Schneider Electric LXMRL07C1000 EcoStruxure Cobot Expert
Specifications
- Product Name: EcoStruxure Cobot Expert
- Model Number: EIO0000004780.02
- Manufacturer: Schneider Electric
- Website: www.se.com
Product Usage Instructions
Safety Information
It is important to read and understand the safety information provided in the user manual before installing, operating, servicing, or maintaining the EcoStruxure Cobot Expert.
Installation
- Place the Cobot on a stable surface away from any obstructions.
- Connect the necessary power supply following the guidelines in the manual.
Operation
- Power on the Cobot using the designated switch.
- Follow the on-screen instructions for setup and calibration.
Maintenance
- Regularly check for any signs of wear and tear on the Cobot components.
- Clean the Cobot using a soft, dry cloth to remove any dust or debris.
FAQ
- Q: Can the EcoStruxure Cobot Expert be used for heavy-duty industrial applications?
- A: The EcoStruxure Cobot Expert is designed for light to medium-duty applications. For heavy-duty industrial tasks, consider other specialized equipment.
- Q: How often should the Cobot be recalibrated?
- A: It is recommended to recalibrate the Cobot periodically as per the manufacturer’s guidelines to ensure accurate performance.
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Legal Information
The information provided in this document contains general descriptions, technical characteristics and/or recommendations related to products/solutions.
This document is not intended as a substitute for a detailed study or operational and site-specific development or schematic plan. It is not to be used for determining suitability or reliability of the products/solutions for specific user applications. It is the duty of any such user to perform or have any professional expert of its choice (integrator, specifier or the like) perform the appropriate and comprehensive risk analysis, evaluation and testing of the products/solutions with respect to the relevant specific application or use thereof.
The Schneider Electric brand and any trademarks of Schneider Electric SE and its subsidiaries referred to in this document are the property of Schneider Electric SE or its subsidiaries. All other brands may be trademarks of their respective owner.
This document and its content are protected under applicable copyright laws and provided for informative use only. No part of this document may be reproduced or transmitted in any form or by any means (electronic, mechanical, photocopying, recording, or otherwise), for any purpose, without the prior written permission of Schneider Electric.
Schneider Electric does not grant any right or license for commercial use of the document or its content, except for a non-exclusive and personal license to consult it on an “as is” basis.
Schneider Electric reserves the right to make changes or updates with respect to or in the content of this document or the format thereof, at any time without notice.
To the extent permitted by applicable law, no responsibility or liability is assumed by Schneider Electric and its subsidiaries for any errors or omissions in the informational content of this document, as well as any non-intended use or misuse of the content thereof.
Safety Information
Important Information
Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, service, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a “Danger” or “Warning” safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow this symbol to avoid possible injury or death.
! DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious injury.
! WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death or serious injury.
! CAUTION
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.
NOTICE
NOTICE is used to address practices not related to physical injury.
Please Note
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation, and has received safety training to recognize and avoid the hazards involved.
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About the Book
About the Book
Document Scope
This document describes the functionalities contained in EcoStruxure Cobot Expert.
Validity Note
This document has been created for the release of EcoStruxure Cobot Expert version 1.7.
Related Documents
Document title Lexium Cobot, Hardware Guide
EcoStruxure Cobot Expert, LexiumCobotCommunication, Library Guide
Schneider Electric Cybersecurity Support Portal
Cybersecurity Guidelines for EcoStruxure Machine Expert, Modicon and PacDrive Controllers and Associated Equipment, User Guide
Cybersecurity Best Practices
Reference EIO0000004783 (EN) EIO0000005112 (EN)
www.se.com/en/work/support/cybersecurity/overview.jsp EIO0000004242 (EN)
CS-Best-Practices-2019-340 (EN)
To find documents online, visit the Schneider Electric download center (www.se.com/ww/en/download/).
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About the Book
Product Related Information
WARNING
LOSS OF CONTROL · Perform a Failure Mode and Effects Analysis (FMEA), or equivalent risk
analysis, of your application, and apply preventive and detective controls before implementation. · Provide a fallback state for undesired control events or sequences. · Provide separate or redundant control paths wherever required. · Supply appropriate parameters, particularly for limits. · Review the implications of transmission delays and take actions to mitigate them. · Review the implications of communication link interruptions and take actions to mitigate them. · Provide independent paths for control functions (for example, emergency stop, over-limit conditions, and error conditions) according to your risk assessment, and applicable codes and regulations. · Apply local accident prevention and safety regulations and guidelines.1 · Test each implementation of a system for proper operation before placing it into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.
1 For additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems or their equivalent governing your particular location.
WARNING
UNINTENDED EQUIPMENT OPERATION · Only use software approved by Schneider Electric for use with this
equipment. · Update your application program every time you change the physical
hardware configuration. Failure to follow these instructions can result in death, serious injury, or equipment damage.
WARNING
UNINTENDED EQUIPMENT OPERATION
Update your application program as required, paying particular attention to I/O address adjustments, whenever you modify the hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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About the Book
Incomplete file transfers, such as data files, application files and/or firmware files, may have serious consequences for your machine or controller. If you remove power, or if there is a power outage or communication interruption during a file transfer, your machine may become inoperative, or your application may attempt to operate on a corrupted data file. If an interruption occurs, reattempt the transfer. Be sure to include in your risk analysis the impact of corrupted data files.
WARNING
UNINTENDED EQUIPMENT OPERATION, DATA LOSS, OR FILE CORRUPTION · Do not interrupt an ongoing data transfer.
· If the transfer is interrupted for any reason, re-initiate the transfer.
· Do not place your machine into service until the file transfer has completed successfully, unless you have accounted for corrupted files in your risk analysis and have taken appropriate steps to prevent any potentially serious consequences due to unsuccessful file transfers.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
WARNING
UNINTENDED MOVEMENT OF THE LEXIUM COBOT ARM · Ensure the proper functioning of the functional safety equipment before
commissioning.
· Ensure that you can stop Lexium Cobot Arm movements at any time using functional safety equipment (limit switch, emergency stop) before and during commissioning.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The Lexium Cobot systems are calibrated before delivery. Under certain conditions, the correspondence between the hardware position and its representation in the software may be lost during the life cycle of the products, for example by moving the Lexium Cobot Arm without drive energy or by overtwisting the joints. In such a case, the verification of the mechanical position in relation to the software representation is required.
If you have any doubts about the correspondence between the position of the hardware and its representation in the software, contact your local Schneider Electric service representative.
WARNING
INCORRECT REFERENCE TO MECHANICAL SYSTEM · Ensure that a valid mechanical position reference exists by performing
commissioning tests for all operating modes.
· Verify the mechanical position reference before operating the Lexium Cobot if the Lexium Cobot Arm has been moved without drive energy or if at least one joint may have been overtwisted, as described in the Lexium Cobot Hardware Guide.
· Verify that the mechanical positions of the joints correspond to the representation in the software.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
For further information, refer to the Lexium Cobot Hardware Guide, chapter Verification of Mechanical Position.
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About the Book
Information on Non-Inclusive or Insensitive Terminology
As a responsible, inclusive company, Schneider Electric is constantly updating its communications and products that contain non-inclusive or insensitive terminology. However, despite these efforts, our content may still contain terms that are deemed inappropriate by some customers.
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
Standard IEC 61131-2:2007 ISO 13849-1:2015
EN 61496-1:2013
ISO 12100:2010 EN 60204-1:2006 ISO 14119:2013 ISO 13850:2015 IEC 62061:2015 IEC 61508-1:2010 IEC 61508-2:2010
IEC 61508-3:2010 IEC 61784-3:2016 EN ISO 10218-1:2011 EN ISO 10218-2:2011 ISO/TS 15066:2016-02 2006/42/EC 2014/30/EU 2014/35/EU 2014/53/EU IEC 62443
Description
Programmable controllers, part 2: Equipment requirements and tests.
Safety of machinery: Safety related parts of control systems.
General principles for design.
Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
Safety of machinery – General principles for design – Risk assessment and risk reduction
Safety of machinery – Electrical equipment of machines – Part 1: General requirements
Safety of machinery – Interlocking devices associated with guards Principles for design and selection
Safety of machinery – Emergency stop – Principles for design
Safety of machinery – Functional safety of safety-related electrical, electronic, and electronic programmable control systems
Functional safety of electrical/electronic/programmable electronic safety-related systems: General requirements.
Functional safety of electrical/electronic/programmable electronic safety-related systems: Requirements for electrical/electronic/ programmable electronic safety-related systems.
Functional safety of electrical/electronic/programmable electronic safety-related systems: Software requirements.
Industrial communication networks – Profiles – Part 3: Functional safety fieldbuses – General rules and profile definitions.
Robots and robotic devices- Safety requirements for industrial robots Part 1: Robots
Robots and robotic devices- Safety requirements for industrial robots Part 2: Robot systems and integration
Robots and robotic devices – Collaborative robots
Machinery Directive
Electromagnetic Compatibility Directive
Low Voltage Directive
Radio Emission Directive
Industrial communication networks – Network and system security
In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:
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Figures
About the Book
Standard IEC 60034 series IEC 61800 series IEC 61158 series
Description
Rotating electrical machines
Adjustable speed electrical power drive systems
Digital data communications for measurement and control Fieldbus for use in industrial control systems
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.
Unless otherwise specified, the various references of the Lexium Cobot Arm are represented in the figures as LXMRL03S0···.
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Hazard Information
Hazard Information
What’s in This Chapter
Proper Use ……………………………………………………………………………………… 11 Qualification of Personnel ……………………………………………………………………12 Before You Begin ………………………………………………………………………………13 Start-Up and Test ………………………………………………………………………………14 Operation and Adjustments………………………………………………………………….15 Cybersecurity in EcoStruxure Cobot Expert ……………………………………………..16
Proper Use
This product is a software to be used together with the Lexium Cobot system intended solely for the purposes as described in the present documentation as applied in the industrial environment for the civilian end-use case.
Always observe the applicable safety-related instructions, the specified conditions, and the technical data.
Perform a risk assessment concerning the specific use before using the product. Take protective measures according to the result.
Since the product is used as a part of an overall system, you must ensure the safety of the personnel by means of the design of this overall system (for example, machine design).
Any other use is not intended and may be hazardous.
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Qualification of Personnel
Hazard Information
Target Audience for This Manual
This documentation is intended for users having the following knowledge: · Skills and knowledge related to the construction and operation of electrical equipment and the installation · Knowledge and experience in industrial control programming · Received safety-related training to recognize and avoid the hazards involved
Qualified Person
Aside from skills and knowledge, qualified personnel must be able to detect possible hazards that may arise from parametrization, changing parameter values and generally from mechanical, electrical, or electronic equipment. The qualified personnel must be familiar with the standards, provisions, and regulations for the prevention of industrial accidents, which they must observe when working on the Lexium Cobot system.
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Hazard Information
Before You Begin
Do not use this product on machinery lacking effective point-of-operation guarding. Lack of effective point-of-operation guarding on a machine can result in serious injury to the operator of that machine.
WARNING
UNGUARDED EQUIPMENT
· Do not use this software and related automation equipment on equipment which does not have point-of-operation protection.
· Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
This automation equipment and related software is used to control a variety of industrial processes. The type or model of automation equipment suitable for each application will vary depending on factors such as the control function required, degree of protection required, production methods, unusual conditions, government regulations, etc. In some applications, more than one processor may be required, as when backup redundancy is needed.
Only you, the user, machine builder or system integrator can be aware of all the conditions and factors present during setup, operation, and maintenance of the machine and, therefore, can determine the automation equipment and the related safeties and interlocks which can be properly used. When selecting automation and control equipment and related software for a particular application, you should refer to the applicable local and national standards and regulations. The National Safety Council’s Accident Prevention Manual (nationally recognized in the United States of America) also provides much useful information.
In some applications, such as packaging machinery, additional operator protection such as point-of-operation guarding must be provided. This is necessary if the operator’s hands and other parts of the body are free to enter the pinch points or other hazardous areas and serious injury can occur. Software products alone cannot protect an operator from injury. For this reason the software cannot be substituted for or take the place of point-of-operation protection.
Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation protection have been installed and are operational before placing the equipment into service. All interlocks and safeties related to point-ofoperation protection must be coordinated with the related automation equipment and software programming.
NOTE: Coordination of safeties and mechanical/electrical interlocks for pointof-operation protection is outside the scope of the Function Block Library, System User Guide, or other implementation referenced in this documentation.
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Start-Up and Test
Hazard Information
Before using electrical control and collaborative robotic equipment for regular operation after installation, the Lexium Cobot system must be given a start-up test by qualified personnel to verify correct operation of the equipment. It is important that arrangements for such a check are made and that enough time is allowed to perform complete and satisfactory testing.
WARNING
EQUIPMENT OPERATION HAZARD
· Verify that all installation and set up procedures have been completed.
· Before operational tests are performed, remove all blocks or other temporary holding means used for shipment from all component devices.
· Remove tools, meters, and debris from equipment.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Follow all start-up tests recommended in the equipment documentation. Store all equipment documentation for future references.
NOTE: Software testing must be done in both simulated and real environments.
Verify that the completed system is free from all short circuits and temporary grounds that are not installed according to local regulations (according to the National Electrical Code in the U.S.A, for instance). If high-potential voltage testing is necessary, follow recommendations in equipment documentation to prevent accidental equipment damage.
Before energizing equipment:
· Remove tools, meters, and debris from equipment.
· Perform all start-up tests.
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Hazard Information
Operation and Adjustments
The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English version prevails):
· Regardless of the care exercised in the design and manufacture of equipment or in the selection and ratings of components, there are hazards that can be encountered if such equipment is improperly operated.
· It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe operation. Always use the manufacturer’s instructions as a guide for functional adjustments. Personnel who have access to these adjustments should be familiar with the equipment manufacturer’s instructions and the machinery used with the electrical equipment.
· Only those operational adjustments actually required by the operator should be accessible to the operator. Access to other controls should be restricted to prevent unauthorized changes in operating characteristics.
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Cybersecurity in EcoStruxure Cobot Expert
Hazard Information
Our Position on Cybersecurity
Products and solutions of Schneider Electric are being used in a wide range of infrastructures as well as in manufacturing plants. The demands of cloud computing, the Internet of Things (IoT), and increasing threats against critical infrastructure have elevated cybersecurity as a priority. For Schneider Electric, cybersecurity and data privacy encompasses the measures, actions, and practices employed to help protect digital offerings and solutions from cyber threats.
Schneider Electric provides a document that gives guidelines on how to help improve the cybersecurity posture of customer systems.
If you have a cybersecurity question or issue, contact your local Schneider Electric service representative.
EcoStruxure
EcoStruxure is the open, interoperable, IoT-enabled system architecture and platform of Schneider Electric. EcoStruxure leverages advancements in IoT, mobility, sensing, cloud, analytics, and cybersecurity to deliver innovation at every level. This includes connected products and edge control as well as apps, analytics and services.
Cybersecurity Key Aspects
The cybersecurity position of Schneider Electric focuses on key apects: · Protecting strategic IT systems, assets, and internal activities · Leading the digital transformation of energy management and automation · Designing and developing new solutions and products within a cybersecurity framework
Best Practices for Reinforcing Cybersecurity of Lexium Cobot
To operate the Lexium Cobot, follow these industry cybersecurity best practices:
· Locate the Lexium Cobot behind a firewall and isolate it from the business network.
· Install physical controls so that only authorized personnel can access the zone where the Lexium Cobot is located.
· Change the default passwords used for the WiFi Service Access Point, the WiFi Service Webserver and the Lexium Cobot on first use to help ensure that only authorized users can gain access.
NOTE: This is enforced at the first connection or after a firmware update for each component.
· Minimize network exposure and ensure that the Lexium Cobot is not accessible from the Internet.
· The Lexium Cobot supports Industrial Protocols such as Modbus TCP, Ethernet/IP and Profinet which do not support user authentication. So, enable only the protocols which are required for the application and implement a firewall to block unauthorized access.
· When remote access is required, use secured methods, such as Virtual Private Networks (VPNs).
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Hazard Information
· The Lexium Cobot follow the principles of Least Privilege by providing user levels with different level of permissions. For further information, refer to Connecting the Lexium Cobot, page 36.
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Getting Started
Getting Started
What’s in This Chapter
General Information on EcoStruxure Cobot Expert…………………………………….18 System Requirements ………………………………………………………………………..19 Installing EcoStruxure Cobot Expert on Android………………………………………..20 Installing EcoStruxure Cobot Expert on Windows………………………………………21 WiFi Service Webserver Connection………………………………………………………24 Reset to Factory Settings …………………………………………………………………….26 Uninstalling EcoStruxure Cobot Expert …………………………………………………..28 Operator Risk Estimation and Reduction …………………………………………………29
General Information on EcoStruxure Cobot Expert
Overview
EcoStruxure Cobot Expert is the graphical control software for operating the Lexium Cobot (collaborative robot). The software provides integrated functions for manual operation, program implementation, parameter configuration and information monitoring of the Lexium Cobot. EcoStruxure Cobot Expert offers an alternative to cumbersome robot handheld programming devices and integrates the same functionality into software that can be installed on Android mobile devices or Windows PCs.
Software Functions
EcoStruxure Cobot Expert provides the following functions: · Configuration of system, operation, safety functions, hardware and communication parameters of the Lexium Cobot system · Manual operation of the Lexium Cobot Arm · Editing and setting of I/O configuration of the Lexium Cobot system · Programming the Lexium Cobot system · Displaying of general information of the Lexium Cobot system
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Getting Started
System Requirements
The following table presents the minimum requirements of the device for using EcoStruxure Cobot Expert.
NOTE: EcoStruxure Cobot Expert is intended to be used either on Android or Windows devices.
Terminal type Operating System Processor Storage capacity System memory Screen size / graphics Network
Android device Android 8.0 Kirin 659 or Snapdragon 660 32 GB 4 GB 8.0 inches WiFi standard: 802.11 b/g/n
Windows device Windows 10 64 bit Intel Core i3 32 GB 4 GB Intel HD Graphics 4000 WiFi standard 802.11 b/g/n or cable bound network card
Refer to WiFi Connection Considerations in the Lexium Cobot Hardware Guide, for more information concerning the use of a wireless connection.
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Installing EcoStruxure Cobot Expert on Android
Getting Started
Overview
Since EcoStruxure Cobot Expert is included as an .apk file in the Lexium Cobot software package that you can download directly from the Schneider Electric website to your device and cannot be obtained from the Google Play Store, the software is identified on the Android system as software from an unknown source.
To install EcoStruxure Cobot Expert on your Android device, you must first enable applications from unknown sources to be installed on your device. Then you can install EcoStruxure Cobot Expert. See the procedures hereafter.
Prerequisites
Verify that your system meets the minimum system requirements, page 19, to install and run EcoStruxure Cobot Expert.
Allowing to Install Unknown Source Apps on Android
Step 1
2 3
Action
On your Android device, go to Settings > Application > Special app access > Install unknown apps or Settings > Security and privacy > Install unknown apps.
NOTE: The procedure may differ from device to device or between different Android versions. If the following procedure does not apply to your device, refer to the documentation of your device.
Select your file explorer app from the list.
Select Allow app installs.
Installing EcoStruxure Cobot Expert on Android
Step 1 2
3
Action Download the latest software package from the Lexium Cobot page on the Schneider Electric website. Locate the .apk file in the downloaded package in your file explorer app and tap it. Result: The installation confirmation prompt is displayed. Select INSTALL. Result: EcoStruxure Cobot Expert is installed on your Android device. When the installation is complete a confirmation prompt is displayed.
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Getting Started
Installing EcoStruxure Cobot Expert on Windows
Prerequisites
· Verify that your system meets the minimum system requirements, page 19 to install and run EcoStruxure Cobot Expert.
· To install EcoStruxure Cobot Expert, you must have administrator privileges on the device.
NOTE: EcoStruxure Cobot Expert is installed for the other users of the device.
Default Directories
The default destination directory of the EcoStruxure Cobot Expert software installation is: C:Program FilesSchneider ElectricEcoStruxure Cobot ExpertV<Version Number>
Installing EcoStruxure Cobot Expert on Windows
Step 1
2
Action
Download the latest software package from the Lexium Cobot page on the Schneider Electric website. Locate the file EcoStruxure Cobot Expert.exe in the downloaded package and execute it.
Result: The EcoStruxure Cobot Expert installation window is displayed.
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Getting Started
Step 3
Action Click Software License Agreement to read the agreement and, if you agree, click Confirm.
4
Select Read and agree to confirm you read and agreed to the Software License
Agreement.
5
Optionally, to configure the installation settings, click Custom options.
You can configure the following installation settings: · Installation path · Desktop shortcut · Quick launch bar shortcut
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Getting Started
Step 6
Action Click Install. Result: EcoStruxure Cobot Expert is installed on your computer. When the installation is complete a confirmation prompt is displayed.
7
When the installation process is complete, click installation complete.
NOTE: Optionally, select Schneider Electric Official Website to open the Schneider Electric website in your browser.
Result: EcoStruxure Cobot Expert is ready for use.
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WiFi Service Webserver Connection
Getting Started
Overview
The Lexium Cobot system provides an embedded WiFi service. The webserver is password protected. Each Lexium Cobot Controller has a unique password, which can be found on the WiFi access label attached at the inner side of the front door of the Lexium Cobot Controller.
Refer to WiFi Connection Considerations in the Lexium Cobot Hardware Guide, for more information concerning the use of a wireless connection.
WiFi Access Data
The following figure represents the WiFi access label:
Password: WiFi SSID: WiFi (WPA2):
X23_9yk!0q PPYYWWDLLLNNNNN cZ&235gJ34.14s
Password: The password is required to get access to the webserver. The password on the label is unique to the device.
WiFi SSID: The SSID of the WiFi is a unique 15-digit serial number, which corresponds to the serial number on the type plate. The WiFi SSID is linked to the serial number of the device and cannot be modified.
WiFi (WPA2): The WiFi connection is based on WPA2 standard. The WPA2 password on the label is unique to the device.
First Connection to the WiFi Service
When you connect for the first time or after a reset to factory settings, you need to change the passwords to use the WiFi (WPA2). For guidance on creating strong passwords, refer to Creating Strong Passwords, page 24 below.
NOTE: Changing these passwords is mandatory to log into the Lexium Cobot Controller.
Creating Strong Passwords
Creating strong passwords helps protect devices and equipment from unauthorized access. Passwords should be unique. The same password should never be used for duplicated purposes and the same passwords should not be used on different devices.
Acceptance criteria for entering new passwords on the Lexium Cobot Arm system is a length of 8…20 characters. Create a password that contains at least one character from each of the following categories:
· Uppercase letter (A, B, C… X, Y, Z)
· Lowercase letter (a, b, c…x, y, z)
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Getting Started
· Number (0..9) · Special character (for example, “?”, “#”, “!”)
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Reset to Factory Settings
Getting Started
Reset WiFi Service to Factory Settings
If the webserver password and/or the WiFi (WPA2) password have been forgotten, the WiFi service can be reset to the factory settings using a hardware reset button on the Lexium Cobot Controller. To reset the WiFi service to the factory settings, perform the following steps:
Step 1 2
Action Open the front door of the Lexium Cobot Controller. Press and hold the Reset WiFi button (1) located on the connector plate inside the Lexium Cobot Controller for at least 10 seconds.
Result: · The Control Stick status indicator turns off and flashes blue when the reset is complete. · The WiFi service has been reset to factory settings. Use the webserver password and the WiFi (WPA2) password written on the WiFi access label inside the front door of the Lexium Cobot Controller. To connect and set new user-defined passwords, refer to First Connection to the Lexium Cobot Controller, page 37.
Reset Account to Factory Settings
If the passwords for the user levels have been forgotten, the account setting can be reset to the factory settings using a hardware reset button in the Lexium Cobot Controller. To reset the user level passwords to the factory settings, perform the following steps:
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Getting Started
Step 1 2
Action Open the front door of the Lexium Cobot Controller. Press and hold the Reset Account button (1) located on the connector plate inside the Lexium Cobot Controller for at least 10 seconds.
Result:
· The Control Stick status indicator turns off and flashes blue when the reset is complete.
· The user level passwords have been reset to factory settings. To connect and set new user level passwords, refer to First Connection to the Lexium Cobot Controller, page 37.
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Uninstalling EcoStruxure Cobot Expert
Getting Started
Uninstalling EcoStruxure Cobot Expert on Android
Step 1 2
3
Action
Tap and hold on the EcoStruxure Cobot Expert icon located in the app drawer or on the Home screen. Depending on the device, tap Uninstall or drag the app to the Uninstall section that appears on the screen.
In the confirmation prompt, tap OK. Result: EcoStruxure Cobot Expert is uninstalled from your Android device.
Uninstalling EcoStruxure Cobot Expert on Windows
Step 1
2 3 4 5 6
Action Close EcoStruxure Cobot Expert if it is opened:
In the top menu, click More > Sign out.
Click the Windows Start button or press the Windows key. In the Start menu select Settings. In the Settings window select Applications and then Applications and features. Select EcoStruxure Cobot Expert from the list of installed programs. Click Uninstall and follow the instructions on the screen. Result: EcoStruxure Cobot Expert is uninstalled from your computer.
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Operator Risk Estimation and Reduction
In some applications, additional operator protection such as point-of-operation guarding must be provided and/or technical measures must be taken to help avoid or at least limit any possible impact forces caused by the overall system to the operator. Depending on your risk assessment, take into account the applicable values for impact forces in accordance with ISO/TS 15066. This is necessary if the operator’s hands and other parts of the body are free to enter the pinch points or other hazardous areas where injury can occur. Software products alone cannot protect an operator from injury. For this reason the software cannot be substituted for or take the place of point-of-operation protection.
Ensure that appropriate safety measures and mechanical/electrical interlocks related to point-of-operation protection have been installed and are operational before placing the equipment into service. All interlocks and safety measures related to point-of-operation protection must be coordinated with the related collaborative robotic equipment and software programming.
WARNING
CRUSHING, SHEARING, CUTTING AND IMPACT INJURY
· Avoid contact exposure to sensitive areas of the body, including the skull, forehead, larynx, eyes, ears or face.
· Define the clearance distance to the collaboration zone of operation of the Lexium Cobot Arm to be within the mechanical limits such that the operational staff do not have access to, nor can be enclosed between, the Lexium Cobot Arm user-defined collaboration zone and the mechanical limits of operation.
· Ensure that movement of the Lexium Cobot Arm is in accordance to the user-defined limits as soon as a person enters the collaboration zone of operation.
· All barriers, protective doors, contact mats, light barriers, visual protection system, and other protective equipment must be connected, configured correctly and enabled whenever the robot mechanics are under power.
· The Lexium Cobot Arm must always be considered active even though the Lexium Cobot Arm has reached an intermediate stop position waiting for a run command.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: The configuration of the robot mechanics, the Tool Center Point (TCP) velocity, as well as the additional payload have an effect on the total energy, which can potentially be a source of damage and injury.
WARNING
UNINTENDED MACHINE OPERATION
· As inertia and payload of the Lexium Cobot increases, so do the physical requirements for controlling and reducing forces and pressures, which must be addressed by appropriate risk mitigation measures.
· Coordination of safety measures and mechanical/electrical interlocks for point-of-operation protection is outside the scope of the Function Block Library, System User Guide, or other implementation referenced in this documentation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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EcoStruxure Cobot Expert Basics
What’s in This Chapter
User Interface …………………………………………………………………………………..30 Software Settings ………………………………………………………………………………34 Connecting the Lexium Cobot ………………………………………………………………36 Starting Up the Lexium Cobot System…………………………………………………….41 Shutting Down the Lexium Cobot System………………………………………………..44 Delegating the Control of the Lexium Cobot……………………………………………..47 Switching between a Physical Lexium Cobot and a Simulation……………………..50 Displaying the Log Information ……………………………………………………………..52 Checksum for Safety-Related Parameters……………………………………………….54 Displaying the Monitoring Information …………………………………………………….56
User Interface
Home Screen
This is the Home screen of EcoStruxure Cobot Expert:
Top Menu
The main interface consists of: 1 Top menu 2 Switch buttons 3 Feature bar
The top menu contains features for setting and managing the Lexium Cobot system and EcoStruxure Cobot Expert.
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Number Description
Function
1
Off(1)
Power off the Lexium Cobot Controller, page 41
2
Remote control
Delegate the control to a remote source(2), page 47.
3
Settings
4
Operation mode
Configure the system and the Lexium Cobot parameters, page 64
Switch between real Lexium Cobot and simulation, page 50
5
Log
Display the Log information, page 52
6
User interface description
Display the user interface
description, page 33
7
Signal(3)
Signal strength indicator
8
Lexium Cobot connection
Connect or disconnect to the
Lexium Cobot Controller, page
36
9
Checksum
Checksum for safety-related parameters, page 54
10
More
Window size control and sign out
1 You can only power off the Lexium Cobot Controller in EcoStruxure Cobot Expert. To power on the Lexium Cobot Controller, use the Control Stick.
2 While the Lexium Cobot system is controlled by the remote source, EcoStruxure Cobot Expert is locked.
3 If the system is connected with cables, the signal strength indicator displays full signal strength.
NOTE: The features available in the top menu vary between the different interfaces of the software. The specific features for the individual interfaces are described in the respective sections in this document.
Switch Buttons
Use the switch buttons to power on or off the Lexium Cobot Arm and to enable or disable it.
Number 1
2
Description Power on the robot / Power off the robot Enable robot / Disable robot
Function
Power the Lexium Cobot Arm on or off, page 41
Enable or disable the Lexium Cobot Arm, page 41
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Feature Bar
EcoStruxure Cobot Expert Basics
In the feature bar, you will find the main features for operating the Lexium Cobot system (for example the Programming Control, Lexium Cobot motion control, I/ O control and Monitoring Information).
Number 1 2
Description Home Programming Control
3
Manual Operation
4
I/O Panel
5
Monitoring Information
6
About
Function
Return to the Home screen
Display the Programming Control interface of EcoStruxure Cobot Expert, page 166
Operate the Lexium Cobot Arm manually, page 57
Set the I/O parameters, page 137
Monitor the Lexium Cobot status, page 56
· Switch the language
· Adjust the sound volume
· Disable and enable the Soft Keyboard (only Windows)
· Information about the Lexium Cobot Controller and Lexium Cobot Arm (for example, commercial reference and serial number)
· Information about the software
NOTE: On the Home screen, the feature bar is constantly displayed at the bottom. In the other windows of the software, the feature bar is being minimized. To display the feature bar, click the arrow icon at the bottom of the screen:
Example:
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User Interface Description
You can display an overlay help in the user interface, which describes the particular icons and buttons of the Home screen.
To display the overlay, click the Help icon in the menu bar. To close the overlay, click Got it.
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Software Settings
EcoStruxure Cobot Expert Basics
Overview
To change software settings, for example, the language or the sound volume, or to view the version information, click the About icon in the feature bar.
In this dialog box, you will find the following settings and information: · Language settings · Sound volume · Soft keyboard (only Windows) · User level · App version · Servo version · SCB version(1) · Controller version · CR Arm(2) · SN Arm(3) · CR Controller(2) · SN Controller(3) · Official website (Lexium Cobot page on the Schneider Electric Website)
(1) SCB: Safety-related Control Board
(2) CR: Commercial Reference
(3) SN: Serial Number NOTE: The version information of the Lexium Cobot Arm is only available when the equipment is connected and under power.
Language Settings
EcoStruxure Cobot Expert provides the following languages: · Chinese · English · Japanese
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To switch the language, click the respective language to be displayed. NOTE: When Auto is selected, EcoStruxure Cobot Expert detects the equipment system language and applies it to the user interface, when available. Otherwise, English is applied.
Soft Keyboard
If you want to use only the hardware keyboard when using the Windows operating system, and do not want the soft keyboard to be displayed, select Disable.
If you want to use the soft keyboard, select Enable.
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Connecting the Lexium Cobot
EcoStruxure Cobot Expert Basics
Overview
EcoStruxure Cobot Expert can connect to any Lexium Cobot Controller. There are two software installation versions available that provide the following connection options:
Software installation version EcoStruxure Cobot Expert for Windows PC EcoStruxure Cobot Expert for Android device
Connection options LAN or WiFi connection WiFi connection
NOTE: To connect to the Lexium Cobot system, the device with EcoStruxure Cobot Expert installed must be connected to the same network as the Lexium Cobot Controller.
User Levels
The Lexium Cobot system provides three different user levels for: · Setting up the system (Administrator) · Editing of the application program (Technician) · Operating the system (Operator).
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The following table presents in detail which user level has which permissions:
User level Operator
Is authorized for
· Opening and browsing the program stored in the Lexium Cobot Controller
· Starting, pausing and stopping the program · Adjusting the program speed · Starting and stopping the Lexium Cobot Arm · Displaying Log information and state of the Lexium
Cobot needed for program execution and observation
Technician
· Performing the operations listed in the Operator user level
· Unlocking programs · Creating, editing, saving programs · Debugging programs · Adjusting of settings required for program editing · Modifying non-safety-related content
Administrator
· Performing the operations listed in the Operator and the Technician user levels
· Accessing, editing and modifying the user management page
· Displaying and modifying the pages
· Modifying the safety-related settings
First Connection to the Lexium Cobot Controller
When you connect for the first time, after a reset to factory settings, or after a firmware upgrade of the Lexium Cobot Controller, the password for the Administrator user level is Administrator. With the first login you will need to change the password for the Administrator user level. For guidance on creating strong passwords, refer to .
NOTE: Changing the password is mandatory, otherwise it will not be possible to log into the Lexium Cobot Controller. The user levels Technician and Operator can be activated in User Management, page 71.
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Connecting the Lexium Cobot
To connect the Lexium Cobot, perform the following steps:
Step 1 2 3
Action
Power on the Lexium Cobot Controller as described in Powering On the Lexium Cobot Controller, page 41.
Connect your device with the installed EcoStruxure Cobot Expert to the network created by the Lexium Cobot Controller.
In the top menu, click the Cobot connection icon.
Result: The dialog box Connect robot is displayed.
4
Select the Lexium Cobot to be connected from the list.
NOTE: The network connection is established to the Lexium Cobot Controller.
Result: The confirmation prompt is displayed.
5
Click Confirm.
Result: The login dialog box is displayed.
6
On first connection, in User Level, select Administrator. Otherwise, on subsequent
connections select your user level.
7
On first connection, in Password, type in Administrator. Otherwise, on subsequent
connections, type in the password for the selected user level.
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Step 8 9
Action On first connection, type in a new password and confirm it. Click Connect robot. Result: The Lexium Cobot system is connected. An established connection is indicated by the status column of the robot list. Furthermore, the Cobot connection icon in the top menu displays the name of the connected Lexium Cobot.
NOTE: Observe the network status when the Lexium Cobot Controller is connected through WiFi to detect disconnection due to a weak network signal.
NOTE: Alternatively, you have the option to manually connect a Lexium Cobot system by typing its IP address. Therefore, click Offline connection in the Connect robot dialog box and follow the instructions.
Displaying the Connection Information
In the top menu, click the Cobot connection icon. Result: The dialog box Connect robot is displayed and presents the connection information.
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Description of the Connection information
The connection information displays the following data:
Name Current connection Commercial reference Serial number Robot name
Robot IP Control version Status
Cloud icon
Description
Name of the connected Lexium Cobot Controller. Commercial reference of the Lexium Cobot Arm (only updated after the Lexium Cobot Arm has been powered on).
Serial number of the Lexium Cobot Arm. Configurable name of the Lexium Cobot Controller. For further information, refer to Inital Settings, page 64.
IP address of the Lexium Cobot Controller.
Firmware version of the Lexium Cobot Controller. Displays the connection status of the Lexium Cobot (connected, disconnected or occupied).
Navigates to the Version Upgrade section, page 66.
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Starting Up the Lexium Cobot System
Start-Up Sequence
To start up the Lexium Cobot system, perform the following tasks: 1. Power on the Lexium Cobot Controller 2. Power on the Lexium Cobot Arm 3. Enable the Lexium Cobot Arm
Powering On the Lexium Cobot Controller
To power on the Lexium Cobot Controller, perform the following step:
Step 1
Action At the Control Stick, press and hold the On/Off button (1) for 1 second.
Result: When the status indicator (2) on the Control Stick is blue, the Lexium Cobot Controller is powered on.
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Powering on and Enabling the Lexium Cobot Arm
To power on and enable the Lexium Cobot Arm from EcoStruxure Cobot Expert, perform the following steps:
Step 1 2
Action Verify that EcoStruxure Cobot Expert is connected to the Lexium Cobot Controller. On the Home screen, click Power on the robot. Result: The illuminated ring of the Lexium Cobot Arm (in the software and at the hardware) and the Cobot connection icon turn blue: the Lexium Cobot Arm is powered on.
3
Click Enable robot.
Result: The following confirmation prompt is displayed.
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Step 4 5
Action Verify and adjust, if necessary, the system parameters. Click Confirm. Result: The illuminated ring of the Lexium Cobot Arm (in the software and at the hardware) and the Cobot connection icon turn green: the Lexium Cobot Arm is enabled.
NOTE: Alternatively, you can use the Control Stick to power on and enable the Lexium Cobot Arm. For further information, refer to chapter Lexium Cobot Control Stick Details in the Lexium Cobot Hardware Guide.
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Shutting Down the Lexium Cobot System
Overview
Removing power from the Lexium Cobot Controller during operation of the Lexium Cobot Arm may cause a loss of control of the end-effector. The Lexium Cobot Arm must be disabled and powered off before removing power from the Lexium Cobot Controller.
WARNING
UNCONTROLLED EQUIPMENT OPERATION
Ensure that the Lexium Cobot Arm is disabled and powered off before removing power from the Lexium Cobot Controller.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Disabling and Powering off the Lexium Cobot Arm
To disable and power off the Lexium Cobot Arm, perform the following steps:
Step 1 2
Action Verify that no program is being executed. Click Disable robot. Result: The indicator lights of the Lexium Cobot Arm (in the software and at the hardware) and the Cobot connection icon turn blue.
3
Click Power off the robot.
Result: The indicator lights of the Lexium Cobot Arm (in the software and at the hardware) and the Cobot connection icon turn off.
NOTE: Alternatively, you can use the Control Stick to disable and power off the Lexium Cobot Arm. For further information, refer to chapter Lexium Cobot Control Stick Details in the Lexium Cobot Hardware Guide.
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Power Off the Lexium Cobot Controller
To power off the Lexium Cobot Controller, perform the following steps:
Step 1 2
Action Verify that the Lexium Cobot Arm is disabled and powered off. At the Control Stick, press and hold the On/Off button (1) for 3 seconds.
NOTE: Alternatively, click the Power Off icon in the top menu of EcoStruxure Cobot Expert: Result: The status indicator (2) on the Control Stick turns off and the Lexium Cobot Controller is powered off.
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Delegating the Control of the Lexium Cobot
Overview
Lexium Cobot provides three control sources for sending commands:
· EcoStruxure Cobot Expert
· Remote
Includes LexiumCobotCommunication library and Digital Input Functions. For further information, refer to Function Settings, page 138.
· Control Stick For further information, refer to chapter Lexium Cobot Control Stick Details in the Lexium Cobot Hardware Guide.
Except for specific commands (see below), only one control source is active at a time, the others are locked. Commands received from the locked sources are not executed.
NOTE: The following commands are always performed regardless of the control source:
· All special safety-related inputs (refer to Special Safety IO, page 112)
· DI function Protective Stop
· DI functions Level 1 & Level 2 Override Mode
Switching the control source always results in a paused program or stopped movement.
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Delegating the Control Source to Remote Control
To delegate the control source to Remote Control, perform the following steps:
Step 1 2
Action Verify that EcoStruxure Cobot Expert is connected to the Lexium Cobot Controller. Click the Remote Control button in the top menu.
Result: The confirmation dialog is displayed.
3
Click Confirm.
Result: The control source is delegated to remote and the Remote Control overlay is displayed.
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Requesting the Control Source from Remote Control
To request the control source from Remote Control, perform the following steps:
Step 1 2
Action Verify that EcoStruxure Cobot Expert is connected to the Lexium Cobot Controller. Click Request Control.
Result: The confirmation dialog is displayed.
3
Click Confirm.
Result: The control source is delegated to EcoStruxure Cobot Expert.
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Switching between a Physical Lexium Cobot and a Simulation
Overview
EcoStruxure Cobot Expert can either work with a physical Lexium Cobot Arm or with a digital representation of different sizes of the arm in combination with a physical Lexium Cobot Controller.
In Simulation operation mode you can control the digital representation of the Lexium Cobot Arm, access inputs and outputs, including the physical I/O, and program offline.
The active operation mode (Real Cobot or Simulation) is displayed in the top menu. You can switch the operation mode by clicking the status button.
NOTE:
· To switch between operation modes, the Lexium Cobot Arm must be disabled and powered off.
· The display of the serial number, commercial reference, and servo version of the Lexium Cobot Arm is updated only when the physical Lexium Cobot Arm is powered on after switching from Simulation to Real Cobot.
Activating the Simulation Operation Mode
To activate the Simulation operation mode, perform the following steps:
Step 1 2
3
Action Disable and power off the Lexium Cobot Arm. Click the Operation Mode button in the top menu and select Simulation. Result: The confirmation prompt is displayed. Click Confirm. Result: The Simulation operation mode is active.
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Selecting the Size of the Digital Representation
To select a specific size of the digital representation, go to Manual Operation in the feature bar and select the size from the Robot model dropdown list.
For further information on the interface, refer to Operating the Lexium Cobot Manually, page 57.
Activating the Real Cobot Operation Mode
To activate the Real Cobot operation mode, perform the following steps:
Step 1 2
3
Action Disable and power off the digital representation of the Lexium Cobot Arm. Click the Operation Mode button in the top menu and select Real Cobot. Result: The confirmation prompt is displayed. Click Confirm. Result: The physical Lexium Cobot Arm is active.
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Displaying the Log Information
EcoStruxure Cobot Expert Basics
Overview
All operation information, advisory, and errors are automatically recorded in the Log information.
To display the Log information, click the Log icon in the top menu:
You can use these Log information for data analysis and processing, event tracking and solving issues.
If an error is detected during Lexium Cobot operation, display the Log information to find out the cause of the detected error and perform a selfinspection if possible. If you could not resolve the error, contact your local Schneider Electric service representative.
When you select the option All, the three categories of entries (Information, Warning, and Error) are displayed, in chronological order from the newest to the oldest.
You can filter the list by Information, Warning, and Error by activating the corresponding option.
Information List
When the state of the Lexium Cobot changes, the change is recorded in the Log Information. The Information list displays status changes of the Lexium Cobot.
Warning List
A Warning is displayed in case of abnormal movements or abnormal status of the Lexium Cobot. This information is stored in the Log Information in the Warning list for troubleshooting and monitoring.
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Error List
Detected errors are displayed in case of incorrect motions or when the Lexium Cobot is in an error state. This error information is stored in the Log Information in the Error list for troubleshooting and monitoring.
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Checksum for Safety-Related Parameters
Overview
The checksum for safety-related parameters is an 8-digit hexadecimal number that is displayed in the top menu after connecting the Lexium Cobot.
The checksum is used to represent the configuration of the safety-related parameters of the Lexium Cobot in the form of letters and numbers. If the safetyrelated parameters are changed, the checksum changes accordingly.
Checksum Changes
When you change any safety-related parameters, the message Security parameters have been modified is displayed and the checksum code is updated.
Changes to the checksum appear in the Log information.
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Security Information Window
You can verify the checksum code and the safety-related parameters of the Lexium Cobot by clicking the checksum in the top menu. The Security Information window is displayed. This window provides an overview of the safety-related parameters.
To display a specific category, click the respective menu item. NOTE: · The parameters are read-only and cannot be edited in this window. · The three user levels have the permission to display this page.
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Displaying the Monitoring Information
EcoStruxure Cobot Expert Basics
To display a visual representation of the Lexium Cobot Arm and information about the Lexium Cobot system and its joints, select Monitoring Information in the feature bar.
The Cabinet section presents the temperature of the Lexium Cobot Controller. The Joint Information tab presents the current, voltage, temperature, torque, limit state and speed limit state of each joint. The Safety state output tab presents the active limit modes of the Lexium Cobot. When a limit mode is active, the indicator lights up green.
NOTE: Enable the Lexium Cobot Arm to read the values. If the Lexium Cobot Arm is disabled, the values are set to 0 and the visualization therefore does not represent actual values.
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What’s in This Chapter
Manual Operation Interface………………………………………………………………….57 Lexium Cobot Motion Types …………………………………………………………………61
Manual Operation Interface
Overview
To operate the Lexium Cobot manually, select Manual Operation in the feature bar.
Coordinate Systems
The Lexium Cobot system supports the customization of the following two coordinate systems in EcoStruxure Cobot Expert:
· Tool coordinate system (TCS) · User coordinate system (UCS) Both coordinate systems can be adjusted in the settings (refer to TCP Settings, page 73, and User Coordinate System, page 88 for this purpose). The digital representation displays these two coordinate systems in the Manual Operation interface.
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Operating the Lexium Cobot Manually
1 Switch Coordinate System for switching between tool coordinate system and user coordinate system. The active system is displayed green. 2 User Coordinate System dropdown list for selecting the UCS to be used when active. 3 Tool Coordinate System dropdown list for selecting the TCS to be used when active.
NOTE: After switching the coordinate system, the model remains in the same position but the coordinates are now displayed in the new coordinate system.
Switching the Motion Reference Coordinate System
To switch the motion reference coordinate system, click the Switch Coordinate System button in the top menu. When the User Coordinate System icon color turns green, it means that the user coordinate system is being used.
NOTE: · The tool coordinate system refers to the end flange coordinate system by default. The origin of the flange coordinate system is the center of the flange end. For more information, refer to TCP Settings, page 73 · The default user coordinate system of the Lexium Cobot Arm is the world coordinate system with the base center of the Lexium Cobot Arm as the origin. For further information, refer to User Coordinate System, page 88.
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Switching the User Coordinate System
To switch the user coordinate system, perform the following steps:
Step 1
Action In the top menu, click the small triangle at the lower right corner of the User Coordinate System icon. Result: The user coordinate system list is displayed.
2
Select the user coordinate system to be set from the list.
Result: The user coordinate system switches to the selected one.
Switching the Tool Coordinate System
To switch the tool coordinate system, perform the following steps:
Step 1
Action In the top menu, click the small triangle at the lower right corner of the Tool Coordinate System icon. Result: The tool coordinate system list is displayed.
2
Select the tool coordinate system to be set from the list.
Result: The tool coordinate system switches to the selected one.
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Operating the Lexium Cobot Manually
Adjusting the Step Value
At the top of both sides of the Manual Operation interface are step value options that you can use to control the step values of the lower virtual jog buttons. The movement distance or angle of the manual operation is controlled by changing the step value. The smaller the step value, the more precise the Lexium Cobot Arm motion will be.
Controlling the Moving Speed
The moving speed of the Lexium Cobot Arm can be set in two ways: · By dragging the movement speed bar at the bottom of the Manual Operation interface. · By clicking on the percentage value next to the movement speed bar and entering the specific speed as a percentage of maximum speed.
NOTE: 100% equals 250 mm/s (9.8 in/s), which is the maximum possible speed for manual movement.
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Lexium Cobot Motion Types
Hand-Guided Mode
In hand-guided mode, you can manually guide the Lexium Cobot Arm to a position by hand. To enter the hand-guided mode, press and hold the FREE button at the Lexium Cobot Arm.
NOTE: You can also use the play/pause button to enter the hand-guided mode if you configure the buttons accordingly. For more information on configuring the buttons of the Lexium Cobot Arm, refer to Auxiliary Hardware Settings, page 129.
Spatial Motion
Spatial movement means that the origin of the tool coordinate system of the Lexium Cobot Arm moves in the Cartesian space.
You can choose to move in the user coordinate system or in the tool coordinate system.
As presented in the following figure, the spatial motion refers to the motion of each joint, and the Manual Operation of the spatial motion of the Lexium Cobot Arm is displayed as follows.
Slide and hold the virtual jog buttons on the left side of the Manual Operation interface. The origin of the tool coordinate system performs the corresponding spatial movement in the user coordinate system.
When you release the virtual jog button, it automatically returns to its original position and the Lexium Cobot Arm stops moving.
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Joint Motion
Operating the Lexium Cobot Manually
The Lexium Cobot Arm consists of six joints.
4 5 6
3
2 1
1 Joint 1 2 Joint 2 3 Joint 3
4 Joint 4 5 Joint 5 6 Joint 6
Joint motion describes the independent movement of a single joint.
If you slide and hold the virtual jog buttons at the right side of the Manual Operation interface, the corresponding joint immediately rotates in the corresponding direction. When released, the virtual jog button automatically returns to the origin, and the Lexium Cobot Arm stops moving.
Position Motion
With position motion, you can operate the Lexium Cobot Arm manually to the designated position. You can define the joint position of the Lexium Cobot Arm and the spatial position of the origin of the tool coordinate system in the user coordinate system.
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Moving the Lexium Cobot Arm via Position Motion
To move the Lexium Cobot Arm via position motion, perform the following steps:
Step 1
Action In the Manual Operation interface, click the joint information or spatial position information box to be modified. Result: The position motion interface is displayed and the Manual Operation interface is closed.
To move the Lexium Cobot Arm to a specific joint position, proceed as follows:
Step 1 2
3
Action Under Joint Position, type in the end positions of the six joints. To move the Lexium Cobot Arm to the designated position, press and hold the Move to this point by joint button until it is reached. Click Confirm. Result: The Lexium Cobot Arm is in the designated position and the position motion interface is closed.
To move the Lexium Cobot Arm to a specific spatial position, proceed as follows:
Step 1 2 3
4
Action Under Tool Coordinate Position, type in the spatial position of the end point. Click Calculate Joint Position. To move the Lexium Cobot Arm to the designated position, press and hold the Move to this point by joint button until it is reached. Click Confirm. Result: The Lexium Cobot Arm is in the designated position and the position motion interface is closed.
To close the position motion interface in case the Lexium Cobot Arm has not reached the designated position, click Cancel.
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Settings
Settings
What’s in This Chapter
System Setting………………………………………………………………………………….64 Operation Setting ………………………………………………………………………………73 Safety Setting …………………………………………………………………………………..97 Program Setting ……………………………………………………………………………… 115 Hardware and Communication …………………………………………………………… 124
System Setting
Initial Settings
Overview
To configure the Lexium Cobot name and the system time, go to Settings > System Setting > Initial Settings.
Robot Name Setting
If you assign a unique Lexium Cobot name under Robot name setting, this is used as the name for the Lexium Cobot in EcoStruxure Cobot Expert. Assigning a unique name helps identifying the Lexium Cobot when connecting or switching between Lexium Cobot systems.
Time Setting
Set the system time so that the time in the Lexium Cobot Controller is consistent with your local time.
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Network Settings
Overview
To define how the Lexium Cobot should aquire the IP address, go to Settings > System Setting > Network Settings. By default, the Lexium Cobot gets the IP address automatically.
In case the IP address of the Lexium Cobot needs to be set, ensure that the devices communicating with the Lexium Cobot over the network are on the same subnet as the Lexium Cobot.
NOTE:
· Disable and power-off the Lexium Cobot Arm when setting the IP address.
· After confirmation of the address change, a network restart is performed automatically by the software.
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Version Upgrade
Settings
Overview
To upgrade the Lexium Cobot firmware, go to Settings > System Setting > Version Upgrade.
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Settings
Upgrading the Components
To upgrade the components, perform the following steps:
Step 1 2 3 4 5
6 7 8
Action Download the firmware package from the Lexium Cobot page on the Schneider Electric website. Connect the Lexium Cobot, page 36.
Ensure that the Lexium Cobot Arm is disabled and powered off.
In Settings > System Setting > Version Upgrade, click the Select Upgrade File
box. Select the upgrade package and click Confirm. Result: The upgrade package is selected.
NOTE: The original file name must remain unchanged. Click the Select verification file box. Select the signature file and click Confirm. Click Start Upgrade. Result: The component selection dialog box is displayed.
9
Select the components to be upgraded.
10
Click Upgrade.
Result: The upgrade package is being uploaded and installed.
11
Wait until the Lexium Cobot Controller is automatically powered off and then power on
the Lexium Cobot Controller with the Control Stick.
NOTE: The Control Stick has no power while the SCB is in update mode and the status indicator is off.
12
Wait for the start-up and then connect the Lexium Cobot in EcoStruxure Cobot Expert.
Result: The upgrade is installed.
13
Verify the version by clicking the About icon in the feature bar.
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Settings
System Backup
Overview
To import and export profiles or to set the automatic program backup, go to Settings > System Setting > System Backup.
Export Profiles
Export profiles are configuration files that contain the parameters that are set in the software.
An export profile can include parameters for:
· Controller · IO name · Dynamic IO · System Variables · Security Zone The particular profile files are packed in an archive file named lxmcsettings. tar.gz.
Exporting Profiles
Step 1
2 3
4
Action
In Settings > System Setting > System Backup > Export profiles, select the
profiles to be exported. Click Export File. In the Open dialog box, choose a location for the file.
NOTE: Already existing profile archives are overwritten. Click Confirm. Result: The export is finished. The filename of your exported profile archive is lxmcsettings.tar.gz.
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Importing Profiles
Importing configuration files for different Lexium Cobot Controller versions can cause controller errors. When you import configuration files, you must keep the versions of the controllers consistent with the configuration files.
Step 1
2 3
4 5
Action
In Settings > System Setting > System Backup, click Import File.
Result: The File Selection dialog box is displayed. Select the profile to be imported. Click Confirm. Result: The Import File prompt is displayed. If you proceed, the existing profile will be overwritten with the imported one. Click Confirm. Result: The profile is imported. Restart the Lexium Cobot Controller. Result: The import is finished.
Timed Auto Program Backup
If you activate the automatic program backup, EcoStruxure Cobot Expert automatically saves a backup of the program according to the set interval.
To enable the timed auto program backup, select an interval and then modify the program to start the interval counter.
The saved program backup is named as follows ProgramName.SystemTime.
For example: ArcTransition.221207142506
Open an Auto Program Backup
Step 1
2
Action In the feature bar, select Programming Control. Result: The Programming Control interface is displayed. In the Programming Control menu bar, click the Open icon:
Result: The Programming project list dialog box is displayed.
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Step 3
Action Activate the Show backup files toggle. Result: The backup files are displayed.
Settings
4
Click the name of the backup file to be opened.
Result: The backup file is displayed.
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User Management
Overview
To manage the different user levels, go to Settings > System Setting > User Management.
In this section, you can activate or deactivate the user levels Technician and Operator and change the passwords for all defined user levels.
For further information on the user levels, refer to Connecting the Lexium Cobot, page 36.
NOTE: · This section is only accessible for logged-in administrators. · For guidance on creating strong passwords, refer to Creating Strong Passwords. · For resetting the passwords of the user levels to factory settings, refer to Reset User Levels to Factory Settings, page 26.
Activating or Deactivating the User Levels
To activate a user level, activate the Status toggle.
To deactivate a user level, deactivate the Status toggle. NOTE: · The user level Administrator can not be deactivated. · The administrator has the option to set the passwords for the technician or operator at first activation. For further information, refer to Connecting the Lexium Cobot, page 36
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Settings
Changing Passwords
To change a password, perform the following steps:
Step 1
Action
In Setting > System Setting > User Management, in the row of the user level for
which you want to change the password, click the Change password icon. Result: The password settings dialog box for the selected user level is displayed.
2
Type in the new password, confirm the new password, and type in the Administrator
password.
3
Click Confirm.
Result: The new password is set.
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Operation Setting
TCP Settings
Overview
The Lexium Cobot Arm has a default tool coordinate system which is the flange coordinate system.
The origin of the flange coordinate system is the center of the flange end. The positive direction of the Z-axis is defined by the outward direction of the flange end. The negative direction of the Y axis is defined by the line connecting the center of the flange end and the Tool IO connector. The positive direction of the Xaxis is defined by the right-hand screw rule.
The parameters of the flange coordinate system cannot be changed.
In addition to the default tool coordinate system, the Lexium Cobot provides 10 additional configurable TCP settings.
To view the TCP settings, click Settings > Operation Setting > TCP Settings.
Setting Methods
In EcoStruxure Cobot Expert three methods are available to edit the TCP parameters:
· Input settings, page 74
When using input settings you must first calculate the required pose offset of the tool coordinate system relative to the flange coordinate system as needed. Then you can type in these data into the data fields of the dialog box.
When using this method, the Lexium Cobot Arm can be disabled.
· Four-point setting, page 75
A fixed reference point in the working space is defined. You control the Lexium Cobot Arm so that the TCP endpoint reaches the fixed point from four different poses. Then, the expected pose offset of the tool coordinate system relative to the end flange center coordinate system is calculated automatically.
When using this method, the Lexium Cobot Arm must be enabled.
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Settings
· Six-point setting, page 77 Use the six-point setting when the tool axes at the Lexium Cobot Arm end are not perpendicular or parallel to the Lexium Cobot Arm end flange. When using this method, the Lexium Cobot Arm must be enabled.
Setting the TCP Parameters Manually (Input Settings)
To set the TCP parameters manually, perform the following steps:
Step 1
2
Action
Calculate the required pose offset of the tool coordinate system relative to the end flange center coordinate system.
In Settings > Operation Setting > TCP Settings, in the row of the TCP you want to
edit, click the Edit icon.
Result: The dialog box Tool center point setting is displayed.
3
Verify that Input settings is selected.
3
Optionally, edit the name of the TCP.
4
Type in the appropriate values.
5
Click Confirm.
Result: The TCP is set.
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Setting the TCP Parameters via Four-Point Setting
To set the TCP parameters with the four-point setting method, perform the following steps:
Step 1 2 3
Action Power on and enable the Lexium Cobot Arm.
Click Settings > Operation Setting > TCP Settings.
In the row of the TCP you want to edit, click the Edit icon. Result: The configuration dialog box is displayed.
4
Select Four-point setting.
5
Optionally, edit the name of the TCP.
6
Define a fixed reference point in the working space. For example, the vertex of a
pointed cone.
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Step 7
Action Click Set position point1.
Settings
Result: The Manual Operation interface is displayed.
8
Manually move the Lexium Cobot Arm by hand-guiding or Manual Operation so that
the end effector reaches the fixed reference point and then click Confirm.
9
Repeat steps 7 and 8 for the other three positions.
10
Click Confirm.
Result: The TCP is set.
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Setting the TCP Parameters via Six-Point Setting
To set the TCP parameters with the six-point setting method, perform the following steps:
Step 1 2 3
Action Power on and enable the Lexium Cobot Arm.
Click Settings > Operation Setting > TCP Settings.
In the row of the TCP you want to edit, click the Edit icon. Result: The configuration dialog box is displayed.
4
Select Six-point setting.
5
Optionally, edit the name of the TCP.
6
Define a fixed reference point in the working space. For example, the vertex of a
pointed cone.
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Step 7
Action Click Set position point1.
Settings
Result: The Manual Operation interface is displayed.
8
Manually move the Lexium Cobot Arm by hand-guiding or Manual Operation so that
the end effector reaches the fixed reference point and then click Confirm.
9
Repeat steps 7 and 8 for the next three positions.
10
Click Set position point5.
NOTE: position point 5 and position point 6 are used to define the working plane of the end effector.
11
Leave the position of point 4 unchanged. Move forward along the positive direction of
the Z-axis of the respective tool coordinate system to get the position of point 5 and
then click Confirm.
12
Click Set position point6.
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Step 13
14
Action
Leave the position of point 5 unchanged. Move forward in the respective XZ plane to get the position of point 6 and then click Confirm.
Click Confirm.
Result: The TCP is set.
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Load Setting
Overview
Settings
If the payload information is set correctly, the working state of the Lexium Cobot can be calculated correctly by the Lexium Cobot Controller. If the set payload information deviates from the physical situation, the Lexium Cobot Controller can incorrectly detect a collision during the movement of the Lexium Cobot Arm. As a result, the Lexium Cobot Arm movement is stopped. Furthermore, the Lexium Cobot Controller tries to compensate for gravity, which also may cause unanticipated behavior in hand-guided mode.
WARNING
UNINTENDED EQUIPMENT OPERATION · Ensure that the payload is mounted at the Tool Center Point. · Ensure that the load setting is configured properly. Failure to follow these instructions can result in death, serious injury, or equipment damage.
To edit the load settings, go to Settings > Operation Setting > Load Setting.
There are two methods available for setting the payload:
· Manual input mode
In manual input mode, you can manually enter the measured or calculated payload information.
· Automatic identification mode
The Automatic identification mode can identify and calculate the mass and centroid position of the payload through the Lexium Cobot Arm motion using predefined positions.
Using this mode, the payload must be mounted and the Lexium Cobot Arm must be powered on and enabled.
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Manual Input Mode
To type in the measured or calculated information manually, perform the following steps:
Step 1 2 3
Action
In Settings > Operation Setting > Load Setting, select Manual input mode.
Type in the load setting and the centroid data. Click Confirm.
NOTE:
· The position of the mass center is relative to the Lexium Cobot Arm end flange center, and X, Y and Z of the position of the mass center are also the spatial values in the flange coordinate system.
· Use a 3D design software, for example PTC Creo, AutoDESK Inventor, or SolidWorks, for an accurate calculation.
Prerequisites for Automatic Identification Mode
The following prerequisites must be met before using the Automatic identification mode:
· If the joints have been replaced or the joints have been overtwisted, verify the position and direction of the joint. For further information, refer to chapter Verification of Mechanical Position in the Lexium Cobot Hardware Guide.
· The payload is installed properly.
Identification Phases of Automatic Identification Mode
The process for identification follows two phases: · On-load · No-load NOTE: The no-load state is identified only after the on-load identification.
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Start Point and End Point Configuration
Settings
Trajectory 1 Trajectory 2 Trajectory 3
Start Point Configuration Joint 2 = 90° Joint 3 = 0° Joint 4 = -60°…60° Joint 5 = 180° Joint 6 = -60°…60°
NOTE: Use the same angle for joints 4 and 6.
Joint 2 = 90° Joint 3 = 0° Joint 4 = -60°…60° Joint 5 = 180° Joint 6 = angle of joint 4 + 90°
NOTE: The angle of Joint 6 is 90° greater than the angle of Joint 4.
Joint 2 = 90° Joint 3 = 0° Joint 4 = 0° Joint 5 = 170°…175° Joint 6 = 0°
NOTE: Use the same angle for joints 4 and 6.
End Point Configuration
Joint 2 = 90°
Joint 3 = 0°
Joint 4 = -60°…60°
Joint 5 = 180°
Joint 6 = -60°…60° NOTE: Use the same angle for joints 4 and 6. However, the angles of joints 4 and 6 must differ from the angles of the starting point by at least 10°.
Joint 2 = 90°
Joint 3 = 0°
Joint 4 = -60°…60°
Joint 5 = 180°
Joint 6 = angle of joint 4 + 90° NOTE: The angle of joints 4 must differ from the angles of the starting point by at least 10°. The angle of Joint 6 is 90° greater than the angle of Joint 4.
Joint 2 = 90°
Joint 3 = 0°
Joint 4 = 0°
Joint 5 = 185°…190°
Joint 6 = 0° NOTE: Use the same angle for joints 4 and 6.
NOTE: If the above starting points are not set correctly, EcoStruxure Cobot Expert displays a notification.
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Automatic Identification Mode – Phase 1: On-Load
To use the Automatic identification mode, perform the following steps:
Step 1 2
3
Action Verify that the payload is mounted, power on and enable the Lexium Cobot Arm.
In Settings > Operation Setting > Load Setting, in Manual input mode, set the
approximate payload parameters of the payload to be detected. Select Automatic identification mode. Result: The following confirmation prompt is displayed.
4
Click Confirm.
Result: The Automatic identification mode pane is displayed.
5
Click Yes in Whether to be loaded.
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Step 6
Action Click Setting start point at Trajectory 1. Result: The Manual Operation interface is displayed.
Settings
7
Click one of the joint angles.
Result: The editing interface is displayed.
8
Set the angles according to the table Start Point Configuration, page 82:
NOTE: Use the same angle for joints 4 and 6.
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Step 9
Action Move the joints to the defined angles by pressing Move to this point by joint until the prompt Robot has reached the position is displayed.
10
Click Confirm in the prompt, the editing interface, and the Manual Operation interface
to get back to the Load Setting pane.
11
Click Setting end point at Trajectory 1 and repeat steps 5, 6, 7, and 8 for the end
position. The angles are the same as for the starting point, but angles 0 and 6 must be
at least 10° different between the starting point and the end point.
12
Click and hold Setting start point until the prompt Robot has reached the position is
displayed.
13
Optionally, to verify that the identification movement is collision free:
Click and hold Pilot Operation until the prompt Robot has reached the position is displayed.
Result: The joint rotates from the start point to the end point. · If an interference occurred during the pilot operation, adjust the angles. · If no interference occurred, click and hold Setting start point until the prompt Robot has reached the position is displayed to return to the starting point.
14
When the Lexium Cobot Arm is in its initial position, click Start identification.
Result: The identification process is running. When it is completed, the Start Identification button changes to Identification completed.
15
Repeat steps 6 to 14 for Trajectory 2 and Trajectory 3.
Result: The on-load setting is completed. Continue with the no-load setting.
NOTE: To clear identification results, click Reset.
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Settings
Automatic Identification Mode – Phase 2: No-Load
To use the Automatic identification mode, perform the following steps:
Step 1 2
Action Remove the payload.
In Settings > Operation Setting > Load Setting, select Automatic identification
mode and select No from Whether to be loaded. Result: The following confirmation prompt is displayed.
3
Click Confirm.
4
At Trajectory 1, click and hold Setting start point until the prompt Robot has reached
the position is displayed.
5
Click Start identification.
Result: The identification is done.
6
Repeat steps 4 and 5 for the other trajectories.
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Step 7
Action Click Get identification results. Result: The parameters of the payload mass and the centroid are displayed. Example:
8
Click Confirm.
Result: The automatic identification is completed. The Manual input mode parameters are overwritten with the calculated parameters.
Example:
NOTE: To clear identification results, click Reset.
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Settings
User Coordinate System
Overview
To edit user coordinate systems, go to Settings > Operation Setting > User Coordinate System
The default user coordinate system of the Lexium Cobot Arm is the world coordinate system with the base center of the Lexium Cobot Arm as the origin.
1 Cable connector · +X at the Lexium Cobot Arm is in the direction of the power cable at the base. · +Y is determined based on the right-hand screw rule. · +Z is the direction in which the base points vertically to the Lexium Cobot Arm.
In addition to the world coordinate system, the Lexium Cobot Arm has 10 user coordinate systems with editable parameters.
There are two methods for setting the parameters of a user coordinate system: · Input settings Edit the parameters manually.
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· Three-point Setting
Set three points and calculate the directions X, Y, Z and the orientations RX, RY, and RZ automatically.
To use this method, the Lexium Cobot Arm must be powered on and enabled.
Using Input Settings
To edit the parameters of the user coordinate system manually, perform the following steps:
Step 1
2
Action
Calculate the required pose offset of the user coordinate system relative to the world coordinate system.
In Settings > Operation Setting > User Coordinate System, click the Edit icon in
the row of the user coordinate system to be edited.
Result: The dialog box User Coordinate System Setting is displayed.
3
Optionally, edit the name of the user coordinate system.
4
Select Input settings.
5
Type in the calculated data from step 1.
6
Click Confirm.
Result: The parameters of the coordinate system are updated.
Three-Point Setting Definitions
The parameters of the axis directions X, Y, and Z of the respective user coordinate system are automatically calculated from three-position points. The axis directions X, Y, and Z of the user coordinate system generated by the three-point setting are aligned with those of the world coordinate system.
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Settings
The following table presents the definition of the three points.
Position Point 1 2 3
Description Origin of the user coordinate system. Any point in the forward direction of the X-axis of the user coordinate system. Any point in the first quadrant of the XY-plane of the user coordinate system.
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Using the Three-Point Setting
To calculate the parameters of the user coordinate system with the three-point setting, perform the following steps:
Step 1 2
Action Verify that the Lexium Cobot Arm is powered on and enabled.
In Settings > Operation Setting > User Coordinate System, click the Edit icon in
the row of the user coordinate system to be edited. Result: The dialog box User Coordinate System Setting is displayed.
3
Select Three-point setting.
4
Click Set position point1.
Result: The Manual Operation interface is displayed.
5
Set the point and click Confirm.
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Step 6 7
Action Repeat steps 4 and 5 for the other two points. Click Confirm. Result: The directions X, Y, and Z are calculated.
Settings
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Installation Settings
Overview
To define the installation position of the Lexium Cobot Arm, go to Settings > Operation Setting > Installation Settings.
The Lexium Cobot Arm supports installation at any position and angle. After installing the Lexium Cobot Arm, define the information about the installation position and angle of the Lexium Cobot Arm in EcoStruxure Cobot Expert to help ensure the correct representation of the Lexium Cobot Arm by the software and proper functionality of the Lexium Cobot.
WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that the installation setting is configured properly.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Settings
Setting the Installation
To adjust the installation position of the Lexium Cobot Arm in EcoStruxure Cobot Expert, perform the following steps:
Step 1 2
Action Disable the Lexium Cobot Arm.
In Settings > Operation Setting > Installation Settings, click on the predefined
buttons and/or use the triangles to set the installation angles of the mounting surface.
3
Click Confirm.
Result: The installation position is set.
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Error Diagnosis
Overview
To display the error diagnosis, go to Settings > Operation Setting > Fault Diagnosis.
In case of a Lexium Cobot detected error, the Lexium Cobot Controller automatically saves the information in a compressed file named after the system time and displays it in the Fault Diagnosis pane.
In Operation Options, you can download or delete the file.
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Operation Options
You have the following operation options in the Fault Diagnosis pane:
Settings
1 Status indicator for an ongoing error diagnosis 2 Start diagnosis 3 Stop diagnosis 4 Download the diagnosis file 5 Delete the diagnosis file
Starting an Error Diagnosis
To perform an error diagnosis manually, in Settings > Operation Setting > Fault Diagnosis, click the Start button. The error diagnosis is executed for 30 seconds. If you want to stop it earlier, click the Stop button that is displayed during recording.
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Safety Setting
Joint Limit
Overview
To set for each joint of the Lexium Cobot Arm the joint limit angles, the joint limit speed, and the error alarm threshold, go to Settings > Safety Setting > Joint Limit:
NOTE:
· Error alarm threshold means that the Lexium Cobot triggers an alarm when the motion displacement error of the mechanical arm is greater than the alarm threshold. 100% represents 1°.
· Since the default values for the positive limit, negative limit and speed limit of the joint are the maximum ranges, you can change them within the default range. The default ranges are presented in the figure above.
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Editing the Joint Limit Parameters
Step 1
Action
In Settings > Safety Setting > Joint Limit, click the value to be edited.
Result: The editing interface is displayed.
Settings
2
Type in the value and click .
Result: The new value is set.
NOTE: To reset the values of a joint to the default values, click the Reset icon.
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Robot Pose
Overview
To define different poses for the Lexium Cobot Arm, go to Settings > Safety Setting > Robot Pose.
You can use and adjust three different poses for the Lexium Cobot Arm: · Factory Pose: folding positions of the Lexium Cobot Arm in delivery condition. · Open Pose: zero position for each joint. · Home Pose: initial position of the Lexium Cobot Arm. You can define the Home Pose in the software and reach the home position through the Home button on the Control Stick.
Home Pose Error: Acceptable deviation from the designated Home Pose.
Moving to a Pose
Step 1 2
Action
Power on and enable the Lexium Cobot Arm. Click and hold Move To Target Point at the corresponding pose until the prompt Robot has reached the position is displayed.
NOTE: To adjust the moving speed of the Lexium Cobot Arm, use the Moving Speed slider. 100% equals 250 mm/s (9.8 in/s).
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Setting the Lexium Cobot Arm Pose
Settings
Step 1 2
Action Power on and enable the Lexium Cobot Arm. Click the Edit button in the Robot Pose dialog box of the pose to be edited:
Result: The Manual Operation interface is displayed.
3
Set the pose and click Confirm.
Result: The pose definition is set.
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Collision Protection
Overview
In the event of a collision during manual operation, the Lexium Cobot Arm does not rebound, either in motion or at rest. The Lexium Cobot Arm can be pushed within a certain range if the external force continues to act.
In the event of collision during automatic operation, collision handling is performed as specified in Collision Processing Setting.
To set up the collision handling, go to Settings > Safety Setting > Collision Protection.
Two setting methods for the collision protection are available: · Quick setup (automatic setting according to a selected protection sensitivity) · Customize (user-defined setting)
DANGER
INCORRECT COLLISION SETTINGS · Ensure that the collision settings are appropriate for the intended operation
and lifecycle based on your risk assessment. · Wherever possible and required, apply all technical measures to help protect
the operator from possible collisions when entering the zone of operation. · Instruct and inform the operator if technical measures to protect from
collisions are not possible. · Ensure that the operator is aware of the active collision setting. Failure to follow these instructions will result in death or serious injury.
NOTE: The factory setting is Relax restriction.
Collision Handling
You can define the following collision handling options in Settings > Safety Setting > Collision Protection > Collision Processing Setting:
· Program pause The program is stopped without any rebound. Subsequently, the program can be continued by using the Resume program function. For further information, refer to Function Settings, page 138.
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Settings
· Program terminated and rebounded The program is terminated and a rebound is performed. You can set the rebound angle from 0° to 3°.
Bouncing Procedure
The bouncing procedure depends on the motion type of the Lexium Cobot Arm before the collision. The process is presented in the following figure.
Blue arrows: Original trajectory Red dots: Bouncing end point Red lines: Bouncing trajectory Green dots: Collision point Example: If the rebound angle value is 3, the Lexium Cobot Arm operates at the moment of a collision as follows:
· If the Lexium Cobot Arm is moving in Cartesian space (linear motion), it bounces back 3 cm (1.18 in) along the original trajectory (a, b).
· If the robot is moving in the joint space (joint motion), the joint with maximum speed at the moment of collision bounces back 3°, and the other joints bounce back correspondingly, so that the Lexium Cobot Arm moves back along the original trajectory.
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Setting Up Collision Protection via Quick Setup
To set up the collision protection with predefined settings, perform the following steps:
Step 1
2 3
Action
In Settings > Safety Setting > Collision Protection, select Collision Protection
Setting.
Select Quick setup.
Move the slider in the Quick setup bar to the appropriate protection sensitivity. Four predefined settings are available
· Unlimited · General restrictions · Relax restrictions · Strict restrictions
Result: The collision protection is set. To display the corresponding values for the Quick setup, expand Customize using the arrow icon.
4
Display the corresponding values for each Quick setup level by expanding Customize
using the arrow icon on the right and verify if the parameters are applicable for your
application. Change the settings as necessary.
Result: The collision protection is set.
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Settings
Using Customized Settings
To set up the collision protection with customized settings, perform the following steps:
Step 1
2
Action
In Settings > Safety Setting > Collision Protection, select Collision Protection
Setting. Select Customize.
3
Enter the collision protection data either by moving the corresponding slider, or by
clicking on the value and typing in the new value.
NOTE:
· Force limitation means the collision force limit level from 1…5 (high to low), while level 0 means unlimited.
· The lower the Momentum Limitation, the TCP speed limit, and Power limit values are, the slower the Lexium Cobot Arm moves. Set the limit value according to your risk assessment.
Result: The collision protection is set.
Setting the Collision Processing
To set up the collision processing, perform the following steps:
Step 1
Action
In Settings > Safety Setting > Collision Protection, select Collision Processing
Setting.
2
Select the Post-collision processing option and type in the Collision bounce angle.
Result: The collision processing is set.
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Reduced Mode
Overview
To change the Reduced Mode values for TCP Speed Limit, Arm Speed Limit, Momentum Limit, and Power Limit, go to Settings > Safety Setting > Reduced Mode.
Setting Up Reduced Mode Values
To set up the Reduced Mode values, perform the following steps:
Step 1 2
Action
Go to Settings > Safety Setting > Reduced Mode.
Enter the Reduced Mode values either by moving the corresponding slider, or by clicking on the value and typing in the new value.
NOTE: The lower the TCP Speed Limit, Arm Speed Limit, Momentum Limit, and Power Limit values are, the slower the Lexium Cobot Arm moves. Set the limit value according to your risk assessment. Result: The Reduced Mode values are set.
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Security Zone
Overview
Settings
To help prevent the Lexium Cobot Arm from colliding with another object during movement, you can define up to six planes. Exceeding one or more of the planes results in a configured response mode: Stop, Protective Stop or Reduced Mode. For further information, refer to Functional Safety in the Lexium Cobot Arm Hardware Guide. To set the planes, go to Settings > Safety Setting > Security Zone.
Activation of Planes
You have two options to activate the planes:
· Power on enabled The planes are active as soon as the Lexium Cobot Arm is powered on and enabled. The Lexium Cobot Arm will operate according to the configuration in response mode as soon as it crosses the defined plane into the restricted area.
· Run Enabled The planes are activated as soon as the Lexium Cobot Arm executes a program.
NOTE: The planes are not active during hand-guiding and Manual Operation, if Run Enabled is configured.
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Response Mode
Plane Points
When one or more planes are exceeded, the Lexium Cobot Arm operates according to the configured response:
Response mode Stop
Response action
· The program is stopped. · The Lexium Cobot system stops the Lexium Cobot Arm motion and
disables the Lexium Cobot Arm.
Protective Stop
· The Lexium Cobot Arm decelerates to zero and reports an error message.
· The program is paused.
· The program is resumed after you confirm the status (the Lexium Cobot Arm continues to move outside of the defined zone of operation).
Reduced Mode
· The Lexium Cobot Arm enters reduced mode and reports a message. For further information about the reduced mode, refer to Functional Safety in the Lexium Cobot Hardware Guide.
· After the TCP is moved back to the zone of operation, the Lexium Cobot Arm movement exits the reduced mode.
For further information, refer to chapter Position Monitoring Safety Functions in the Lexium Cobot Hardware Guide.
The plane points 1 to 3 are set to determine the planes. NOTE: The three points must not be on a straight line.
Security Point Safety Distance
The security point defines which side of the space is allowed for the Lexium Cobot Arm and as such defines the zone of operation. This can be any point in space (except the plane itself).
Safety Distance is the distance between the TCP of the Lexium Cobot Arm and the plane (unit: mm). When the safety distance is less than or equal to the userspecific value, the security zone is triggered, and the Lexium Cobot Arm reacts according to the configured response mode.
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Setting a Plane
To set a plane, perform the following steps:
Step 1 2
Action Power on and enable the Lexium Cobot Arm. Expand the plane to be edited using the arrow on the right:
Result: The editing menu is displayed.
Settings
3
In Plane Name, edit the name of the plane.
4
Click the Settings icon for Plane Point 1:
Result: The Manual Operation interface is displayed.
5
Move the Lexium Cobot Arm to one point of the plane and click Confirm.
6
Repeat steps 4 and 5 for Plane Point 2 and Plane Point 3.
7
Click the Settings icon for the Security Point and set the allowed side of the plane.
8
To enable the plane, activate Whether to Enable.
9
Optionally, in the Safety Distance field, determine a safety distance in mm. For details,
refer to Safety Distance, page 107.
10
To confirm these settings, click .
Result: The Lexium Cobot Controller calculates the spatial position of the plane based on the three defined plane points. The plane is displayed in the digital representation on the left side.
To cancel these changes, click x.
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Tool Direction
Overview
Settings
In Tool Direction, you can restrict the angle at which the tool is pointing. The limit is defined by a cone that has a fixed orientation with respect to the base frame of the Lexium Cobot Arm. As the Lexium Cobot Arm moves in the working space, the tool direction is constrained to remain within the defined cone. The direction of the tool can be set to coincide with the Z-axis of the flange coordinate system or the tool coordinate system at the end of the Lexium Cobot Arm. To set the tool direction, go to Settings > Safety Setting > Tool Direction.
Activation of Tool Direction
You have two options to activate the tool direction limit: · Power on enabled (activation on start-up) · Run Enabled (activation on operation)
Activation on start-up means that the tool direction limit is active as soon as the Lexium Cobot Arm is powered on and enabled.
Activation on operation means that the tool direction limit is activated as soon as the Lexium Cobot Arm executes the program or moves to the point by MoveJ/ MoveL.
NOTE: The tool direction limit is not active in the operating modes handguiding and Manual Operation, if activation on operation is configured.
Safety Distance
Safety Distance represents the angle between the tool orientation and the cone boundary (unit: degree). When the safety distance is less than or equal to the user-specific value, a Warning message is displayed.
Limit Direction
There are two methods to set the limit direction:
· Typing in the parameters for the limit direction manually, or
· Setting the parameters for the limit direction by teaching it
If you enter the parameters manually, the cone centerline can be defined by the three angles RX, RY, and RZ.
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If you set the limit direction by teaching, the following three points are required: · Datum Point This is the cone apex. · Central Pivot Point The line between the Central Pivot Point and the Datum Point is the centerline of the cone. · Boundary Point The line between the Boundary Point and the Datum Point defines the cone the tool must not exceed.
Setting the Tool Direction
Step 1
2
3 4 5
Action
From Settings > Safety Setting > Tool Direction > Select coordinate system,
select the coordinate system to define the tool orientation. It corresponds either to the Z axis of the flange end (end flange center) or to a configured tool coordinate system
(Settings > Operation Setting > TCP Settings).
Optionally, adjust the tool orientation setting the two angles in Tool Direction: · X direction: The angle of the limited tool orientation around the X axis of the reference coordinate system. · Z direction: The angle of the limited tool orientation around the Z axis of the reference coordinate system.
In Safety Distance, optionally determine a distance in degrees. For details, refer to Safety Distance, page 110.
In Limit Direction, set the cone centerline direction either manually by typing in the values for the three angles RX, RY, and RZ or by clicking Settings to set the parameters by teaching. For further information, refer to Limit Direction, page 110.
Click Confirm. Result: The tool orientation limit is configured.
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Settings
Special Safety IO
Overview
The digital inputs and outputs of the Lexium Cobot Controller can be configured as a Special Safety IO to control the safety-related functions and monitor the safetyrelated status of the Lexium Cobot. This Special Safety IO signal is a two-channel signal.
To set special safety-related inputs and outputs, go to Settings > Safety Setting > Special Safety IO.
Setting the Special Safety IO
To set a Special Safety IO, perform the following steps:
Step 1 2 3
4
Action
Disable and power off the Lexium Cobot Arm.
Go to Settings > Safety Setting > Special Safety IO.
At the safety-related input or output to be set, use the dropdown menu to select the required configuration. For further information on the different configurations, refer to the table below.
Click Confirm.
Result: The Special Safety IO is set.
Description of the Safety-Related Signals
The following table presents the available safety-related signal configurations that you can select. For further information, refer to Functional Safety in the Lexium Cobot Hardware Guide.
Name Additional Emergency Stop Input Additional Protective Stop Input Protective Stop Resetting Input
Action logic
Direction
When the input signal is FALSE, the Lexium Cobot Arm performs an emergency stop.
Input
When the input signal is FALSE, the Lexium Cobot Arm performs a protective stop.
Input
The protective stop is reset by the rising edge (FALSE > TRUE) of this signal.
Input
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Name
Action logic
Direction
Reduced Mode Input Emergency Stop Button State Output
When the input signal is FALSE, the Lexium Cobot Arm switches to reduced mode.
When the emergency stop pushbutton on the Control Stick is pressed, the output signal is FALSE.
Input Output
System Emergency Stop State Output System Protective Stop State Output Robot Motion State Output Robot Not-Stopping State Output
Robot Reduced Mode Output
When the Lexium Cobot system is in emergency stop state, the output signal is FALSE.
When the Lexium Cobot system is in protective stop state, the output signal is FALSE.
When the Lexium Cobot Arm is in motion, the output signal is FALSE.
When an emergency stop or protective stop is triggered, causing the Lexium Cobot Arm to stop or to decelerate to a full stop, the output signal is TRUE.
When the Lexium Cobot Arm is in reduced mode, the output signal is FALSE.
Output Output Output Output
Output
Robot Not in Reduced Mode
When the Lexium Cobot Arm is Output not in reduced mode, the output signal is FALSE.
For further information on the safety-related signals, refer to Functional Safety in the Lexium Cobot Hardware Guide.
Viewing the Special Safety IO Help
To display a description of the safety-related signals in the software, click the Help icon.
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Result: The Special Safety IO help is displayed.
Settings
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Program Setting
Default Program
Overview
To designate a program as default program, go to Settings > Program Setting > Default Program.
The Lexium Cobot can automatically load the default program when the Lexium Cobot Arm is started up, if you activate the toggle Load default program on startup.
This way, the program to be executed through EcoStruxure Cobot Expert at startup is already selected.
Once the Lexium Cobot Arm is enabled, you can run the default robot program by pressing the Start button on the Control Stick.
The following options are available: NOTE: These options are only available when the control source is set to Remote Control, page 47.
· When powered on, the Lexium Cobot Arm is also enabled automatically. · When the Lexium Cobot Arm is enabled, the default program is started. These options can be combined.
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Settings
Designating a Default Program
To designate a default program, perform the following steps:
Step 1
Action
In Settings > Program Setting > Default Program, click the Current default
program box. Result: The Programming project list is displayed:
2
Select a program and click Confirm.
3
Optionally, select the following options by activating the respective toggles:
· Load default program on startup
NOTE: The default program is only loaded at startup if you activate the option Load default program on startup.
· When the power supply of the body is turned on, the robot is enabled automatically
· When the robot is enabled, the robot automatically runs the program
NOTE: Automatic program execution is only available when the remote source is in control.
Result: The default program is set with the selected options.
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WARNING
AUTOMATIC START OF MOVEMENT
· Ensure that the operator is aware that selecting the options When the power supply of the body is turned on, the robot is enabled auomatically and When the robot is enabled, the robot automatically runs the program may cause a start of the movement by powering on the Lexium Cobot Arm.
· Ensure that the operator is aware that selecting the option When the robot is enabled, the robot automatically runs the program may cause a start of the movement by enabling the Lexium Cobot Arm.
· Ensure that the operator or a person near the Lexium Cobot Arm cannot be endangered or trapped by powering on or enabling the Lexium Cobot Arm with the options described above.
· Ensure that a risk assessment is conducted and respected according to EN/ ISO 12100 during the design of your machine.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Trajectory Record
Settings
Overview
To record the trajectory of the Lexium Cobot Arm during hand-guiding and Manual Operation, go to Settings > Program Setting > Trajectory Record.
This trajectory file can be called during programming by the trajectory recording instruction to reproduce the recorded trajectory in the program.
NOTE: The trajectory recording function records only the path information and not the motion parameters.
In the settings, you can set the default speed and acceleration for this trajectory in the program. These parameters have no influence on the recording itself and can be adjusted later for specific program requirements. You can also set the sampling accuracy of position and pose.
Operation Options
You have the following operation options in the Trajectory Record pane:
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1 Edit the name of the trajectory record 2 Delete the trajectory record 3 Export the trajectory record 4 Import a trajectory record 5 Add a new recording 6 Settings for configuring the trajectory recording parameters
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Settings
Recording the Trajectory
To record a trajectory, perform the following steps:
Step 1
Action
In Settings > Program Setting > Trajectory Record, click the Settings icon.
Result: The dialog box Edit trajectory motion is displayed.
2
Adjust the parameters according to your needs and click Confirm.
NOTE: If the motion distance of the trajectory is short, the sampling deviation of Position and Pose may be as much as 0.1 mm or degree respectively.
3
Click the Add icon.
Result: The following confirmation prompt is displayed.
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Step 4
Action Click Yes to start a new record of the trajectory. Result: The recording starts. The record is added to the list and the Trajectory recording button is displayed in the top menu.
5
Move the Lexium Cobot Arm by hand-guiding or Manual Operation to record the
motion trajectory.
NOTE: If no movement of the Lexium Cobot Arm has been performed, no recording is saved.
6
Click the Trajectory recording button in the top menu to stop the recording.
Result: The trajectory is saved with the timestamp as a name.
7
Click the Edit icon to give a meaningful name to the record.
Result: The trajectory record is ready to be used in a program.
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Settings
System Variable
Overview
To add system variables, which can be called and modified in programs, go to Settings > Program Setting > System Variables
Another option to add variables is provided in the Programming Control interface. For further information, refer to the help in the instructions menu of the Programming Control interface, see Types of Instructions, page 180. The variables are of numeric type only and are stored in the Lexium Cobot Controller. The values of the variables are not modified or reset by starting and stopping the program or powering on and off the Lexium Cobot system.
NOTE: Up to 100 variables can be stored.
Operation Options
You have the following operation options in the System Variables pane:
1 Edit the name and the initial value of the variable 2 Delete the variable 3 Refresh the variable list 4 Add a new variable
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Creating a System Variable
To add a new variable, perform the following steps:
Step 1
Action
In Settings > Program Setting > System Variables, click the Add icon on the right.
Result: The Edit system variables dialog box is displayed.
2
Type in a variable name and an initial value.
3
Click Confirm.
Result: The variable is added to the System Variable list.
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Hardware and Communication
Settings
Modbus Parameter Setting
Overview
The Lexium Cobot Arm support Modbus TCP/IP and Modbus RTU communication modes.
To set the parameters for a connection with the Modbus server, go to Settings > Hardware and communication > Modbus Parameter Settings.
After the connection is established on client side, you can read the Lexium Cobot state and control the Lexium Cobot I/O signal based on the register address and the function code program in the Modbus Address Table, page 185.
To edit the Modbus information, click I/O Panel > Modbus in the feature bar.
NOTE: Disable the Lexium Cobot Arm for setting the Modbus configuration.
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Setting the Modbus TCP/IP Mode
To set the Modbus TCP/IP mode, perform the following steps:
Step 1 2 3
4
Action
In Settings > Hardware and communication > Modbus Parameter Settings, select
Modbus TCP/IP. In Channel, edit the channel number according to your Modbus settings. Click Confirm. Result: The new Modbus port is set. Restart the Lexium Cobot Controller.
Setting the Modbus RTU Mode
To set the Modbus RTU mode, perform the following steps:
Step 1
Action
In Settings > Hardware and communication > Modbus Parameter Settings, select
Modbus RTU.
2
Set the parameters for the Modbus server.
NOTE: PLC-side setting interface must be configured as it is for the Lexium Cobot.
The default parameters are:
· Slave station node number:
· Baud rate: 4800
· Data bit length: 8 bits
· Stop bit length: 1 bit
· Parity method: Even parity
3
Click Confirm.
Result: The new Modbus configuration is set.
4
Restart the Lexium Cobot Controller.
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End Sensor
Overview
This feature is not supported.
Settings
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Profinet Settings
Overview
Lexium Cobot supports the Profinet communication protocol and can be used as a Profinet server to connect to external devices.
To enable or disable Profinet, go to Settings > Hardware and communication > Profinet Settings.
The Profinet function can only interact with the external controller, with the Profinet I/O information being displayed in the I/O Panel.
For further information, refer to: · Profinet, page 154 · Profinet Address Table, page 191
Enabling Profinet
To enable the Profinet communication protocol, perform the following steps:
Step 1 2 3
Action Disable the Lexium Cobot Arm.
In Settings > Hardware and communication > Profinet Settings, click Enable.
Restart the Lexium Cobot Controller by using the Control Stick. Result: The Profinet communication protocol is enabled on the Lexium Cobot Controller.
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Settings
EtherNet/IP Settings
Overview
Lexium Cobot supports the EtherNet/IP communication protocol and can be used as an Ethernet/IP server for connection with external devices.
To set the EtherNet/IP configuration, go to Settings > Hardware and communication > EtherNet/IP Settings.
The EtherNet/IP function can be enabled or disabled (default) and can only interact with the external controller for Ethernet/IP communication when enabled. The EtherNet/IP I/O information is displayed in the IO interface.
For further information refer to:
· Ethernet/IP, page 159
· Ethernet/IP Address Table, page 195
Enabling EtherNet/IP
To enable the EtherNet/IP communication protocol, perform the following steps:
Step 1 2 3
Action Disable the Lexium Cobot Arm.
In Settings > Hardware and communication > EtherNet/IP Settings, click Enable.
Restart the Lexium Cobot Controller by using the Control Stick. Result: The EtherNet/IP communication protocol is enabled on the Lexium Cobot Controller.
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Auxiliary Hardware Settings
Overview
To configure the functions of the three buttons at the end of the Lexium Cobot Arm (Play/pause button, FREE button, POINT button) and the mains voltage of the Lexium Cobot Controller power supply, go to Settings > Hardware and communication > Auxiliary Hardware Settings.
The following graphic shows where the three buttons are located.
1 Play/pause button 2 POINT button 3 FREE button For further information on the buttons, refer to Lexium Cobot Arm Tool Flange Details in the Lexium Cobot Hardware Guide.
Configuration Options
To set a function for one of the buttons or the Lexium Cobot Controller power supply, select the function from the dropdown list. The following options are available. End lighting button option for the play/pause button:
· Prohibited · Program pause or start
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· Enter Drag mode (hand-guided mode) · Program pause or start, enter Drag mode (hand-guided mode) FREE button option: · Prohibited · Enter Drag mode (hand-guided mode) POINT button option: · Prohibited · Record the current point position Control cabinet power supply option: · Other (represents 110 Vac) · 220VAC (represents 220 Vac)
Settings
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Terminal IO
Overview
The Lexium Cobot Arm is equipped with a tool flange IO interface (TIO) that provides the following inputs and outputs:
· Two digital inputs (TDI) · Two digital outputs (TDO) · Two analog inputs (TAI) The two digital outputs can be multiplexed as high-speed RS485 channels and the analog inputs can be multiplexed as low-speed RS485 channels.
The configurable voltage output (12V/24V/0V) supports the power supply of the external expansion devices.
To set the configuration of the TIO, go to Settings > Hardware and Communication > Terminal IO.
Voltage Output
NOTE: · The Terminal IO section is only displayed if the Lexium Cobot Arm is connected. · When using the Lexium Cobot Arm for the first time, you must power on the Lexium Cobot Arm to activate the section. · After restarting the Lexium Cobot Controller, it may be necessary to power on the Lexium Cobot Arm to display this section.
In the Voltage Output tab, you can switch the output voltage on or off and select 12V or 24V as output.
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Settings
NOTE: Select 12V or 24V to use the tool flange inputs and outputs.
Configuring the Voltage Output
To set the voltage output at the Terminal IO, perform the following steps:
Step 1 2 3 4 5
Action Click Settings > Hardware and Communication > Terminal IO. Select the Voltage Output tab. Select whether to enable or to disable the output. If enabled, select the output voltage. Click Confirm. Result: The voltage output is configured.
RS485 Configuration
The two-way RS485 channel can be multiplexed as RS485 channel in the corresponding pin before configuration. Using RS485 channel 1 as an example, the TDO pin is multiplexed as RS485 channel 1, as presented in the following figure.
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After setting, the RS485 configuration option is displayed.
Click RS485 configuration to display the RS485 channel configuration option
Documents / Resources
 |
Schneider Electric LXMRL07C1000 EcoStruxure Cobot Expert [pdf] User Guide LXMRL07C1000 EcoStruxure Cobot Expert, LXMRL07C1000, EcoStruxure Cobot Expert, Cobot Expert, Expert |