Turin TCR Series User manual

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TCR SERIES COOPERATIVE ROBOT
USER MANUAL
TCR030 TCR050 TCR100
Shanghai Turin Smart Robot Co.,Ltd

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Before using the robot, please read the safety instructions
carefully and use the robot based on the understanding of the
instructions.
We are committed to continuously improving the quality of our
products. The specifications and information related to our
products in this manual are subject to change without prior
notice. All statements, information and advice in this manual
have been carefully treated but are not guaranteed to be accurate.
The Company is not responsible for any direct or indirect losses
arising from the use of this manual and the products described in
it. Users must take full responsibility for the use of any
products and must use this manual and products with care.
Shanghai Turin Smart Robot Co.,Ltd has the right to interpret
all the contents of this manual.
Without the permission of TURIN, any reproduction, copy or
reprint of this Manual and any contents thereof is strictly
prohibited, and any contents of this Manual shall not be
disclosed to any third party.
All Rights Reserved:Shanghai Turin Smart Robot Co.,Ltd.
Service hotline：[phone]
Company address：Room 1001, Building 33, No. 258 Xinzhuan Road,
Songjiang District, Shanghai (R&D Centre)
Building 10, No. 169, Lifa Avenue, Hai'an City,
Jiangsu Province (Factory Address)
Website：http://www.turinrobot.com
E-mail：sa[email protected]m

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Safety Instructions
This chapter describes the requirements for safe use of robots. Before
using the robot, be sure to read and understand all the information in this
chapter and other auxiliary manuals.
Companies and individuals using TURIN robots should familiarize
themselves with local and national standards and laws, and properly install
safety facilities to protect robot users. Before use (including but not
limited to installation, operation, maintenance and overhaul), please be
sure to read and fully master this manual and other ancillary materials, and
start using it after familiarizing yourself with all equipment knowledge,
safety knowledge and precautions (please refer to 《TURIN Industrial Robot
Application Technical Manual》 for safety precautions). However, TURIN
cannot guarantee that users will not be harmed even if they follow all the
safety information provided in the manual.
Users (including but not limited to operators, program personnel and
maintenance personnel) must pay attention to safety when using the robot,
and should at least wear appropriate work clothes, safety shoes and safety
hats for the operation.
Because the robot system is complex and dangerous, at any time, any
operation of the robot must pay attention to safety. Any time you enter the
robot's working area, it can cause serious injury. Only trained and
certified personnel should enter the area. (For more information about the
training, please consult Shanghai Turin Smart Robot Co.,Ltd.)
The maintenance manual diagram is for illustrative purposes only and may
require removal of the cover or safety cover. It's important to restore the
cover or safety cover before operating the parts and follow the manual's
instructions.
Please note that the drawings and photos in the instructions are
provided as representative examples only. They may differ from the product
you have purchased.

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The specifications of the product may be modified at times to improve the
product or enhance its ease of use. It's essential to keep this in mind
while using the product. Any unauthorized modifications made by the customer
will not be covered under warranty, and the company will not be responsible
for any damages incurred.
PREFACE
This manual is applicable to the following robot models：
Type the name
Payload
TCR030/TCR050/TCR100
3kg/5kg/10kg
List of Relevant Instructions：
《TURIN Industrial Robot Application Technical Manual》
《General Industrial Robot Technology training manual》

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DIRECTORY
1. Safety Precautions.....................................................1
1.1 Introduction to Safety Precautions....................................1
1.2 General safety precautions............................................1
1.2.1 Safety considerations for robotic systems...........................1
1.2.2 Security risks......................................................1
1.2.3 Safety behavior.....................................................4
1.2.4 Scram...............................................................6
1.3 Robot safety precautions..............................................7
1.3.1 Introduction to Safety Labels.......................................7
1.3.2 Potentially deadly danger...........................................7
1.3.3 The test work can be dangerous......................................8
1.3.4 Electrical hazards..................................................8
2. Product introduction...................................................9
2.1 Robot component composition...........................................9
2.2 Body of robot........................................................10
2.3 Control cabinet......................................................13
2.4 Button box...........................................................13
3. Mechanical body specification.........................................14
3.1 Product specification................................................14
3.2 Dimensions and range of motion.......................................16
3.3 Origin position and range of motion ..................................17
4. Robot handling and installation.......................................18
4.1 Handle...............................................................19
4.2 Installation.........................................................20
4.3 Installation and storage conditions ..................................22
5. Connection to control device..........................................23
6. Mounting dimensions of external fittings..............................24
6.1 End flange mounting dimensions.......................................24
7. List of finished collaborative robots.................................26

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8. TURIN-TeachTool software Introduction.................................26
8.1 Overview.............................................................26
8.2 Function.............................................................26
8.3 Operating environment................................................26
9. TURIN-TeachTool Basic operation.......................................27
9.1 Connected robot......................................................27
9.2 APP preliminary understand...........................................29
9.2.1 Interface..........................................................29
9.2.2 Language...........................................................32
9.2.3 Password...........................................................33
9.3 Basic robot parameters...............................................34
9.3.1 Robot joint parameters.............................................34
9.3.2 Robot collision protection.........................................35
9.4 Robot file management................................................42
9.5 Robot Log Information................................................42
10. Hand operated robot..................................................44
10.1 Set up the coordinate system........................................44
10.1.1 Set up tool coordinate system.....................................44
10.1.2 Create user coordinates...........................................45
10.2 Manual operation....................................................45
10.2.1 Joint movement....................................................45
10.2.2 Linear motion.....................................................46
10.2.3 Point movement....................................................47
11. Programming operation................................................48
11.1 Introduction........................................................48
11.2 Program management..................................................49
11.2.1 New program.......................................................49
11.2.2 To run the program................................................50
12. Maintenance..........................................................53
12.1 Daily Inspection....................................................53
12.2 Quarterly Inspection................................................53
12.3 Annual Inspection...................................................54
12.4 Battery Replacement.................................................54
13. Zero calibration.....................................................55
13.1 Mechanical zero calibration.........................................56
13.2 Twenty-point Calibration............................................57

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1.Safety Precautions
1.1 Introduction to Safety Precautions
This chapter includes two parts：
The first part is the general safety precautions, which are
generally applicable to all types of robots. For details, see 1.2
General safety Precautions!
The second part is the safety precautions for the robot, mainly
introduces the safety precautions for the robot operation and usage,
see 1.3 safety precautions for the robot operation!
1.2 General safety precautions
1.2.1 Safety considerations for robotic systems
This section does not cover how to design and install the robot,
nor does it cover peripherals that affect the safety of the robot. In
order to protect the user, the robot should be designed to comply
with the local and national standards and laws.
TURIN Robotics companies and individuals should familiarize
themselves with local and national standards and laws, and install
appropriate safety facilities to protect the people using the robots.
The user should be familiar with the instructions of the robot system.
But even if the operator followed all the safety information given in
the manual, TURIN could not guarantee that the operator would not
come to any harm.
1.2.2 Security risks
Overview: This section covers the dangers that may arise during the
installation and service of robots.
Safety risks when installing and serving robots：
1、See the section on Installation and Maintenance for details
on robot safety precautions；
2 、 The emergency stop button of the system must be in an
accessible position to stop the robot in case of an accident；
3、The operator must ensure that the installed safety measures
are available；
4 、 Operators must be trained to install, operate and repair
robots。
The specification of TURIN robots must also comply with
regional and national standards and legal rules.
Non voltage risk
1 、 The safety zone needs to be confirmed before the robot is
installed. The safety zone needs to be demarcated before the
robot is installed；

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2 、 Protective measures or fences should be used to keep the
operator out of the robot's working area (signs such as "no trespass",
"no trespass", "High voltage hazard" should be placed in the relevant
area)；
3 、 There SHOULD be NO hanging objects above the robot to
prevent it from falling and damaging the robot and other equipment；
4 、 The spring in the balance cylinder may spring out of the
failure of other parts and cause injury；
5、When DIS assembling the robot, pay attention to objects that
may fall from the robot and injure the person；
6、 Be careful of being scalded by high-temperature components
in the electric control cabinet；
7、When REPAIRING THE ROBOT, DO NOT USE THE ROBOT AS A LADDER,
DO NOT climb THE robot, in case of falling；
8、The high temperature in the reducer and the splashing of the
high temperature oil may cause injury to the human body；
9、It is strictly prohibited to pull any axis of the robot；
10 、 It is strictly forbidden to rely on the electric control
cabinet or touch the button at will, in case the robot has unexpected
action, which may cause personal injury or equipment damage.
Safety considerations for integrators:
1 、 The integration vendor must verify that all safety circuits
are interlocked with safety circuits for external applications；
2 、 The integration vendor must confirm that the emergency
emergency stop safety circuit and the external application safety
circuit are interlocked.
Integrated robot
Security risks
Detailed description
High temperature parts
The servo motor and reducer will
produce high temperature after a long
time operation, and it is easy to burn
by touching these parts. In high
temperature environment, the
temperature of the robot rises faster,
and the scald is more likely to happen.
Removing certain components
can cause the robot to
collapse
Take SOME NECESSARY MEASURES TO ENSURE
THAT THE ROBOT DOES NOT COLLAPSE WHEN
REMOVING SOME PARTS FOR EXAMPLE, when
removing the 2-axis motor, the arm and
forearm should be fixed to prevent the
robot from FALLING over
Cable
Security risks
Detailed description

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Cables are fragile and easily
damaged
Cables are vulnerable to mechanical
damage, so special care should be taken
when transporting, storing and using
cables, especially the joints.
Motor reduction gear
Security risks
Detailed description
Reducer is easy to damage
under improper external force
Whether in the split motor reducer, or
in the installation of motor reducer,
reducer is easy to damage under
excessive improper external force.
1.2.2.1 Pay attention to hot parts in the robot
In normal work, many parts of the robot will get hot, especially
the servo motor and reducer. Sometimes the parts close to these two
parts will also get hot. Touching these places will easily cause
burns. As the ambient temperature becomes higher, more robot surfaces
will become hot and easily scalded.
Avoid measures：
1、Feel the temperature of the parts before touching them with
your hands to prevent burns.
2、Wait enough time for the hot part to cool down after the
shutdown before performing maintenance and other work.
1.2.2.2 Safety precautions for removing parts
Safe OPERATION: OPEN the cover or protection device after
confirming that the internal parts such as gears are no longer
rotating or moving. Do not open the protection device when gears and
bearings are rotating.
Safety DESIGN: If necessary, use auxiliary devices to keep
internally unsecured parts from their original positions.
1.2.2.3 Pneumatic/hydraulic safety precautions
Overview: This section is about the safety of the
pneumatic/hydraulic systems associated with robots
Residual energy: after turning off the air or hydraulic pump,
pneumatic/hydraulic system exists in the residual gas/liquid, the
gas/liquid has a certain energy, we should take some measures to
prevent the residual energy and equipment damage to human body,
before repair pneumatic and hydraulic components, need to put the
remaining energy release in the system.
Safety design: prevent components from falling and hydraulic oil
from flowing out；Safety valves are required to prevent accidents；
Maintenance tools need to be prevented from falling.
1.2.2.4 Risk during operation

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Overview: Industrial robot is a flexible system, can be applied
in many industrial fields, all the work must be operated by
professional personnel, and abide by certain safety standards. Care
must be taken at all times when operating.
Highly Qualified operators: Industrial robots must be operated by
professionals who are familiar with the whole system and understand
the risks involved in the individual subsystems.
Risk of anomalies: Be especially careful if an anomaly occurs
during normal operating procedures.
1.2.2.5 Risk of electric
Overview：
1、Although it is necessary to turn on the power supply
for fault diagnosis in many cases, it is necessary to turn off the
power supply and cut off other power connections during the actual
maintenance of the robot.
2、The main power supply of the robot needs to be installed outside
the operating range of the robot, so that the operator can shut down
the robot outside the operating range even if the robot loses control.
Electrical hazard to operator：
High voltage hazard for operators to be aware of：1.Servo motor power
line；2. Power lines connecting fixtures and other devices Electrical
hazard fixtures, external equipment, etc. After the robot is shut
down, the external equipment of the robot may still be running, so
the power cord of the external equipment will also be injured, or the
power cable will be damaged.
1.2.3 Safety behavior
1.2.3.1 Security measures
Overview：Fences and warning signs should be installed around the
working area of the robot to ensure the safe operation of the robot,
prevent random people from entering and prevent the robot from
injuring people.
Security measures：When setting safety protection measures, it is
necessary to consider that the workpiece held by the robot will cause
harm to personnel.
1.2.3.2 Disassemble the robot arm in case of emergency
Describe：In the event of an emergency, any arm of the robot
gets caught by the operator and needs to be removed. Small robot arms
can be removed manually, but large robots need to be lifted by a
crane or other equipment.
The secondary damage：Before releasing the knuckle lock, the arm
needs to be secured to ensure that the arm does not cause secondary