Syntec LEANTEC LS600-6 User manual

LS600-6 Product Manual
匯出日期：2023-08-29
修改日期：2023-08-01

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
–2
•
•
About this user manual
Thank you for buying our robot products.
This manual contains instructions for the proper installation and use of robots.
Please read this manual and other relevant manuals carefully before installing and using the
robot system. After reading this manual, please keep it within easy access for future reference.
Unauthorized copying or reprinting of part or all of this manual is prohibited.
The contents of this manual may change from time to time without prior notice.
If you find the contents of this manual incorrect or needed to be improved or be
supplemented, please feel free to contact us.
Except as expressly stated in this manual, nothing in this manual shall be construed as any
warranty or warranty by the Company with respect to personal loss, property damage or
specific fitness for purpose.
The Company is not responsible for any accident or indirect injury caused by the use of this
manual and the products described in it.
Manual content
This manual contains the following instructions：
Installation of robots
The use of robots

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
–3
•
•
•
Maintenance of robots
Reading object
This manual is oriented toward：
Installers
Maintenance personnel
Warranty
The robot and its optional components are delivered after the company's strict quality
control, testing and inspection, and the performance is confirmed to meet the company's
standards.
Within the warranty period of the delivered products, the company will only repair the faults
that occurred during normal use for free. (Please consult a salesperson in your area for the
warranty period.)
However, the customer will be charged for repairs (even within the warranty period) if:
1.Damage or failure caused by improper use and improper use of the manual.
2. Failure caused by the customer's unauthorized disassembly.
3. Damage caused by improper adjustment or unauthorized repair.
4. Damage caused by natural disasters such as earthquakes and floods.
Warning
1.If the use of robots or related equipment exceeds the conditions of use and product
specifications described in this manual, the warranty will be invalid.
2. The Company shall not be liable for any fault or accident, or even personal injury or death
caused by the use of the products.
3. The Company cannot foresee all possible risks and consequences. Therefore, this manual
cannot warn the user of all possible risks.
Inquiry
For the repair/inspection/adjustment of the robot, please contact our after-sales department.
If no after-sales department is recorded, please contact your local distributor.
To save your time, please prepare the following items before contacting:
- Controller name/serial number
- Robot name/serial number
- Software name/version
- Problems with the system

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Contents–4
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
1 Contents
Contents
Safety
About this Chapter
Safety Terms
Safety Identity
Risk
Safety characteristics
What is Emergency Stop
Enabling Device
Work Safety Guide
Description
Self Safety
Operate the teach pendant
Recovery From Emergency Stop
Safety Considerations For Manual Mode
Safety Considerations For Automatic Mode
Handling When Emergency
Product overview
Overview of Robot System
Load capacity
Function and Purpose
Basic principles and main technologies applied
Overview of Robot Structure
Technical parameters
Specifications
The workspace
Output flange
Electronic Control Box Specification
Specifications of Protective Bellow
Addition：The supplementary description for SCARA protection solution
The installation
Environmental Conditions
On-site installation
Handling
Installation
Electrical connections
Wiring connection
Grounding Instructions
User Wiring
IO Wiring Definition
Function test
Check before Power-on
Power-on abnormality check
Check the Mastering position, each axis direction, and soft limit of the robot
Test procedure of Automatic Mode
Maintenance
About safety during maintenance
Troubleshooting
Maintenance plan
Check interval

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Contents–5
•
•
•
•
•
•
•
•
•
Tightening of hexagon socket screws
Replace Battery
Replace Battery
The maintenance of Synchronous belt
3rd/4th Axis Synchronous Belt maintenance
Zero Point
About mechanical home
Zero point calibration
Calibration steps

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–6
•
•
•
•
•
•
•
•
•
•
2 Safety
2.1 About this Chapter
Instruction
This chapter explains the content that must be observed in the safe use of the robot. Please
read this chapter and carefully before using the robot system.
This chapter introduces the safety principles and procedures to be considered when using
LEANTEC robots.
User Introduction
Users can be divided into 3 types :
Operators :
Turn on or off the system power
Start or stop the program
Restore system alarm state
Programmers :
In addition to the operator’s work
Teach new robot programs
Technicians :
In addition to the programmer’s work
Repair and maintain the robot system
Both programmers and technicians are required to take professional training from the
original factory.
2.2 Safety Terms
2.2.1 Safety Identity
About safety identity
When operating the robot in accordance with the contents of this manual, different degrees of
danger may be encountered. Therefore, near the operation instructions that may cause
danger, there will be a special safety mark prompt box to remind users to pay attention to
precautions. The contents of the prompt box include:
An icon representing the safety level and corresponding name, such as warning,
danger, prompt, etc.
A simple description of what could happen if the operator did not eliminate the hazard
Instructions on how to eliminate hazards
Safety level

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–7
Icon Na
me
Description
Dan
ger
If the content with this logo is not operated in accordance with the
regulations, it will cause serious or even fatal to the personnel Life
damage, and will/may cause serious damage to the robot. Operations
associated with such hazards include contact with high voltage
components in the control cabinet and movement during robot operation
into its work area, etc.
War
ning
It is suggested that the current operation may have the risk of accidents,
causing serious or even fatal injuries.
Elec
tric
Sho
ck
It is suggested that the current operation may have the risk of
electrocution, causing serious or even fatal injuries.
Cau
tion
Content bearing this logo, if not operated in accordance with the
regulations, may result in personal injury and damage to the machine
itself.
Anti
-
stati
c
(ES
D)
It is suggested that the parts involved in the current operation are sensitive
to static electricity and may be damaged during the operation if they are
not operated according to the specification.
Re
min
der
Used to suggest important information or prerequisites.
2.2.2
Risk
Introduction
Icon Name Description
Pinch When operators and maintenance personnel
enter the robot's movement range during
commissioning, maintenance, overhaul and
tool clamping, they may cause damage.

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–8
Icon Name Description
Clamp hand There is a risk of a pinch when the maintenance
personnel approaches the belt drive during a
maintenance operation.
Collision When operators and maintenance personnel
enter the movement range of the robot during
commissioning, maintenance, overhaul and
tool clamping, collision or serious injury may
occur.
Friction When the operator and maintenance
personnelenter the movement range of the
robot during commissioning, maintenance,
overhaul and tool clamping, there may be
abrasions
Parts fly out Operators and maintenance personnel enter
the movement range of the robot during
commissioning, maintenance, overhaul and
tool clamping, and the tool or workpiece may
fly out due to lax clamping, which may cause
serious damage.
Fire Fire may occur in the event of a short circuit or
wirings and devices catching on fire which may
cause serious injury.
High temperature When maintenance personnel contacts the
high-temperature surface of the robot during
equipment overhaul and maintenance, it may
cause burns.
Warning, any robot in motion can be fatal！
When a robot is running, it may perform undesirable or even unreasonable movements. In
addition, the robot will carry a huge amount of energy when moving, and when a collision
occurs, it will cause serious injury/damage to the personnel and equipment in its working
range
Elimination of danger

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–9
Operate Reference information
1 Make sure all emergency stop
equipment is properly configured
and installed before starting the
robot.
Emergency stop equipment includes a safety
gate, safety grating, safety light blanket, etc.
2 In the process of robot
programming, it is necessary to
ensure that the teach pendant is
held by the person entering the
working area of the robot.
Avoid the danger of operating the robot with
the teachpendant when the personnel
outside the work area do not observe the
personnel inside the work area.
3 Before starting to run the robot
program, make sure that there are
no other personnelin the robot's
work area.
Robot icon description
Icon Name Description
Collision hazard
sign
Keep a safe
distance when the
robotic arm is in
operation to avoid
a collision.
Specification
label
Label the
specifications of
the robotic arm
and manufacture
dates.

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–10
•
•
•
•
•
•
Icon Name Description
Grounding sign The robotic arm
must be connected
to the ground to
prevent electrical
shock.
Electrical Shock
Hazard Sign
The robotic arm
might have
potential electrical
shock risks.
Operate
Carefully Sign
Be careful when
operating the
robotic arm, and
predict the
movement of the
robotic arm.
2.2.3 Safety characteristics
Instruction
PLC is built into the Syntec system to process safety-related signals, and external safety signal
interfaces such as safety gate and safety grating are provided.
Signals processed by PLC include :
Reset signal
Safety gate signals
Emergency stop reset signal
Enable switching signals
Mode selection signals
Servo on signal
2.2.4 What is Emergency Stop
Definition of safe stop
The emergency stop is the highest priority function in the robot system. Pressing the
emergency stop button will trigger the emergency stop. At this time, all other robot
control functions will stop, the robot will stop moving and the motor power of each joint
will be cut off. The control system will switch to the emergency stop state, which will be
maintained until it is manually reset.

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–11
•
•
The emergency stop means that all power to the robot will be cut off except for the
manual brake release circuit. To restore the system to its normal state, a manual reset
operation must be performed, that is, first release the emergency stop button and then
manually press the power on the control cabinet.
After triggering the emergency stop, the system may take either of two different
stopping modes according to different working conditions:
STOP 0, immediately cut off the power supply of the motor and make each joint
brake, which is the safest way to STOP. However, the robot is in an uncontrolled
state during the stopping process, and may deviate from the path after
stopping. The emergency STOP in manual mode belongs to STOP 0.
STOP 1.After the emergency STOP is triggered, the control system will
immediately decelerate along the path. Then the safety module will cut off the
power supply of the motor and make all the joints lock, no matter whether the
robot stops completely or not. In the vast majority of cases, due to a controlled
stop, the robot will end up on the programming path, providing the best
protection against peripherals. By default, the emergency STOP in automatic
mode belongs to STOP 1.
Emergency stop button
By default, the robot system is equipped with two emergency stop buttons that trigger
an emergency stop when pressed. One is mounted on the control cabinet and the other
is mounted on the teach pendant.
                      
In addition, your system integrator may install additional emergency stop buttons
during the robot deployment process. Please contact your system integrator or consult
the robot workstation documentation for more information.
Reminder
An emergency stop is only used to stop the robot immediately in a dangerous situation.
Reminder
The emergency stop should not be stopped as a normal procedure. Otherwise, it will cause extra and
unnecessary wear to the brake system and transmission system of the robot, and reduce the service life of the
robot.

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–12
2.2.5 Enabling Device
It is a special switch with two presses and three positions, which only works if the enable
switch been pressed and kept in the middle position. If the switch is released or fully
pressed, the robot movement will be stopped.
It needs to be pressed together with other keys to prevent mistouch.
•
•
Reminder
The enabling device is mounted on the back of the teach pendant, and Jog or run programs can only be
performed when pressed it to the middle position. The operation is invalid when the switch is released or fully
pressed.
For safe use, the following requirements must be observed:
Enable switches must work properly under all circumstances.
During programming and commissioning, release the switch when robot movement is not required.
Anyone entering the robot's workspace must carry a teach pendantwith them to prevent others from starting
the robot without the knowledge of insiders.

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–13
•
•
•
2.3 Work Safety Guide
2.3.1 Description
About Robots
No matter how fast they move, industrial robots are potentially dangerous. A pause or
wait in a program may be followed by a very fast and dangerous motion command. Even
if you are already familiar with the current robot's trajectory and mode, the robot's
trajectory in automatic mode can still be changed by external signals without warning.
Therefore, safety regulations must be followed when entering the working area of the
robot.
About working area, safe area and danger area
The working area is the range in which the robot can move and should be limited to the
minimum necessary size. Appropriate protective measures must be used to protect the
work area. The protective devices (such as a safety gate) must be located in a safe area.
When it stopped, the robot will be braked and stopped in the danger area. Danger area
includes the range of working area and the stopping distance of the robot, it must be
protected by physical protective measures to prevent danger to humans or property
damage.
About this section
This section will introduce some basic safety regulations for end users. However, due to
space limitations, it cannot cover every specific situation.
2.3.2 Self Safety
Basic Principle
There are a few simple principles that must be followed in order to operate a robot
safely：
All of the operating procedures must be professionally evaluated and based on
relevant industrial safety regulations.
Operators who work with robots must wear safety equipment suitable for the
working environment before performing operations, such as safety vests, safety
shoes and safety helmets.
When personnel encounter danger or other emergency and abnormal
situations due to the robot, please press the emergency stop button for the first
Warning
External devices that jam the enabling device in the middle position are strictly prohibited!

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–14
•
•
•
•
•
•
•
•
•
time, and use the manual mode to move the robot away from the dangerous
situation at low speed.
A safety area must be set outside the working area of the robot, and
appropriate safety devices must be used to prevent unauthorized personnel
from entering.
The operator must be outside the safe area to operate the robot.
When a worker is in the safe area of the robot, the robot can only be
operated in manual mode.
When you enter the secure area of the robot, you must hold the teach
pendantin your hand to ensure that the robot is under your control.
Keep an eye out for moving tools, such as drills, saws, etc. installed on the
robot. Make sure the tools stop working before approaching the robot.
Pay attention to the problem of the workpiece surface or robot body. After long
working hours, the temperature of robot motor and outer shell may be very
high.
Pay attention to the robot's gripper and the objects it is holding. If the gripper is
opened, the workpiece may fall and cause injury to personnel or damage to
equipment. In addition, the grippers used by the robot can be very powerful
and can cause damage if not used properly.
Watch for electrical components in the robot and control cabinet. Even when
power is lost, the energy stored in the device can be very dangerous.
Any move of a climbing robot is forbidden.
Precautions for using hydraulic and pneumatic
•
•
•
•
•
•
•
Warning
Relevant education training and permission is a must for the person installing the robot.
In order to protect personal safety, the installation procedures in this manual and related industrial
safety regulations must be followed.
Avoid placing the control box near high voltage or other components that generate electromagnetic
fields, to prevent the electromagnetic interference which may cause deviation or malfunction of the
robot.
It may cause damage or malfunction of the robot if it uses aftermarket repair parts.
Be careful of the heat source generated by the controller and servo motor.
Do not excessively bend the power signal cable. Otherwise, it may cause unexpected danger.
The teach pendant removed from the control cabinet should be properly stored away from the robot
workstation or control cabinet. It is needed to prevent that the operator might be misled to think that
the teach pendant is still connected to the control cabinet and try to use the unconnected teach
pendant to stop the robot when danger happened.
•
•
Danger
When using hydraulic and pneumatic in operation, the clamped workpiece may fall due to insufficient
pressure or gravity.
The hydraulic and pneumatic systems need to be equipped with safety valves for emergency use.

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–15
•
•
•
•
•
•
•
•
•
•
•
2.3.3 Operate the teach pendant
Instruction
The teach pendantequipped with Syntec system is manufactured with advanced electronic
components. In order to avoid failure or damage during use, please follow the following
requirements.
Teach pendant controller lecturers are developed, manufactured and tested in
accordance with relevant industry standards and are intended for use only as described
in this manual. If you follow the requirements in this manual, the teach pendant
controller will not cause personal injury or damage in normal use.
Operation and cleaning
Handle it lightly to avoid falling, throwing or a strong impact on teach pendant.
Otherwise, it may cause obstacles.
If the teach pendantexperiences a strong shock, verify that the enable switch and
emergency stop button are still in normal working conditions before using again.
When you do not use the teaching device, please store it properly to avoid accidental
dropping.
Avoid tripping over your own cable when using the teach pendant.
Do not operate the touch screen with sharp objects, such as a screwdriver, pen tip,
etc.. Otherwise, the touch screen may be damaged. Operate with a finger or a stylus on
top of the pointer.
Clean the touch screen often, dust and small particles of impurities may cause the
touch screento malfunction.
Do not use chemical solvents, detergents or washing surfaces to clean the teach
pendant. Use a softcloth and a small amount of water to scrub.
When not using the USB interface, the protective adhesive cap must be properly
fastened. Otherwise, exposure to dust may cause interface failure.
Pendant cable
Ensure that the staff does not trip over the teach pendant cable and causes the teach
pendantto fall.
Do not squeeze the teach pendantcable. Otherwise, it may damage the inner core.
Do not place the teach pendantcable at sharp edges, as this may damage the cable
sheath.
2.3.4 Recovery From Emergency Stop
Instruction
The reset operation must be performed when the system is in an emergency stop state
in order to return to the normal state. The reset process is very simple but very
Danger
The programming must be performed outside the safety fence. If you need to enter the safety fence for
operation, you must press the emergency stop button.

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–16
important to ensure that the robot system is not put into production operation in a
dangerous state.
Reset emergency stop button
All button-type emergency stop devices have a safety lock mechanism that must be
manually released after being pressed to reverse the emergency stop state of the device.
Most emergency stop buttons are released by rotation, with the direction of rotation
marked on the surface of the button. There are also some buttons that support a direct
uppull release method.
Reset the external stop device
All external emergency stop devices such as safety gates, safety gratings, etc., have some
type of safety lock mechanism. If you use external emergency stop devices in your robot
workstation, please consult your system integrator for more device reset information.
Recovery from E-Stop
Operate
1 Confirm that the hazardous condition causing the emergency stop has been addressed and that the hazard
source is no longer present.
2 Reset a safety device that causes an emergency stop.
3 Press the RESET button on the teach pendant controller to restore the system from the emergency stop.
2.3.5 Safety Considerations For Manual Mode
About manual mode
In manual mode, the movement of the robot is under manual control. Jog or run the
robot only if the enable switch is in the middle position.
Manual mode is used to write and commission robot programs and participate in the
commissioning of the workstation.
Speed limitation under manual mode
In manual mode, the movement speed of the robot end is limited to under 250mm/s,
that is, whether it is a Jog robot or running a program and regardless of the speed set in
the program, the maximum movement speed of the robot will not exceed 250mm/s.
Bypass external safetysignals

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–17
In manual mode, signals of external safety devices will be by bypassed, such as safety
doors and safety light barriers. This means, to facilitate debugging, the system will not
be in an emergency stop state even if the safety door is opened in manual mode.
2.3.6 Safety Considerations For Automatic Mode
About automatic mode
The automatic mode is used to run the robot program during the formal production
process.
In the automatic mode, the enable switch will be bypassed, so the robot can run
automatically without human involvement.
Enable external safetysignals
External safety signals such as safety gate and safety grating will be enabled in
automatic mode, and an emergency stop will be triggered when the safety gate is
opened.
Safe fault recoveryin processing production
Most of the time, robots are part of a production line, so robot failures do not only affect
the workstation itself but when problems occur in other parts of the production line, the
robot workstation may also be affected.Therefore, it is up to those familiar with the
entire production line to design fault recovery solutions to improve safety.
For example, on a production line, the robot needs to grab the workpiece from a
conveyor belt. In case of a robot failure, in order to ensure that the production process is
not interrupted, the conveyor belt should be kept in operation while the robot is being
repaired. At this time, the robot maintenance personnel should consider additional
safety measures for working beside the conveyor belt in operation.
Another example, when a welding robot is removed from a production line for routine
maintenance, other robots associated with the same process must also be stopped to
prevent human injury.
2.3.7 Handling When Emergency
Handling of light fire
In the event of imminent fire danger or fire that has already started but not yet spread,
do not panic, remain calm and extinguish the flames with the fire extinguishing
equipment provided at the scene. Do not use water to extinguish the fire caused by a
short circuit.
Warning
The user shall provide the fire extinguishing device for the robot in the working site. The user shall select the
appropriate fire extinguishing device according to the actual situation on the site.

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Safety–18
•
•
•
•
•
Measures to deal with severe fire
When the fire has spread and is out of control, site staff should not try to put out the fire,
but should immediately notify other staff, give up personal belongings, and evacuate
from the emergency exit as soon as possible. Elevators are not allowed during an
evacuation, and the fire brigade should be called during evacuation.
If a person or clothing is on fire, do not let him/her run away. Instead, let him/her quickly
lie down on the ground and put out the fire with clothes or other suitable objects and
means.
Handling of electric shock accident
When someone gets an electric shock, don't panic. First, cut off the power as soon as
possible.
Appropriate methods and measures should be taken decisively according to the specific
conditions on the spot. Generally speaking, there are several methods and measures
shown below:
If the power switch or button is close to the shock point, pull the switch quickly
and cut off the power.
If the power switch or button is far away from the electric shock location,
insulated pliers or axes, knives and shovels with dry wooden handle can be
used to cut off the power side (i.e., where the electricity is coming from). The
cut wire should not touch the human body.
When the wire is attached to or under the body of the electrocuter, dry wooden sticks,
wooden boards, bamboo poles or other tools with an insulating handle (holding the
insulated handle) can be used to quickly remove the wire. Do not use any metal bar or
wet things to pick up the wire, so as to avoid the electrocuter.
Treatment of electrocuted wounded person
If the electrocuted victim is conscious, lay him/her on his/her back and watch
him/her closely. Do not stand or walk for a while.
If the contact person is unconscious, lay him/her on his/her back to make sure
the airway is clear, and call or pat him/her on the shoulder at a 5-second
interval to determine if he/she is unconscious. Do not swing the victim's head
to call the victim. Contact the ambulance as soon as possible while rescuing on
the spot.
If the electrocuted victim loses consciousness, the patient's breathing and
heartbeat should be judged within 10 seconds. If there is no breathing and no
pulsation of the artery, it can be determined that the respiratory heart has
stopped, and it should be rescued by cardiopulmonary resuscitation
immediately.
Warning
Do not contact the electrocuted person directly. Otherwise, the rescue personnel may also be electrocuted!

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Product overview–19
•
•
•
•
•
3 Product overview
3.1 Overview of Robot System
System overview
A complete robot system includes the robot body, controller, instructor, connecting
cables, software, terminal actuators, and other accessories, as shown in the figure
below.
The figures are illustrated below：
1 = robot
2 = teach pendant
3 = control cabinet
4 = teach pendant cable
5 = cabinet cable
3.2 Load capacity
Load capacity of the joint robot

联达产品/LEANTEC Products
              –
              LS600-6 Product Manual
Product overview–20
Label Name
①Load capacity（kg）
②work space（mm）
③four joints robot
④six joints robot
3.3 Function and Purpose
Function and purpose
An industrial robot is a mechanical and electronic device that anthropomorphizes arms,
wrists and hand functions; it can move any object or tool according to the time-variant
requirements of spatial position-pose (position and orientation) to complete the operation
requirements of a certain industrial production. The use of Leantec industrial robot is as
follows: To carry out spot welding or arc welding on the body of cars or motorcycles using
welding guns or welding torches, to carry parts or components formed by die casting or
stamping, laser cutting, spray and to assemble mechanical parts and etc.
3.4 Basic principles and main technologies applied
Principles and technologies