RealMan RML63 User manual

RealMan RML63 Robot Manual V1.1
RealMan Intelligent Technology (Beijing) Co., Ltd.

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Version History
Version
Date
Comment
V1.0
2022-5-30
Init
V1.1
2022-6-9
Corret errors

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Contents
Foreword ................................................................................................................................................................... 5
Product Components ..............................................................................................................................................5
1. Safety .....................................................................................................................................................................6
1.1 Introduction ..............................................................................................................................................6
1.2 Safety Warning Signs and Symbols ...................................................................................................6
1.3 Safety Precautions ..................................................................................................................................7
1.4 Responsibility and Regulation ..........................................................................................................10
1.5 Hazard Identification ...........................................................................................................................11
2. Handling and Precautions ..............................................................................................................................12
3. Maintenance, Repair and Disposal..............................................................................................................13
4. Quality Assurance............................................................................................................................................15
4.1 Product Quality Assurance ................................................................................................................ 15
4.2 Disclaimer ..............................................................................................................................................15
5. Robot Hardware System ................................................................................................................................ 17
5.1.1 Robot System Overview ........................................................................................................17
5.1.2 Electrical Interface ..................................................................................................................18
5.2 Controller I/O ........................................................................................................................................19
5.2.1 Digital Input..............................................................................................................................21
5.2.2 Digital Output .......................................................................................................................... 22
5.2.3 Analog Input .............................................................................................................................22
5.2.4 Analog Output ..........................................................................................................................22
5.3 The Tool End Interface Board ...........................................................................................................23
5.3.1 Digital I/O Input...................................................................................................................... 24
5.3.2 Digital I/O Output................................................................................................................... 25
5.3.3 Power Output........................................................................................................................... 25
5.3.4 Communication Interface ......................................................................................................25
6. Robot Installation ............................................................................................................................................ 26
6.1 Introduction ........................................................................................................................................... 26
6.2 Important Safety Instruction ............................................................................................................. 26
6.3 Robot Workspace ................................................................................................................................. 27
6.4 Robot Installation .................................................................................................................................28
6.5 The End Tool Installation...................................................................................................................29
7. Robot Power-On and Power-Off..................................................................................................................29
7.1 Before Power On ..................................................................................................................................29
7.2 Power On................................................................................................................................................30
7.3 Power Off...............................................................................................................................................30
8. Robot Online Programming ..........................................................................................................................31
8.1 Introduction ........................................................................................................................................... 31
8.2 Robot Teaching .....................................................................................................................................32
8.2.1 Full-screen Button ...................................................................................................................34
8.2.2 Power Button ............................................................................................................................34
8.2.3 Robot Emergency Stop Button ............................................................................................ 34

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8.2.4 Communication Status Display ........................................................................................... 35
8.2.5 Menu Bar ...................................................................................................................................35
8.2.6 Position Control .......................................................................................................................35
8.2.7 Pose Control............................................................................................................................. 36
8.2.8 Joint Control ............................................................................................................................. 36
8.2.9 Operation Mode Selection .................................................................................................... 37
8.2.10 Operation Coordinate System Selection ......................................................................... 38
8.2.11 Tool Coordinate System Selection ....................................................................................39
8.2.12 3D Simulation Model .......................................................................................................... 40
8.2.13 Move in Base Coordinate System .................................................................................... 40
8.2.14 Move in Tool End Coordinate System ............................................................................ 41
8.2.15 Draw Trajectory.................................................................................................................... 41
8.2.16 Clear Trajectory .....................................................................................................................41
8.2.17 Step Mode Setting................................................................................................................ 42
8.2.18 Robot Position and Posture Information Display ......................................................... 43
8.2.19 Speed Display ........................................................................................................................ 43
8.2.20 Origin Pose Button ............................................................................................................... 43
8.2.21 Initial Pose Button ................................................................................................................ 43
8.3 Online Programming ...........................................................................................................................44
8.3.1 New Project Button ................................................................................................................ 45
8.3.2 Select Project Button ..............................................................................................................45
8.3.3 Save Project .............................................................................................................................. 46
8.3.4 Project Content Display .........................................................................................................46
8.3.5 Add Trajectory Point .............................................................................................................. 47
8.3.6 Basic Commands .....................................................................................................................48
8.3.7 Advanced Commands ............................................................................................................ 64
8.3.8 Edit ..............................................................................................................................................72
8.3.9 Start Button ...............................................................................................................................73
8.3.10 Pause Button .......................................................................................................................... 75
8.3.11 Stop Button.............................................................................................................................75
8.3.12 Single Step Button ................................................................................................................76
8.3.13 Joints Move There ................................................................................................................ 77
8.3.14 Move Straight There ............................................................................................................ 78
8.3.15 Robot Simulation Preview ..................................................................................................79
8.4 Configuration ........................................................................................................................................ 80
8.4.1 System Configuration ............................................................................................................ 80
8.4.2 Robot Configuration ...............................................................................................................87
8.5 System Information ...........................................................................................................................108
8.6 Extension............................................................................................................................................. 108
8.6.1 Tool I/O Configuration ........................................................................................................109
8.6.2 Drag Teaching........................................................................................................................110
8.6.3 Lift Control.............................................................................................................................111
9. Online Programming Demo....................................................................................................................... 112
10. System Update via USB Flash Drive .....................................................................................................117

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11. Technical Specifications ............................................................................................................................119

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Foreword
On behalf of RealMan Intelligent Technology (Beijing) Co., Ltd., we thank you for
the purchase and use of our ultra-lightweight 6-DoF RML63 collaborative robot. The
RML63 robot series include RML63-B (standard), RML63-ZF (integrated 1-axis
force) and RML63-6F (integrated 6-axis force). The manual can refer to this
document.
RML63 adopts modular joint design. It integrates the controller at its base therefore
no extra control cabinet needed. Users can build their own robot control system by
accessing the APIs of our collaborative RML63. Besides, this product also provides
online programmable software through which users can monitor the real-time status
of RML63, adjust the settings, and simulate offline.
Product Components
A full packaged RML63 collaborative robot includes the components as follows.
Table 1 Product Components of RML63
Name
Quantity
Robot body
1
Power cord
1

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6-pin tool end IO cable
1
26-pin IO cable
1
Teach pendant tablet (optional)
1
1. Safety
1.1 Introduction
This section includes the safety principles and regulations that should be followed
when operating the robot. Users and integrators must read this manual carefully
before operating the robot. They need to have full security awareness. They shall
always follow the principles and regulations particularly the warning signs. Since
robot system is complex and could be dangerous if not properly operated, users shall
always be aware of this and follow the instructions in this document.
1.2 Safety Warning Signs and Symbols
Table 2 lists all the safety warning signs and symbols of the robot. It is crucial and the
instructions shall be followed.
Table 2 Warning Signs and Symbols, and Instructions
Sign/Symbol
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.

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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.
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 for the first time. Other safety-related information is introduced in
other sections of the manual. However, it is impossible to cover all aspects. In
practical applications, specific situations 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 robot for the first time, you must check that
the hardware, software, and appearance of the robot is complete.
Also, you should be aware of whether it complies with the effective

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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
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 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.

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1. Ensure that the robot and end 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 port but only the
secure port.
5. Ensure a correct installation and setting (e.g., robot body
installation angle, end tool weight, 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 all present users are out of reach of the robot.
7. Pay attention to the movement of the robot when using the teach
pendant 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 safety levels and emergency stop criterion
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 Intelligent Technology (Beijing) 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.