................................................................................................ 31
8. Robot Online Programming .................................................................................................................... 32
8.1 Introduction....................................................................................................................................... 32
8.2 Robot Teaching................................................................................................................................. 34
8.2.1 Full-screen Button............................................................................................................... 35

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8.2.2 Power Button ........................................................................................................................ 35
8.2.3 Menu Bar ............................................................................................................................... 35
8.2.4 Robot Arm Emergency Stop Button............................................................................. 36
8.2.5 Position Control................................................................................................................... 36
8.2.6 Pose Control.......................................................................................................................... 37
8.2.7 Joint Control......................................................................................................................... 37
8.2.8 Operation Mode Selection................................................................................................ 38
8.2.9 Operation Coordinate System Selection...................................................................... 39
8.2.10 Tool Coordinate System Selection ............................................................................... 40
8.2.11 3D Simulation Model ....................................................................................................... 41
8.2.12 Step Mode Setting............................................................................................................. 41
8.2.13 Robot Position and Pose Parameter Display ........................................................... 42
8.2.14 Origin Pose Button........................................................................................................... 43
8.2.15 Initial Pose Button............................................................................................................ 43
8.2.16 Speed Display ..................................................................................................................... 43
8.2.17 Communication Status Display.................................................................................... 43
8.3 Online Programming...................................................................................................................... 44
8.3.1 Project Selection .................................................................................................................. 45
8.3.2 Project Load.......................................................................................................................... 45
8.3.3 Project Creation................................................................................................................... 46
8.3.4 Project Save........................................................................................................................... 46
8.3.5 Project Content Display.................................................................................................... 47
8.3.6 Automatic Setting of a Programmable Point............................................................. 47
8.3.7 Manual Setting of a Programmable Point .................................................................. 48
8.3.8 Insert Points Before the Current ................................................................................... 49
8.3.14 Move the Joint to the Current...................................................................................... 53
8.3.15 Move Straightly to the Current.................................................................................... 54
8.3.16 Trajectory Loop................................................................................................................. 54
8.3.17 Start the Trajectory Tracking....................................................................................... 54
8.3.18 Pause the Trajectory Tracking ..................................................................................... 54
8.3.19 Step-by-Step Trajectory Tracking............................................................................... 55
8.3.20 Stop Trajectory Tracking ............................................................................................... 56
8.3.21 Teaching-by-dragging...................................................................................................... 56
8.4 Configuration.................................................................................................................................... 57
8.4.1 System Configuration ........................................................................................................ 57
8.4.2 Robot Arm Configuration ................................................................................................ 63
8.5 System Information......................................................................................................................... 71
8.6 Extension ............................................................................................................................................ 72
8.6.1 I/O Configuration................................................................................................................ 72
8.6.2 Tool I/O Configuration...................................................................................................... 73
9. Online Programming Demo..................................................................................................................... 74
10. System Update via USB Flash Drive .................................................................................................. 83
11. Technical Specifications .......................................................................................................................... 84

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RealMan (Beijing) Intelligent Technology Co., Ltd.
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Foreword
On behalf of RealMan (Beijing) Intelligent Technology Co., Ltd., we thank you for the
purchase and use of our lightweight 6-DoF collaborative robot arm or robot, RM65-B.
This product is a module-based joint design. It ensembles the central controller at the
its base therefore no extra control cabinet needed. Users can build their own robot
control system by accessing the APIs of our collaborative RM65-B. Besides, this
product also provides programmable operating software through which users can
monitor the real-time status of RM65-B, adjust the settings, and simulate offline.
Product Components
A full packaged RM65-B collaborative robot arm includes the components as follows.
Table 1 Product Components of RM65-B
Name
Quantity
Robot arm body
1
Power cord
1
9-pin tool end IO cord
1
26-pin IO cord
1
Pad for demonstration and teaching (optional)
1
1 Safety
1.1 Introduction

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This section includes the safety principles and regulations that should be followed when
operating the robot and its software. Robot system is complex and could be dangerous
if operating not properly. Therefore, persons who operate shall always be aware of this.
Users and integrators must read this manual carefully before operating the robot. When
operate, they should follow the instructions. They shall always be able to remember and
follow the principles and regulations particularly the warning signs.
1.2 Safety Warning Signs
Table 2 lists all the safety warning signs we provide for your safety. It is crucial and the
instructions shall be followed.
Table 2 Warning Signs and Instructions
Sign
Instruction
An impending hazardous electrical condition that, if not avoided, can
result in casualty to persons or damage to device.
An impending hazardous high temperature, which can result in
casualty to persons or damage to device if touched.
A situation that is about to cause danger and, if not avoided, can lead
to casualty to persons or damage to device.
A warning on a hazardous electrical condition that, if not avoided,
may result in casualty to persons or damage to device.
A warning on hazards that, if not avoided, may result in casualty to
persons or damage to device. Matters marked with such a sign may
sometimes, depending on the circumstances, have the potential to
have significant consequences.

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A condition that, if not avoided, may result in casualty to persons or
damage to device. Matters marked with such a sign may, depending
on the circumstances, sometimes have the possibility of significant
consequences.
1.3 Safety Precautions
This manual contains safety measures to protect users and prevent device damage.
Users need to read all the relevant descriptions in this manual and fully understand the
safety issues. In this manual, although we’ve tried our best to describe various situations
regarding safety, it is impossible to record all situations that users may encounter.
The following essential information needs to be understood and followed when starting
the robot or robot system for the first time. Other safety-related information is
introduced in other sections of the manual. However, it is impossible to cover
everything. In practical applications, specific issues need to be analyzed accordingly.
Table 3 Safety Precautions
1. Please be sure to install the robot and all electrical equipment in
accordance with the requirements and specifications in this manual.
2. A preliminary test and inspection of the robot and its protection
system should be carried out before the first use of the robot and
production.
3. Before starting the system and equipment for the first time, you
must check whether the equipment and system are complete, whether
the operation is safe, and whether any damage is detected. Also, you
should be aware of whether it complies with the effective safety
production rules and regulations of the country or region. Remember
that all safety features must be tested before use.
4. Users must check and ensure that all safety-related
hyperparameters and user programs are correctly set, and all safety

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features are working properly. A person qualified to operate the robot
is required to check each safety feature. The robot can only be started
after passing a comprehensive and careful safety test and reaching a
certain safe level.
5. Professionals are required to install and configure the robot in
accordance with the installation standards.
6. Once the robot has been installed and configured, a comprehensive
risk assessment should be performed again and recorded.
7. The safety-related hyperparameters are set and changed by
authorized personnel only. Passwords or isolation measures are
applied to prevent unauthorized personnel from changing or setting
safety-related hyperparameters. After the safety-related factors are
modified, the related safety features need to be double checked.
8. In case of an accident or abnormal operation of the robot, the
emergency stop switch can be pressed to immediately stop the action
of the robot.
1. The robot body and control cabinet will generate heat during
operation. Please do not operate or touch the robot when the robot is
operating or just stopped.
2. Turn off the power and wait for one hour before the robot cools
down.
3. Do not put your finger into the hot part of the controller.
1. Ensure that the robot arm and tools are properly and securely
installed in place.
2. Ensure that the robot arm has enough space to move freely.
3. Do not use the robot if it is damaged.
4. Do not connect a secure device to a normal I/O ports but only the
secure ports.
5. Ensure a correct installation and setting (e.g., robot body

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installation angle, weight in TCP, TCP offset, safety configuration
etc.). Save the installation file and load it into the program.
6. Tools and obstacles shall not have sharp corners or twist points.
Make sure present users’ head and face are out of reach of the robot.
7. Pay attention to the movement of the robot when using the teaching
software.
8. Any collision will release a lot of kinetic energy, which is much
larger than the cases of high speeds and high payloads.
9. Jointing different machinery can exacerbate a hazard or create new
ones. Always conduct a comprehensive risk assessment for the entire
installation. When different safety and emergency downtime
performance levels are asked, always select the highest performance
level. Please read and understand the manuals for all equipment used
during the installation.
10. Do not modify the robot. Non-authorized changes to the robot can
create dangers that the integrator cannot predict. The authorized
change of robot shall be in accordance with the latest version of
relevant service manuals. If the robot is manipulated or altered in any
way, we, as RealMan (Beijing) Intelligent Technology Co., Ltd., do
not take full responsibility.
11. Users need to check insulation and protection measures before
transporting the robot.
12. When moving the robot, follow the transportation requirements
and handle it carefully to avoid bumps.
1. When a robot is connected to or collaborating with machinery that
can cause damage to the robot, it is highly recommended that all
functionalities and procedures of the robot should be checked
separately. It is recommended to use a temporary workspace outside
of the workspaces of other machinery to inspect the robot program.
2. We, as RealMan (Beijing) Intelligent Technology Co., Ltd., will
not be liable for damage to the robot or personal injury caused by