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

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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

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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;

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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