Turin TKB80306 User manual

Shanghai Turing Intelligent
Manufacturing Robot Co. LTD

The statement
This manual gives a comprehensive description of the composition and
operation of Turing industrial robots. Please be sure to read and fully
understand the basis of the operation of the robot.
The illustration in the maintenance manual removes the cover or safety
cover for drawing for details. When operating such parts, be sure to restore
the cover or safety cover as specified, and then run according to the
instructions.
The drawings and photos in the manual are representative examples and
may be different from the purchased products.
The manual is sometimes modified due to product improvement,
specification change an, the fact that the manual itself is easier to use and
other appropriate reasons.
The company is not responsible for the customer's unauthorized
modification of the product, which is not within the scope of warranty.
Revision note:
V20191108: the original version

I
Directory
Chapter 1 System security...............................................................................................1
1.1 Brief introduction of safety precautions....................................................................1
1.2 General safety precautions........................................................................................ 1
1.2.1 Safety precautions for the robot system.......................................................... 1
1.2.2 Security Risk................................................................................................... 1
1.2.3 Safety behavior............................................................................................... 3
1.2.4 Emergency stop...............................................................................................4
1.3 Safety precautions for robot operation......................................................................5
1.3.1 Introduce safety signs......................................................................................5
1.3.2 Potentially fatal............................................................................................... 6
1.3.3 Possible dangers in testing.............................................................................. 6
1.3.4 Electrical hazard..............................................................................................6
1.3.5 Gearbox danger............................................................................................... 7
1.3.6 Operation notes............................................................................................... 8
Chapter 2 Robot Roundup...............................................................................................9
2.1 Robot axis................................................................................................................. 9
2.1.1 Definition of robot axis................................................................................... 9
2.1.2 Robot joint motion.......................................................................................... 9
2.2 Robot coordinate system......................................................................................... 10
2.2.1 Joint coordinate system................................................................................. 11
2.2.2 Cartesian coordinate system..........................................................................11
2.2.3 Tool coordinate system................................................................................. 12
2.2.4 User coordinate system................................................................................. 14
2.3 Robot zero point and calibration.............................................................................15
2.3.1 Robot zero..................................................................................................... 15
2.3.2 Battery replacement...................................................................................... 17
2.3.3 Twenty-point correction method................................................................... 18
Chapter 3 Basic programming.......................................................................................22
3.1 Introduction to Teach Pendant................................................................................ 22
3.1.1 Teach pendant structure.................................................................................22
3.1.2 User Interface................................................................................................23
3.1.3 Teach pendant operation specification.......................................................... 24
3.2 Manual motion robot...............................................................................................24
3.2.1 system login.................................................................................................. 24
3.2.2 Coordinate system selection..........................................................................25
3.2.3 Tool and user coordinate system number selection.......................................25

II
II
3.2.4 Manual speed selection................................................................................. 26
3.2.5 Manually operated robot............................................................................... 26
3.3 Programming...........................................................................................................26
3.3.1 Add an instruction......................................................................................... 26
3.3.2 Deletion of instructions.................................................................................28
3.3.3 Command editing..........................................................................................29
3.3.4 Write a program............................................................................................ 29
3.4 Program instructions............................................................................................... 30
3.4.1 Motion instruction.........................................................................................30
3.4.2 Coordinate system and coordinate point instructions................................... 35
3.4.3 Input/output signal processing instructions...................................................37
3.4.4 Process instruction........................................................................................ 39
3.4.5 General instructions and logic instructions................................................... 39
3.5 Program file management....................................................................................... 43
3.5.1 Open the program..........................................................................................43
3.5.2 New program.................................................................................................43
3.5.3 Rename program........................................................................................... 44
3.5.4 Remove program...........................................................................................44
3.5.5 Finder and file sorting................................................................................... 45
Chapter 4 Advanced robot debugging........................................................................... 47
4.1 Input/ Output........................................................................................................... 47
4.1.1 I/O control..................................................................................................... 47
4.1.2 DA Control....................................................................................................47
4.1.3 Encoder......................................................................................................... 48
4.2 Variable................................................................................................................... 48
4.2.1 Variable usage instructions............................................................................48
4.2.2 Variable use................................................................................................... 49
4.2.3 Variable automatic storage............................................................................ 52
4.3 Run settings.............................................................................................................52
4.3.1 Reference position setting.............................................................................52
4.3.2 Interference area setting................................................................................ 53
4.4 Ethernet communication......................................................................................... 54
4.4.1 Robot IP configuration..................................................................................54
4.4.2 View Ethernet status......................................................................................57
4.4.3 Communication test...................................................................................... 57
4.5 Remote browsing and remote commands............................................................... 58
4.5.1 Remote interface operation........................................................................... 58
4.5.2 Remote command......................................................................................... 58

III
III
Chapter 5 Process technology....................................................................................... 60
5.1 Welding process...................................................................................................... 60
5.1.1 Welding process description..........................................................................60
5.1.2 Welding parameter setting.............................................................................60
5.1.3 Welding process instruction.......................................................................... 63
5.2 Palletizing process...................................................................................................63
5.2.1 Typical palletizing applications.....................................................................63
5.2.2 Set palletizing parameters............................................................................. 64
5.2.3 Write a palletizing program...........................................................................64
5.3 Vision and tracking process.................................................................................... 65
5.3.1 Network connection configuration................................................................65
5.3.2 Trigger method..............................................................................................65
5.3.3 Track..............................................................................................................66
5.3.4 Disk tracking calibration...............................................................................66
5.3.5 Calibration.....................................................................................................66
Chapter 6 System parameters........................................................................................ 68
6.1 Basic Settings..........................................................................................................68
6.1.1 Zero calibration............................................................................................. 68
6.1.2 Connecting rod parameters........................................................................... 68
6.1.3 Joint parameters............................................................................................ 69
6.1.4 Spatial parameters......................................................................................... 70
6.1.5 Twenty points calibration.............................................................................. 70
6.1.6 Robot model.................................................................................................. 71
6.2 System settings........................................................................................................71
6.2.1 Key definition............................................................................................... 71
6.2.2 Log print settings.......................................................................................... 72
Chapter 7 System maintenance..................................................................................... 74
7.1 System Upgrade...................................................................................................... 74
7.1.1 Upgrade from version 1.5 and below to version 1.6 and above....................74
7.1.2 Upgrade from version 1.6 and above............................................................ 76
7.2 System backup................................................................................................. 77
7.3 system recovery................................................................................................78
7.4 Exit system....................................................................................................... 79
7.5 File copy...........................................................................................................79
7.5.1 How to copy files from and robot to U disk................................................. 80
7.5.2 How to copy the U disk file to the robot system...........................................81
Chapter 8 Troubleshooting............................................................................................ 82
8.1 Run log....................................................................................................................82

IV
IV
8.2 Common faults and treatment................................................................................. 82

1
Chapter 1 System security
1.1 Brief introduction of safety precautions
The safety precautions in this chapter are divided into two parts:
The first part is general safety precautions, which are generally applicable to all types
of robots. See 1.2 for details
The second part is safety precautions for robots, mainly introducing safety
precautions for robot operation and usage. See 1.3 for details
1.2 General safety precautions
1.2.1 Safety precautions for the robot system
This section does not include how to design and install the robot, nor does it include
the introduction of peripheral equipment that affects the safety of the robot. In order to
protect the users, the design of the robot should comply with the standards and laws of the
region and country. Turing robot companies and individuals should be familiar with the
local and national standards and laws, and install appropriate safety facilities to protect the
robot users. The user should be familiar with the operating instructions of the robot system.
But even if the operator completely follows all the safety information given in the manual,
Turing cannot guarantee that the operator will not suffer any harm.
1.2.2 Security Risk
Overview: This section covers the dangers that may occur in the installation and
service of the robot.
1) Security risks during installation and service of robots:
1. For the safety precautions of the robot, please refer to the installation and
maintenance chapter;
2. The emergency stop button of the system must be in a position that is easy to touch
to ensure that the robot can be stopped in an emergency when an accident occurs;
3. The operator must make sure that the installed safety facilities are available;
4. Operators must be trained in this area before installing, operating, or maintaining
robots.
2) Non-voltage risk
1. The safe area needs to be confirmed and divided before installing the robot;
2. Need to have protective measures or fences to protect the operator from the
working range of the robot;(Place signs such as "Idlers Stop", "Idlers Free" and "High
Voltage Danger" in relevant areas);
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 pop out due to the failure of other parts and
cause injury;
5. When splitting the robot, pay attention to the robot may fall objects hurt people;
6. Be careful of being scalded by high temperature components in the electric control
cabinet;
7. When maintaining the robot, it is forbidden to use the robot as a ladder and not to
climb on the robot in case of falling down;
8. The high temperature in the reducer and the splash of high temperature oil are
likely to cause damage to human body;
9. It is strictly forbidden to pull any axis of the robot;

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10. It is strictly prohibited to rely on the electric control cabinet or touch the button at
will to prevent the robot from acting as expected and causing personal injury or equipment
damage.
3) Safety considerations for integrators
1. The integration supplier must confirm that all safety circuits are interlocked with
externally applied safety circuits;
2. The integration supplier must confirm that the emergency stop safety circuit and the
external application safety circuit are interlocked.
Integrated robot
Security risk
Specific description
High temperature parts
Servo motors and reducers will generate
high temperatures after long-term
operation, and it is easy to get scalded by
touching these parts. In a
high-temperature environment, the
temperature of the robot rises faster, and
burns are more likely to occur.
Removal of certain parts can easily 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, you need to
fix the big arm and the small arm to
prevent the robot from falling)
Cable
Security risk
Specific description
The cable is fragile and easily damaged
Cables are susceptible to mechanical
damage, so pay special attention to cable
damage during transportation, storage,
and use, especially the connectors.
Motor reducer
Security risk
Specific description
The reducer is easily damaged by
improper external force
Regardless of when the motor reducer is
disassembled or when the motor reducer
is installed, the reducer is easily damaged
under excessive improper external force.
4) Pay attention to the parts in the robot that are easy to get hot
In normal work, many parts of the robot will heat up, especially the servo motor and
reducer part. Sometimes the parts close to these two parts will also become hot, and
touching these parts will easily cause burns. As the ambient temperature increases, more
robot surfaces will become very hot and easily cause burn .
Avoidance measures:
1. Feel the temperature of these parts with your hand before touching them, so as not
to burn them.
2. Wait for enough time after the shutdown for the high-temperature part to cool down
before carrying out maintenance and other work.
5) Safety notes on dismantling parts
Safe operation: Open the cover or protect installation after confirming that
the gear and other internal parts are no longer rotating or moving, and do not
open the protection device when the gear and bearing are rotating.
Safety design: if necessary, use auxiliary devices to keep the parts that are
no longer fixed inside from its original position
6) Safety notes on pneumatic/hydraulic
Overview: This paragraph is about the safety of pneumatic/hydraulic systems for
robots

3
Residual energy: After the gas source or hydraulic pump is turned off, there are
residual gases/liquids in the pneumatic/hydraulic system. These gases/liquids have a
certain amount of energy. Certain measures must be taken to prevent the residual energy
from harming the human body and equipment. Before servicing pneumatic and hydraulic
components, the energy remaining in the system needs to be released.
Safety design: Prevent components from falling off and hydraulic oil from flowing
out;
Safety valve shall be installed to prevent accidents;
Maintenance tools need to be prevented from falling.
7) Risks during operation
Overview: Industrial robot is a flexible system that can be applied in many industrial
fields. All the work must be operated by professional personnel and follow certain safety
guidelines. Always be careful when operating.
High-quality operators: Industrial robots must be operated by professionals who are
familiar with the whole system and understand the risks in each subsystem.
Abnormal risk: If an abnormality occurs under normal working procedures, take extra
care.
8) Electrical risks
Overview: 1. Although it is necessary to turn on the power during fault diagnosis in
many cases, it is necessary to turn off the power and cut off other power
connections when actually repairing the robot.
2. The main power supply of the robot needs to be installed outside the
working range of the robot, so that even if the robot is out of control,
the operator can turn off the robot outside the working range of the
robot.
Operator's electrical hazard:
Operators need to pay attention to high voltage hazards:
1. The power line of the servo motor;
2. Connect fixtures and other external equipment. After the robot is turned off, the
external equipment of the robot may still be running, so the power cord of the external
equipment may also cause personal injury or damage to the power cable.
1.2.3 Safety behavior
1) Safety measures
Overview: Fences and warning signs should be installed around the working area of
the robot to ensure the safe work of the robot, prevent the entry of other people and prevent
the robot from injuring others.
Safety measures: When setting up safety protection measures, it is necessary to
consider that the workpiece held by the robot can cause injury to people.
2) Remove the robot arm in an emergency
Description: In an emergency, any arm of the robot is caught by the operator and
needs to be removed. (Refer to Chapter 5 Maintenance for the dismantling steps.) Small
robot arms can be removed manually, but large robots need to be lifted by cranes or other
equipment.
Secondary damage: Before releasing the joint brake, the mechanical arm needs to be
fixed first to ensure that the mechanical arm will not cause secondary injury to the trapped
person under the action of gravity.
3) Brake detection
Why it should be tested: In normal operation, the brake is usually worn out, so it is
necessary to test the brake.
Check brake steps: 1. Let each joint of the robot move to the position where the
joint bears the maximum load;
2. Turn off the robot and open the lock brake;

4
3. Mark each joint
4. After a period of time to see whether the robot's joints
move.
4）Use the teaching box safely
Enable is a MOT button on the teaching box. When pressed, the servo
motor is enabled; when it is disconnected, the servo motor is
disconnected and enabled.
In order to ensure the safe use of the teaching pendant, the following rules
need to be observed:
1. The enable button cannot fail at any time;
2. When programming or testing, the enable needs to be disconnected in
time;
3. Teachers should bring a teaching box when entering the working area of
the robot, so that others can not move the robot without the programmer's
knowledge.
Enablement: When the robot is temporarily stopped, or when programming or testing, the
enable must be turned off in time.
5) Work within the working scope of the robotIf the work must be
carried out within the working range of the robot, the following rules
need to be followed.
1. Only when the mode is selected as manual mode can the computer be
enabled and other automatic controls such as computer control be
disconnected;
2. When the robot is in manual mode, the speed must be limited below
250mm/s. When the robot needs to be adjusted to full manual speed, it can
only be operated by professionals who fully understand the risks;
3. Pay attention to the rotation joints of the robot to prevent the hair and
clothes from being caught in the joints; at the same time, pay attention to
other dangers that may be caused by the movement of the robot, or other
auxiliary equipment;
4.Test whether the motor holding brake is working properly to prevent
personal injury caused by abnormal robot;
5. Consider the contingency plan when the robot suddenly moves to its
prescribed position;
6. Make sure to set up shelters, just in case.
Danger: Do not stand under any robot arm under any circumstances to
prevent the robot from moving abnormally or other people are
enabled.
1.2.4 Emergency stop
Definition of emergency stop:
Emergency stop is independent of the electrical control of all robots, and can stop all
robots. Emergency stop means that all power supplies connected to the robot are
disconnected, but the power supply of the brake on the servo motor is not disconnected.
You must release the emergency stop button and turn on the robot again, so that the robot
can work again.
The emergency stop of the robot system needs to be distinguished:
1. A runaway emergency stop, which stops the robot by cutting off the power of all

5
servo motors.
2. A controllable emergency stop, which stops the robot by giving a command to
the servo motor, so that the robot can complete the path, and when the path is completed,
the servo motor stops supplying power.
Note: Emergency stop can only be used when it is really needed, it is
indeed an emergency.
Note: Emergency stop cannot be used for normal program stop,
shutdown of the robot, etc.
emergency button
There are several emergency stop buttons in the robot system to stop the robot, and
there is a red button on the teaching box and the electric control cabinet (as shown in the
figure below). Of course, users can also set their own emergency stop button as needed.
1.3 Safety precautions for robot operation
Before use (installation, operation, maintenance, overhaul), please be sure to
thoroughly read and fully grasp this manual and other auxiliary materials, and start to use
after you are familiar with all equipment knowledge, safety knowledge and precautions.
The safety precautions in this manual are divided into four categories: "danger", "caution",
"mandatory", and "prohibited".
1.3.1 Introduce safety signs
Dangerous
There is danger in misuse, and death or serious injury may occur.
pay attention
There is danger when it is mishandled. Moderate injuries, minor
injuries or damage to objects may occur.
Force
Things that must be complied with.

6
Forbid
Absolutely prohibited matters.
1.3.2 Potentially fatal
Overview: Any working robot is a potentially fatal machine. When running, the robot
may have unpredictable movements. All movements have strong forces that may cause
serious injury to people in the early working range or equipment Cause damage.
Avoidance: Before preparing the robot to work, test the reliability of each safety
measure (brake).
Safety measures include fence gates, holding brakes, and safety lights.
Measures to avoid: Before turning on the robot, make sure that there are no other idle
people in the working range of the robot.
1.3.3 Possible dangers in testing
Overview: Because of the need for maintenance service work, the robot needs to be
disassembled, and several risks need to be considered for the first test after the
maintenance work is completed.
Measures: The first steps after repair, installation, maintenance and other services
need to follow the steps below:
Clean up all maintenance and installation tools on the robot and within the scope of
the robot's work;
Install all safety measures;
Make sure everyone stands outside the robot's safety range;
Pay special attention to the working conditions of the repaired parts during the test.
Note: When letting the robot go through the program, pay special
attention to potential interference hazards.
1.3.4 Electrical hazard
Overview: The electric control cabinet is the center of the control robot. Any
misoperation of the electric control cabinet may cause electric shock and robot
misoperation, which in turn may cause injury to people and equipment.
Danger: 1. Never lean on the electric control cabinet or other control cabinets; do not
press the operation keys at will. Otherwise, the robot may cause
unexpected movements, which may cause personal injury and equipment
damage.
2. During operation, never allow non-workers to touch the electric control
cabinet. Otherwise, the robot may cause unexpected movements, causing
personal injury and equipment damage.
3. Protective measures must be taken when wiring and piping between the
electrical control cabinet and the robot and peripheral equipment, such as
passing pipes, wires or cables through the pit or covering them with
protective covers to avoid being trampled by people or being lifted by
forklifts Rolled and broken. Operators and other personnel may be caught
by open wires, cables or pipes and damage them, which may cause
abnormal movement of the robot, resulting in personal injury or equipment
damage.

7
4. When installing a tool to the robot, be sure to turn OFF the power supply on
the control cabinet and the installed tool and lock the power switch, and
hang a warning sign. If the power is turned on during installation, it may
cause electric shock or abnormal movement of the robot, which may cause
injury.
5. Before operating the robot, press the emergency stop button on the front
door of the electric control cabinet and the upper right of the teaching
programmer to check whether the "Servo Ready" indicator is off, and
confirm that the power is turned off.
1.3.5 Gearbox danger
Overview: When lubricating the reducer, it may cause injury to people and equipment,
so before refueling, the following safety information must be waited for.
Warnings and measures:
Warning
Description
Measure
High temperature oil or
reducer
When refueling or draining
oil, sometimes it is
necessary to operate the oil
or reducer at a high
temperature of 90 degrees,
and the operator may be
allergic to the oil.
Therefore, wear protective
measures (gloves) to carry
out this work.
Beware of sputtering
When opening the oil
chamber, there may be
pressure in the oil chamber
to cause sputtering
So be careful when
opening the oil chamber
cover, and stay away from
the opening, do not fill too
much when refueling,
according to the amount of
oil.
No top up
Adding too much oil in the
reducer can easily cause
high pressure in the
reducer and damage the
reducer.
When refueling, follow the
instructions or follow the
instructions, and check
after completion.
Prohibition of mixing
lubricants
Different types of oil
cannot be added to the
same reducer.
Always use the same type
of oil, if you want to
change to clean up the
previous oil.
Suggest
Hot oil has a lower density
than cold oil and flows
faster.
Before draining the oil in
the reducer, you can run
the robot to heat the oil for
a period of time. It is
easier to drain the oil, or
you can blow it with an air
gun.

8
Refueling volume depends
on the actual situation
The amount of refueling
depends on how much oil
is contained in the oil
chamber. More oil is
needed and more oil needs
to be discharged, and less
oil needs less oil.
So drain the oil completely
or check the oil indicator
port after filling the oil
1.3.6 Operation notes
The robot system is complex and dangerous. During the re-practice, you must pay
attention to the safety of any operation on the robot. Whenever you enter the working area
of the robot, it may cause serious injury, and only trained and certified personnel can enter
the area.
The following safety rules must be followed:
●In case of fire, use a carbon dioxide fire extinguisher.
●The emergency stop switch is not allowed to be short-circuited.
●When the robot is in automatic mode, no one is allowed to enter its area of
  motion.
●In any case, do not use the original boot disk of the robot, use a copy disk.
●When the robot is stopped, nothing should be placed on the fixture, and it must be
empty.
●In the event of an accident or abnormal operation of the robot, you can use the
emergency stop button to stop the operation.
●Because the robot is in the automatic state, even if the running speed is very low,
its momentum is still very large, so when programming, testing and maintenance work, the
robot must be placed in manual mode.
●The pressure in the gas circuit system can reach 0,6MP, and any relevant
maintenance must cut off the gas source.
●Commission the robot in manual mode. If you do not need to move the robot, you
must release the enabler in time.
●When the debugger enters the robot working area, he must carry the teach pendant
with him to prevent misuse by others.
●When you receive a power outage notification, turn off the robot's main power
supply and air supply in advance.
●After a sudden power outage, turn off the main power switch of the robot in
advance before calling, and remove the workpiece on the fixture in time.
●Maintenance personnel must keep the robot keys well, and it is strictly forbidden
for unauthorized personnel to enter the robot software system in manual mode, and read or
modify the programs and parameters at will.

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Chapter 2 Robot Roundup
2.1 Robot axis
2.1.1 Definition of robot axis
The robot axis can be a rotary axis or a translation axis, and the operation mode of the
axis is determined by the mechanical structure.
The robot axis is divided into the motion axis of the robot body and the external axis.
The external shaft is divided into sliding table and positioner.
Unless otherwise specified, the robot axis refers to the motion axis of the robot body.
2.1.2 Robot joint motion
Turing robots are divided into three types of industrial robots:
◆Industrial six-axis robot: including six rotation axes
◆SCARA: contains three rotation axes and one translation axis
◆Palletizing manipulator: including four rotating shafts
The joint motion of the robot is shown in the figure.
Figure 2-1 Schematic diagram of each axis of the industrial six-axis robot (TKB1400)

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Fig. 2-2 SCARA (STH030-500) movement diagram of each axis
Figure 2-3 Schematic diagram of the movement of each axis of the palletizing robot (TKB4600)
Note: The definition of the movement direction of each joint follows the right-hand
rule. That is: the right hand is holding the joint rotation axis, and the thumb is in the
positive direction of the world coordinates (see 2.2.1). The direction of the four fingers is
the positive direction of rotation, and the reverse direction is the negative direction of
rotation.
2.2 Robot coordinate system
In teach mode, the robot axis movement is related to the currently selected coordinate
system. Turing robot supports 4 kinds of coordinate systems: joint coordinate system,
rectangular coordinate system, tool coordinate system user coordinate system.
◆Joint coordinate system
Each axis of the robot moves independently and becomes the joint coordinate system.

11
◆Cartesian coordinate system
The center of the end flange of the robot runs in the set X, Y, and Z directions.
◆Tool coordinate system
The tool coordinate system is located at the center of the tool and is defined by the
user. The effective direction of the fixture is defined as the Z axis of the tool coordinate
system.
◆User coordinate system
The user coordinate system is located on the working platform of the robot and is
defined by the user.
2.2.1 Joint coordinate system
See 2.1.1 for the definition of robot joint motion axis.
When the current coordinate system is set to the joint coordinate system, the teach
pendant operates the 6 axes of the robot in the positive and negative directions. Press the
J1-J6 operation buttons, and the industrial robot will move in the direction corresponding
to the schematic diagram.
In the coordinate system, select the 【positioner】coordinate system, then press the
J1-J3 axis operation button, the action will be the external three axes.
2.2.2 Cartesian coordinate system
Figure 2-4 Cartesian coordinate system
The origin of the Cartesian coordinate system is defined on the axis of the robot 1 axis,
and it intersects with the base mounting table.
The direction of the rectangular coordinate system is specified: the X axis direction is
forward, the Z axis direction is upward, and the Y axis is determined according to the
right-hand rule. (The direction of the cable socket on the robot base is the rear, and the
direction of the robot flange is the front)
In the Cartesian coordinate system, the motion of the robot refers to the motion of the
central point controlled by the robot. When the axis operation key is pressed, the
coordinate point is controlled to move along or around the world coordinate axis. The

12
corresponding ones of J1-J6 are X/Y/Z/RX/RY/RZ.
Note: When the fifth joint is in the zero position, the robot is at a singular point. In
this case, rectangular coordinates cannot be used for teaching. You should first switch to
the【joint】coordinate system and move the five axes out of the zero position.
2.2.3 Tool coordinate system
1) Definition of tool coordinate system
Figure 2-5 Tool coordinate system diagram
The coordinate system is defined on the tool and is defined by the user. Generally, the
effective direction of the tool is defined as the Z axis direction of the tool coordinate
system, and the X axis and Y axis directions are defined by the right-hand rule.
2) Calibration of six-axis robot tool coordinate system: six-point calibration method
The parameters of tool 01-10 refer to the relationship between tool 01-10 and tool 00.
The origin of the coordinate of tool 00 is at the center of the six-axis flange. When the
robot is at the zero position, the direction of tool 00 is consistent with the direction of the
world coordinate system.
Tool 01-10 generally defines the effective direction of the tool as the Z axis direction
of the tool coordinate system. A simple tool can directly input the size of the tool and the
angle of rotation. Complex tools, such as welding torches, are generally calibrated by the
six-point method. The specific calibration method is as follows:
Step 1: make two tip calibration rods (the sharper the better), one is installed at the
center of the tool to be calibrated (you can use the tip of the tool itself, such as welding
wire, but you need to sharpen it), and the other is placed horizontally at work On stage (not
movable).
Step 2: Switch to【coordinate system】on the teach pendant, select a tool coordinate,
coordinate 00 is not selectable.
Step 3: Manually teach the robot, align the two tips and take six postures (see Figure
2-7). After adjusting a position, highlight the corresponding line in 【Calculate Tool
Coordinate Value】, and then click【Record】. (Tips for picking points: when looking at the
point, look at the front and side directions. When there is no deviation in both directions,
the tip is only aligned.)

13
Step 4: Click Calculate, and then click Save.
Figure 2-6 Tool coordinate calibration
Note: Before calibrating the tool coordinates, the robot should first return to the
zero position. The zero position is very important for the accuracy of the tool
coordinates. After returning to the zero position, please confirm whether the zero
position is accurate. Normally, the robot will perform zero calibration at the factory.
If there is a collision during use, the battery is dead, and the mechanical transmission
parts have been replaced, the robot needs to be re-calibrated.
Figure 2-7 Six-point calibration of robot pose
Note: As shown in the figure above, P1-P4 and the tip calibration rod are scattered at
a certain angle, and the posture change of the point should be as large as possible; the
effective direction of the P5 point tool should be in line with the tip calibration rod to
determine the Z axis direction, Point P6 is used to determine the X direction of the tool
coordinates, that is, the connection between P5 and P6 is the X direction of the tool
coordinates (generally, when P5 is completed, move the X axis directly under the

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【rectangular】coordinate system to obtain point P6, namely The X direction of the tool
coordinate is the same as the X direction of the rectangular coordinate).
3) SCARA tool coordinate calibration
Step 1: make two tip calibration rods (the sharper the better), one is installed at the
center of the tool to be calibrated (you can use the tip of the tool itself), and the other is
placed horizontally on the workbench (you can use it in the second step Placed).
Step 2: Switch to the 【joint】coordinate system and the teach pendant robot moves
out of zero; switch to the【rectangular】coordinate system and teach the robot, adjust RZ to
0 radians, and align the two tips (movable work The tip calibration rod on the stage is
aligned, and it cannot be moved after being placed). The X, Y coordinate values at this
time are recorded as X1, Y1.
Step 3: In the【rectangular】coordinate system mode, teach the robot, adjust Rz to
3.141 radians, continue to teach the robot, and align the two tips. The X, Y coordinate
values at this time are recorded as X2, Y2.
Step 4: Calculation
2 1
2
x x
x 
2 1
2
y y
y 
x,y is the tool coordinate parameter, select a tool coordinate on the teach pendant, fill
in the x,y value, the rest is 0.
2.2.4 User coordinate system
1) User coordinate system definition
The user coordinate system is a rectangular coordinate system in which the user
defines each working space. When there is no definition, the world coordinate system will
replace the coordinate system.
Figure 2-8 Robot user coordinates
2) User coordinate system setting (3-point method)