RealMan RM75-B User manual

RealMan (Beijing) Intelligent Technology Co., Ltd.
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RealMan RM75-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..........................................................................................................................................7
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 ...................................................................................................................... 23
5.2.3 Analog Input ......................................................................................................................... 23
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............................................................................................................... 26
5.3.3 Analog I/O Input ................................................................................................................. 26
5.3.4 Analog I/O Output .............................................................................................................. 26
5.3.5 Power Output ....................................................................................................................... 27
5.3.6 Communication Interface ................................................................................................ 27
6. Robot Installation........................................................................................................................................ 27
6.1 Introduction....................................................................................................................................... 27
6.2 Important Safety Instruction....................................................................................................... 27
6.3 Robot Workspace............................................................................................................................. 28
6.4 Robot Installation ............................................................................................................................ 29
6.5 The End Tool Installation.............................................................................................................. 30
7. Robot Power-On and Power-Off............................................................................................................ 30
7.1 Before Power On .............................................................................................................................. 30
7.2 Power On ............................................................................................................................................ 31
7.3 Power Off............................................................................................................................................ 32
8. Robot Online Programming .................................................................................................................... 32
8.1 Introduction....................................................................................................................................... 32
8.2 Robot Teaching................................................................................................................................. 34
8.2.1 Full-screen Button............................................................................................................... 36

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8.2.2 Power Button ........................................................................................................................ 36
8.2.3 Menu Bar ............................................................................................................................... 36
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......................................................................................................................... 38
8.2.8 Operation Mode Selection................................................................................................ 39
8.2.9 Operation Coordinate System Selection...................................................................... 40
8.2.10 Tool Coordinate System Selection ............................................................................... 41
8.2.11 3D Simulation Model ....................................................................................................... 42
8.2.12 Step Mode Setting............................................................................................................. 42
8.2.13 Robot Position and Pose Parameter Display ........................................................... 43
8.2.14 Origin Pose Button ........................................................................................................... 44
8.2.15 Initial Pose Button............................................................................................................ 44
8.2.16 Speed Display ..................................................................................................................... 44
8.2.17 Communication Status Display.................................................................................... 44
8.3 Online Programming...................................................................................................................... 45
8.3.1 Project Selection .................................................................................................................. 46
8.3.2 Project Load.......................................................................................................................... 46
8.3.3 Project Creation................................................................................................................... 47
8.3.4 Project Save........................................................................................................................... 47
8.3.5 Project Content Display.................................................................................................... 48
8.3.6 Automatic Setting of a Programmable Point............................................................. 48
8.3.7 Manual Setting of a Programmable Point.................................................................. 49
8.3.8 Insert Points Before the Current ................................................................................... 50
8.3.14 Move the Joint to the Current...................................................................................... 54
8.3.15 Move Straightly to the Current.................................................................................... 55
8.3.16 Trajectory Loop................................................................................................................. 55
8.3.17 Start the Trajectory Tracking....................................................................................... 55
8.3.18 Pause the Trajectory Tracking ..................................................................................... 55
8.3.19 Step-by-Step Trajectory Tracking............................................................................... 56
8.3.20 Stop Trajectory Tracking ............................................................................................... 57
8.3.21 Teaching-by-dragging...................................................................................................... 57
8.4 Configuration.................................................................................................................................... 58
8.4.1 System Configuration ........................................................................................................ 58
8.4.2 Robot Arm Configuration ................................................................................................ 64
8.5 System Information......................................................................................................................... 72
8.6 Extension ............................................................................................................................................ 73
8.6.1 I/O Configuration................................................................................................................ 73
8.6.2 Tool I/O Configuration...................................................................................................... 74
9. Online Programming Demo..................................................................................................................... 75
10. System Update via USB Flash Drive .................................................................................................. 84
11. Technical Specifications .......................................................................................................................... 85

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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 7-DoF collaborative robot arm or robot, RM75-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 RM75-B. Besides, this
product also provides programmable operating software through which users can
monitor the real-time status of RM75-B, adjust the settings, and simulate offline.
Product Components
A full packaged RM75-B collaborative robot arm includes the components as follows.
Table 1 Product Components of RM75-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

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1.1 Introduction
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

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have significant consequences.
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

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hyperparameters and user programs are correctly set, and all safety
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.

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5. Ensure a correct installation and setting (e.g., robot body
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

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not be liable for damage to the robot or personal injury caused by
program errors or improper operation of the robot.
3. Do not expose the robot to permanent magnetic fields. Strong
magnetic fields can damage the robot.
1.4 Responsibility and Regulation
RM75-B robots itself is not complete to accomplish certain tasks but can be combined
with other peripheral equipment to achieve that. Therefore, the information contained
in this manual does not indicate the design, installation, and operation of a complete
robot, nor does it include all the possibilities that may affect the safety of the peripheral
equipment of such a complete system. The safety of a complete robot installation
depends on how the robot is ensembled. The integrator is required to conduct a risk
assessment for the design and installation of the complete system in accordance with
the laws, regulations and safety codes and standards of the host country or region. Risk
assessment is one of the most important tasks that must be performed by an integrator.
An integrator can perform the risk assessment process by referring to the following
standards. Risk assessment is one of the most important tasks that must be performed
by an integrator. An integrator can perform the risk assessment process by referring to
the following standards.
➢ISO 12100:2010 Machinery Safety-General Design Principles-Risk
Assessment and Risk Reduction.
➢ISO 10218-2:2011 Robots and Robotic Equipment-Safety Requirements-Part
2: Industrial Robot System and Integration.
➢RIA TR R15.306-2014 Technical Report of Industrial Robots and Robotic
Systems-Safety Requirements, Task-Based Risk Assessment Methods.
➢ANSI B11.0-2010 Machinery Safety; General Requirements and Risk
Assessment.
The integrator of the RM75-B robot is required to perform but is not limited to the
following responsibilities:

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➢A comprehensive risk assessment of a complete robotic system.
➢To confirm the design and installation of the entire system is accurate.
➢To provide training to users and staff.
➢To create operation specification of a complete system, and clear description
of use process.
➢To establish appropriate safety measures.
➢To use appropriate methods to eliminate hazards or minimize all hazards to
acceptable levels at the time of final installation.
1.5 Hazard Identification
The risk assessment should take into account all potential contacts between the operator
and the robot and foreseeable maloperations during normal use. The neck, face and
head of the operator should not be exposed to avoid touching. The use of a robot without
the use of peripheral safety guards requires first a risk assessment to determine whether
the associated hazards pose an unacceptable risk, including but not limited to:
➢The use of sharp actuator or tool connectors which may be dangerous.
➢Handling toxic or other hazardous substances.
➢The operator's fingers being caught by the robot base or joint.
➢The operator being hit by robots.
➢The fastness of robot and tool connected to its end.
➢Impact between the robot payload and the firm surface.
The integrator must measure such hazards and their associated risk levels through a risk
assessment and identify and perform appropriate measures to reduce the risk to an
acceptable level. Be aware that there may be other significant hazards associated with
certain robotic devices.
By combining the inherent safety design measures applied by the RM75-B robot with
the safety specifications or risk assessments implemented by the integrator and user,
the risks associated with collaborative robot operation are minimized to a reasonable

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and feasible level. This document is used to communicate any residual risks of the robot
prior to installation to the integrator and users. If the integrator's risk assessment
indicates that there are risks in its particular application that may pose an unacceptable
risk to users, the integrator must take appropriate risk mitigation measures to eliminate
or minimize these risks until the risk is reduced to an acceptable level. It is not safe to
use until appropriate risk mitigation measures, if needed, have been taken.
If the robot is installed uncooperatively (e.g., when using hazardous tools), the risk
assessment may infer that the integrator needs to connect additional safety devices (e.g.,
safe start devices) to ensure the safety of personnel and equipment while it is
programmed.
2. Transportation and Precautions
When the robot is hoisted, proper measures and positioning should be taken for the
moving parts, so as not to cause accidental movement and damage during hoisting and
transportation. Before transportation, the packing shall be carried out in accordance
with the packing standard, and the required marks shall be marked on the outside of the
packing cases.
During transportation, the robot needs to be fastened and kept in a fixed position.
When unpackaging the to the installation position, hold the robot until all bolts on the
base of the robot are fastened.
There is no brake installed inside the robot Joint5~7. Before power off, please keep the
robot in the proper position to prevent the joint from rotating and colliding under the
gravity. (When the robot arm is vertical, place the robot arm in the origin position before
power off.)
Keep the original packaging after transportation and store the packaging box in a dry

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place in case you need to repackage and ferry the robot in the future.
3. Maintenance, Repair and Disposal
All safety instructions in this manual must be followed in maintenance.
After changing the control system and robot joint, it is necessary to re-calibrate the
robot and tool end origin on site. You also need to check the hyperparameter settings.
If there is a hyperparameter backup, you can import the backup hyperparameters,
otherwise, you need to reset the hyperparameters.
Repairs must be conducted by the authorized integrators or us as RealMan (Beijing)
Intelligent Technology Co., Ltd. The parts shall be returned to us, as RealMan (Beijing)
Intelligent Technology Co., Ltd., in accordance with the regulations of the manual.
Assure the required safety level for maintenance and repair. Comply with national or
regional safety regulations. Test whether all safety features can work properly.
The purpose of maintenance is to ensure the proper operation of the system or to help
bring it back to a normal status in the event of a system failure.
Maintenance includes fault diagnosis and undergoing maintenance.
The following safety procedures and cautions must be followed when operating the
robot arm or controller:
Safety procedures：
1. Move away the power source from the controller ports to ensure it is completely
powered off. Necessity precautions should be taken to prevent others from accidently
powering the system during maintenance. Double check the system to ensure the power
is off.

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2. When disassembling the robot arm or control box, comply with ESD (electrostatic
discharge) regulations.
3. Avoid water or dust entering the robot arm or controller.
Cautions:
1. Replace the faulty part with a new part that has the same serial number or we, as
RealMan (Beijing) Intelligent Technology Co., Ltd., replace the faulty part.
2. Reactivate all disabled safety features as soon as maintenance is accomplished.
3. Keep maintenance records in the technical documents related to the whole robot
system.
4. The controller has no parts that users can repair by themselves. Please contact your
supplier or us, as RealMan (Beijing) Intelligent Technology Co., Ltd., to maintain or
repair the controller.
Disposal:
RM75-B Robots must be handled in accordance with applicable national laws,
regulations and standards.
Maintenance:
The safety features of the robot must be tested at least once a year to ensure it constantly
works properly.
4. Quality Assurance
4.1 Product Quality Assurance

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RM75-B robot includes a 12-month limited warranty.
If the new device and its components are found to be defective due to faulty
manufacturing or material defects within 12 months (or no more than 15 months
including transportation time) after commissioning, we, as RealMan (Beijing)
Intelligent Technology Co., Ltd., shall provide necessary spare parts to replace or repair
the relevant parts.
The ownership of the device or components replaced or returned to RealMan (Beijing)
Intelligent Technology Co., Ltd. shall remain with us as RealMan (Beijing) Intelligent
Technology Co., Ltd.
If the product is no longer under warranty, we, as RealMan (Beijing) Intelligent
Technology Co., Ltd., reserves the right to charge the customer for the replacement or
repair.
Outside the warranty period, we, as RealMan (Beijing) Intelligent Technology Co., Ltd.,
shall not be liable for any damage or loss, such as loss of production or damage to other
production equipment.
4.2 Disclaimer
If the defect is caused by improper operating or failure to follow the relevant
instructions set out in the user's manual, the warranty of product quality is void.
Failure caused by the following conditions is not covered by this warranty:
1. Fail to install, wire and connect other control equipment by the user manual.
2. The usage exceeds the specifications or standards specified in the user manual.
3. Use the product for purposes other than those specified.
4. The storage and workspace environment exceed the specified scope in the user

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manual (such as pollution, salt damage, condensation, etc.).
5. Product damage caused by improper transportation.
6. Damage caused by accident or collision.
7. Install non-authentic parts and accessories.
8. Damage caused by the modification, commissioning or maintenance of the original
parts by a third party other than RealMan (Beijing) Intelligent Technology Co., Ltd. or
its designated integrator.
9. Natural disasters such as fires, earthquakes, tsunamis, lightning strikes, strong winds
and floods.
10. The production date or warranty start date cannot be identified.
11. Changes to software or internal data.
12. Failure that cannot be reimplemented or failure that cannot be identified by us, as
RealMan (Beijing) Intelligent Technology Co., Ltd.
13. Use the product in radioactive equipment, biological test equipment or in the use
that we, as RealMan (Beijing) Intelligent Technology Co., Ltd., judge to be dangerous.
14. Failures other than the mentioned above is not caused by the duties of RealMan
(Beijing) Intelligent Technology Co., Ltd.
Under the Product Quality Assurance Agreement, we, as RealMan (Beijing) Intelligent
Technology Co., Ltd., are responsible for the defects of the products and parts sold only
to the distributor. We, as RealMan (Beijing) Intelligent Technology Co., Ltd., are not
responsible for any other express or implied warranty or liability, including but not
limited to any implied warranty of merchantability or a particular purpose. In addition,
we, as RealMan (Beijing) Intelligent Technology Co., Ltd., shall not be responsible for
any indirect damages or consequences of the relevant products.
5. Robot Hardware System
5.1.1 Robot system overview

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Fig. 5-1 The overview of the robot.
As shown in Fig. 5-1, RM75-B cooperative robot system is mainly composed of robot
body or the robot arm, controller (integrated in the body base) and tablet/pad with
teaching software (optional). The robot body mimics a human arm that has seven
rotating joints, each representing one degree of freedom (DoF). As shown in Figure 5-
2, the robot joints include shoulder (joint 1), shoulder (joint 2), shoulder (joint 3), elbow
(joint 4), wrist 1 (joint 5), wrist 2 (joint 6), and wrist 3 (joint 7). An arm tube is used to
connect the shoulders to the elbows. After the teaching software is connected with the
controller, the user can control the rotation of each joint of the robot arm to move the
end tool to different positions and poses.

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Fig. 5-2 The distribution map of robot joints.
5.1.2 Electrical Interface
A controller is integrated at the bottom part of the robot arm for controlling the robot
and communicating. The robot arm is powered by DC 24 volts (when using a DC power
supply, select a DC power supply with an output of not less than 20A), and the power
supply interface is a 2-core aviation plug, located at the lower left corner of the
controller panel. In the 2-core power cable, the brown core is the positive power supply,
and the blue core is the negative power supply. The robot arm also integrates a variety
of communication interfaces for data transmission with various devices. as shown in
Figure 5-3 below.
The positive and negative power cables must not be reversed, otherwise the
equipment will be damaged! (The factory standard power cord, brown is positive, blue
is negative) In addition, the power supply range of the robot arm is DC20V~DC27V,
exceeding this range may also damage the robot arm!

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Fig. 5-3 Robot arm electrical interface.
#
Interface
Functionality
1
power button
control the power supply of the robot
the blue light on once powered on
2
power socket
plug in the power cable
3
extension plug
outlet the RS485、I/O etc. interface of the controller
4
WIFI/Bluetooth
wireless communication
5
USB port 1
upgrade software, import and export files
6
USB port 2
control the robot arm
7
Ethernet 1
connect to ethernet devices
8
Ethernet 2
connect to teaching devices and remote access
5.2 Controller I/O
USB port 1
Extension plug
Power plug
WIFI/Bluetooth
USB port 2
Ethernet 1
Ethernet 2
Power button